Panasonic MINAS A6 Series Use and care manual

R1.7
No. SX-DSV03455
TECHNICAL REFERENCE
–Functional Specification –
MODEL
Product Name : AC Servo Driver
Product No. : MINAS A6 Multi series
(EtherCAT communication/rotation type)
Issued on
Jun. 16, 2020
Revised on
Industrial Device Solution Business Unit, Industrial Device Business Division,
Industrial Solutions Company, Panasonic Corporation
7-1-1 Morofuku, Daito-City, Osaka 574-0044, Japan
Phone : [phone]
Fax : [phone]

ii
この英文仕様書は、原本である和文仕様書を元にパナソニック株式会社 産業デバイス
ソリューションビジネスユニットが翻訳・発行するものです。
翻訳は，原本の利用に際して一応の参考となるように便宜的に仮訳したものであり、
公的な校閲を受けたものではありません。
英語訳のみを使用して生じた不都合な事態に関しては，当社は一切責任を負うものでは
ありません。和文仕様書のみが有効です。
パナソニック株式会社 インダストリアルソリューションズ社
産業デバイス事業部 産業デバイスソリューションビジネスユニット
This English specification is made and published by Industrial Device Solution Business Unit,
Panasonic Corporation based on the original Japanese specification.
Translation is provided unofficially only for the sake of convenience of utilizing the original
Japanese specification as a measure of reference. It is not officially reviewed.
Industrial Device Solution Business Unit, Panasonic Corporation is not liable for any disadvantages
caused by utilizing only English specification.
Only the Japanese specification is effective.
Industrial Device Solution Business Unit, Industrial Device Business Division,
Industrial Solutions Company, Panasonic Corporation

iii
Revisions
Date
Page
Rev.
Description
Signed
Jun. 16, 2020
-
1.7
NEWLY ISSUED
-
Note: The page number (Page) is the current page number at the time of revision.

Table of contents
iv
Table of contents
1. Introduction........................................................................................1-1
1.1 Introduction...............................................................................................................1-2
1.2 Basic specification ....................................................................................................1-6
1.3 Function (Position control) ........................................................................................1-7
1.4 Function (Velocity control).........................................................................................1-8
1.5 Function (Torque control)..........................................................................................1-9
1.6 Function (Full-closed control)..................................................................................1-10
1.7 Function (Common)................................................................................................1-11
1.8 Differences from MINAS A6B series .......................................................................1-12
2. Interface Specifications.....................................................................2-1
2.1 I/O connector input signal .........................................................................................2-2
2.2 I/O connector output signal.......................................................................................2-4
2.3 I/O connector other signal.........................................................................................2-8
2.3.1 Position comparison output signal ................................................................................ 2-8
2.3.2 Other signals................................................................................................................. 2-8
2.4 I/O signal allocation function.....................................................................................2-9
2.4.1 Input signal allocation.................................................................................................... 2-9
2.4.1.1 Using with the default setting............................................................................... 2-9
2.4.1.2 Reallocation of input signal................................................................................ 2-10
2.4.2 Output signal allocation............................................................................................... 2-14
2.4.2.1 Using the default setting..................................................................................... 2-14
2.4.2.2 Reallocation of input signal................................................................................ 2-16
2.5 Mechanical brake output.........................................................................................2-18
3. Front Panel Specifications................................................................3-1
3.1 Front panel configuration ..........................................................................................3-2
3.2 Node address setup in Inter-module communication.................................................3-3
3.3 EtherCAT Station alias..............................................................................................3-4
3.4 EtherCAT Indicators..................................................................................................3-5

