Panasonic MINAS-A5B Series Use and care manual

No. SX-DSV02472
TECHNICAL REFERENCE
– Functional Specification –
MODEL
Product Name: AC Servo Driver
Product No.: MINAS-A5B series (EtherCAT communication/rotation type)
Issued on
May.08, 2013
Revised on
Sep.17,2014
Motor Business Division, Appliances Company
Panasonic Corporation
7-1-1 Morofuku, Daito-City, Osaka 574-0044, Japan
Phone: [phone]
Fax : [phone]
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation

No. SX-DSV02472
この英文仕様書は、原本である和文仕様書を元にパナソニック株式会社アプライアン
ス社モータ事業部が翻訳・発行するものです。翻訳は，原本の利用に際して一応の参
考となるように便宜的に仮訳したものであり、公的な校閲を受けたものではありませ
ん。英語訳のみを使用して生じた不都合な事態に関しては，当社は一切責任を負うも
のではありません。和文仕様書のみが有効です。
パナソニック株式会社
アプライアンス社 モータ事業部
This English specification is made and published by Motor Business Division
Appliances
Company of Panasonic Corporation based on the original Japanese specification. Translation
is provided unofficially only for the sake of convenience of utilizing the original Japanese
specification as a measure of reference. It is not officially reviewed. Motor Business Division
Appliances Company of Panasonic Corporation is not liable for any disadvantages caused
by utilizing only English specification. Only the Japanese specification is effective.
Motor Business Division, Appliances Company,
Panasonic Corporation
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation

No. SX-DSV02472
Revisions
Date Page Rev. Description Signed
May.08, 2013 - 1.00 First edition -
May.24,2013 - 1.01 Clerical errors are corrected and Supplementary explanations are added. -
Nov. 29, 2013 - 1.02 Functions are added. pv, tq, polarity and others are supported. -
- Clerical errors are corrected and Supplementary explanations are added. -
Jan. 14, 2014 - 1.03 Functions are added. The EtherCAT communication monitor of the
positioning completion (INP) is supported.
-
- Clerical errors are corrected and Supplementary explanations are added. -
Feb. 10, 2014 - 1.04 Clerical errors are corrected and Supplementary explanations are added. -
Sep. 17, 2014 P.27 1.05 Clerical errors are corrected
Note: The page number (Page) is the current page number at the time of revision.
1.05
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation

No. SX-DSV02472
Contents
1
．
Introduction ..............................................................................................................................................................1
1-1 Basic Specification................................................................................................................................................3
1-2 Function ................................................................................................................................................................4
2．
Interface Specification.............................................................................................................................................5
2-1 I/O connector input signal.....................................................................................................................................6
2-2 I/O connector output signal...................................................................................................................................7
2-3 I/O connector other signal...................................................................................................................................10
2-3-1 Others.............................................................................................................................................................10
2-4 I/O signal allocation function..............................................................................................................................11
2-4-1 Input signal allocation....................................................................................................................................11
2-4-2 Assignment of output signal ..........................................................................................................................15
3．
Front panel display specification ..........................................................................................................................18
3-1 Appearance of front panel...................................................................................................................................19
3-2 7-segment LED ...................................................................................................................................................20
3-3 Network status LED............................................................................................................................................22
1) RUN ...............................................................................................................................................................23
2) ERR................................................................................................................................................................23
3) L/A IN............................................................................................................................................................23
4) L/A OUT........................................................................................................................................................23
3-4 Monitor signal output function............................................................................................................................24
3-5 Station alias.........................................................................................................................................................27
4．
Basic function .........................................................................................................................................................28
4-1 Rotational direction setup ...................................................................................................................................29
4-2 Position control...................................................................................................................................................30
4-2-1 Process of command pulse input....................................................................................................................30
4-2-2 Electronic gear function.................................................................................................................................31
4-2-3 Positional command filtering function...........................................................................................................34
4-2-4 Positioning complete output (INP/INP2) function.........................................................................................36
4-2-5 Pulse regeneration function (Not Supported).................................................................................................37
4-3 Velocity Control..................................................................................................................................................38
4-3-1 Attained speed output (AT-SPEED)..............................................................................................................38
4-3-2 Speed coincidence output (V-COIN).............................................................................................................39
4-3-3 Velocity command acceleration/deceleration setting function ......................................................................40
4-4 Torque control.....................................................................................................................................................42
4-4-1 Speed limit function.......................................................................................................................................42
4-5 Full-closed control (Not supported)...............................................................................................................43
4-6 Setting regenerative resistor................................................................................................................................44
4-7 Absolute setup.....................................................................................................................................................45
4-7-1 Absolute encoder ...........................................................................................................................................45
4-7-2 External scale (Not supported)..................................................................................................................47
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation

