IAI America PDR-101-MW - Manual (Page 70)

60
(27) FBP Mode (Feedback Pulse Output Mode Selection)
Name Symbol Unit Input range
Default value
(reference)
FBP mode FBPT (HEX input) 00~12h 01h
Set the pulse train output mode of the feedback pulse outputs (AFB, /AFB, BFB, /BFB, ZFB and /ZFB).
Command
pulse-train mode
Symbol Forward Reverse Setting value
Forward pulse
train
AFB  /AFB
Reverse pulse
train
BFB  /BFB
12h
A forward pulse train indicates motor revolutions in the forward direction, while a reverse pulse train indicates motor revolutions in
the reverse direction.
Pulse train AFB  /AFB
Sign BFB  /BFB
Low
High
11h
A command pulse indicates motor revolutions and its sign indicates the rotating direction of the motor.
AFB  /AFB
Phase A/B
pulse train
BFB  /BFB
10h
Neg
at
ive lo
gic
Motor revolutions and rotating direction are specified by phases A/B (4 multiplications) with a 90-degree phase difference.
Forward pulse
train
AFB  /AFB
Reverse pulse
train
BFB  /BFB
02h
Pulse train AFB  /AFB
Sign BFB  /BFB
High
Low
01h
AFB  /AFB
P
osit
ive lo
gic
Phase A/B
pulse train
BFB  /BFB
00h
ZFB, /ZFB
Phase Z signals are output as is if the encoder of the actuator is not a
serial encoder. With serial encoders, the range of
±0.5° in mechanical
angle from the position of point 0 (home) is output as phase Z signal. This
precision is only guaranteed when the revolution speed of the motor is 100
rpm or less due to the communication cycle with the encoder.
* See (7) for the encoder types.