This is just for the SGD and SGDA type P Yaskawa Servos to get the very minimum wiring to give Pulse and Direction control. The only signals you have to have on 1CN are pins 1, 2, 3 & 4. To use this minimalist configuration, set parameter Cn-01 to 0000 0000 1010 1101 or AD hex. Set Cn-02 to all zeros, or 00 hex. This means the drive will power up in the on state and won't be looking for or caring about overtravel switches. To clear a fault, power down and back up.
Now tie 1CN pins 2 & 4 to common (0 Volts) of the printer port (PP) or breakout board (BOB) and pin 1 to the step output of the PP or BOB through (in series with) a 180 ohm 1/2 watt resistor. 1CN pin 3 ties through a 180 ohm resistor to the direction output.
You still need AC power, encoder cable and brake if it's there. The brake control output of the drive can control the brake, but only through a suitable relay and it requires an additional 24VDC power supply in addition to the brake power supply.
I've only run mine on the bench so far. Be aware that the tuning may be off if these are used drives. My motor wanted to vibrate off the bench without even turning when I first tried it. Then I had to tune it up to get minimal following error. And no, I don't have those parameters handy at the moment.