Panasonic MINAS A6 Multi Series Technical Reference page 69

4.3Velocity control
4.3 Velocity control
The driver module performs speed control following the EtherCAT communication object speed
command input from the host controller. Below describes the basic settings necessary for speed control.
As the speed control mode, there is a Profile velocity control(pv) and Cyclic synchronous velocity
control(csv).
For details, refer to "TECHNICAL REFERENCE EtherCAT Communication Specification (SX-DSV03456)".
The control mode is switched forcibly inside the driver module depending on its operating status
irrespective of the command from the host device. This operation has an effect on input signal processing.
 Conditions that the control mode is switched forcibly inside the driver
 When the frequency characteristic is measured by setup support software PANATERM for Multi.
(Position loop characteristics mode is position control, the speed closed loop characteristic mode and torque
speed [vertical] mode are speed control, torque speed [normal] mode is torque control.)
 Test run of the setup support software (Forcibly position control).
 The states that are written "Forcibly position control" in Section "6.3 Deceleration stop sequence".
 During retracting operation function (Forcibly position control) (Not supported)
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