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v
3.5 7-segment LED display.............................................................................................3-7
3.5.1 Station alias display mode ............................................................................................ 3-8
3.5.2 Driver information display mode.................................................................................... 3-8
3.5.3 Safety information display mode................................................................................. 3-10
4. Basic Functions.................................................................................4-1
4.1 Rotational direction setup..........................................................................................4-2
4.2 Position control.........................................................................................................4-3
4.2.1 Process of command pulse input.................................................................................. 4-3
4.2.2 Electronic gear function................................................................................................. 4-4
4.2.3 Positional command filtering function............................................................................ 4-8
4.2.4 Positioning complete output (INP/INP2) function........................................................ 4-10
4.2.5 Pulse regeneration function (Not supported) .............................................................. 4-12
4.3 Velocity control .......................................................................................................4-13
4.3.1 Attained speed output (AT-SPEED)............................................................................ 4-14
4.3.2 Speed coincidence output (V-COIN)........................................................................... 4-14
4.3.3 Velocity command acceleration/deceleration setting function .................................... 4-15
4.4 Torque control.........................................................................................................4-17
4.4.1 Speed limit function..................................................................................................... 4-18
4.5 Full-closed control...................................................................................................4-19
4.5.1 Selection of external scale type .................................................................................. 4-20
4.5.2 Setting of external scale division ratio......................................................................... 4-21
4.5.3 Setting of hybrid deviation excess............................................................................... 4-22
4.5.4 Full-closed control function (Rotary scale) (Not supported)........................................ 4-23
4.6 Setting regenerative resistor...................................................................................4-24
4.7 Absolute setup........................................................................................................4-25
4.7.1 Absolute encoder ........................................................................................................ 4-25
4.7.2 External scale.............................................................................................................. 4-27
4.8 External scale position information monitor function (Not supported)......................4-28
5. Auto Tuning Functions......................................................................5-1
5.1 Automatic adjusting function.....................................................................................5-2
5.1.1 Real-time auto tuning.................................................................................................... 5-2
5.1.2 Adaptive filter............................................................................................................... 5-10
5.1.3 Real-time auto tuning (Two-degree-of-freedom control mode standard type)............ 5-12
5.1.4 Real-time auto tuning (Two-degree-of-freedom control mode synchronization type). 5-19
5.2 Manual adjusting function .......................................................................................5-26
5.2.1 Block diagram of position control mode...................................................................... 5-27

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vi
5.2.2 Block diagram of velocity control mode ...................................................................... 5-28
5.2.3 Block diagram of torque control mode ........................................................................ 5-29
5.2.4 Block diagram of full-closed control mode .................................................................. 5-30
5.2.5 Gain switching function ............................................................................................... 5-31
5.2.6 Notch filter ................................................................................................................... 5-36
5.2.7 Damping control.......................................................................................................... 5-38
5.2.8 Model-type damping filter (Not supported).................................................................. 5-43
5.2.9 Feed forward function ................................................................................................. 5-44
5.2.10 Load variation suppression function............................................................................ 5-48
5.2.11 3rd gain switching function.......................................................................................... 5-51
5.2.12 Friction torque compensation...................................................................................... 5-52
5.2.13 Hybrid vibration damping function............................................................................... 5-54
5.2.14 Two-stage torque filter ................................................................................................ 5-55
5.2.15 Quadrant projection suppression function .................................................................. 5-56
5.2.16 Two-degree-of-freedom control mode (with position control) ..................................... 5-58
5.2.17 Two-degree-of-freedom control mode (with velocity control)...................................... 5-61
5.2.18 Two-degree-of-freedom control mode (with full-closed control) ................................. 5-63
5.2.19 Two-degree-of-freedom control mode (with torque control) ....................................... 5-66
5.2.20 High response current control..................................................................................... 5-66
6. Application Functions .......................................................................6-1
6.1 Torque limit switching function..................................................................................6-2
6.2 Motor working range setup function..........................................................................6-3
6.3 Deceleration stop sequence......................................................................................6-5
6.3.1 Sequence upon inputting of over-travel inhibition (POT, NOT) .................................... 6-5
6.3.2 Sequence at servo-off................................................................................................... 6-7
6.3.3 Sequence at main power OFF...................................................................................... 6-8
6.3.4 Sequence at alarm........................................................................................................ 6-3
6.3.5 Emergency stop upon occurrence of alarm .................................................................. 6-4
6.3.6 Fall prevention function in the event of alarms/servo-ON............................................. 6-6
6.3.6.1 Fall prevention function in the event of alarms .................................................... 6-6
6.3.6.2 Fall prevention function in the event of servo-ON................................................ 6-7
6.3.7 Slow stop function......................................................................................................... 6-8
6.4 Torque saturation protection function......................................................................6-11
6.5 Position comparison output function .......................................................................6-12
6.6 Single-turn absolute function...................................................................................6-16
6.7 Infinitely rotation absolute function..........................................................................6-19
6.8 Deterioration diagnosis warning function.................................................................6-23

