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BA II Arm Robot Catalog - TM Robotics - #236

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Text version of the page
Master unit: CA20-M10, CA20-M40 [Input and output of pulse train input mode]
* For the table of I/O pin numbers, see Page 199.
[System input] (when master unit (CA20-M10, M40) is set to pulse train input mode)
Pin No.
Input/output
Signal name
Description
12
Output
Error
ON when an error has occurred in the controller.
13
Output
Positioning finish
ON when the difference between the total value of command pulses (i.e., pulses from external controller) and the total value of feedback pulses (i.e., axis motor encoder pulses) becomes smaller than the in-position length set in the parameter.
(OFF when the servo is OFF.)
15
Output
Home position LS
Output of home position limit switch status of axis.
16
Output
Z-phase
Output of one Z-phase signal from axis motor encoder per motor revolution.
29
Input
Servo ON
Control of energized or de-energized state of axis servo motor. ON: Servo ON (servo lock) OFF: Servo OFF (servo free)
This is the servo-free state controlled by software, different from the servo-free state controlled by hardware as in emergency stop.
30
Input
Counter clear
ON: Clears the software counter in the controller, which accumulates command pulses.
31
Input
Reset
ON: Resets errors generated in the controller.
33 34
35 36
Input
+CLK/±CLK -CLK/SIGN
Command pulses can be input from the teach pendant in either of the two methods; 2-clock method and 1-clock method.
[Input]
Input (counter clear, servo on, reset) internal circuit
2.2kQ . .
,27 COM4
Example connection of external device
External power supply DC24 V
COM4 (27r ServoON Input (29)-
Counter clear input (30)-Reset Input(3l)-
+ I , - - COM
Output
-^29) Servo ON input
2.2kQ I (30) Counter clear input
-(3l) Reset input
Output
Master unit
Master unit
Sequencer (PLC), etc.
[Output]
Output (error, positioning finish, home position LS and Z-phase) internal circuit
Example connection of external device
External power supply DC24 V
—
_L Input
-(12) Error output
(13) Positioning finish output
(15) Home position LS output
-(16) Z-phase output
-A - COM2
Input
Sequencer (PLC), etc.
Master unit
[Pulse train input]
Example connection of line driver system
+ CLK (P)
|33>
+ CLK (N)
|34>
-CLK (P)
|35>
-CLK (N)
(36>
Master unit
33)+CLK (P) 34)+CLK (N)
35)-CLK (P) 36)+CLK (N)
CD l
c/T o
n~
"o
C
a
O
C
-o" C
a m
X
CD
3 i
CD
O o
CD
o
Pulse generator
Master unit
Example connection of open collector system
External power supply V
R
-VvV-
V-2. 0
+ CLK (P) + CLK (N)
- CLK (P)
- CLK (N)
+
R+150 V=12~24V
When external power voltage is 24 V, external resistor R is about 2 kQ.
R
Pulse generator
Master unit
The pulse train input comes in the two systems; line driver system and open collector system. To improve reliability such as noise resistance, however, use of the line driver system is recommended.
234
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