Panasonic MINAS-A5BL Series Manual page 19

*1) For the signal with "-" sign in the "Related control mode" column, the output transistor is always turned off in
that control mode.
*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 Assignment of output signal".
*3) It is possible to monitor the condition of the signals where "○" is attached to the EtherCAT communication
monitor on the table with 60FDh (Digital inputs).
*4) The output state changes as follows in each communication state:
Setting value
Sign
of 3724h
set brake -
bit0 = 0
(hold)
EX-OUT1
bit0 = 1
(initialization)
*5) "Communication established", "Communication intercepted", and "Communication re-established" refer to the
following cases.
Communication established
Communication
intercepted
(Note)
Communication re-established
Safety precautions:
When executing set brake signal control using 60FEh (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.
R1.00
Setting value of
60FEh
01h 02h
(Physical (Bit Reset
outputs) mask)
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
When 60FEh is mapped to RxPDO
When 60FEh is not mapped to RxPDO
State of output
Communication Communication
established intercepterd
*5) *5)
set brake = 1 set brake = 1
(brake on) (brake on)
set brake = 0
set brake = 1
set brake = 1
(brake on)
(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
ESM state is PreOP or higher
PDO communication is disabled
(ESM state transitioned to other states than OP)
SDO communication is disabled
(ESM state transitioned to Init)
Until 60FEh-01h or 60FEh-02h is successfully written
Motor Business Unit, Panasonic Corporation
No. SX-DSV02829 -
13-
Communication
re-established
*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