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vii
6.9 Retracting operation function (Not supported).........................................................6-26
6.10 Backlash correction function (Not supported)..........................................................6-27
7. Protective Functions .........................................................................7-1
7.1 List of protective function ..........................................................................................7-2
7.2 Details of protective function.....................................................................................7-6
7.2.1 Overload protection time characteristics..................................................................... 7-28
7.3 Warning function.....................................................................................................7-32
7.4 Setup of gain pre-adjustment protection..................................................................7-36
7.5 About the protection function setting for homing return by using the Z phase..........7-38
8. Advanced Safety Functions..............................................................8-1
8.1 Advanced safety functions........................................................................................8-2
8.2 System configuration ................................................................................................8-3
8.2.1 Encoder configuration ................................................................................................... 8-3
8.3 Safety input and output signals.................................................................................8-4
8.3.1 Safety input ................................................................................................................... 8-4
8.3.2 Safety output ................................................................................................................. 8-4
8.3.3 Testpulse outputs.......................................................................................................... 8-4
8.4 Connection example.................................................................................................8-5
8.4.1 Safety input (for source output connection) .................................................................. 8-5
8.4.2 Safety input(for sink output connection)........................................................................ 8-7
8.4.3 Safety output ................................................................................................................. 8-8
8.4.4 Brake output.................................................................................................................. 8-8
8.5 Details of safety functions.........................................................................................8-9
8.5.1 Safety functions............................................................................................................. 8-9
8.5.2 Optional functions........................................................................................................ 8-12
8.5.3 Details of Safe Torque Off (STO)................................................................................ 8-13
8.5.3.1 Change point from MINAS-A5 series................................................................. 8-13
8.5.3.2 Outline of safe torque off (STO) function........................................................... 8-13
8.5.3.3 Activation to STO state, timing diagram............................................................. 8-14
8.5.3.4 Return timing diagram from STO state.............................................................. 8-15
8.5.3.5 Connection example .......................................................................................... 8-15
8.6 PANATERM for Safety............................................................................................8-16
8.7 The operation of the driver module .........................................................................8-17
8.7.1 Safety STO status....................................................................................................... 8-17

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viii
8.7.2 Safety fatal error status............................................................................................... 8-17
8.7.3 EtherCAT object to check the safety status................................................................ 8-17
8.8 Alarm clearing for safety monitoring........................................................................8-19
8.9 Safety precautions..................................................................................................8-20
9. List of Parameters..............................................................................9-1
9.1 List of parameters.....................................................................................................9-2
9.1.1 Class 0: Basic setting.................................................................................................... 9-2
9.1.2 Class 1: Gain adjustment.............................................................................................. 9-4
9.1.3 Class 2: Damping control.............................................................................................. 9-6
9.1.4 Class 3: Velocity/ Torque/ Full-closed control............................................................... 9-9
9.1.5 Class 4: I/O monitor setting......................................................................................... 9-10
9.1.6 Class 5: Enhancing setting.......................................................................................... 9-14
9.1.7 Class 6: Special setting............................................................................................... 9-20
9.1.8 Class 7: Special setting2............................................................................................. 9-28
9.1.9 Class 8: Special setting3............................................................................................. 9-34
9.1.10 Class 9: Linear ............................................................................................................ 9-35
9.1.11 Class 15: For manufacturer's use ............................................................................... 9-36
10. Timing Chart....................................................................................10-1
10.1 Servo drive system startup timing diagram on control power-up .............................10-2
10.2 Driver module servo-ON/OFF action while the motor is at stall (servo-lock)............10-4
10.3 Driver module servo-ON/OFF action while the motor is in motion...........................10-5
10.4 Driver module when an alarm has occurred (at dynamic brake/free-run stop).........10-6
10.5 Driver module when an alarm has occurred (at emergency stop)............................10-7
10.6 Driver module when an alarm has been cleared.....................................................10-9
11. Power Supply Module.....................................................................11-1
11.1 Basic specifications.................................................................................................11-2
11.2 Interface specifications ...........................................................................................11-3
11.2.1 Connector for Inter-module communication................................................................ 11-3
11.2.2 External device input signal connector ....................................................................... 11-5
11.2.3 Contactor control output connector............................................................................. 11-6
11.3 Front panel .............................................................................................................11-7
11.3.1 Front panel configuration ............................................................................................ 11-7
11.4 Basic functions........................................................................................................11-8

Table of contents
ix
11.4.1 Basic block diagram.....................................................................................................11-8
11.4.2 Regenerative control function ..................................................................................... 11-9
11.4.3 Main power off detection function ............................................................................... 11-9
11.5 Protective functions...............................................................................................11-10
11.5.1 List of protective functions......................................................................................... 11-10
11.5.2 Details of protective functions ................................................................................... 11-11
11.5.3 Warning functions...................................................................................................... 11-15
11.6 List of power supply module parameters...............................................................11-16

