Yaskawa Sigma I to Sigma-5 Conversion Guide - Manual (Page 32)

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(2) Control Circuit Terminal
Σ-V Notes
1. Do not use the reserved terminal of "―"
2. Connect the shield line of the cable for I/O with the connector shell. It should be connected with frame
ground (FG) at the servo amplifier side connector.
3. The following input signals can change the parameter allocation
/DEC,P-OT,N-OT，EXT1, EXT2 ,EXT3
4. The signals of /COIN, /V-CMP, /TGON, /S-RDY, /CLT, /VLT, /BK, /WARN, /NEAR are able to allocate to
/SO1, /SO2, /SO3
Please refer to the Σ－V manual for details.
Comparison between SGDA－□□□S type [Analog voltage reference type] (speed & torque control
type) and SGDV type
Terminal No.
SGDA typeSGDV typeTerminal Marking Function
36pin 50pin
1 9 T-REF Torque reference input
3 5 V-REF Speed reference input
2,4,6,10 1,2,6,10 GND Ground
5 4 SEN SEN signal input
7 － /BK+ Brake interlock output (*3)
8 25 /V-CMP+(./COIN+) Speed match detection output (*2)
9 27 /TGON+ Rotation detection output (*2)
11 45 /P-CL Forward side external torque control input (*2)
12 46 /N-CL Reverse side external torque control input (*2)
13 47 +24VIN External power supply input
14 40 /S-ON Servo ON input (*2)
15 41 /P-CON P operation input (*2)
16 42 P-OT Forward drive prohibited input (*2)
17 43 N-OT Reverse drive prohibited input (*2)
18 44 /ALM-RST Alarm reset inupt (*2)
19 － SG-PG Single ground for PG signal output
20 33 PAO PG frequence dividing output A-phase
21 34 /PAO
22 35 PBO PG frequence dividing output B-phase
23 36 /PBO
24 19 PCO PG frequence dividing output C-phase
25 20 /PCO
26 － PSO S-phse signal output
27 － /PSO
28 21 BAT(+) Battery(+)
29 22 BAT(-) Battery(-)
30 37 ALO1 Alarm code output
31 38 ALO2
32 39 ALO3
33 － SG-AL Signal ground for alarm code output
34 31 ALM+ Servo alarm output
35 32 ALM-
36 Shell FG Frame Ground
(*2)： The sequence I/O is factory setting
The allocation change is possible by using the user parameter in ∑-V, but not in ∑ series
(*3)：Change the setting of one of three factory setting output signals by user parameter if
needed