Panasonic A4P Series Manuel D’Utilisation

46

Servo alarm 
output

ALM

15

Output signal indicating that the alarm is on.
Output transistor turns on in normal condition, and output transistor turns off 
when alarm is on.

Positioning 
completion 
output/
Output during 
deceleration

COIN/
DCLON

27

• This output signal can be used by choosing positioning completion output 

(COIN) or output during deceleration (DCLON) by SV.Pr64.

COIN: When the amount of position deviation pulse is within the range set by 

SV.Pr60 (In-position range), the transistor turns on. However, while the 
operation command is being processed, it will not turn ON even inside the 
positioning completion range.

DCLON: Transistor turns ON while the motor is decelerating. However, the 

signal is not output when the motor has stopped because the deceleration 
time is zero.

Motor operation 
condition output

BUSY

28

• Transistor turns OFF while the servo driver is processing operation 

command.

<Notes>
  When an operation command has been started by the strobe signal input 

(STB), the motor operation status output remains OFF until the strobe 
signal input is set to the opened condition.

Present posi-
tion output

• Outputs the present motor position (point number) when the step operation 

is completed.

• All the transistors are OFF (point 0) when the power is turned on. However, 

when the absolute mode is established or when the 16.Pr38 is set to 1 
(homing is invalid), the maximum point number set in the SV.Pr57 
(Selecting the number of input points) is output.

• Upon completion of homing, the maximum point number set in the SV.Pr57 

(Selecting the number of input points) is output.

• During high-speed normal rotation jog operations, the maximum point 

number set in the SV.Pr57 (Selecting the number of input points) minus 1 is 
output after the motor has stopped.

• During high-speed reverse rotation jog operations, the maximum point 

number set in the SV.Pr57 (Selecting the number of input points) minus 2 is 
output after the motor has stopped.

  When an alarm has occurred, all the transistors are set OFF.
  <Note>
  When an operation has been aborted because of servo OFF, 

instantaneous stop or deceleration stop, the last status is held as the 
current position output. To obtain the correct output, move to the reference 
position (home point, absolute position command point).

P1OUT

P2OUT

P4OUT

P8OUT

P16OUT

P32OUT

29

30

31

32

33

34

Brake release 
output

BRK-OFF

36

• Defines the timing signal to activate the electromagnetic brake for the motor.
   When the electromagnetic brake is released, the output transistor turns ON.
• Output timing of this signal can be set by SV.Pr6A (Mechanical brake delay 

at motor standstill) and SV.Pr6B (Mechanical brake delay at motor in 
motion). 

A-phase output 

B-phase output 

Z-phase output 

Z-phase output 

OA+

OA–

OB+

OB–

OZ+

OZ–

CZ

11

12

13

14

9

10

16

• Division-processed encoder signal or external scale signal (A/B-phase) is 

output in differential mode. (RS422)

• SV.Pr44 (numerator of output pulse ratio) and SV.Pr45 (denominator of 

output pulse ratio) can be used to set the division ratio.

• SV.Pr46 (pulse output logic inversion) can be used to select the logic 

relation of phase B with regard to the pulse of phase A, and its output 
source.

• Ground of line driver of the output circuit is connected to signal ground 

(GND); not insulated.

• The maximum output frequency is 4 Mpps (after being multiplied by 4).

• Open collector output of Z-phase signal.
• Emitter side of the transistor of the output circuit is connected to signal 

ground (GND); not insulated.