Panasonic MINAS-A5BL Series User manual

No. SX-DSV02829
TECHNICAL REFERENCE
– Functional Specification –
MODEL
Product Name: AC Servo Driver
Product No.: MINAS-A5BL series (EtherCAT communication/ Linear type)
Issued on
Oct. 30, 2015
Revised on
.,
Motor Business Unit, Smart Factory Solutions Business Division
Automotive & Industrial Systems Company, Panasonic Corporation
7-1-1 Morofuku, Daito-City, Osaka 574-0044, Japan
Phone: [phone]
Fax : [phone]
R1.00

No. SX-DSV02829
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オートモーテ
ィブ＆インダストリアルシステムズ社モータビジネスユニットが翻訳・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
オートモーティブ＆インダストリアルシステムズ社 モータビジネスユニット
This English specification is made and published by Motor Business Unit Automotive &
Ind
ustrial Systems 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 Unit, Automotive & Industrial Systems Company,
Panasonic Corporation
R1.00 Motor Business Unit, Panasonic Corporation

No. SX-DSV02829
Revisions
Date Page Rev. Description Signed
Oct.30,2015 －1.00 First edition -
Note: The page number (Page) is the current page number at the time of revision.
R1.00 Motor Business Unit, Panasonic Corporation

No. SX-DSV02829
Contents
1
．
Introduction ..............................................................................................................................................................1
1-1 Basic Specification................................................................................................................................................4
1-2 Function ................................................................................................................................................................5
1-3 Scope.....................................................................................................................................................................7
2．
Interface Specification.............................................................................................................................................8
2-1 I/O connector input signal.....................................................................................................................................9
2-2 I/O connector output signal.................................................................................................................................11
2-3 I/O connector other signal...................................................................................................................................15
2-3-1 Feedback scale output signal .........................................................................................................................15
2-3-2 Others.............................................................................................................................................................15
2-4 I/O signal allocation function..............................................................................................................................16
2-4-1 Input signal allocation....................................................................................................................................16
2-4-2 Assignment of output signal ..........................................................................................................................20
3．
Front panel display specification ..........................................................................................................................23
3-1 Appearance of front panel...................................................................................................................................24
3-2 7-segment LED ...................................................................................................................................................25
3-3 EtherCAT Indicators...........................................................................................................................................28
1) RUN ...............................................................................................................................................................29
2) ERR................................................................................................................................................................29
3) L/A IN............................................................................................................................................................29
4) L/A OUT........................................................................................................................................................29
3-4 Monitor signal output function............................................................................................................................30
3-5 Station alias.........................................................................................................................................................33
4．
Basic function .........................................................................................................................................................34
4-1 Operation direction setup....................................................................................................................................35
4-2 Position control...................................................................................................................................................36
4-2-1 Process of command pulse input....................................................................................................................36
4-2-2 Electronic gear function.................................................................................................................................37
4-2-3 Positional command filtering function...........................................................................................................40
4-2-4 Positioning complete output (INP/INP2) function.........................................................................................42
4-2-5 Pulse regeneration function (Some models not supported).........................................................................44
4-3 Velocity Control..................................................................................................................................................47
4-3-1 Attained speed output (AT-SPEED)..............................................................................................................47
4-3-2 Speed coincidence output (V-COIN).............................................................................................................48
4-3-3 Velocity command acceleration/deceleration setting function ......................................................................49
4-4 Toruqe control.....................................................................................................................................................51
4-4-1 Speed limit function.......................................................................................................................................51
4-5 Setting regenerative resistor................................................................................................................................52
4-6 Absolute setup.....................................................................................................................................................53
4-6-1 Feedback scale...............................................................................................................................................53
4-7 Linear motor/feedback scale setting....................................................................................................................54
4-7-1 Parameter setting according to linear motor/feedback scale specification.....................................................55
4-7-1-1 Linear type motor..................................................................................................................................... 55
4-7-1-2 Rotary type motor..................................................................................................................................... 57
4-7-1-3 Feedback scale type setting ...................................................................................................................... 58
4-7-1-4 Manual direction setting of feedback scale............................................................................................... 59
4-7-2 Current gain setting........................................................................................................................................60
4-7-3 Pole position detection method setting ..........................................................................................................61
4-7-3-1 CS signal method...................................................................................................................................... 61
4-7-3-2 Pole position estimation method............................................................................................................... 65
4-7-3-3 Pole position recovery method ................................................................................................................. 67
4-7-4 Automatic linear motor setting with tool.......................................................................................................68
R1.00 Motor Business Unit, Panasonic Corporation

