Connections and settings in torque control mode, Output signals (others) and their functions – Panasonic MINAS A3 Series User Manual

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[Connections and Settings in Torque Control Mode]

Connections and Settings in

Torque Control Mode

Output Signals (Others) and their Functions

Signal

Pin No.

Symbol

Function

I/F circuit

Zero speed
detection

Torque in-limit

In-position/
At-speed

A-phase output

B-phase output

Z-phase output

Z-phase output

Speed monitor
output

Torque monitor
output

12

40

39
38

21
22
48
49
23
24
19

43

(17)

42

(17)

ZSP

TLC

COIN +
COIN –

OA +

OA –

OB +

OB –

OZ +
OZ –

CZ

SP

(GND)

IM

(GND)

SO2

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SO2

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SO1

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PO1

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PO2

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AO

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AO

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• Signal which is selected at Pr0A (ZSP Output Selection) will

be turned on.

• Signal which is selected by Pr09 (TLC Output Selection) will

be turned ON. Factory-setting: 0

• See the above ZSP signal for the set-up of Pr09 and functions.
• Function changes at control mode.

• Provides differential outputs of the encoder signals (A, B

and Z phases) that come from the driver (equivalent to
RS422 signals).

• The logical relation between A and B phases can be

selected by Pr45 (Output Pulse Logic Inversion).

• Not insulated
• Z-phase signal output in an open collector (not insulated)
• Not insulated
• Outputs the motor speed, or voltage in proportion to the

commanded speed with polarity.

+ : CCW rotation
– : CW rotation
• Use Pr07 (Speed Monitor Selection) to switch between

actual and commanded speed, and to define the relation
between speed and output voltage.

• Outputs the output torque, or voltage in proportion to the

position error with polarity.

+ : Fgenerating CCW-torque
– : Fgenerating CW-torque
• Use Pr08 (Torque Monitor Selection) to switch between

torque and positional error, and to define the relation
between torque/positional error and output voltage.

Pr0A value

0
1

(Factory-setting)

2*

3*

4*

5*

Function

Output(transistor) turns ON during the In-toque limiting.
Output(transistor) turns ON when the motor speed becomes
lower than that of the preset speed with Pr61(Zero speed).
Output(transistor) turns ON when either one of over-
regeneration, overload or battery warning is activated.
Output(transistor) turns ON when the over-regeneration (more
than 85% of permissible power of the internal regenerative
discharge resistor) warning is activated.
Output(transistor) turns ON when the overload (the effective torque is
more than 85% of the overload trip level) warning is activated.
Output(transistor) turns ON when the battery (the voltage of the
backup battery becomes lower than approx. 3.2V at the
encoder side) warning is activated.

Position

Speed and
torque

• In-position output
• Output(transistor) turns ON when the position error is below

the preset value by Pr60 (In-Position Range).

• At-speed output
• Output(transistor) turns ON when the motor speed reaches

the preset value by Pr62 (At-Speed ).

Signal

Pin No.

Symbol

Function

I/F circuit

Signal ground

Frame ground

(Not in use)

13, 15

17, 25

50

1, 2, 20

46, 47

GND

FG

• Signal ground in the driver

• Internally isolated from the control power (COM -).

• Internally connected to the earth terminal.

• No connections should be made.

* When the setting is a value between 2 and 5, the output transistor will be turned on
for at least 1 second upon detecting an alarm condition.

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