P0-20 = 1 : Total count of pulses of phases A and B after P0-21 is set to quadruplicated frequency. Parameter functions: Set the count of output pulses per revolution of the motor. Parameter functions: Set the phase relation of output pulses between phase A and phase B and polarity of Z pulses when the rotating direction of the motor remains unchanged. bit0 = 0 : A is ahead of B when the motor rotates forward bit0 = 1 : B is ahead of A when the motor rotates forward bit1 = 0 : Z pulses are of high level, i.e. when output at the Z pulse port turns from low level to high level, it means the encoder reaches the origin of a single turn. bit1 = 1 : Z pulses are of low level, i.e.
when output at the Z pulse port turns from high level to low level, it means the encoder reaches the origin of a single turn. Parameter functions: Expand the width of Z pulses. When the upper computer cannot capture relatively narrow Z pulses, the width of the Z pulses may be expanded. 110 Technical Manual for EA190 Series Servo Driver V100 P0-2 1 Count of output pulses per revolution of the motor Initial value 2500 Communication address 0015H Unit Pulse Time of taking effect Taking effect upon power-on again Setting range 2,500ppr encoder: 30~2500 17~23-bit encoder: 30~8192 (P0-20 = 0) 17~23-bit encoder:
120~16383 (P0-20 = 1) Data size 16bit Control mode P S T For example, as shown in the right figure, 7 pulses are output respectively for phase A and phase B during one revolution of the motor. If P0-20 = 0, P0-21 shall be set to 7; if P0-20 = 1, P0-21 shall be set to 28.
Phase A Phase B P0-22 AB pulse output logic selection and Z pulse output polarity setting Initial value 00 Communication address 0016H Unit - Time of taking effect Taking effect upon power-on again Setting range 00B~11B Data size 16bit Control mode P S T P0-22 Forward Reverse P0-22 = x0 Phase A is ahead of phase B by 90° Phase B is ahead of phase A by 90° P0-22 = x1 Phase B is ahead of phase A by 90° Phase A is ahead of phase B by 90° P0-23 Z pulse width Initial value 0 Communication address 0017H Unit ms Time of taking effect Taking effect upon power-on again Setting range 0~3 Data size 16bit Control mode P S T As the width of Z pulses will reduce as the motor speed increases, the width of Z pulses may be adjusted based on the actual conditions for better accommodation to different upper computers.
When it is set to 0, it means the output of Z pulses is the original width of the encoder's Z signal. Z pulse Z pulse