No. SX-DSV02829
5．
Gain tuning/vibration suppressing function ........................................................................................................71
5-1 Automatic adjusting function..............................................................................................................................72
5-1-1 Real-Time Auto Tuning.................................................................................................................................73
5-1-2 Adaptive filter................................................................................................................................................81
5-1-3 Real-time Auto Tuning (2 Degrees of Freedom Control Mode Standard type)..........................................84
5-2 Manual adjusting function...................................................................................................................................92
5-2-1 Block diagram of position control mode........................................................................................................93
5-2-2 Block diagram of velocity control mode........................................................................................................94
5-2-3 Block diagram of torque control mode..........................................................................................................95
5-2-4 Gain Switching Function ...............................................................................................................................96
5-2-5 Notch filter...................................................................................................................................................102
5-2-6 Damping Control .........................................................................................................................................104
5-2-7 Feed forward function..................................................................................................................................108
5-2-8 Instantaneous Velocity Observer function...................................................................................................110
5-2-9 Disturbance observer function.....................................................................................................................112
5-2-10 3rd gain switching function .......................................................................................................................114
5-2-11 Friction torque compensation ....................................................................................................................115
5-2-12 2-stage torque filter....................................................................................................................................117
5-2-13 Mode of 2 degrees of freedom control (Standerd type).............................................................................118
5-2-14 Model type damping filter .........................................................................................................................121
5-2-15 Viscous friction compensating gain / Model type damping filter application parameter switching
function..................................................................................................................................................................125
6．
Application............................................................................................................................................................127
6-1 Torque limit switching function........................................................................................................................128
6-2 Motor working range setup function.................................................................................................................129
6-3 Deceleration stop sequence...............................................................................................................................131
6-3-1 Sequence upon inputting of over-travel inhibition (POT, NOT) (under review).........................................131
6-3-2 Sequence at Servo-Off.................................................................................................................................133
6-3-3 Sequence at main power OFF......................................................................................................................134
6-3-4 Sequence at alarm........................................................................................................................................136
6-3-5 Emergency stop upon occurrence of alarm..................................................................................................138
6-4 Torque saturation protection function...............................................................................................................140
7．
Protective function/Warning function................................................................................................................141
7-1 List of protective function.................................................................................................................................142
7-2 Details of Protective function............................................................................................................................145
7-3 Warning function ..............................................................................................................................................159
7-4 Setup of gain pre-adjustment protection ...........................................................................................................162
8．
Safety function......................................................................................................................................................164
8-1 Outline description of safe torque off (STO) ....................................................................................................165
8-2 Specifications of Input & output signals...........................................................................................................166
8-2-1 Safety input/ signal ......................................................................................................................................166
8-2-2 External device monitor (EDM) output signal.............................................................................................167
8-2-3 Internal signal circuit block diagram ...........................................................................................................167
8-3 Detailed functional description .........................................................................................................................168
8-3-1 Operating timing for safety status................................................................................................................168
8-3-2 Return timing from safety state....................................................................................................................169
8-4 Example of connection......................................................................................................................................170
8-4-1 Example of connection to safety switch ......................................................................................................170
8-4-2 Example of connection to safety sensor.......................................................................................................170
8-4-3 Example of connection to safety controller .................................................................................................171
8-4-4 Example of connection when using multiple axes.......................................................................................172
8-5 Safety precautions.............................................................................................................................................173
R1.00 Motor Business Unit, Panasonic Corporation

