position / speed mode - Harmonic Drive LLC

Chapter 3I/O ports
CN2-4FWD enable: FWD-EN (input)
CN2-5REV enable: REV-EN (input)
Function
While the [FWD enable] is [ON] the actuator rotates forward when the [CN2-31speed command:
SPD-CMD] is [+]. In contrast, the actuator rotates in reverse for the [CN2-31] is [-].
While the [REV enable] is [ON] the actuator rotates in reverse when the [CN2-31speed command:
SPD-CMD] is [+]. Conversely, the actuator rotates forward when the [CN2-31] is [-].
When both signals of [FWD enable] and [REV enable] are [ON] or [OFF], the actuator is holding the
position or zero speed depending on the setting of [parameter mode][7: zero clamp].
CN2-31 Speed cmd.: SPD-CMD Command Command
CN2-4FWD enable:FWD-EN ON OFF ON OFF
CN2-5 REV enable: ON Zero clamp, zero speed REV rotation Zero clamp, zero speed FWD rotation
REV-EN OFF FWD rotation Zero clamp, zero speed REV rotation Zero clamp, zero speed
Connection
Refer to [CN2-1: input signal common].
CAUTION
Servo-free state occurs at alarm occurrences during no power
supply for the main circuit or the control circuit, or no servo-ON
signal. If large unbalanced load is applied to actuators, the
servo-free state may cause physical injury.
CN2-6Command change: CMD-CHG(input)
Function
The function can operate the actuator without a command signal at the speed specified by [tune mode]
[6: internal speed command].
OFF:
ON:
command speed
internal speed
Connection
Refer to [CN2-1: input signal common].
CN2-8Input common: IN-COM(input)
Function
The same functions as CN2-1
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