Panasonic MINAS A6 Multi Series Technical Reference page 19

1.5Function (Torque control)
1.5 Function (Torque control)
Item
Control input
Control output
Torque command input
Damping control
Model-type damping filter
Feed forward function
Load variation suppression function
3rd gain switching function
Friction torque compensation
Hybrid vibration damping function
Quadrant projection suppression function
Two-degree-of-freedom control mode
Torque limit switching function
Motor working range setting function
Torque saturation protection function
Single-turn absolute function
Infinitely rotation absolute function
External scale position information monitor
function under semi-closed control
1-9
Contents
Positive/negative direction over-travel inhibition, External latch signal, etc.
At-speed etc.
Input mode EtherCAT command
Speed limit Speed limit value can be Switched by EtherCAT command.
function
Not available
Not available
Not available
Not available
Not available
Not available
Not available
Not available
Not available
Not available
Not available
Not available
Available
Available
[Requirement]
Encoder resolution (2
equal to (2
Not available
23
)/electronic gear ratio/reduction ratio is an integer less than or
31
-1).