Specifications

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3.2.3 Torque control mode
(1) Wiring example
An example of a connection for the torque control mode is shown below. Connect wires as necessary.
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CNP1
24VDC
(Note 4, 8)
Servo amplifier
20
Trouble (Note 5)
Electromagnetic
brake interlock
Encoder A-phase pulse
(differential line driver)
9ALM
11 RD
12 MBR
15 LA
16 LAR
17 LB
18 LBR
14 LG
21 OP
SD
2m max.
Encoder B-phase pulse
(differential line driver)
Control common
Encoder Z-phase pulse
(open collector)
CN1
Ready
Encoder Z-phase pulse
(differential line driver)
19 LZ
LZR
(Note 6)
CN1
1
13
DICOM
DOCOM
Personal
computer
USB cable
(option)
CN3
10m max.
(Note 7)
MR Configurator
(Note 8, 10)
Plate
(Note 8, 9)
8
4
3
6
7
Forced stop
Servo-on
Reset
Forward rotation selection
Reverse rotation selection
(Note 3)
5
EM1
SON
RES
RS1
RS2
SP1
Speed selection 1
RA1
RA2
RA3
(Note 6)
(Note 2)
10m max.
Control common
(Note 1)
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Refer to“LECSA Operation Manual”,section 3.2 for wiring details.
Refer to “LECSA Operation Manual (Simplified Edition)”,section 3.2.1 (2) and (3) for input/output signal
details.
Ｄｒｉｖｅｒ