Panasonic MINAS A6 Series, Technical Reference

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9.1List of parameters
9-3
No. Title Unit Range
Size
[byte]
Function/Contents
Attribute
Related
control
mode
Reference
13 1st torque limit % 0 to 500 2 You can set up the 1st limit value
of the motor output torque.
The limit of parameter value is
determined by the maximum
torque of the motor connected.
B All 6.1
7.4
14 Position deviation
excess setup command
unit 0 to 2
10
4 Set excess range of positional
deviation by the command
unit.Err24.0 (Error detection of
position deviation excess)
becomes invalid when it set up
this to 0.Unit is according to
Pr5.20 (Position setup unit select).
The shipping set value is
equivalent to 10 rotations when
the command pluse per rotation is
23-bits.
A Position,
Full-closed 7.4
15 Absolute encoder
setup - 0 to 4 2 Select the use method of the
absolute encoder. *
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)

Absolute encoder will be
handled as an incremental mode
in internal control under
full-closed control.
C Position,
Velocity,
Torque 4.7.1
6.6
6.7
16
to
19
For manufacturer’s
use
- - 2 Permanently set at 0. - - -
20 Axis limit setting - 0 to 1 2 Limits the number of axes used by
the driver module.
0: No limit on the number of axes
1: 1 Axis (Axis A) only
R
S
All -