anasonic A6 Motor & Driver Instruction 3.4 Inputs and outputs on connector X4 -- Output Signal and Pin No.

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Keywords:Panasonic A6 Servo Installation Instruction, Panasonic A6 Driver, Panasonic A6 Series Servo Motor Manual

Panasonic A6 Motor & Driver Instruction 3.4 Inputs and outputs on connector X4 — Output Signal and Pin No.

Abstract

Control output signal of desired function can be assigned to I/F connector. Logic of the output pin cannot be changed.

Output Signals (Common) and Their Functions

				Applicable parameter	Default parameter setting (): decimal notation	Default Setup
						Position/Full-closed control	Verocity control	Torque control
						Signal	Signal	Signal
Pin No.	10 11	Title of signal	SO1 output	Pr4.10	00030303h(197379)	BRK-OFF	BRK-OFF	BRK-OFF
Pin No.	10 11	Symbol	Pin No.10:SO1- Pin No.11:SO1+	Pr4.10	00030303h(197379)	BRK-OFF	BRK-OFF	BRK-OFF
Pin No.	34 35	Title of signal	SO2 output	Pr4.11	00020202h(131586)	S-RDY	S-RDY	S-RDY
Pin No.	34 35	Symbol	Pin No.34:SO2- Pin No.35:SO2+	Pr4.11	00020202h(131586)	S-RDY	S-RDY	S-RDY
Pin No.	36 37	Title of signal	SO3 output	Pr4.12	00010101h(65793)	ALM	ALM	ALM
Pin No.	36 37	Symbol	Pin No.36:SO3- Pin No.37:SO3+	Pr4.12	00010101h(65793)	ALM	ALM	ALM
Pin No.	38 39	Title of signal	SO4 output	Pr4.13	00050504h(328964)	INP	AT-SPEED	AT-SPEED
Pin No.	38 39	Symbol	Pin No.38:SO4- Pin No.39:SO4+	Pr4.13	00050504h(328964)	INP	AT-SPEED	AT-SPEED
Pin No.	12	Title signal	SO5 output	Pr4.14	00070707h(460551)	ZSP	ZSP	ZSP
Pin No.	12	Symbol	SO5	Pr4.14	00070707h(460551)	ZSP	ZSP	ZSP
Pin No.	40	Title of signal	SO6 output	Pr4.15	00060606h(394758)	TLC	TLC	TLC
Pin No.	40	Symbol	SO6	Pr4.15	00060606h(394758)	TLC	TLC	TLC
Note → • The function is changed by the setting of parameter. For details, refer to P.4-39. See "Functions assignable to control output" as shown below. [—]: No function assigned. P.3-56

Function allocatable to control input

Title of signal	Servo-Alarm output			Related control mode	P	S	T	F
Symbol	ALM	Default assignment	36,37 (SO3)	I/F circuit	P.3-35
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.

Title of signal	Servo-Ready output			Related control mode	P	S	T	F
Symbol	S-RDY	Default assignment	34,35 (SO2)	I/F circuit	P.3-35
This signal shows that the driver is ready to be activated. Output transistor turns ON when both control and main power ar ON but not at alarm status.

Title of signal	External brake release signal			Related control mode	P	S	T	F
Symbol	BRK-OFF	Default assignment	10,11 (SO1)	I/F circuit	P.3-35
Feeds out the timing singal which activates the holding brake of the motor. Turns the output transistor ON at the release timing of the holding brake.

Title of signal	Positioning complete			Related control mode	P	S	T	F
Symbol	INP	Default assignment	38,39 (SO4)	I/F circuit	P.3-35

Title of signal	Positioning complete 2			Related control mode	P	S	T	F
Symbol	INP2	Default assignment	—	I/F circuit	P.3-35
Outputs the positioning complete signal/positioning complete signal 2. Turns ON the output transistor upon completion of positioning.

