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Torque Control with a Rotary Servomotor
*1
V-REF
External Speed
D/A
Limit*3
(max. input
voltage: ±12 V)
T-REF
Torque reference
D/A
input (max. input
voltage: ±12 V)
BAT(+)
Battery for absolute
*2
BAT(-)
encoder
2.8 V to 4.5 V
SEN
+5 V
Absolute Data
*2
Request input
0 V
*4
Sequence input signal
+24 V
+24VIN
power supply input
Servo ON input
/S-ON
(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.
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.
SERVOPACK
CN1
5
SG
6
A/D
9
SG
10
21
22
4
SG
2
Ω
4.7 k
47
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
Max. allowable current: 20 mA DC
39
ALO3
33
*5
PAO
Encoder Divided
34
Pulse Output,
/PAO
Phase A
35
*5
PBO
Encoder Divided
Pulse Output,
/PBO
36
Phase B
*5
19
PCO
Encoder Divided
Pulse Output,
20
/PCO
Phase C
48
PSO
*5 Absolute Encoder
49
/PSO
Position output
SG
1
Signal ground
/VLT+
25
*3
Speed Limit Output
/VLT-
26
(speed limit when ON)
/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
4-35
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Table of Contents
Troubleshooting
