Panasonic MINAS A6 Multi Series Technical Reference page 82

Structure of absolute system
 Absolute system configuration using EtherCAT communication interface
(Example: with driver module 2-axes connection)
In the EtherCAT communication response (driver to host controller), the absolute data is transferred to
the host controller as the current position data.
*1 When connecting the battery, connect it to the junction connector on either the connector X9A/X9B side or the encoder side. Do not
connect to both.
During replacing the battery, the control power input must be held ON. If not so, the absolute data will be lost.
Installing battery for absolute data
Refer to "REFERENCE SPECIFICATIONS Driver module section (SX-DSV03454)".
Clearing of absolute data
Multi-turn data of the absolute data is hold by the battery.
Therefore, when you start up the machine for the first time, it is required to make the multi-turn data to
0 by encoder clearing at the home position after installing the battery.
Clearing operation of absolute encoder is made through PANATERM for Multi(USB communication,
EoE communication) or EtherCAT communication. After clearing the absolute data, turn OFF and ON the
control power.
For information about clearing via PANATERM for Multi(USB communication, EoE communication),
refer to the operating manual of PANATERM for Multi.
For information about clearing via EtherCAT communication, refer to "TECHNICAL REFERENCE
EtherCAT Communication Specification (SX-DSV03456)".
Basic Functions
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