Emotiontek MCU 2 Axis - Page 198

- 191 -
Chapter 9. Standard Input/ Output Signal
1-6) Interface between MCU-XA2 and Yaskawa servo drive SIGMA
15
12
40
/S -O N
F.G
OUT2(SERVO
ON_X)
OUTCOM0
(24V GND)
47
+24V
2
3
4
5
6
7
10
9
43
21
18
17
42
23
24
25
35
36
33
34
19
20
5
6
PBO
/PBO
PAO
/PAO
PCO
/P C O
V-REF
SG
11
24V GND
A+
A-
B-
B+
C+
C-
ACMD
+24V
INCOM0(24V)
IN6(START)
IN 7 (S T O P )
IN 0 (+ L IM IT
SWITCH_X)
IN 1 (-LIM IT
SWITCH_X)
IN 4 (O R IG IN
SWITCH_X)
IN 8(R E S E T )
AGND
42
43
29
/S -R D Y +
IN9(SERVO
READY_X)
30
/S-RDY-
44
P-OT
N-OT
OUT3(SERVO ON_Y)
OUTCOM1(24V GND)
24V GND
A+
A-
B-
B+
C+
C-
ACMD
+24V
INCOM1(24V)
IN6(START)
IN 7(S T O P )
IN 2(+LIM IT S W ITC H _Y )
IN 3(-LIM IT S W ITC H _Y )
IN 5(O R IG IN S W IT C H _ Y )
IN 8(R E S E T )
AGND
IN10(SERVO READY_Y)
27
28
29
30
31
32
34
35
50
49
45
23
42
19
20
22
43
16
37
36
EmotionTek
MCU - XA2
Servo Drive(speed)
Yaskawa and
S
I
GMA
Case of SGMA
Pay attention to the interchange between
encoder phases A and B.
42(P-OT), 43(N-OT) <--> 24V GND
24(INCOM0) and 49(INCOM1)<- ->+24V
12(OUTCOM0) and 37(OUTCOM1)<- ->24V GND
Case of MCU