position / speed mode - Harmonic Drive LLC

Chapter 3I/O ports
3-1-4 I/O port functions in the position mode
This section describes I/O port functions in the position mode.
CN2-1Input signal common: IN-COM (input)
Function
This is the common port for inputs: [CN2-2, -3, -4, -5, -10, -11]. Supply external power for inputs to this
the port.
Connection
Connect [+24V] external power supply for inputs here.
CN2-2Clear: CLEAR (input)
Function
(1) If alarm exists:
This clears the alarm state, returns to operable state, and clears the error count to [0]. For alarms
that cannot be cleared, shut off the control power once, and turn it on again.
(2) If no alarm exists:
This clears the error count to [0]. At the same time, this clears the command count and the feedback
count.
Connection
Connect [NO-contact signal (a-contact)]. Refer to [CN2-1: input signal common].
CN2-3Servo-ON: S-ON (input)
Function
This turns the servo power for the HA-655 driver ON and OFF.
When the input is ON, the servo power of the HA -655 driver is ON and the actuator can be driven. When
OFF, the servo power turns OFF and the motor is free to rotate.
Connection
Connect [NO-contact signal (a-contact)]. Refer to [CN2-1: input signal common].
CN2-4FWD inhibit: FWD-IH (input)
CN2-5REV inhibit: REV-IH (input)
Function
[FWD inhibit]: open state (OFF) of the input inhibits forward rotation.
[REV inhibit]: open state (OFF) of the input inhibits reverse rotation.
Open states (OFF) of both inputs inhibit rotation.
The inputs may be used to limit the motion range between limit sensors.
REV inhibit
FWD inhibit
Motion range
Connection
Normally, connect [NC-contact signal (b-contact)]. Refer to [CN2-1: input signal common].
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