Panasonic MINAS A6 Series, Technical Reference

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Interface Specifications
2-4
2.2 I/O connector output signal
Signal name Symbol
Connector
pin No.
(Note 2)
Contents
Related control mode
EtherCAT
communications
Position Velocity Torque
Full-
close
command
monitor
(Note 3)
Servo-Alarm output ALM [Axis A]
8
(SO1+)

This signal shows that the driver is in
alarm status.

Output transistor turns ON when the
driver is at normal status, and turns
OFF at alarm status.
✔ ✔ ✔ ✔
-
✔
[Axis B]
9
(SO2+)
[Axis A]
18
(SO1-)
✔ ✔ ✔ ✔
-
✔
[Axis B]
19
(SO2-)
Servo-Ready
output S-RDY *

This signal shows that the driver is
ready to be activated.

The driver module becomes ready
when all the following conditions are
satisfied, and the output transistor is
turned on.
- Control/Main power is established.
- Alarm does not occur.
- EtherCAT communication is
established.
✔ ✔ ✔ ✔
-
✔
External brake
release signal BRK-OFF *

Feeds out the timing signal which
activates the electromagnetic brake
of the motor.

Transistor is turned ON when
electromagnetic brake is released.

This output needs to be assigned to
every control mode.
✔ ✔ ✔ ✔
-
✔
set brake output set brake *

Outputs the signal configured at
60FEh/68FEh: Digital output /bit 0.

Transistor will be turned off at "1".
(Brake will be activated.)

See the notes (Note 4) state the
output transistor.
✔ ✔ ✔ ✔ ✔
-
Positioning
complete INP *

Outputs the positioning complete
signal/positioning complete signal.

Turns ON the output transistor when
positioning is completed.
For details, refer to "4.2.4 Positioning
complete output (INP/INP2) function"
✔
- -
✔
-
✔
Speed arrival
output AT-SPEE
D *

Outputs the speed arrival signal.

Turns on the output transistor when
a velocity is reached.
For details, refer to "4.3.1 Attained
speed output (AT-SPEED)"..
-
✔ ✔
- -
✔
Torque in-limit
signal output TLC *

Outputs the torque in-limit signal.

Turns on the output transistor when
torque is limited.
✔ ✔ ✔ ✔
-
✔
(To be continued)