Panasonic MINAS A6 Series, Technical Reference

Page: 61 / 306

4.2Position control
4-5

The unit of the movement amount setting of the test run function by the setup support tool
PANATERM for Multi is [command unit].

Communication cycle setup a
t 125 µs or 250 μs is supported only if the electronic gear
ratio is 1:1. Err88.3 (Improper operation error protection) occurs when the electronic gear
ratio is other than 1:1.

Communication cycle setup at 500
μ
s is supported only if the electronic gear ratio is a
power of 2. Err88.3 (Improper operation error protection) occurs when the electronic gear
ratio is other than a power of 2.

Err88.3 (Improper operation error protection) occurs if the TxPDO size for either Axis A or
Axis B is set larger than 25 by
tes while the communication cycle is 500 μs and the
electronic gear ratio is a power of 2.

Err88.3 (Improper operation error protection) occurs if the RxPDO size for either Axis A or
Axis B is set larger than 25 bytes while the communication cycle is 500 μs and the
electronic gear ratio is a power of 2.

MINAS A6 Multi Ver1.01 has a combination of settings that cannot be partially supported.
See the table below for details.
Operation
mode
Electronic gear
ratio
Single axis
PDO size [byte]
Communication cycle [us]
RxPDO TxPDO 125 250 500 1000 2000 4000
semi-closed
or
full-closed
1
≤6 ≤6
✔ ✔ ✔ ✔ ✔ ✔
7
–32
7
–32
✖
(Err88.3)
✖
(Err88.3)
✔ ✔ ✔ ✔
semi-closed
2 ^ n
(n=Integer from
1-12)
≤25 ≤25
✖
(Err88.3)
✖
(Err88.3)
✔ ✔ ✔ ✔
26
–32
26
–32
✖
(Err88.3)
✖
(Err88.3)
✖
(Err88.3)
✔ ✔ ✔
1/1000
–8000
(Other than 1 and
2 ^ n)
≤32 ≤32
✖
(Err88.3)
✖
(Err88.3)
✖
(Err88.3)
✔ ✔ ✔
Other than those
above
≤32 ≤32
✖
(Err88.3)
✖
(Err88.3)
✖
(Err88.3)
✖
(Err88.3)
✖
(Err88.3)
✖
(Err88.3)
For details, refer to "TECHNICAL REFERENCE EtherCAT Communication Specification
(SX-DSV03456)".