Panasonic MINAS A6 Series, Technical Reference

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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)