3-22
Wiring Example of Torque Control Mode
Wiring Example of Full-closed Control Mode
14
15
16
17
43
18
42
In case of open collector I/F
7
COM+
PULS2
SIGN1
SIGN2
GND
OA+
OA
-
OB+
OB
-
OZ+
OZ
-
GND
CZ
SPR/TRQR/SPL
GND
P-ATL/TRQR
GND
N-ATL
SP
IM
4
3
1
2
5
6
13
21
22
48
24
25
19
49
23
1 kΩ
1 kΩ
PULS1
OPC2
OPC1
INH
CL
SRV-ON
GAIN
DIV1
VS-SEL1
C-MODE
A-CLR
POT
NOT
S-RDY
+
S-RDY
-
ALM+
INP+
BRKOFF
+
BRKOFF
-
TLC
VDC
12 V to 24 V
ZSP
COM
-
SIGNH1
SIGNH2
PULSH1
PULSH2
GND
FG
INP
-
ALM
-
33
30
29
27
28
32
31
9
8
35
34
37
36
39
38
11
10
40
12
41
44
45
13
50
26
Z-phase output
(open collector)
3
PULS1
4
PULS2
X4
46
47
20 kΩ
2 kΩ
2 kΩ
20 kΩ
120 Ω
20 kΩ
2 kΩ
2 kΩ
20 kΩ
120 Ω
220 Ω
VDC
R
5
SIGN1
6
SIGN2
220 Ω
R
1
OPC1
4
PULS2
220 Ω
24 VDC
2
OPC1
6
SIGN2
220 Ω
2.2 kΩ
2.2 kΩ
(1) When you use the external
resistor with 12 V and 24 V
power supply
(2) When you do not use the
external resistor with 24 V
power supply
Positive direction torque limit input
(0 V to +10 V)
Negative direction
torque limit input
(
-
10 V to +10 V)
Velocity monitor output
Torque monitor output
Command
pulse
input A
(Use with 500
kpulse/s or less.)
Divider
A-phase
output
B-phase
output
Z-phase
output
Command pulse input B
(Use with 8 Mpulse/s or less.)
Be sure to connect.
VDC
12 V
24 V
Specifications
of R
820 Ω1/2 W
2 kΩ1/2 W
VDC
-
1.5
R
+
220
≒10 mA
Servo-ON input
Gain switching input
Electronic gear
switching input 1
Control mode
switching input
Damping control
switching input 1
Alarm clear input
Positive direction
ver-travel inhibition input
Negative direction
over-travel inhibition input
Servo-Ready output
Servo-Alarm output
Positioning complete output
External brake release output
Torque in-limit output
Zero speed detection output
Deviat on counter
clear input
Command pulse
inhibition input
( : Twisted pair)
4.7 kΩ
220 Ω
2 2 kΩ
220 Ω
2 2 kΩ
<Remarks>
A6 Series standard type and communication type can not
be used Pin14,15,16,18. Please do not connect
anything.
33 2 kΩ
20 kΩ
20 kΩ 8 7 kΩ20 kΩ
＋
000 P
000 P
33 2 kΩ
20 kΩ
20 kΩ 8 7 kΩ20 kΩ
＋
000 P
000 P
39 kΩ
470 P
470 P
470 P
39 kΩ
33 kΩ
＋
7
COM+
OA+
OA
-
OB+
OB
-
OZ+
OZ
-
GND
CZ
SPR/TRQR/SPL
GND
P-ATL/TRQR
GND
N-ATL
SP
IM
21
22
48
24
25
19
14
15
16
17
43
18
42
49
23
47 kΩ
1 kΩ
1 kΩ
INH
CL
SRV-ON
GAIN
DIV1
ZEROSPD
C-MODE
A-CLR
POT
NOT
S-RDY+
S-RDY
-
ALM+
AT-SPEED
+
BRKOFF
+
BRKOFF
-
TLC
VDC
12 V to 24 V
ZSP
COM
-
FG
AT-SPEED
-
ALM
-
33
30
29
27
28
26
32
31
9
8
35
34
37
36
39
38
11
10
40
12
41
50
Z-phase output (open collector)
X4
Divider
A-phase
output
B-phase
output
Z-phase
output
Torque command input or
velocity limit input (0 V to ±10 V)
Velocity monitor output
Torque monitor output
Wiring example when control mode Pr0.01=5 or Pr3.17=1
CCWTL/TRQR
GND
16
17
Negative direction torque
limit input
(0 V to ±10 V)
Select with Pr3.17.
Servo-ON input
Gain switching input
Alarm clear input
Servo-Ready output
Servo-Alarm output
At-speed output
External brake release output
Torque in-limit output
Zero speed detection output
Speed zero clamp
input
Control mode
switching input
Positive direction
ver-travel inhibition input
Negative direction
over-travel inhibition input
( : Twisted pair)
4.7 kΩ
33 2 kΩ
20 kΩ
20 kΩ 8 7 kΩ20 kΩ
＋
000 P
000 P
33 2 kΩ
20 kΩ
20 kΩ 8 7 kΩ20 kΩ
＋
000 P
000 P
39 kΩ
470 P
470 P
470 P
39 kΩ
33 kΩ
＋
3. Wiring Diagram to the connector, X4
Example of control mode specific wiring
Note
• The functions of the following pin can be changed using parameters. (Refer to P.4-38)
Input(Torque): 8, 9, 26, 27, 28, 29, 30, 31, 32, 33 Output: 10-11, 12, 34-35, 36-37, 38-39, 40
Input(Full-closed): 8, 9, 26, 27, 28, 29, 31, 32 Output: 10-11, 12, 34-35, 36-37, 38-39, 40
*
Pins in the gure above represent default parameter values.
•
With the standard type and communication type do not connect analog input on pins 14, 16 and 18
to SG of pin 15.
Caution
SE SG SF
○
SE SG SF
○
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