SM411_TechnicalReference(Eng_Ver6) - 第106页
Page SAMSUNG TECHWIN 96 SM411 S ervo Interface (X, SW) X2 X2 SERVO SERVO D R I VER D R I VER ROWA ROWA 13 13 X 704 3 N X 704 3 N # 1 B/D # 1 B/D 19 19 22 22 30 30 21 21 20 20 16 16 18 18 17 17 15 15 14 14 9 9 12 12 11 11…
Page
SAMSUNG TECHWIN
95
SM411
Servo Interface (Y1, Y2)
X2
X2
SERVO
SERVO
DRIVER
DRIVER
ROWA
ROWA
13
13
X7043
X7043
TWIN
TWIN
SERVO
SERVO
B/D
B/D
19
19
22
22
30
30
21
21
20
20
16
16
18
18
17
17
15
15
14
14
9
9
12
12
11
11
8
8
7
7
CN1
CN1
3
3
4
4
2
2
1
1
13
13
19
19
22
22
30
30
21
21
20
20
16
16
18
18
17
17
15
15
14
14
GND
GND
/EZ
/EZ
EZ
EZ
EB
EB
/EB
/EB
/EA
/EA
-C O M
-COM
EA
EA
INP
INP
FG
FG
50
50
9
9
8
8
49
49
25
25
38
38
36
36
24
24
23
23
21
21
48
48
22
22
41
41
39
39
9
9
12
12
11
11
8
8
7
7
3
3
4
4
2
2
1
1
+C O M
+COM
/ALM
/ALM
/ALMRST
/ALMRST
/SON
/SON
SP1
SP1
/CW
/CW
/CCW
/CCW
CCW
CCW
CW
CW
6
6
30
30
37
37
31
31
29
29
7
7
5
5
4
4
3
3
Y1 AXIS
Y1 AXIS
X5
X5
RB2
RB2
RB3
RB3
RB1
RB1
L3
L3
r
r
X1
X1
L1
L1
L2
L2
t
t
TB1-38B(TB1-39B)
TB1-38B(TB1-39B)
TB1-43B(TB1-44B)
TB1-43B(TB1-44B)
TB 1 -3 3 B ( TB 1 -3 4 B )
TB1-33B(TB1-34B)
TB 1 -2 8 B ( TB 1 -2 9 B )
TB1-28B(TB1-29B)
TB 1 -2 3 B ( TB 1 -2 4 B )
TB1-23B(TB1-24B)
S
M
33_
PW
018
S
M
33_
PW
018
REGENERATIVE
REGENERATIVE
RESISTOR
RESISTOR
SP2
SP2
10
10
10
10
27
27
13
13
8
8
50
50
9
9
41
41
21
21
13
13
31
31
30
30
38
38
36
36
25
25
24
24
23
23
49
49
48
48
22
22
39
39
37
37
27
27
29
29
7
7
6
6
5
5
4
4
3
3
Y1
Y1
MOTOR
MOTOR
D
D
C
C
B
B
A
A
U
U
V
V
W
W
PE
PE
6
6
4
4
5
5
3
3
1
1
2
2
SHIELD
SHIELD
SD
SD
SD/
SD/
0V
0V
+5 V
+5V
4
4
6
6
5
5
2
2
3
3
1
1
EN
EN
H
H
G
G
K
K
L
L
J
J
S
M
33_
M
D
006
(
S
M
33_
M
D
010
)
S
M
33_
M
D
006
(
S
M
33_
M
D
010
)
S
M
33_
M
D
005
(
S
M
33_
M
D
009
)
S
M
33_
M
D
005
(
S
M
33_
M
D
009
)
S
M
33_
M
D
028
S
M
33_
M
D
028
X6
X6
A
A
ROWB
ROWB
50
50
50
50
FG
FG
38
38
8
8
9
9
9
9
8
8
38
38
RB1
RB1
RB3
RB3
RB2
RB2
X2
X2
V
V
W
W
U
U
RESISTOR
RESISTOR
REGENERATIVE
REGENERATIVE
C
C
B
B
Y2
Y2
MOTOR
MOTOR
+5 V
+5V
SHIELD
SHIELD
0V
0V
SD
SD
SD/
SD/
