Technical Manual for EA350 Analog Pulse Type Servo Driver V101 Caution ☞ All GND terminals are connected inside the driver; all COM terminals are connected inside the driver 3.4.2 DI function definition table 31 Signal name Pin number Function description Position pulse input PULHIP 1 Positive terminal when 24V power source is used for command pulse Refer to Sections 3.4.7 PULSE+ 33 Position pulse command + PULSE- 34 Position pulse command - SIGN+ 31 Position direction command + SIGN- 32 Position direction command - Frequency division output PA+ 28 Differential frequency division output of pulse A, maximum allowable current 20mA Refer to Sections 3.4.8 PA- 13 PB+ 12 Differential frequency division output of pulse B, maximum allowable current 20mA PB- 27 PZ+ 11 Differential frequency division output of pulse B, maximum allowable current 20mA PZ- 26 OCZ 35 Z pulse open-collector output, maximum allowable current 40mA.
GND 29 OCA 43 A pulse open-collector output, maximum allowable current 40mA OCB 42 B pulse open-collector output, maximum allowable current 40mA Analog input AI1 15 Analog input 1 Refer to Sections 3.4.6 AI2 30 Analog input 2 GND 29 Analog input signal ground Function name Trigger mode Running Settings Item Description mode 0 Disabled Terminal inactive 1 S-ON Servo on ON: Servo on OFF: Servo off Level P S T 2 ALM-RST Warning and warning reset OFF→ON: Reset warnings and alarms that can be reset Edge P S T 3 P-CLR Position deviation counter clearing For the trigger mode, see the definition of P1-16 Edge/level P 4 DIR-SEL Direction selection for speed command ON:
Reverse direction of speed command OFF:
Set the direction of a speed command Level S 5 CMD0 Internal command bit0 In the multi-segment position control mode, the signal corresponds to the multi-segment position switching function; In the multi-segment speed control mode, the signal corresponds to the multi-segment speed switching function; Level P S 6 CMD1 Internal command bit1 Level P S 7 CMD2 Internal command bit2 Level P S 8 CMD3 Internal command bit3 Level P S 9 CTRG Internal command trigger Multi-segment position trigger Edge P 10 MSEL Control mode switching For control mode switching, see P0-00 description for the significance of ON/OFF Level P S T 11 ZCLAMP Zero position fixation on for speed command ON:
Zero position fixation function on OFF: Function invalid Level S 12 INHIBIT Pulse inhibited ON-Inhibit command pulse input OFF: Allow pulse input Level P 13 P-OT Inhibit forward drive ON - Inhibit forward drive OFF - Allow forward drive Level P S T 14 N-OT Inhibit reverse drive ON - Inhibit reverse drive OFF - Allow reverse drive Level P S T 15 GAIN SEL _ Gain switching ON: Use the second gain OFF: Use the first gain Level P S T 16 J SEL _ Inertia switching ON: Use inertia ratio P4-11 OFF: Use inertia ratio P4-10 Level P S T 17 JOG P Forward jog ON: Forward jog running OFF: No function Level S 18 _ JOG N _ Reverse jog ON: Reverse jog running OFF:
No function Level S 19 TDIR-SEL Direction selection for torque command ON: Reverse direction of torque command OFF: Set torque direction Level T 20 GNUM0 Numerator selection 0 for electronic gear ratio GNUM1 GNUM0 Code P1-04 P1-08 P1-10 P1-12 Level P 0 0 0 1 21 GNUM1 Numerator selection 1 for electronic gear ratio Level P 1 0 1 1 22 ORGP External detector input Rising edge: External detector active Falling edge: External detector inactive Edge P S T 23 SHOM Homing OFF→ON: Start the homing function Edge P S T 24 TL2 External torque limit ON: External torque limit enabled OFF: External torque limit disabled Level P S T 25 EMGS Emergency stop ON: Emergency braking OFF:
No function Level P S T 33 PDIR SEL _ Direction selection for position command ON: Reverse position command OFF: Given command direction Level P