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3. SIGNALS AND WIRING
3.1.2 Speed control mode
RA1
RA2
RA3
18
10
SP1
SG
CN1A
15
5
14
8
9
16
17
1
11
EMG
SON
RES
ST1
ST2
LSP
LSN
SD
SG
P15R
LG
10
2
ALM
19 ZSP
6TLC
15
5
14
7
16
17
4
LZ
LZR
LA
LAR
LB
LBR
LG
OP
P15R
SD
1
6
CN3
13
8
7SP2
VC
12TLA
19
18 SA
RD
RA5
RA4
CN1A
3 VDD
COM
9COM
4
13
3
SD
LG
14
MO1
LG
MO2
CN3
A
A
Speed selection 1
(Note 3, 6) Emergency stop
Servo-on
Reset
Forward rotation start
Reverse rotation start
(Note 6) Forward rotation stroke end
Reverse rotation stroke end
Speed selection 2
10m(32ft) max.
Upper limit setting
(Note 10) Analog torque limit
10V/max. torque
Upper limit setting
Analog speed command
10V/rated speed
2m(6.5ft) max.
Plate
Plate
(Note 11)
Servo configuration
software
Personal
computer
(Note 4,9)
CN1B
(Note 4)
(Note 12)
(Note 7)
Trouble
Zero speed
Limiting torque
(Note 2,5)
(Note 4,9) (Note 4,9)
Speed reached
Ready
Control common
Encoder Z-phase pulse
(open collector)
Encoder Z-phase pulse
(differential line driver)
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
(Note 4,9)
Plate
(Note 8)
Communication cable
2m(6.5ft) max.
(Note 8)
Monitor output
Max. 1mA
Reading in
both directions
10k
10k
(Note 1)
Servo amplifier
(Note 4,9)
(Note 13)
CN1B