Panasonic MINAS A3 Series manual Output Signals Others and their Functions, Zsp, Tlc, Coin +

[Connections and Settings in Torque Control Mode]

Signal	Pin No.			Symbol		Function	I/F circuit
Zero speed	12			ZSP		• Signal which is selected at Pr0A (ZSP Output Selection) will
								SO2
detection						be turned on.	page 135
			Pr0A value			Function
		0			Output(transistor) turns ON during the In-toque limiting.
		1			Output(transistor) turns ON when the motor speed becomes
		(Factory-setting)			lower than that of the preset speed with Pr61(Zero speed).
		2*			Output(transistor) turns ON when either one of over-
					regeneration, overload or battery warning is activated.
		3*			Output(transistor) turns ON when the over-regeneration (more
					than 85% of permissible power of the internal regenerative
					discharge resistor) warning is activated.
		4*			Output(transistor) turns ON when the overload (the effective torque is
					more than 85% of the overload trip level) warning is activated.
		5*			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.
	*		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.
Torque in-limit	40			TLC		• Signal which is selected by Pr09 (TLC Output Selection) will		SO2
						be turned ON. Factory-setting: 0	page 135
						• See the above ZSP signal for the set-up of Pr09 and functions.
In-position/	39			COIN +		• Function changes at control mode.
								SO1
At-speed	38			COIN –			page 135
		Position			• In-position output
					• Output(transistor) turns ON when the position error is below
					the preset value by Pr60 (In-Position Range).
		Speed and			• At-speed output
		torque			• Output(transistor) turns ON when the motor speed reaches
					the preset value by Pr62 (At-Speed ).
A-phase output	21			OA +		• Provides differential outputs of the encoder signals (A, B
								PO1
	22			OA –		and Z phases) that come from the driver (equivalent to	page 135
B-phase output	48			OB +		RS422 signals).
	49			OB –		• The logical relation between A and B phases can be
Z-phase output	23			OZ +		selected by Pr45 (Output Pulse Logic Inversion).
	24			OZ –		• Not insulated
Z-phase output	19			CZ		• Z-phase signal output in an open collector (not insulated)
								PO2
						• Not insulated	page 135
Speed monitor	43			SP		• Outputs the motor speed, or voltage in proportion to the
									AO
output						commanded speed with polarity.	page 135
	(17)			(GND)		+ : 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.
Torque monitor	42			IM		• Outputs the output torque, or voltage in proportion to the
									AO
output						position error with polarity.	page 135
	(17)			(GND)		+ : 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.

Output Signals (Others) and their Functions

Signal	Pin No.	Symbol	Function	I/F circuit
Signal ground	13, 15	GND	• Signal ground in the driver	–
	17, 25		• Internally isolated from the control power (COM -).
Frame ground	50	FG	• Internally connected to the earth terminal.	–
(Not in use)	1, 2, 20	–	• No connections should be made.	–
	46, 47

Torque Control Mode

Connections and Settings in

139