No. SX-DSV02829
9．
Other .....................................................................................................................................................................175
9-1 List of parameters..............................................................................................................................................176
9-2 Timing Chart.....................................................................................................................................................192
9-2-1 Servo-on signal accept timing on power-up: When magnet pole position estimation is valid (Pr 9.20 = 2)................192
9-2-2 Servo-on signal accept timing on power-up: When magnet pole position estimation is invalid (Pr 9.20 = 0, 1, 3)......194
9-2-3 Servo-ON/OFF action while the motor is at stall (servo-lock) ....................................................................196
9-2-4 Servo-ON/OFF action while the motor is in motion....................................................................................197
9-2-5 When an error (alarm) has occurred (at Servo-ON command) (DB deceleration,Free run deceleration
movement).............................................................................................................................................................198
9-2-6 When an error (alarm) has occurred (at Servo-ON command) (Emergency stop movement).....................199
9-2-7 When an alarm has been cleared (at Servo-ON command) .........................................................................200
R1.00 Motor Business Unit, Panasonic Corporation

No. SX-DSV02829 -1-
1．Introduction
1-1 Basic Specification................................................................................................................................................4
1-2 Function.................................................................................................................................................................5
1-3 Scope.....................................................................................................................................................................7
１
R1.00 Motor Business Unit, Panasonic Corporation

No. SX-DSV02829 -2-
This document describes the functions of the linear motor supported servo amplifier MINAS-A5BL series (read
MINAS-A5B as MINAS-A5BL, below) equipped with the EtherCAT communication function.
<Software version>
This technical reference applies to the servo drivers compatible with software of the following version:
Version 1: Ver8.00 or later
Version 2: Ver8.00 or later
Version 3: Ver1.00 or later
* 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 Not supported item
Device profile
FoE (File over EtherCAT)
Modes of Operation
Modes of operation
ip
Interpolate position mode
Motion
Jerk
SDO message
Complete Access
Some functions are not supported by some models. For details, refer to the Reference Specification
SX-DSV02828.
< Related data>
SX-DSV02828 : Reference specifications (The specification about hardware is mainly explained.)
SX-DSV02830 : Technical Reference (EtherCAT communication specification)
R1.00 Motor Business Unit, Panasonic Corporation

No. SX-DSV02829 -3-
<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.
• In general, these specifications adopt the names/units based on the rotary type.
The table below lists the correlation with linear type, so read the difference as such.
However, the signal symbols, etc. (TLC and Torque_Limited, for example) are for rotary type,
read them as a linear type.
Linear type
Rotary type
Mass
Inertia
Thrust
Torque
mm/s
r/min
EtherCAT® is registered trademark and patented technology,
licensed by Beckhoff Automation GmbH, Germany.
R1.00 Motor Business Unit, Panasonic Corporation

No. SX-DSV02829 -4-
1-1 Basic Specification
Item
Description
Control method
IGBT PWM method, sinusoidal drive
Control mode
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
Feedback scale
• A/B/Z phase signal differential input
• Manufactured by Mitutoyo Corporation absolute : ST770A, ST770AL, AT573A
• Manufactured by Magnescale Corporation incremental : SR75, SR85
absolute : SR77, SR87
(Compatible with Panasonic-type serial), etc.
(For other supported feedback scales, contact us.)
▪For more information, refer to the Sections 1 – 3.
Pole detection signal CS signals (CS1, CS2, CS3) or pole position estimation (CS signal unnecessary)
▪Changeable with a parameter
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 Feedback scale pulse is output to the line driver with the A/B phase signal
(Some models 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
【Safety terminal corresponding part number】
・Numerical values in the last two digits
・Combination of numerical value in the second last digit and alphabetic character in the last digit
・
C1 to C9 in the last two digits
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-DSV02828.
R1.00 Motor Business Unit, Panasonic Corporation

