Product specifications
Chapter 2 I/O ports
HA-680_V04 - 48 -
(I/O signal functions for torque control)
CN2-13 Monitor ground: GND (output)
● Function
This is the common port for the monitor ports [CN2-21~26].
◆ Connection
Make connection as the ground for encoder monitor terminals C2-21 to 26.
CN2-19 Torque command: TRQ-CMD (input)
● Function
Input the torque command voltage signal which is obtained by [parameter]→[41: torque command input
factor].
The direction of rotation is specified by the polarity (+/-) of the torque command and input signals of
[CN2-8 FWD enable: FWD-EN ] and [CN2-9 REV enable: REV-EN].
While the [FWD enable]: is ON the actuator rotates forward when the [CN2-19 Torque command:
TRQ-CMD] is [+]. In contrast, the actuator rotates in reverse for the [CN2-19] is [-].
While the [REV enable]: is ON the actuator rotates in reverse the [CN2-19 Torque command: TRQ-CMD]
is [+]. In contrast, the actuator rotates forward when the [CN2-19] is [-].
When both signals [FWD enable] and [REV enable] are ON or OFF, the motor is free to rotate.
CN2-19 Torque command input :TRQ-CMD + Torque command - Torque command
CN2-4 FWD enable :FWD-EN ON OFF ON OFF
ON Torque zero REV rotation Torque zero FWD rotation
CN2-5 REV enable: REV-EN
OFF FWD rotation Torque zero REV rotation Torque zero
Motor torque = Torque command voltage ×
Torque command input factor
10.0V
Observe the allowable input voltage.
The range of the input voltage is between –10 V and +10 V.
Any voltage outside this range may damage the driver.
CAUTION