Panasonic MINAS A6 Multi Series Technical Reference page 32

Signal name Symbol
Servo on status SRV-ST
output
Position CMP-OUT *
comparison output
Deterioration V-DIAG
diagnosis velocity
output
(Note 1) For the signal with "-" sign in the "Related control mode" column, the output transistor is always turned off in that control mode.
(Note 2) Output pin assignment can be changed. The pins in "Connector pin No." column in the table denote factory default settings. The
signal with a pin that is marked with "*" is not assigned by default.
For more information, refer to " 2.4.2 Output signal allocation".
(Note 3) It is possible to monitor the condition of the signals where "✔" is attached to the EtherCAT communication monitor on the table
with 2322h/2722h (Logical output signal) or 60FDh/68FDh (Digital inputs).
(Note 4) The state of output transistor changes as follows in each EtherCAT communication state:
Setting value
Symbol
of Pr7.24
set brake -
bit0 = 0
(hold)
EX-OUT1
bit0 = 1
(initialization)
(Note 5) "Communication established", "Communication intercepted", and "Communication re-established" refer to the following cases.
Communication established
Communication intercepted
Communication re-established
(Note 6) Pr4.59 (Mechanical brake signal setting) sets the mechanical brake signal output from the mechanical brake output (BRK +/-)
and does not affect the set brake output from SO1 / SO2.

Safety precautions:
When executing set brake signal control using 60FEh/68FDh (Digital outputs), be sure to
use it in PDO and enable the PDO watch dog.
In SDO, the communication shutoff cannot be judged, the brake may be kept to be released
and it is unsafe.
Please ensure safety on the equipment side.
Connector
Contents
pin No.
(Note 2)
* Turns on the output transistor during
servo on.
The output transistor is turned ON or
OFF when the actual position passes
the position set by the parameter.
 Output transistor turned ON when
*
motor speed is within the range of
Pr4.35 "Speed coincidence range" of
Pr5.75 "Deterioration diagnosis
velocity setting".
 There is a hysteresis of 10r/min in
the coincidence judgment of
deterioration diagnosis velocity.
Setting value of
State of output transistor (SO1/SO2)
60FEh/68FEh
01h
02h
(Physical Reset
(Bit mask)
outputs)
0
set brake = 1
0
(brake on)
1
0
set brake = 1
1
(brake on)
1
0
0 EX-OUT1 = 0
1
0
1 EX-OUT1 = 0
1
0
0 EX-OUT1 = 0
1
0
1 EX-OUT1 = 0
1
ESM state is PreOP or higher
PDO communication is disabled(ESM state transitioned to other states than OP), or SDO
communication is disabled(ESM state transitioned to Init)
60FEh-01h or 60FEh-02h has been written successfully
Related control mode
Position Velocity Torque
✔ ✔
✔ ✔
✔ ✔
Communication Communication
established intercepted
(Note 5) (Note 5)
set brake = 1 set brake = 1
(brake on) (brake on)
set brake = 0
set brake = 1
(brake on)
set brake = 1
(brake on)
EX-OUT1 = 0 EX-OUT1 = 0
EX-OUT1 = 0
EX-OUT1 = 0
(hold)
EX-OUT1 = 1
EX-OUT1 = 1
(hold)
EX-OUT1 = 0 EX-OUT1 = 0
EX-OUT1 = 0
EX-OUT1 = 0
EX-OUT1 = 1
Interface Specifications
EtherCAT
communications
Full- monitor
command
close (Note 3)
✔ ✔ ✔
-
✔ ✔
- -
✔ ✔ ✔
-
Communication
re-established
(Note 5)
set brake = 1
(brake on)
set brake = 0
set brake = 1
(brake on)
EX-OUT1 = 0
EX-OUT1 = 0
EX-OUT1 = 1
EX-OUT1 = 0
EX-OUT1 = 0
EX-OUT1 = 1
2-6