Panasonic MINAS A6 Series, Technical Reference

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Basic Functions
4-2
4.1 Rotational direction setup
Polarity (Rotational direction) can be set up to position command / velocity command / torque command,
and each offset.
In the MINAS A6 Multi series, the rotational direction cannot be set by Pr0.00 (Rotational direction setting),
but it can be set by the object 607Eh (Polarity) specified to CoE (CiA402).
Please refer to "TECHNICAL REFERENCE EtherCAT Communication Specification (SX-DSV03456)" for
details of object 607Eh/687Eh (Polarity).
Setting value Contents
0 No reverse of sign of objects related to torque, velocity, and position
224 Reverse of sign of objects related to torque, velocity, and position
Other than above Not supported (Do not set)
In addition, object 607Eh/687Eh (Polarity) is not what replaced parameter Pr0.00(Rotational direction
setting) as it was, it becomes effective when performing the following data transfer between a CoE
(CiA402) process division and a motor control process division.
Instructions / setting 607Ah/687Ah (Target position)
60B0h/68B0h (Position offset)
60FFh/68FFh (Target velocity)
60B1h/68B1h (Velocity offset)
6071h/6871h (Target torque)
60B2h/68B2h (Torque offset)
Monitor 2304h/2704h (Position command internal value [after filtering])
6062h/6862h (Position demand value)
6064h/6864h (Position actual value)
606Bh/686Bh (Velocity demand value)
606Ch/686Ch (Velocity actual value)
6074h/6874h (Torque demand)
6077h/6877h (Torque actual value)
6078h/6878h (Current actual value)
External input 60FDh/68FDh (Digital input) bit1(positive limit switch [POT])
60FDh/68FDh (Digital input) bit0(negative limit switch [NOT])
External input (POT/NOT)
The setting of 607Eh/687Eh (Polarity) is reflected on data on the setup support tool PANATERM for
Multi, in addition to the above data.
And the settings of 607Eh/687Eh (Polarity) is reflected on POT/NOT during execution by PANATERM for
Multi including test run function, frequency response analyzing function and Z phase search function.