HarmonicDrive H A - 800A, Manual

Page: 134 / 314

5-4 Inputs in each control mode
5-17
1
2
3
4
5
6
7
8
9
10
11
Appe
I/O
si
gnal
s
5V
Supply voltage: +5V ± 10%
Input current (I): 16 mA, standard (20 mA or less)

If necessary, provide an external-current limiting resistor for each input signal
(FWD- and REV-).

With drivers of open collector type, the maximum response frequency is 200kHz
and duty is 50% ± 10%. Since the noise resistance drops compared to drivers
of line collector type, use of drivers of line collector type is recommended
whenever possible.
Pulse input system
3 input command signal patterns of 2-pulse train, single-pulse train and 2-phase pulse train are
available.
Set a desired pattern according to [SP42: Command pulse input pattern setting] (P8-5).

Even when a command pulse is input, the pulse will be ignored if the actuator's
servo is OFF.
(1) 2-pulse train (FWD/REV pulse train)
The FWD command is input to the FWD port, while the REV command is input to the REV port.
Forward command
pulse signal input
Reverse command
pulse signal input
Provided by
the customer
+5V
FWD+
FWD-
REV-
REV+
CN2
REV command
Opt-isolator: OFF
Opt-isolator: OFF
FWD command
FWD+
FWD-
75Ω
130
27
28
REV+
REV-
75Ω
130
29
30
CN2
26
27
28
29
30
75Ω
75Ω
130
130
2.2k
2.2k