6 - 9
6. DISPLAY AND OPERATION
(a) Control modes and I/O signals
(Note 2) Symbols of I/O Signals in Control Modes
Connector
Pin No.
Signal
Input/Output
(Note 1) I/O
P
P/S
S
S/T
T
T/P
8
I
CR
CR/SP1
(Note 3)
SP1
SP1
(Note 3)
SP1
SP1/CR
14
O
OP
OP
OP
OP
OP
OP
(Note 6, 8) 18
O
INP
INP/SA
SA
SA/
/INP
CN1A
(Note 8) 19
O
RD
RD
RD
RD
RD
RD
(Note 9) 4
O
DO1
DO1
DO1
DO1
DO1
DO1
(Note 7) 5
I
SON
SON
SON
SON
SON
SON
(Note 6) 6
O
TLC
TLC
TLC
TLC/VLC
VLC
VLC/TLC
(Note 7) 7
I
LOP
SP2
LOP
SP2
LOP
(Note 7) 8
I
PC
PC/ST1
(Note 4)
ST1
ST1/RS2
(Note 4)
RS2
RS2/PC
(Note 7) 9
I
TL
TL/ST2
(Note 5)
ST2
ST2/RS1
(Note 5)
RS1
RS1/TL
(Note 7) 14
I
RES
RES
RES
RES
RES
RES
15
I
EMG
EMG
EMG
EMG
EMG
EMG
16
I
LSP
LSP
LSP
LSP/
/LSP
17
I
LSN
LSN
LSN
LSN/
/LSN
(Note 6) 18
O
ALM
ALM
ALM
ALM
ALM
ALM
CN1B
(Note 6, 8) 19
O
ZSP
ZSP
ZSP
ZSP
ZSP
ZSP
CNP2
9
O
B1
B1
B1
B1
B1
B1
Note:1. I : Input signal, O: Output signal
2. P : Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed control change mode, S/T:
Speed/torque control change mode, T/P: Torque/position control change mode
3. Set parameter No. 45 to use CR.
4. Set parameter No. 47 to use PC.
5. Set parameter No. 48 to use TL.
6. Set parameter No. 49 to use WNG.
7. Set parameters No. 43 to 48 to change signals.
8. Set parameter No. 49 to output the alarm code. (Refer to Section 9.2.1.)
9. The signal of CN1A-18 is always output.
(b) Symbol and signal names
Symbol
Signal Name
Symbol
Signal Name
SON
Servo-on
EMG
Forced stop
LSP
Forward rotation stroke end
LOP
Control change
LSN
Reverse rotation stroke end
TLC
Limiting torque
CR
Clear
VLC
Limiting speed
SP1
Speed selection 1
RD
Ready
SP2
Speed selection 2
ZSP
Zero speed
PC
Proportion control
INP
In position
ST1
Forward rotation start
SA
Speed reached
ST2
Reverse rotation start
ALM
Trouble
RS1
Forward rotation selection
WNG
Warning
RS2
Reverse rotation selection
OP
Encoder Z-phase pulse (open collector)
TL
Torque limit
B1
Electromagnetic brake
RES
Reset