SP2
SP2
CW
CW
CCW
CCW
/CCW
/CCW
/CW
/CW
SP1
SP1
/SON
/SON
/ALMRST
/ALMRST
/ALM
/ALM
+C O M
+COM
INP
INP
EA
EA
-C O M
-COM
/EA
/EA
/EB
/EB
EB
EB
EZ
EZ
/EZ
/EZ
GND
GND
8
8
8
8
16
16
16
16
17
17
18
18
20
20
21
21
30
30
22
22
19
19
30
30
22
22
20
20
21
21
18
18
19
19
17
17
10
10
11
11
12
12
9
9
14
14
15
15
13
13
12
12
14
14
15
15
13
13
10
10
11
11
9
9
2
2
4
4
3
3
7
7
7
7
4
4
3
3
1
1
1
1
2
2
29
29
29
29
SERVO
SERVO
DRIVER
DRIVER
21
21
21
21
23
23
24
24
36
36
25
25
25
25
36
36
23
23
24
24
22
22
48
48
49
49
48
48
49
49
22
22
37
37
37
37
13
13
39
39
41
41
39
39
41
41
13
13
27
27
31
31
30
30
27
27
31
31
30
30
4
4
4
4
PE
PE
6
6
6
6
5
5
5
5
X6
X6
2
2
2
2
3
3
3
3
1
1
1
1
5
5
7
7
6
6
7
7
5
5
6
6
3
3
4
4
3
3
4
4
X5
X5
Y2 AXIS
Y2 AXIS
X1
X1
t
t
L3
L3
L2
L2
L1
L1
r
r
S
M
33_
M
D
007
(
S
M
33_
M
D
011
)
S
M
33_
M
D
007
(
S
M
33_
M
D
011
)
D
D
J
J
L
L
K
K
S
M
33_
M
D
008
(
S
M
33_
M
D
012
)
S
M
33_
M
D
008
(
S
M
33_
M
D
012
)
H
H
G
G
EN
EN
S
M
33_
V
M
003
(
S
M
33_
V
M
004
)
S
M
33_
V
M
003
(
S
M
33_
V
M
004
)
(C N2)
(CN2)
(
S
M
33_
PW
019
)
(
S
M
33_
PW
019
)
(
S
M
33_
PW
019
)
(
S
M
33_
PW
019
)
S
M
33_
PW
018
S
M
33_
PW
018
TB 1 -2 8 B ( TB 1 -2 9 B )
TB1-28B(TB1-29B)
TB1-43B(TB1-44B)
TB1-43B(TB1-44B)
TB1-38B(TB1-39B)
TB1-38B(TB1-39B)
TB 1 -3 3 B ( TB 1 -3 4 B )
TB1-33B(TB1-34B)
TB 1 -2 3 B ( TB 1 -2 4 B )
TB1-23B(TB1-24B)
(
S
M
33_
M
D
031
)
(
S
M
33_
M
D
031
)
(
S
M
33_
M
D
032
)
(
S
M
33_
M
D
032
)
S
M
33_
M
D
029
S
M
33_
M
D
029
[74] [76]
[75] [77]
[94]
[95]
[94]
[95]
[120]
[121]
[123]
[124]
Page
SAMSUNG TECHWIN
96
SM411
Servo Interface (X, SW)
X2X2
SERVO SERVO
DRIVERDRIVER
ROWAROWA
1313
X7043N X7043N
#1 B/D#1 B/D
1919
2222
3030
2121
2020
1616
1818
1717
1515
1414
99
1212
1111
88
77
CN1CN1
33
44
22
11
1313
1919
2222
3030
2121
2020
1616
1818
1717
1515
1414
GNDGND
/EZ/EZ
EZEZ
EBEB
/EB/EB
/EA/EA
-C O M-COM
EAEA
INPINP
FGFG
5050
99
88
4949
2525
3838
3636
2424
2323
2121
4848
2222
4141
3939
99
1212
1111
88
77
33
44
22
11
+C O M+COM
/ALM/ALM
/ALMRST/ALMRST
/SON/SON
SP1SP1
/CW/CW
