C.6 torque control mode – Yaskawa Sigma II Series Servo System User Manual

Page 475

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Sigma II User’s Manual

Appendix C: Examples of Standard Connections

C - 9

C.6 Torque Control Mode

Photocoupler maximum output:

Operating voltage: 30V

DC

Operating current: 50mA

DC

External speed control:
±2 to ±10V/rated motor speed (set by parameter)

Torque control:
±1 to ±10V/rated motor speed (set by parameter)

Alarm code maximum output:

Operating voltage: 30V

DC

Backup battery 2.8 to 4.5V
(When using an absolute encoder).

SEN signal input
(When using an absolute encoder).

Operating current: 20mA

DC

P: Indicates twisted wire pairs.

*The time constant for the primary filter is 47

μs

LPF*

1CN

PG

M

Noise filter

SGDH Servo Amplifier

Three-Phase 200 to 230V

ac

(50/60Hz)

R

S

T

1MCCB

Power Power

1MC

1MC

1MC

SUP

Alarm

Be sure to attach a surge suppressor to the excitation

B1

B2

B3

L1

L2

U

V

L1C

L2C

L3

W

1
2

1CN

2CN

V-REF

P

SG

9

10

A/D

38

39

33
34

35

36

19
20

49

1

21

48

37

BAT (+)

P

SEN

SG

22

4
2

25

26

27

28

29

30

31

1Ry

2RY

P-LS

N-LS

3Ry

6Ry

7RY

P

BAT (-)

+24V

+5V

0V

+24V

Used only with

an absolute encoder

Servo ON

Proportional control (P control)

Forward run

Reverse run

Alarm reset

Forward current

/S-ON

/P-CON

P-OT

N-OT

ALM-RST

P-CL

N-CL

/VLT+

/T-GON+

/S-RDY+

/S-RDY-

/T-GON-

/VLT-

Reverse current

prohibited

prohibited

limit ON

limit ON

ALO1
ALO3

ALO3

PAO

/PAO

PBO

/PBO

PCO

/PCO

PSO

/PSO

SG

Amount of S-phase rotation

PG dividing ratio output

Be sure to properly prepare the

Optical

coil of the magnetic contactor and relay.

end of the shielded wire.

Servomotor

encoder

Applicable line receiver

SN75175 or MC3486 manufac-

tired by T/I, or the equivalent

Serial data output
Applicable line receiver

SN75175 or MC3486 manufac-

tired by T/I, or the equivalent

T-GON output

Servo ready output

Servo alarm output

(ON at levels above the setting)

(ON when ready)

(OFF with an alarm)

Connect shield to connector shell

Connector shell

Forward run prohibited with P-LS OPEN

Reverse run prohibited with N-LS OPEN

Alarm reset with 3Ry ON

P control with 2Ry ON

Reverse current limit ON with 7Ry ON

Forward current limit ON with 6Ry ON

Servo ON with 2Ry ON

A (1)
B (2)
C (3)
D (4)

Be sure to

ground

OFF

ON

processing

ALM+
ALM-

3.3k

Ω

FG

32

T-REF

LPF*

SG

5

6

P

Speed control output

(ON during speed control)

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