No. SX-DSV02472
5．
Gain tuning/vibration suppressing function ........................................................................................................48
5-1 Automatic adjusting function..............................................................................................................................49
5-1-1 Real-Time Auto Tuning.................................................................................................................................50
5-1-2 Adaptive filter................................................................................................................................................58
5-2 Manual adjusting function...................................................................................................................................60
5-2-1 Block diagram of position control mode........................................................................................................61
5-2-2 Block diagram of velocity control mode........................................................................................................62
5-2-3 Block diagram of torque control mode..........................................................................................................63
5-2-4 Block diagram of full-closed control mode (Not supported) ....................................................................64
5-2-5 Gain Switching Function ...............................................................................................................................65
5-2-6 Notch filter.....................................................................................................................................................71
5-2-7 Damping Control ...........................................................................................................................................73
5-2-8 Feed forward function....................................................................................................................................77
5-2-9 Instantaneous Velocity Observer function.....................................................................................................79
5-2-10 Disturbance observer function.....................................................................................................................81
5-2-11 3rd gain switching function .........................................................................................................................83
5-2-12 Friction torque compensation ......................................................................................................................84
5-2-13 Hybrid vibration damping function (Not supported) ..............................................................................86
5-2-14 2-stage torque filter......................................................................................................................................87
6．
Application..............................................................................................................................................................88
6-1 Torque limit switching function..........................................................................................................................89
6-2 Motor working range setup function...................................................................................................................90
6-3 Deceleration stop sequence.................................................................................................................................92
6-3-1 Sequence upon inputting of over-travel inhibition (POT, NOT) (under review)...........................................92
6-3-2 Sequence at Servo-Off...................................................................................................................................94
6-3-3 Sequence at main power OFF........................................................................................................................95
6-3-4 Sequence at alarm..........................................................................................................................................97
6-3-5 Emergency stop upon occurrence of alarm....................................................................................................98
6-4 Torque saturation protection function...............................................................................................................100
7．
Protective function/Warning function................................................................................................................101
7-1 List of protective function.................................................................................................................................102
7-2 Details of Protective function............................................................................................................................105
7-3 Warning function ..............................................................................................................................................116
7-4 Setup of gain pre-adjustment protection ...........................................................................................................119
8．
Safety function [Supported only by specific model]..........................................................................................121
8-1 Outline description of safe torque off (STO) ....................................................................................................122
8-2 Specifications of Input & output signals...........................................................................................................123
8-2-1 Safety input/ signal ......................................................................................................................................123
8-2-2 External device monitor (EDM) output signal.............................................................................................124
8-2-3 Internal signal circuit block diagram ...........................................................................................................124
8-3 Detailed functional description .........................................................................................................................125
8-3-1 Operating timing for safety status................................................................................................................125
8-3-2 Return timing from safety state....................................................................................................................126
8-4 Example of connection......................................................................................................................................127
8-4-1 Example of connection to safety switch ......................................................................................................127
8-4-2 Example of connection to safety sensor.......................................................................................................127
8-4-3 Example of connection to safety controller .................................................................................................128
8-4-4 Example of connection when using multiple axes.......................................................................................129
8-5 Safety precautions.............................................................................................................................................130
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation

No. SX-DSV02472
9．
Other .....................................................................................................................................................................132
9-1 List of parameters..............................................................................................................................................133
9-2 Timing Chart.....................................................................................................................................................145
9-2-1 Servo-on signal accept timing on power-up.................................................................................................145
9-2-2 Servo-ON/OFF action while the motor is at stall (servo-lock) ....................................................................146
9-2-3 Servo-ON/OFF action while the motor is in motion....................................................................................147
9-2-4 When an error (alarm) has occurred (at Servo-ON command)....................................................................148
9-2-5 When an alarm has been cleared (at Servo-ON command) .........................................................................149
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation

No. SX-DSV02472 -1-
1．Introduction
1-1 Basic Specification................................................................................................................................................3
1-2 Function.................................................................................................................................................................4
１
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation

No. SX-DSV02472 -2-
This document describes the functions of the servo amplifier MINAS-A5B series.
<Software version>
This technical reference applies to the servo drivers compatible with software of the following version:
Version 1: Ver1.01
Version 2: Ver1.01
Version 3: Ver1.00
* If there is no distinction among the software versions 1, 2, and 3 in this document, “software” indicates all of
the three versions.
* Check the software versions 1 and 2 by 3744h (Reference to section 5-2 of EtherCAT communication
specification) or setup support software PANATERM.
* Check the software version 3 by 100Ah(Reference to section 5-2 of EtherCAT communication specification).
* In this software version, the following functions are not supported. The descriptions about these functions in
the document may be changed without a preliminary announcement when they are supported.
Item Unsupported item
Device profile
FoE (File over EtherCAT)
Modes of Operation
・Semi-closed mode
Servo loop
Modes of operation
position
ip Interpolate position mode
・Full-closed mode
All mode of operation
Motion
Jerk
SDO message
Complete Access
< Related data>
SX-DSV02471 ：Reference specifications (The specification about hardware is mainly explained.)
SX-DSV02473 ：Technical Reference (EtherCAT communication specification)
<IMPORTANT>
• All rights reserved. No part of this publication may be reproduced or transmitted in any form without prior
permission.
• Motor Business Division, Appliances Company, Panasonic Corp. reserves the right to make modifications and
improvements to its products and/or documentation, including specifications and software, without prior notice.
EtherCAT® is registered trademark and patented technology,
licensed by Beckhoff Automation GmbH, Germany.
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation

No. SX-DSV02472 -3-
1-1 Basic Specification
Item
Description
Control method
IGBT PWM method, sinusoidal drive
Control mode
Semi-closed control
Servo roop
Modes of operation
Position
control
pp Profile position mode
csp Cyclic synchronous position mode
hm Homing mode
Velocity
control
pv Profile velocity mode
csv Cyclic synchronous velocity mode
Torque
control
tq Torque profile mode
cst Cyclic synchronous torque mode
Encoder feedback
17 Bit (resolution: 131,072) 7-serial absolute encoder
20 Bit (resolution:1,048,576) 5-serial incremental encoder
External scale feedback
(Not supported)
Control signal
Input
Each 8 input can be assigned by the parameter.
Output
Each 3 output can be assigned by the parameter.
Analogue signal
Output
2 outputs for analog monitors 1 and 2
Pulse signal
Output
(Not supported)
Communication EtherCAT Communication for transmission of a real-time operation command, the parameter setting, or the status
monitoring.
USB
USB interface to connect to computers (PANATERM) for parameter setting or status monitoring.
Safety terminal
Terminal to provide functional safety
[Cannot be applied to standard models of A5B series (compatible only with special version).]
Front panel
1. 7-segment LED (double digits)
2. EtherCAT Indicators (RUN, ERR, L/A IN, L/A OUT)
3. Rotary switch for station alias setting
4. Analog monitor output (Analog monitors 1 and 2)
Regeneration
Size A,B,G, and H: Without built-in regenerative resistor (use external resistor)
Size C to F: Built-in regenerative resistor (External regenerative resistor is also available)
Dynamic brake
For information on the built-in type, refer to the Reference specifications SX-DSV02471.
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation

No. SX-DSV02472 -4-
1-2 Function
Item
Description
Position control
Digital input
CW drive inhibit, CCW drive inhibit, latch signal, near home position, etc.
Digital output
Positioning completion etc.
Position
command
input
Input mode
Command type by EtherCAT
Command pulse scaling
(Electronic gear)
Applicable scaling ratio: 1/1000–1000
It can be set outside the above range, it is constrained by a factor of 1000 or 1/1000.
Smoothing Filter
1st order filter or FIR filter selectable for command input
Instantaneous velocity observer
Available
Anti-vibration Control
Available
Velocity control
Control input
CW drive inhibit, CCW drive inhibit, latch signal, etc.
Control output
At speed etc.
Velocity
command
input
Input mode Command type by EtherCAT command
Soft start/slowdown function
0 – 10 s / 1000 r/min Acceleration and deceleration can be set separately to EtherCAT function.
S-curve acceleration/deceleration is also available.
Instantaneous velocity observer
Available
Torque control
Control input
CW drive inhibit, CCW drive inhibit, latch signal, etc.
Control output
At speed etc.
Torque
command
input
Input mode Command type by EtherCAT command
Speed limit function
Speed limit can be set by parameter or EtherCAT.
Full-closed control
Control input
(Not supported)
Control output
(Not supported)
Position
command
input
Input mode
(Not supported)
Command pulse scaling
(Electronic gear)
(Not supported)
Smoothing Filter
(Not supported)
Anti-vibration Control
(Not supported)
External scale scaling
(Not supported)
Common
Auto-tuning
Identifies the load inertia real-time and automatically sets up the gain that meets the stiffness
setting when the motor is running with upper and internal operation commands.
Protective function
Overvoltage, undervoltage, overspeed, overload, overheat, overcurrent, encoder failure,
positional overdeviaition, EEPROM failure, etc.
Alarm data trace back
Tracing back of alarm data is available
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation

