Product specifications
Chapter 2 I/O ports
HA-680_V04 - 46 -
(I/O signal functions for torque control)
CN2-6 Output common: OUT-COM (output)
● Function
This is the common port for the [CN2-1, 2, 3, 4, 5] ports.
CN2-7 Servo-ON: S-ON (input)
● Function
This turns the servo power for the HA-680 driver ON and OFF.
After about 100ms from turning the input ON, the servo power of the HA-680 driver is ON and the
actuator can be driven. When OFF, the servo power turns OFF and the motor is free to rotate.
Logic change can be performed with “14: Output pin logic setting” in “Parameter.” With the
factory-shipped value, the servo on state occurs when the input signal is on.
◆ Connection
Connect [NO-contact signal (a-contact)].
Connect +24 V of the input signal external power supply to “CN2-12 Input signal common.”
CN2-8 FWD enable: FWD-EN (input)
CN2-9 REV enable: REV-EN (input)
● Function
While the [FWD enable] is [ON] the actuator rotates forward when the [CN2-19 Torque command:
TRQ-CMD] is [+command]. In contrast, the actuator rotates in reverse for the [CN2-19] is [-command].
While the [REV enable] is [ON] the actuator rotates in reverse when the [CN2-19 Torque command:
TRQ-CMD] is [+command]. Conversely, the actuator rotates forward when the [CN2-19] is [-command].
When both signals of [FWD enable] and [REV enable] are [ON] or [OFF], the actuator is holding the
position or zero speed depending on the setting of [parameter]→[38: zero clamp].
Exchanging the signals of [FWD enable] and [REV enable] should be carried out when the actuator
stops and the [CN2-7 servo ON: S-ON] is ON state. Otherwise, the actuator may move rapidly falling into
dangerous situation.
Logic change can be performed with “13: Input pin logic setting” in “Parameter.” With the
factory-shipped value, rotation starts at signal on.
CN2-19 Torque command : TRQ-CMD + Torque Command - Torque Command
CN2-8 FWD enable : FWD-EN ON OFF ON OFF
ON Torque zero REV rotation Torque zero
FWD rotation
CN2-9 REV enable: REV-EN
OFF FWD rotation Torque zero
REV rotation Torque zero
◆ Connection
Connect [NO-contact signal (a-contact)]. Connect +24 V of the input signal external power supply to
“CN2-12 Input signal common.”