Panasonic MINAS A6 Multi Series Technical Reference page 113

5.2Manual adjusting function
5.2.3 Block diagram of torque control mode
Telocity control of MINAS A6 Multi series, there are two modes.
 Profile torque mode (tq)
 Cyclic synchronous torque mode (cst)
 Block diagram of torque 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 When performing Frequency characteristic measurement (Torque speed [normal]) from the PANATERM for Multi, the driver switches
to torque control mode internally.
*5 Torque control under two-degrees-of-freedom control mode executes a similar control as torque control under the conventional control
mode.
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