Panasonic MINAS A6 Multi Series - Page 13

1.1Introduction
1-3
MINAS A6 Multi series Functional comparison
In this software version, the functions of "✖" are not supported in the table below.
The description regarding these functions in the body text may be subject to change without prior notice at
handling, hereafter.
✔:Usable ✖:Not usable
Function
Product
MINAS A6BF
(Multi-function type)
MINAS A6 Multi
Product number ending with:F
CPU1:Ver1.05
CPU2:Ver1.05
<Power supply module>
CPU:Ver1.01
<Drive module>
CPU1:Ver1.01
CPU2:Ver1.01
Control mode
Position control
pp
✔
✔
csp
✔
✔
ip
✖
✖
hm
✔
✔
Velocity control
pv
✔
✔
csv
✔
✔
Torque control
tq
✔
✔
cst
✔
✔
cstca
✖
✖
Full-closed control
-
✔
✔
Rotary scale
✔
✖
Function
Two-degree-of-freedom
control
Position
✔
✔
Velocity
✔
✔
Torque (Note 1)
✔
✔
Full-closed
✔
✔
Safety function (STO)
✔
✔
Advanced safety function
✖
✔
Pulse regeneration function
✔
✖
Damping Control
✔
✔
Model-type damping filter
✔
✖
Feed forward function
✔
✔
Load variation suppression function
✔
✔
3rd gain switching function
✔
✔
Friction torque compensation
✔
✔
Hybrid vibration damping function
✔
✔
Quadrant projection suppression function
✔
✔
Torque limit switching function
✔
✔
Motor working range setting function
✔
✔
Torque saturation protection function
✔
✔
Single-turn absolute function
✔
✔
Infinitely rotation absolute function
✔
✔
Retracting operation function
✔
✖
Backlash compensation function
✔
✖
(Note 1) Not supported in the synchronous type of 2 degrees of freedom (DOF) control mode.
(To be continued)