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 |
|
34 GRN/BLU |
|
20 ORG/BLK |
|
1 BRN/RED |
|
n/c |
|
|
|
|
|
|
|
|
|
|
n/c |
|
35 WHT/GRN |
|
33 BLU/GRN |
|
19 BLK/ORG |
|
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: