Sanyo Denki Sanmotion R 3E S, Инструкция по эксплуатации

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2.6 Position signal output
2-22
2
S
pecifications
2.6.4 Position signal output from pulse signal
■
Servo amplifier outputs "90 ° -phase difference two-phase pulse (phase A, phase B) and
original phase (phase Z)". Pulse output can change the division ratio by parameter.
Set the general parameter "GroupC ID04 Encoder Output Pulse Division [ENRAT]".
* Output signal “A phase pulse output (AO/A0
― ―
)” outputs from “CN1-3 pin, 4 pin.”
* Output signal “B phase pulse output (BO/B0
― ―
)” outputs from “CN1-5 pin, 6 pin.”
* Output signal “Z phase output (ZO/ZO
― ―
)” outputs from “CN1-7 pin, 8 pin.” Also output from CN1-11
pin with open-collector.
■
Output signal under forward rotation
* Absolute encoder “positions signal output” delays about 224 μ s.
* Absolute encoder (Motor encoder) Phase Z output is once in 1-rotation (at every change of
multiple rotations) based on positive edge of Phase A with the width of one pulse of Phase A.
(does not determine the position relation of Phase Z or Phases A&B.
* When other than 1/1 is set as division ratio, Phase A and Phase B are divided but Phase Z is
output with original pulse width.
* Absolute encoder can output the frequency up to 2Mpulse/sec (multiplied one).
* When EnDat is used in external encoder with full-closed control,
Phase Z is output every 8192 pulses (multiplied one) based on absolute position 0.
EnDat (angle encoder, rotary encoder)
Division ratio will be limited in such a way that a resolution becomes 32,768pulse/rev or more, if
into the relation as follows: Single turn resolution x (1/N) < 32,768pulse/rev.
EnDat (linear encoder)
Use it in the range as follows: "231 x Resolution/((1/N)x4)" based on position 0.
(When it move to out of range from in a range and perform cycle power, phase Z output may
misaligned.)
1/N: Selection value in the GroupC ID0C "External encoder output pulse division ratio selection".
It is indefinite between 3sec from control power establishment.
Phase B is advanced 90° more than Phase A
t
2s (Max)
Phase A pulse
Phase B pulse
Phase Z pulse
The signal is indefinite for about 2 sec after booting
Power control ON