Panasonic MINAS-A6B Series User manual

SPECIFICATIONS
Document No. : SX-DSV03510
Revision No. : 1.0
Date of Issue : July. 19, 2022
Classification :■New □ Change
SPECIFICATIONS
Product Name：AC servo driver
Product Series Name：MINAS-A6B 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-DSV03510
R1.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
REVISIONS
Date Page Rev. Description Signed
July. 19, 2022 - 1.0 Newly issued -

No. SX-DSV03510
R1.0 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............................................................................................................................................................ 3
3-1 Rotary type..........................................................................................................................................................3
3-2 Linear / DD / VCM type .....................................................................................................................................3
4. Specifications..............................................................................................................................................................4
4-1 Basic specifications of rotary type ...................................................................................................................... 4
4-2 Basic specifications of linear / DD /VCM motor ................................................................................................ 5
5. Appearance and name of each part .............................................................................................................................6
6. Outside dimensions.....................................................................................................................................................9
7. Configuration of connectors and terminal blocks .....................................................................................................10
7-1 Main Power Supply Connector XA-1............................................................................................................. 10
7-2 Control Power Supply Connector XA-2 ......................................................................................................... 10
7-3 Motor Connector XB ......................................................................................................................................10
7-4 USB connector X1...........................................................................................................................................11
7-5 EtherCATconnectors X2A X2B....................................................................................................................11
7-6 Parallel I/O connector, X4 ............................................................................................................................... 12
7-7 Feedback scale connector X5 .......................................................................................................................... 15
7-8 Encoder / CS signal connector X6 ................................................................................................................... 16
7-9 Input / output signal interface ...........................................................................................................................17
8. Wiring and system configuration.............................................................................................................................. 18
8-1 Wire rods used and maximum wiring length .................................................................................................... 18
8-2 Cable-Side connector ........................................................................................................................................ 18
8-3 Precautions for wiring....................................................................................................................................... 19
8-3-1 Wiring to the power connector................................................................................................................. 19
8-3-2 Wiring to connectors X2A and X2B .......................................................................................................21
8-3-3 Wiring to connector X4 ...........................................................................................................................22
8-3-4 Wiring to connector X5 ...........................................................................................................................24
8-3-5 Wiring to connector X6 ...........................................................................................................................26
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 to be acquired ......................................................................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

No. SX-DSV03510
R1.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
14. Additional Precautions............................................................................................................................................39
15. Other notes of specification ....................................................................................................................................40
16. Specifications for each model.................................................................................................................................41
Appendix List of Default Parameters............................................................................................................................ 46

No. SX-DSV03510 - 1 -
R1.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
1. Scope of Application
This specification relates to the MINAS A6B series of AC servo driver manufactured by the 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>
Rotary type
Technical Reference - Function Specification - : SX-DSV03241
Technical Reference - EtherCAT Communication Specification - : SX-DSV03242
Linear / DD
/ VCM type
Technical Reference - Function Specification - : SX-DSV03306
Technical Reference - EtherCAT Communication Specification - : SX-DSV03307
* See our Web site for the above documents.
<About EtherCAT>
EtherCAT stands for Ethernet for Control Automation Technology, an open network communication technology that
uses real-time Ethernet to communicate between master and slave devices, developed by Beckhoff Automation GmbH
and managed by the EtherCAT Technology Group (ETG).
<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.
(3) This product may be upgraded, including revisions to specifications from the ETG. Please note that we are not respo
nsible for labor and costs associated with the version upgrade.
(4) This product makes use of open-source software (OSS).
Please refer to the technical documentation for details.
Your company may also have an obligation to use OSS, so please take appropriate measures at your company.
＜Applicable motor type＞
The description of the terms on this document is based on "Rotary type".
When using "linear type", read as shown in the table above.
Motor type DD (direct drive) motor linear motor
Classification on
this documen
t
Rotary type Linear type
Related terms
Inertia（unit：kgm2）Mass（unit：kg）
Torque（unit：Nm）Thrust（unit：N）
r/min mm/s
rotation movement
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.
EtherCAT® is registered trademark and patented technology,
licensed by Beckhoff Automation GmbH, Germany.
Operating Precautions

