Panasonic MINAS A6 Multi Series Technical Reference page 28

2.1 I/O connector input signal
Signal name Symbol
Input signal source SI-COM
Forced alarm input E-STOP
Positive direction POT
over-travel
inhibition input
Negative direction NOT
over-travel
inhibition input
Near home input HOME
(To be continued)
Connector
pin No.
Contents
(Note 2)
(Note 4)
5 Connect to the positive or negative
terminal of the external DC source
(12–24 V).
Generates Err 87.0 "Forced alarm
*
input error".
 Positive direction over-travel inhibit
[Axis A]
12 input.
(SI6)
 The operation with this input turned
ON is set up in Pr 5.04 "Setup of
[Axis B] over-travel inhibit input".
2
 When using Positive direction
(SI2)
over-travel inhibit input, connect the
signal so that the input is turned ON
when the moving portion of the
machine travels in positive direction
exceeding a limit.
 If used as a home position reference
trigger in a home position return, this
input signal should be SI6 for Axis A
and SI2 for Axis B, respectively.
 The signal width should be 1 ms or
longer then at the time of closing,
and should be 2 ms or longer then at
the time of opening.
Please keep in mind that it cannot
guarantee this value.
 Negative direction over-travel inhibit
[Axis A]
13 input.
(SI7)
 The operation with this input turned
ON is set up in Pr 5.04 "Setup of
over-travel inhibit input".
[Axis B]
 When using Negative direction
3
over-travel inhibit input, connect the
(SI3)
signal so that the input is turned ON
when the moving portion of the
machine travels in negative direction
exceeding a limit.
 If used as a home position reference
trigger in a home position return, this
input signal should be SI7 for Axis A
and SI3 for Axis B, respectively.
 The signal width should be 1 ms or
longer then at the time of closing,
and should be 2 ms or longer then at
the time of opening.
Please keep in mind that it cannot
guarantee this value.
 When using the near home sensor
[Axis A]
11 during the return to home position
operation, input the sensor signal.
(SI5)
 If used as a home position reference
trigger in a home position return, this
[Axis B]
input signal should be SI5 for Axis A
1
and SI1 for Axis B, respectively.
(SI1)
The signal width should be 1 ms or
longer then at the time of closing,
and should be 2 ms or longer then at
the time of opening.
Please keep in mind that it cannot
guarantee this value.
Interface Specifications
Related control mode
Full-
Position Velocity Torque
close
✔ ✔ ✔ ✔
✔ ✔ ✔ ✔
✔ ✔ ✔ ✔
✔ ✔ ✔ ✔
EtherCAT
communications
monitor
command
(Note 3)
- -
✔
-
✔
-
✔
-
2-2