6
AC servo systems
I/O specifications
I/O signals (CN1) - input signals
Note: 1.
Pin numbers in parentheses () indicate signal grounds.
2.
The functions allocated to /S-ON, /P-CON. P-OT, N-OT, /ALM-RST, /P-CL, and /N-CL input signals can be changed by using the
parameters.
3.
The voltage input range for speed and torque references is a maximum of ±12 V.
Pin No.
Signal name
Function
40
Common
/S
-
ON
Servo ON: Turns ON the servo motor.
41
/P
-
CON
Function selected by parameter.
Proportional control reference
Switches the speed control loop from PI (proportional/integral) to P (proportional)
control when ON.
Direction reference
With the internal set speed selected: switch the rotation direction.
Control mode
switching
Zero-clamp reference
Speed control with zero-clamp function: reference speed is zero when ON.
Reference pulse block
Position control with reference pulse stop: stops reference pulse input when ON.
42
43
P
-
OT
N
-
OT
Forward run prohibited
Reverse run prohibited
Overtravel prohibited: Stops servo motor when movable part travels beyond the
allowable range of motion.
45
46
/P
-
CL
/N
-
CL
Function selected by parameter.
Forward external torque limit ON
Reverse external torque limit ON
Current limit function enabled when ON.
Internal speed switching
With the internal set speed selected: switches the internal speed settings.
44
/ALM
-
RST
Alarm reset: releases the servo alarm state.
47
+24VIN
Control power supply input for sequence signals: users must provide the +24 V power supply.
Allowable voltage fluctuation range: 11 to 25 V
4 (2)
SEN
Initial data request signal when using an absolute encoder.
21
22
BAT (+)
BAT (-)
Connecting pin for the absolute encoder backup battery.
Do not connect when the encoder cable for the battery case is used.
5 (6)
Speed
V
-
REF
Speed reference input: ±2 to ±10 V/rated motor speed (Input gain can be modified using a parameter).
9 (10)
Torque
T
-
REF
Torque reference input: ±1 to ±10 V/rated motor torque (Input gain can be modified using a parameter).
7
8
11
12
Position
PULS
/PULS
SIGN
/SIGN
Reference pulse input
for line driver only
Input mode is set from the following pulses:
Sign + pulse string
CCW/CW pulse
Two-phase pulse (90
°
phase differential)
15
14
CLR
/CLR
Positional error pulse clear input: clears the positional error pulse during position control.
Tor
qu
e
↔
s
peed
Po
s
ition
↔
tor
qu
e
Po
s
ition
↔
s
peed
En
ab
le
s
control mode
s
witching
