Function

Signal Name

Terminal Number CMD-2CR

Terminal Number CMD-4CR

Terminal Number CMD-8CR

Input/Output

Logic

Description

Power

Ground

GND

1-49

Power Source

Common connection for power supply.
Make sure to connect all terminals.

1-50

2-49

2-50

3-49

3-50

Voltage

VDD

1-1

Power Source

Supply +3.3 VDC power.
The allowable power supply range is +3.3 VDC ±10%.
Make sure to connect all terminals.

1-2

2-1

2-2

3-1

3-2

Reset

/RST

2-48

Input

Negative

Input reset signal.  An external switch can be installed for soft reset of the Commander. To perform a soft reset, hold /RST LOW for at least 0.5ms.

Power Indicator

LED

2-11

Output

Negative

LED power indicator.

Also used to show firmware boot-loading status.

Motion

Pulse

PULx

1-3

Output

Negative#

Output command pulses for controlling a motor.
When common pulse mode is selected:
    Outputs pulses and the feed direction is determined by DIR signals.
When two-pulse output mode is selected:
    Outputs pulses in the positive (+) direction.
When 90 phase difference mode is selected:
    Outputs DIR signals and 90 phase difference signals.
The output logic can be changed using software.

PULy

1-9

PULz

1-15

PULu

1-21

PUL5

4-1

PUL6

4-13

PUL7

4-25

PUL8

4-37

Direction

DIRx

1-4

Output

Negative#

Output command pulses for controlling a motor, or outputs direction signal.
When common pulse mode is selected:
   Outputs a direction signal.
When two-pulse output mode is selected:
   Outputs pulses in the negative (-) direction.
When 90 phase difference mode is selected:
   Outputs DIR signals and 90 phase difference signals.
The output logic can be changed using software

DIRy

1-10

DIRz

1-16

DIRu

1-22

DIR5

4-2

DIR6

4-14

DIR7

4-26

DIR8

4-38

Enable

EOx

1-5

Output

Negative#

Outputs a motor enable signal to the driver. 
Output logic can be changed using software.

EOy

1-11

EOz

1-17

EOu

1-23

EO5

4-3

EO6

4-15

EO7

4-27

EO8

4-39

In-Position

INPx

1-8

Input U

Negative#

Input the position complete signal from servo driver (in-position signal).
Input logic can be changed using software.

INPy

1-14

INPz

1-20

INPu

1-26

INP5

4-6

INP6

4-18

INP7

4-30

INP8

4-42

Servo Alarm

ALMx

1-6

Input U

Negative#

Input servo alarm signal. When this signal is ON, motion of an axis stops immediately, or will decelerate and stop.
The input logic can be changed using software.

ALMy

1-12

ALMz

1-18

ALMu

1-24

ALM5

4-4

ALM6

4-16

ALM7

4-28

ALM8

4-40

Error Clear

ERCx

1-7

Output

Negative#

Outputs a servo error clear (deflection counter clear) signal to a servo driver as a pulse. The output logic and pulse width can be changed using software. A LEVEL signal output is also available.

ERCy

1-13

ERCz

1-19

ERCu

1-25

ERC5

4-5

ERC6

4-17

ERC7

4-29

ERC8

4-41

Safety

Simultaneous Start

/CSTA

2-22

Input/Output

Negative

Input/output terminal for simultaneous start.  See 2.1.1.2  Synchronization with external start ####

Simultaneous stop

/CSTP

2.21

Input/Output

Negative

Input/output terminal for simultaneous stop.  See 2.1.1.2  Synchronization with external stop ####

E-Stop

/CEMG

2-23

Input U

Negative

Input for an emergency stop. While this signal is LOW, motion cannot start. If this signal changes to LOW while in operation, all the motors will stop operation immediately.

Limits

+Lx

1-36

Input U

Negative#

Input end limit signal in the positive (+) direction. When this signal is ON while feeding in the positive (+) direction, motion of an axis will stop immediately or will decelerate and stop.
The input logic can be selected using software.

+Ly

1-39

+Lz

1-42

+Lu

1-45

+L5

4-11

+L6

4-23

+L7

4-35

+L8

4-47

-Lx

1-35

Input U

Negative#

Input end limit signal in the negative (-) direction. When this signal is ON while feeding in negative (-) direction, motion of an axis will stop immediately, or will decelerate and stop.
The input logic can be selected using software.

-Ly

1-38

-Lz

1-41

-Lu

1-44

-L5

4-10

-L6

4-22

-L7

4-34

-L8

4-46

Slow Down

SDx

3-43

Input U

Negative#

Input for slowdown (deceleration stop) signal. Selects the input method: LEVEL or LATCHED inputs.
The input logic can be selected using software.

