Panasonic MINAS A6 Series, Technical Reference

Page: 28 / 306

Interface Specifications
2-2
2.1 I/O connector input signal
Signal name Symbol
Connector
pin No.
(Note 2)
(Note 4)
Contents
Related control mode
EtherCAT
communications
Position Velocity Torque
Full-
close
command
monitor
(Note 3)
Input signal source SI-COM 5 Connect to the positive or negative
terminal of the external DC source
(12
–24 V).
Forced alarm input E-STOP *
Generates Err 87.0 “Forced alarm
input error”.
✔ ✔ ✔ ✔
- -
Positive direction
over-travel
inhibition input POT [Axis A]
12
(SI6)
[Axis B]
2
(SI2)

Positive direction over-travel inhibit
input.

The operation with this input turned
ON is set up in Pr 5.04 "Setup of
over-travel inhibit input".

When using Positive direction
over-travel inhibit input, connect the
signal so that the input is turned ON
when the moving portion of the
machine travels in positive direction
exceeding a limit.

If used as a home position reference
trigger in a home position return, this
input signal should be SI6 for Axis A
and SI2 for Axis B, respectively.

The signal width should be 1 ms or
longer then at the time of closing,
and should be 2 ms or longer then at
the time of opening.
Please keep in mind that it cannot
guarantee this value.
✔ ✔ ✔ ✔
-
✔
Negative direction
over-travel
inhibition input NOT [Axis A]
13
(SI7)
[Axis B]
3
(SI3)

Negative direction over-travel inhibit
input.

The operation with this input turned
ON is set up in Pr 5.04 "Setup of
over-travel inhibit input".

When using Negative direction
over-travel inhibit input, connect the
signal so that the input is turned ON
when the moving portion of the
machine travels in negative direction
exceeding a limit.

If used as a home position reference
trigger in a home position return, this
input signal should be SI7 for Axis A
and SI3 for Axis B, respectively.

The signal width should be 1 ms or
longer then at the time of closing,
and should be 2 ms or longer then at
the time of opening.
Please keep in mind that it cannot
guarantee this value.
✔ ✔ ✔ ✔
-
✔
Near home input HOME [Axis A]
11
(SI5)
[Axis B]
1
(SI1)

When using the near home sensor
during the return to home position
operation, input the sensor signal.

If used as a home position reference
trigger in a home position return, this
input signal should be SI5 for Axis A
and SI1 for Axis B, respectively.
The signal width should be 1 ms or
longer then at the time of closing,
and should be 2 ms or longer then at
the time of opening.
Please keep in mind that it cannot
guarantee this value.
✔ ✔ ✔ ✔
-
✔
(To be continued)