Panasonic MINAS A6 Multi Series Technical Reference page 173

6.6 Single-turn absolute function
This function uses the absolute encoder as an absolute system only for single-turn absolute position
data without connecting the battery power.
The movable range of the motor is limited by single-turn data of the absolute encoder.
Applicable range
This function operates under the following conditions.
Operating conditions for the single-turn absolute function
 Position control, Velocity control, Torque control
Control Mode
 The absolute encoder must be connected.
Others
Caution
 This function is enabled by setting Pr0.15 "Absolute encoder setup" to 3.
 If the motor (encoder) position or command position exceeds the motor working range (single-turn data of the
encoder), Err34.1 "Single-turn absolute working range error protection" occurs.
 When Err34.1 "Single-turn absolute working range error protection" has been activated, the motor is
decelerated and stopped according to Pr5.10 "Sequence at alarm".
 When this function is enabled, multi-turn data for the absolute encoder is not used. Thus, alarms related to
multi-turn data (Err40.0 "Absolute system down error protection", Err41.0 "Absolute counter over error
protection", Err42.0 "Absolute over-speed error protection", and Err45.0 "Absolute multi-turn counter error
protection") and battery alarms are not detected.
Relevant parameters
 Relevant parameters
Class No. Attribute Title
0 15 C
(Note 1) During full-closed controlling, treated as an incremental encoder (setting value = 1) for internal control.
Input range of the command position for EtherCAT
communication
The following shows the input range of the command position when the single-turn absolute function is
enabled.
Note that the value below is the input range when the electronic gear ratio is 1/1 and the 607Ch/687Ch
(Home offset) is 0.
For the input range when the electronic gear ratio and 607Ch/687Ch(Home offset) are set, refer to the
operation example in the following "Operation example".
Absolute encoder
Range
Absolute encoder 0 to 4
setup
Position command input range
23
23bit 0 to 2 -1 (8388607)
Unit Function
- Select the use method of the absolute encoder. (Note 1)
0: Use as an absolute mode.
1: Use as an incremental mode.
2: Use as an absolute mode, but ignore the multi-turn counter over.
3: Use as an absolute mode, but not use multi-turn counter.
(single-turn absolute mode)
4: Use as an absolute mode, but any value can be set for the upper
limit of the multi-turn counter, and ignore the multi-turn counter
over.(Countinuous rotating absolute mode)
Application Functions
6-16