Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Analog Voltage and Pulse Train Reference - Manual (Page 150)

5 Operation
5.4.1 Basic Settings for Position Control
5-36
(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 μs
t4, t5, t6 ≥ 0.5 μs
τ ≥ 0.125 μs
T- τ ≥ 0.125 μs
Sign (SIGN)
H = Forward
reference
L = Reverse
reference
CW + CCW pulse train
Maximum reference fre-
quency: 4 Mpps
(Maximum reference fre-
quency in case of open-
collector output: 200 kpps) t1, t2 ≤ 0.025 μs
t3 ≥ 0.5 μs
τ ≥ 0.125 μs
T- τ ≥ 0.125 μs
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 μs
t2 ≤ 0.1 μs
τ ≥ 0.5 μs
T- τ ≥ 0.5 μs
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
CW
CCW
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