YASKAWA Sigma-II Series User Manual page 330

6.3.5 I/O Signal (CN1) Names and Functions
(1) Input Signals
Signal Name Pin No.
40
/S-ON
41
/P-CON
42
P-OT
Common
43
N-OT
45
/P-CL
46
/N-CL
44
/ALM-RST
47
+24VIN
4 (2)
SEN
21
BAT (+)
22
BAT (-)
Speed 5 (6)
V-REF
9 (10)
Torque T-REF
7
PULS
8
/PULS
11
SIGN
12
/SIGN
Position
15
CLR
14
/CLR
3
PL1
13
PL2
18
PL3
Note: 1. Pin numbers in parentheses () indicate signal grounds.
2. The functions allocated to /S-ON, /P-CON. P-OT, N-OT, /ALM-RST, /P-CL, and /N-CL input signals can
be changed by using the parameters. Refer to 7.3.2 Input Circuit Signal Allocation.
3. The voltage input range for speed and torque references is a maximum of ±12 V.
Servo ON: Turns ON the servomotor when the gate block in the inverter is released.
Function selected by parameter.
Proportional control Switches the speed control loop from PI (proportional/
reference integral) to P (proportional) control when ON.
With the internally set speed selection: Switch the rotation
Direction reference
direction.
Position
Control mode
Position
switching
Torque
Speed control with zero-clamp function: Reference
Zero-clamp reference
speed is zero when ON.
Position control with reference pulse stop: Stops reference
Reference pulse block
pulse input when ON.
Forward run
prohibited
Overtravel prohibited: Stops servomotor when movable part
travels beyond the allowable range of motion.
Reverse run
prohibited
Function selected by parameter.
Forward external
torque limit ON
Current limit function enabled when ON.
Reverse external
torque limit ON
Internal speed With the internally set speed selection: Switches the
switching internal speed settings.
Alarm reset: Releases the servo alarm state.
Control power supply input for sequence signals: Users must provide the +24 V
power supply.
Allowable voltage fluctuation range: 11 to 25 V
Initial data request signal when using an absolute encoder.
Connecting pin for the absolute encoder backup battery.
Do not connect when a battery is connected to the host controller.
Speed reference speed input: ±2 to ±10 V/rated motor speed (Input gain can be
modified using a parameter.)
Torque reference input: ±1 to ±10 V/rated motor torque (Input gain can be modified
using a parameter.)
Input mode is set from the following pulses.
Reference pulse input
• Sign + pulse string
for line driver and open
• CCW/CW pulse
collector
• Two-phase pulse (90° phase differential)
Positional error pulse clear input: Clears the positional error pulse during position
control.
+12 V pull-up power is supplied when PULS, SIGN, and CLR reference signals are
open-collector outputs (+12 V power supply is built into the SERVOPACK).
6.3 Examples of I/O Signal Connections
Function
↔
speed
↔
torque Enables control mode switching.
↔
speed
Refer-
ence
8.3.1
−
9.4.4
8.8.2
8.10.1
8.10.2
8.5.6
8.6.7
8.3.3
−
8.9.2
8.8
8.11.1
6.3.6
8.4.1
8.4.1
6.2
8.5.2
8.7.2
6
8.6.1
8.6.1
6.3.6
6-13