1. Product Components and Signals
2-16
1.2.8 Example of Position/Torque Operation Mode
Wiring
STOP 48
EMG 18
CWLIM 19
CCWL IM 20
ALMRST 17
SVON 47
ALARM+38
ALARM-39
READY+40
READY-41
INPOS
45
50+24V IN
GND2424
ALO016
ALO115
ALO214
GND2425
SPDCOM 27
GND 8
TRQCOM 1
GND 8
DC 24V
CN1
-10V~ +10V
-10V~ +10V
(
DIA
)
(
DI9
)
(
DI8
)
(
DI 7
)
(
DI6
)
(
DI 5
)
(
DI4
)
(
DI3
)
(
DI 2
)
(
DI1
)
(
DO1
)
(
DO2
)
(
DO3
)
(
DO4
)
(
DO5
)
** WARN
INSPD**
EGEAR1
EGEAR2
PCON
GAIN2
P_CLR
T_LMT
ABS_RQ
ZCLAMP
28
29
37
AO32
/AO33
BO30
/BO31
ZO4
/ZO5
SG36
-10V ~ +10V
-10V ~ +10V
34
35
PULCOM 49
PF+ 9
PF- 10
PR+ 11
PR- 12
3.3k
Ω
ABS_R
ST
MODE
**
**
**
**
DIR
SPD3
SPD2
SPD1
46
21
22
23
VLMT
**
TLMT
**
44
BRAKE
43
ZSPD
**
**
**
**
**
**
MONIT1
MONI T2
GND
+12VA
-12 VA
Digital Input
Digital Output
Analog Output
Encoder Pulse Output
Connect to Connector Case
Open Collector
Line Driver
Command Pulse Input
Upper Level
Controller
Analog Torque
Command/Limit
Upper Level
Controller
Note 2)
Note 2)
Note 1)
Note 1)
Analog Speed
Command/Limit
Analog Input
Note 3)
Note 1) Input signals DI1 to DIA and output signals DO1 to DO5 are default signals allocated by the factory.
Note 2) **These are non-allocated signals. You can change their allocation by setting parameters. For
information, refer to "4.1.6 External Input Signal and Logic Definition" and "4.1.8 External Output Signal and
Logic Definition."
Note 3) Input Contact Mode = ON : Position Control Mode, Mode = OFF : Torque Operation Mode
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