Omron OMNUC W Series User Manual page 80

Standard Models and Specifications
Note 1. Parameter settings (control mode selection) are required for speed and torque control.
Note 2. The inputs at pins 40 to 46 and the outputs at pins 25 to 30 can be changed by parameter
settings. The settings in the diagram are the defaults.
Note 3. Pins 2, 4, 21, and 22 are for use with an absolute encoder.
H Control I/O Signals
D CN1 Control Inputs
Pin Signal
No. name
5 REF Speed command
input
6 AGND Speed command
input ground
9 TREF Torque command
input
10 AGND Torque command
input ground
3 PCOM Open collector com-
mand power supply
13
18
7 +PULS/ Feed pulses, reverse
CW/A pulses, or 90_ phase
difference pulses (A difference pulses (A
8 --PULS/
phase)
CW/A
11 +SIGN/ Direction signal, for-
CCW/B ward pulses, or 90_
phase difference phase difference
12 --SIGN/
pulses (B phase)
CCW/B
Deviation counter
14 --ECRST
reset
15 +ECRST
Sensor ON input
4 SEN
2 SENGND
Backup battery input
21 BAT
22 BATGND
47 +24VIN +24-V power supply
input for control DC
2-54
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Function
Analog input terminal for speed commands. ±2 to ±10 V
(Servomotor forward rotation with + voltage)
Scale can be changed by means of user parameter Scale can be changed by means of user parameter
Pn300 (speed command scale).
Can be used as a speed limit input for torque control (by
means of a Pn002.1 setting).
Analog input terminal for torque commands. ±1 to ±10 V
(Forward torque with + voltage)
Scale can be changed by means of user parameter
Pn400 (torque command scale). Pn400 (torque command scale)
Can be used as a torque limit input or torque feed for-
ward input for speed control or position control (by
means of a Pn002.0 setting).
p To use open-collector output for inputting command
d l pulses and deviation counter resets, connect the + inputs l
to these terminals and connect the -- inputs to open-col- to these terminals and connect the -- inputs to open-col-
lector output terminals.
Pulse string input terminals for position commands.
Line-driver input: 10 mA at 3 V Line driver input: 10 mA at 3 V
Maximum response frequency: 500 kpps
Open-collector input:
Maximum response frequency: 200 kpps Maximum response frequency: 200 kpps
Any of the following can be selected by means of a
Pn200.0 setting: feed pulses or direction signals (PULS/ Pn200 0 setting: feed pulses or direction signals (PULS/
SIGN); forward or reverse pulses (CW/CCW); 90_ phase
difference (A/B phase) signals (A/B).
Line-driver input: 10 mA at 3 V
Open collector input: Open-collector input:
ON: Pulse commands prohibited and deviation counter
cleared.
ON: Absolute encounter's multi-turn amount and initial
incremental pulses sent. incremental pulses sent.
Required when using an absolute encoder.
Backup battery connector terminals for power interrup-
tion for absolute encoder tion for absolute encoder
Connect the battery to either this terminal or CN8.
Power supply input terminal (+24 V DC) for sequence
inputs (pins 40 to 46).
Contents
p p p
d d i ti t t
7 to 15 mA
25 mA at 5 V 25 mA at 5 V
Chapter 2
Control
mode
All
All
g All
t th i t
Position
Position
All [absolute]
All [absolute]
All