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17
Control System Configuration
Section 1-4
Default Values
The default settings are given below along with the resulting profiles. Frac-
tional values are allowed for gain settings.
1-4-2
Encoder Signals
Standard OMRON equipment is designed for an advanced phase-A for for-
ward rotation and an advanced phase-B for reverse rotation. For the encoder
input and output signals, the MC Unit is designed to comply with this phase
definition, allowing the MC Unit to be connected to other equipment without
problems.
With this arrangement, the direction of rotation can be easily detected by
monitoring the relative phase of both signals. If channel A leads channel B,
indicating clockwise (CW) movement, the counter will increment. Conversely,
if channel B leads channel A, indicating counterclockwise (CCW) movement,
the counter will decrement.
Typically, rotary encoders also provide an additional Z-marker as a reference
pulse within each revolution. By properly decoding and counting these
encoder signals, the direction of motion, speed, and relative position can be
determined.
Encoder input
For the MC Unit encoder input, the pulse ratio is 4. Every encoder edge (pulse
edge for either A or B phase) is one internal count.
The signals A, B and Z appear physically as A+ and A-, B+ and B- and Z+ and
Z-. These appear as differential signals on twisted-pair wire inputs, ensuring
that common modes are rejected and that the noise level is kept to a mini-
mum.
When using encoders by other makers, check carefully the encoder specifica-
tion for phase advancement. If the definition differs from the ones given
above, reverse the B-phase wiring between the MC Unit and the Servo Driver.
In most case, this should resolve the problem.
Gain
Default
Proportional Gain
0.1
Integral Gain
0.0
Derivative Gain
0.0
Output Speed Gain
0.0
Speed Feedforward Gain
0.0
Phase A
Phase B
Forward rotation (CW)
Reverse rotation (CCW)
Counts (x4)
0
1
4
2
3
5
6
7
7
6
3
5
4
2
1
0