/CCW/CCW
CCWCCW
CWCW
66
3030
3737
3131
2929
77
55
44
33
X AXISX AXIS
X5X5
RB2RB2
RB3RB3
RB1RB1
L3L3
rr
X1X1
L1L1
L2L2
tt
TB1-36B(TB1-37B)TB1-36B(TB1-37B)
TB1-41B(TB1-42B)TB1-41B(TB1-42B)
TB1-31B(TB1-32B)TB1-31B(TB1-32B)
TB 1 -2 6 B ( TB 1 -2 7 B )TB1-26B(TB1-27B)
TB 1 -2 1 B ( TB 1 -2 2 B )TB1-21B(TB1-22B)
S
M
33_
PW
016
S
M
33_
PW
016
REGENERATIVE REGENERATIVE
RESISTORRESISTOR
SP2SP2
10101010
2727
1313
88
5050
99
4141
2121
1313
3131
3030
3838
3636
2525
2424
2323
4949
4848
2222
3939
3737
2727
2929
77
66
55
44
33
X X
MOTORMOTOR
UU
VV
WW
PEPE
66
44
55
33
11
22
SHIELDSHIELD
SDSD
SD/SD/
0V0V
+5 V+5V
44
66
55
22
33
11
ENEN
S
M
33_
M
D002
(
S
M
33_
M
D004
)
S
M
33_
M
D002
(
S
M
33_
M
D004
)
S
M
33_
M
D
001
(
S
M
33_
M
D
003
)
S
M
33_
M
D
001
(
S
M
33_
M
D
003
)
S
M
33_
M
D
027
S
M
33_
M
D
027
X6X6
ROWBROWB
8888
16161616
1717
1818
2020
2121
3030
2222
1919
3030
2222
2020
2121
1818
1919
1717
1010
1111
1212
99
1414
1515
1313
1212
1414
1515
1313
1010
1111
99
22
44
33
7777
44
33
1111
22
S
M
33_
V
M
005
S
M
33_
V
M
005
44
11
22
33
44
11
22
33
FLAT FLAT
CABLECABLE
11
22
33
44
55
33
66
22
44
55
(X7043N (X7043N
#1 B/D)#1 B/D)
(
S
M
33_
V
M
006
)(
S
M
33_
V
M
006
)
(
S
M
33_
PW
017
)(
S
M
33_
PW
017
)
(
S
M
33_
M
D
030
)(
S
M
33_
M
D
030
)
(
S
M
33_
PW
017
)(
S
M
33_
PW
017
)
S
M
33_
PW
016
S
M
33_
PW
016
27272727
25252525
GNDGND
(
S
M
33_
V
M
006
)(
S
M
33_
V
M
006
)
S
M
33_
V
M
005
S
M
33_
V
M
005
FGFG
5050
88
99
88
5050
99
3636
3838
3636
3838
/EB/EB
/EZ/EZ
EZEZ
EBEB
/EA/EA
-C O M-COM
EAEA
INPINP
/ALMRST/ALMRST
/ALM/ALM
21212121
49494949
2323
2424 2424
2323
2222
4848 4848
2222
13131313
3939
4141 4141
3939
3131
3737 3737
3131
PEPE
RB1RB1
X2X2
RB3RB3
RB2RB2
WW
VV
UU
S
M
33_
M
D
013
(
S
M
33_
M
D
015
)
S
M
33_
M
D
013
(
S
M
33_
M
D
015
)
+5 V+5V
0V0V
SD/SD/
SDSD
SHIELDSHIELD
44 44
66 66
55 55
11 11
X6X6
33 33
22 22
S
M
33_
M
D014
(
S
M
33_
M
D016
)
S
M
33_
M
D014
(
S
M
33_
M
D016
)
SERVO SERVO
DRIVERDRIVER
/SON/SON
SP1SP1
SP2SP2
/CCW/CCW
+C O M+COM
CCWCCW
CWCW
/CW/CW
4444
7777
2929
