Yaskawa LEGEND Digital Torque Amplifier - Manual (Page 69)

Appendix A: Host Controller Connection Examples
58
A.2 Connecting the Delta Tau PMAC2
SGDG, CN1
3
CMD-IN
4
GND
20
PAO
21
PAO
22
PBO
23
PBO
24
PCO
25
PCO
14
/S-ON
ACC - 8E
DACnA+
AGND
P*
AMP_ENAn+
CHAn+
CHAn-
CHBn+
CHBn-
CHCn-
CASE
P*
P*
P*
CHCn+
13
+24V AMP_ENAn-
P* = Twisted Pair
n = Axis Designation: 1 or 2
when n=1, x=5 and y=2
when n=2, x=7 and y=3
LEGEND - Delta Tau PMAC2, Minimum Servo Interface
Note:
Jumper pin 1 to 2 on E1 to power ACC-8E digital 5V circuitry from PM AC2
through flat cable on JMACH port.
Jumper pin1 to 2 on E4 (axis n=1) and on E7 (axis n=2) for normally open relay
contact between AM P_ENAn+ an AMP_ENAn-.
24V Power Supply
TBx - 1
TBx - 3
TBy - 1
TBy - 2
TBy - 3
TBy - 4
TBy - 5
TBy - 6
TBx - 7
TBx - 8
33
GND GND
TBy - 8