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2-3-5 Torque Control Mode (T Mode)<br />
R<br />
S<br />
T<br />
NFB<br />
Supply<br />
Filter<br />
Internal +24V DC<br />
IP 24<br />
R<br />
S<br />
T<br />
r<br />
s<br />
FG<br />
45<br />
DC 24V<br />
SERVO<br />
C<br />
N<br />
4<br />
P<br />
PC<br />
P1<br />
RS232<br />
PC<br />
Regeneration resistor<br />
Servo ON(SON)<br />
CCW Limit(CCWL)<br />
CW Limit(CWL)<br />
Emergency stop(EMC)<br />
Model Control(MDC)<br />
Alarm Clear(ALRS)<br />
Torque Inverse(TRQINV)<br />
Speed 1 (SPD1)<br />
Speed 2(SPD2)<br />
Torque CW Selecting (RS1)<br />
Torque CCW Selecting (RS2)<br />
Digital input <strong>com</strong>mon<br />
DICOM<br />
+24 V ground<br />
Torque Control<br />
Speed Limit(0~10V)<br />
Analog Ground<br />
DI-1<br />
DI-4<br />
DI-5<br />
DI-9<br />
DI-12<br />
DI-2<br />
DI-8<br />
DI-10<br />
DI-11<br />
DI-6<br />
DI-7<br />
IG24<br />
PIC<br />
AG<br />
47<br />
1<br />
4<br />
5<br />
9<br />
12<br />
2<br />
8<br />
10<br />
11<br />
6<br />
7<br />
48<br />
27<br />
29<br />
R1<br />
R1<br />
R1<br />
R1<br />
R1<br />
R1<br />
R1<br />
R1<br />
R1<br />
R1<br />
R1<br />
20KΩ<br />
R2<br />
DC24V<br />
U<br />
V<br />
W<br />
FG<br />
C<br />
N<br />
2<br />
35 PA<br />
36 /PA<br />
37 PB<br />
38 /PB<br />
39 PZ<br />
40 /PZ<br />
43<br />
48<br />
45<br />
18<br />
19<br />
20<br />
21<br />
22<br />
23<br />
24<br />
25<br />
49<br />
Z0<br />
IG24<br />
DO-1<br />
DO-2<br />
DO-3<br />
DO-4<br />
DO-5<br />
DO-6<br />
DO-7<br />
DO-8<br />
IG24<br />
R4<br />
LOAD<br />
LOAD<br />
LOAD<br />
LOAD<br />
LOAD<br />
LOAD<br />
LOAD<br />
LOAD<br />
Encoder Output A Phase<br />
Encoder Output /A Phase<br />
Encoder Output B Phase<br />
Encoder Output /B Phase<br />
Encoder Output Z Phase<br />
Encoder Output /Z Phase<br />
SERVO<br />
MOTOR<br />
Encoder<br />
+VcExternal supply<br />
*Max Vc=24V<br />
Vc=24V , R4=4.7KΩ<br />
Vc=12V, R4=2.4KΩ<br />
Vc=5V, R4=1.0KΩ<br />
Servo Ready ( RDY)<br />
Alam( ALM)<br />
Zero Speed (ZS)<br />
In Speed (INS)<br />
Limiting Torque /Alarm Code 0<br />
P in Action /Alarm Code 1<br />
Servo in limit / Alarm Code 2<br />
Base Block /Alarm Code 3<br />
Max Voltage: 24V<br />
Max Output Current :10mA<br />
Torque Input (±10V)<br />
Analog Ground<br />
SIN<br />
AG<br />
26<br />
29<br />
20KΩ<br />
R2<br />
30<br />
32<br />
31<br />
MON1<br />
AG<br />
MON2<br />
Analog Monitor Output 1<br />
Analog Grounding<br />
Analog Monitor Output 2<br />
Max Output Current 5mA<br />
33<br />
34<br />
+15V<br />
-15V<br />
+15V PW output (AG)<br />
-15V PW output (AG)<br />
Max Output Current 10mA<br />
Shield ground<br />
FG<br />
50<br />
2-29
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