User`s manual

Installation and wiring
3
3-26
3. Installation and wiring
5) Position sensor monitor signal
• The position sensor signal is output as phase A, B, and Z signals. The line driver
output signals (OAP-OAN, OBP-OBN, OZP-OZN) should be connected to the line
receiver (input impedance: 220 to 330
Ω
) as shown in Figure (a) below. The open
collector output signal (OZ-L) should be connected to the input device as shown
in Figure (b). Use a shielded, twisted pair cable for each position sensor monitor
signal cable. Connect the cable shield to ground (
) on the robot driver side. (The
I/O connector case of the robot driver is internally connected to the ground.)
2.2k7
OAP,
OBP,
OZP,
OAN,
OBN,
OZN,
OZ
L
R
R=220
to 3307
L
L
Open collector
High-speed
photocoupler
SIGN
Logic ground
(b) Open collector output signal connection
External power
supply
(DC24V)
Robot driver
Shielded cable
Connector
case
(a) Line driver output signal connection
Robot driver
Shielded cable
Line driver
(AM26LS31 or equivalent)
Line receiver
(AM26LS32 or equivalent)
• This signal is output as a high speed signal (1MHz for phase A and B signals)
depending on the division ratio setting for the position sensor monitor signal. So
use a noise-shielded cable and a receiving circuit designed to handle high-speed
signals. When the open collector output of phase Z signal is received by a
photocoupler, be sure to use a high-speed photocoupler (1MHz or more).
• The cable length for this signal should be 3 meters or less. Install this wiring as far
apart as possible from the main circuit cable and the relay control cable.
• Do not short the line driver output signals to each other or connect them to
another power supply. The robot driver may fail.
• Electrical specifications for the line driver signal output conform to those of
general-purpose line drivers (AM26LS31 or equivalent). Electrical specifications
for the phase Z detection signal of the open collector are shown in the following
table.
Item Unit Minimum Maximum Condition
Output power supply voltage V4 30
Output current at ON mA 0 50
Leakage current at output OFF mA 0 0.1
Output saturation voltage at ON V 0 0.4 Output current 50mA