Specifications

2– 22
2. OPERATION
Note: 1. I: Input signal, O: Output signal
2. P: Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/
speed control change mode, S/T: Speed/torque control change mode, T/P: Torque/posi-
tion control change mode
3. Set parameter No. 45 to use CR.
4. Set parameter No. 47 to use PC.
5. Set parameter No. 48 to use TL.
6. Set parameter No. 49 to use WNG and BWNG.
7. Set parameters No. 43 to 48 to change signals.
8. Set parameter No. 49 to output the alarm code. (Refer to Chapter 8.)
9. The signal of CN1A-18 is always output.
a. Control modes and I/O signals
b. Symbols and signal names
Connector Pin No.
(Note 2) Symbols of I/O Signals in Control Modes
(Note 1) I/O
Signal
Input/Output
P P/S S S/T T T/P
I
CN1A
8 CR CR/SP1 (Note 3)SP1 SP1 (Note 3)SP1 SP1/CR
O14 OP OP OP OP OP OP
O
(Note 6,8) 18 INP INP/SA SA SA/ /INP
I(Note 7)5 SON SON SON SON SON SON
CN1B
O TLC TLC TLC TLC/VLC VLC VLC/TLC(Note 6)6
I LOP SP2 LOP SP2 LOP(Note 7)7
I PC PC/ST1 (Note 4)ST1 ST1/RS2 (Note 4)RS2 RS2/PC(Note 7)8
I TL TL/ST2 (Note 5)ST2 ST2/RS1 (Note 5)RS1 RS1/TL(Note 7)9
I RES RES RES RES RES RES(Note 7)14
I EMG EMG EMG EMG EMG EMG15
I LSP LSP LSP LSP/ /LSP16
I LSN LSN LSN LSN/ /LSN17
O ALM ALM ALM ALM ALM ALM
O ZSP ZSP ZSP ZSP ZSP ZSP
(Note 6, 8) 19
(Note 6)18
O(Note 8)19 RD RD RD RD RD RD
O(Note 9)4 DO1 DO1 DO1 DO1 DO1 DO1
Symbol
SON
LSP
LSN
CR
SP1
SP2
PC
ST1
ST2
RS1
RS2
TL
RES
Servo on
Forward rotation stroke end
Reverse rotation stroke end
Clear
Speed selection 1
Speed selection 2
Proportion control
Forward rotation start
Reverse rotation start
Forward rotation selection
Reverse rotation selection
Torque limit
Reset
Symbol
EMG
LOP
TLC
VLC
RD
ZSP
INP
SA
ALM
WNG
OP
BWNG
Emergency stop
Control change
Limiting torque
Limiting speed
Ready
Zero speed
In position
Speed reached
Trouble
Warning
Encoder Z-phase pulse (open collector)
Battery warning
Signal Name Signal Name