Title of signal	Speed arrival output			Related control mode	P	S	T	F
Symbol	AT-SPEED	Default assignment	38,39 (SO4)	I/F circuit	P.3-35
Outputs the speed arrival signal. Turns ON the output transistor upon arrive of speed.

Title of signal	Torque in-limit signal output			Related control mode	P	S	T	F
Symbol	TLC	Default assignment	40 (SO6)	I/F circuit	P.3-35
Outputs the torque in-limit signal. Turns ON the output transistor upon limit of torque.

Title of signal	Zero-speed detection output signal			Related control mode	P	S	T	F
Symbol	ZSP	Default assignment	12 (SO5)	I/F circuit	p.3-35
Outputs the zero-speed detection signal. Turns ON the output transistor upon detection of Zero-speed.

Title of signal	Speed coincidence output			Related control mode	P	S	T	F
Symbol	V-COIN	Default assignment	—	I/F circuit	P.3-35
Outputs the speed coincidence signal. Turns ON the output transistor upon coincidence of speed.

Title of signal	Alarm output 1	Related control mode	P	S	T	F
Symbol	WARN1	Default assignment	—	I/F circuit	P.3-35
Outputs the warning output signal set to Pr4.40 "Warning output select 1". Turns ON the output transistor upon occurrence of warning condition.

Title of signal	Alarm output 2			Related control mode	P	S	T	F
Symbol	WARN2	Default assignment	—	I/F circuit	p.3-35
Outputs the warning output signal set to Pr4.41 "Warning output select 2". Turns ON the output transistor upon occurrence of warning condition.

• Selection of alarm 1 output and 2 output

Alarm No.	Alarm	Content	Pr6.27^*1	Pr4.40/Pr4.41^*2	Pr6.38 Corresponding bit ^*3
A0	Overload protection	Load factor is 85% or more the protection level.	○	1	bit7
A1	Over-regeneration alarm	Regenerative load factor is 85% or more the protection level.	○	2	bit5
A2	Battery alarm	Battery voltage is 3.2V or lower.	Fixed at no time limit.	3	bit0
A3	Fan alarm	Fan has stopped for 1 sec.^*4	○	4	bit6
A4	Encoder communication alarm	The number of successive encoder communication errors exceeds the specified value.	○	5	bit4
A5	Encoder overheat alarm	The encoder detects overheat alarm.	○	6	bit3
A6	Oscillation detection alarm	Oscillation or vibration is detected.	○	7	bit9
A7	Lifetime detection alarm	The life expectancy of capacity or fan becomes shorter than the specified time.	Fixed at no time limit.	8	bit2
A8	External scale error alarm	The feedback scale detects the alarm.	○	9	bit8
A9	External scale communication alarm	The number of successive feedback scale communication errors exceeds the specified value.	○	10	bit10
AC	Deterioration diagnosis warning ^*5	Load characteristic estimates and torque command under constant speed has exceeded the set range.	○	22	bit7
C3	Main power off warning	In case that Pr7.14 (Detection time of main power off warning) is 10 to 1999, the mains power between L1 and L3 has stopped instantaneously for more than the time prescribed in Pr7.14.	○	14	bit14

*1 The "○" means that a time in the range 1s to 10s or no time can be selected through Pr6.27 "Warning latching time". Note that the battery warning and the end of life warning have no time limit.

*2 Select the warning output signal 1 (WARN1) or warning output signal 2 (WARN2) through Pr4.40 "Warning output select 1" or Pr4.41 "Warning output select 2". When the set value is 0, all warnings are ORed before being output. Do not set to any value other than those specified in the table above.

*3 A warning detection can be masked by Pr6.38 "Warning mask setup" Corresponding bits are shown in the table. Warning is masked with bit = 1.

*4 The upper fan on the H-frame driver stops during servo OFF to save energy. This is normal and no fan alarm is displayed.

*5 Invalidated when Pr6.97 "Function expansion setting 3" bit1 = 0.

