position / speed mode - Harmonic Drive LLC

Chapter 3I/O ports
CN2-8Input common: IN-COM(input)
Function
The same functions as CN2-1
CN2-10absolute data request: ABS-REQ(input) *absolute encoder system only
Function
The input is used for a command to output a current resolving count of the encoder.
CN2-11ABS (multi-turn) data clear: ABS-CLEAR(input) *absolute encoder system only
Function
The input uses for a command to clear a current resolving count of the multi-turn counter to zero.
CN2-23Speed monitor: SPD-MON (output)
Function
The port outputs a voltage signal proportional to the motor speed. The actual motor speed is obtained by
the following formula:
Speed
Motor speed = Command voltage ×
conversion
10.0V
factor
Specifications of output:
Voltage range: -15V to +15V
Output impedance: 1k
Connection
Connect the monitor to the ports of [CN2-23: speed
monitor: SPD-MON] and [CN2-25: GND].
SPD-MON
CN2-23
CN2-25
GND
CN2-24Current monitor: CUR-MON (output)
Function
The port outputs a voltage signal proportional to the motor current. The relation between the voltage and
the current is set so that the monitor voltage of [+10V] corresponds to the actuator maximum current.
Monitor voltage(V) Actuator current×
10
Actuator maximumcurrent
Specifications of output:
Voltage range: -15V to +15V
Output impedance: 1k
Connection
Connect the monitor to [CN2-24: current monitor:
CUR-MON] and [CN2-25: GND].
CN2-25Monitor ground: GND
Function
This is the common port for the monitor ports [CN2-23, -24].
CUR-MON
CN2-24
CN2-25
GND
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