Panasonic MINAS A6 Series, Technical Reference

Page: 31 / 306

2.2I/O connector output signal
2-5
Signal name Symbol
Connector
pin No.
(Note 2)
Contents
Related control mode
EtherCAT
communications
Position Velocity Torque
Full-
close
command
monitor
(Note 3)
Zero-speed
detection output
signal ZSP *

Outputs the zero-speed detection
signal.

Turns on the output transistor when
zero velocity is detected.
✔ ✔ ✔ ✔
-
✔
Speed matching
output V-COIN *

Outputs the speed matching signal.

Turns on the output transistor when
velocity matches.
For details, refer to "4.3.2 Speed
coincidence output (V-COIN)".
-
✔ ✔
- -
✔
Positioning
complete 2 INP2 *

Outputs the positioning complete
signal/positioning complete signal 2.

Turns on the output transistor upon
positioning completion 2.
For details, refer to "4.2.4Positioning
complete output (INP/INP2) function".
✔
- -
✔
-
✔
Warning output 1 WARN1 *

Outputs the warning output signal
set to Pr 4.40 “Warning output select
1”

Turns on the output transistor when
a selected alarm occurs.
✔ ✔ ✔ ✔
-
✔
Warning output 2 WARN2 *

Outputs the warning output signal
set to Pr 4.41 “Warning output select
2”

Turns on the output transistor when
a selected alarm occurs.
✔ ✔ ✔ ✔
-
✔
Positional
command ON/OFF
output P-CMD *

Outputs the position command
ON/OFF signal.

Turns on the output transistor when
the positioning command (before
filter) is other than 0 (with positioning
command).
✔
- -
✔
-
✔
Speed in-limit
output V-LIMIT *

Outputs the speed limit signal during
torque command.

Turns on the output transistor when
velocity is limited.
- -
✔
- -
✔
Alarm attribute
output ALM-ATB *

The signal is output if an alarm which
can be cleared, is input.

Turns on the output transistor when
an alarm occurs.
✔ ✔ ✔ ✔
-
✔
Velocity command
ON/OFF output V-CMD *

Turns on output transistor when the
velocity command is applied while
the velocity is controlled.

Turns on the output transistor if the
velocity command (before filter) is
not less than 30r/min (with velocity
command).
-
✔
- - -
✔
General purpose
output 1 EX-OUT1 *

Output signal set by Bit16 of
60FEh/68FEh (Digital outputs). (ON
at 1, OFF at 0)

For the state of the output transistor,
refer to Note (Note 4).

Only for the Axis A of the driver
module with an inter-module
communication ID of 1, the
general-purpose output EX-OUT1
can be replaced with the contactor
output MC-OUT of the power supply
module. See note (Note 7).
✔ ✔ ✔ ✔ ✔ ✔
(To be continued)