YASKAWA SGDV SERVOPACK, User Manual

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5 Operation
5.4.1 Basic Settings for Position Control
5-40
(4) Electrical Specifications for Pulse Train Reference
Forms of pulse train references are as shown below.

Each multiplier’s maximum reference frequency before multiplication is 1 Mpps.


1 input pulse multiplier: 1 Mpps


2 input pulse multiplier: 1 Mpps


4 input pulse multiplier: 1 Mpps
(5) I/O Signal Timing Example
I/O signal timing example is as shown below.
Note: The interval from the time the servo ON signal is turned ON until a reference pulse is input must be at least 40 ms.
Otherwise the reference pulse may not be received by the SERVOPACK (t3).
Pulse Train Reference Form Electrical Specifications Remarks
Sign + pulse train input
(SIGN + PULS signal)
Maximum reference fre-
quency: 4 Mpps
(Maximum reference fre-
quency in case of open-
collector output: 200 kpps)
t1, t2, t3, t7

0.025

s
t4, t5, t6

0.5

s
 
0.125

s
T-
 
0.125

s
Sign (SIGN)
H = Forward

reference
L = Reverse

reference
F Reverse pulse
train
Maximum reference fre-
quency: 4 Mpps
(Maximum reference fre-
quency in case of open-
collector output: 200 kpps)
t1, t2

0.025

s
t3

0.5

s
 
0.125

s
T-
 
0.125

s
Two-phase pulse train with
90

phase differential
(phase A + phase B)
Maximum reference fre-
quency: 1 Mpps*
(Maximum reference fre-
quency in case of open-
collector output: 200 kpps)
t1

0.1

s
t2

0.1

s
 
0.5

s
T-
 
0.5

s
Reference pulse
form is set with
Pn200.0.
Forward reference Reverse reference
t1 t2
t3
t4
t5 t6
t7
T
Ǽ
SIGN
PULS
t2
t3
T
Ǽ
Reverse
Forward
t1
Forward reference
Reverse reference
Phase B leads
phase A by 90
°
.
Phase B lags
phase A by 90
°
.
Phase A
Phase B
t2
Ǽ
T
t1
Forward reference Reverse reference
Servo ON
Baseblock
Sign + pulse train
Release
t1
≤
36 ms
t2
≤
6 ms
(When Pn506 is set to 0.)
t3
≥
40 ms
CN1-11
CN1-7
L
H
H
ON
t3
t2
t1
Analog