Panasonic MINAS A6 Series, Technical Reference

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Interface Specifications
2-10
2.4.1.2 Reallocation of input signal
To change the allocation of input signal, change the following parameters.

Relevant parameters
Class No. Attribute
Parameter
name
Unit Range Function
Latch
correction
function
4 00 C
S
SI1 input
selection - -2147483648
to
2147483647 Assign functions to SI1 inputs.
These parameters are presented in hexadecimals.
Hexadecimal presentation is followed by a specific
control mode designation.
n 0
– – – – * * h: position/full-closed control
n 0
– – * * – – h: velocity control
n 0 * *
– – – – h: torque control
(1) Replace "**" with the function number. Refer to
the Input function number table. Both signal and
logic are involved a function number.
(2) Set axis selection to input in 4bit (bit31 to 28) of
"n"
n=0 (Axis A) Only the Axis A accepts input signals.
n=2 (Axis B) nly the Axis B accepts input signals.
n=6 (A or B) Both Axis A and Axis B accept input
signals.
Do not specify any other settings.
Example 1)
When SI6 pin is specified as POT b-contact and
assigned to Axis A,
set Pr4.05 to 00818181h
Example 2)
When SI1 pin is specified as HOME a-contact and
assigned to Axis B,
set Pr4.00 to 00222222h
Example 3)
When SI8 pin is specified as E-STOP b-contact
and assigned to both Axis A and Axis B,
set Pr4.07 to 60949494h
This pin has a latch correction function for Axis B.
Axis B