User`s manual

3-17
3
Installation and wiring
3. Installation and wiring
(3) Input/output signal functions
Input/output signal functions are summarized in the following table.
Type
Terminal
symbol
Terminal name Description
Electrical
specifications
Input
signal
P24 Interface power
Supplies 24V DC for contact inputs.
Connecting this signal to the PLC
terminal allows using the internal
power supply. Use this terminal only for
contact input. Do not use for controlling
external equipment connected to the
robot driver, such as brakes.
DC +24V±10%
80mA max.
CM1
Interface power
common
This is a ground signal for the power
supply connected to P24. If using the
internal power supply then input a
contact signal between this signal and
the contact-point signal.
PLC
Intelligent input
common
Connect this signal to the power
supply common contact input. Connect
an external supply or internal power
supply (P24).
SON Servo ON
Setting this signal to ON turns the
servo on (supplies power to motor to
control it). This signal is also used for
estimating magnetic pole position when
FA-90 is set to oFF2.
Contact input
Close: ON
Open: OFF
5mA (at 24V)
per input
RS Alarm reset
After an alarm has tripped, inputting
this signal cancels the alarm. But
before inputting this reset signal, first
set the SON terminal to OFF and
eliminate the cause of the trouble.
TL Torque limit
When this signal is ON, the torque limit
is enabled.
FOT Forward overtravel
When this signal is OFF, the robot will
not run in forward direction.
(Forward direction limit signal)
ROT Reverse overtravel
When this signal is OFF, the robot will
not run in reverse direction.
(Reverse direction limit signal)
ORL Origin sensor
Input an origin limit switch signal
showing the origin area.
ORG Return-to-origin
Inputting this signal starts return-to-
origin operation.
PEN
Pulse train input
enable
When this signal is turned on, the
pulse train position command input is
enabled.
CER
Position error counter
clear
Inputting this signal clears the position
deviation (position error) counter.
(Position command value is viewed as
current position.)
Analog
common
L Analog common
This is the ground for the analog
signal.
0 to ±10V
Input
impedance:
approx. 10k
Ω