Yaskawa LEGEND Digital Torque Amplifier - Manual (Page 68)

Appendix A: Host Controller Connection Examples
57
Appendix A:Host Controller Connection Examples
This appendix provides examples of SGDG digital torque amplifier connection to typical host
controllers. Please refer to the manuals of the host controllers for more details before actually
connecting to them.
A.1 Connecting the Galil IMC-1900/2900
SGDG, CN1
3
CMD-IN
4
GND
20
PAO
21
PAO
22
PBO
23
PBO
24
PCO
25
PCO
26
SV ON5
IMC-1900 / 2900
MOCMDn
GND
P*
AMPENn
+MAn
-MAn
+MBn
-MBn
-INn
CASE
P*
P*
P*
+INn
33
GND GND
P*
P* = Twisted Pair
n = Axis Designation, X, Y, Z or W
LEGEND - Galil, Minimum Servo Interface
Caution:
Galil motion controllers allow to reverse the loop and encoder polarity with the MT and
CE commands. Check applicable Galil product manuals for the appropriate procedure
on proper loop and encoder phasing. Incorrect phasing may cause the motor to
"run away!"