Panasonic MINAS A6 Series, Technical Reference

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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.