Panasonic MINAS-A6 Series User manual

Document No. : SX-DSV03167
Revision No. : 6.0
Date of Issue : July. 19, 2022
Classification : □New ■ Change
SPECIFICATIONS
Product Name：AC servo driver
Product Series Name：MINAS-A6 series
Product Model Number：DC24 / 48 V type
Motion Control Business Unit, Industrial Device Business Division
Panasonic Industry Co., Ltd.
7-1-1 Morofuku，Daito－City，Osaka 574-0044，Japan
If you have any questions, please contact the seller (Sales office or Distributor) of the product.

No. SX-DSV03167
R6.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
REVISIONS
Date Page Rev. Description Signed
May. 10, 2018 - 3.0 Newly issued -
Apr. 10, 2020 P.1 4.0 Change company name -
P.5 Add spec of external scale feedback
Add description of wireless LAN dongle
P.8 Add one product dimension
P.9 Modify the product name of Control Power Supply Connector
Modify from “ground wire” to “FG wire”
P.13 Modify from “the earth terminal” to “the case”
P.17 Modify the product name of X6
P.19 Modify the description of note [4]
P.25-26 Divide the figure of X5 connection to 2 figures
P.27
Combine two figures of X6 connection into one figure
Apr. 9, 2021 P.4 5.0 Change the description of applicable motors list to prepare for future updating of them. -
Correction of errors
Apr. 1, 2022 - 5.1 Changed the company name -
- Changed the front cover format
July. 19, 2022 P.4 6.0 Add amplifier list and applicable motor list -
P.5 Delete description of wireless LAN dongle
P.7 Rating plate: Changed the company name and address
P.30 Update compliance with the international standards
P.37 Correct the sentence following SX-DSV03025
P.38 Add description of network security
P.39 Add description of reverse engineering
P.41 Add amplifier list and changed maximum output current
Appendix List of
Default Parameters Modify the default parameters

No. SX-DSV03167
R6.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
Contents
1. Scope of Application................................................................................................................................................... 1
2. How to Read Product Numbers ..................................................................................................................................2
3. Product line-up............................................................................................................................................................ 4
4. Specifications..............................................................................................................................................................5
5. Appearance and name of each part .............................................................................................................................6
6. Outside dimensions.....................................................................................................................................................8
7. Configuration of connectors and terminal blocks .......................................................................................................9
7-1 Main Power Supply Connector XA-1............................................................................................................... 9
7-2 Control Power Supply Connector XA-2 ........................................................................................................... 9
7-3 Motor Connector XB ........................................................................................................................................ 9
7-4 USB connector X1...........................................................................................................................................10
7-5 Serial bus connector X2 ...................................................................................................................................10
7-6 Parallel I/O connector, X4 ............................................................................................................................... 11
7-7 External feedback device connector X5 ..........................................................................................................14
7-8 Encoder connector X6 .....................................................................................................................................15
7-9 Input / output signal interface ...........................................................................................................................16
8. Wiring and system configuration .............................................................................................................................. 17
8-1 Wire rods used and maximum wiring length ....................................................................................................17
8-2 Cable-Side connector ........................................................................................................................................ 17
8-3 Precautions for wiring....................................................................................................................................... 18
8-3-1 Wiring to the power connector................................................................................................................. 18
8-3-2 Wiring to connector X4 ...........................................................................................................................20
8-3-3 Wiring to connector X5 ...........................................................................................................................25
8-3-4 Wiring to connector X6 ...........................................................................................................................27
8-4 Dynamic brake.................................................................................................................................................. 29
8-5 Mounting direction and interval........................................................................................................................ 29
9. Compliance with the international standards ............................................................................................................ 30
9-1 List of compatible standards for the servo driver.............................................................................................. 30
9-2 European EU directive...................................................................................................................................... 30
9-2-1 Compliance with the EMC directive........................................................................................................ 30
9-3 Configuration of peripheral devices..................................................................................................................31
9-3-1 Installation environment........................................................................................................................... 31
9-3-2 Power supply............................................................................................................................................ 31
9-3-3 Noise filter ...............................................................................................................................................31
9-3-4 Surge absorber.......................................................................................................................................... 31
9-3-5 Ferrite core ...............................................................................................................................................31
9-4 List of servo drivers and applicable peripheral devices .................................................................................... 32
9-5 Compliance with the UL standard.....................................................................................................................32
9-6 Radio Waves Act of South Korea .....................................................................................................................32
10. Safety Precautions................................................................................................................................................... 33
11. Life span ................................................................................................................................................................. 37
11-1 Expected Life span of Servo Driver................................................................................................................37
12. Warranty .................................................................................................................................................................37
12-1 Warranty period ..............................................................................................................................................37
12-2 Warranty coverage ..........................................................................................................................................37
12-3 Warranty service ............................................................................................................................................. 37
13. Network Security ....................................................................................................................................................38
14. Additional Precautions............................................................................................................................................39
15. Other notes of specification ....................................................................................................................................40
16. Specifications for each model ................................................................................................................................. 41
Appendix List of Default Parameters............................................................................................................................ 42