No. SX-DSV03510 - 2 -
R1.0 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 B E * * *
Special specification
(alphanumeric)
Functionality
E: Rotary type
L: Linear / DD /VCM motor type
Interface
B: EtherCAT
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-DSV03510 - 3 -
R1.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
3. Product line-up
3-1 Rotary type
Servo driver Applicable motor
Model No.
Product
Code
(*Note 1)
Size
Power
supply
input
Model No. Rated power Rated speed
MVDLN4CBE 60380046
V
DC 24 V
MSMF5AC△1□2＊50W
3000r/min
MVDLN5CBE 60380024
MSMF01C△1□2＊
MQMF01C△1□2＊100W
MQMF1EC△1□2＊
MHMF1EC△1□2＊133W 2000r/min
MVDLN4BBE 60380043
DC 48 V
MSMF5AB△1□2＊
MHMF5AB△1□2＊50W
3000r/min
MSMF01B△1□2＊
MQMF01B△1□2＊
MHMF01B△1□2＊
100W
MVDLN5BBE 60380023
MQMF02B△1□2＊
MHMF02B△1□2＊200W
MQMF2JB△1□2＊
MHMF2JB△1□2＊266W 2000r/min
(*Note 1) This is the Product code of our Servo Drive written in the ESI file (Hex numeral).
3-2 Linear / DD / VCM type
Servo driver Applicable motor
Model No.
Product
Code
(*Note 1)
Size
Power
supply
input
Rated current [Arms]
Maximum current
[Arms]
Carrier frequency
6 kHz 8 kHz 12 kHz
MVDLN0CBL 60540047
V
DC 24 V
――0.6 0.9
MVDLN1CBL 60540048 ――1.5 2
MVDLN2CBL 60540044 ――2.5 4
MVDLN3CBL 60540045 ――4 9
MVDLN4CBL 60540046 ――6 19
MVDLN5CBL 60540024 9.4 ――30.5
MVDLN0BBL 60540049
DC 48 V
――0.6 0.9
MVDLN1BBL 6054004A ――1.5 2
MVDLN2BBL 60540041 ――2.5 4
MVDLN3BBL 60540042 ――4 9
MVDLN4BBL 60540043 ――6 19
MVDLN5BBL 60540023 8.6 ――30.5
(*Note 1) This is the Product code of our Servo Drive written in the ESI file (Hex numeral).

No. SX-DSV03510 - 4 -
R1.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
4. Specifications
4-1 Basic specifications of rotary type
Basic specifications
Input power supply
24 V type DC24 V +21 % (DC29 V)
-17 % (DC20 V) (*Note 1,2)
48 V type DC48 V +21 % (DC58 V)
-17 % (DC40 V) (*Note 1,2)
Operation conditions
Temperature
Operation temperature: 0 - 55 degrees C (no freezing)
Storage temperature: -20 - 65 degrees C (Max.temperature guarantee : 80 degrees C for 72 hours no condensation
*Note 3
)
Humidity Operation and storage humidity 20 - 85 %RH or less (no condensation *Note 3)
Height above the sea Height above the sea level: 1000 meters or less
Vibration 5.88 m/s2or less, 10 - 60 Hz
Pollution degree Pollution degree 2 or 1
Insulation voltage Resistant to 500 V AC between primary power supply and ground for a minute
Control method MOSFET PWM method, sinusoidal drive
Encoder feedback 23Bit(resolution:8388608) 7cores-serial absolute encoder
Control signal
Input General purpose 8 input
General purpose input functions can be selected by parameter.
Output General purpose 2 output, alarm 1ouput
General purpose output functions can be selected by parameter.
Pulse signal Output 3 outputs
Encoder pulse (A/B phase) or position comparison is output by using the line driver.
Communication
USB USB interface to connect to computers (setup software PANATERM) for parameter setting or status monitoring.
USB cable connection is possible
EtherCAT Real-time operation command transmission, parameter setting, status monitoring, etc.
Safety terminal Not supported.
Front panel Not supported.
Regenerative discharge Not supported.
Dynamic brake Built-in type
Control mode
Position control: Profile position mode (pp), Cyclic synchronous position mode (csp), Homing mode (hm)
Velocity control: Profile velocity mode (pv), Cyclic synchronous velocity mode (csv)
Torque control: Torque profile mode (tq), Cyclic synchronous torque mode (cst)
These modes are switchable each other with commands through EtherCAT.
(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) 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.
(Note 3) Please note that condensation tend to occur when temperature fall.

