SM321 Technical Reference_Ver3.pdf - 第98页
Page SAMSUNG TECHWIN 98 SM321 S er vo In te rfa ce (Z 1, Z2 ) X2 SERVO DRIVER ROWA 13 7043A AXIS B'D#2 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 -CO…
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
Page
SAMSUNG TECHWIN
98
SM321
Servo Interface (Z1, Z2)
X2
SERVO DRIVER
ROWA
13
7043A
AXIS B'D#2
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
Z1 AXIS
X5
RB2
RB3
RB1
r
X1
L1
L3
t
TB1-27B
TB1-23B
TB1-20B
TB1-17B
(S M_P W015)
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
Z1 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_MD009 )
(S M_MD008 )
X6
(S M_V M005)
4
1
2
3
4
1
2
3
FLAT CABLE
1
2
3
4
5
3
6
2
4
5
2
1
FFD-INT
U
ROWB
38
50
RFD-INT
1
2
FG
8
9
50
8
38
9
RB3
RB2
X2
RB1
W
V
1616
2020
22
30 30
22
21 21
1818
19 19
17 17
15 15
14
13
14
13
11
12
11
12
10
9
10
9
33
77
8 8
4 4
11
2 2
SP1
13
27
37
30
39
41
22
48
21
23
24
36
25
49
/EZ
GND
/EA
/EB
EZ
EB
-COM
EA
INP
SP2
/ALMRST
/ALM
31
21
23
25
36
24
48
49
22
PE
5
6 6
5
41
39
13
37
31
27
30
1
3
2
4
X6
3
4
2
1
29
/CCW
/SON
+COM
CCW
/CW
CW
5
7
6
3
4
SERVO DRIVER
5
Z2 AXIS
7
29
6
3
4
X5
L1
X1
L3
r
t
11
Z2 MOTOR
3
2
3
2
SD
SD/
SHIELD
(S M_MD010 )
4
4
5
3
+5V
0V
1
(S M_MD011 )
2
EN
FLAT CABLE
4
3
6
2
4
5
TB1-23B
TB1-27B
TB1-17B
TB1-20B
(S M_P W015)
1
2
3
Page
SAMSUNG TECHWIN
99
SM321
Servo Interface (Z3, Z4)
X2
SERVO DRIVER
ROWA
13
7043A
AXIS B'D#2
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
Z3 AXIS
X5
RB2
RB3
RB1
r
X1
L1
L3
t
TB1-28B
TB1-24B
TB1-21B
TB1-18B
(S M_P W016)
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
Z3 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_MD013 )
(S M_MD012 )
X6
(S M_V M006)
4
1
2
3
4
1
2
3
FLAT CABLE
1
2
3
4
5
3
6
2
4
5
U
ROWB
38
50
FG
8
9
50
8
38
9
RB3
RB2
X2
RB1
W
V
1616
2020
22
30 30
22
21 21
1818
19 19
17 17
15 15
14
13
14
13
11
12
11
12
10
9
10
9
33
77
8 8
4 4
11
2 2
SP1
13
27
37
30
39
41
22
48
21
23
24
36
25
49
/EZ
GND
/EA
/EB
EZ
EB
-COM
EA
INP
SP2
/ALMRST
/ALM
31
21
23
25
36
24
48
49
22
PE
5
6 6
5
41
39
13
37
31
27
30
1
3
2
4
X6
3
4
2
1
29
/CCW
/SON
+COM
CCW
/CW
CW
5
7
6
3
4
SERVO DRIVER
5
Z4 AXIS
7
29
6
3
4
X5
L1
X1
L3
r
t
11
Z4 MOTOR
3
2
3
2
SD
SD/
SHIELD
(S M_MD014 )
4
4
5
3
+5V
0V
1
(S M_MD015 )
2
EN
FLAT CABLE
4
3
6
2
4
5
TB1-24B
TB1-28B
TB1-18B
TB1-21B
(S M_P W016)
1
2
3