Pin No.	—	Title of signal	Deterioration diagnosis velocity output	Related control mode	P	S	T	F
Pin No.	—	Symbol	V-DIAG	I/F circuit	P.3-36
The output transistor is turned ON when motor velocity of Pr5.75 (Deterioration diagnosis velocity setting) is within the range of PR4.35 (velocity concurrence width). There is a hysteresis of 10 r/min in concurrence judgment for deterioration diagnosis velocity.

Pin No.	—	Title of signal	Position compare output	Related control mode	P	S	T	F
Pin No.	—	Symbol	CMP-OUT	I/F circuit	P.3-36
•The output transistor is turned ON when the actual position has passed the position set by the parameter. Setting for all control modes is required when using the position compare output, (CMP-OUT). In case setting is made only to one or two control modes, Err33.4 "Output function number error 1 protection" or Err33.5 "Output function number error 2 protection" will occur.

Output Signals (Analog) and Their Functions

Pin No.	42	Title of signal	Analog monitor output 2	Related control mode	P	S	T	F
Pin No.	42	Symbol	IM	I/F circuit	P.3-36
Definition of the output signal varies with the output of Pr4.18 (analog monitor 2 type). The output signal is identical to the analog monitor 2 on the front monitor. For output setting, refer to P.4-42 "Details of parameter"

Pin No.	43	Analog monitor output 1	Related control mode	P	S	T	F
		Symbol	SP	I/F circuit	P.3-36
Definition of the output signal varies with the output of Pr4.16 (analog monitor 1 type). The output signal is identical to the analog monitor 1 on the fron monitor. For output setting, refer to P.4-42 "Details of parameter"

Output Signals (Others) and Their Functions

Pin No.	13, 15 17, 25	Title of signal	Signal ground	Related control mode	P	S	T	F
Pin No.	13, 15 17, 25	Symbol	GND	I/F circuit	—
Signal ground This output is insulated from the control signal power (COM-) inside of the driver.

Pin No.	50	Title of signal	Frame ground	Related control mode	P	S	T	F
Pin No.	50	Symbol	FG	I/F circuit	—
This output is connected to the earth terminal inside of the driver.

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SW6710S

Unit: mm

X1	X2	X3	X4	Y	YM1	YM2	Z	L	W	H	Payload
900	750	0	0	1000	420	580	1750	2780	1610	1930	8kg

The Application of End of Robotic Arm Tooling

EOAT Assembly Demonstration -- Two Cavities Parts Picking EOAT with Runner Gripping

Two Cavities Parts Picking EOAT with Runner Gripping

Product Descriptions

This EOAT is for 2 Cavities Parts Picking;
The Parts Would be Picked with Vacuum Cup;
The Sprue Gripper is Included for Sprue Gate Gripping;
The EOAT has the Air Circuit Divided into Two Suction Route and one Gripping Route;
The Gross Weight of the EOAT Seet is about 2kg.

Bom List

Product Name	PN #	Model	Quantity
Quick Changer	7.Y00175	QCS-G100	1
Sprue Gripper	8.Y00050	GR12-12CP	1
Plugs for Profile	4.Y00069	PEP2518	10
Cross Mounting Bracket for Profiles	7.Y00194	SMBA-2525T	6
Extruded Profile	4.Y00455	PEP2518-1000	2
Vacuum Cups VS2 Series	1.Y03085	VS2-SA11	6
Vacuum Cup Fitting	7.Y00703	VM-02-G18	6
Rotative Suspensions	8.Y00061	VFR1421-G18	6
Mounting Bracket	7.Y00200	SMBE1-1440T	6
Connector	1.Y02510	APF-M5	2
Side Manifold Block	7.Y00157	SMB-06M5	2
L-Type Threaded HOse Fitting	1.Y02722	APL6-01	8
Straight Threaded Hose Fitting	1.Y02725	APC6-01	6

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