Wiring Diagram To The Connector, X4; Example Of Control Mode Specific Wiring - Panasonic MINAS A6 Series Operating Instructions Manual

3
Connection
Wiring Example of Position Control Mode
Command pulse
inhibition input
Deviation counter
clear input
Servo-ON input
Gain switching input
Electron c gear
switching input 1
Damping control
switching input 1
Control mode
switching input
Alarm clear input
Positive direction
ver-travel inhibition input
Negative direction
over-travel inhibition input
Servo-Ready output
Servo-Alarm output
Positioning complete output
V
DC
12 V to 24 V
External brake release output
Torque in-limit output
Zero speed detection output
Command pulse input B
(Use with 8 Mpulse/s or less.)
Be sure to connect.
Wiring Example of Velocity Control Mode
Servo-Ready output
Servo alarm output
At-speed output
V
DC
12 V to 24 V
External brake release output
Torque in-limit output
Zero speed detection output
• The functions of the following pin can be changed using parameters. (Refer to P.4-38)
Note
Input(Position): 8, 9, 26, 27, 28, 29, 31, 32
Input(Velocity): 8, 9, 26, 27, 28, 29, 30, 31, 32, 33
* Pins in the figure above represent default parameter values.
Caution
• With the standard type and communication type do not connect analog input on pins 14, 16 and 18
to SG of pin 15.
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3. Wiring Diagram to the connector, X4

Example of control mode specific wiring

7 COM+
4.7 kΩ
33
INH
30
CL
29
SRV-ON
27
GAIN
28
DIV1
26
VS-SEL1
32
C-MODE
31
A-CLR
9
POT
8
NOT
35
S-RDY+
34
S-RDY-
37
ALM+
36
ALM-
39
INP+
38
INP-
11
BRKOFF+
10
BRKOFF-
40
TLC
470 P
＋
12
ZSP
470 P
33 kΩ
41
39 kΩ
COM-
470 P
000 P
44 20 kΩ 20 kΩ 18.7 kΩ
2 kΩ
20 kΩ
PULSH1 ＋
1000 P
20 Ω
45
000 P
PULSH2
20 kΩ
2 kΩ
46 20 kΩ 20 kΩ 18.7 kΩ
2 kΩ
SIGNH1 20 kΩ
1000 P
47 20 Ω
SIGNH2
20 kΩ
2 kΩ
13
GND
50
FG
X4
7 COM+
Selection 1 input of
4.7 kΩ
33
internal command speed
INTSPD1
Selection 2 input of
30
internal command speed
INTSPD2
Servo-ON input
29
SRV-ON
Gain switching input
27
GAIN
Selection 3 input of
28
internal command speed
INTSPD3
Speed zero clamp input
26
ZEROSPD
Control mode switching
32
input
C-MODE
Alarm clear input
31
A-CLR
Positive direction
9
ver-travel inhibition input
POT
Negative direction
8
over-travel inhibition input
NOT
35
S-RDY+
34
S-RDY-
37
ALM+
36
ALM-
39
AT-SPEED+
38
AT-SPEED-
11
BRKOFF+
10
BRKOFF-
40
TLC
12
ZSP
41
COM-
50
FG
In case of open collector I/F
1
2.2 kΩ
OPC1
3
PULS1
4
220 Ω
PULS2
2
2.2 kΩ Command
OPC2
pulse
5
input A
SIGN1
220 Ω 6
(Use with 500
SIGN2
kpu se/s or less.)
13
GND
21
A-phase
OA+
22 output
OA-
48
B-phase
OB+
output
49
OB-
23
Z-phase
OZ+
output
24
OZ-
25
GND
Z-phase output
(open collector)
19
CZ
14
SPR TRQR/SPL
39 kΩ
15
GND
16
33.2 kΩ
P-ATL/TRQR
20 kΩ
17
GND
18
33.2 kΩ
N-ATL
20 kΩ
43
1 kΩ
SP
42
1 kΩ
IM
<Remarks>
A6 Series standard type and communication type can not
be used Pin14,15,16,18. Please do not connect anything.
21
OA+
22
OA-
48
OB+
49
OB-
23
OZ+
24
OZ-
25
GND
Z-phase output (open collector)
19
CZ
470 P
＋
14
470 P
33 kΩ
SPR/TRQR/SPL
39 kΩ 39 kΩ
15
470 P
GND
000 P
16
20 kΩ 20 kΩ 8.7 kΩ 33 2 kΩ
P-ATL/TRQR
＋
000 P 20 kΩ
17
GND
000 P
18
20 kΩ 20 kΩ 8.7 kΩ 33 2 kΩ
N-ATL
＋
000 P 20 kΩ
43
1 kΩ
SP
42
1 kΩ
IM
X4
Output: 10-11, 12, 34-35, 36-37, 38-39, 40
Output: 10-11, 12, 34-35, 36-37, 38-39, 40
SE SG SF
○ ○ ○
(1) When you use the external
resistor with 12 V and 24 V
power supply
PULS1
3
R
PULS2
4
220 Ω
SIGN1
5
V
DC
R
SIGN2
6
220 Ω
Specifications
V -1.5
DC
≒10 mA
V
DC
R+220
of R
12 V 820 Ω1/2 W
24 V 2 kΩ1/2 W
(2) When you do not use the
external resistor with 24 V
power supply
OPC1
1
2.2 kΩ
PULS2
4
220 Ω
OPC1
2
2.2 kΩ
24 V
DC
SIGN2
6
220 Ω
( : Twisted pair)
Positive direction torque limit input
(0 V to +10 V)
Negative direction torque limit input
(-10 V to +10 V)
Velocity monitor output
Torque monitor output
<Remarks>
A6 Series standard type and communication type can not
be used Pin14,15,16,18. Please do not connect anything.
SE SG SF
○ ○ ○
A-phase output
B-phase output
Z-phase output
Velocity command
input (0 V to ± 10 V)
Positive direction torque
limit input (0 V to ± 10 V)
Negative direction torque
limit input (–10 V to 0 V)
Velocity monitor output
Torque monitor output
( : Twisted pair)
1
2
3
4
5
6
7
3-21