Panasonic MINAS A6 Multi Series Technical Reference page 21

1.7Function (Common)
1.7 Function (Common)
Item
Electronic gear ratio
Auto-tuning
Notch filter
Gain switching function
Two-stage torque filter
Position comparison output function
Protective function
Alarm data history
Deterioration diagnosis function
1-11
Contents
Applicable scaling ratio: 1/1000–8000
The electronic gear ratio is limited by the combination of communication cycle, PDO
size, and electronic gear ratio. For details, refer to "TECHNICAL REFERENCE
EtherCAT Communication Specification (SX-DSV03456)".
The load inertia is identified in real time by the driving state of the motor operating
according to the command given by the controller or setup support software
PANATERM for Multi.
The gain is set automatically in accordance with the rigidity setting.
Available (5 filters available)
Available
Available
Available
[Requirement]
EtherCAT communication is established.
Return to origin operation completed if in incremental mode.
Other than Countinuous rotating absolute mode (Pr0.15=4)
Overvoltage, undervoltage, overspeed, overload, overheat, overcurrent, encoder
failure, positional overdeviaition, EEPROM failure, etc.
Available
Available