Panasonic MINAS A6 Series, Technical Reference

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Application Functions
6-16
6.6 Single-turn absolute function
This function uses the absolute encoder as an absolute system only for single-turn absolute position
data without connecting the battery power.
The movable range of the motor is limited by single-turn data of the absolute encoder.
Applicable range
This function operates under the following conditions.
Operating conditions for the single-turn absolute function
Control Mode

Position control, Velocity control, Torque control
Others

The absolute encoder must be connected.
Caution

This function is enabled by setting Pr0.15 "Absolute encoder setup" to 3.

If the motor (encoder) position or command position exceeds the motor working range (single-turn data of the
encoder), Err34.1 "Single-turn absolute working range error protection" occurs.

When Err34.1 "Single-turn absolute working range error protection" has been activated, the motor is
decelerated and stopped according to Pr5.10 "Sequence at alarm".

When this function is enabled, multi-turn data for the absolute encoder is not used. Thus, alarms related to
multi-turn data (Err40.0 "Absolute system down error protection", Err41.0 "Absolute counter over error
protection", Err42.0 "Absolute over-speed error protection", and Err45.0 "Absolute multi-turn counter error
protection") and battery alarms are not detected.
Relevant parameters

Relevant parameters
Class No. Attribute Title Range Unit Function
0 15 C Absolute encoder
setup 0 to 4 - Select the use method of the absolute encoder. (Note 1)
0: Use as an absolute mode.
1: Use as an incremental mode.
2: Use as an absolute mode, but ignore the multi-turn counter over.
3: Use as an absolute mode, but not use multi-turn counter.
(single-turn absolute mode)
4: Use as an absolute mode, but any value can be set for the upper
limit of the multi-turn counter, and ignore the multi-turn counter
over.(Countinuous rotating absolute mode)
(Note 1) During full-closed controlling, treated as an incremental encoder (setting value = 1) for internal control.
Input range of the command position for EtherCAT
communication
The following shows the input range of the command position when the single-turn absolute function is
enabled.
Note that the value below is the input range when the electronic gear ratio is 1/1 and the 607Ch/687Ch
(Home offset) is 0.
For the input range when the electronic gear ratio and 607Ch/687Ch(Home offset) are set, refer to the
operation example in the following "Operation example".
Position command input range
Absolute encoder 23bit 0 to 2
23
-1 (8388607)