Panasonic Minas A4 Series Instruction Manual

PLC Connection Guide
Panasonic MINAS A4
Supported Series: Panasonic MINAS A4 series Servo Drive.
HMI Setting:
Parameters Recommended Options Notes
PLC type Panasonic MINAS A4
PLC I/F RS232
Baud rate 9600 2400 ~ 57600
Data bits 8
Parity None
Stop bits 1
Axis no. 0 (master station only) 0 ~ F (slave)
Device Address:
Bit/Word
Device type Format Range Memo
B Command 20 D 0 ~ 7 States (Note 3)
B Command 27 DD 0 ~ 31 Input Signal (Note 3)
B Command 28 DD 0 ~ 31 Output Signal (Note 3)
W Command 01 D 0 CPU Version (Numeric
format:16-bit Hex)
W Command 05 DD 0 ~ 11 Driver Version (ASCII / 12 words)
W Command 06 DD 0 ~ 11 Motor Version (ASCII / 12 words)
W Command 21 D 0 ~ 1 command pulse counter
(Numeric format: 32-bit Signed)
W Command 22 D 0 ~ 1 feedback pulse counter
(Numeric format: 32-bit Signed)
W Command 24 D 0 present speed
(Numeric format: 16-bit Unsigned)
W Command 25 D 0 present torque
(Numeric format: 16-bit Unsigned)
W Command 26 D 0 ~ 1 present deviation counter
(Numeric format: 32-bit Signed)
W Command 84 D 0 write parameter to EEPROM
(Note 1)
W Command 90 D 0 present Alarm Data

PLC Connection Guide
Bit/Word
Device type Format Range Memo
(Numeric format: 16-bit Unsigned)
W Command 91 DD 1 ~ 14 Alarm History (Note 4)
(Numeric format: 16-bit Unsigned)
W Command 92 DD 1 ~ 14 Batch Alarm (Note 4)
(Numeric format: 16-bit Unsigned)
W Command 93 D 0 clear Alarm History (include
EEPROM) (Note 1)
W Command 94 D 0 Alarm Clear (Note 1)
W Command 9B D 0 Absolute Clear (Note 1)
W Parameter HH 0 ~ 7f Individual Parameter (range: 0x00
~ 0x7F) (Note 2)
W Comm2D_S D 0 ~ 1 Command 2D Signle turn data
(Numeric format: 32-bit Signed)
W Comm2D_M D 0 ~ 1 Command 2D Multi-turn data
(Numeric format: 32-bit Signed)
Note:
1. Command 84, Command 93, Command 94, and Command 9B are write only. (These
commands are able to use Set Bit Object and execute the write command after
triggering Set Bit Object.). Commands other than these four are read only.
2. Parameter read/write: Use device type to define address control from 00~7F.
For example: “address_00” is mapping to “Parameter_00”.
(Please refer to Panasonic MINAS A4 Series User Manual.)
3. Device address type can define MINAS A4 Driver’s command list.
Command 20, Command 27, and Command 28 are Bit type, use “Operating range” to
map communication order status.
For example: “Command 20_3” means “Read state_CCW”.
(Please refer to Panasonic MINAS A4 Series User Manual.)
4. Command 91 and Command 92 are word type, use “Operating range” to map the
record of 14 alarms.
For example: “Command 91_1” means “Read alarm data_First alarm”.

PLC Connection Guide
Wiring Diagram:
The following is the view from the soldering point of a cable.
MINAS A4 Driver CNX4 Port
Diagram 1
cMT Series cMT3151
eMT Series eMT3070/ eMT3105 / eMT3120 / eMT3150
MT-iE MT8073iE / MT8102iE
MT-XE MT8092XE
MT-iP MT6103iP
HMI PLC
COM1 COM3 RS232 8P
Mini-DIN Male
RS232
9P Male
RS232
9P Male
Rx 2 8 3 TXD
Tx 3 7 5 RXD
GND 5 5 4 GND

PLC Connection Guide
Diagram 2
cMT Series cMT-SVR
mTV mTV
MT-iE MT8070iE / MT6070iE / MT8100iE / MT8121iE / MT8150iE /
MT8071iE / MT6071iE / MT8072iE / MT6072iE / MT8073iE /
MT8101iE / MT8102iE / MT8103iE
MT-XE MT8121XE / MT8150XE / MT8090XE
HMI PLC
COM1 RS232 8P
Mini-DIN Male
RS232
9P Male
Rx 2 3 TXD
Tx 3 5 RXD
GND 5 4 GND
Diagram 3
MT-iE MT8050iE
MT-iP MT6051iP / MT6071iP / MT8071iP
HMI PLC
COM1 RS232 8P
Mini-DIN Male
RS232
9P Male
Rx 9 3 TXD
Tx 6 5 RXD
GND 5 4 GND

PLC Connection Guide
MINAS A4 Driver
CNX3 Port
MINAS A4 Driver
CNX4 Port
3 TX
5 RX
4 GND 4 GND
7 D- 7 D-
8 D+ 8 D+
RS485 cable / DVOP1970-005
MINAS A4 Driver
8p Mini-DIN Male MINAS A4 Driver 8p Mini-DIN Male
7 D-
7 D-
8 D+ 8 D+
4 GND 4 GND
RS232 cable / DVOP1960
MINAS A4 Driver
9P D-SUB Female MINAS A4 Driver 8p Mini-DIN Male
3 RXD
5 RXD
2 TXD 3 TXD
5 GND 4 GND
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HMI connect with one Device
HMI connect with multi devices
8P Mini-Din Male
MINAS A4 Driver
CNX3 / CNX4 Port