position / speed mode - Harmonic Drive LLC
position / speed mode - Harmonic Drive LLC
position / speed mode - Harmonic Drive LLC
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Chapter 3I/O ports<br />
Chapter 3I/O ports<br />
Through the CN2 connector (50 pins; half pitch) the HA -655 driver communicates with a host. Details of<br />
the I/O ports are described in this chapter.<br />
As the functions of the pins of the connector differ in each control <strong>mode</strong>, the functions are described<br />
separately by <strong>mode</strong>s.<br />
3-1Position <strong>mode</strong><br />
3-1-1 I/O port layout<br />
><br />
The I/O port layout is shown as follows:<br />
Do not use the pins marked “”.<br />
Pin Signal name Symbol I/O Pin Signal name Symbol I/O<br />
Input signal common IN-COM Input +24V +24V Input<br />
Clear CLEAR Input FWD pulse FWD+ Input<br />
Servo-ON S-ON Input FWD pulse FWD- Input<br />
FWD inhibit FWD-IH Input REV pulse REV+ Input<br />
REV inhibit REV- IH Input REV pulse REV- Input<br />
<br />
<br />
Input signal common IN-COM Input In-<strong>position</strong> IN-POS Output<br />
Alarm ALARM Output<br />
<br />
<br />
<br />
Alarm-A+ ALM-A Output<br />
Alarm-B ALM-B Output<br />
Alarm-C ALM-C Output<br />
Alarm-D ALM-D Output<br />
Phase-Z (OC) Z Output<br />
Output common OUT-COM Output<br />
Phase-A(LD) A+ Output<br />
Phase-A(LD) A- Output<br />
Phase-B(LD) B+ Output<br />
Phase-B(LD) B- Output<br />
Speed monitor SPD-MON Output Phase-Z(LD) Z+ Output<br />
Current monitor CUR-MON Output Phase-Z(LD) Z- Output<br />
Monitor ground GND Output Frame ground FG Output<br />
Note: OC: open collector port, LD: line driver port<br />
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