No. SX-DSV03167 - 1 -
R6.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
1. Scope of Application
This specification relates to the MINAS A6 series of AC servo driver manufactured by Motion Control Business
Unit, Industrial Device Business Division, Panasonic Industry Co., Ltd.
This product is intended for use as industrial equipment. It must not be used for any other purpose (e.g., for home
use).
<Related Materials>
Technical document - Functional Specifications - : SX- DSV03283
Technical document - Modbus communication and Block operation Specification - : SX- DSV03042
* Please refer to the Panasonic web site for the above documents.
Pay a special attention to following items because the part of internal board is exposed.
- When unpacking and installing, implement the measure against static electricity and handle it with great caution.
- Install the servo driver in an environment of Pollution degree 2 or 1, such as in the control panel of IP54 or more.
< Precautions >
(1) Reproduction of the contents of this document in whole or in part is strictly prohibited.
(2) Due to product improvements, this document is subject to change without notice.
Operating Precautions

No. SX-DSV03167 - 2 -
R6.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
2. How to Read Product Numbers
Product numbers are to be read as follows:
1 2 3 4 5 6 7 8 9 10 11 12
M V D L N 5 B S F * * *
Special specification
(alphanumeric)
Functionality
G: Rotary / RS485 communication type
F: Rotary / Multi-function type
Interface
S: Analog/Pulse
Power supply voltage
C: DC 24 V
B: DC 48 V
Type
Servo driver
Frame Size
V : Size V
Family name
L : A6 series
Safety function
N: No safety function
Output category
Indicates the difference in applicable
motors (or output ratings).

No. SX-DSV03167 - 3 -
R6.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
<MINAS-A6 series (DC24 / 48 V type) Functional comparison >
: Usable ×: Not usable
Product
Function
[A6SG]
(RS485 Communication type)
Product number
ending with: G
[A6SF]
(Multifunction type)
Product number
ending with: F
Control mode
Position control ○○
Velocity control
(Internal velocity command) ○○
Velocity command
(Analog velocity command) ×○
Torque control ×○
Position/velocity control ×○
Position/torque control ×○
Velocity/torque control ××
Full-closed control ×○
Analog input ×○
Safety functions ××
Two-degree-of-freedom control (Position) ○○
Two-degree-of-freedom control (Velocity) ○○
Two-degree-of-freedom control (Full-closed) ×○
Damping function ○○
Model type damping filter ○○
Feed forward function ○○
Load variation suppression function ○○
Third gain switching function ○○
Friction torque compensation ○○
Hybrid vibration suppression function ×○
Quadrant projection suppression function ○○
Torque limit switching function ○○
Allowable motor operating range setting function ○○
Torque saturation protection function ○○
Infinite rotation absolute function ○○
External scale position information monitor function ×○
Communication
functions
USB (for PANATERM connection) ○○
RS232 (MINAS standard protocol) ○○
RS485 (MINAS standard protocol) ○○
Modbus-RTU *1 ○○
Block
operation *1
Start on Modbus communication ○○
Start on input signal ○○
・[A6SG] (RS485 Communication type): There are some functions that cannot be used.
Where applicable, these items are indicated with “Cannot be used in [A6SG]”in the descriptions contained in
this reference for your confirmation.
*1 For details of Modbus communications and block operations, please refer to Technical reference (Modbus
communication and Block operation Specification).

