Yaskawa Control Cable for Centroid NOPTIC1 System

All control signals to and from the Yaskawa drive are connected to 1CN via a 50-pin plug. Yaskawa provides cable pigtails with this plug preinstalled, in various lengths. The part number is JZSP-CKIO1-n(A), where n is the length in meters: 1, 2 or 3.

Pin numbers, Yaskawa signal name, wire colors, and typical Centroid connections are as follows:

1CN pin

Yaskawa Name

Color

Connection

Function

1

SG

BRN/RED

DB9M/2

Simulated encoder output common

6

SG

RED/YEL

TB1/0VDC

Supply for drive interface circuits

9

T-REF

BLU/RED

NOPTIC1/SIGNAL

Torque reference input from NOPTIC1 (-10V to +10V)

10

SG

RED/BLU

NOPTIC1/GND

0V reference (match drive logic to NOPTIC1 supply)

19

PCO

BLK/ORG

DB9M/6

Simulated encoder output channel C (index)

20

/PCO

ORG/BLK

DB9M/3

Simulated encoder output channel /C (/index)

29

/BRK+

BLK/YEL

RLY/Coil-

Axis brake release output (open collector)

30

/BRK-

YEL/BLK

TB1/0VDC

Axis brake release output

31

ALM+

BRN/GRN

PLC/INPnn or next drive/32

Servo fault output (drives in series to PLC input)

32

ALM-

GRN/BRN

prev drive/31 or TB1/0VDC

Servo fault output (drives in series to PLC input)

33

PAO

BLU/GRN

DB9M/7

Simulated encoder output channel A

34

/PAO

GRN/BLU

DB9M/4

Simulated encoder output channel /A

35

PBO

WHT/GRN

DB9M/8

Simulated encoder output channel B

36

/PBO

GRN/WHT

DB9M/5

Simulated encoder output channel /B

40

/S-ON

BRN/BLU

RLY4/NO

Axis enable from NOPTIC1, interrupted by E-stop

42

P-OT

BRN/WHT

+limit on TB1

Limit switch, wired in parallel to PLC input

43

N-OT

BLK/BRN

-limit on TB1

Limit switch, wired in parallel to PLC input

44

/ALM-RST

BRN/BLK

PLC/OUTnn

Servo fault reset (PLC closes to 0VDC to clear fault)

47

+24V IN

BLK/BLU

TB1/24VDC

Supply for drive interface circuits



“BRN/RED” means Brown with Red stripes.

All unused wires can be cut short and covered with heat shrink.

The JZSP-CKIO1 cable shield is already terminated to the 50-pin connector shell. There should be no connection to the shield at the free (control) end.

The 29/30 BLK/YEL pair is only needed for brake motors, or for axes with an external clamp that must be released.

The DB9M encoder plug is wired as follows (viewed from the back):

36 GRN/WHT
5
B/


34 GRN/BLU
4
A/


20 ORG/BLK
3
C/


1 BRN/RED
2
0VDC


n/c
1
n/c











n/c
9
Vcc


35 WHT/GRN
8
B


33 BLU/GRN
7
A


19 BLK/ORG
6
C


Yaskawa Drive Parameters

Most drive parameters are set to factory defaults. Non-default values are as follows:

Parameter

Default

New Value

Purpose

Pn000

0000

0020

Select torque control mode

Pn001

0000

0020

Request decel to stop, then free motor, on limit trip

Pn10B

0000

0004

Disable mode switch function

Pn110

0010

0012

Disable online autotuning

Pn201

16384

2048

Set encoder cycles per revolution (2048 cycles = 8192 counts)

Pn400

30

30 to 100

Set reference input scaling (percent input for continuous rated torque)

Pn407

10000

1500 to 3000

Set motor maximum RPM, to suit machine and desired max rate

Pn50E

3211

0211

Remove /S-RDY output from SO3

Pn50F

0000

0300

Put /BRK output on SO3



To set parameters:

  1. Press MODE/SET twice, to show “Pn000”
  2. Press up and down arrows as needed to select desired parameter
  3. Press and hold DATA/< for one second, to show value
  4. Press DATA/< as needed to select digits (moves one position left each time key is pressed)
  5. Press up and down arrows as needed to change digits
  6. Press and hold DATA/< for one second (until value blinks) to accept changed value
  7. Press and hold DATA/< for one second to escape back to parameter number display
  8. Repeat steps 2-7 as needed for remaining parameters
  9. Press MODE/SET twice to return to running status display (e.g. “=. bb”)