No. SX-DSV02472 -5-
2．Interface Specification
2-1 I/O connector input signal.....................................................................................................................................6
2-2 I/O connector output signal...................................................................................................................................7
2-3 I/O connector other signal ...................................................................................................................................10
2-3-1 Others.............................................................................................................................................................10
2-4 I/O signal allocation function..............................................................................................................................11
2-4-1 Input signal allocation....................................................................................................................................11
2-4-2 Assignment of output signal...........................................................................................................................15
２
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation

No. SX-DSV02472 -6-
2-1 I/O connector input signal
Title of signal Symbol Connector
pin No.
*2) Contents
Related control mode *1) EtherCAT
communi-
cations
Position Velocity Torque Full-
close command
monitor
*3)
Input signal source I-COM 6 • Connect to the positive or negative terminal of
the external DC source (12–24 V).
Forced alarm input
E-STOP
*
• Generates Err 87.0 “Forced alarm input error”.

-

Positive direction
over-travel inhibition
input
POT 7
(SI2)
• Positive direction over-travel inhibit input.
• The operation with this input turned ON is set up
in Pr 5.04 “Setup of over-travel inhibit input”.
- 
Negative direction
over-travel inhibition
input
NOT 8
(SI3)
• Negative direction over-travel inhibit input.
•
The operation with this input turned ON is set up
in Pr 5.04 “Setup of over-travel inhibit input”.
- 
Near home input HOME 9
(SI4)
• When using the near home sensor during the
return to home position operation, input the
sensor signal.
- 
External latch input 1 EXT1 10
(SI5)
• These signals are used for touch-probe function
or homing function.
• This input can only be set to a-contact.
• The signal width (closed period) should be 2 ms
or longer.
• EXT1 can only be assigned to S15.
• EXT2 can only be assigned to S16.
- 
External latch input 2 EXT2 11
(SI6) - 
General purpose
monitor input 1
SI-MON
1
*
• Used as the general purpose monitor input.
• This input does not affect the operation, and can
be used for monitoring through 60FDh(Digital
inputs).
- 
General purpose
monitor input 2
SI-MON
2
* - 
General purpose
monitor input 3
SI-MON
3
12
(SI7)
- 
General purpose
monitor input 4
SI-MON
4
13
(SI8)
- 
General purpose
monitor input 5
SI-MON
5
5
(SI1)
- 
External alarm clear
input A-CLR *
• Dis arm inputs the alarm.
• There are alarms that c
annot be dis armed by this
input.
- -
*1) The triangle in the table under [Control mode] indicates that the turning ON/OFF of the input signal does not affect
system operation.
*2) Except for I-COM, input signal pin assignment can be changed. The pins in “Connector pin No.” column in the table
denote factory default settings. The signal with a pin that is marked with “*” is not assigned by default. For more
information, refer to “2-4-1 Input signal allocation”.
*3) It is possible to monitor the condition of the signals where “○” is attached to the EtherCAT communication monitor on
the table with 60FDh (Digital inputs).
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation

