Harmonic Drive HS-360 Series, Руководство пользователя

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Chapter 3 Control input/output
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3-2 Selecting the command pulse input configuration
Two ports of CN1-1&2 and CN1-3&4 are available for pulse input signals. Each of the signals input
through these two ports has one of three pulse input configurations.
◆
Setting a command configuration
[Parameter setup mode] → [31: selecting the pulse input configuration]
3-2-1 2-pulse train (FWD and REV pulse train)
As shown in the figure, “FWD commands” are input through the “FWD” port, while “REV commands”
through the “REV” port. While the input is in progress, keep the other port “off”. This is also called the
“FWD and REV pulse train method”, and is the default setting.
3-2-2 1-pulse train (po pulse train)
One pair of terminals is assigned dedicatedly for command pulse train, and the other is assigned to a
sign for rotary direction. Position commands are input in the “FWD” port pair only and the “REV” port
pair accepts the sign of rotary direction, as shown in the figure below. [Off] or [Low level] state is for
the FWD command and [On] or [High] level is for the REV command.
3-2-3 2-pulse train (A-B phase pulses with 90-degree difference)
Both port pairs receive the command pulse trains that have a 90-electronic-degree difference relative
to each other as shown in the figure below. For the “FWD command”, the pulse train to the “FWD”
ports advances 90 degrees from the REV port train. For the “REV command”, the “REV” port train
advances from the FWD port train.
Actuator encoder monitor signals are output according to this method.
REV command
Opti-isolator: Off
Opti-isolator: Off
FWD command
REV command
Opti-isolator: On
Opti-isolator: Off
FWD command
90 °
REV command FWD command
90 °
FWD+
FWD-
REV+
REV-
220
1
2
220
3
4
FWD+
FWD-
REV+
REV-
220 1
2
220
3
4
FWD+
FWD-
REV+
REV-
220
1
2
220
3
4
If the other port is turned “on” while a command pulse is being input
through the port, the command pulse will be disabled when being
turned on.
Caution