6.5 Encoder Divided Pulse Output
6.5.2 Setting for the Encoder Divided Pulse Output
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6
Application Functions
6.5.2
Setting for the Encoder Divided Pulse Output
This section describes the setting for the encoder divided pulse output for a Rotary Servomotor
or Linear Servomotor.
Encoder Divided Pulse Output When Using a Rotary
Servomotor
If you will use a Rotary Servomotor, set the number of encoder output pulses (Pn212).
The number of pulses from the encoder per rotation are processed inside the SERVOPACK,
divided by the setting of Pn212, and then output.
Set the number of encoder divided output pulses according to the system specifications of the
machine or host controller.
The setting of the number of encoder output pulses is limited by the resolution of the encoder.
Note: 1. The setting range of the number of encoder output pulses (Pn212) depends on the resolution of the Servo-
motor encoder. An A.041 alarm (Encoder Output Pulse Setting Error) will occur if the above setting condi-
tions are not met.
Correct setting example: Pn212 can be set to 25,000 [P/Rev].
Incorrect setting example: Pn212 cannot be set to 25,001 (P/Rev) because the setting increment in the
above table is not used.
2. The upper limit of the pulse frequency is approximately 1.6 Mpps. The Servomotor speed will be limited if
the setting of the number of encoder output pulses is too high.
An A.511 alarm (Encoder Output Pulse Overspeed) will occur if the upper limit of the motor speed is
exceeded.
Output example: An output example is given below for the PAO (Encoder Pulse Output Phase
A) signal and the PBO (Encoder Pulse Output Phase B) signal when Pn212 is set to 16 (16
pulses output per revolution).
Pn212
(2212
hex)
Number of Encoder Output Pulses
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
16 to 1,073,741,824
1 P/Rev
2,048
After restart
Setup
Setting of the Number
of Encoder Output
Pulses [P/Rev]
Setting
Increment
Encoder
Resolution
Upper Limit of Servomotor Speed for Set Number of
Encoder Output Pulses [min
-1
]
24 bits
(16,777,216
pulses)
16 to 16,384
1
6,000
16,386 to 32,768
2
3,000
32,772 to 65,536
4
1,500
65,544 to 131,072
8
750
131,088 to 262,144
16
375
262,176 to 524,288
32
187
524,352 to 1,048,576
64
93
1,048,704 to 2,097,152
128
46
2,097,408 to 4,194,304
256
23
Speed
Position
Torque
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
Setting: 16
1 revolution
PAO signal
PBO signal
