2-54
Note 1.
Parameter settings (control mode selection) are required for speed and torque control.
Note 2.
The inputs at pins 40 to 46 and the outputs at pins 25 to 30 can be changed by parameter
settings. The settings in the diagram are the defaults.
Note 3.
Pins 2, 4, 21, and 22 are for use with an absolute encoder.
H
Control I/O Signals
D
CN1 Control Inputs
Pin
No.
Signal
name
Function
Contents
Control
mode
5
REF
Speed command
input
Analog input terminal for speed commands.
±
2 to
±
10 V
(Servomotor forward rotation with + voltage)
Scale can be changed by means of user parameter
All
6
AGND
Speed command
input ground
Scale can be changed by means of user parameter
Pn300 (speed command scale).
Can be used as a speed limit input for torque control (by
means of a Pn002.1 setting).
9
TREF
Torque command
input
Analog input terminal for torque commands.
±
1 to
±
10 V
(Forward torque with + voltage)
Scale can be changed by means of user parameter
Pn400 (torque command scale)
All
10
AGND
Torque command
input ground
Pn400 (torque command scale).
Can be used as a torque limit input or torque feed for-
ward input for speed control or position control (by
means of a Pn002.0 setting).
3
PCOM
Open collector com-
d
l
To use open-collector output for inputting command
l
d d i ti
t
t
t th
i
t
All
13
p
mand power supply
p
p
p
g
pulses and deviation counter resets, connect the + inputs
to these terminals and connect the -- inputs to open-col-
18
to these terminals and connect the -- inputs to open-col-
lector output terminals.
7
+PULS/
CW/A
Feed pulses, reverse
pulses, or 90
_
phase
difference pulses (A
Pulse string input terminals for position commands.
Line-driver input: 10 mA at 3 V
Position
8
--PULS/
CW/A
difference pulses (A
phase)
Line driver input: 10 mA at 3 V
Maximum response frequency: 500 kpps
Open-collector input:
7 to 15 mA
Maximum response frequency: 200 kpps
11
+SIGN/
CCW/B
Direction signal, for-
ward pulses, or 90
_
phase difference
Maximum response frequency: 200 kpps
Any of the following can be selected by means of a
Pn200 0 setting: feed pulses or direction signals (PULS/
12
--SIGN/
CCW/B
phase difference
pulses (B phase)
Pn200.0 setting: feed pulses or direction signals (PULS/
SIGN); forward or reverse pulses (CW/CCW); 90
_
phase
difference (A/B phase) signals (A/B).
14
--ECRST
Deviation counter
reset
Line-driver input: 10 mA at 3 V
Open-collector input:
25 mA at 5 V
Position
15
+ECRST
Open collector input:
25 mA at 5 V
ON: Pulse commands prohibited and deviation counter
cleared.
4
SEN
Sensor ON input
ON: Absolute encounter’s multi-turn amount and initial
incremental pulses sent.
All [absolute]
2
SENGND
incremental pulses sent.
Required when using an absolute encoder.
21
BAT
Backup battery input Backup battery connector terminals for power interrup-
tion for absolute encoder
All [absolute]
22
BATGND
tion for absolute encoder
Connect the battery to either this terminal or CN8.
47
+24VIN
+24-V power supply
input for control DC
Power supply input terminal (+24 V DC) for sequence
inputs (pins 40 to 46).
All
Standard Models and Specifications
Chapter 2
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