Panasonic MINAS A6 Multi Series Technical Reference page 30

2.2 I/O connector output signal
Signal name Symbol
Servo-Alarm output ALM
Servo-Ready S-RDY
output
External brake BRK-OFF
release signal
set brake output set brake
Positioning INP
complete
Speed arrival AT-SPEE
output D
Torque in-limit TLC
signal output
(To be continued)
Connector
Contents
pin No.
(Note 2)
 This signal shows that the driver is in
[Axis A]
8 alarm status.
(SO1+)
 Output transistor turns ON when the
[Axis B] driver is at normal status, and turns
OFF at alarm status.
9
(SO2+)
[Axis A]
18
(SO1-)
[Axis B]
19
(SO2-)
 This signal shows that the driver is
*
ready to be activated.
 The driver module becomes ready
when all the following conditions are
satisfied, and the output transistor is
turned on.
- Control/Main power is established.
- Alarm does not occur.
- EtherCAT communication is
established.
 Feeds out the timing signal which
*
activates the electromagnetic brake
of the motor.
 Transistor is turned ON when
electromagnetic brake is released.
 This output needs to be assigned to
every control mode.
 Outputs the signal configured at
*
60FEh/68FEh: Digital output /bit 0.
 Transistor will be turned off at "1".
(Brake will be activated.)
 See the notes (Note 4) state the
output transistor.
 Outputs the positioning complete
*
signal/positioning complete signal.
 Turns ON the output transistor when
positioning is completed.
For details, refer to "4.2.4 Positioning
complete output (INP/INP2) function"
 Outputs the speed arrival signal.
*
 Turns on the output transistor when
a velocity is reached.
For details, refer to "4.3.1 Attained
speed output (AT-SPEED)"..
 Outputs the torque in-limit signal.
*
 Turns on the output transistor when
torque is limited.
Interface Specifications
Related control mode
Full-
Position Velocity Torque
close
✔ ✔ ✔ ✔
✔ ✔ ✔ ✔
✔ ✔ ✔ ✔
✔ ✔ ✔ ✔
✔ ✔ ✔ ✔
✔ ✔
- -
✔ ✔
- -
✔ ✔ ✔ ✔
EtherCAT
communications
monitor
command
(Note 3)
✔
-
✔
-
✔
-
✔
-
✔
-
✔
-
✔
-
✔
-
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