3030 3030
2929
66
55
66
55
S AXISS AXIS
X5X5
33 33
tt
L3L3
X1X1
L2L2
L1L1
rr
TB 1 -2 6 B ( TB 1 -2 7 B )TB1-26B(TB1-27B)
TB1-41B(TB1-42B)TB1-41B(TB1-42B)
TB1-36B(TB1-37B)TB1-36B(TB1-37B)
TB1-31B(TB1-32B)TB1-31B(TB1-32B)
TB 1 -2 1 B ( TB 1 -2 2 B )TB1-21B(TB1-22B)
4444
33
22
11
33
22
11
SW SW
MOTORMOTOR
FLAT FLAT
CABLECABLE
55
44
33
66
33
22
22
11
55
44
ENEN
[70] [72]
[71] [73]
[78] [80]
[79] [81]
[92]
[92]
[93]
[93]
[119]
[122]
Page
SAMSUNG TECHWIN
97
SM411
Servo Interface (Z1, Z2, Z3)
Z1 MOTOR
Z1 MOTOR
FLAT CABLE
FLAT CABLE
2
2
4
4
3
3
1
1
2
2
7
7
6
6
11
11
1
1
5
5
E
E
SD
SD
W
W
V
V
U
U
S
M
33_
M
D
019
S
M
33_
M
D
019
5VG
5VG
ENC_SHIELD
ENC_SHIELD
+5 V
+5V
SD/
SD/
13
13
10
10
3
3
15
15
7
7
6
6
11
11
1
1
5
5
13
13
10
10
3
3
15
15
5
5
3
3
4
4
6
6
2
2
4
4
3
3
1
1
2
2
5
5
3
3
4
4
6
6
Z1-PW
Z1-PW
Z1-EN
Z1-EN
1
1
20
20
~
~
Z1-CMD
Z1-CMD
Z1 AXIS DRIVER
Z1 AXIS DRIVER
SEDES #1
SEDES #1
X7043N
X7043N
1
1
50
50
~
~
1
1
50
50
~
~
S
M
33_
V
M
007
S
M
33_
V
M
007
(
S
M
33_
V
M
008
)
(
S
M
33_
V
M
008
)
Z2 MOTOR
Z2 MOTOR
2
2
4
4
3
3
1
1
2
2
7
7
6
6
11
11
1
1
5
5
E
E
SD
SD
W
W
V
V
U
U
S
M
33_
M
D
020
S
M
33_
M
D
020
5VG
5VG
ENC_SHIELD
ENC_SHIELD
+5 V
+5V
SD/
SD/
13
13
10
10
3
3
15
15
7
7
6
6
11
11
1
1
5
5
13
13
10
10
3
3
15
15
5
5
3
3
4
4
6
6
2
2
4
4
3
3
1
1
2
2
5
5
3
3
4
4
6
6
Z2-PW
Z2-PW
Z2-EN
Z2-EN
1
1
20
20
~
~
Z2-CMD
Z2-CMD
Z2 AXIS DRIVER
Z2 AXIS DRIVER
Z3 MOTOR
Z3 MOTOR
2
2
4
4
3
3
1
1
2
2
7
7
6
6
11
11
1
1
5
5
E
E
SD
SD
W
W
V
V
U
U
S
M
33_
M
D
021
S
M
33_
M
D
021
5VG
5VG
ENC_SHIELD
ENC_SHIELD
+5 V
+5V
SD/
SD/
13
13
10
10
3
3
15
15
7
7
6
6
11
11
1
1
5
5
13
13
10
10
3
3
15
15
5
5
3
3
4
4
6
6
2
2
4
4
3
3
1
1
2
2
5
5
3
3
4
4
6
6
Z3-PW
Z3-PW
Z3-EN
Z3-EN
1
1
20
20
~
~
Z3-CMD
Z3-CMD
Z3 AXIS DRIVER
Z3 AXIS DRIVER
1
1
20
20
~
~
CN2
CN2
CN8
CN8
B/D
B/D
SEDES #2
SEDES #2
(X7043N
(X7043N
B/D)
B/D)
SEDES
SEDES
FRONT
FRONT
SLAVE B/ D
SLAVE B/D
SEDES
SEDES
(REAR
(REAR
SLAVE B/D)
SLAVE B/D)
1
1
20
20
~
~
1
1
20
20
~
~
CN11
CN11
CN12
CN12
CN13
CN13
S
M
33_
V
M
009
S
M
33_
V
M
009
[23]
[24]
[25]