4.5 I/O Signal Connections
4.5.3 I/O Signal Wiring Examples
4-37
4
Wiring and Connecting SERVOPACKs
4.5.3
I/O Signal Wiring Examples
Speed Control with a Rotary Servomotor
*1. represents twisted-pair wires.
*2. Connect these when using an absolute encoder. If the Encoder Cable with a Battery Case is connected, do not
connect a backup battery.
*3. You can enable this function with a parameter setting.
*4. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with double insulation or
reinforced insulation.
*5. Always use line receivers to receive the output signals.
Note: If you use a 24-V brake, install a separate power supply for the 24-VDC power supply from other power sup-
plies, such as the one for the I/O signals of the CN1 connector.
If the power supply is shared, the I/O signals may malfunction.
BAT(+)
BAT(-)
PBO
PCO
/PBO
PAO
/PAO
/PCO
/V-CMP+
/V-CMP-
/TG
ON
+
/TG
ON
-
/S-RDY+
ALM+
ALM-
FG
22
21
10
27
28
29
30
31
32
25
26
19
33
34
35
36
20
+24 V
+24VIN
4.7 k
Ω
/S-ON
/P-CON
P-OT
N-OT
/ALM-RST
/N-CL
47
41
43
42
44
45
/P-CL
46
40
/S-RDY-
Battery for absolute
encoder
2.8 V to 4.5 V
Servo ON input
(servo ON when ON)
Reverse Drive Prohibit input
(prohibited when OFF)
Forward Drive Prohibit input
(prohibited when OFF)
Alarm Reset input
(reset when ON)
Reverse External
Torque Limit input
(limit when ON)
Forward External
Torque Limit input
(limit when ON)
Connect shield to connector shell.
Connector
shell
Proportional Control input
(Proportional action
when ON)
Rotation Detection Output
(ON when the motor
speed exceeds the setting)
Servo Ready Output
(ON when /S-ON signal
can be received)
Servo Alarm Output
(OFF for alarm)
Photocoupler outputs
Max. allowable voltage: 30 VDC
Max. allowable current: 50 mA DC
Speed Coincidence
Detection output
(ON when speed coincides)
V-REF
SERVOPACK
SG
A/D
5
6
*1
Speed reference
input (max. input
voltage: ±12 V)
T-REF
SG
1
SG
9
External Torque
Limit/Torque
Feedforward
(max. input
voltage: ±12 V)
2
+5 V
0 V
SEN
SG
4
Absolute Data
Request input
ALO1
ALO2
ALO3
37
38
39
Alarm Code Output
(OFF for alarm)
Max. allowable voltage: 30 VDC
Max. allowable current: 20 mA DC
Frame ground
CN1
D/A
D/A
Encoder Divided
Pulse Output,
Phase A
Encoder Divided
Pulse Output,
Phase B
Encoder Divided
Pulse Output,
Phase C
Applicable Line Receiver:
SN75ALS175 or MC3486
manufactured by Texas
Instruments or the equivalent
*5
*5
*5
PSO
/PSO
48
49
*2
*3
*4
*2
Absolute encoder
position output
*5
Signal ground
Sequence input signal
power supply input
+
-
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