Specifications

Chapter 4 Installing HA-655 driver
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4-9 Power ON and OFF sequences
Plan power ON and power OFF sequences with the timing shown in the figures below.
◆ Power ON sequence << for incremental encoder system >>
<< for absolute encoder system >>
Note 1: Both output signals of phase-A and phase-B are settled at LOW-level. To settle at LOW-level, at
least three pulses are outputted. Make a sequence for the host device ignoring outputted pulses
while the phase-Z is LOW-level before generating a unique pulse train, and during other
LOW-level duration of the phase-Z signal.
Note 2: An absolute pulse train for single-turn encoder is outputted after around 1 ms of outputting
phase-Z signal.
Note 3: The servo-ON signal is unaccepted until completing the transmission of a set of unique pulse
trains by the [absolute data request] signal.
Note 4: The [alarm 57] may occurs if the single-turn encoder rotates more than 127 resolvable position
while the multi-turn counter is transmitting a unique pulse train.
0ms(min)
4ms(max)
3ms(max)
0ms(min)
20ms(max)
Servo ON is available.
Commands are acceptable.
Control power OFF⇒ON
Main power OFF⇒ON
Ready outputting
Alarm outputting
Servo ON inputting
Commands inputting
Servo ON
available.
Main power OFF⇒ON
Control power OFF⇒ON
Ready outputting
Phase-Z outputting
Servo ON inputting
ABS data request
inputting
84µs
0ms(min)
4s(max)
3ms(max)
0ms(min)
10ms(max)
90ms(max)
840µs
90ms(max)
Note 4
Note 1
Multi
-
turn
data
Note
1
Single turn data
note 2
Phase-A, -B outputting
Alarm outputting
Incremental
data