Panasonic MINAS A6 Multi Series - Page 31

2.2I/O connector output signal
2-5
Signal name
Symbol
Connector
pin No.
(Note 2)
Contents
Related control mode
EtherCAT
communications
Position
Velocity
Torque
Full-
close
command
monitor
(Note 3)
Zero-speed
detection output
signal
ZSP
*
 Outputs the zero-speed detection
signal.
 Turns on the output transistor when
zero velocity is detected.
✔
✔
✔
✔
-
✔
Speed matching
output
V-COIN
*
 Outputs the speed matching signal.
 Turns on the output transistor when
velocity matches.
For details, refer to "4.3.2 Speed
coincidence output (V-COIN)".
-
✔
✔
-
-
✔
Positioning
complete 2
INP2
*
 Outputs the positioning complete
signal/positioning complete signal 2.
 Turns on the output transistor upon
positioning completion 2.
For details, refer to "4.2.4Positioning
complete output (INP/INP2) function".
✔
-
-
✔
-
✔
Warning output 1
WARN1
*
 Outputs the warning output signal
set to Pr 4.40 “Warning output select
1”
 Turns on the output transistor when
a selected alarm occurs.
✔
✔
✔
✔
-
✔
Warning output 2
WARN2
*
 Outputs the warning output signal
set to Pr 4.41 “Warning output select
2”
 Turns on the output transistor when
a selected alarm occurs.
✔
✔
✔
✔
-
✔
Positional
command ON/OFF
output
P-CMD
*
 Outputs the position command
ON/OFF signal.
 Turns on the output transistor when
the positioning command (before
filter) is other than 0 (with positioning
command).
✔
-
-
✔
-
✔
Speed in-limit
output
V-LIMIT
*
 Outputs the speed limit signal during
torque command.
 Turns on the output transistor when
velocity is limited.
-
-
✔
-
-
✔
Alarm attribute
output
ALM-ATB
*
 The signal is output if an alarm which
can be cleared, is input.
 Turns on the output transistor when
an alarm occurs.
✔
✔
✔
✔
-
✔
Velocity command
ON/OFF output
V-CMD
*
 Turns on output transistor when the
velocity command is applied while
the velocity is controlled.
 Turns on the output transistor if the
velocity command (before filter) is
not less than 30r/min (with velocity
command).
-
✔
-
-
-
✔
General purpose
output 1
EX-OUT1
*
 Output signal set by Bit16 of
60FEh/68FEh (Digital outputs). (ON
at 1, OFF at 0)
 For the state of the output transistor,
refer to Note (Note 4).
 Only for the Axis A of the driver
module with an inter-module
communication ID of 1, the
general-purpose output EX-OUT1
can be replaced with the contactor
output MC-OUT of the power supply
module. See note (Note 7).
✔
✔
✔
✔
✔
✔
(To be continued)