HarmonicDrive H A - 800A, Руководство пользователя

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4-3 13-bit absolute encoder
4-22
11
10
9
4
7
6
5
4
3
2
1
Encoder
s
yst
em

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.
The values of the 13-bit absolute encoder and phase A and B waveforms are shown below.

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.
Incremental output signal for FWD rotation
Incremental output signal for REV rotation
Phase A
signal
Phase B
signal
Phase Z
signal
Phase A
signal
Phase B
signal
Phase Z
signal
+1
0
+2
+3
-1
-2
-3
-4
+8191
+8192
+8193
-8193
-8192
-8191
Phase A signal output
Phase B signal output
Phase A pulses
= 2,048 pulses/revolution
Phase B pulses
= 2,048 pulses/revolution
Absolute encoder value
FWD rotation direction
REV rotation direction