Table of contents
x
(Blank page)

1
Introduction

Introduction
1-2
1.1 Introduction
This document describes the functions of the servo drive system MINAS A6 Multi series.
The MINAS A6 Multi series consists of one power supply module (PSM) and up to 20 driver modules (DM)
up to the maximum number of connections.
One driver module can control motors of 2 axes (Axis A, Axis B) or 1 axis (Axis A only).
Chapters 1 to 10 of this document describe the basic functional specifications of the driver module.
Advanced safety function built into the driver module is explained in Chapter "8 Advanced Safety
Function".
The power supply module specifications are described in Chapter "11 Power Supply Module".
* Windows® is a registered trademark of Microsoft Corporation in the United States and other countries.

1.1Introduction
1-3
MINAS A6 Multi series Functional comparison
In this software version, the functions of "✖" are not supported in the table below.
The description regarding these functions in the body text may be subject to change without prior notice at
handling, hereafter.
✔:Usable ✖:Not usable
Function
Product
MINAS A6BF
(Multi-function type)
MINAS A6 Multi
Product number ending with:F
CPU1:Ver1.05
CPU2:Ver1.05
<Power supply module>
CPU:Ver1.01
<Drive module>
CPU1:Ver1.01
CPU2:Ver1.01
Control mode
Position control
pp
✔
✔
csp
✔
✔
ip
✖
✖
hm
✔
✔
Velocity control
pv
✔
✔
csv
✔
✔
Torque control
tq
✔
✔
cst
✔
✔
cstca
✖
✖
Full-closed control
-
✔
✔
Rotary scale
✔
✖
Function
Two-degree-of-freedom
control
Position
✔
✔
Velocity
✔
✔
Torque (Note 1)
✔
✔
Full-closed
✔
✔
Safety function (STO)
✔
✔
Advanced safety function
✖
✔
Pulse regeneration function
✔
✖
Damping Control
✔
✔
Model-type damping filter
✔
✖
Feed forward function
✔
✔
Load variation suppression function
✔
✔
3rd gain switching function
✔
✔
Friction torque compensation
✔
✔
Hybrid vibration damping function
✔
✔
Quadrant projection suppression function
✔
✔
Torque limit switching function
✔
✔
Motor working range setting function
✔
✔
Torque saturation protection function
✔
✔
Single-turn absolute function
✔
✔
Infinitely rotation absolute function
✔
✔
Retracting operation function
✔
✖
Backlash compensation function
✔
✖
(Note 1) Not supported in the synchronous type of 2 degrees of freedom (DOF) control mode.
(To be continued)

Introduction
1-4
Function
MINAS A6BF
(Multi-function type)
MINAS A6 Multi
External scale position information monitor function under
semi-closed control
✔
✖
Slow stop function
✔
✔
Deterioration diagnosis warning function
✔
✔
Position comparison output function
✔
✔
SM2(synchronous with SM2 event)
✔
✖
Input shift time
✔
✖
FoE (File over EtherCAT)
✖
✖
Jerk
✖
✖
Complete Access of SDO message
✖
✖
EoE(Ethernet over EtherCAT)
✖
✔
Battery refreshment
✔
✔
About absolute encoder
There are two types of absolute encoders: a type that holds multi-turn data with a battery for absolute
data (hereinafter referred to as an absolute encoder with a battery) and a type that does not require a
battery to hold multi-turn data (hereinafter referred to as a battery-less absolute encoder).
The parts that are not specified are functions common to both absolute encoders.
Software version
This technical reference applies to the servo drive system compatible with software of the following
version:
Check the software versions 1 and 2 by 2107h-2Dh (Axis A), 2507h-2Dh (Axis B) (Reference to "EtherCAT
communication specification") or setup support software PANATERM for Multi.
Check the software version 3 by 100Ah (Reference to "EtherCAT communication specification").
Check the safety CPU1/CPU2 version by 202Ch-01h/02h (Reference to "EtherCAT communication
specification") or the safety function setting software PANATERM for Safety.
Software version
Contents of change
Available PANATERM
for Multi
for Safety
CPU1(Version1)
Ver1.01
First edition.
6.2.0.0 or later
1.7.1.8049 or later
CPU2(Version2)
Ver1.01
Manufacture Software(Version3)
Ver1.00
Safety CPU1
Ver1.00
Safety CPU2
Ver1.00
Related TECHNICAL REFERENCE
These reference specifications describe hardware specifications, Safety Precautions, Network Security,
Warranty etc.
Please be sure to read carefully, after understanding the contents, refer to this specification.
SX-DSV03452
REFERENCE SPECIFICATIONS Power supply module section
SX-DSV03454
REFERENCE SPECIFICATIONS Drive module section
This technical reference describes the EtherCAT communication specifications between the host controller
and each driver modules.
SX-DSV03456
TECHNICAL REFERENCE EtherCAT Communication Specification
These manual describe the details of the advanced safety function and how to use the safety function setting
software PANATERM for Safety.
SX-DSV03508
PANATERM for Safety Programming Manual
SX-DSV03514
Safety Installation Manual
For the setup support software PANATERM for Multi, refer to the operation manual installed with the
software.

