Panasonic MINAS A6 Series, Technical Reference

Page: 259 / 306

9.1List of parameters
9-15
No. Title Unit Range
Size
[byte]
Function/Contents
Attribute
Related
control
mode
Reference
14 Motor working
range setup 0.1 rot 0 to 1000 2 You can set up the movable range
of the motor against the position
command input range.
When the motor movement exceeds
the setup value, Err34.0 "software
limit protection" will be triggered.
When set value of this parameter is
0, Err34.0 become disable.
Also in condisions written in section
"6.2 Motor working range setup
function" - "Cautions", Err34.0
become disable.
A Position,
Full-closed 6.2
7.4
15 Control input signal
reading setup - 0 to 3 2 Set up a read signal for cycle of the
control input.
0:0.250ms,1:0.500ms,2:1.000ms,3:
2.000ms
However, the following are
exceptions.

When using POT/NOT/HOME as
the home position reference trigger

The external latch
input1/2(EXT1/2)
Read cycle differs from MINAS-A5B
series.
C
S
All -
16
For manufacturer’s
use
- - 2 Permanently set at 1. - - -
20 Position setup unit
select - 0 to 1 2 Specify the unit to determine the
range of positioning complete and
excessive positional deviation.
0
:
Command unit
1: Encoder unit (External scale unit)
Positioning complete(6041h bit10
[Target reached]) detection
threshold of EtherCAT
communication status is always
command unit regardless of the
setting of this parameter.
C Position,
Full-closed 4.2.4
7.4
21 Selection of torque
limit - 0 to 5 2 Select positive direction or negative
direction torque limit.
When 0 is set, 1 will be internally
set.
B All 6.1
22 2nd torque limit % 0 to 500 2 You can set up the 2nd limit value of
the motor output torque.
The value of parameter is limited to
the maximum torque of the
applicable motor.
B Position,
Velocity,
Full-closed 6.1
25
For manufacturer’s
use
- - 2 Permanently set at 0. - - -
26
For manufacturer’s
use
- - 2 Permanently set at 0. - - -
29
For manufacturer’s
use
- - 2 Permanently set at 2. - - -
31
For manufacturer’s
use
- - 2 Permanently set at 1. - - -
33
For manufacturer’s
use
- - 2 Permanently set at 0. - - -
34
For manufacturer’s
use
- - 2 Permanently set at 4. - - -
36
For manufacturer’s
use
- - 2 Permanently set at 0. - - -
(To be continued)