Panasonic MINAS A6 Series Operating Instructions Manual page 168

3. Wiring Diagram to the connector, X4
Example of control mode specific wiring
Wiring Example of Torque Control Mode
V
DC
12 V to 24 V
Wiring Example of Full-closed Control Mode
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.)
• The functions of the following pin can be changed using parameters. (Refer to P.4-38)
Note
Input(Torque): 8, 9, 26, 27, 28, 29, 30, 31, 32, 33
Input(Full-closed): 8, 9, 26, 27, 28, 29, 31, 32
* 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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3-22
7 COM+
33
INH
30
CL
Servo-ON input
29
SRV-ON
Gain switching input
27
GAIN
28
DIV1
Speed zero clamp
input
26
ZEROSPD
Control mode
32
switching 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
Servo-Ready output
35
S-RDY+
34
S-RDY-
Servo-Alarm output
37
ALM+
36
ALM-
At-speed output
39
AT-SPEED+
38
AT-SPEED-
External brake release output
11
BRKOFF+
10
BRKOFF-
Torque in-limit output
40
TLC
Zero speed detection output
12
ZSP
41
COM-
50
FG
7 COM+
Command pulse
4.7 kΩ
33
inhibition input
INH
Deviat on counter
30
clear input
CL
Servo-ON input
29
SRV-ON
Gain switching input
27
GAIN
Electronic gear
28
switching input 1
DIV1
Damping control
26
switching input 1
VS-SEL1
Control mode
32
switching 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
INP+
38
INP-
11
BRKOFF+
10
BRKOFF-
40
TLC
12
ZSP
41
COM-
44
2 kΩ
20 kΩ
PULSH1
120 Ω
45
PULSH2
20 kΩ
2 kΩ
46
2 kΩ
SIGNH1 20 kΩ
120 Ω
47
SIGNH2
20 kΩ
2 kΩ
13
GND
50
FG
Be sure to connect.
4.7 kΩ
21
OA+
22
OA-
48
OB+
49
OB-
23
OZ+
24
OZ-
25
GND
Z-phase output (open collector)
19
CZ
47 kΩ
470 P
＋
14
33 kΩ 470 P
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
20 kΩ 20 kΩ 8 7 kΩ 33 2 kΩ
N-ATL
18
＋
000 P 20 kΩ
43
1 kΩ
Velocity monitor output
SP
42
1 kΩ
Torque monitor output
IM
X4
In case of open collector I/F
1
2 2 kΩ
OPC1
3
PULS1
4
220 Ω
PULS2
2
2 2 kΩ
OPC2
5
SIGN1
220 Ω 6
SIGN2
13
GND
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
A-phase
output
B-phase
output
Z-phase
output
Torque command input or
velocity limit input (0 V to ±10 V)
Wiring example when control mode Pr0.01=5 or Pr3.17=1
16
Negative direction torque
CCWTL/TRQR
17
limit input (0 V to ±10 V)
GND
Select with Pr3.17.
( : Twisted pair)
SE SG
(1) When you use the external
resistor with 12 V and 24 V
power supply
PULS1
3
Command
pulse
R
PULS2
4
input A
220 Ω
SIGN1
(Use with 500 5
kpulse/s or less.)
R
SIGN2
6
220 Ω
A-phase
output Specifications
V -1.5
DC
≒10 mA
V
DC
of R R+220
B-phase
12 V 820 Ω1/2 W
output
24 V 2 kΩ1/2 W
Z-phase
(2) When you do not use the
output
external resistor with 24 V
power supply
OPC1
1
2.2 kΩ
PULS2
4
220 Ω
OPC1 2
2.2 kΩ
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.
SF
○
SF
○
V
DC
24 V
DC