2
3.6.3 Remote register-based position/speed setting ................................................................................3 -38
3.7 Function-by-function programming examples........................................................................................ 3 -41
3.7.1 System configuration example......................................................................................................... 3 -41
3.7.2 Reading the servo amplifier status ..................................................................................................3 -4 4
3.7.3 Writing the operation commands .....................................................................................................3 -45
3.7.4 Reading the data.............................................................................................................................. 3 -46
3.7.5 Writing the data ................................................................................................................................3 -49
3.7.6 Operation.......................................................................................................................................... 3 -52
3.8 Continuous operation program example ................................................................................................3 -55
3.8.1 System configuration example when 1 sta tion is occupied............................................................ 3 -55
3.8.2 Program example when 1 station is occupied ................................................................................3 -56
3.8.3 System configuration example when 2 stati ons are occupied........................................................3 -58
3.8.4 Program example when 2 stations are occup ied............................................................................3 -59
4. SIGNALS AND WIRING 4 - 1 to 4 -54
4.1 Input power supply circuit ........................................................................................................................4 - 2
4.2 I/O signal connection diagram ................................................................................................................4 -10
4.3 Explanation of power supply system ......................................................................................................4 -11
4.3.1 Signal explanations .......................................................................................................................... 4 -11
4.3.2 Power-on sequence .........................................................................................................................4 -12
4.3.3 CNP1, CNP2, CNP3 wiring method ................................................................................................4 -1 4
4.4 Connectors and signal arrangements .................................................................................................... 4 -22
4.5 Signal (device) explanation..................................................................................................................... 4 -23
4.5.1 I/O devices........................................................................................................................................ 4 -23
4.5.2 Input signals .....................................................................................................................................4 -26
4.5.3 Output signals...................................................................................................................................4 -26
4.5.4 Power supply.................................................................................................................................... 4 -27
4.6 Detailed description of signals (devices) ................................................................................................4 -27
4.6.1 Forward rotation start reverse rotation start temporary stop/restart ...........................................4 -27
4.6.2 Movement completion rough match in position ..........................................................................4 -28
4.6.3 Torque limit....................................................................................................................................... 4 -30
4.7 Alarm occurrence timing chart ................................................................................................................4 -31
4.8 Interface...................................................................................................................................................4 -32
4.8.1 Internal connection diagram ............................................................................................................ 4 -32
4.8.2 Detailed description of interfaces..................................................................................................... 4 -33
4.8.3 Source I/O interfaces .......................................................................................................................4 -3 5
4.9 Treatment of cable shield external conductor ........................................................................................ 4 -36
4.10 Connection of servo amplifier and servo motor ................................................................................... 4 -37
4.10.1 Connection instructions.................................................................................................................. 4 -37
4.10.2 Power supply cable wiring diagrams .............................................................................................4 -38
4.11 Servo motor with an electromagnetic brake......................................................................................... 4 -48
4.11.1 Safety precautions .........................................................................................................................4 -48
4.11.2 Timing charts.................................................................................................................................. 4 -49
4.11.3 Wiring diagrams (HF-MP series HF-KP series servo motor) .....................................................4 -5 2
4.12 Grounding..............................................................................................................................................4 - 53