Panasonic MINAS A6 Multi Series Technical Reference page 14

Function
External scale position information monitor function under
semi-closed control
Slow stop function
Deterioration diagnosis warning function
Position comparison output function
SM2(synchronous with SM2 event)
Input shift time
FoE (File over EtherCAT)
Jerk
Complete Access of SDO message
EoE(Ethernet over EtherCAT)
Battery refreshment
About absolute encoder
There are two types of absolute encoders: a type that holds multi-turn data with a battery for absolute
data (hereinafter referred to as an absolute encoder with a battery) and a type that does not require a
battery to hold multi-turn data (hereinafter referred to as a battery-less absolute encoder).
The parts that are not specified are functions common to both absolute encoders.
Software version
This technical reference applies to the servo drive system compatible with software of the following
version:
 Check the software versions 1 and 2 by 2107h-2Dh (Axis A), 2507h-2Dh (Axis B) (Reference to "EtherCAT
communication specification") or setup support software PANATERM for Multi.
 Check the software version 3 by 100Ah (Reference to "EtherCAT communication specification").
 Check the safety CPU1/CPU2 version by 202Ch-01h/02h (Reference to "EtherCAT communication
specification") or the safety function setting software PANATERM for Safety.
Software version
CPU1(Version1)
CPU2(Version2)
Manufacture Software(Version3)
Safety CPU1
Safety CPU2
 Related TECHNICAL REFERENCE
 These reference specifications describe hardware specifications, Safety Precautions, Network Security,
Warranty etc.
Please be sure to read carefully, after understanding the contents, refer to this specification.
SX-DSV03452 REFERENCE SPECIFICATIONS Power supply module section
SX-DSV03454 REFERENCE SPECIFICATIONS Drive module section
 This technical reference describes the EtherCAT communication specifications between the host controller
and each driver modules.
SX-DSV03456 TECHNICAL REFERENCE EtherCAT Communication Specification
 These manual describe the details of the advanced safety function and how to use the safety function setting
software PANATERM for Safety.
SX-DSV03508 PANATERM for Safety Programming Manual
SX-DSV03514 Safety Installation Manual
For the setup support software PANATERM for Multi, refer to the operation manual installed with the
software.
MINAS A6BF
(Multi-function type)
Contents of change
Ver1.01
Ver1.01
Ver1.00 First edition.
Ver1.00
Ver1.00
MINAS A6 Multi
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Available PANATERM
for Multi for Safety
6.2.0.0 or later 1.7.1.8049 or later
Introduction
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