Panasonic MINAS A6 Multi Series Technical Reference page 111

5.2Manual adjusting function
5.2.1 Block diagram of position control mode
Position control of MINAS A6 Multi series, there are three modes.
 Profile position mode (pp)
 Cyclic synchronous position mode (csp)
 Homing mode (hm)
Interpolated position mode (ip) is not supported.
 Block diagram of position control
*1 A slanting number shows (ex: 607Ah) the object number of EtherCAT.
*2 A bold letter number shows (ex:1.00) a parameter number.
*3 Polarity was omitted.
*4 The method to calculate the positional deviation on PANATERM for Multi monitor varies depending on the setting of bit14 of Pr7.23
(Communication function extended setup 2).
*5 The position command on PANATERM for Multi can be switched depending on the setting of the bit3 (Command pulse accumulation
value) of Pr7.99 (Communication function extended setup 6).
*6 When performing test run function, Z phase search, Frequency characteristic measurement (position loop characteristic) from the
PANATERM for Multi, the driver switches to position control mode internally.
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