No. SX-DSV03167 - 4 -
R6.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
3. Product line-up
Servo driver Applicable motor
Model No. Size Power supply
inpu
t
Model No. Rated power Rated speed
MVDLN4CSF
MVDLN4CSG
V
DC 24 V
MSMF5AC△1□2＊50W
3000r/min
MVDLN5CSF
MVDLN5CSG
MSMF01C△1□2＊
MQMF01C△1□2＊100W
MQMF1EC△1□2＊
MHMF1EC△1□2＊133W 2000r/min
MVDLN4BSF
MVDLN4BSG
DC 48 V
MSMF5AB△1□2＊
MHMF5AB△1□2＊50W
3000r/min
MSMF01B△1□2＊
MQMF01B△1□2＊
MHMF01B△1□2＊
100W
MVDLN5BSF
MVDLN5BSG
MQMF02B△1□2＊
MHMF02B△1□2＊200W
MQMF2JB△1□2＊
MHMF2JB△1□2＊266W 2000r/min

No. SX-DSV03167 - 5 -
R6.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
4. Specifications
Basic specifications
Basic specifications
Input power supply
24 V type DC24 V +21 % (DC29 V)
-17 %
(
DC20 V
)
(*Note 1,6)
48 V type DC48 V +21 % (DC58 V)
-17 %
(
DC40 V
)
(*Note 1,6)
Operation conditions
Temperature Operation temperature: 0 - 55 degrees C (no freezing)
Stora
g
e tem
p
erature: -20 - 65 de
g
rees C
(
Max.tem
p
erature
g
uarantee : 80 de
g
rees C for 72 hours no condensation*
)
Humidit
y
O
p
eration and stora
g
e humidit
y
20 - 85 %RH or less
(
no condensation*
)
Hei
g
ht above the sea Hei
g
ht above the sea level: 1000 meters or less
Vibration 5.88 m/s2or less, 10 - 60 Hz
Pollution de
g
ree Pollution de
g
ree 2 or 1
Insulation volta
g
e Resistant to 500 V AC between
p
rimar
y
p
ower su
pp
l
y
and
g
round for a minute
Control metho
d
PWM method, sinusoidal drive
Encoder feedbac
k
23Bit
(
resolution:8388608
)
7cores-serial absolute encode
r
External scale feedback (*Note 2) A/B phase, homing signal defferential input type
Panasonic su
pp
orted serial communication t
yp
e
(
*Note 3
)
Control signal
Input General purpose 5 input
General
p
ur
p
ose in
p
ut functions can be selected b
y
p
arameter.
Output General purpose 3 output
General
p
ur
p
ose out
p
ut functions can be selected b
y
p
arameter.
Analogue signal
In
p
ut
(
*Note 2
)
1 in
p
ut
(
16 bit A/D: 1 in
p
ut
)
Out
p
ut 1 out
p
ut
(
analo
g
monitor
)
Pulse signal
Input
1 input port
Both line driver I/F and open collector I/F are supported with photo coupler input can be supported.
If use pulse signal, set Pr0.05 = 0 (Photo coupler input / Both line driver and open collector)
or 2
(
Photo cou
p
ler in
p
uts / O
p
en collecto
r
)
Output 3 outputs respectively
Encoder
p
ulse or external scale
p
ulse or
p
osition com
p
arison is out
p
ut b
y
usin
g
the line driver.
Communication
USB USB interface to connect to com
p
uters
(
setu
p
software PANATERM
)
for
p
arameter settin
g
or status monitorin
g
.
RS232 1:1 communication with the host controller is
p
ossible.
RS485 1: n communication with the host controller is
p
ossible.
Modbus-RTU 1:1 communication with superior controller is possible. (in case of RS232)
1: n communication with su
p
erior controller is
p
ossible.
(
in case of RS485
)
(
*Note 4
)
Safet
y
terminal Not su
pp
orted.
Front
p
anel Not su
pp
orted.
Re
g
eneration Not su
pp
orted.
D
y
namic
b
rake Built-in t
yp
e
Control mode
Selectable from the following 6 modes by parameter:
[1] position control [2] velocity control [3] torque control [4] position/velocity control
[5] position/torque control [6] full-closed control (*Note 5)
*Please note that condensation tend to occur when temperature fall.
(Note 1) DC power using stabilized power supply (SELV) are provided with reinforced insulation.
Please do fluctuations in the DC power supply voltage does not exceed the supply voltage range of the servo driver also.
(Note 2) This function cannot be used with [A6SG].
(Note 3) Please refer to the collaboration catalog for the corresponding scale maker and part number.
(Note 4) For details of Modbus communication, please refer to Technical reference (Modbus communication and Block operation Specification).
(Note 5) Avarable control mode of [A6SG] is position control and .velocity control (internal verocity).
(Note 6) The servo driver can functionally drive the motor within the range of the input power supply voltage.
When input power supply voltage is below the rated value (24 V/48 V), overload protection might be triggered even speed and torque are within the
rated range at some motor's specifications.

