Omron XTRADRIVE Datasheet page 5

Encoder connector (CN2)
Pin Symbol
1, 2, 3 PPG0V
4, 5, 6 PPG5V
7 -
8 PS+
9 PS
10 SePG5V
11 SePG0V
12 BAT+
13 BAT-
14 PC+
15 PC
16 A+
17 A
18 B+
19 B
20 -
Shell FG
I/O signals (CN1) - input signals
Pin No. Signal Name
40 Common /S-ON
41 /P-CON
42 P-OT
43 N-OT
45 /P-CL
46 /N-CL
44 /ALM-RST
47 +24VIN
4 (2) SEN
21 BAT (+)
22 BAT (-)
5 (6) Speed V-REF
9 (10) Torque T-REF
7 Position PULS
8 /PULS
11 SIGN
12 /SIGN
15 CLR
14 /CLR
3 PL1
13 PL2
18 PL3
Note: 1. Pin numbers in parentheses () indicate signal grounds.
2. The functions allocated to /S-ON, /P-CON. P-OT, N-OT, /ALM-RST, /P-CL, and /N-CL input signals can be changed by using the
parameters.
3. The voltage input range for speed and torque references is a maximum of 12 V.
XtraDrive
Function
Encoder power supply GND
Encoder power supply +5 V
-
Encoder serial signal input
Encoder serial signal input
Serial encoder power supply +5 V (Sigma-II)
Serial encoder power supply GND (Sigma-II)
Battery + (used only with absolute encoder)
Battery - (used only with absolute encoder)
Encoder + C-phase input
Encoder C-phase input
Encoder + A-phase input
Encoder A-phase input
Encoder + B-phase input
Encoder B-phase input
-
Cable shield ground
Function
Servo ON: Turns ON the servo motor when the gate block in the inverter is released.
Function selected by parameter.
Proportional control reference
Direction reference
Control mode
switching
Zero-clamp reference
Reference pulse block
Forward run prohibited
Reverse run prohibited
Function selected by parameter.
Forward external torque limit ON
Reverse external torque limit ON
Internal speed switching
Alarm reset: releases the servo alarm state.
Control power supply input for sequence signals: users must provide the +24 V power supply.
Allowable voltage fluctuation range: 11 to 25 V
Initial data request signal when using an absolute encoder.
Connecting pin for the absolute encoder backup battery.
Do not connect when a battery is connected to the host controller.
Speed reference speed input: ±2 to ±10 V/rated motor speed (input gain can be modified using a parameter.)
Torque reference input: ±1 to ±10 V/rated motor torque (input gain can be modified using a parameter.)
Reference pulse input
for line driver only
Positional error pulse clear input: clears the positional error pulse during position control.
+12 V pull-up power is supplied when PULS, SIGN, and CLR reference signals are open-collector outputs
(+12 V power supply is built into the SERVOPACK).
Switches the speed control loop from PI (proportional/ integral) to P (proportional)
control when ON.
With the internal set speed selected: switch the rotation direction.
Position speed
torque Enables control mode switching.
Position
Torque speed
Speed control with zero-clamp function: referencevspeed is zero when ON.
Position control with reference pulse stop: stops reference pulse input when ON.
Overtravel prohibited: stops servo motor when movable part travels beyond the
allowable range of motion.
Current limit function enabled when ON.
With the internal set speed selected: switches the internal speed settings.
Input mode is set from the following pulses.
Sign + pulse string
CCW/CW pulse
Two-phase pulse (90 phase differential)
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