HarmonicDrive H A - 800A, Manual

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5-4 Inputs in each control mode
5-16
1
2
3
4
5
6
7
8
9
10
11
Appe
I/O
si
gnal
s
5-4 Inputs in each control mode
The following explains the input signals corresponding to pins 26 to 34 of the CN2 connector for each
control mode (position command mode, speed command mode, and torque command mode).
Position command mode
Pulse train input connection pattern and power supply voltage
This parameter selects line driver connection, +24V input voltage or +5V open collector.
The driver has no internal power supply built in for input signals. Provide an external power supply.

Line collector type

Use a line driver conforming to the EIA-422A standard. If a line driver
conforming to other standard is used, the system may not operate correctly. In
such cases, consult us on technical details.

Open collector type
24V
Supply voltage: +24V ± 10%
Input current (I): 16 mA, standard (20 mA or less)
CN2
Reverse command pulse
signal input
Terminal voltage (Vin): Set to 3.5V or
more.
Am26LS31 (EIA422A) or
equivalent
2.2k
FWD+
REV+
FWD-
REV-
2.2k
Vin
Vin
75Ω
130
75Ω
130
26
27
28
29
30
Forward command pulse
signal input
CN2
Provided by
the customer
+24V
Forward command
pulse signal input
Reverse command
pulse signal input