Panasonic MINAS A6 Series, Technical Reference

Page: 43 / 306

2.4I/O signal allocation function
2-17

Output function number table
Title Symbol Setup value: a-contact
Invalid - 00h
Alarm output ALM 01h
Servo-Ready output S-RDY 02h
External brake release signal BRK-OFF 03h
Positioning complete output INP 04h
At-velocity output AT-SPEED 05h
Torque in-limit signal output TLC 06h
Zero-speed detection output signal ZSP 07h
Speed matching output V-COIN 08h
Warning output1 WARN1 09h
Warning output2 WARN2 0Ah
Positional command ON/OFF output P-CMD 0Bh
Positioning complete 2 INP2 0Ch
Speed in-limit output V-LIMIT 0Dh
Alarm attribute output ALM-ATB 0Eh
Velocity command ON/OFF output V-CMD 0Fh
General purpose output 1 EX-OUT1 10h
set brake output (Note 1) set brake 11h
Servo on status output SRV-ST 12h
Position comparison output CMP-OUT 14h
Deterioration diagnosis velocity output V-DIAG 15h
(Note 1)
“set brake output“ is reversal from logic of 60FEh/68FDh (digital output). When 60FEh is “1”, the output signal is “OFF” (brake is
activate).
Cautions for output signal assignment

For output signals, the same function can be assigned to multiple pins. However, the output logic setting
must be the same. In addition, when using the same function for multiple control modes, the same output
logic must be set. If different output logic was set, the output signal state will become unstable.

For the output pins specified as disabled, output transistors are always turned off. However, EtherCAT
communication response is not affected.

Use only the values shown in the table above for setting.

When using external brake release signal (BRK-OFF) or set brake output, the signal should be set in all
control modes. If not applied to all control modes, Err 33.4 "Output function number error 1 protection" or Err
33.5 "Output function number error 2 protection" will occur.

The output transistor is turned off when the control power is turned off, from when the driver module's control
power is turned on until initialization is completed, during reset, and when the front display is in the following
state:
Design your system so that this is not a problem.

Depending on the operating status of the driver module, the control mode may be forcibly switched inside the
driver module regardless of commands from the host device. This operation has an effect on output signal
processing. Basically, assign the same function to one terminal in all control modes.
[Conditions that the control mode is switched forcibly inside the driver]
-
When the frequency characteristic is measured by setup support software PANATERM for Multi.
(Position loop characteristics mode is position control, the speed closed loop characteristic mode and
torque speed (vertical) mode are speed control, torque speed (normal) mode is torque control.)
-
Test run of the setup support software (Forcibly position control).
-
The states that are written "Forcibly position control" in Section "6.3 Deceleration stop sequence".
-
During retracting operation function (Forcibly position control) (Not supported)

Output from the axis which is set as invalid in Pr0.20 "Axis limit setting" will be fixed to OFF regardless of the
assignment setting.