Read Input Signal - Panasonic MINAS A6 Series Operating Instructions Manual

4. Communication
Details of Communication Command
command mode
2 6
Error code
bit7 6
0 : Normal
1 : Error
• Reads out the present positional command deviation. (Unit : [command unit]
• Output value in 32bit
• Becomes "+" when the encoder is located at negative direction against position command, and "–" when it is located
at positive direction.
command mode
2 7
Error code
bit7 6
0 : Normal
1 : Error
Data
bit7 6
For Switching of
electronic gear 1
manufacturer's use
bit15 14
For For
manufacturer's use manufacturer's use
bit23 22
Damping control
Switching of
electronic gear 2 switching 2
bit31 31
For For
manufacturer's use manufacturer's use
• Logic of input signal is based on assignment set in the parameter.
• Because of the internal logical data after conversion of input, it does not directly correspond to the input signal from the
connector X5.
• CW over-travel inhibit input and CCW over-travel inhibit input will change according to the input logic, even if they have
been disabled by the parameter,
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• Read out of present positional command deviation
Reception data
0
axis
6 2
checksum
5 4
Command error RS485 error
• Read out of input signal
Reception data
0
axis
7 2
checksum
5 4
Command error RS485 error
5 4
Speed zero Control mode
clamp switching
13 12
Internal speed Internal speed
command command
selection 2 selection 1
21 20
Internal speed
Torque limit
command
switching
selection 3
29 28
For Safety input 2
manufacturer's use
6
3 2
7
3 2
3 2
CCW over-travel CW over-travel
inhibit inhibit
11 10
For Counter clear
manufacturer's use
19 18
Damping control
For
switching 1
manufacturer's use
27 26
Safety input 1 For
manufacturer's use
Transmission data
5
axis
2
data (deviation) L
H
Error code
checksum
1 0
Transmission data
5
axis
2
data L
data H
Error code
checksum
1 0
1 0
Alarm clear Servo-ON
9 8
Gain switching Command pulse
input inhibition
17 16
For For
manufacturer's use manufacturer's use
25 24
Torque Speed
command sign command sign
7-45
1
2
3
4
5
6
7