Yaskawa Sigma II Series Servo System - Manual (Page 106)

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions
5 - 20
Example of I/O Signal Generation Timing
Note: 1. In order for the input pulse to register, the interval from the time the servo ON signal is turned
ON until a reference pulse is entered must be a minimum of 40ms.
2. The error counter clear signal must be on for at least 20 μs.
Reference Pulse Input Signal Timing
Reference Pulse Form Electrical Specifications
Sign + pulse train input
(SIGN + PULS signal)
Maximum reference
frequency: 500kpps
(200kpps open-collector
output)
t1, t2 ≤ 0.1µs
t3, t7 ≤ 0.1µs
t4, t5, t6 > 3µs
τ ≥ 1.0µs
( τ/T) × 100 ≤
50%
Sign (SIGN)
H = Forward reference
L = Reverse reference
CW pulse and CCW
pulse
Maximum reference
frequency: 500kpps
(200kpps open-collector
output)
t1, t2 ≤ 0.1µs
t3 > 3µs
τ ≥ 1.0µs
( τ/T) × 100 ≤
50%
—
Two-phase pulse train
with 90 ° phase differential
(A phase + B phase)
Maximum reference
frequency × 1: 500kpps
(200kpps open-collector
output)
× 2: 400kpps
× 4: 200kpps
t1, t2 ≤ 0.1µs
τ ≥ 1.0µs
(τ/T) × 100 =
50%
Parameter Pn200.0 is
used to switch the
input pulse multiplier
mode.
Servo ON
Baseblock
Sign+pulse
train
Release
PG pulse
CN1-1
1
CN1-
7
PAO
PBO
t6
t1 ≤ 30ms
t2 ≤ 6ms
(when parameter
Pn506 is set to 0)
t3 ≥ 40ms
t4, t5, t6 ≤ 2ms
t 7 ≥ 20ms
CN1-11
CN1-7
t7
t2
t1
t3
t4
t5 t6
T
τ
Forward
reference
Reverse
reference
SIGN
PULS
Forward
reference
Reverse
reference
t2
t1
t3
T
τ CCW
CW
Forward
reference
Reverse
reference
t2 t1
T
τ
A phase
B phase
B phase leads
A phase by 90°
B phase lags
A phase by 90°