Panasonic MINAS A6 Multi Series Technical Reference page 144

Two-degree-of-freedom control mode (with position control)
The mode of 2 degrees of freedom control is configured as shown in the block diagram below.
 Two-degree-of-freedom control mode (with position control) block diagram
*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 screen (standard) varies depending on the setting of
the command positional deviation output change (bit 14) of Pr7.23 (Communication function extended setup 2).
*5 The position command on PANATERM for Multi can be switched depending on the setting of 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 module switches to position control mode internally.
Auto Tuning Functions
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