Panasonic MINAS A6 Multi Series - 2.2 I;O Connector Output Signal

Interface Specifications
2-4
2.2 I/O connector output signal
Signal name
Symbol
Connector
pin No.
(Note 2)
Contents
Related control mode
EtherCAT
communications
Position
Velocity
Torque
Full-
close
command
monitor
(Note 3)
Servo-Alarm output
ALM
[Axis A]
8
(SO1+)
 This signal shows that the driver is in
alarm status.
 Output transistor turns ON when the
driver is at normal status, and turns
OFF at alarm status.
✔
✔
✔
✔
-
✔
[Axis B]
9
(SO2+)
[Axis A]
18
(SO1-)
✔
✔
✔
✔
-
✔
[Axis B]
19
(SO2-)
Servo-Ready
output
S-RDY
*
 This signal shows that the driver is
ready to be activated.
 The driver module becomes ready
when all the following conditions are
satisfied, and the output transistor is
turned on.
- Control/Main power is established.
- Alarm does not occur.
- EtherCAT communication is
established.
✔
✔
✔
✔
-
✔
External brake
release signal
BRK-OFF
*
 Feeds out the timing signal which
activates the electromagnetic brake
of the motor.
 Transistor is turned ON when
electromagnetic brake is released.
 This output needs to be assigned to
every control mode.
✔
✔
✔
✔
-
✔
set brake output
set brake
*
 Outputs the signal configured at
60FEh/68FEh: Digital output /bit 0.
 Transistor will be turned off at "1".
(Brake will be activated.)
 See the notes (Note 4) state the
output transistor.
✔
✔
✔
✔
✔
-
Positioning
complete
INP
*
 Outputs the positioning complete
signal/positioning complete signal.
 Turns ON the output transistor when
positioning is completed.
For details, refer to "4.2.4 Positioning
complete output (INP/INP2) function"
✔
-
-
✔
-
✔
Speed arrival
output
AT-SPEE
D
*
 Outputs the speed arrival signal.
 Turns on the output transistor when
a velocity is reached.
For details, refer to "4.3.1 Attained
speed output (AT-SPEED)"..
-
✔
✔
-
-
✔
Torque in-limit
signal output
TLC
*
 Outputs the torque in-limit signal.
 Turns on the output transistor when
torque is limited.
✔
✔
✔
✔
-
✔
(To be continued)