Panasonic MINAS A6 Series, Technical Reference

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1.8Differences from MINAS A6B series
1-13
Section function content MINAS A6B MINAS A6 Multi
6.3.3 Sequence at main
power OFF Availability Available Move to Power Supply module.
Refer to section "11 Power Supply
Module".
6.5 Position comparison
output function interface 3 photo-couppler output
(SO1/SO2/SO3)
or
3 line-driver output
(OCMP1/OCMP2/OCMP3) 2 photo-couppler output (SO1/SO2)
or
2 line-driver output (OCMP1/OCMP2)
in total for 2 axes
output pulse setting parameter settings parameter settings for each axis
compare source Encoder (Communication)
External scale (Communication)
External scale (A/B phase)
Encoder (Communication)
External scale (Communication)
External scale (A/B phase)
for each axis
compare value 8 point 8 point for each axis
6.9 Retraction operation
function Availability Available Not available
6.10 Backlash correction
function Availability Available Not available
7.1 List of protective
functions Err17.x Not available Available
7.2 Details of protective
function Err31.x Err31.0, Err31.2 Err31.3, Err31,5
Err69.x Not available Err69.0, Err69.1, Err69.2, Err69.3,
Err69.4, Err69.5, Err69.6
Err88.3 Improper operation error
protection In addition to the left,
Err88.3 occurs by the combination of
communication cycle, PDO size, and
electronic gear ratio.
Err97.x Err97.3, Err97.4, Err97.5,
Err97.6, Err97.7, Err97.8 Err97.1, Err97.2
8 Safety functions function Available only STO(Safe Torque
Off) function. Available advanced safety functions.

SIL3, PLe, CAT4 safety levels at
maximum.

Select the encoder configuration
according to the required safety level.

Duplex safety input / output signals are
available for safety functions.

Support 14 types of safety functions
including STO and 5 types of optional
functions.

Safety monitoring processing can be
freely programmed with PANATERM
for Safety.
(To be continued)