Panasonic MINAS A6 Multi Series Technical Reference page 16

1.2 Basic specification
Item
Control method
Control mode
Encoder feedback
External scale feedback (Note 1)
Control signal Input
Output
Mechanical brake output
Communication EtherCAT
USB
Inter-modules
Front panel
Dynamic brake
(Note 1) Please contact us for a corresponding part number.
Contents
IGBT PWM sinusoidal wave drive
Semi-closed control
Position control
Velocity control
Torque control
Full-closed control
Position control
23-bit (8,388,608 resolution) absolute encoder, with battery, 7-wire serial
23-bit (8,388,608 resolution) battery-less absolute encoder, 5-wire serial
A/B phase, initialization signal differential input
Manufacturers that support serial communication scale: (Note 1)
- Mitutoyo Corporation
- Heidenhain K.K.
- Renishaw K.K.
- Magnescale Co., Ltd.
- Nidec Sankyo Corporation
- Fagor Automation S.Coop
Each 8 input can be assigned by the parameter.
Distribution of 1 input signal to each axis possible
Each 2 output can be assigned by the parameter.
1 output for each axis (selection between BRK-OFF signal and set brake signal possible with
a parameter)
Communication for transmission of a real-time operation command, the parameter setting, or
the status monitoring.
for DM/PSM USB interface to connect to computers (setup support software PANATERM for Multi) for
DM/PSM parameter setting or status monitoring.
USB cable connection is possible.
for safety USB interface to connect to computers (safety function setting software PANATERM for Multi
for Safety) for parameter setting or programming safety monitoring program using safe PLC
function.
Communication between driver module and power supply module.
2 digits 7-segment LED
4 EtherCAT Indicators LED (RUN, ERR, L/A IN, L/A OUT)
2 rotary switch for station alias setting (ECAT ID)
1 push switch for display switching (M)
6-digit dip switch for node address setting of inter-modules communication (CROSS ID)
Refer to the "REFERENCE SPECIFICATIONS Power supply module section
(SX-DSV03452)" and "Driver module section (SX-DSV03454)".
Modes of operation
pp Profile position mode
csp Cyclic synchronous position mode
hm Homing mode
pv Profile velocity mode
csv Cyclic synchronous velocity mode
tq Torque profile mode
cst Cyclic synchronous torque mode
Modes of operation
pp Profile position mode
csp Cyclic synchronous position mode
hm Homing mode
Introduction
1-6