position / speed mode - Harmonic Drive LLC

Chapter 3I/O ports
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The I/O port layout is shown as follows:
Do not use the pins marked “”.
Pin Signal name Symbol I/O Pin Signal name Symbol I/O
Input signal common IN-COM Input +24V +24V Input
Clear CLEAR Input FWD pulse+ FWD+ Input
Servo-ON S-ON Input FWD pulse FWD- Input
FWD inhibit FWD-IH Input REV pulse REV+ Input
REV inhibit REV- IH Input REV pulse REV- Input
Input signal common IN-COM Input In-position IN-POS Output
Alarm ALARM Output
Absolute data request ABS-REQ Input
Abs(multi-turn)data clear ABS-CLEAR Input
Ready READY Output
Alarm-A+ ALM-A Output
Alarm-B ALM-B Output
Alarm-C ALM-C Output
Alarm-D ALM-D Output
Phase-Z (OC) Z Output
Output common OUT-COM Output
Phase-A(LD) A+ Output
Phase-A(LD) A- Output
Phase-B(LD) B+ Output
Phase-B(LD) B- Output
Speed monitor SPD-MON Output Phase-Z(LD) Z+ Output
Current monitor CUR-MON Output Phase-Z(LD) Z- Output
Monitor ground GND Output Frame ground FG Output
Note: OC: open collector port, LD: line driver port
3-1-2Models of I/O port connector CN2
The models of the CN2 connector is as follows:
Connector: 10150-3000VE 3M
Cover: 10350-52F0-008 3M
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