No. SX-DSV03510 - 5 -
R1.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
4-2 Basic specifications of linear / DD /VCM motor
Basic specifications
Input power supply
24 V type DC24 V +21 % (DC29 V)
-17 % (DC20 V) (*Note 1,2)
48 V type DC48 V +21 % (DC58 V)
-17 % (DC40 V) (*Note 1,2)
Operation conditions
Temperature
Operation temperature: 0 - 55 degrees C (no freezing)
Storage temperature: -20 - 65 degrees C (Max.temperature guarantee : 80 degrees C for 72 hours no condensation
*Note 3
)
Humidity Operation and storage humidity 20 - 85 %RH or less (no condensation *Note 3)
Height above the sea Height above the sea level: 1000 meters or less
Vibration 5.88 m/s2or less, 10 - 60 Hz
Pollution degree Pollution degree 2 or 1
Insulation voltage Resistant to 500 V AC between primary power supply and ground for a minute
Control method PWM method, sinusoidal drive
CS signal feedback CS signal input (CS1, CS2, CS3) Compatible with TTL level input
Feedback scale A/B phase, homing signal defferential input type
Panasonic supported serial communication type
Control signal
Input General purpose 8 input
General purpose input functions can be selected by parameter.
Output General purpose 2 output, alarm 1ouput
General purpose output functions can be selected by parameter.
Pulse signal Output 3 outputs
Encoder pulse (A/B phase) or position comparison is output by using the line driver.
Communication
USB USB interface to connect to computers (setup software PANATERM) for parameter setting or status monitoring.
USB cable connection is possible
EtherCAT Real-time operation command transmission, parameter setting, status monitoring, etc.
Safety terminal Not supported.
Front panel Not supported.
Regenerative discharge Not supported.
Dynamic brake Built-in type
Control mode
Position control: Profile position mode (pp), Cyclic synchronous position mode (csp), Homing mode (hm)
Velocity control: Profile velocity mode (pv), Cyclic synchronous velocity mode (csv)
Torque control: Torque profile mode (tq), Cyclic synchronous torque mode (cst)
These modes are switchable each other with commands through EtherCAT.
(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) 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.
(Note 3) Please note that condensation tend to occur when temperature fall.

No. SX-DSV03510 - 6 -
R1.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
5. Appearance and name of each part
Below figure shows linear / DD
/VCM type. Rotary type is not provided with X5
(feedback scale connector).

No. SX-DSV03510 - 7 -
R1.0 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 phase
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
manufactur
Year of manufacture
(Last two digits of A.D.)
Manufacturing No.
(Serial No.)
Example:

No. SX-DSV03510 - 8 -
R1.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
Status LEDs
Symbol Name Color LED Status
Description
ALM Alarm LED Red
Lighting on Alarm occurs
Lighting off Normally
SRVON Servo-ON LED Green
Lighting on Servo ON
Lighting off Servo OFF
RUN RUN LED Green
LED status indicate status of network communication.
For details of communication status, please refer to
Technical Reference - EtherCAT Communication Specification -.
ERR ERROR LED Red
L/A IN Link Activity IN LED Green
L/A OUT Link Activity OUT LED Green

No. SX-DSV03510 - 9 -
R1.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
6. Outside dimensions
Below figure shows linear / DD
/VCM type. Rotary type is not provided with X5
(feedback scale connector).
Unit: mm
* Do not use threaded screw holes that do not have description of dimensions.

No. SX-DSV03510 - 10 -
R1.0 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 frame ground wire of the motor
2
1

No. SX-DSV03510 - 11 -
R1.0 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 EtherCATconnectors X2A X2B
[X2A] / [X2B]
Name Symbol
Pin No. Description
Network output / input + TX/RX+ 1 • Connect to pin 1 on the RJ45 connector of communication node.
Network output / input - TX/RX- 2 • Connect to pin 2 on the RJ45 connector of communication node
Network input / output + RX/TX+ 3 • Connect to pin 3 on the RJ45 connector of communication node
Unused - 4 • Connect to pin 4 on the RJ45 connector of communication node
Unused - 5 • Connect to pin 5 on the RJ45 connector of communication node
Network input / output - RX/TX- 6 • Connect to pin 6 on the RJ45 connector of communication node
Unused - 7 • Connect to pin 7 on the RJ45 connector of communication node
Unused - 8 • Connect to pin 8 on the RJ45 connector of communication node
Frame ground - Shell • Connect to shield of cable.
* Be sure to use shielded twisted pair (STP) compatible with 5e of TIA/EIA-568 or higher category
* Auto MDI/MDI-X assigns functions to pin no.1,2,3,6.

