Panasonic MINAS A6 Multi Series Technical Reference page 177

Related object
Sub
Index Name Description
Index
607Ch 00h Home
offset
/687Ch
Cautions
 This function is available when Pr0.15 "Absolute encoder setup" is set to "4" with control power cycle is
enabled.
 Set Pr6.88 "Absolute encoder multi-turn data upper-limit value" to "(m-1)". "m" corresponds to the
denominator of the deceleration ratio.
 The actual position wraps around at the position at which multi-turn data wraps around. Give a position
command so that the position will agree with this actual position.
For the detail of the wraparound process, refer to "TECHNICAL REFERENCE EtherCAT Communication
Specification (SX-DSV03456)".
 When using absolute positioning for pp control or this function for csp control, set the movable position (not
exceeding wraparound position, within Position range limit (607Bh/687Bh)) to the target position. When set
the position that can not be moved to the target position, Err91.1 (Command error protection) occurs.
 Set Pr6.88 "Absolute encoder multi-turn data upper-limit value" while not allowing the actual position and
command position to exceed 231. When ((Pr6.88+1) × Encoder's resolution performance) – 1 exceeds 231,
Err93.8 "Parameter setting fault protection 6" is generated.
 The actual position of motor is set based on 607Eh/687Eh(Polarity) and 607Ch/687Ch(Home offset) and so
on.
For details, refer to "TECHNICAL REFERENCE EtherCAT Communication Specification (SX-DSV03456)".
 When this function is used for the first time, or Pr6.88 is changed to an arbitrary value and cotrol power is
re-input, Err92.3 "Inconsistency fault protection of multiple rotation data's upper limit values" is always
generated. However, it is not a fault. Once the control power is re-powered on, the error will not occur from
the next time.
 Refer to Section "4.7.1 Absolute encoder" for structure of absolute system.
 Set 607Ch/687Ch(Home offset) between "0" to "((Pr6.88 set value +1) * encoder resolution) - 1". When
wrong valuse is set, Err93.8 "Parameter setting error protection 6" occurs.
After the homing position control
mode (hm), position information is
set so that the detected index
pulse position becomes equal to
the value of this object.
Also, it is added to the position
information at the following
position information
initialization(preset).
 At the control power supply ON
 When establishing
communication (when changing
ESM state from Init to PreOP)
 When clearing absolute
multi-turn
 When PANATERM for Multi
operation (test run function,
frequency characteristic
measurement, Z phase search,
fit gain) is completed.
 When executing pin assign by
PANATERM for Multi.
Units Range
Command -2147483648
to
2147483647
Application Functions
Data Op-
Access PDO
Type mode
I32 rw RxPDO ALL
EEPROM
Yes
6-20