Product specifications

Chapter 1 Outlines of the HA-680 driver
HA-655_V4 - 9 -
1-8 CN2: Overview of I/O signal
The CN2 connector performs input and output of control signals with the host control device. The
connector has 26 pins, which are assigned for “position control,” “speed control,” and “torque control” as
shown in the table below.
Position control
Speed control
Pin
No.
Signal Symbol I/O
Pin
No.
Signal Symbol I/O
1 Output 1 (in-position ready) IN-POS Output 1
Output 1(Attained speed
Output)
HI-SPD Output
2 Output 2(Alarm Output) ALARM Output 2 Output 2 (Alarm Output) ALARM Output
3 Output 3
Output 3 Output 3
Output
4 Output 4
Output 4 Output 4
Output
5
Output 5 (Phase-Z OC
Output)
Z Output 5
Output 5 (Phase-Z OC
Output)
Z Output
6 Output signal common OUT-COM Output 6 Output signal common OUT-COM Output
7 Input 1 (Servo-ON) S-ON Input 7 Input 1 (Servo-ON) S-ON Input
8 Input 2
Input 8 Input 2 (FWD start) FWD-EN Input
9 Input 3
Input 9 Input 3 (REV start) REV-EN Input
10 Input 4
Input 10 Input 4
Input
11 Input 5
Input 11 Input 5
Input
12 Input signal common IN-COM Input 12 Input signal common IN-COM Input
13 Encoder monitor GND MON-GND Output 13 Encoder monitor GND MON-GND Input
14 FWD pulse + FWD+ Input 14
15 FWD pulse - FWD- Input 15
16 REV pulse + REV+ Input 16
17 REV pulse - REV- Input 17
18 +24v +24v Input 18
19
19 Speed command SPD-CMD Input
20
20 Speed command ground SPD-GND Input
21 Phase-A Output + (LD) A+ Output 21 Phase-A Output + (LD) A+ Output
22 Phase-A Output - (LD) A- Output 22 Phase-A Output - (LD) A- Output
23 Phase-B Output + (LD) B+ Output 23 Phase-B Output + (LD) B+ Output
24 Phase-B Output - (LD) B- Output 24 Phase-B Output - (LD) B- Output
25 Phase-Z Output + (LD) Z+ Output 25 Phase-Z Output + (LD) Z+ Output
26 Phase-Z Output - (LD) Z- Output 26 Phase-Z Output - (LD) Z- Output
Note 1: OC indicates the open collector. LD indicates the line driver.
Note 2: For terminals without a signal name for input and output, function assignment can be changed in
parameter setting. For details, refer to 2-1.
Do not connect the pins with “-” in the Signal column to the external
device.
If you do, failure may occur because it is connected to the internal circuit.
CAUTION