Panasonic MINAS A6 Multi Series Technical Reference page 23

1.8Differences from MINAS A6B series
Section function
6.3.3 Sequence at main
power OFF
6.5 Position comparison
output function
6.9 Retraction operation
function
6.10 Backlash correction
function
7.1 List of protective
functions
7.2 Details of protective
function
8 Safety functions
(To be continued)
1-13
content MINAS A6B
Availability Available
interface 3 photo-couppler output
(SO1/SO2/SO3)
or
3 line-driver output
(OCMP1/OCMP2/OCMP3)
output pulse setting parameter settings
compare source Encoder (Communication)
External scale (Communication)
External scale (A/B phase)
compare value 8 point
Availability Available
Availability Available
Err17.x Not available
Err31.x Err31.0, Err31.2
Err69.x Not available
Err88.3 Improper operation error
protection
Err97.x Err97.3, Err97.4, Err97.5,
Err97.6, Err97.7, Err97.8
function Available only STO(Safe Torque
Off) function.
MINAS A6 Multi
Move to Power Supply module.
Refer to section "11 Power Supply
Module".
2 photo-couppler output (SO1/SO2)
or
2 line-driver output (OCMP1/OCMP2)
in total for 2 axes
parameter settings for each axis
Encoder (Communication)
External scale (Communication)
External scale (A/B phase)
for each axis
8 point for each axis
Not available
Not available
Available
Err31.3, Err31,5
Err69.0, Err69.1, Err69.2, Err69.3,
Err69.4, Err69.5, Err69.6
In addition to the left,
Err88.3 occurs by the combination of
communication cycle, PDO size, and
electronic gear ratio.
Err97.1, Err97.2
Available advanced safety functions.
 SIL3, PLe, CAT4 safety levels at
maximum.
 Select the encoder configuration
according to the required safety level.
 Duplex safety input / output signals are
available for safety functions.
 Support 14 types of safety functions
including STO and 5 types of optional
functions.
 Safety monitoring processing can be
freely programmed with PANATERM
for Safety.