Panasonic MINAS A6 Series, Technical Reference

Page: 274 / 306

List of Parameters
9-30
No. Title Unit Range
Size
[byte]
Function/Contents
Attribute
Related
control
mode
Reference
24 Communication
function extended
setup 3 - -32768 to
32767 2 bit0: EX-OUT1 output status setting
when communication is cut off after
establishing EtherCAT
communication.
0: Hold
1: Initialization
C All 2.2
6.3.6
EtherCAT
Spec.
bit1 to 3:
For manufacturer’s use
Permanently set at 0.
bit4:
For manufacturer’s use
Permanently set at 1.
bit5: The correction function for
detection delay of latch position.
0: The correction time of both the
latch signal rising edge
detection and the latch signal
falling edge detection is set by
Pr7.09
1: The correction time of the latch
signal rising edge detection is
set by Pr7.09, the correction
time of the latch signal falling
edge detection is set by Pr7.92.
bit6:
For manufacturer’s use
Permanently set at 0.
bit7: Internal value state selection of
objects 60B2h/68B2h (Torque
offset) in servo-off(Fall prevention
function in the event of Servo-ON)
0: Clear
1: Updated with the set value of
60B2h/68B2h
*When this setting value is set to
1, set the value of 60B2h /
68B2h (Torque offset) to a value
smaller than the value of Pr5.11
"Torque setup for emergency
stop".
bit8 to 10:
For manufacturer’s use
Permanently set at 0.
bit11: The setting condition of
6041h/6841h
bit12(drive follows command
value).
0: Limiting torque and speed
limit (only cst) is included.
1: Limiting torque and speed
limit (only cst) is not included.
bit12 to 13:
For manufacturer’s use
Permanently set at 1.
39
For manufacturer’s
use
- - 2 Permanently set at 0. - - -
40 Station Alias setup
(high) - 0 to 255 2 Define the higher 8 bits of station alias. R
S
All EtherCAT
Spec.
41 Station alias
selection - 0 to 2 2 Select the setting origin of a station
alias.
0: RSW(lower)+Pr7.40(higher)
1: SII
2: For manufacturer
’
s use
R
S
All EtherCAT
Spec.
(To be continued)