6.6 Position Control
6.6.1 Basic Settings for Position Control
6-32
Electrical Specifications for Pulse Train Reference
The following table describes the forms for pulse train references.
*
The maximum reference frequency for the multipliers before multiplication are as follows:
×
1 multiplier: 1 Mpps
×
2 multiplier: 1 Mpps
×
4 multiplier: 1 Mpps
Timing Example for Pulse Train References
The following example shows the timing of inputting the pulse train reference after the servo turns ON when
a signal and pulse train are used.
The interval (t3) between when the servo is turned ON until the pulse train reference is input must be at least
40 ms. If the reference is input in less than 40 ms, the reference pulses may not be received by the SERVO-
PACK.
Pulse Train Reference Form
Electrical Specifications
Remarks
Sign and pulse train
(SIGN and PLUS signals)
Maximum reference
frequency: 4 Mpps
(maximum reference
frequency for open-collector
output: 200 kpps)
t1, t2, t3, t7
≤
0.025
μ
s
t4, t5, t6
≥
0.5
μ
s
τ
≥
0.125
μ
s
T-
τ
≥
0.125
μ
s
SIGN is high for
a forward refer-
ence and low for
a reverse refer-
ence.
CW and CCW pulse trains
Maximum reference
frequency: 4 Mpps
(maximum reference
frequency for open-collector
output: 200 kpps)
t1, t2
≤
0.025
μ
s
t3
≥
0.5
μ
s
τ
≥
0.125
μ
s
T-
τ
≥
0.125
μ
s
–
Two-phase pulse trains with
90
°
phase differential (phases
A and B)
Maximum reference
frequency: 1 Mpps
*
(maximum reference
frequency for open-collector
output: 200 kpps)
t1
≤
0.1
μ
s
t2
≤
0.1
μ
s
τ
≥
0.5
μ
s
T-
τ
≥
0.5
μ
s
–
t1 t2
t
3
t4
t5
t6
t7
T
S
IGN
PUL
S
Forward reference
Rever
s
e
reference
t2
t
3
T
CW
CCW
t1
Forward reference
Rever
s
e
reference
t2
T
t1
Pha
s
e A
Pha
s
e B
Forward reference
Rever
s
e
reference
Pha
s
e B lag
s
pha
s
e A by 90
.
Pha
s
e B lead
s
pha
s
e A by 90
.
t1≤
3
6 m
s
t2≤6 m
s
(If Pn506 i
s
s
et to 0.)
t
3
≥40 m
s
CN1-11
CN1-7
L
H
H
t
3
t2
t1
ON
Relea
s
ed
S
ervo ON
Ba
s
e block
S
ign and
pul
s
e train
