Panasonic MINAS A6 Multi Series Technical Reference page 61

4.2Position control

The unit of the movement amount setting of the test run function by the setup support tool
PANATERM for Multi is [command unit].

Communication cycle setup at 125 µs or 250 μs is supported only if the electronic gear
ratio is 1:1. Err88.3 (Improper operation error protection) occurs when the electronic gear
ratio is other than 1:1.

Communication cycle setup at 500 μ s is supported only if the electronic gear ratio is a
power of 2. Err88.3 (Improper operation error protection) occurs when the electronic gear
ratio is other than a power of 2.

Err88.3 (Improper operation error protection) occurs if the TxPDO size for either Axis A or
Axis B is set larger than 25 bytes while the communication cycle is 500 μs and the
electronic gear ratio is a power of 2.

Err88.3 (Improper operation error protection) occurs if the RxPDO size for either Axis A or
Axis B is set larger than 25 bytes while the communication cycle is 500 μs and the
electronic gear ratio is a power of 2.

MINAS A6 Multi Ver1.01 has a combination of settings that cannot be partially supported.
See the table below for details.
Operation
mode
semi-closed
or
full-closed
semi-closed
For details, refer to "TECHNICAL REFERENCE EtherCAT Communication Specification
(SX-DSV03456)".
4-5
Single axis
Electronic gear
PDO size [byte]
ratio
RxPDO TxPDO
≤6
1
7–32
≤25
2 ^ n
(n=Integer from
1-12)
26–32
1/1000–8000
≤32
(Other than 1 and
2 ^ n)
Other than those
≤32
above
Communication cycle [us]
125 250
✔ ✔
≤6
✖ ✖
7–32
(Err88.3) (Err88.3)
✖ ✖
≤25
(Err88.3) (Err88.3)
✖ ✖
26–32
(Err88.3) (Err88.3)
✖ ✖
≤32
(Err88.3) (Err88.3)
✖ ✖
≤32
(Err88.3) (Err88.3)
500 1000 2000
✔ ✔ ✔
✔ ✔ ✔
✔ ✔ ✔
✖
✔ ✔
(Err88.3)
✖
✔ ✔
(Err88.3)
✖ ✖ ✖
(Err88.3) (Err88.3) (Err88.3)
4000
✔
✔
✔
✔
✔
✖
(Err88.3)