Panasonic MINAS A6 Series Operating Instructions Manual page 368

Ac servo motor & driver

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7. Applied functions

Position compare output function

・When using generic outputs (SO1 to SO6) as position compare output (CMP-OUT), assign

position compare output to Pr4.40 to 4.15 under all control mode.

・Position compare output function automatically compensates the output for errors caused

by time delay of encoder serial communications, etc., taking reference on the previous

motor velocity. Furthermore, the amount of compensation can be set by adjustment of

Pr4.56 "Position compare output delay compensation amount".

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