Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Analog Voltage and Pulse Train Reference - Manual (Page 329)

9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control
9-3
9
Fu
lly-close
d L
oop
Co
ntro
l
9.1.2 Internal Block Diagram of Fully-closed Loop Control
Internal block diagram of fully-closed loop control is shown below.
∗ The reference pulse input multiplication switching function is supported by software version 001A or later.
9.1.3 Serial Converter Unit
This section provides the specification of the serial converter unit.
(1) Model: JZDP-D00 - -E
Characteristics and Specifications
* 1. The current consumption of the external encoder is not included in this value.
The current consumption of the external encoder must be taken into consideration for the current
capacity of host controller that supplies the power.
* 2. Input a value within the specified range. Otherwise, incorrect position information is output, and the
device may be damaged.
* 3. The transmission is enabled 100 to 300 ms after the power turns ON.
A.d10
Pn200.0 Pn218 Pn20E
Pn210
Pn281
Pn000.1 Pn000.1
Pn216
Pn217
Torque
reference
Speed
reference
Position
reference
ENC
M
Encoder
output
pulse
Alarm
detection
Machine
SERVOPACK
Serial
conversion
External
encoder
Speed feedback
Refer-
ence
pulse
form Elec-
tronic
gear
B
A
Smooth-
ing
Divider
Error
counter
Position control section
Position feedback
Speed
control
section
Speed
conversion
Current
control
section
Power
amplifier
Current feedback
Servomotor
*
Reference
Pulse
Multiplier
× n
45
Items Specifications
Electrical
Characteristics
Power Supply Voltage +5.0 V ±5%, ripple content 5% max.
Current Consumption ∗1 120 mA Typ. 350 mA max.
Signal Resolution 1/256 pitch (1 cycle) of input 2-phase sine wave pitch
Max. Response Frequency 250 kHz
Analog Input Signals ∗2
(cos, sin, Ref)
Differential input amplitude: 0.4 V to 1.2 V
Input signal level: 1.5 V to 3.5 V
Output Signal
∗3 Position data, alarms
Output Method Serial data communications
Output Circuit
Balanced type transceiver (SN75LBC176 or the equivalent),
internal terminating resistor: 120
Ω
Mechanical
Characteristics
Approx. Mass 150 g
Vibration Resistance 98 m/s 2 max. (10 to 2500 Hz) in three directions
Shock Resistance 980 m/s 2 , (11 ms) two times in three directions
Environmental
Conditions
Surrounding air Temperature 0 °C to 55 °C
Storage Temperature -20 °C to +80 °C
Humidity 20% to 90%RH (without condensation)
Altitude 1000 m max.