Panasonic MINAS A6 Multi Series Technical Reference page 73

4.4Torque control
4.4 Torque control
Torque control is performed based on the torque command object of the EtherCAT communication
which is input from the host controller.
This describe the basic configuration when using the torque control. Torque control is required speed
limit command in addition to the torque command. Control the rotational speed of the motor so that the
value does not exceed the speed limit.

When a torque command is given so that 0 is routed through like a positive value to
negative value or negative value to positive value while torque filter is valid, torque may
not be controlled according to the torque slope and torque filter settings.
As torque control mode, there is a Profiles torque control (tq) and Cyclic synchronous torque control
(cst).
For details, refer to "TECHNICAL REFERENCE EtherCAT Communication Specification (SX-DSV03256)".
The control mode is switched forcibly inside the driver 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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