Panasonic MINAS A6 Multi Series Technical Reference page 20

1.6 Function (Full-closed control)
Item
Control input
Control output
Position command input
External scale ratio
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
Contents
Positive/negative direction over-travel inhibition, External latch signal, Near home
position, etc.
Positioning completion etc.
Input mode EtherCAT command
Smoothing Filter Primary delay filter or FIR type filter is adaptable to the command input
1/40 to 125200 times
Although the ratio of encoder pulse (numerator) and external scale pulse
(denominator) can be set anywhere between the range of 1 and 2
and 1 to 2
Available (Up to 3 frequency settings can be used simultaneously.)
Not available
Available (speed, torque)
Available
Available
Available
Available
Available
Available (standard type)
Available
Available
Available
Not available
Not available
Not available
23
for the denominator, please use within the range indicated above.
Introduction
23
for the numerator
1-10