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Position Control with a Rotary Servomotor
*1
PULS
PULS
CW
/PULS
Phase A
SIGN
SIGN
Position
CCW
Reference
/SIGN
Phase B
CLR
CLR
/CLR
BAT(+)
Battery for absolute
*2
encoder
BAT(-)
2.8 V to 4.5 V
SEN
+5 V
Absolute Data
*2
SG
Request input
0 V
*3
Sequence input signal
+24 V
+24VIN
power supply input
/S-ON
Servo ON input
(servo ON when ON)
Proportional Control input
/P-CON
(Proportional action
when ON)
Forward Drive Prohibit input
P-OT
(prohibited when OFF)
Reverse Drive Prohibit input
N-OT
(prohibited when OFF)
Alarm Reset input
/ALM-RST
(reset when ON)
Forward External
Torque Limit input
/P-CL
(limit when ON)
Reverse External
Torque Limit input
/N-CL
(limit when ON)
*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.
SERVOPACK
CN1
Ω
150
7
8
Ω
150
11
12
Ω
150
15
14
21
22
4
2
+12 V
Ω
1.0 k
Ω
4.7 k
Ω
1.0 k
47
Ω
1.0 k
40
41
42
43
44
45
46
Connector
shell
FG
Connect shield to connector shell.
Frame ground
4.5 I/O Signal Connections
4.5.3 I/O Signal Wiring Examples
37
ALO1
Alarm Code Output
(OFF for alarm)
38
ALO2
Max. allowable voltage: 30 VDC
39
ALO3
Max. allowable current: 20 mA DC
Encoder Divided
*4
33
PAO
Pulse Output,
34
/PAO
Phase A
*4
35
PBO
Encoder Divided
Pulse Output,
36
/PBO
Phase B
19
*4
PCO
Encoder Divided
Pulse Output,
20
/PCO
Phase C
48
PSO
*4 Absolute Encoder
49
/PSO
Position output
3
PL1
PL2
13
Open-collector power supply
output for reference pulses
18
PL3
SG
1
Signal ground
/COIN+
25
Positioning Completion
(ON for completion)
26
/COIN-
/TGON+
27
Rotation Detection Output
(ON when the motor
/TGON-
28
speed exceeds the setting)
29
/S-RDY+
Servo Ready Output
(ON when /S-ON signal
30
/S-RDY-
can be received)
31
ALM+
Servo Alarm Output
(OFF for alarm)
32
ALM-
S_Analog
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
4
4-33
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Troubleshooting
