position / speed mode - Harmonic Drive LLC

Chapter 3I/O ports
Connection for open collector commands and +24V power supply
(1) Connect FWD command to
[CN2-28: FWD] and [+24V].
User’s power supply
(2) Connect REV command to
[CN2-30: REV] and [+24V].
(3) Connect [+24V] of external power
supply to [CN2-26: +24V].
(4) Plan the command circuit for the ports
as follows:
Supply voltage: +24V10%
Signal current: 16mA (less than 20mA)
FWD command
pulses
REV command
pulses
Connection for open collector commands and +5V power supply
(1) Connect FWD command to [CN2-27: FWD+]
and [CN2-28: FWD].
(2) Connect REV command to [CN2-29: REV+]
and [CN2-30: REV].
(3) Open [CN2-26: +24V].
(4) Plan the command circuit for the ports as
follows:
Supply voltage: +5V10%
Signal current: 16mA (less than 20mA)
FWD command
pulses
REV command
pulses
+5V power supply & external
resistance R1, R2 are
user’s responsibility.
CAUTION
The connections are deferent by the supply voltage.
The pin numbers to be connected are deferent by the supply voltage of [+5V] or [+24V].
The wrong connection may damage the driver.
CN2-33In-position: IN-POS (output)
Function
The signal is outputted when the error count becomes less than the value of [tune mode][4: -position in
range]. The output may be used to confirm proper positioning.
Connection
(1)The figure to the right is a connection
example of [CN2-33 in-position:
IN-POS] port.
Ry
CN2-33
HA-655
IN-POS
TLP127
(2)Plan the output circuit for the ports as
follows:
Supply voltage: +24V or less
Signal current: 40mA or less
(for each port)
CN2-43
OUT-COM
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