User`s manual

Functions
5
5-26
5. Functions
5.8 Position sensor monitor function
The position sensor monitor signals OA and OB, which are obtained by dividing the
position sensor "phase A" and "phase B" signals, are output as a line driver output.
The "phase Z" signal is directly output as OZ as a line driver output and an open
collector output.
The position sensor monitor signal is processed by a pulse divider whose division ratio
M/N can be set by the "Position sensor monitor resolution M, N" (FC-09), (FC-10). The
division ratio can be 1/N (N=1 to 64), 2/N (N=3 to 64) or M/8192 (M=1 to 8191). (Note
3) If the division ratio M/N is set in an invalid combination, then no position sensor
monitor signal is output and a mismatch error (E40) occurs. The OZ signal of phase Z is
not divided here. On the FLIP-X series, 1 pulse is output per 1/4 of revolution. On the
PHASER series, an output occurs when the robot passes through phase ZM near both
ends of the robot.
The "phase Z" signal of the position sensor transits the internal circuits within the robot
driver and is output as is (unchanged). Regarding the phase difference between the OA
and OB signals of phase A and phase B and the direction the robot moves, phase B leads
phase A (default setting) during forward run. But this can be changed by setting the
parameter (FC-11) so that phase A leads phase B.
FC-11
M
FC-10
OA
OB
OZ
FC-09
N
Pulse
divider
Phase
direction
decision
circuit
Phase A
Phase B
Phase Z
Position sensor
monitor
Phase
direction
M/N setting range
Position sensor monitor
division ratio
Invalid combinationMN
FC-09 FC-10
1
(Note 1)
1 to 64 1/N FC-10 = 65 to 8192
2
(Note 1)
3 to 64 2/N FC-10 = 1, 2, 65 to 8192
1 to 8191 8192
(Note 1)
M/8192
FC-09 = 8192
FC-10 = 1 to 8191
Note 1: The position sensor monitor division ratio is M/8192 in the case of FC-10 = 8192.
When FC-10 is not 8192 then the position monitor sensor division ratio to set to
1/N or 2/N according to the FC-09 setting.
Note 2: If FC-09, FC-10 or FC-11 was changed then turn the control power supply off and
then back on again. The correct waveform is not output unless the power is turned
off and then back on.
Note 3: The position sensor monitor output signals OAP, OAN, OBP, OBN, OZP, OZN
and OZ are not available for about 3 seconds after the control power supply is
turned on. If monitoring from a master control device then start monitoring from
about 3 seconds after turning on the control power supply.
The logic output for each signal is as follows.
Logic
Current path of line driver output
(OAP, OAN, OBP, OBN, OZP, OZN)
Open collector output
Transistor operation (OZ)
1 OAP
→
OAN OBP
→
OBN OZP
→
OZN ON (closed)
0 OAP
←
OAN OBP
←
OBN OZP
←
OZN OFF (open)