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[Connection and Setup of Torque Control Mode]
Connection and Setup of
Torque Control Mode
Output Circuit
• The output circuit is composed of open collector transistor
outputs in the Darlington connection, and connect to relays or
photo-couplers.
• There exists collector to emitter voltage, V
CE
(SAT) of approx.
1V at transistor-ON, due to the Darlington connection of the
output or. Note that normal TTL IC cannot be directly connec-
ted since it does not meet VIL.
• There are two types of output, one which emitter side of the
output transistor is independent and is connectable individual-
ly, and the one which is common to – side of the control pow-
er supply (COM–).
• If a recommended primary current value of the photo-coupler
is 10mA, decide the resistor value using the formula of the
right Fig.
Sequence output circuitSO1 SO2
• Feeds out the divided encoder outputs (A, B and Z-phase) in
differential through each line driver.
• At the host side, receive these in line receiver. Install a termi-
nal resistor (approx. 330Ω) between line receiver inputs with-
out fail.
• These outputs are not insulated.
Line driver (Differential output) outputPO1
• Feeds out the Z-phase signal among the encoder signals in
open collector. This output is not insulated.
• Receive this output with high-speed photo couplers at the
host side, since the pulse width of the Z-phase signal is nar-
row.
Open collector outputPO2
• There are two outputs, the speed monitor signal output (SP)
and the torque monitor signal output (IM)
• Output signal width is ±10V.
• The output impedance is 1kΩ. Pay an attention to the input
impedance of the measuring instrument or the external circuit
to be connected.
<Resolution>
(1) Speed monitor output (SP)
With a setup of 6V/3000r/min (Pr07=3), the resolution converted to speed is 8r/min/16mV.
(2) Torque monitor output (IM)
With a relation of 3V/rated torque (100%), the resolution converted to torque is 0.4%/12mV.
Analog monitor outputAO
For the recommended primary current value, refer to the data sheet of apparatus or photo-coupler to be used.
R [kΩ] =
Install toward the direction as
the fig. shows without fail.
V
DC
[V] – 2.5[V]
10
V
DC
12 to 24V
SO1
ALM+ etc.
ALM– etc.
COM–41
ZSP, TLC
SO2
Max. rating 30V,
50mA
AM26LS32 or equivalent
AM26LS31 or
equivalent
A
B
Z
22
21
OA
+
OA
–
OZ
+
OZ
–
OB
+
OB
–
48
23
25
GND
24
49
Connect signal ground of the host
and the driver without fail.
19
25
CZ
Max. rating 30V,
50mA
Measuring
instrument
or
external
circuit
GND
High speed
photo-coupler
(TLP554 by Toshiba or equivalent)
43
1k
Ω
1k
Ω
SP
IM
42
GND
17
represents twisted pair.
represents twisted pair.