NSK MEGATORQUE MOTOR SYSTEM, User Manual

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2. Specification
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2.2.2.1. CN2 Pin-Out
Figure 2-3 below shows the shipping set of the pin-out arrangement of the CN2 connector.
You may change the function assignment of each signal port.
(Except some ports that are dedicated to a certain function)
◊ Change to an extended capability port.
◊ Transfer an assigned function to other port.
◊ Mask the function of unused port.
The each port of the CN2 connector is assigned to the same port name as the remote
Input/Output of the CN6 interface connector, and the ports of both connectors are corresponsing
each other.
！
Caution : A change of function assignment of a port of the CN2 connector forces the
function change to the remote Output/Input of the corresponding port.
Fig. 2.3: CN2 pin-out
1
DC24
6
PI3
(OTM)
2
－
7
－
3
PI0
EMST
8
PO0
(DRDY)
4
PI1
(ACLR)
9
－
5
PI2
(OTP)
10
COM
Note: Functions in brackets is the shipping set.
: The pins with hyphones “-“ are prophibited
connection.
EMST: Emargency stop
Input dedicated to the safety functions
DRDY: Driver Unit ready
NRM
： Normal
Output dedicated to the safety functions
EMST : Emergency stop
ACLR : Alarm clear
OTP : Travel limit, + direction
OTM : Travel limit, - direction
SVON : Servo ON
RUN : Positioning start
STP : Stop
PRG0 - 7 : Internal program chanel
selection 0 to 7
JOG : Jogging
DIR : Jogging direction
HLD : Hold
ORD : Velocity override
IOFF : Integration OFF
HOS : Home Return start
HLS : Home position limit
General Input
PI0 and PO0 ports are dedicated to the safety function Input and Output. They have following
restrictions respectively.
◊
You cannot change the function of the port PI0 (Pin number 3: Input EMST
(Emergency stop)). You may only set the input port and the stability timer to it.
◊
You can only exchange the function of the PO0(Pin number 8: Output DRDY (Drive
Unit ready) with the function Output NRM (Normal). You cannot set the output logic
and the stability timer to it.