SDy

3-44

SDz

3-45

SDu

3-46

Home (ORG)

ORGx

1-37

Input U

Negative#

Input home (origin position) signal. Used for origin position operations (edge detection).
The input logic can be selected using software.

ORGy

1-40

ORGz

1-43

ORGu

1-46

ORG5

4-12

ORG6

4-24

ORG7

4-36

ORG8

4-48

Feedback

Encoder

EAx, EBx

2-24, 2-25

Input U

Input this signal when you want to control the mechanical position using the encoder signal. Input a 90 phase difference signal (1x, 2x, 4x) or  input positive (+) pulses on EA and negative (-) pulses on EB. (Two-pulse input)
When inputting 90 phase difference signals, if the EA signal phase is ahead of the EB signal, the motion core will count up (count forward) pulses.
The counting direction can be changed using software.

EAy, EBy

2-27, 2-28

EAz, EBz

2-30, 2-31

EAu, EBu

2-33, 2-34

EA5, EB5

4-7, 4-8

EA6, EB6

4-19, 4-20

EA7, EB6

4-31, 4-32

EA8, EB8

4-43, 4-44

Index

EZx

2-26

Input U

Negative#

Input a index (marker) signal when using the marker signal in origin return mode. (This signal is output once for each turn of the encoder.) Use of the EZ signal improves origin return precision.
The input logic can be changed using software

EZy

2-29

EZz

2-32

EZy

2-35

EZ5

4-9

EZ6

4-21

EZ7

4-33

EZ8

4-45

Input/Output

Digital I/O

DI1/LTCx

1-31

Input U

Negative#

High-speed input. When Latch function is enabled, will lock encoder and pulse out count. 
The input logic can be changed using software.

DI2/LTCy

1-32

DI3/LTCz

1-33

DI4/LTCu

1-34

DO1/SYNCx

1-27

Output

Positive

High-speed output. When synchronization function is enabled, will output synchronization based on synchronization mode.
The input logic can be changed using software.

DO2/SYNCy

1-28

DO3/SYNCz

1-29

DO4/SYNCu

1-30

DO5/SYNC5

1-47

DO6/SYNC6

1-48

DO7/SYNC7

4-49

DO8/SYNC8

4-50

IO1 to IO32

3-5 to 3-36

Input/Output

General-purpose, configurable I/O

Analog

AI1

3-39

Input

Analog input 10-bit 0-3.3V

AI2

3-40

AO1

3-37

Output

Analog output 

AO2

3-38

PWM1

3-41

PWM2

3-42

Output

PWM output

MPG

PAx, PBx

2-36, 2-37

Input U

Input for receiving external drive pulses, such as manual pulse generator. Input 90 phase difference signals (1x, 2x, 4x) or positive (+) pulses (on PA) and negative (-) pulses (on PB). (Two-pulse input)
When 90 phase difference signals are used, if the signal phase of PA is ahead of the PB signal, the Commander will count up (count forward) pulses.
The counting direction can be changed using software.

PAy, PBy

2-38, 2-29

PAz, PBz

2-40, 2-41

PAu, PBu

2-42, 2-43

Communication

USB

D+

2-4

Input/Output

Positive

Differential USB D+

D-

2-3

Negative

Differential USB D-

VBUS

2-5

Input

USB sense input (5V max)

RS485

/REDE

2-6

Output

Receive/transmit signal for serial communication

RxD

2-7

Input

RXD signal for serial communication

TxD

2-8

Output

TXD signal for serial communication

CAN

CAN_RX

2-20

Input

CAN_TX

2-18

Output

I2C

SDA

3-47

Input/Output

SDA [I2C Channel 0]

SCL

3-48

Output

SCL [I2C Channel 0]

SPI

NSS

2-12

Secondary select [SPI Channel 0]

MOSI

2-13

Main out, secondary in [SP! Channel 0]

MISO

2-14

Main in, secondary out [SP! Channel 0]

SCK

2-15

Serial clock [SP! Channel 0]

BUS CLOCK

BCLK+

2-17

Input/Output

Positive

Differential bus clock +

BCLK-

2-19

Input/Output

Negative

Differential bus clock -

CLK_SEL

2-47

Input

Bus clock select. 

Input to CMD, connect to GND

Output from CMD, connect to VDD

No Connection

N/C

3-3, 3-4

N/C

These pins have no connections

Reserved

2-9, 2-10, 2-44 to 2-46

N/C

These pins are reserved for future firmware updates; please do not connect these pins