General Input Port (J2) - Elmo Cello Installation Manual

Cello Installation Guide
MAN-CELIG (Ver. 1.5)

3.4.8.2 General Input Port (J2)

Port J2 has a 15-pin high density D-Sub socket. When assembling this I/O cable, follow the
instructions in Section 3.4.4 (Feedback and Control Cable Assemblies) using a 15-pin high
density metal case D-sub male connector (plug).
Note: Analog Inputs 1 and 2 are functionally identical. However, note that the velocity
and current commands can only be given on Analog Input 1.
Pin Signal
1 IN5
2 IN6
3 IN9
4 IN10
5 ANLIN1+
6 INRET5
7 INRET6
8 INRET9
9 INRET10
10 ANLIN1-
11 ANLIN2+
12 ANLIN2-
13 ANLRET
14 ANLRET
15 SUPRET
Function
Programmable input 5 (high-speed input)
Programmable input 6 (high-speed input)
Programmable input 9
Programmable input 10
Analog input 1
Programmable input return 5 (high-speed input)
Programmable input return 6 (high-speed input)
Programmable input return 9
Programmable input return 10
Analog input 1
Analog input 2
Analog input 2
Analog return
Analog return
Supply return
Table 3-13: General Input J2 Cable - Pin Assignments
Installation
3-34
Pin Position