position / speed mode - Harmonic Drive LLC

Chapter 3I/O ports
3-2-3 I/O port connections in the speed mode
This section describes the connections between the I/O ports and the host in the speed mode.
Inputs:
The HA -655 driver provides six ports
for inputs as shown in the figure to the
right.
Specifications
Voltage: DC24V10%
Current: 20mA or less
(for each terminal)
An input port circuit is shown in the
figure to the right. The ports marked
with (*) are available for absolute
encoder system only.
External
power
CLEAR
Servo-ON
FWD enable
REV enable
Command change
* ABS data request
* ABS (multi-turn)
data clear
Connection
The HA -655 driver does not provide
the power supply for input signals. A
[+24V] power supply for the signals to
[CN2-1: input signal common].
Outputs
The HA-655 driver provides eight ports
for outputs as shown in the figure to
the right.
Specifications
Port: Open collector
Voltage: DC24V or less
Current: 40mA or less
(for each port)
All ports are insulated by opto-isolators.
External
power supply
DC24V
0V
Attained speed
Alarm
Ready
Alarm codes
HA-655
IN+
IN
2.2k
10k
0.01F
TLP120
VoltageDC24V10%
Current20mA or less
(for each terminal)
An output circuit is shown in the figure
to the right.
Phase-Z
Output common
Connection
Connect output signals between their
respective output ports and [CN2-43:
output common] port.
CN2-33etc.
Ry
CN2-43
OUT-COM
74HC14
- 47 -