1.1Introduction
1-5
CAUTION
All rights reserved. No part of this publication may be reproduced or transmitted in any form without prior
permission.
Industrial Device Solution Business Unit, Panasonic Corp. reserves the right to make modifications and
improvements to its products and/or documentation, including specifications and software, without prior
notice.
See the "REFERENCE SPECIFICATIONS Power supply module section (SX-DSV03452)" and
"REFERENCE SPECIFICATIONS Driver module section (SX-DSV03454)" for the shipment setting value of
the series.
Driver module of MINAS A6 Multi (A-frame) can control motors of up to two axes with one driver module, and
has two encoder connectors, two external scale connectors, and two motor connectors. Using the product
with an incorrect connection of the encoder cable, external scale cable, or motor cable may result in
malfunction or failure in the driver module or servo motor. Be sure to check that the connections of the
encoder, external scale and servo motor are correct before turning on the power supply.
The MINAS A6 Multi series may not be fully compatible with the A6B series.
See the "REFERENCE SPECIFICATIONS Power supply module section (SX-DSV03452)" and
"REFERENCE SPECIFICATIONS Driver module section (SX-DSV03454)" for the product number of driver
module that passed the EtherCAT Conformance Test.
EtherCAT® is registered trademark and patented
technology, licensed by Beckhoff Automation GmbH,
Germany.

Introduction
1-6
1.2 Basic specification
Item
Contents
Control method
IGBT PWM sinusoidal wave drive
Control mode
Semi-closed control
Modes of operation
Position control
pp
Profile position mode
csp
Cyclic synchronous position mode
hm
Homing mode
Velocity control
pv
Profile velocity mode
csv
Cyclic synchronous velocity mode
Torque control
tq
Torque profile mode
cst
Cyclic synchronous torque mode
Full-closed control
Modes of operation
Position control
pp
Profile position mode
csp
Cyclic synchronous position mode
hm
Homing mode
Encoder feedback
23-bit (8,388,608 resolution) absolute encoder, with battery, 7-wire serial
23-bit (8,388,608 resolution) battery-less absolute encoder, 5-wire serial
External scale feedback (Note 1)
A/B phase, initialization signal differential input
Manufacturers that support serial communication scale: (Note 1)
- Mitutoyo Corporation
- Heidenhain K.K.
- Renishaw K.K.
- Magnescale Co., Ltd.
- Nidec Sankyo Corporation
- Fagor Automation S.Coop
Control signal
Input
Each 8 input can be assigned by the parameter.
Distribution of 1 input signal to each axis possible
Output
Each 2 output can be assigned by the parameter.
Mechanical brake output
1 output for each axis (selection between BRK-OFF signal and set brake signal possible with
a parameter)
Communication
EtherCAT
Communication for transmission of a real-time operation command, the parameter setting, or
the status monitoring.
USB
for DM/PSM
USB interface to connect to computers (setup support software PANATERM for Multi) for
DM/PSM parameter setting or status monitoring.
USB cable connection is possible.
for safety
USB interface to connect to computers (safety function setting software PANATERM for Multi
for Safety) for parameter setting or programming safety monitoring program using safe PLC
function.
Inter-modules
Communication between driver module and power supply module.
Front panel
2 digits 7-segment LED
4 EtherCAT Indicators LED (RUN, ERR, L/A IN, L/A OUT)
2 rotary switch for station alias setting (ECAT ID)
1 push switch for display switching (M)
6-digit dip switch for node address setting of inter-modules communication (CROSS ID)
Dynamic brake
Refer to the "REFERENCE SPECIFICATIONS Power supply module section
(SX-DSV03452)" and "Driver module section (SX-DSV03454)".
(Note 1) Please contact us for a corresponding part number.

