Panasonic MINAS A6 Series, Technical Reference

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Table of contents
viii
8.7.2 Safety fatal error status ............................................................................................... 8-17
8.7.3 EtherCAT object to check the safety status ................................................................ 8-17
8.8 Alarm clearing for safety monitoring ........................................................................ 8-19
8.9 Safety precautions .................................................................................................. 8-20
9. List of Parameters .............................................................................. 9-1
9.1 List of parameters ..................................................................................................... 9-2
9.1.1 Class 0: Basic setting .................................................................................................... 9-2
9.1.2 Class 1: Gain adjustment .............................................................................................. 9-4
9.1.3 Class 2: Damping control .............................................................................................. 9-6
9.1.4 Class 3: Velocity/ Torque/ Full-closed control ............................................................... 9-9
9.1.5 Class 4: I/O monitor setting ......................................................................................... 9-10
9.1.6 Class 5: Enhancing setting .......................................................................................... 9-14
9.1.7 Class 6: Special setting ............................................................................................... 9-20
9.1.8 Class 7: Special setting2 ............................................................................................. 9-28
9.1.9 Class 8: Special setting3 ............................................................................................. 9-34
9.1.10 Class 9: Linear ............................................................................................................ 9-35
9.1.11 Class 15: For manufacturer's use ............................................................................... 9-36
10. Timing Chart .................................................................................... 10-1
10.1 Servo drive system startup timing diagram on control power-up ............................. 10-2
10.2 Driver module servo-ON/OFF action while the motor is at stall (servo-lock) ............ 10-4
10.3 Driver module servo-ON/OFF action while the motor is in motion ........................... 10-5
10.4 Driver module when an alarm has occurred (at dynamic brake/free-run stop) ......... 10-6
10.5 Driver module when an alarm has occurred (at emergency stop) ............................ 10-7
10.6 Driver module when an alarm has been cleared ..................................................... 10-9
11. Power Supply Module ..................................................................... 11-1
11.1 Basic specifications ................................................................................................. 11-2
11.2 Interface specifications ........................................................................................... 11-3
11.2.1 Connector for Inter-module communication ................................................................ 11-3
11.2.2 External device input signal connector ....................................................................... 11-5
11.2.3 Contactor control output connector ............................................................................. 11-6
11.3 Front panel ............................................................................................................. 11-7
11.3.1 Front panel configuration ............................................................................................ 11-7
11.4 Basic functions ........................................................................................................ 11-8