SM321 Technical Reference_Ver3 - 第97页
Page SAMSUNG TECHWIN 97 SM321 S er vo In te rfa ce (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 5…
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
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