3.7.4 Reading the data .............................................................................................................................. 3 -46
3.7.5 Writing the data ................................................................................................................................ 3 -49
3.7.6 Operation .......................................................................................................................................... 3 -52
4.1 Input power supply circuit ........................................................................................................................ 4 - 2
4.3.1 Signal explanations .......................................................................................................................... 4 -13
4.3.2 Power-on sequence ......................................................................................................................... 4 -14
4.5 Signal (device) explanation ..................................................................................................................... 4 -26
4.5.1 I/O devices ........................................................................................................................................ 4 -26
4.5.2 Input signals ..................................................................................................................................... 4 -29
4.5.3 Output signals................................................................................................................................... 4 -29
4.5.4 Power supply .................................................................................................................................... 4 -30
4.6.3 Torque limit ....................................................................................................................................... 4 -33
4.8 Interface ................................................................................................................................................... 4 -35
4.8.3 Source I/O interfaces ....................................................................................................................... 4 -38
4.10.1 Connection instructions .................................................................................................................. 4 -40
4.11.1 Safety precautions ......................................................................................................................... 4 -52
4.11.2 Timing charts .................................................................................................................................. 4 -53
4.12 Grounding .............................................................................................................................................. 4 -57
2
4 - 1 to 4 -58
5 - 1 to 5 -62