Panasonic MINAS A6 Series, Technical Reference

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2.1I/O connector input signal
2-3
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)
External latch input
1 EXT1 *

These signals are used for
touch-probe function or homing
function.

This input can only be set to
a-contact.

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.
It cannot guarantee this value.

EXT1 for Axis A can only be
assigned to SI5 and EXT2 to SI6,
and EXT1 of Axis B to SI1 and EXT2
to SI2.
✔ ✔ ✔ ✔
-
✔
External latch input
2 EXT2 *
✔ ✔ ✔ ✔
-
✔
General purpose
monitor input 1 SI-MON1 *

Used as the general purpose
monitor input.

This input does not affect the
operation, and can be used for
monitoring through,
2321h/2721h Logical input signa
2323h/2723h Logical input signal
[expansion portion]
60FDh/68FDh Digital inputs
(Note 1)
-
✔
General purpose
monitor input 2 SI-MON2 *
-
✔
General purpose
monitor input 3 SI-MON3 *
-
✔
General purpose
monitor input 4 SI-MON4 [A or B]
4
(SI4)
-
✔
General purpose
monitor input 5 SI-MON5 [A or B]
14
(SI8)
-
✔
External alarm
clear input A-CLR *

Dis arm inputs the alarm.

There are alarms that cannot be
disarmed by this input.
✔ ✔ ✔ ✔
-
✔
Dynamic brake
(DB) switching
input DB-SEL *

Switches the dynamic brake (DB)
ON/OFF after stop (when the main
power is off).

Switching is only possible when
main power supply off is detected.
For details, refer to "6.3.3 Sequence at
main power OFF"
✔ ✔ ✔ ✔
-
✔
(Note 1) General purpose monitor input can be used for monitoring, but does not affect driver module operations.
(Note 2) Except for I-
COM, input signal 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 “2.4.1 Input signal allocation”.
(Note 3) It is possible to monitor the condition of the signals where
“
✔
” is attached to the EtherCAT communication monitor on the table
with 2321h/2721h (Logical input signal), 2323h/2723h (Logical input signal [expansion portion]), 60FDh/68FDh (Digital inputs).
(Note 4) [A or B] in "Connector pin No." column in the table indicates that this signal is accepted by both Axis A and Axis B.
For details, refer to section "2.4.1 Input signal allocation".