SM321 Technical Reference_Ver3 - 第101页
Page SAMSUNG TECHWIN 101 SM321 S er vo In te rfa ce (S W , W D) X2 SERVO DRIVER ROWA 13 7043A AXIS B'D#3 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 -…
Page
SAMSUNG TECHWIN
100
SM321
Servo Interface (Z5, Z6)
X2
SERVO DRIVER
ROWA
13
7043A
AXIS B'D#3
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
Z5 AXIS
X5
RB2
RB3
RB1
r
X1
L1
L3
t
TB1-29B
TB1-25B
TB1-22B
TB1-19B
(S M_P W017)
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
Z5 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_MD017 )
(S M_MD016 )
X6
(S M_V M007)
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
Z6 AXIS
7
29
6
3
4
X5
L1
X1
L3
r
t
11
Z6 MOTOR
3
2
3
2
SD
SD/
SHIELD
(S M_MD018 )
4
4
5
3
+5V
0V
1
(S M_MD019 )
2
EN
FLAT CABLE
4
3
6
2
4
5
TB1-25B
TB1-29B
TB1-19B
TB1-22B
(S M_P W017)
1
2
3
4
5
Page
SAMSUNG TECHWIN
101
SM321
Servo Interface (SW, WD)
X2
SERVO DRIVER
ROWA
13
7043A
AXIS B'D#3
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
SW AXIS
X5
RB2
RB3
RB1
r
X1
L1
L3
t
TB1-43B
TB1-37B
TB1-22B
TB1-31B
(S M_P W018)
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
SW 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_MD021 )
(S M_MD020 )
X6
(S M_V M008)
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
WD AXIS
7
29
6
3
4
X5
L1
X1
L3
r
t
1
WD MOTOR
3
2
SD
SD/
SHIELD
(S M_MD022 )
+5V
0V
(S M_MD023 )
EN
4
3
6
2
4
5
TB1-37B
TB1-43B
TB1-31B
TB1-34B
(S M_P W018)
2
3
1
4
6
3
2
5
4
1
2
3
Page
SAMSUNG TECHWIN
102
SM321
Step Motor Interface (R1-2, R3-4, R5-6)
CN1
4
3
2
1
4
3
2
1
7043A
/CCW
CCW
/CW
CW
(S M21_VM009)
R AXIS
STEPPING DRIVER
1
2
4 4
2
3
1
2
3
1
MOT1
AXIS B'D #4
ROW-A
5 5
R-B
R-A
R-C
R-D
(S M21_MD0 24 )
R12 STEP MOTOR
5
6
3
4
5
1
3
2
4
ROW-B
3
4
2
1
(S M21_VM009)
3
4
2
1
CW
/CCW
CCW
/CW
3
5
4
2
1
R34 STEP MOTOR
4
2
3
1
5
24G
(S M21_P W022-1)
ROW-A
CN2
3
4
2
1
(S M21_VM010)
3
4
2
1
+24VM
/CW
/CCW
CCW
CW
1
1
2
2
POWER
4
5
3
2
1
R56 STEP MOTOR
2
4
3
1
(S M21_MD0 33 )
FLAT CABLE
1
2
5
6
3
4
SIG1
1
2
5
6
3
4
1
2
5
6
3
4
SIG2
1
2
5
6
3
4
1
2
5
6
3
4
SIG3
1
2
CN10
SAFETY CONTROL
& DC POWER B/D
MOT2
MOT3
R-E
5
R-B
R-A
R-C
R-D
7
9
8
6
R-E
10
R-B
R-A
R-C
R-D
12
14
13
11
R-E
15
2
4
3
1
5
7
9
8
6
10
12
14
13
11
15
4
2
3
1
5
4
2
3
1
5
R-B
R-A
R-C
R-D
R-E
4
2
3
1
5
4
2
3
1
5
R-B
R-A
R-C
R-D
R-E
4
2
3
1
5
4
2
3
1
5
R-B
R-A
R-C
R-D
R-E
(S M21_MD0 38 )
1
1
2
3
4