Panasonic MINAS A6 Multi Series - Page 61

4.2Position control
4-5
 The unit of the movement amount setting of the test run function by the setup support tool
PANATERM for Multi is [command unit].
 Communication cycle setup at 125 µs or 250 μs is supported only if the electronic gear
ratio is 1:1. Err88.3 (Improper operation error protection) occurs when the electronic gear
ratio is other than 1:1.
 Communication cycle setup at 500 μs is supported only if the electronic gear ratio is a
power of 2. Err88.3 (Improper operation error protection) occurs when the electronic gear
ratio is other than a power of 2.
 Err88.3 (Improper operation error protection) occurs if the TxPDO size for either Axis A or
Axis B is set larger than 25 bytes while the communication cycle is 500 μs and the
electronic gear ratio is a power of 2.
 Err88.3 (Improper operation error protection) occurs if the RxPDO size for either Axis A or
Axis B is set larger than 25 bytes while the communication cycle is 500 μs and the
electronic gear ratio is a power of 2.
 MINAS A6 Multi Ver1.01 has a combination of settings that cannot be partially supported.
See the table below for details.
Operation
mode
Electronic gear
ratio
Single axis
PDO size [byte]
Communication cycle [us]
RxPDO
TxPDO
125
250
500
1000
2000
4000
semi-closed
or
full-closed
1
≤6
≤6
✔
✔
✔
✔
✔
✔
7–32
7–32
✖
(Err88.3)
✖
(Err88.3)
✔
✔
✔
✔
semi-closed
2 ^ n
(n=Integer from
1-12)
≤25
≤25
✖
(Err88.3)
✖
(Err88.3)
✔
✔
✔
✔
26–32
26–32
✖
(Err88.3)
✖
(Err88.3)
✖
(Err88.3)
✔
✔
✔
1/1000–8000
(Other than 1 and
2 ^ n)
≤32
≤32
✖
(Err88.3)
✖
(Err88.3)
✖
(Err88.3)
✔
✔
✔
Other than those
above
≤32
≤32
✖
(Err88.3)
✖
(Err88.3)
✖
(Err88.3)
✖
(Err88.3)
✖
(Err88.3)
✖
(Err88.3)
For details, refer to "TECHNICAL REFERENCE EtherCAT Communication Specification
(SX-DSV03456)".