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3. SIGNALS AND WIRING
3.2.3 Torque control mode
3
1
2
(Note 6)
CN6
Plate
MO1
LG
MO2
SD
2m max.
Analog monitor 1
Analog monitor 2
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
Encoder Z-phase pulse
(open collector)
Encoder Z-phase pulse
(differential line driver)
(Note 10)
Trouble (Note 5)
Zero speed detection
Ready
Limiting speed
(Note 8)
USB cable
(option)
Upper limit setting
Emergency stop
Servo-on
Reset
Speed selection 1
Speed selection 2
(Note 3)
Analog torque command
8V/max. torque
(Note 10)
Upper limit setting
Analog speed limit
0 to 10V/rated speed
(Note 9)
Forward rotation selection
Reverse rotation selection
24VDC(Note 4)
Servo amplifier
(Note 1)
9
(Note 2)
21
DICOM
48 ALM
23 ZSP
25 VLC
4LA
5LAR
6LB
7LBR
34 LG
33 OP
1P15R
SD
10m max.
2m max.
(Note 6)
CN1
49 RD
8LZ
LZR
(Note 6)
CN1
20
46
DICOM
DOCOM
Personal
computer
CN5
27
1
2m max.
28
2
Plate
TC
SD
VLA
LG
P15R
(Note 7)
MR Configurator
Plate
10m max.
42
15
19
17
18
47
41
16
EMG
SON
RES
RS1
RS2
DOCOM
SP1
SP2
RA1
RA2
RA3
RA4