HarmonicDrive H A - 800A, Manual

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4-3 13-bit absolute encoder
4-21
11
10
9
4
7
6
5
4
3
2
1
Encoder
s
yst
em
Encoder phase A, B and Z signal outputs
When the motor shaft equipped with a 13-bit absolute encoder turns, incremental phase A, B
and Z signals are output to the pins CN2-42 to 48.

Number of output pulses
When the motor shaft turns one revolution, 2,048 pulses are output.
For phase Z, 1 pulse is output per motor shaft revolution. Note that, for phase Z signal, 1 pulse
is output per motor shaft rotation, but the width is indeterminable.
CN2-42 Phase output-A+ (LD)
CN2-43 Phase output-A- (LD)
CN2-44 Phase output-B+ (LD)
CN2-45 Phase output-B- (LD)
CN2-46 Phase output-Z+ (LD)
CN2-47 Phase output-Z- (LD)
CN2-48 Monitor ground
Output pulses per motor shaft revolution
Phase A 2,048
Phase B 2,048
Phase Z 1
26LS31
Encoder phase A+ signal outpu t
Encoder phase A- signal output
Encoder phase B+ signal output
Encoder phase B- signal output
Encoder phase Z+ signal output
Encoder phase Z- signal output
42
43
46
47
44
45
48
Monitor ground