4.5 I/O Signal Connections
4.5.3 I/O Signal Wiring Examples
4-39
4
Wiring and Connecting SERVOPACKs
Position 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. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with double insulation or
reinforced insulation.
*4. 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.
2
+5 V
0 V
SEN
SG
BAT(+)
BAT(-)
ALO1
ALO2
ALO3
PBO
PCO
/PBO
PAO
/PAO
/PCO
/COIN+
/COIN-
/TG
ON
+
/TG
ON
-
/S-RDY+
ALM+
ALM-
4
22
21
27
28
29
30
31
32
26
25
19
33
34
35
36
20
3
18
13
37
38
39
+24 V
+24VIN
4.7 k
Ω
/S-ON
/P-CON
P-OT
N-OT
/ALM-RST
/N-CL
47
+12 V
41
43
42
44
45
/P-CL
46
40
/S-RDY-
Positioning Completion
(ON for completion)
PL1
PL2
PL3
PULS
SIGN
CLR
Position
Reference
CW
Phase A
CCW
Phase B
1
SG
FG
/PULS
SIGN
/SIGN
PULS
*1
1.0 k
Ω
1.0 k
Ω
1.0 k
Ω
CN1
Open-collector power supply
output for reference pulses
14
15
150
Ω
CLR
/CLR
12
11
150
Ω
8
7
150
Ω
PSO
/PSO
48
49
*4
*4
*4
*3
Signal ground
+
-
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)
SERVOPACK
Absolute Data
Request input
Alarm Code Output
(OFF for alarm)
Max. allowable voltage: 30 VDC
Max. allowable current: 20 mA DC
Frame ground
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
Photocoupler outputs
Max. allowable voltage: 30 VDC
Max. allowable current: 50 mA DC
*2
*2
Sequence input signal
power supply input
*4
Absolute Encoder
Position output
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