Panasonic MINAS A6 Series, Technical Reference

Page: 42 / 306

Interface Specifications
2-16
2.4.2.2 Reallocation of input signal
To change the allocation of output signal, change the following parameters.

Relevant parameters
Class No. Attribute
Parameter
name
Unit Range Function
4 10 C
S
SO1 output
selection - -2147483648
to
2147483647 Assign functions to SO1 outputs.
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 Output
function number table.
(2)Set the synthesis method of Axis A output and Axis B output
in 4bit (bit31 to 28) of "n".
n=0 (Axis A) Axis A output state is output.
n=2 (Axis B) Axis B output state is output.
n=6 (A or B) The result of logical OR of Axis A and Axis B is
output.
n=7 (A and B) The result of logical AND of Axis A and Axis B is
output.
Do not specify any other settings.
Example 1)
When SO1 pin is specified as Axis A INP,
set Pr4.10 to 00040404h
Example 2)
When SO2 pin is specified as Axis B INP,
set Pr4.11 to 20040404h
Example 3)
When SO1 pin is specified as Axis A ALM or Axis B ALM,
set Pr4.10 to 60010101h
Example 4)
When SO2 pin is specified as Axis A ALM and Axis B ALM,
set Pr4.11 to 70010101h
4 11 C
S
SO2 output
selection - -2147483648
to
2147483647 Assign functions to SO2 outputs.
Setup procedure is the same as described for Pr 4.10.