SM321 Technical Reference_Ver3.pdf - 第96页
Page SAMSUNG TECHWIN 96 SM321 S er vo In te rfa ce (Y 1, Y2) X2 SERVO DRIVER ROWA 13 TWIN SERVO B/D 19 22 30 21 20 16 18 17 15 14 9 12 11 8 7 CN1 3 4 2 1 13 19 22 30 21 20 16 18 17 15 14 GND /EZ EZ EB /EB /EA -COM EA INP…
Page
SAMSUNG TECHWIN
95
SM321
Axis Sensor Board Interface (2/2)
AXIS SENSOR
BOARD
AXIS SENSOR
BOARD
12
30
29
20
24
26
28
27
25
22
23
21
16
18
19
17
14
15
13
11
12
29
30
20
24
26
27
28
25
22
23
21
16
18
19
17
14
15
13
44
8 8
10
9
10
11
9
6
7
5
6
7
5
2
3
1
2
3
1
12
12
29
30
29
30
20
20
24
26
27
28
25
22
23
21
24
26
27
28
25
22
23
21
16
18
19
17
14
15
13
16
18
19
17
14
15
13
4
4
8
10
11
9
6
7
5
8
10
11
9
6
7
5
2
3
1
2
3
1
1010
12
30
29
20
24
26
28
27
25
22
23
21
16
18
19
17
14
15
13
11
29
30
27
28
18
22
25
26
23
24
20
21
19
14
16
17
15
12
13
11
22
3
8
9
6
7
5
4
6
8
9
7
4
5
3
1 1
10
10
11
29
30
20
24
26
27
28
25
22
23
21
16
18
19
17
14
15
13
12
27
28
29
30
18
22
23
26
25
24
19
21
20
14
15
17
16
11
13
12
4
8
9
6
7
5
2
3
1
2
6
7
9
8
3
5
4
1
18
12
30
29
20
24
26
28
27
25
22
23
21
16
18
19
17
14
15
13
11
26
30
28
29
27
22
24
25
23
20
21
19
1010
14
16
17
15
12
13
11
2
8
6
7
9
3
5
4
6
8
9
7
4
5
2
3
1 1
77
12
30
29
20
24
26
28
27
25
22
23
21
16
18
19
17
14
15
13
11
30
28
29
26
27
24
25
15
19
23
22
21
20
17
18
16
9
8
10
11
13
14
12
9
10
8
1
4
5
6
3
2
3
5
6
4
1
2
2
8
6
7
10
11
29
30
20
24
26
27
28
25
22
23
21
16
18
19
17
14
15
13
12
9
4
5
3
18
26
30
28
29
27
22
24
25
23
20
21
19
10
14
16
17
15
12
13
11
6
8
9
7
2
3
4
5
1
1
7
7
9
8
12
13
15
14
17
19
18
16
21
23
22
25
28
27
26
24
20
30
29
11
10
30
29
28
24
25
26
27
15
19
20
21
23
22
16
17
18
11
12
13
14
8
9
10
1
3
2
5
6
4
3
4
5
6
1
2
+24V
+24V
+24V
GND
GND
GND
GND
X_ML
X_PL
GND
GND
X_HOME
+24V
+24V
+24V
GND
Y1_ML
Y2_ML
Y2_PL
GND
GND
Y2_HOME
GND
GND
Y1_PL
GND
Y1_HOME
GND
+24V
+24V
+24V
GND
Z4_HOME
GND
GND
GND
Z3_HOME
GND
+24V
+24V
+24V
GND
GND
Z2_HOME
GND
GND
GND
GND
Z1_HOME
GND
+24V
+24V
GND
+24V
GND
GND
GND
GND
GND
R56_HOME
+24V
GND
+24V
GND
+24V
R34_HOME
GND
GND
GND
R12_HOME
WD_PL
+24V
+24V
+24V
WD_ML
GND
GND
SW_HOME
WD_HOME
GND
GND
GND
GND
+24V
+24V
GND
+24V
GND
GND
Z5_HOME
GND
GND
GND
Z6_HOME
CN3S
CN6S
CN7S
CN3S
CN9S
CN8S
CN3S
CN3S
30P
CN3P
30P
CN6P
