Appendix B
Motion Connection Accessories
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National Instruments Corporation
B-11
SPR_TRQR
14
SPR/TRQR (Velocity (torque) command)
Isolated Ground
15
GND (Signal ground)
CCWTL_TRQR
16
CCWTL/TRQR (CCW torque limit)
Isolated Ground
17
GND (Signal ground)
CWTL
18
CWTL (CW torque limit)
NC
19
CZ (open-collector Z-phase output)
NC
20
NC
Axis <1..4> Encoder Phase A+
21
OA+ (A-phase output)
Axis <1..4> Encoder Phase A–
22
OA– (A-phase output)
Axis <1..4> Index
(Encoder Phase Z)+
23
OZ+ (Z-phase output)
Axis <1..4> Index
(Encoder Phase Z) –
24
OZ– (Z-phase output)
Isolated Ground
25
GND (Signal ground)
ZEROSPD
26
ZEROSPD (Speed zero clamp)
GAIN
27
GAIN (Gain switching)
DIV
28
DIV (Command pulse scalar switch)
Axis <1..4> Inhibit-Out/
General-Purpose Output 1
29
SRV-ON (Servo-ON)
CL
30
CL (Counter clear)
A_CLR
31
A-CLR (Alarm clear)
C_MODE
32
C-MODE (Control mode switching)
INH
33
INH (Command pulse input inhibit)
Isolated Ground
34
S-RDY– (Servo-ready)
Axis <1..4> General-Purpose Input 1
35
S-RDY+ (Servo-ready)
Isolated Ground
36
ALM– (Servo alarm)
Axis <1..4> Inhibit-In (Alarm)
37
ALM+ (Servo alarm)
Table B-5.
CN I/F Cable Pin Assignments (Continued)
Accessory Signal
Pin Number
Drive Signal