HarmonicDrive H A - 800A, Manual

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4-4 Incremental encoder
4-28
11
10
9
4
7
6
5
4
3
2
1
Encoder
s
yst
em
Data output
Encoder phase A, B and Z signal outputs
When the motor shaft equipped with an encoder turns, incremental phase A, B and Z signals are
output to the pins CN2-42 to 48.

Number of output pulses
The numbers of phase A and B signal output pulses per motor shaft revolution vary depending
on the encoder resolution.
For phase Z, 1 pulse is output per motor shaft revolution.
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
*1: For example, assume that the encoder resolution is 10,000 pulses.
In this case, 2,500 pulses (10,000 / 4) are output.

Phase A, B and Z output signal waveforms
For FWD rotation, the phase A signal is output with an advance of 90° relative to the phase B
signal. For REV rotation, the phase A signal is output with a delay of 90° relative to the phase B
signal.
To obtain the resolution in the quadrupled mode, utilize the leading edges and trailing edges of
both phase A and B signals.

Signal input method
Each phase signal is output by a line driver (26LS31). Receive the signals using a line receiver
(AM26LS32 or equivalent).

Use an EIA-422A compliant line receiver to receive the signals.
Output pulses per motor shaft revolution
Phase A (Encoder resolution) / 4 *1
Phase B (Encoder resolution) / 4 *1
Phase Z 1
26LS31
Encoder phase A+ signal output
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
Incremental output signal for FWD rotation
Phase A signal
output
Phase B signal
output
Phase Z signal
output
Incremental output signal for REV rotation
Phase A signal
output
Phase B signal
output
Phase Z signal
output