30P
CN7P
30P
CN3P CN9P
30P 30P
CN8P
30P
CN3P
30P
CN3P
S M_AX007
AXIS #1
AXIS #2 AXIS #4
AXIS #3
S M-AX 007
Page
SAMSUNG TECHWIN
96
SM321
Servo Interface (Y1, Y2)
X2
SERVO DRIVER
ROWA
13
TWIN SERVO
B/D
19
22
30
21
20
16
18
17
15
14
9
12
11
8
7
CN1
3
4
2
1
13
19
22
30
21
20
16
18
17
15
14
GND
/EZ
EZ
EB
/EB
/EA
-COM
EA
INP
FG
50
9
8
49
25
38
36
24
23
21
48
22
41
39
9
12
11
8
7
3
4
2
1
+COM
/ALM
/ALMRST
/SON
SP1
/CW
/CCW
CCW
CW
6
30
37
31
29
7
5
4
3
Y1 AXIS
X5
RB2
RB3
RB1
L3
r
X1
L1
L2
t
TB1-42B
TB1-45B
TB1-39B
TB1-36B
TB1-33B
(S M_P W020)
REGENERATIVE
RESISTOR
SP2
1010
27
13
8
50
9
41
21
13
31
30
38
36
25
24
23
49
48
22
39
37
27
29
7
6
5
4
3
Y1 MOTOR
D
C
B
A
U
V
W
PE
6
4
5
3
1
2
SHIELD
SD
SD/
0V
+5V
4
6
5
2
3
1
EN
H
G
K
L
J
(S M_MD005 )
(S M_MD004 )
(S M_MD037 )
X6
A
ROWB
5050
FG
38
8
9 9
8
38
RB1
RB3
RB2
X2
V
W
U
(S M_MD037 )
RESISTOR
REGENERATIVE
C
B
Y2 MOTOR
+5V
SHIELD
0V
SD
SD/
SP2
CW
CCW
/CCW
/CW
SP1
/SON
/ALMRST
/ALM
+COM
INP
EA
-COM
/EA
/EB
EB
EZ
/EZ
GND
88
1616
17
18
20
21
30
22
19
30
22
20
21
18
19
17
10
11
12
9
14
15
13
12
14
15
13
10
11
9
2
4
3
77
4
3
11
2
2929
SERVO DRIVER
2121
23
24
36
25 25
36
23
24
22
48
49
48
49
22
3737
13
39
41
39
41
13
27
31
30
27
31
30
44
PE
66
55
X6
22
33
11
5
7
6
7
5
6
3
4
3
4
X5
Y2 AXIS
X1
t
L3
L2
L1
r
(S M_MD006 )
D
J
L
K
(S M_MD007 )
H
G
EN
(S M_P W019)
TB1-35B
TB1-38B
TB1-44B
TB1-41B
TB1-32B
(S M21_VM003)
2
Page
SAMSUNG TECHWIN
97
SM321
Servo Interface (X)
X2
SERVO DRIVER
ROWA
13
TWIN SERVO
B/D
19
22
30
21
20
16
18
17
15
14
9
12
11
8
7
CN2
3
4
2
1
13
19
22
30
21
20
16
18
17
15
14
GND
/EZ
EZ
EB
/EB
/EA
-COM
EA
INP
FG
50
9
8
49
25
38
36
24
23
21
48
22
41
39
9
12
11
8
7
3
4
2
1
+COM
/ALM
/ALMRST
/SON
SP1
/CW
/CCW
CCW
CW
6
30
37
31
29
7
5
4
3
X AXIS
X5
RB2
RB3
RB1
L3
r
X1
L1
L2
t
TB1-41B
TB1-44B
TB1-38B
TB1-35B
TB1-32B
(S M_P W019)
REGENERATIVE
RESISTOR
SP2
1010
27
13
8
50
9
41
21
13
31
30
38
36
25
24
23
49
48
22
39
37
27
29
7
6
5
4
3
X MOTOR
U
V
W
PE
6
4
5
3
1
2
SHIELD
SD
SD/
0V
+5V
4
6
5
2
3
1
EN
(S M_MD002 )
(S M_MD001 )
(S M_MD037 )
X6
ROWB
88
1616
17
18
20
21
30
22
19
30
22
20
21
18
19
17
10
11
12
9
14
15
13
12
14
15
13
10
11
9
2
4
3
77
4
3
11
2
(S M_V M003)
4
1
2
3
4
1
2
3
FLAT CABLE
1
2
3
4
5
3
6
2
4
5
1
2