For Manufacturer's Use - Panasonic MINAS A6 Multi Series Technical Reference

2.3 I/O connector other signal
2.3.1 Position comparison output signal
Signal name Symbol
OCMP1+
Position comparison
output 1
OCMP1-
OCMP2+
Position comparison
output 2
OCMP2-
Signal ground GND
(Note 1) 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 2) 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).
2.3.2 Other signals
Signal name Symbol
Frame ground FG
For manufacturer's
-
use
(Note 1) 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 2) 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).
Connector
Contents
pin No.
(Note 1)
 The position compare output
17
signal is output differentially
(RS422 equivalent).
18
 Ground for line driver of output
circuit is connected to signal
ground (GND) and is not
20
insulated.
 Max. output frequency is 4 Mpps.
 When Pr4.47 "Pulse output
19
selection" is set to 1, can be used
as position compare output.
16 Signal ground
Connector
Contents
pin No.
(Note 1)
 This output is connected to the
ground terminal inside of the
shell
driver module.
• Keep these pins unconnected.
23, 24
Interface Specifications
Related control mode
Full-
Position Velocity Torque
close
✔ ✔ ✔ ✔
✔ ✔ ✔ ✔
✔ ✔ ✔ ✔
✔ ✔ ✔ ✔
Related control mode
Full-
Position Velocity Torque
close
EtherCAT
communications
monitor
command
(Note 2)
- -
- -
- -
- -
EtherCAT
communications
monitor
command
(Note 2)
2-8