No. SX-DSV02472 -7-
2-2 I/O connector output signal
Title of signal Symbol
*2) Connector
pin No. Contents Related control mode *1)
EtherCAT
communi-
cations
Position Velocity Torque Full-
close
command
monitor
*3)
Servo-Alarm
output
ALM+ 3
(S03+) • 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.
— 
ALM−
(Alarm) 4 (S03−)
Servo-Ready
output S-RDY (Servo_Ready) *
• This signal shows that the driver is ready to be
activated.
• The servo becomes ready when all the following
conditions are satisfied, and the output transistor is
turned on.
(1) Control/Main power is established.
(2) Alarm does not occur.
(3) EtherCAT communication is established, and
synchronization between communication and
servo is achieved.
— —
External brake
release signal
BRK-OFF+ 1
(S01+)
• 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.
— —
BRK-OFF−1
(S01−)
set brake output set brake *
• Outputs the signal configured at 60FEh:Digital
output /bit 0.
• Transistor will be turned off at “1”.
(Brake will be activated.)
• See the notes *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.
— — — 
Speed arrival
output AT-SPEED *
• Outputs the speed arrival signal.
• Turns on the output transistor when a velocity is
reached.
• For details, refer to 4-3-1.
— — — —
Torque in-limit
signal output TLC *
• Outputs the torque in-limit signal.
• Turns on the output transistor when torque is
limited.
— —
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.
— — — —
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 4-2-4.
— — — —
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.
— —
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation

No. SX-DSV02472 -8-
Title of signal Symbol
*2) Connector
pin No. Contents Related control mode *1) EtherCAT
communi-
cations
Position Velocity Torque Full-
close
command
monitor
*3
)
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 *
• Ouputs 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+ 25
(S02+) • Output signal set by Bit16 of 60FEh(Digital outputs).
(ON at 1, OFF at 0)
• For the state of the output transistor, refer to Note
*4.
—
EX-OUT1−26
(S02−)
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation

No. SX-DSV02472 -9-
*1) For the signal with “-” sign in the “Related control mode” column, the output transistor is always turned off in
that control mode.
*2) Output pin assignment can be changed. The pins in “Connector pin No.” column in the table denote factory
default settings. The signal with a pin that is marked with “*” is not assigned by default. For more information,
refer to “2-4-2 Assignment of output signal”.
*3) It is possible to monitor the condition of the signals where “○” is attached to the EtherCAT communication
monitor on the table with 60FDh (Digital inputs).
*4) The output transistor state changes as follows in each communication state:
Sign Setting value
of 3724h
Setting value of
60FEh
State of output transistor
01h
(Physical
outputs)
02h
(Bit
mask)
Reset
Communication
established
*5)
Communication
intercepterd
*5)
Communication
re-established
*5)
set brake -
0 0 set brake = 1
(brake on)
set brake = 1
(brake on)
set brake = 1
(brake on)
set brake = 1
(brake on)
1
0 1 set brake = 1
(brake on)
set brake = 1
(brake on)
set brake = 1
(brake on)
set brake = 1
(brake on)
1 set brake = 0 set brake = 0
EX-OUT1
bit0 = 0
(hold)
0 0 EX-OUT1 = 0 EX-OUT1 = 0 EX-OUT1 = 0 EX-OUT1 = 0
1
0
1 EX-OUT1 = 0
EX-OUT1 = 0 EX-OUT1 = 0
(hold)
EX-OUT1 = 0
1 EX-OUT1 = 1 EX-OUT1 = 1
(hold)
EX-OUT1 = 1
bit0 = 1
(initialization)
0 0 EX-OUT1 = 0 EX-OUT1 = 0 EX-OUT1 = 0 EX-OUT1 = 0
1
0 1 EX-OUT1 = 0 EX-OUT1 = 0 EX-OUT1 = 0 EX-OUT1 = 0
1 EX-OUT1 = 1 EX-OUT1 = 1
*5) “Communication established”, “Communication intercepted”, and “Communication re-established” refer to the
following cases.
Communication established
ESM state is PreOP or higher
Communication
intercepted
(Note)
When 60FEh is mapped to RxPDO PDO communication is disabled
(ESM state transitioned to other states than OP)
When 60FEh is not mapped to RxPDO SDO communication is disabled
(ESM state transitioned to Init)
Communication re-established Until 60FEh-01h or 60FEh-02h is successfully written
Safety precautions:
When executing set brake signal control using 60FEh (Digital outputs), be sure to use it in PDO and
enable the PDO watch dog.
In SDO, the communication shutoff cannot be judged, the brake may be kept to be released and it is unsafe.
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation

