position / speed mode - Harmonic Drive LLC

Chapter 1Outlines of the HA-655 driver
Position mode
Speed mode
Pin Signal Symbol I/O Pin Signal Symbol I/O
Input signal common IN-COM Input Input signal common INPUT-COM Input
Clear CLEAR Input Clear CLEAR Input
Servo-ON S-ON Input Servo-ON S-ON Input
FWD inhibit FWD-IH Input FWD enable FWD-EN Input
REV inhibit REV- IH Input REV enable REV-EN Input
Command change CMD-CHG Input
Input signal common IN-COM Input Input signal common IN-COM Input
Absolute data request ABS-REQ Input Absolute data request ABS-REQ Input
Abs(multi-turn)data clear ABS-CLEAR Input Abs(multi-turn)data clear ABS-CLEAR Input
Speed monitor SPD-MON Output Speed monitor SPD-MON Output
Current monitor CUR-MON Output Current monitor CUR-MON Output
Monitor ground GND Output Monitor ground GND Output
+24V +24V Input
FWD pulse FWD+ Input
FWD pulse FWD- Input
REV pulse REV+ Input
REV pulse REV- Input
Speed command SPD-CMD Input
Speed command ground SG-GND Input
In-position IN-POS Output Attained speed HI-SPD Output
Alarm ALARM Output Alarm ALARM Output
Ready READY Output Ready READY Output
Alarm-A+ ALM-A Output Alarm-A ALM-A Output
Alarm-B ALM-B Output Alarm-B ALM-B Output
Alarm-C ALM-C Output Alarm-C ALM-C Output
Alarm-D ALM-D Output Alarm-D ALM-D Output
Phase-Z (OC) Z Output Phase-Z (OC) Z Output
Output common OUT-COM Output Output common OUT-COM Output
Phase-A(LD) A+ Output Phase-A(LD) A+ Output
Phase-A(LD) A- Output Phase-A(LD) A- Output
Phase-B(LD) B+ Output Phase-B(LD) B+ Output
Phase-B(LD) B- Output Phase-B(LD) B- Output
Phase-Z(LD) Z+ Output Phase-Z(LD) Z+ Output
Phase-Z(LD) Z- Output Phase-Z(LD) Z- Output
Frame ground FG Output Frame ground FG Output
Note: OC: open collector port, LD: line driver port
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