No. SX-DSV03167 - 6 -
R6.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
5. Appearance and name of each part
Below figure shows a multi-function type. The RS485 communication type is not provided with
X5 (external scale connector).

No. SX-DSV03167 - 7 -
R6.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
Example of a rating plate
The values of the serial number part of the manufacturing number range from 1 to 33999. On the rating plate, it is
indicated in four digits as in the format shown below.
“I” and “O” are not used for the fourth-digit alphabet.
Value of the serial number
p
ar
t
Indication on the rating plate
1 - 9999 0001 - 9999
10000 - 10999 A000 - A999
11000 - 11999 B000 - B999
... ...
17000 - 17999 H000 - H999
18000 - 18999 J000 - J999
... ...
22000 - 22999
N
000 -
N
999
23000 - 23999 P000 - P999
... ...
33000 - 33999 Z000 - Z999
Product No.
I/O voltage
Number of I/O
Rated I/O current
I/O frequency
Rated output of
applicable motor
Country of origin
Date of production
2 0 2 2 0 4 0 1
Date of production
Month of production
Year of production (A.D.)
Certification mark of
compatible standard, etc.
QR code
P 2 2 0 4 0 0 0 1 N
Serial number
Month of
manufacture
Year of manufacture
(Last two digits of A.D.)
Manufacturing No.
(Serial No.)
Example

No. SX-DSV03167 - 8 -
R6.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
6. Outside dimensions
Below figure shows a multi-function type. The RS485 communication type is not provided with
X5 (external scale connector).
Unit: mm
* Do not use threaded screw holes that do not have description of dimensions.

No. SX-DSV03167 - 9 -
R6.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
7. Configuration of connectors and terminal blocks
7-1 Main Power Supply Connector XA-1
Servo driver side: J. S. T. Mfg S03B-F31SK-GGXR(LF)(AU)
Pin No. Symbol Description Layout
1 P1 (+ Line)
• Input DC48 V or DC24 V.
• Use stabilized DC power source with reinforced insulation.
2 N1 (- Line)
3 FG
• Frame ground
7-2 Control Power Supply Connector XA-2
Servo driver side: Molex 5569-02A2-210
Pin No. Symbol Description Layout
1 P2 (+ Line)
• Input DC48 V or DC24 V.
• Use stabilized DC power source with reinforced insulation.
2 N2 (- Line)
* There is no anti-connection function on the driver.
Reverse connection is caused of failure.
Enough attention to the power supply wiring.
N-pin of Main power supply connector XA-1 connect to control power supply connector XA-2.
7-3 Motor Connector XB
Servo driver side: J. S. T. Mfg S04B-F31SK-GGXR(LF)(AU)
Pin No. Symbol Description Layout
1 U • Connect U phase of the motor winding
2 V • Connect V phase of the motor winding
3 W • Connect W phase of the motor winding
4 FG • Connect FG wire of the motor
2
1

