Panasonic MINAS A6 Multi Series Technical Reference page 4

Table of contents
1. Introduction ........................................................................................ 1-1
1.1 Introduction ............................................................................................................... 1-2
1.2 Basic specification .................................................................................................... 1-6
1.3 Function (Position control) ........................................................................................ 1-7
1.4 Function (Velocity control) ......................................................................................... 1-8
1.5 Function (Torque control) .......................................................................................... 1-9
1.6 Function (Full-closed control) .................................................................................. 1-10
1.7 Function (Common) ................................................................................................ 1-11
1.8 Differences from MINAS A6B series ....................................................................... 1-12
2. Interface Specifications ..................................................................... 2-1
2.1 I/O connector input signal ......................................................................................... 2-2
2.2 I/O connector output signal ....................................................................................... 2-4
2.3 I/O connector other signal ......................................................................................... 2-8
2.3.1 Position comparison output signal ................................................................................ 2-8
2.3.2 Other signals ................................................................................................................. 2-8
2.4 I/O signal allocation function ..................................................................................... 2-9
2.4.1 Input signal allocation .................................................................................................... 2-9
2.4.1.1
2.4.1.2
2.4.2 Output signal allocation ............................................................................................... 2-14
2.4.2.1
2.4.2.2
2.5 Mechanical brake output ......................................................................................... 2-18
3. Front Panel Specifications ................................................................ 3-1
3.1 Front panel configuration .......................................................................................... 3-2
3.2 Node address setup in Inter-module communication ................................................. 3-3
3.3 EtherCAT Station alias .............................................................................................. 3-4
3.4 EtherCAT Indicators .................................................................................................. 3-5
Using with the default setting ............................................................................... 2-9
Reallocation of input signal ................................................................................ 2-10
Using the default setting..................................................................................... 2-14
Reallocation of input signal ................................................................................ 2-16
Table of contents
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