Yaskawa MP920 User's Manual Design - Manual (Page 271)

5 Modules
5.5.1 Servo Module (4-axis)
5-76
The following table shows the name and function of the pins of the CN1 to CN4 connectors.
Either 5 V or 24 V can be selected for the SEN signal. Connect the SEN signal to either Pin 20 or Pin
32 according to the application.
The standard cable is connected to Pin 20.
Pin
No.
Signal
Name
Function Pin
No.
Signal
Name
Function
1 SG Ground (for analog) 19 SG Ground (for SEN signal)
2 NREF Speed reference 20 SEN SEN signal
3 PA 5-V differential pulse input (+) 21 0BAT BAT output terminal (-) for
absolute specification
4 PAL 5-V differential pulse input (-) 22 BAT BAT output terminal (+) for
absolute specification
5 PC (5V) 5-V differential pulse input (+) 23 PB 5-V differential B pulse termi-
nal (+)
6 PCL
(5V) 5-V differential pulse input (-) 24 PBL 5-V differential B pulse termi-
nal (-)
7 SG Ground 25 SG Ground
8 26
9 27
10 0V
(24V) 0 V (24 V) 28 0V
(24V) 0 V (24 V)
11 0V
(24V) 0 V (24 V) 29 0V
(24V) 0 V (24 V)
12 PCON P operation reference, DO-2 30 ALM
RST Alarm reset, DO-1
13 OTR Overtravel (-) 31 SV ON Servo ON, DO-0
14 OTF Overtravel (+) 32 SEN VS866 SEN output
15 33
16 +24V +24 V power supply 34 +24V +24 V power supply
17 SV ALM Servo alarm input, DI-0 35 SRDY Servo ready input, DI-1
18 BRK Brake ON input, DI-2 36
IMPORTANT