position / speed mode - Harmonic Drive LLC

Chapter 3I/O ports
CN2-31Speed command: SPD-CMD(input)
Function
Input the speed command voltage signal which is obtained by [parameter mode][9: speed conversion
factor].
Speed conversion factorV
Motor speed Speed
command voltage ×
10.0
The direction of rotation is specified by the polarity (+/-) of the speed command and input signals of
[CN2-4 FWD enable: FWD-EN ] and [CN2-5 REV enable: REV-EN].
While the [FWD enable]: is ON the actuator rotates forward when the [CN2-31 Speed 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 the [CN2-31Speed command: SPD-CMD]
is [+]. In contrast, the actuator rotates forward when the [CN2-31] is [-].
When both signals [FWD enable] and [REV enable] are ON or OFF, depending on the setting of
[parameter mode][7: zero clamp], the actuator is either holding the position (setting:1) or zero speed
(setting: 0).
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
Connect the voltage signal to the [CN2-31: speed
command: SPD-COM] and the [CN2-32: SG-GND].
CN2-31
CN2-32
SPD-COM
Plan the command circuit referring to the examples below.
SG-GND
By a potentiometer
R: 1/2W330
VR: 25HP-1; 2k by Sakae
Multi-turn wire-wound
potentiometer
R
15V
VR
15V
R
SPD-COM
CN2-31
CN2-32
SG-GND
By host command
+10Vto
10V
CN2-31
CN2-32
SPD-COM
SG-GND
CN2-32Speed command common: SG-GND(input)
Function
The port is the common ground for the [CN2-31 speed command: SPD-CMD].
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