No. SX-DSV02472 -10-
2-3 I/O connector other signal
2-3-1 Others
Title of signal Symbol Connector
pin No. Contents Control mode
EtherCAT
communi-
cations
Position Velocity Torque Full-
close
command
monitor
Frame ground FG shell • This output is connected to the ground
terminal
inside of the driver.
Absolute encoder
battery input
BTP-I 14
• Connect the battery for absolute encoder
(recommended: ER6V 3.6 V from Toshiba
Battery), as follows.
• Connect the power for multi-turn data storage
to the absolute encoder through BTP-O (pin 3)
and BTN-O (pin 4) of encoder connector X6.
• Or, directly connect the encode connection
cable to the battery or connect the battery
directly.
BTN-I 15
To be used by the
manufacturer. —
16
17, 18
19, 20
21, 22
23, 24
• Keep these pins unconnected.
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation

No. SX-DSV02472 -11-
2-4 I/O signal allocation function
Default I/O signal allocation can be changed.
2-4-1 Input signal allocation
Desired input signal can be allocated to any input pin of I/O connector. The logic can be changed.
Some allocation limit is applied to specific signals. Refer to “(2) Reallocation of input signal”.
(1) Using with the default setting
The table below shows default signal allocation.
Note: Default settings of certain model will differ from those shown below. If the default settings shown in Reference
specification SX-DSV02471are different from values shown below, the settings described in SX-DSV02471
are valid default values.
Pin
name Pin No. Applicable parameter
Default
setting
( ): decimal
notation
Default setup
Position/
Full-closed control Velocity control Torque control
Signal
Logic *1)
Signal
Logic *1)
Signal
Logic *1)
SI1 5 Pr 4.00 00323232h
(3289650) SI-MON5 a-contact SI-MON5 a-contact SI-MON5 a-contact
SI2 7 Pr 4.01 00818181h
(8487297) POT b-contact POT b-contact POT b-contact
SI3 8 Pr 4.02 00828282h
(8553090) NOT b-contact NOT b-contact NOT b-contact
SI4 9 Pr 4.03 00222222h
(2236962) HOME a-contact HOME a-contact HOME a-contact
SI5 10 Pr 4.04 00202020h
(2105376) EXT1 a-contact EXT1 a-contact EXT1 a-contact
SI6 11 Pr 4.05 00212121h
(2171169) EXT2 a-contact EXT2 a-contact EXT2 a-contact
SI7 12 Pr 4.06 00303030h
(3158064) SI-MON3 a-contact SI-MON3 a-contact SI-MON3 a-contact
SI8 13 Pr 4.07 00313131h
(3223857) SI-MON4 a-contact SI-MON4 a-contact SI-MON4 a-contact
*1) Operation of a-contact and b-contact:
a-contact: The current in the input circuit is shut down and the photocoupler is turned OFF.
— function disabled (OFF state)
The current flows through the input circuit and the photocoupler is turned ON.
— function enabled (ON state)
b-contact: The current in the input circuit is shut down and the photocoupler is turned OFF.
— function enabled (ON state)
The current flows through the input circuit and the photocoupler is turned ON.
— function disabled (OFF state)
For the purpose of this specification, the status of the input signal is defined as ON when the signal activates the
specified function and OFF when the signal deactivates the specified function.
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation

No. SX-DSV02472 -12-
(2) Reallocation of input signal
To change the allocation of input signal, change the following parameters.
Class No.
At-
trib-
ute
*1)
Title Range Unit Function Latch correction
function
4 00 C SI1 input
selection 0–
00FFFFFFh —
Assign functions to SI1 inputs.
These parameters are presented in hexadecimals.
Hexadecimal presentation is followed by a specif
ic control mode
designation.
0 0 – – – – * * h: position/full-closed control
0 0 – – * * – – h: velocity control
0 0 * * – – – – h: torque control
Replace * * with the function number.
For the function number see the table below. Logical setup is also a
function number.
Example: To make this pin as SI-MON1_a-
contact for position/full
closed control, and as SI-MON2_b-
contact for velocity control, and
as disabled in torque control mode, set to 0000AF2Eh.
Position ... 2Eh Velocity ... AFh Torque ... 00h
—
4 01 C SI2 input
selection 0–
00FFFFFFh — Assign functions to SI2 inputs.
Setup procedure is the same as described for Pr 4.00. —
4 02 C SI3 input
selection 0–
00FFFFFFh — Assign functions to SI3 inputs.
Setup procedure is the same as described for Pr 4.00. —
4 03 C SI4 input
selection 0–
00FFFFFFh — Assign functions to SI4 inputs.
Setup procedure is the same as described for Pr 4.00. —
4 04 C SI5 input
selection 0–
00FFFFFFh — Assign functions to SI5 inputs.
Setup procedure is the same as described for Pr 4.00.
* This pin has a latch correction function.

