User`s manual

Installation and wiring
3
3-14
3. Installation and wiring
3.2.4 Input/output signal wiring
(1) Input/output signal connector
Pin No.1 of the input/output signal
connector I/O is located at the upper
left when viewed from the front of the
robot driver as shown on the right.
The table below shows the signal
assignment on the input/output signal
connector I/O (robot driver side).
FUNC
SET
CHARE
1
26
25
50
Input/output signal
connector I/O
Robot driver front view
Pin
No.
Pin
symbol
Signal name
Pin
No.
Pin
symbol
Signal name
1 P24 Interface power 26 SON Servo ON
2 PLC Intelligent input common 27 RS Alarm reset
3 ––28 FOT Forward overtravel
4 TL Torque limit 29 ROT Reverse overtravel
5 B24 Brake power input (24V) 30 CM1 Interface power common
6 B0 Brake power input (0V) 31 B0 Brake power input (0V)
7 ––32 ORG Return-to-origin (homing)
8 ORL Origin sensor 33 PEN Pulse train input enable
9 CER Position error clear 34 ALME Alarm (emitter)
10 CM1 Interface power common 35 SRD Servo ready (collector)
11 ALM Alarm (collector) 36 ––
12 INP
Positioning complete
(collector)
37 ––
13 BK Brake release relay output 38 ––
14 ––39 INPE
Positioning complete
(emitter)
15 PLSP Position command pulse (P) 40 SIGP Position command sign (P)
16 PLSN
Position command pulse (N) 41 SIGN Position command sign (N)
17 ––42 SRDE Servo ready (emitter)
18 ––43 ––
19 ––44 ––
20 L
Analog input /output
common
45 ––
21 OAP Phase A signal output (P) 46 OBP Phase B signal output (P)
22 OAN Phase A signal output (N) 47 OBN Phase B signal output (N)
23 OZP Phase Z signal output (P) 48 OZ Phase Z detection
24 OZN Phase Z signal output (N) 49 L Phase Z detection common
25 AO1 Analog monitor 1 50 AO2 Analog monitor 2