Chapter 3 Connections and WiringRevision June 2010 3-17CN1 Terminal Signal Identification16 DO6+ Digital output1 DO4+ Digital output 31 DI7- Digital input17 VDD+24V poweroutput (forexternal I/O)2 DO3- Digital output 32 DI6- Digital input18 T_REF Analog torqueInput3 DO3+ Digital output 33 DI5- Digital input19 GND Analog inputsignal ground4 DO2- Digital output 34 DI3- Digital input20 V_REF Analog speedinput (+)5 DO2+ Digital output 35 PULL HI Pulse appliedpower21 OA EncoderA pulse output6 DO1- Digital output 36 /HPULSEHigh-speedposition pulse(-)22 /OA Encoder/A pulse output7 DO1+ Digital output 37 SIGN Position sign(+)23 /OB Encoder /Bpulse output8 DI4- Digital input 38 HPULSEHigh-speedposition pulse(+)24 /OZ Encoder /Zpulse output9 DI1- Digital input 39 /SIGN Position sign (-)25 OB Encoder B pulseoutput10 DI2- Digital input 40 /HSIGN High-speedposition sign (-)26 DO4- Digital output11 COM+ Powerinput (12~24V) 41 PULSE Pulse input (+)27 DO5- Digital output12 DI9- Digital input 42 HSIGNHigh-speedposition sign(+)28 DO5+ Digital output13 OZEncoder ZpulseLine-driveroutput43 /PULSE Pulse input (-)29 GND Analog inputsignal ground14 COM-VDD(24V)powerground44 OCZEncoder ZpulseLine-driveroutput30 DI8- Digital input15 DO6- Digital output
