IAI America ERC3 - Manual (Page 261)

Chapter 4 Operation
4.3
Operation in Pulse
Train Control Mode (How to Operate
Pulse
Train Control
Type)
251
[7] Pulse Train Input Operation
(1) Command Pulse Input (PP•/PP, NP•/NP)
In the differential type, it is able to have 200kpps of pulse train input at maximum. If the host
controller is an open collector pulse output type, it is able to input the pulse of 60kpps at the
maximum by connecting AK-04 (option).
6 types of command pulse train can be selected. Set the pulse train format in Parameter No.63
and active high/low in Parameter No.64. [Refer to 4.3 [8] Settings of Basic Parameters
Required for Operation]
Caution:
(1) The directions in which the actuator moves upon receiving forward and reverse pulses
conform to the “pulse count direction” set in Parameter No.62.
(2) As for the forward/reverse directions, pay attention to the host controller setting or
PP•/PP and NP•/NP connections.
(3) Set the actuator acceleration/deceleration on the host controller side.
(4) The actuator acceleration/deceleration should not exceed the rated
acceleration/deceleration of the applicable actuator. [Refer to 1.2.1 Actuator.]
* The rotating direction of the motor is defined so that the CCW direction as viewed
from the end of the load shaft represents the forward direction. (For a standard type
actuator, the move is to the motor end.)
PP • /PP
NP • /NP
PP • /PP
NP • /NP
PP • /PP
NP • /NP
PP • /PP
NP • /NP
PP • /PP
NP • /NP
PP • /PP
NP • /NP
High Low
High Low
Normal Rotation
Pulse String
Normal Rotation
Pulse String
Reverse Rotation
Pulse String
Reverse Rotation
Pulse String
The normal rotation pulse string shows the motor rotation amount in normal direction, and
reverse rotation pulse string shows the motor rotation amount in reverse direction.
Pulse Train
Pulse Train
Symbol
Symbol
The command pulse shows the motor rotation amount and the command symbol shows the
rotation direction.
A/B Phase
Pulse String
A/B Phase
Pulse String
It is the pulse input of A/B-phase of 90° phase difference multiplied by 4, and indication of the
amount and the direction of revolution.
Command Pulse
String Mode
Input
Terminal In Normal Rotation In Reverse Rotation
Negative Logic
Positive Logic