position / speed mode - Harmonic Drive LLC
position / speed mode - Harmonic Drive LLC
position / speed mode - Harmonic Drive LLC
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Chapter 4 Installing HA-655 driver<br />
4-8-3 Pin layouts of the I/O signal connector (CN2)<br />
The <strong>mode</strong>ls and the pin layout of the encoder connector are as follows:<br />
Plug: <strong>mode</strong>l: 10150-3000VE manufacturer: 3M<br />
Shell: <strong>mode</strong>l: 10350-52F0-008 manufacturer: 3M<br />
Position <strong>mode</strong><br />
25<br />
GND<br />
50<br />
FG<br />
24<br />
CUR<br />
-MON<br />
23<br />
SPD<br />
-MON<br />
22<br />
21<br />
49<br />
Z B<br />
47<br />
48<br />
Z+<br />
46<br />
B+<br />
20 18 16<br />
19 17 15<br />
45<br />
A OUT-<br />
43<br />
COM<br />
44<br />
A+<br />
42<br />
Z<br />
41<br />
ALM<br />
-D<br />
40<br />
ALM<br />
-C<br />
14 12 10<br />
ABS-<br />
39<br />
ALM<br />
-B<br />
13 11<br />
ABS-<br />
CLEAR<br />
37<br />
READY<br />
38<br />
ALM<br />
-A<br />
8<br />
INPUT<br />
REQ COM<br />
9 7<br />
35 33<br />
IN-<br />
36 34<br />
ALARM<br />
POS<br />
32<br />
6 4<br />
FWD-<br />
IH<br />
5<br />
REV-<br />
IH<br />
31 29<br />
REV+<br />
30<br />
REV-<br />
3<br />
S-ON<br />
2<br />
CLEAR<br />
28<br />
FWD-<br />
27<br />
FWD+<br />
1<br />
INP-<br />
COM<br />
26<br />
+24V<br />
Speed <strong>mode</strong><br />
Note 1: The layout shows the soldering side.<br />
Note2: ABS-REQ and ABS-CLEAR are available for the absolute encoder system.<br />
25<br />
GND<br />
50<br />
FG<br />
24<br />
CUR<br />
-MON<br />
23<br />
SPD<br />
-MON<br />
19 17 15<br />
4-8-4Connecting cables for the encoder and I/O signals<br />
Firmly connect both connectors of the<br />
encoder cable and the I/O signal cable to<br />
[CN1] and [CN2] sockets respectively.<br />
22<br />
21<br />
49<br />
Z B<br />
47<br />
48<br />
Z+<br />
46<br />
B+<br />
20 18 16<br />
45<br />
A OUT-<br />
43<br />
COM<br />
44<br />
A+<br />
42<br />
Z<br />
41<br />
ALM<br />
-D<br />
40<br />
ALM<br />
-C<br />
14 12 10<br />
ABS-<br />
39<br />
ALM<br />
-B<br />
8 6 4 2<br />
REQ<br />
INPUT<br />
COM<br />
CMD-<br />
CHG<br />
FWD- CLEAR<br />
EN<br />
9 7 5<br />
REV-<br />
3<br />
S-ON<br />
1<br />
INP-<br />
CLEAR<br />
EN<br />
COM<br />
35 33 31 29 27<br />
HI- SPD-<br />
SPD COM<br />
30 28 26<br />
13 11<br />
ABS-<br />
37<br />
READY<br />
38<br />
ALM<br />
-A<br />
36 34<br />
ALARM<br />
32<br />
SG-<br />
COM<br />
Note 1: The layout shows the soldering side.<br />
Note2: ABS-REQ and ABS-CLEAR are available for the absolute encoder system.<br />
CN2 socket<br />
I/O signal connector<br />
CN1 socket<br />
Encoder connector<br />
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