User`s manual

Installation and wiring
3
3-24
3. Installation and wiring
4) Position command signal
• Connect the pulse train signal for position command. As shown in the figure
below, the line receiver receives a pulse train signal output from the line driver
(AM26LS31 or equivalent) of the master controller.
Each position command signal cable should be a shielded, twisted pair cable.
Connect the cable shield to ground (
) on the robot driver side. (The I/O
connector case of the robot driver is internally connected to the ground.)
1507
PLSP,
SIGP
PLSN,
SIGN
Line driver
(AM26LS31)
Shielded cable
Connector
case
Robot driver
• Electrical specifications and timing chart for position pulse signals are shown in
the following table.
Electrical specifications for position command pulses
Item Unit Specifications Condition
Input current of logic 1 mA 8 to 15
Maximum input
pulse rate
(Frequency)
• FWD/REV pulse
input
• Command pulse
+ sign input
pulses/s 2M
Line driver
signal
• Phase difference
90° pulse input
pulses/s 500k
Line driver
signal