PLC Connection Guide

Panasonic MINAS A4
Supported Series: Panasonic MINAS A4 series Servo Drive.

HMI Setting:
Parameters Recommended Options Notes
PLC type Panasonic MINAS A4
PLC I/F RS232
Baud rate 9600 2400 ~ 57600
Data bits 8
Parity None
Stop bits 1
Axis no. 0 (master station only) 0 ~ F (slave)

Device Address:
Bit/Word Device type Format Range Memo
B Command 20 D 0~7 States (Note 3)
B Command 27 DD 0 ~ 31 Input Signal (Note 3)
B Command 28 DD 0 ~ 31 Output Signal (Note 3)
CPU Version (Numeric
W Command 01 D 0
format:16-bit Hex)
W Command 05 DD 0 ~ 11 Driver Version (ASCII / 12 words)
W Command 06 DD 0 ~ 11 Motor Version (ASCII / 12 words)
command pulse counter
W Command 21 D 0~1
(Numeric format: 32-bit Signed)
feedback pulse counter
W Command 22 D 0~1
(Numeric format: 32-bit Signed)
present speed
W Command 24 D 0
(Numeric format: 16-bit Unsigned)
present torque
W Command 25 D 0
(Numeric format: 16-bit Unsigned)
present deviation counter
W Command 26 D 0~1
(Numeric format: 32-bit Signed)
write parameter to EEPROM
W Command 84 D 0
(Note 1)
W Command 90 D 0 present Alarm Data
 PLC Connection Guide
Bit/Word Device type Format Range Memo
(Numeric format: 16-bit Unsigned)
Alarm History (Note 4)
W Command 91 DD 1 ~ 14
(Numeric format: 16-bit Unsigned)
Batch Alarm (Note 4)
W Command 92 DD 1 ~ 14
(Numeric format: 16-bit Unsigned)
clear Alarm History (include
W Command 93 D 0
EEPROM) (Note 1)
W Command 94 D 0 Alarm Clear (Note 1)
W Command 9B D 0 Absolute Clear (Note 1)
Individual Parameter (range: 0x00
W Parameter HH 0 ~ 7f
~ 0x7F) (Note 2)
Command 2D Signle turn data
W Comm2D_S D 0~1
(Numeric format: 32-bit Signed)
Command 2D Multi-turn data
W Comm2D_M D 0~1
(Numeric format: 32-bit Signed)

Note:
1. Command 84, Command 93, Command 94, and Command 9B are write only. (These
commands are able to use Set Bit Object and execute the write command after
triggering Set Bit Object.). Commands other than these four are read only.
2. Parameter read/write: Use device type to define address control from 00~7F.
For example: “address_00” is mapping to “Parameter_00”.
(Please refer to Panasonic MINAS A4 Series User Manual.)
3. Device address type can define MINAS A4 Driver’s command list.
Command 20, Command 27, and Command 28 are Bit type, use “Operating range” to
map communication order status.
For example: “Command 20_3” means “Read state_CCW”.
(Please refer to Panasonic MINAS A4 Series User Manual.)
4. Command 91 and Command 92 are word type, use “Operating range” to map the
record of 14 alarms.
For example: “Command 91_1” means “Read alarm data_First alarm”.
 PLC Connection Guide

Wiring Diagram:
The following is the view from the soldering point of a cable.
MINAS A4 Driver CNX4 Port

Diagram 1
cMT Series cMT3071 / cMT3072 / cMT3090 / cMT3103 /cMT3151

eMT Series eMT3070/ eMT3105 / eMT3120 / eMT3150

MT-iE MT8073iE / MT8102iE

MT-XE MT8092XE

MT-iP MT6103iP / MT8102iP

HMI PLC
COM1 COM3
RS232 8P
RS232 RS232 Mini-DIN Male
9P Female 9P Female
Rx 2 8 3 TXD
Tx 3 7 5 RXD
GND 5 5 4 GND
 PLC Connection Guide

Diagram 2
cMT Series cMT-SVR / cMT-G01 / cMT-G02 / cMT-HDM / cMT-FHD

mTV mTV

MT-iE MT8070iE / MT6070iE / MT8100iE / MT8121iE / MT8150iE /

MT8071iE / MT6071iE / MT8072iE / MT6072iE / MT8073iE /
MT8101iE / MT8102iE / MT8103iE
MT-XE MT8121XE / MT8150XE / MT8090XE

HMI PLC
COM1
RS232 8P
RS232 Mini-DIN Male
9P Female
Rx 2 3 TXD
Tx 3 5 RXD
GND 5 4 GND

Diagram 3
MT-iE MT8050iE/ MT8053iE

MT-iP MT6051iP / MT8051iP / MT6071iP / MT8071iP

HMI PLC
COM1
RS232 8P
RS232 Mini-DIN Male
9P Female
Rx 9 3 TXD
Tx 6 5 RXD
GND 5 4 GND
 PLC Connection Guide

MINAS A4 Driver MINAS A4 Driver

CNX3 Port CNX4 Port
3 TX
5 RX

8P Mini-Din Male 4 GND 4 GND

MINAS A4 Driver 7 D- 7 D-
CNX3 / CNX4 Port
8 D+ 8 D+

RS485 cable / DVOP1970-005

MINAS A4 Driver MINAS A4 Driver
8p Mini-DIN Male 8p Mini-DIN Male
7 D- 7 D-

8 D+ 8 D+

4 GND 4 GND

RS232 cable / DVOP1960

MINAS A4 Driver MINAS A4 Driver
9P D-SUB Female 8p Mini-DIN Male
3 RXD 5 RXD

2 TXD 3 TXD

5 GND ` 4 GND

HMI connect with one Device

HMI connect with multi devices