Panasonic MINAS A6 Series, Technical Reference

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Application Functions
6-12
6.5 Position comparison output function
This function enables a general-purpose output or position comparison output terminal to output a pulse
signal when the actual position passes the position set for the parameter.
Specification
Item Description
Trigger output I/F With the 2 axes combined,
2-outputs: Photocoupler (Open Collector) or 2-outputs: Line driver
Logic Parameter settings (The polarity can be set for each output)
Pulse width Parameter settings 0.1 to 3276.7ms (0.1ms unit)
Delay compensation Available
Compare source Encoder (Communication) Available
External scale (Communication) Available
External scale (A,B-phase) Available
Compare value Setting points 8-points per axis
Setting range Signed 32bit
Applicable range
This function cannot be applied unless the following conditions are satisfied.
Operating conditions for position comparison output function:
Control Mode

Available in all control modes
Others

EtherCAT communication has been established. (ESM state is more than PreOP)

Home position return has been completed.

The elements other than control parameters are correctly set, assuring that the motor can run smoothly.

Other than Countinuous rotating absolute mode (Pr0.15=4)
Caution
In the case of full-closed control, if the number of external scale pulses per motor revolution is extremely
lower than 23 bits, the accuracy of position compare output may deteriorate.
The position compare output cannot be monitored as a logical output from PANATERM for Multi or
EtherCAT communication. Even when assigned to general-purpose outputs (SO1, SO2), if the position
compare output pulse width (time) is shorter than the measurement cycle or communication cycle,
monitoring may not be possible.
In MINAS A6 Multi Ver1.01, when using position compare output OCMP1/OCMP2, it is necessary to set
Pr4.47 to 1 and assign position compare output (CMP-OUT:14h) to general-purpose output SO1/SO2.
SO1:Pr4.10
SO2:Pr4.11 Pr4.47 SO1 output
SO2 output
OCMP1 output
OCMP2 output
Assigned to CMP-OUT:14h 0 CMP-OUT No output
1 CMP-OUT CMP-OUT
Assigned except for CMP-OUT 0 Assigned output No output
1 Assigned output No output