No. SX-DSV03167 - 10 -
R6.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
7-4 USB connector X1
Operations such as parameter setting/change, control status monitoring, error status/history browsing, and
parameter saving/loading can be performed by connecting to a PC or a high-order NC via a USB connector.
Name Symbol
Pin No. Description
USB signal
VBUS 1
Used for communication with a PC or a high-order NC.D- 2
D+ 3
For manufacturer use 4 Do not connect anything.
Signal ground GND 5 Signal ground
The connector shape on the driver side is USB mini-B.
7-5 Serial bus connector X2
Name Symbol
Pin No. Description
Signal ground GND 1 Signal ground (*Note 1)
NC 2 Do not connect
RS232 signal
TXD 3
Serial bus transmission and reception data
(RS232)
RXD 4
RS485 signal
485 -
5
Serial bus transmission and reception data
(RS485)
7
485+
6
8
Frame ground FG shell Frame ground
(Note 1) The signal ground GND is connected with the control circuit ground connected with the connector
X4.

No. SX-DSV03167 - 11 -
R6.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
7-6 Parallel I/O connector, X4
A list of the pin assignment of the parallel I / O connector is as follows.
For details of each function, please refer the following pages.
Pin No.
Symbol Description
A1 OPC1
Pulse signal input 1
A2 OPC2
Pulse signal input 2
A3 PULS1
Pulse signal input 1
A4 PULS2
A5 SIGN1
Pulse signal input 2
A6 SIGN2
A7 SO1+
Control output 1
A8 SO1-
A9 SI-COM Control input common
A10 SI1 Control input 1
A11 SI2 Control input 2
A12 SI4 Control input 4
A13 SI7 Control input 7
A14 SI10 Control input 10
B1 OA+ A-phase output /
Position compare output 1
B2 OA-
B3 OB+ B-phase output /
Position compare output 2
B4 OB-
B5 OZ+ Z-phase output /
Position compare output 3
B6 OZ-
B7 SO2+ Control output 2
B8 SO4+ Control output 4
B9 SO-COM Control output common
B10 GND Signal ground
B11 AIN Analog input (Note 1)
B12 SP Analog output monitor
B13 GND Signal ground
B14 FG Frame ground
Pin layout
(Note 1) This function cannot be used with [A6SG].
1 2 3 ・ ・ ・ ・ 14

No. SX-DSV03167 - 12 -
R6.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
Input signal (control)
Name Symbol
Pin No. Description Circuit
Control input
common SI-COM A9
 It is connected with the positive or negative electrode of the external DC power
supply (12 - 24 V).
Use 12 V (5 %) to 24 V (5 %) for power supply
i-1
Control input 1 SI1 A10
Functions are allocated according to parameters.
For details, refer to “Technical reference - Basic Functional Specifications -”.
Note that there are limitations on function allocation.
Control input 2 SI2 A11
Control input 4 SI4 A12
Control input 7 SI7 A13
Control input 10 SI10 A14
Input signal (pulse train command)
Pulse train interface with Photo coupler
Name Symbol
Pin No. Description Circuit
Command pulse
input
OPC1 A1
Input terminal for the position command pulse.
Disabled in such control modes as the speed control or the torque control,
which does not require position commands.
The maximum allowable input frequency is 500 kpps for line driver input,
and 200 kpps for open collector input.
Di-1
PULS1 A3
PULS2 A4
Command sign
input
OPC2 A2
SIGN1 A5
SIGN2 A6
Input signal (analog command)
Name Symbol
Pin No. Description Circuit
Analog input
(Note 1) AIN B11
Analog input with 16 bit resolution.
The maximum allowable input voltage is ± 10 V
The function changes according to the control mode.
Ai-1
(Note 1) This function cannot be used with [A6SG].

