A
A
C
C
S
S
8
8
0
0
6
6
D
D
i
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g
g
i
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t
t
a
a
l
l
A
A
C
C
S
S
e
e
r
r
v
v
o
o
d
d
r
r
i
i
v
v
e
e
M
M
a
a
n
n
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R
R
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v
v
1
1
.
.
0
0
Tel: (86)755-26434369
6
Website: www.leadshine.com
RS232 Communication Connector
Pin
Signal
Description
I/O
1
NC
Not connected
-
2
+5V
+5V power only for STU.
O
3
TxD
RS232 transmit.
O
4
GND
Ground.
GND
5
RxD
RS232 receive.
I
6
NC
Not connected
-
More about I/O Signals
Signal
Description
ENA+/ENA-
Enable input signal. This signal used for enabling/disabling the drive. High level
for enabling the drive and low level for disabling the drive. Usually left
UNCONNECTED
(ENABLED).
PUL+/PUL-
Pulse input signal. In single pulse (pulse/direction) mode, this input represents
pulse signal, each rising or falling edge active (software configurable); 4-5V when
PUL-HIGH, 0-0.5V when PUL-LOW. In double pulse mode (pulse/pulse) , this
input represents clockwise (CW) pulse
，
active at both high level and low level . For
reliable response, pulse width should be longer than 0.85
μ
s. Series connect
resistors for current-limiting when +12V or +24V used. The same as DIR and ENA
signals.
DIR+/DIR-
Directions input signal. In single-pulse mode, this signal has low/high voltage
levels, representing two directions of motor rotation; in double-pulse mode
(software configurable), this signal is counter-clock (CCW) pulse
，
active at both
high level and low level. For reliable motion response, DIR signal should be ahead
of PUL signal by 5
μ
s at least. 4-5V when DIR-HIGH, 0-0.5V when DIR-LOW.
FL/RL
Positive or negative limit input signal. Use signal ground for reference. 0-0.5V is
Low level input and 4-5V is High Level input. The active level can be set with
configuration tools such as ProTuner, STU-ACS. If active at low level, FL/RL must
be kept at high level for normal drive operation, and the drive will short-circuit the
motor coils to stop the motor immediately when FL/RL turn to low level. If active
at high level, FL/RL must be kept at low level for normal drive operation, and the
drive will short-circuit the motor coils to stop the motor immediately when FL /RL
turn to high level. Please select active at high level when RL/RL is not connected.
A
A
C
C
S
S
8
8
0
0
6
6
D
D
i
i
g
g
i
i
t
t
a
a
l
l
A
A
C
C
S
S
e
e
r
r
v
v
o
o
d
d
r
r
i
i
v
v
e
e
M
M
a
a
n
n
u
u
a
a
l
l
R
R
e
e
v
v
1
1
.
.
0
0
Tel: (86)755-26434369
7
Website: www.leadshine.com
Pend+/Pend-
In position signal output. OC output, high impedance when the position error is
more than 2 pulses and low impedance when the position error is less than 2 pluses.
ALM+/ALM-
Alarm signal output. OC output, high impedance when the working status is
normal and low impedance when over-voltage, over-current, phase error, encoder
error, limit error, position following error happens.
A+/A-/B+
/B-/Z+/Z-
Encoder feedback signals output, usually offered to the controller for external
velocity/position loop.
ENA, PUL, DIR Input Circuits and Connections
The ACS806 has 3 differential logic inputs to accept Enable, Pulse and Direction
control signals. These inputs are isolated to minimize or eliminate electrical noises
coupled onto the control signals. Recommend use twisted wires and shielding cable
for control signals to increase noise immunity in interference environments. Keep
these wires far away from the power lines. In figure 2, input circuit for these control
signals and connections to a typical motion controller is illustrated. Figure 3
illustrates connections to the controller with common-anode outputs.
Figure 2: Connections to controller with differential outputs
