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9 Encoder Input Slave Unit
GX-series EtherCAT Slave Unit User’s Manual
9-3
Fun
ctio
n o
f th
e Enco
der In
pu
t Slave Un
its
9
9-3-
3 Input Signal
T
ypes
Precautions for Safe Use
•
If you change the maximum Circular Counter value when the counter is stopped or operating,
restart the counter to enable using the new maximum value in counter operation.
•
If the set value is read without restarting, the set value after change can be read, but the actual
count operation is performed with the set value before change.
The input method of Encoder Input Slave Units is explained below.
Note that SDO communications are used for setting an input method. (Default setting: Phase A/B
phase difference pulse input (Multiplication
×
4))
The target index is 4002 hex.
For the set values, refer to the information in the corresponding index of "Appendix A-1 Object
Dictionary" in Page A - 50.

Phase A/B phase difference pulse input (Multiplication
×
1/2/4)
(1) Multiplication
×
1
Count at signal change of phase A when phase B signal is turned OFF.
The count is incremented at rise of phase A and decremented at fall of phase A.
(2) Multiplication
×
2
It is used to heighten resolution of encoder input compared to Multiplication
×
1.
The counter operation is performed at rise and fall of phase A signals.
The count is incremented if phase A is advanced from phase B and decremented if phase A is
delayed from phase B.
(3) Multiplication
×
4
It is used to further heighten resolution of encoder input from Multiplication
×
2.
The counter operation is performed at rise and fall of phase A/B signals.
The count is incremented if phase A is advanced from phase B and decremented if phase A is
delayed from phase B.
9-3-3 Input Signal Types
Phase A
Incremental count Decremental count
Multiplication x 1
Multiplication x 2
Multiplication x 4
Phase B
Counter value
0 1 2 3 4 5 6 7 8 9 10 11 12 9 8 7 6 5 4 3 2 1 10 11
0 1
3
4
0
1 2
5
3 4 2 3 5
6
1 2 2 1