HA-655 Series - Harmonic Drive LLC

Chapter 3I/O ports
3-1-3 I/O port connections in the position mode
This section describes the connection between the I/O ports and a host in the position mode.
Inputs:
The HA -655 driver provides six ports
for inputs as shown in the figure to the
right.
External
power
CLEAR
Specifications
Voltage: DC24V10%
Current: 20mA or less
(for each port)
Servo-ON
FWD inhibit
REV inhibit
An input port circuit is shown in the
figure to the right. The ports marked
with (*) are available for absolute
encoder system only.
* ABS data request
* ABS (multi0turn)
data clear
Connection
The HA -655 driver does not provide
the power supply for input signals.
Connect a [+24V] power supply for the
signals to [CN2-1: input signal
common].
External
power supply
DC24V
0V
HA-655
IN
2.2k
10k
0.01F
VoltageDC24V10%
Current20mA or less
(for each port)
In-position
Outputs:
Alarm
The HA-655 driver provides eight ports
for outputs as shown in the figure to
the right.
Ready
Specifications
Port: Open collector
Voltage: DC24V or less
Current: 40mA or less
(for each port)
Alarm codes
Phase-Z
All ports are insulated by opto-isolators.
Output common
An output port circuit is shown in the
figure to the right.
Connection
Connect output signals between their
respective output ports and [CN2-43:
output common] port.
CN2-33 etc
Ry
CN2-43
OUT-COM
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