Panasonic MINAS A6 Series, Technical Reference

Page: 34 / 306

Interface Specifications
2-8
2.3 I/O connector other signal
2.3.1 Position comparison output signal
Signal name Symbol
Connector
pin No.
(Note 1)
Contents
Related control mode
EtherCAT
communications
Position Velocity Torque
Full-
close
command
monitor
(Note 2)
Position comparison
output 1
OCMP1+ 17

The position compare output
signal is output differentially
(RS422 equivalent).

Ground for line driver of output
circuit is connected to signal
ground (GND) and is not
insulated.

Max. output frequency is 4 Mpps.

When Pr4.47 "Pulse output
selection" is set to 1, can be used
as position compare output.
✔ ✔ ✔ ✔
- -
OCMP1- 18
✔ ✔ ✔ ✔
- -
Position comparison
output 2
OCMP2+ 20
✔ ✔ ✔ ✔
- -
OCMP2- 19
✔ ✔ ✔ ✔
- -
Signal ground GND 16 Signal ground
(Note 1) Output pin assign
ment 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 “2.4.2 Output signal allocation”.
(Note 2) It is possible to monitor the condition of the signals where
“
✔
” is attached to the EtherCAT communication monitor on the table
with 2322h/2722h (Logical output signal) or 60FDh/68FDh (Digital inputs).
2.3.2 Other signals
Signal name Symbol
Connector
pin No.
(Note 1)
Contents
Related control mode
EtherCAT
communications
Position Velocity Torque
Full-
close
command
monitor
(Note 2)
Frame ground FG shell

This output is connected to the
ground terminal inside of the
driver module.
For manufacturer’s
use
- 23, 24
• Keep these pins unconnected.
(Note 1) Outp
ut 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
“2.4.2 Output signal allocation”
(Note 2) It is possible to monitor the condition of the signals where
“
✔
” is attached to the EtherCAT communication monitor on the table
with 2322h/2722h (Logical output signal) or 60FDh/68FDh (Digital inputs).