Panasonic MINAS A6 Multi Series Technical Reference page 273

9.1List of parameters
No. Title
16 Torque saturation
error protection
frequency
22 Communication
function extended
setup 1
23 Communication
function extended
setup 2
(To be continued)
9-29
Size
Unit Range
[byte]
time 0 to 2
30000
- -32768 to 2
32767
- -32768 to 2
32767
Function/Contents
If torque saturated is continued
during a preset frequency, Err 16.1
"Torque saturation protection" will
be activated.
The number of times is counted up
every 0.25 ms. For example, when
30000 is set, Err16.1 occurs if the
torque saturation condition
continues for 7.5 seconds.
The count is cleared when the
torque saturation condition is
removed.
When the value set for Pr6.57 is
other than 0, the value set for Pr6.57
is enabled.
bit0 to 4: For manufacturer's use
All bits permanently set at
0.
bit5: 6080h/6880h(Max motor
speed) on csp mode (Amount
of change saturation function
of command position)
0: Invalid on csp
1: Valid on csp
bit6: Homing return speed limit
function enabled
0: Invalid
1: Valid
bit 7: In Z phase homing Over-travel
inhibit input setup
0: Invalid
1: Valid
For manufacturer's use
bit 8 to 10:
All bits permanently
set at 0.
bit 11 to 15: For manufacturer's use
All bits permanently
set at
Set up the properly according to the
specifications of the host controller.
If the setting is not proper, the
operation is not be guaranteed.
bit0 to 13: For manufacturer's use
All bits permanently set
at 0.
bit14: Command positional
deviation
[Command unit] output
setting
0: Internal command
position (after filter)
[Command unit]
- Actual position
[command unit]
1: Internal command
position (before filter)
[Command unit]
- Actual position
[Command unit]
Related
Attribute control Reference
mode
B Position, 6.4
Velocity,
Full-closed
R All 4.8
B All 3.4