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3. SIGNALS AND WIRING
3.8 Interfaces
3.8.1 Internal connection diagram
T
SON SON SON
CN1
4
RES RES RES
3
EM1 EM1 EM1
8
LSP ST1
6
LSN ST2
7
CR
5
OPC
2
1
13
PP
23
PG
22
NP
25
NG
24
SP1
DICOM
DOCOM
SP1
RS2
RS1
P
S
T
CN1
9
10
11
12
ALM ALM
INP
RD
MBR
SA
MBR MBR
RD
P
S
CN1
P
S
T
15
16
17
18
19
20
21
14
LA
LAR
LB
LBR
LZ
LZR
OP
LG
3
CN2
P
S
T
2
4
7
8
MR
MRR
MD
MDR
LG
USB
E
M
P
S
T
GND
VBUS
1
2
3
5
CN3
CNP1
R A
R A
ALM
RD
CP/CL
SON
MD0
EM1
ST1
ST2
DI0
OPC
DI1
DOG
CP/CL
CP/CL
ALM
INP
RD
MBR
CP/CL
CP/CL
24VDC
(Note
2, 4)
Servo amplifier
(Note 1)
Approx. 1.2k
Approx. 100
Approx. 1.2k
Approx. 100
Approx. 5.6k
Approx. 5.6k
D-
D+
(Note 1)
(Note 1)
<Isolate d>
(Note
3)
Differential line
driver output
(35mA or less)
Open collector
output
Encoder
Servo motor
(Note 1)
(Note 1)
(Note
3)
Note 1. P: Position control mode, S: Internal speed control mode, T: Internal torque control mode
CP: Positioning mode (Point table method) CL: Positioning mode (Program method)
2. This diagram is for the open collector pulse train input. When inputting the differential line driver pulse train in the position
control mode, make the following connection.
If the command pulse train input is open collector method, it supports only to the sink (NPN) type interface.
It does not correspond to the source (PNP) type interface.
DOC
46
OPC
2
1
13
PP
23
PG
22
NP
25
NG
24
DICOM
DOCOM
24VDC
3. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.
4. When assigning the input device to the CN1-23 pin or CN1-25 pin in the ipositioning mode, use it at the sink input interface. It
cannot be used at the source input interface. For the positioning mode, the input devices (DI1, DOG) are assigned to the initial
values.
5. Encoder Z-phase pulse will correspond to the differential line driver system and the open collector system.
If the encoder Z-phase pulse is open collector method, it supports only to the sink (NPN) type interface. It does not correspond
to the source (PNP) type interface.
Driver
(Note 5)
(Note 5)