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