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3. SIGNALS AND WIRING
(2) CN1A and CN1B signal assignment
The signal assignment of connector changes with the control mode as indicated below;
(Note2)
I/O Signals in Control Modes
Connector Pin No.
(Note1)
I/O
P P/S S S/T T T/P
Related
parameter
1 LGLGLGLGLGLG
2 I NP NP/
/NP
3 I PP PP/
/PP
4 P15R P15R/P15R P15R P15R P15R P15R
5 0 LZ LZ LZ LZ LZ LZ
6 0 LA LA LA LA LA LA
7 0 LB LB LB LB LB LB
8I CRCR/SP1
(Note3)
SP1 SP1/SP1
(Note3)
SP1 SP1/CR No.43 to 48
9 COM COM COM COM COM COM
10 SG SG SG SG SG
11 OPC OPC/ /OPC
12 I NG NG/ /NG
13 I PG PG/ /PG
140 OPOPOPOPOPOP
15 0 LZR LZR LZR LZR LZR LZR
16 0 LAR LAR LAR LAR LAR LAR
17 0 LBR LBR LBR LBR LBR LBR
18 0 INP INP/SA SA SA/ /INP No.49
190 RDRDRDRDRDRDNo.49
CN1A
20 SG SG SG SG SG SG
1 LGLGLGLGLGLG
2I /VC VC VC/VLA VLA VLA/
3 VDD VDD VDD VDD VDD VDD
(Note3,4)
4 0 DO1 DO1 DO1 DO1 DO1 DO1
(Note3)
5 I SON SON SON SON SON SON No.43 to 48
(Note3)
6 0 TLC TLC TLC TLC/VLC VLC VLC/TLC No.49
(Note3)
7 I LOP SP2 LOP SP2 LOP No.43 to 48
(Note3)
8 I PC PC/ST1
(Note4)
ST1 ST1/RS2
(Note4)
RS2 RS2/PC No.43 to 48
(Note3)
9 I TL TL/ST2
(Note5)
ST2 ST2/RS1
(Note5)
RS1 RS1/TL No.43 to 48
10 SG SG SG SG SG SG
11 P15R P15R P15R P15R P15R P15R
12 I TLA
(Note6)
TLA/TLA
TLA
(
Note6)
TLA/TC
TC TC/TLA
13 COM COM COM COM COM COM
14 I RES RES RES RES RES RES No.43 to 48
15 I EMG EMG EMG EMG EMG EMG
16 I LSP LSP LSP LSP/
/LSP
17 I LSN LSN LSN LSN/
/LSN
18 0 ALM ALM ALM ALM ALM ALM No.49
19 0 ZSP ZSP ZSP ZSP ZSP ZSP No.1,49
CN1B
20 SG SG SG SG SG SG
Note 1. I: Input signal, O: Output signal, -: Others (e. g. power)
2. P: Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed control
change mode, S/T: Speed/torque control change mode, T/P: Torque/position control change mode
3. The signal of CN1A-18 is always output. However, this pin may not be used when assigning alarm
codes to CN1A-18.