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3. SIGNALS AND WIRING
3.4 Detailed description of the signals
3.4.1 Position control mode
(1) Pulse train input
(a) Input pulse waveform selection
Encoder pulses may be input in any of three different forms, for which positive or negative logic
can be chosen. Set the command pulse train form in parameter No. 21.
Arrow
or in the table indicates the timing of importing a pulse train.
A- and B-phase pulse trains are imported after they have been multiplied by 4.
Pulse train form
Forward rotation
command
Reverse rotation
command
Parameter No. 21
(Command pulse train)
Forward rotation
pulse train
Reverse rotation
pulse train
PP
NP
0010
Pulse train sign
PP
NP
L
H
0011
Negative logic
A-phase pulse train
B-phase pulse train
PP
NP
0012
Forward rotation
pulse train
Reverse rotation
pulse train
PP
NP
0000
Pulse train sign
PP
NP
H
L
0001
Positive logic
A-phase pulse train
B-phase pulse train
PP
NP
0002