1.3Function (Position control)
1-7
1.3 Function (Position control)
Item
Contents
Control input
Positive/negative direction over-travel inhibition, External latch signal, Near home
position, etc.
Control output
Positioning completion etc.
Position command input
Input mode
EtherCAT command
Smoothing Filter
Primary delay filter or FIR type filter is adaptable to the command input
Damping control
Available (Up to 3 frequency settings can be used simultaneously.)
Model-type damping filter
Not available
Feed forward function
Available (speed, torque)
Load variation suppression function
Available
3rd gain switching function
Available
Friction torque compensation
Available
Hybrid vibration damping function
Not available
Quadrant projection suppression function
Available
Two-degree-of-freedom control mode
Available (standard type, synchronization type)
Torque limit switching function
Available
Motor working range setting function
Available
Torque saturation protection function
Available
Single-turn absolute function
Available
Infinitely rotation absolute function
Available
[Requirement]
Encoder resolution (223)/electronic gear ratio/reduction ratio is an integer less than or
equal to (231-1).
External scale position information monitor
function under semi-closed control
Not available

Introduction
1-8
1.4 Function (Velocity control)
Item
Contents
Control input
Positive/negative direction over-travel inhibition, External latch signal, etc.
Control output
At speed etc.
Velocity command input
Input mode
EtherCAT command
Soft start/stop
function
0 to 10 [s] / 1000 [r/min]. Acceleration and deceleration can be set separately.
S-curve acceleration/deceleration is available.
Soft start/stop function
0 to 10 [s] / 1000 [r/min]. Acceleration and deceleration can be set separately.
S-curve acceleration/deceleration is available.
Damping control
Not available
Model-type damping filter
Not available
Feed forward function
Available (torque)
Load variation suppression function
Available
3rd gain switching function
Not available
Friction torque compensation
Available
Hybrid vibration damping function
Not available
Quadrant projection suppression function
Not available
Two-degree-of-freedom control mode
Available (standard type)
Torque limit switching function
Available
Motor working range setting function
Not available
Torque saturation protection function
Available
Single-turn absolute function
Available
Infinitely rotation absolute function
Available
[Requirement]
Encoder resolution (223)/electronic gear ratio/reduction ratio is an integer less than or
equal to (231-1).
External scale position information monitor
function under semi-closed control
Not available

1.5Function (Torque control)
1-9
1.5 Function (Torque control)
Item
Contents
Control input
Positive/negative direction over-travel inhibition, External latch signal, etc.
Control output
At-speed etc.
Torque command input
Input mode
EtherCAT command
Speed limit
function
Speed limit value can be Switched by EtherCAT command.
Damping control
Not available
Model-type damping filter
Not available
Feed forward function
Not available
Load variation suppression function
Not available
3rd gain switching function
Not available
Friction torque compensation
Not available
Hybrid vibration damping function
Not available
Quadrant projection suppression function
Not available
Two-degree-of-freedom control mode
Not available
Torque limit switching function
Not available
Motor working range setting function
Not available
Torque saturation protection function
Not available
Single-turn absolute function
Available
Infinitely rotation absolute function
Available
[Requirement]
Encoder resolution (223)/electronic gear ratio/reduction ratio is an integer less than or
equal to (231-1).
External scale position information monitor
function under semi-closed control
Not available

Introduction
1-10
1.6 Function (Full-closed control)
Item
Contents
Control input
Positive/negative direction over-travel inhibition, External latch signal, Near home
position, etc.
Control output
Positioning completion etc.
Position command input
Input mode
EtherCAT command
Smoothing Filter
Primary delay filter or FIR type filter is adaptable to the command input
External scale ratio
1/40 to 125200 times
Although the ratio of encoder pulse (numerator) and external scale pulse
(denominator) can be set anywhere between the range of 1 and 223 for the numerator
and 1 to 223 for the denominator, please use within the range indicated above.
Damping control
Available (Up to 3 frequency settings can be used simultaneously.)
Model-type damping filter
Not available
Feed forward function
Available (speed, torque)
Load variation suppression function
Available
3rd gain switching function
Available
Friction torque compensation
Available
Hybrid vibration damping function
Available
Quadrant projection suppression function
Available
Two-degree-of-freedom control mode
Available (standard type)
Torque limit switching function
Available
Motor working range setting function
Available
Torque saturation protection function
Available
Single-turn absolute function
Not available
Infinitely rotation absolute function
Not available
External scale position information monitor
function under semi-closed control
Not available