Panasonic MINAS A6 Series, Technical Reference

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4.2Position control
4-3
4.2 Position control
The driver module performs position control following the EtherCAT communication object position
command input from the host controller. Below describes the basic settings necessary for position control.
The control mode is switched forcibly inside the driver module depending on its operating status
irrespective of the command from the host controller.

Conditions that the control mode is switched forcibly inside the driver

When the frequency characteristic is measured by setup support software PANATERM for Multi.
(Position loop characteristics mode is position control, the speed closed loop characteristic mode and torque
speed (vertical) mode are speed control, torque speed (normal) mode is torque control.)

Test run of the setup support software (Forcibly position control).

The states that are written "Forcibly position control" in Section "6.3 Deceleration stop sequence".

During retracting operation function (Forcibly position control) (Not supported)
4.2.1 Process of command pulse input
Positional command is input based on the EtherCAT communication object.
As position control modes, Profile position control (pp), Cyclic position control (csp) and Homing
position (hm) are available. Interpolated position (ip) is not supported.
For details, refer to "TECHNICAL REFERENCE EtherCAT Communication Specification (SX-DSV03456)".