3. SIGNALS AND WIRING
3 - 1
3. SIGNALS AND WIRING ..............................................................................................................................2
3.1 Input power supply circuit ......................................................................................................................3
3.2 I/O signal connection example ................................................................................................................6
3.2.1 Position control mode ...........................................................................................................................6
3.3 Explanation of power supply system ....................................................................................................15
3.3.1 Signal explanations .........................................................................................................................15
3.3.2 Power-on sequence ..........................................................................................................................16
3.3.3 Wiring CNP1, CNP2, and CNP3 ....................................................................................................17
3.4 Connectors and pin assignment ............................................................................................................19
3.5 Signal (device) explanations .................................................................................................................22
3.6 Detailed explanation of signals .............................................................................................................32
3.6.1 Position control mode ......................................................................................................................32
3.6.2 Speed control mode .........................................................................................................................37
3.6.3 Torque control mode .......................................................................................................................39
3.6.4 Position/speed control switching mode ..........................................................................................42
3.6.5 Speed/torque control switching mode ............................................................................................44
3.6.6 Torque/position control switching mode ........................................................................................46
3.7 Forced stop deceleration function .........................................................................................................47
3.7.1 Forced stop deceleration function ..................................................................................................47
3.7.2 Base circuit shut-off delay time function .......................................................................................49
3.7.3 Vertical axis freefall prevention function ......................................................................................50
3.7.4 Residual risks of the forced stop function (EM2) ..........................................................................50
3.8 Alarm occurrence timing chart .............................................................................................................51
3.8.1 When you use the forced stop deceleration function ....................................................................51
3.8.2 When you do not use the forced stop deceleration function .........................................................52
3.9 Interfaces................................................................................................................................................53
3.9.1 Internal connection diagram ..........................................................................................................53
3.9.2 Detailed explanation of interfaces .................................................................................................55
3.9.3 Source I/O interfaces .......................................................................................................................59
3.10 Servo motor with a lock .......................................................................................................................61
3.10.1 Safety precautions ........................................................................................................................61
3.10.2 Timing chart ..................................................................................................................................63
3.10.3 Wiring diagrams (LE-□-□ series servo motor) .............................................................................68
3.11 Grounding ............................................................................................................................................69
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