Technical Manual for EA350 Analog Pulse Type Servo Driver V101 3.4.7 CN4 position command input signal Position command pulse input signal and command symbol input signal terminals in CN4 are described below. Table 3-6 Description of position pulse input signal Pulse command can be input by using the open-collector or the differential mode. In case of the differential mode, the maximum input pulse frequency is 500Kpps; in case of the open-collector mode, the maximum input pulse frequency is 200Kpps. For the pulse input terminal, it is required to set a filter time to prevent entry of interference signal into the servo driver resulting in malfunction of the motor.
For information on the filter time, refer to description of P1-15 function parameters. Different command input pulse forms have different timing sequence and time parameters. For details, see Table 3-7 and Table 3-8: Table 3-7 Timing sequence table of different command pulses Table 3-8 Pulse input time parameters 36 Signal name Pin number Function Position command PULSE+ 33 Input mode of pulse command: Differential input Input of open collector Input pulse form:
Direction + pulse A, B-phase orthogonal pulse CW/CCW pulse PULSE- 34 SIGN+ 31 SIGN- 32 PULHIP 1 External power input interface of command pulse PULHIS 16 +24V 25/40 24V power positive end COM 36 24V power ground Pulse command form Logic status Pulse waveform Pulse + direction P1-01=0 positive logic P1-01=1 negative logic Two-phase orthogonal pulse (quadruplicated frequency) P1-01=2 positive logic P1-01=3 negative logic Reverse CW+CCW pulse P1-01=4 positive logic Reverse P1-01=5 negative logic Maximum input frequency Minimum allowable width Voltage specification Pulse mode T1 T2 T3 T4 Difference 500Kpps 1µs 1µs 2µs 0.5µs 5V Open collector 200Kpps 2.5µs 2.5µs 5µs 1.25µs 24V(MAX)