17
PUL+
3
V1+
Open
collector
+24V
10
SI4
Input terminal
4
4
DIR-
Direction
input DIR-
11
+24V
Input terminal
+24V
5
DIR+
Difference
input DIR+
12
SO1
Output
terminal 1
6
V2+
Open
collector
+24V
13
SO2
Output
terminal 2
7
SI1
Input
terminal 1
14
COM
Ground
of
output
terminal
DS2-20P2-AS
DS2-20P4-AS
DS2-20P7-AS
CN1
（
DB15
）
terminals
No.
Name
Contents
No.
Name
Contents
1
NC
Reservation
9
Z-
Encoder output
Z-
2
NC
Reservation
10
B+
Encoder output
B+
3
SI5
Input
terminal 5
11
T-REF
Torque
analog
input
4
SO3
Output
terminal 3
12
V-RE
F
Speed
analog
input
5
B-
Encoder
13
GND
GND for analog