No. SX-DSV02829 -5-
1-2 Function
Item
Description
Position control
Digital input
Positive direction drive inhibit, Negative direction 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(Model type is the only 2 Degrees of Freedom Mode.)
Block Diagram of 2 Degrees of Freedom
Mode(Standard type)
Available
Viscous friction compensating gain /
Model type damping filter application
parameter switching function
Available (only 2 Degrees of Freedom Mode.)
INP output limit function
Able to select output of positioning completion that is provided until pole position estim
ation is completed
Position loop frequency characteristic
function
Able to select disturbance response frequency characteristic measurement in position loop
6080h selection setting function in csp
mode
Available
Homing return speed limit function
Available
Velocity control
Control input
Positive direction drive inhibit, Negative direction 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
Block Diagram of 2 Degrees of Freedom
Mode(Standard type)
unavailable
Torque control
Control input
Positive direction drive inhibit, Negative direction 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.
Block Diagram of 2 Degrees of Freedom
Mode(Standard type)
unavailable
(To be continued)
R1.00 Motor Business Unit, Panasonic Corporation

No. SX-DSV02829 -6-
Item
Description
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, positional
overdeviaition, EEPROM failure, etc.
Alarm data trace back
Tracing back of alarm data is available
Overload protection curve select function
Available
Overload warningthreshold Setting function
Available
Maximum PDO data length *1)
46byte(RxPDO
：
21byte TxPDO
：
25byte)
Touch Probe Function *2)
Position latch function : Available number is 1.
Adaptive filter
Cycle time(Communication cycle)
Available number
250μs
0(Not available)
500μs
1
1000μs
2000μs
4000μs
Notch filter
Cycle time(Communication cycle)
Available number
250μs
3
500μs
1000μs
4
2000μs
4000μs
*1) For information on the maximum PDO data length, refer to the section 3-7 in the Technical Reference EtherCAT
Communication Specification (SX-DSV02827).
*2) For information on the touch probe, refer to the section 6-9-1 in the Technical Reference EtherCAT Communication
Specification (SX-DSV02827).
R1.00 Motor Business Unit, Panasonic Corporation

No. SX-DSV02829 -7-
1-3 Scope
The table below lists the scope of the motor/feedback scale used in combination with this servo amplifier:
*1)These figures are for reference only. Decide whether to apply the data by evaluating actual combination. (Noise,
motor heating, etc.)
*2)This an available speed on the amplifier. For information on the supported speed on the scale side, refer to the scale
specifications separately.
*3)For more information on various specifications, also refer to “4-7 Basic linear motor/feedback scale setting”.
*4)The number of pulses should be 2048 or more per magnetic pole pitch (per electric angle cycle).
*5)For other supported feedback scales, contact us.
*6)For information on acceptable scale speed over 4 Mpps, contact us.
*7)Resolutions between 2048 and 9999 [pulse/r] are supported by A/B phase type scale only.
Other scales do not support the range of resolutions.
*8) The unit depends on the resolution of the feedback scale.
Motor Linear type Rotary type
Magnetic pole Pitch:1 to 300 mm *4)
Number of pole pairs per revolution:
1 to 64 *4)
Max/rated current ratio 0–500%
M/F ratio (J/T ratio) M/F ratio:0.0005–0.3 [kg/N] J/T ratio:0.000005–0.003 [kgm2/Nm]
Electrical time constant
(for reference) *1)
Career 6 kHz: 1 ms or more, 12 kHz: 0.5 ms or more
Acceptable speed Electric angle frequency:Up to 500 Hz
Feedback scale Linear type Rotary type
Resolution 0.01–10 [μm/pulse] *4) 2048–224 [pulse/r] *4) *7)
Maximum length Up to resolution ×(2^30-1) *8) -
Scale type
A/B phase, differential origin signal input
Serial communication type
Manufactured by Mitutoyo
AT573A, ST770A, ST770AL
(Panasonic serial supported)
Manufactured by Magnescale
SR75, SR77, SR85, SR87
(Panasonic serial supported)
etc. *5)
Note: For information on the serial
communication type, contact us
separately.
Acceptable scale speed
*2)
A/B phase type: Up to 4 M[pulse/s] *6)
Serial communication type
- When the model type vibration
damping filter disabled
Up to 400 M[pulse/s]
- When the model type vibration
damping filter enabled
Up to 80 M[pulse/s]
Serial communication type
- When the model type vibration
damping filter disabled
Up to 105 M[pulse/s]
- When the model type vibration
damping filter enabled
Up to 80 M[pulse/s]
R1.00 Motor Business Unit, Panasonic Corporation

