ICSA2 / ICSPA2 2-Axes Cartesian Robots - IAI - #101

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................ Positioning Driver with Pulse-Train Input ...... ISPA/ICSPA Catalog Command 8 Pulse Input Format Forward pulse train Reverse pulse train A forward pulse train indicates motor revolutions in the forward direction, while a reverse pulse train indicates motor revolutions in the reverse direction. Pulse train Sign Command pulses indicate motor revolutions, while a command sign indicates direction of rotation. Phase A/B pulse train Phase A/B (4x multiplication) pulses of 90.. phase difference command revolutions and direction of rotation. Forward pulse train Reverse pulse train Pulse train Sign Phase A/B pulse train PP•/PP NP•/NP PP•/PP NP•/NP PP•/PP NP•/NP PP•/PP NP•/NP PP•/PP NP•/NP PP•/PP NP•/NP Command pulse-train format Input terminal Forward Reverse * The same output formats apply to feedback pulses. 7 Position Controller for Single-Axis Robot Input by Differential Line Driver Input by Open Collector Feedback Pulse Output Applicable line driver: 26C31 or equivalent Applicable line receiver: 26C32 or equivalent Caution • Thoroughly confirm the compatibility with the host controller. • If noise generation is a possibility, select a host controller that uses differential line-driver output. Positive logic Negative logic P-Driver Pin No. 15/(17) 16/(18) Host Controller Pulse Converter AK-04 Host controller P24 (+DC24V) N24 (0V) N24 (0V) P-Driver 1 24V 2 GND 3 PP 4 NP 17 18 15 16 PP /PP NP /NP PP 1 /PP 2 NP 3 /NP 4 (Accessory) P-Driver Pin No. Host Controller 19/(21)/(23) Pin No. 20/(22)/(24)