5.2Manual adjusting function
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5.2.1 Block diagram of position control mode
Position control of MINAS A6 Multi series, there are three modes.
Profile position mode (pp)
Cyclic synchronous position mode (csp)
Homing mode (hm)
Interpolated position mode (ip) is not supported.
Block diagram of position control
*1 A slanting number shows (ex: 607Ah) the object number of EtherCAT.
*2 A bold letter number shows (ex:1.00) a parameter number.
*3 Polarity was omitted.
*4 The method to calculate the positional deviation on PANATERM for Multi monitor varies depending on the setting of bit14 of Pr7.23
(Communication function extended setup 2).
*5 The position command on PANATERM for Multi can be switched depending on the setting of the bit3 (Command pulse accumulation
value) of Pr7.99 (Communication function extended setup 6).
*6 When performing test run function, Z phase search, Frequency characteristic measurement (position loop characteristic) from the
PANATERM for Multi, the driver switches to position control mode internally.
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