No. SX-DSV03167 - 13 -
R6.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
Output signal (control)
Name Symbol
Pin No. Description Circuit
Control output 1 SO1+
SO1-
A7
A8
Functions are allocated according to parameters.
For details, refer to “Technical reference - Basic Functional Specifications -”.
o-1
Control output 2 SO2+ B7
o-2
Control output 4 SO4+ B8
Control output
common SO-COM B9
Connect to the negative terminal of an external DC power supply
(12 to 24 V)
The power capacity varies depending on a composition of I/O circuit.
Encoder output signal / Position compare output signal
Name Symbol
Pin No. Description Circuit
A-phase output /
Position compare
output 1
OA+ /
OCMP1+ B1 •Encoder signals or external scale signals for which frequency division was
performed (A-phase, B-phase) are output as differential signals.
(Equivalent to RS422)
•The division ratio can be set for the corresponding parameter.
•The ground of the line driver for the output circuit is connected to the signal
ground (GND), i.e. non-insulated.
•The maximum output frequency is 4 Mpps (after quad edge evaluation).
•This differential signal should be received by a line receiver.
(AM26C32 or equivalent).
Connect a terminating resistor (approx. 330 Ω) between the line receiver inputs.
•Use a twisted pair cable with shield for wiring, and connect the shield wire to the
connector shell.
•By setting bit 0 - bit 2 = 1 of Pr4.47 "Pulse output select" , position compare
function can be available.
Do-1
OA- /
OCMP1- B2
B-phase output /
Position compare
output 2
OB+ /
OCMP2+ B3
OB- /
OCMP2- B4
Z-phase output /
Position compare
output 3
OZ+ /
OCMP3+ B5
OZ- /
OCMP3- B6
Analog monitor signal
Name Symbol
Pin No. Description Circuit
Analog monitor
output SP B12
Analog signal output for monitoring
Monitoring object changes according to the parameter setting.
Don’t use analog output as command at power on and off.
Ao-1
Other
Name Symbol
Pin No. Description Circuit
Frame ground FG B14 Internally connected to the case. 
Signal ground GND B10
B13
Signal ground
Internally insulated from Control output common (SO-COM).
Internally connect to N-pin of power supply connector XA-1 and XA-2.


No. SX-DSV03167 - 14 -
R6.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
7-7 External feedback device connector X5
This connector is supported only for the multi-function type.
Name Symbol Pin No. Description
External scale power output
EX5V 1 • External scale power output (Note 2) (Note 3)
EX0V 2 • Ground of external scale power output (Note 1)
External scale signal
input/output (Serial signal)
EXPS 3 • Serial signal non-inverting input/output
/EXPS 4 • Serial signal inverting input/output
External scale signal input
(A/B/Z-phase signal)
(Note 4)
EXA 5 • A-phase signal non-inverting input
/EXA 6 • A-phase signal inverting input
EXB 7 • B-phase signal non-inverting input
/EXB 8 • B-phase signal inverting input
EXZ 9 • Z-phase signal non-inverting input
/EXZ 10 • Z-phase signal inverting input
Frame ground FG Shell • It is connected with the case inside the servo driver.
(Note 1) The external scale power output EX0V is connected with the control circuit ground that is connected to
connector X4 .
(Note 2) The external scale power output EX5V should be 5 V±5% and 250 mA at the maximum.
When using an external scale whose consumption current exceeds this value, external power supply
should be prepared by the customer. It may take time to perform initialization after power-on,
depending on external scales. In that case, it is possible to adjust by adjusting the parameter "power-on
wait time" of the servo amplifier.
For details, refer to the technical data-Basic function specifications-.
(Note 3) In case an external power supply is used for the external scale, make sure that the EX5V pin is open
and no external power is supplied to the EX5V pin.
(Note 4) The maximum input frequency is 8 Mpps (after quad edge evaluation).
However, if the duty ratio of the external scale signal input is not 50%, it may not be able to be read
normally.
Coun
t
-down direction Coun
t
-up direction
EXB is advanced 90°than EXA
t1 > 0.125 µs
t2 > 0.5 µs
EXB is retarded 90°than EXA
t1 > 0.125 µs
t2 > 0.5 µs
EXA
EXB
EXA
EXB
t1
t2
t1t1 t1
t2
t1t1

No. SX-DSV03167 - 15 -
R6.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
7-8 Encoder connector X6
Name Symbol Pin No. Description Layout
1 Do not connect.
Encoder signal I/O
(serial signal)
PS 2
Encoder signal non-inverting input/output
/PS 3
Encoder signal inverting input/output
Encoder power supply output
E5V 4
E5V (*Note 1)
E0V 5
E0V (*Note 2)
Frame ground FG 6 FG
*Note 1) The encoder power output E5V is connected with the control circuit ground that is connected to connector X5
inside the servo driver.
*Note 2) The encoder power output E0V is connected with the control circuit ground that is connected to Pin.1(E5V) of
connector X5 and signal ground of connector X4 inside the servo driver.

