Panasonic MINAS A3 Series manual Input Signals Speed Control and their Functions

CN X5 Connector

Input signal assignment to CN X5 connector pins - designation(logic)

Input Signals (Speed Control) and their Functions

Signal	Pin No.	Symbol	Function	I/F circuit
Speed (torque)	14	SPR/TRQR	< At speed control >	AI
command			• This becomes speed command input (analogue) 0–±10V	page 134
	(15)	(GND)	• You can set-up the relationship between the command
			voltage level and the motor speed, with Pr50 (Speed
			Command Input Gain) .
			• Use Pr51 to inverse the polarity of the command input.
			< At torque control >*
			• This becomes torque command input (analogue) 0–±10V
			• You can set-up the relationship between the command
			voltage level and the motor torque, with Pr5C (Torque
			Command Input Gain) .
			• Use Pr5D to inverse the polarity of input signals.
			• Use Pr56 (4th Speed Set-up) to adjust the speed limit in
			torque control.
			< Note >
			SPR/TRQR are invalid in position control mode.
CCW torque limit	16	CCWTL/	< At speed and position control >	AI
		TRQR*	• You can limit the motor torque in the CCW direction by	page 134
			entering positive voltage (0 to +10V) to CCWTL.
	(17)	(GND)	• You can limit the motor torque in the CW direction by
			entering negative voltage (-10 to 0V) to CWTL.
			• The torque limit value is proportional to the voltage with a
			factor of 100%/3V.
			• CCWTL and CWTL are valid when Pr03 (Torque Limit Input
			Inhibit) = 0. They are invalid when Pr03 = 1.
			< At torque control >*
CW torque limit	18	CWTL
			• Both of CCWTL and CWTL are invalid.
	(17)	(GND)	• Use the 4th speed set-up(Pr56) to limit the speed.
Battery +	44	BATT +	• Connect a backup battery for absolute encoder (pole-	–
			sensitive !).
Battery -	45	BATT -	• If the battery is connected directly to the driver, it is not
			necessary to connect a battery to this terminal.

*When the torque control mode is selected at the speed/torque switching mode (Pr02 = 5), the No.16 pin (CCWTL/TRQR) becomes the torque command input (analogue). You can set-up the relationship between the command voltage level and the motor torque with Pr5C (Torque Com- mand Input Gain).

Output signal assignment to CN X5 connector pins - designation(logic) Output Signals (Common) and their Functions

Signal	Pin No.	Symbol	Function		I/F circuit
Servo alarm output	37	ALM +	• This output(transistor) turns OFF, when the	driver detects
						SO1
	36	ALM –	and error(trip).		page 135
Servo-ready output	35	S-RDY +	• This output(transistor) turns ON, when the	main power is
						SO1
	34	S-RDY -	on(for both the driver and the motor) and no alarm is active.		page 135
Mechanical brake	11	BRK-OFF +	• This is used to release the electromagnetic brake of the motor.
						SO1
release output	10	BRK-OFF –	• Turn the output transistor ON when releasing brake.		page 135
			• Refer to “Timing Chart” on page 40, on Preparations.
			• This output(transistor) turns ON , when the brake is re-
			leased.
			• See page 40 "Timing Chart".

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