No. SX-DSV03510 - 12 -
R1.0 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
1 SO1+
Control output 1
2 SO1-
3 ALM+
Alarm output
4 ALM-
5 SI1 Control input 1
6 SI-COM Control input common
7 SI2 Control input 2
8 SI3 Control input 3
9 SI4 Control input 4
10 SI5 Control input 5
11 SI6 Control input 6
12 SI7 Control input 7
13 SI8 Control input 8
14 ―No use
15 ―
16 GND Signal ground
17
OA+/OCMP1+
A-phase output /
Position compare output 1
18
OA-/OCMP1-
19
OB-/OCMP2-
B-phase output /
Position compare output 2
20
OB+/OCMP2+
21 OCMP3+ Position compare output 3
22 OCMP3-
23 ―No use
24 GND Signal ground
25 SO2+
Control output 2
26 SO2-
27 GND Signal ground
28 FG Frame ground
Pin layout

No. SX-DSV03510 - 13 -
R1.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
Input signal (control)
Name Symbol
Pin No. Description Circuit
Control input
common SI-COM 6
 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
It needs to be isolated from the primary side power supply.
Do not connect with the same power supply.
Primary side power supply: Power supply for motor brake
i-1
Control input 1 SI1 5
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 7
Control input 3 SI3 8
Control input 4 SI4 9
Control input 5 SI5 10
Control input 6 SI6 11
Control input 7 SI7 12
Control input 8 SI8 13
Output signal (control)
Name Symbol
Pin No. Description Circuit
Control output 1 SO1+
SO1-
1
2 Functions are allocated according to parameters.
For details, refer to “Technical reference - Basic Functional Specifications -”.
o-1
Control output 2 SO2+
SO2-
25
26
Alarm output ALM+
ALM-
3
4
Output for alarm of servo driver.
Normally: output transistor ON
Alarm: output transistor OFF

No. SX-DSV03510 - 14 -
R1.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
Encoder output signal / Position compare output signal
Name Symbol
Pin No. Description Circuit
A-phase output /
Position compare
output 1
OA+ /
OCMP1+ 17 •Encoder signals or feedback 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- 18
B-phase output /
Position compare
output 2
OB+ /
OCMP2+ 20
OB- /
OCMP2- 19
Position compare
output 3
OCMP3+ 21
OCMP3- 22
Other
Name Symbol
Pin No. Description Circuit
Frame ground FG 28 Internally connect to the case -
Signal ground GND
16
24
27
Signal ground
Internally connect to N-pin of power supply connector XA-1 and XA-2. -
Reserved -
14
15
23
Do not connect anything -

No. SX-DSV03510 - 15 -
R1.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
7-7 Feedback scale connector X5
This connector is supported only for the linear / DD /VCM type.
Name Symbol Pin No. Description
Feedback scale power output
EX5V 1 • Feedback scale power output (Note 2) (Note 3)
EX0V 2 • Ground of feedback scale power output (Note 1)
Feedback scale signal input/output
(Serial signal)
EXPS 3 • Serial signal non-inverting input/output
/EXPS 4 • Serial signal inverting input/output
Feedback 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 earth terminal inside the servo driver.
(Note 1) The feedback scale power output EX0V is connected with the control circuit ground that is connected to
connector X4.
(Note 2) The feedback scale power output EX5V should be 5 V±5% and 250 mA at the maximum.
When using an feedback 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 feedback scales.
(Note 3) In case an external power supply is used for the feedback 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 4 Mpps (after quad edge evaluation).
However, if the duty ratio of the feedback 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 > 0.25 µs
t2 > 1.0 µs
EXB is retarded 90°than EXA
t1 > 0.25 µs
t2 > 1.0 µs
EXA
EXB
EXA
EXB
t1
t2
t1t1 t1
t2
t1t1

No. SX-DSV03510 - 16 -
R1.0 Motion Control Business Unit, Panasonic Industry Co., Ltd.
7-8 Encoder / CS signal connector X6
Rotary type
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.
Linear / DD /VCM type
Name Symbol Pin
No. Description Circuit Layout
CS signal input
CS3 1 CS3 signal input
i-2
CS2 2 CS2 signal input
CS1 3 CS1 signal input
CS signal power supply output
E5V 4 CS signal power supply output (*Note 1)

E0V 5
CS signal power supply output ground
(
*Note 2
)

Frame ground FG 6 FG

*Note 1) The CS signal power output E5V is connected with the control circuit ground that is connected to connector X5
inside the servo driver.
*Note 2) The CS signal 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.
The relationship between the CS signal and the moving direction of the linear motor is shown below.
CS signal direction
negative direction (count down) positive direction (count up)
The
magnetic
pole
detection
signal
CS 1 advances 120 ° from CS 2
CS 2 advances 120 ° from CS 3
CS 3 advances 120 ° from CS 2
CS 2 advances 120 ° from CS 1
CS1
CS2
CS3
CS1
CS2
CS3