12
Signal of CN2 terminal
Mode
Signal
Pin No.
Functions
Universal
Input Signals
S-ON
24
Servo ON: The motor is powered on.
A-CLR
21
Alarm clear: release servo alarms.
CCWL
19
CCW prohibited
Over-travel prohibited: Stop operation of servo motor
when it is on.
CWL
20
CW prohibited
CLE
1
Position deviation clearance input during position control.
INH
2
Pulse inhibition input
ZEROSPD
23
Zero-speed signal input
C-MODE
26
Control mode switch: Switch of two control modes.
COM+
22
I/O signal electric power supply; user needs to provide 24VDC power
supply.
Universal
Output Signals
ALM
5
Servo alarm: OFF when abnormal state is detected.
S_RDY
4
Servo ready: ON before S-ON if there is no alarm.
BRK_OFF
7
Release holding brake output.
ZO
8
Z phase signal open collector output.
COIN
3
Positioning reached (in position control mode) ; speed reached (in speed
control mode) .
TLC
27
Target torque reached.
ZSP
28
Zero speed output.
COM-
25, 40
Output signal common grounding terminal.
Position Control
PULS+
9
Pulse command input channel:
Pulse command can have three different input forms and can be selected
using PA28.
0
：
Sign
＋
pulse train
1
：
CCW+CW pulse train
2
：
A
＋
B pulse train
For 24VDC, use & PULS-, & SIGN-.
PULS-
10
SIGN+
11
SIGN-
12
38
39
Position
Feedback
OA+
44
A phase
signal
Encoder feedback pulse signal (A phase, B phase) and
divided by the driver for output. Dividing parameter is
PA25.
OA-
30
OB+
15
B phase
signal
OB-
14
OZ+
13
Z phase
signal
Origin pulse (Z phase) signal, pulse width can be widened
using PA30.
OZ-
29
Speed/Torque
Control
S-REF
33
Speed command voltage input (±10VDC)
T_REF
34
Torque command voltage input (±10VDC)
AGND
32, 36
Analog ground signal.
Analog Output
DAOUT
35
Analog signal output signal (0~10VDC)
RS485
Communication
RS+
16
RS485 communication terminal.
RS-
17
Notes: for I/O signals of unassigned pins, please refer to 3.2 CONTROL SIGNALS.
