5.2.4 Block diagram of full-closed control mode
Full-closed 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 full-closed 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 and Analog monitor varies depending on the setting of bit14
of Pr 7.23 (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).
Auto Tuning Functions
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