Panasonic MINAS A6 Multi Series Technical Reference page 43

2.4I/O signal allocation function
 Output function number table
Title
Invalid
Alarm output
Servo-Ready output
External brake release signal
Positioning complete output
At-velocity output
Torque in-limit signal output
Zero-speed detection output signal
Speed matching output
Warning output1
Warning output2
Positional command ON/OFF output
Positioning complete 2
Speed in-limit output
Alarm attribute output
Velocity command ON/OFF output
General purpose output 1
set brake output (Note 1)
Servo on status output
Position comparison output
Deterioration diagnosis velocity output
(Note 1) "set brake output" is reversal from logic of 60FEh/68FDh (digital output). When 60FEh is "1", the output signal is "OFF" (brake is
activate).
Cautions for output signal assignment
 For output signals, the same function can be assigned to multiple pins. However, the output logic setting
must be the same. In addition, when using the same function for multiple control modes, the same output
logic must be set. If different output logic was set, the output signal state will become unstable.
 For the output pins specified as disabled, output transistors are always turned off. However, EtherCAT
communication response is not affected.
 Use only the values shown in the table above for setting.
 When using external brake release signal (BRK-OFF) or set brake output, the signal should be set in all
control modes. If not applied to all control modes, Err 33.4 "Output function number error 1 protection" or Err
33.5 "Output function number error 2 protection" will occur.
 The output transistor is turned off when the control power is turned off, from when the driver module's control
power is turned on until initialization is completed, during reset, and when the front display is in the following
state:
Design your system so that this is not a problem.
 Depending on the operating status of the driver module, the control mode may be forcibly switched inside the
driver module regardless of commands from the host device. This operation has an effect on output signal
processing. Basically, assign the same function to one terminal in all control modes.
[Conditions that the control mode is switched forcibly inside the driver]
When the frequency characteristic is measured by setup support software PANATERM for Multi.
-
(Position loop characteristics mode is position control, the speed closed loop characteristic mode and
torque speed (vertical) mode are speed control, torque speed (normal) mode is torque control.)
Test run of the setup support software (Forcibly position control).
-
The states that are written "Forcibly position control" in Section "6.3 Deceleration stop sequence".
-
During retracting operation function (Forcibly position control) (Not supported)
-
 Output from the axis which is set as invalid in Pr0.20 "Axis limit setting" will be fixed to OFF regardless of the
assignment setting.
2-17
Symbol
-
ALM
S-RDY
BRK-OFF
INP
AT-SPEED
TLC
ZSP
V-COIN
WARN1
WARN2
P-CMD
INP2
V-LIMIT
ALM-ATB
V-CMD
EX-OUT1
set brake
SRV-ST
CMP-OUT
V-DIAG
Setup value: a-contact
00h
01h
02h
03h
04h
05h
06h
07h
08h
09h
0Ah
0Bh
0Ch
0Dh
0Eh
0Fh
10h
11h
12h
14h
15h