Panasonic MINAS A6 Multi Series Technical Reference page 31

2.2I/O connector output signal
Signal name Symbol
Zero-speed ZSP
detection output
signal
Speed matching V-COIN
output
Positioning INP2
complete 2
Warning output 1 WARN1
Warning output 2 WARN2
Positional P-CMD
command ON/OFF
output
Speed in-limit V-LIMIT
output
Alarm attribute ALM-ATB
output
Velocity command V-CMD
ON/OFF output
General purpose EX-OUT1
output 1
(To be continued)
2-5
Connector
Contents
pin No.
(Note 2)
 Outputs the zero-speed detection
*
signal.
 Turns on the output transistor when
zero velocity is detected.
 Outputs the speed matching signal.
*
 Turns on the output transistor when
velocity matches.
For details, refer to "4.3.2 Speed
coincidence output (V-COIN)".
 Outputs the positioning complete
*
signal/positioning complete signal 2.
 Turns on the output transistor upon
positioning completion 2.
For details, refer to "4.2.4Positioning
complete output (INP/INP2) function".
 Outputs the warning output signal
*
set to Pr 4.40 "Warning output select
1"
 Turns on the output transistor when
a selected alarm occurs.
 Outputs the warning output signal
*
set to Pr 4.41 "Warning output select
2"
 Turns on the output transistor when
a selected alarm occurs.
 Outputs the position command
*
ON/OFF signal.
 Turns on the output transistor when
the positioning command (before
filter) is other than 0 (with positioning
command).
 Outputs the speed limit signal during
*
torque command.
 Turns on the output transistor when
velocity is limited.
 The signal is output if an alarm which
*
can be cleared, is input.
 Turns on the output transistor when
an alarm occurs.
 Turns on output transistor when the
*
velocity command is applied while
the velocity is controlled.
 Turns on the output transistor if the
velocity command (before filter) is
not less than 30r/min (with velocity
command).
 Output signal set by Bit16 of
*
60FEh/68FEh (Digital outputs). (ON
at 1, OFF at 0)
 For the state of the output transistor,
refer to Note (Note 4).
 Only for the Axis A of the driver
module with an inter-module
communication ID of 1, the
general-purpose output EX-OUT1
can be replaced with the contactor
output MC-OUT of the power supply
module. See note (Note 7).
Related control mode
Full-
Position Velocity Torque
close
✔ ✔ ✔ ✔
✔ ✔
- -
✔ ✔
- -
✔ ✔ ✔ ✔
✔ ✔ ✔ ✔
✔ ✔
- -
✔
- - -
✔ ✔ ✔ ✔
✔
- - -
✔ ✔ ✔ ✔
EtherCAT
communications
monitor
command
(Note 3)
✔
-
✔
-
✔
-
✔
-
✔
-
✔
-
✔
-
✔
-
✔
-
✔ ✔