Panasonic MINAS A6 Multi Series Technical Reference page 164

6.3Deceleration stop sequence
6.3.6.2 Fall prevention function in the event of servo-ON
By using object 60B2h / 68B2h (Torque offset), the offset value is input to the torque filter when the
servo is turned off, eliminating the delay in rising the torque command at the servo-on command input
timing and preventing the device from falling.
Relevant parameters
 Relevant parameters
Class No. Attribute Title
7 24 C
Related object
Sub
Index Name
Index
2107h 00h Torque offset
filter
-72h
/2507h
-72h
60B2h/ 00h Torque offset
68B2h
6-7
Range
Function -32768 to
expansion setup 32767
Description
 Set the time constant of primary
delay filter for Torque offset filter
(60B2h/68B2h)
 Set the offset of the torque
command (torque feedforward).
 During slowdown in over-travel
inhibition (in emergency stop),
the torque feedforward level
becomes 0.
Unit Function
-
bit7: Internal value state selection of objects 60B2h/68B2h
(Torque offset) in servo-off(Fall prevention function in the
event of Servo-ON)
0:Clear
1:Updated with the set value of 60B2h/68B2h
When this setting value is set to 1, set the value of 60B2h/68B2h
(Torque offset) to a value smaller than the value of Pr5.11 "Torque
offset at immediate stop"
Units Range
0.01 ms 0 to
6400
0.1% -32768
to
32767
Data Op-
Access PDO
Type mode
I16 rw NO ALL
I16 rw RxPDO ALL
EEPROM
YES
Yes