No. SX-DSV03167 - 16 -
R6.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
7-9 Input / output signal interface
o-1
Do-1
i-1
Di-1
o-2
Ai-1
V
DC
12 to 24 V
or
V
DC
12 to 24 V
Pins:
S：(X4) A10,A11,A12,A13,A14
P：(X4) A9
Pins:
＋： B7, B8
Note) To directly run the relay, attach a diode in
parallel with the relay and in the direction
shown in the figure above.
Pins:
＋： B1, B3, B5,
－： B2, B4, B6
±10 V MAX
GND
Twisted pair
＜Line Driver＞
＜Open Collector＞
①12-24 V Power supply with external resistor
②24 V Power supply without external resistor
Pins:
＋：A7 －：A8
Note) To directly run the relay, attach a diode in
Parallel with the relay and in the direction
shown in the figure above.
V
DC
12 to 24 V
S：(X4) B12，
G：(X4) B10, B13
Note）Outputting signal amplitude is ±10 V
Ao-1
Twisted pair
V
DC
12 to 24 V
＋
－
Equivalent of
AM26C31
GND B10
Twisted pair
Note) Connect a terminating resistor (approx. 330 Ω)
between the input terminals of the line receiver.
4.7 kΩ
1 kΩ
1000 pF
P
P
S
S
1 kΩ
1000 pF
4.7 kΩ
39 kΩ
B11
470 pF 470 pF
39 kΩ
33 kΩ
470 pF
+
-
B10
220 Ω
GND
B10
A4,
A6
A3,
A5
SIGN
PULS
H/L
H/L
2.2 kΩ
1000 pF
Twisted pair
GND
24 V
SIGN
PULS
L/H
ON/OFF
A1,
A2
A4,
A6
A3,
A5
B10
220 Ω
2.2 kΩ
1000 pF
2.2 kΩ
GND
10 mA
R
Vp
12～24 V
SIGN
PULS
L/H
ON/OFF
A1,
A2
Vp-1.5
R+220 ≒10 mA
A4,
A6
A3,
A5
B10
220 Ω
2.2 kΩ
1000 pF
2.2 kΩ
GND
1 kΩ
S
G
10 Ω
＋
－
10 Ω
＋
B9

No. SX-DSV03167 - 17 -
R6.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
8. Wiring and system configuration
8-1 Wire rods used and maximum wiring length
Name Symbol
Maximum
cable length
(*Note 1)
Used cable
Main power supply XA-1 3 m
In accordance with
“15. Specifications for Each Model”
Control power supply XA-2 3 m
Motor connection XB 3 m
Encoder connection X6 3 m
Common shielded twisted pair wire
Core wire 0.18 mm2or more
External feedback scale
connection (Note 2) X5 3 m
I/O connection X4 3 m
(Note 3)
(Note 1) The above wiring length is the maximum value under the evaluation environment of Panasonic.
It does not guarantee the operation under the working environment of the customer.
The above wiring length is the maximum wiring length including tolerance of processing.
(Note 2) It is supported for the multi-function type only.
(Note 3) If use Open collector interface, maximum wiring length becomes 1 m.
8-2 Cable-Side connector
Connector symbol Part name Part number Manufacturer
XA-1
Receptacle Housing F31FSS-03V-KX
J.S.T. Mfg.
Receptacle pin SF3F-**GF-P2.0
(** = 41 or 71)
XA-2
Receptacle Housing 5557-02R-210
Molex
Receptacle pin 5556TL
XB
Receptacle Housing F31FSS-04V-KX
J.S.T. Mfg.
Receptacle pin SF3F-**GF-P2.0
(** = 41 or 71)
X2 Connector
2040008-1 Tyco electronics
CIF-PCNS08KK-072R J.S.T. Mfg.
X4
Receptacle Housing 1-1827863-4
Tyco electronics
Receptacle pin 1827587-2
X5 Connector MUF-PK10K-X J.S.T. Mfg.
X6
Connector 794617-6
Tyco Electronics
Pin 1-794610-2
Connector 43025-0600
Molex
Pin 43030-0002
Use the above connector or equivalent.