Panasonic MINAS A6 Series, Technical Reference

Page: 68 / 306

Basic Functions
4-12
Class No. Attribute Title Range Unit Function
4 42 A
Positioning
complete
(In-position) range
2
0 to
2097152 Command
unit
Set the threshold of positional deviation with respect to the
output of positioning complete (INP) signal.
The INP2 turns ON whenever the positional deviation is
lower than the value set up in this parameter, without being
affected by Pr 4.32 Positioning complete output setup.
(Presence/ absence of positional command is not related to
this judgment.)
The unit of shipment setting is [Command unit], but it can
be changed to [Encoder unit] or [External scale unit] by
Pr5.20(Position setup unit select).In this case, the unit of
Pr0.14 is changed too, please attention.
The positional deviation value can be changed to after or
before position command filter by Pr7.23 bit14.
5 20 C
Position setup unit
select
0 to 1 -
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 in terms of command unit regardless of the setting of
this parameter.
7 23 B
Communication
function extended
setup 2 -32768
to
32767
-
bit14: Position deviation [command unit] output setting
0: Internal command position (after filtering)
[command unit]
– Actual positon [command unit]
1: Internal command position (before filtering)
[command unit]
– Actual position [command unit]
4.2.5 Pulse regeneration function (Not supported)
MINAS A6 Multi does not supporte pulse regeneration function.