HarmonicDrive H A - 800A, Manual

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5-1 I/O signal list
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5-1 I/O signal list
This unit communicates with the host device via the CN2 connector. The following explains the I/O
signals used in this communication.
Pin numbers and names of I/O signals
The CN2 pin numbers and corresponding signal names are shown in the table below. Functions can
be set and assigned to input signals (pins 3 to 7, 9 and 10) and output signals (pins 16 to 22) using
system mode parameters 1 and 2.
The parentheses after each signal name indicate the function assigned by default setting.
Pin
No.
Signal Symbol
Input
Output
Pin
No.
Signal Symbol
Input
Output
1 Input signal common IN-COM Input 26 +24V +24V Input
2 Servo-ON S-ON Input 27 FWD pulse+ FWD+ Input
3 Input 2 (alarm reset) IN2 Input 28 FWD pulse- FWD- Input
4
Input 3 (deviation
counter clear)
IN3 Input 29 REV pulse+ REV+ Input
5 Input 4 (FWD inhibit) IN4 Input 30 REV pulse- REV- Input
6 Input 5 (REV inhibit) IN5 Input 31 Speed command
input
SPD-CMD Input
7
Input 6 (FWD
enable/selection)
IN6 Input 32 Speed command
ground
SPD-GND Input
8 Input signal common IN-COM Input 33 Torque command
input
TRQ-CMD Input
9
Input 7 (REV
enable/selection)
IN7 Input 34 Torque command
ground
TRQ-GND Input
10 Input 8 (control
mode selection)
IN8 Input 35 ― ― ―
11 ― ― ― 36 ― ― ―
12 ― ― ― 37 ― ― ―
13 ― ― ― 38 ― ― ―
14 ― ― ― 39 ― ― ―
15 ― ― ― 40 Current value data
(LD)
POS-DAT+ Output
16
Output 1
(operation
preparation
complete)
OUT1 Output 41 Current value data
output- (LD)
POS-DAT- Output
17 Output 2
(servo-ON
input enable)
OUT2 Output 42 Phase output-A+ (LD) A+ Output
18 Output 3
(alarm)
OUT3 Output 43 Phase output-A- (LD) A- Output
19
Output 4
(in-position
complete)
OUT4 Output 44 Phase output-B+ (LD) B+ Output
20 Output 5
(torque
limiting)
OUT5 Output 45 Phase output-B- (LD) B- Output
21 Output 6
(zero
speed output)
OUT6 Output 46 Phase output-Z+ (LD) Z+ Output
22 Output 7
(warnings)
OUT7 Output 47 phase output-Z- (LD) Z- Output
23 Phase Z open
collector output
Z (OC) Output 48 Monitor COM MON-COM Output
24 Output signal
common
OUT-COM Output 49 Ground FG Output
25 Output signal
common
OUT-COM Output 50 Ground FG Output
OC indicates open collector, while LD indicates line driver.
Do not connect the pins marked "-". These pins are connected to internal circuits, so connecting them may result
in failure.