4.5 I/O Signal Connections
4.5.3 I/O Signal Wiring Examples
4-42
Torque Control with a Linear Servomotor
*1. represents twisted-pair wires.
*2. Connect when using an absolute linear encoder.
*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.
PBO
PCO
/PBO
PAO
/PAO
/PCO
/VLT+
/VLT-
/TG
ON
+
/TG
ON
-
/S-RDY+
ALM+
ALM-
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-
V-REF
SG
A/D
5
6
*1
Force reference
input (max. input
voltage: ±12 V)
T-REF
SG
9
2
+5 V
0 V
SEN
SG
4
ALO1
ALO2
ALO3
37
38
39
1
SG
FG
CN1
D/A
D/A
*5
*5
*5
50
TH
PSO
/PSO
48
49
*4
Speed Limit Output
(speed limit when ON)
External Speed
Limit
(max. input
voltage: ±12 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
Force Limit input
(limit when ON)
Forward External
Force Limit input
(limit when ON)
Connect shield to connector shell.
Connector
shell
Proportional Control input
(Proportional action
when ON)
Movement Detection Output
(ON when value
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
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
*3
*2
*3
Linear Servomotor Overheat
Protection input
Sequence input signal
power supply input
*5
Absolute linear
encoder position
output
Signal ground
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