Chapter 2
Connector pin layout
- -
8
2-4
CN2 encoder and limit signal connector pin layout
P i n N o .
S i g n a l n a m e
D e s c r i p t i o n
1
2
3
4
PG-Vcc
E n c o d e r + 5 V P o w e r S u p p l y
+ 5 V p o w e r t o t h e e n c o d e r . S u p p l i e d f r o m
t h e i n s i d e o f t h e s e r v o a m p l i f i e r .
5
6
7
8
PG-0V E n c o d e r
P o w e r
C o m m o n
C o m m o n t e r m i n a l f o r t h e + 5 V p o w e r t o
t h e e n c o d e r .
9 A
P h a s e - A
I n p u t
10
A
P h a s e - A R e v e r s a l I n p u t
11 B
P h a s e - B
I n p u t
12
B
P h a s e - B R e v e r s a l I n p u t
13 Z
P h a s e - Z
I n p u t
14 Z
P h a s e - Z
R e v e r s a l
I n p u t
I n p u t t e r m i n a l f o r t h e e n c o d e r s i g n a l s f r o m
t h e a c t u a t o r ( l i n e r e c e i v e r i n p u t ) .
15 NC
16 NC
17
NC
18 NC
19 NC
20
NC
N o n T e r m i n a t i n g T e r m i n a l
N o t e 3
21 EPG-Vcc
E n c o d e r E x t e r n a l
( + 5 V ) S u p p l y P o w e r
U s e d t o s u p p l y t h e + 5 V p o w e r f r o m t h e
e n c o d e r f r o m t h e o u t s i d e . N o t e 2
A
c
tu
at
o
r en
c
ode
r i
n
pu
t
22 EPG-0V
E n c o d e r E x t e r n a l S u p p l y P o w e r
C o m m o n
C o m m o n t e r m i n a l t o s u p p l y t h e + 5 V
p o w e r f r o m t h e o u t s i d e . N o t e 2
23
MON-Vcc
+ 5 V E n c o d e r M o n i t o r P o w e r
U s e d t o s u p p l y t h e + 5 V e n c o d e r m o n i t o r
p u l s e f r o m t h e o u t l i n e .
24
MON-0V
E n c o d e r M o n i t o r P o w e r C o m m o n
+ 5 V p o w e r c o m m o n t e r m i n a l f o r e n c o d e r
m o n i t o r p u l s e o u t p u t .
25
MON-A
E n c o d e r M o n i t o r P h a s e - A O u t p u t
26
MON-B
E n c o d e r M o n i t o r P h a s e - B O u t p u t
Mo
nito
r Ou
tpu
t
27
MON-Z
E n c o d e r M o n i t o r P h a s e - Z O u t p u t
E n c o d e r m o n i t o r p u l s e o u t p u t ( o p e n
c o l l e c t o r o u t p u t ) .
28 NC
N o n - T e r m i n a t i n g
T e r m i n a l N o t e
3
29
LMT-Vcc
L M T S i g n a l P o w e r
U s e d t o s u p p l y t h e + 2 4 V l i m i t i n p u t p o w e r
f r o m t h e o u t s i d e .
30
ＮＣ
N o n - T e r m i n a t i n g T e r m i n a l
N o t e 3
31 FWD-LMT
F W D
I n h i b i t
T e r m i n a t i n g t e r m i n a l o f F W D s i d e r o t a t i o n
l i m i t s w i t c h .
32
ＮＣ
N o n - T e r m i n a t i n g T e r m i n a l
N o t e 3
33 REV-LMT
L E V
I n h i b i t
T e r m i n a t i n g t e r m i n a l o f R E V s i d e r o t a t i o n
l i m i t s w i t c h .
L
im
it i
npu
t
34
ＮＣ
N o n - T e r m i n a t i n g T e r m i n a l
N o t e 3
35
FG
36
FG F r a m e
G r o u n d
C o n n e c t e d t o t h e f r a m e a n d p o w e r s u p p l y
g r o u n d i n g t e r m i n a l .
Note 1: Connect the shielded wire to the connector's FG terminal or ground plate.
Note 2: When the internal encoder supply power voltage drops and it does not operate normally,
the external signal is supplied through this terminal. Use of this terminal requires changing
the driver's internal switch settings. For details of its use, consult with a business office of
Harmonic Drive Systems.
Note 3: Unavailable. Do not attempt to use this terminal
(1) Applicable terminal type for cable: Cover: 10336-52F0-008
Plug: 10136-3000VE (manufacturer: 3M)
(2) Applicable electric wire for cable: 0.2mm
2
or more shielded twisted pair cable
(3) Maximum wiring length: 10 m or less
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