5.3 Speed Control5-295 Operation5.3.6 Encoder Output PulsesThe encoder pulse output is a signal that is output from the encoder and processed inside the SERVOPACK. Itis then output externally in the form of two phase pulse signal (phases A and B) with a 90° phase differential.It is used as the position feedback to the host controller.Signals and output phase form are as shown below.(1) Signals(2) Output Phase FormNote: The pulse width for phase C (origin pulse) changes according to the setting of the encoder output pulses (Pn212) andbecomes the same as that for phase A.Even in reverse rotation mode (Pn000.0 = 1), the output phase form is the same as that for the standard setting(Pn000.0 = 0) above.Type SignalNameConnectorPin Number Name RemarksOutputPAO CN1-33 Encoder output pulse: phase A These encoder pulse output pins out-put the number of pulses per motorrevolution that is set in Pn212. PhaseA and phase B are different fromeach other in phase by an electricangle of 90°./PAO CN1-34PBO CN1-35Encoder output pulse: phase B/PBO CN1-36PCO CN1-19 Encoder output pulse: phase C One pulse is output per motor rota-tion./PCO CN1-20ENCCN1 CN2PAOPBOPCOSERVOPACKHost controllerSerialdataConvertsserialdata topulse.Dividingcircuit(Pn212)RotationIf using the SERVOPACK’s phase-C pulse output for a zero point return, rotate the ser-vomotor two or more times before starting a zero point return. If the servomotor cannotbe rotated two or more times, perform a zero point return at a motor speed of 600 min-1or below. If the motor speed is faster than 600 min -1 , the phase-C pulse may not be out-put correctly.Phase APhase BPhase C90°tPhase APhase BPhase C90°tForward rotation (phase B leads by 90°) Reverse rotation (phase A leads by 90°)
