Yaskawa Sigma II Series Servo System - Manual (Page 57)

Sigma II User’s Manual Chapter 3: Wiring
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3.4.3 I/O Signal Names and Functions
The following section describes servo amplifier I/O signal names and functions.
Input Signals
Note 1. The functions allocated to /S-ON, /P-CON. P-OT, N-OT, /ALM-RST, /P-CL, and /N-CL input
signals can be changed with parameters. (See 5.3.3 Input Circuit Signal Allocation .)
2. Pin numbers in parenthesis ( ) indicate signal grounds.
3. The voltage input range for speed and torque references is a maximum of ±12V.
Signal Name
Pin
No.
Function Reference
Common
/S-ON 40 Servo ON: Turns ON the servomotor when the gate block in the inverter is
released.
5.5.2
/P-CON 41
* Function selected via parameter.
5.2.1
5.2.7
Proportional opera-
tion reference
Switches the speed control loop from PI (proportional/
integral) to P (proportional) control when ON.
5.2.1
Direction reference
With internal reference speed selected: switches the
direction of rotation.
5.2.6
Control mode
switching
5.2.7
Zero-clamp reference Speed control with zero-clamp function: reference
speed is zero when ON.
5.4.3
Reference pulse
block
Position control with reference pulse stop: stops
reference pulse input when ON.
5.2.10
P-OT
N-OT
42
43
Forward Run
prohibited
Reverse Run
prohibited
Overtravel prohibited: stops servomotor when
movable part travels beyond the allowable range of
motion.
5.1.2
/P-CL
/N-CL
45
46
* Function selected with a parameter. —
Forward current limit
ON
Reverse current limit
ON
Current limit function used when ON. 5.1.3
Internal speed
switching
With internal reference speed selected: switches the
internal speed settings.
5.2.6
/ALM
-RST
44 Alarm reset: Releases the servo alarm state. 5.5.1
+24V
IN
47 Control power supply input for sequence signals: users must provide the
+24V power supply.
5.2.4
SEN 4 (2) Initial data request signal when using an absolute encoder. 5.2.3
BATT(+)
BATT(-)
21
22 Connecting pins for the absolute encoder backup battery.
5.2.3
Speed
Reference
V-REF 5 (6) Speed reference input: ±2 to ±10V/rated motor speed (Input gain can be
modified with a parameter Pn300.)
5.2.1
Torque
Reference
T-REF 9 (10) Torque reference input: ±1 to ±10V/rated motor speed (Input gain can be
modified by parameter Pn400.)
5.2.1
Position
Reference
PULS
/PULS
SIGN
/SIGN
7
8
11
12
Corresponds to refer-
ence pulse input
Line-driver
Open-collector
Input mode
• Code + pulse string
• CCW/CW pulse
• Two-phase pulse (90° phase differential)
5.2.1
CLR
/CLR
15
14 Error counter clear: Clears the error counter during position control.
5.2.1
PL1
PL2
PL3
3
13
18
+12V pull-up power supply when PULS, SIGN and CLR reference signals
are open-collector outputs (+12V power supply is built into the servo
amplifier).
5.2.1
Position Speed
Speed Torque Enables control mode switching
Torque Speed
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