4 05 C SI6 input
selection 0–
00FFFFFFh — Assign functions to SI6 inputs.
Setup procedure is the same as described for Pr 4.00.
* This pin has a latch correction function.

4 06 C SI7 input
selection 0–
00FFFFFFh —
Assign functions to SI7 inputs.
Setup procedure is the same as described for Pr 4.00.
* This pin has a latch correction function.

4 07 C SI8 input
selection 0–
00FFFFFFh — Assign functions to SI8 inputs.
Setup procedure is the same as described for Pr 4.00. —
*1) For parameter attribute. refer to Section 9-1.
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation

No. SX-DSV02472 -13-
Function number table
Title Symbol
Setup value
a-contact
b-contact
Invalid
—
00h
Can not configure
Positive direction over-travel inhibition input
POT
01h
81h
Negative direction over-travel inhibition input
NOT
02h
82h
External alarm clear input
A-CLR
04h
Can not configure
Forced alarm input
E-STOP
14h
94h
External latch input 1
EXT1
20h
Can not configure
External latch input 2
EXT2
21h
Can not configure
Near home input
HOME
22h
A2h
General purpose monitor input 1
SI-MON1
2Eh
AEh
General purpose monitor input 2
SI-MON2
2Fh
AFh
General purpose monitor input 3
SI-MON3
30h
B0h
General purpose monitor input 4
SI-MON4
31h
B1h
General purpose monitor input 5
SI-MON5
32h
B2h
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation

No. SX-DSV02472 -14-
Precautions for input signal assignment
• Do not setup to a value other than that specified in the table.
• The same signal can’t be assigned to multiple pins. Otherwise, duplicated assignment will cause Err 33.0 “Input
multiple assignment error 1 protection” or Err 33.1 “Input multiple assignment error 2 protection”.
• A signal used in multiple control modes should be assigned to the same pin and the logic should be matched. If not
assigned to the same pin, the Err33.0 “Input duplicate assignment error 1 protection” or Err33.1 “Input duplicate
assignment error 2 protection” occurs. In case that the logics do not match, Err33.2 “Input function number error 1
protection” or Err33.3 “Input function number error 2 protection” will occur.
• The duplicated assignment of SI-MON1 and EXT1, SI-MON2 and EXT2, SI-MON4 and EX-SON, and SI-MON5
and E-STOP is not allowed. Duplicate assignment will cause Err33.0 “Input duplicate assignment error 1
protection” or Err33.1 “Input duplicate assignment error 2 protection”.
• A-CLR can only be set at a-connect. If set at b-connect, then Err33.2 “Input function number assignment error 1
protection” or Err33.3 “Input function number assignment error 2 protection” will occur.
• EXT1 can be allocated only to SI5, EXT2 only to SI6. Wrong allocation will cause
Err 33.8 “Latch input allocation error protection”.
• The Err33.8 “Latch input allocation error protection” occurs if HOME is assigned to S16 and S17, POT is assigned
to S15 and S17, and NOT is assigned to S15 and S16.
• When latch correction pins (SI5/SI6/SI7) are used, set up is required for all the control modes. If configuration is
made only for 1 or 2 modes, the Err33.8 “Latch input allocation error protection” occurs.
• When latch correction pins (SI5/SI6/SI7) are used, only a-contact can be specified. If b-contact is specified, the
Err33.8 “Latch input allocation error protection” occurs.
If a latch correction pin is assigned to the over-travel inhibit input (POT/NOT), a-contact is specified. So, the
over-travel inhibit input does not work when cable is broken. Be sure to secure safety using another method (e.g.
installing a mechanical stopper).
Safety precautions:
The over-travel inhibit input (POT, NOT) and forced alarm input (E-STO
P) should normally be set to
b-contact, which stops when wire is broken.
If a-contact is specified, be sure that there is no safety hazard.
Latch correction
terminal
SI5
SI6
SI7
a
contact
only
Logic
a
contact
only
a
contact
only
Internal
process
Connections to use edge of the sensor signal as home
EXT1
EXT2
EXT3
or
or
HOME
POT
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation