Panasonic MINAS A6 Multi Series Technical Reference page 13

1.1Introduction
MINAS A6 Multi series Functional comparison
In this software version, the functions of "✖" are not supported in the table below.
The description regarding these functions in the body text may be subject to change without prior notice at
handling, hereafter.
Function
Control mode
Position control
Velocity control
Torque control
Full-closed control
Function
Two-degree-of-freedom
control
Safety function (STO)
Advanced safety function
Pulse regeneration function
Damping Control
Model-type damping filter
Feed forward function
Load variation suppression function
3rd gain switching function
Friction torque compensation
Hybrid vibration damping function
Quadrant projection suppression function
Torque limit switching function
Motor working range setting function
Torque saturation protection function
Single-turn absolute function
Infinitely rotation absolute function
Retracting operation function
Backlash compensation function
(Note 1) Not supported in the synchronous type of 2 degrees of freedom (DOF) control mode.
(To be continued)
1-3
pp
csp
ip
hm
pv
csv
tq
cst
cstca
-
Rotary scale
Position
Velocity
Torque (Note 1)
Full-closed
Product
MINAS A6BF
(Multi-function type)
Product number ending with:F
CPU1:Ver1.05
CPU2:Ver1.05
✔
✔
✖
✔
✔
✔
✔
✔
✖
✔
✔
✔
✔
✔
✔
✔
✖
✔
✔
✔
✔
✔
✔
✔
✔
✔
✔
✔
✔
✔
✔
✔
✔
✔:Usable ✖:Not usable
MINAS A6 Multi
<Power supply module>
CPU:Ver1.01
<Drive module>
CPU1:Ver1.01
CPU2:Ver1.01
✔
✔
✖
✔
✔
✔
✔
✔
✖
✔
✖
✔
✔
✔
✔
✔
✔
✖
✔
✖
✔
✔
✔
✔
✔
✔
✔
✔
✔
✔
✔
✖
✖