No. SX-DSV02829 -8-
2．Interface Specification
2-1 I/O connector input signal.....................................................................................................................................9
2-2 I/O connector output signal.................................................................................................................................11
2-3 I/O connector other signal ...................................................................................................................................15
2-3-1 Feedback scale output signal..........................................................................................................................15
2-3-2 Others.............................................................................................................................................................15
2-4 I/O signal allocation function..............................................................................................................................16
2-4-1 Input signal allocation....................................................................................................................................16
2-4-2 Assignment of output signal...........................................................................................................................20
２
R1.00 Motor Business Unit, Panasonic Corporation

No. SX-DSV02829 -9-
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 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”.
• When using Positive direction over-travel inhibit
input, connect the signal so that the input is
turned ON when the moving portion of the
machine travels in positive direction exceeding a
limit.
• If used as a home position reference trigger in a
home position return, This input signal can only
be assigned to SI6, respectively.
The signal width should be 1 ms or longer
then at the time of closing, and should be 2 ms
or longer then at the time of opening.
Please keep in mind that it cannot guarantee
this value.
- 
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”.
• When using Negative direction over-travel
inhibit input, connect the signal so that the input
is turned ON when the moving portion of the
machine travels in negative direction exceeding a
limit.
• If used as a home position reference trigger in a
home position return, This input signal can only
be assigned to SI7, respectively.
The signal width should be 1 ms or longer
then at the time of closing, and should be 2 ms
or longer then at the time of opening.
Please keep in mind that it cannot guarantee
this value.
- 
Near home input HOME 9
(SI4)
• When using the near home sensor during the
return to home position operation, input the
sensor signal.
• If used as a home position reference trigger in a
home position return, the input can only be
assigned to SI5, respectively.
The signal width should be 1 ms or longer
then at the time of closing, and should be
2 ms or longer then at the time of opening.
Please keep in mind that it cannot guarantee
this value.
- 
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.Please keep in mind that it cannot
guarantee this value.
• EXT1 can only be assigned to S15.
• EXT2 can only be assigned to S16.
- 
External latch input 2 EXT2 11
(SI6) - 
R1.00 Motor Business Unit, Panasonic Corporation

No. SX-DSV02829 -10-
Title of signal Symbol Connector
pin No.
*2) Contents
Related control mode
*1) EtherCAT communi-
cations
Position Velocity Torque command monitor
*3)
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 cannot 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).
R1.00 Motor Business Unit, Panasonic Corporation

No. SX-DSV02829 -11-
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 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.
— —
R1.00 Motor Business Unit, Panasonic Corporation

No. SX-DSV02829 -12-
Title of signal Symbol
*2) Connector
pin No. Contents
Related control mode
*1)
EtherCAT
communi-
cations
Position Velocity Torque 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 t
he 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−)
Estimated pole
position output CS-CMP *
• When the pole position was estimated, the output
transistor is turned ON.
• For information on the output transistor, refer to
Note *6.
— —
R1.00 Motor Business Unit, Panasonic Corporation

No. SX-DSV02829 -13-
*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 state changes as follows in each communication state:
Sign Setting value
of 3724h
Setting value of
60FEh
State of output
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 = 0 set brake = 1
(brake on)
set brake = 0
1 set brake = 1
(brake on)
set brake = 1
(brake on)
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.
R1.00 Motor Business Unit, Panasonic Corporation

No. SX-DSV02829 -14-
*6) The timing when the Estimated pole position output (CS-CMP, CS_Complete) is turned ON may vary
according to the conditions below.
Pr9.20 “Pole detection method”
Timing when Estimated pole position output turns ON
0 (undefined) Does not turn ON
1 (CS signal) After the initialization is completed
during the control power-on
(compatible with MINAS-A5L)
2 (Pole position estimation)
After the pole position is estimated suc
cessfully
(does not turn ON on abort)
3 (Pole position recovery)
After the pole position is recovered su
ccessfully
(does not turn ON on abort)
R1.00 Motor Business Unit, Panasonic Corporation