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 />
3-2Speed <strong>mode</strong><br />
3-2-1 I/O port layout<br />
><br />
The I/O port layout is shown as follows:<br />
Do not use the pins marked “”.<br />
Pin Signal name Symbol I/O Pin Signal name Symbol I/O<br />
Input signal common IN-COM Input <br />
Clear CLEAR Input <br />
Servo-ON S-ON Input <br />
FWD enable FWD-EN Input <br />
REV enable REV-EN Input <br />
Command change CMD-CHG Input Speed command SPD-CMD Input<br />
NC Speed command ground SG-GND Input<br />
Input signal common IN-COM Input Attained <strong>speed</strong> HI-SPD Output<br />
Alarm ALARM Output<br />
Ready READY Output<br />
<br />
<br />
Alarm-A ALM-A Output<br />
Alarm-B ALM-B Output<br />
Alarm-C ALM-C Output<br />
Alarm-D ALM-D Output<br />
Phase-Z (OC) Z Output<br />
Output common OUT-COM Output<br />
Phase-A(LD) A+ Output<br />
Phase-A(LD) A- Output<br />
Phase-B(LD) B+ Output<br />
Phase-B(LD) B- Output<br />
Speed monitor SPD-MON Output Phase-Z(LD) Z+ Output<br />
Current monitor CUR-MON Output Phase-Z(LD) Z- Output<br />
Monitor ground GND Output Frame ground FG Output<br />
Note: OC: open collector, LD: line driver<br />
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