User manual

13 Monitor functions
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13 Monitor functions
This chapter explains the functions to check the motor conditions, such as motor position, detected speed and
detected torque. The monitor functions described herein are available in all control modes.
13.1 Encoder output
The motor position can be checked by counting the numbers of ASG output and BSG output pulses.
The BSG output has a 90° phase difference with respect to the ASG output.
The ZSG1 output and ZSG2 output will turn ON every time the motor rotates by one revolution.
ON
OFF
ZSG1 output
ZSG2 output
ON
OFF
ON
OFF
BSG output
ASG output
CW rotation CCW rotation
90°
Note
• There is a maximum delay of 0.1 ms between pulse output and motor movement.
Accordingly, use the ASG output and BSG output for checking the position where the
motor is stopped.
• The minimum output band is approx. 400 µs for both the ZSG1 output and ZSG2
output.
• If the ZSG1 output and ZSG2 output are used, keep the frequencies of the ASG output
and BSG output to below 1 kHz. If the ASG and BSG frequencies are 1 kHz or higher,
the ZSG1 and ZSG2 signals may not be output properly.
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Resolution of encoder output
You can set a desired resolution of encoder output using the system parameters for encoder output electronic
gear A [SyS-0-02] and encoder output electronic gear B [SyS-0-03].
However, the calculated value must fall within the setting range specified below:
Resolution setting range: 100 to 10000 P/R
Initial value: 1000 P/R
Encoder output electronic gear B [SyS-0-03]
Encoder output electronic gear A [SyS-0-02]
Encoder output resolution [P/R] = 1000 ×
Setting example
Resolution (P/R) Encoder output electronic gear A Encoder output electronic gear B
1000 1 (initial value) 1 (initial value)
100 10 1
360 100 36