Panasonic MINAS A6 Series - Read Input Signal

7-45
1
Before Using the Products
2
Preparat on
3
Connect on
4
Setup
5
Ad ustment
6
When n Troub e
7
Supp ement
• Read out of input signal
• Read out of present positional command deviation
Internal speed
command
selection 1
Gain switching Command pulse
input inhibition
Damping control
switching 1
command
2
mode
7
Reception data
0
axis
checksum
27
Error code
Transmission data
• Logic of input signal is based on assignment set in the parameter.
• Because of the internal logical data after conversion of input, it does not directly correspond to the input signal from the
connector X5.
• CW over-travel inhibit input and CCW over-travel inhibit input will change according to the input logic, even if they have
been disabled by the parameter,
bit7
0 : Normal
1 : Error
6 5 4 3 2 1 0
5
axis
data L
data H
Error code
checksum
27
command
2
mode
6
Reception data
0
axis
checksum
26
Error code
Transmission data
• Reads out the present positional command deviation. (Unit : [command unit]
• Output value in 32bit
• Becomes "+" when the encoder is located at negative direction against position command, and "–" when it is located
at positive direction.
bit7
0 : Normal
1 : Error
6 5
Command error
4
RS485 error
Command error RS485 error
Data
3 2 1 0
5
axis
data (deviation) L
H
Error code
checksum
26
bit7
For
manufacturer's use
6
Switching of
electronic gear 1
5
Speed zero
clamp
4
Control mode
switching
3
CCW over-travel
inhibit
CW over-travel
inhibit
2 1
Alarm clear
0
Servo-ON
bit15
For
manufacturer's use
14
For
manufacturer's use
13
Internal speed
command
selection 2
12 11
For
manufacturer's use
10
Counter clear
9 8
Switching of
electronic gear 2
22
Damping control
switching 2
21
Torque limit
switching
20
Internal speed
command
selection 3
19 18
For
manufacturer's use
17
For
manufacturer's use
16
For
manufacturer's use
bit23
bit31
For
manufacturer's use
31
For
manufacturer's use
29
For
manufacturer's use
28
Safety input 2
27
Safety input 1
26
For
manufacturer's use
25
Torque
command sign
24
Speed
command sign
4. Communication
Details of Communication Command
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