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5. Type R Interface <br />
5.2.2 Teaching Mode Input / Output Signal<br />
A mode used for instructing the current position to a desired point.<br />
During the teaching mode, input / output signal function of CN1 is fixed and not dependent on input<br />
/ output signal function.<br />
1CN5, 6 Input Signal<br />
Pin No Name Logic selection Function outline<br />
7 MODE Fixed<br />
On Teaching<br />
mode<br />
OFF Normal<br />
mode<br />
A mode switch signal which controls the shift to teaching<br />
mode. It switches to teaching mode when the amplifier status<br />
is zero-return completed, servo ON stop, ±Jog input is OFF<br />
and the MODE signal has lasted more than 10ms.<br />
Teaching status is canceled when the motor stops and MODE<br />
= OFF.<br />
If the alarm is activated during teaching mode, it<br />
automatically changes to normal mode.<br />
8 Brake Fixed<br />
OnRelease<br />
OFFHold<br />
Functions as control input of holding brake release / hold, only<br />
during STOP input in teaching mode. It will not function in<br />
any other status.<br />
Use this during Offline teaching (manually).<br />
The load may drop by its own weight when the holding<br />
brake is released. Ensure safety checks before releasing<br />
the brake.<br />
The excitation current during STOP will be non-excitation<br />
regardless of the value setting of Command 20h.<br />
CN1-11,13Pin<br />
HOMEEND<br />
SON MON<br />
MODE<br />
MODE MON<br />
12ms Max<br />
12ms Max<br />
Brake<br />
Holding brake operation<br />
Release<br />
Cancel<br />
100ms max<br />
<br />
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