Panasonic MINAS A6 Series - Page 20

1-8
Function
Position control
Control input
Deviation counter clear, command pulse input inhibition, command division/multiplication
switching, vibration suppression control switching, etc.
Control output Positioning complete, etc.
Pulse
input
Max. command
pulse frequency
Exclusive interface for Photocoupler and line driver: 500 kpulse/s
Exclusive interface for line receiver: 8 Mpulse/s
Input pulse signal
format
Differential input. Selectable with parameter. ((1) Positive and Negative direction,
(2) A and B-phase, (3) Command and direction)
Electronic gear
(Division/Multiplication
of command pulse)
Process command pulse frequency × electronic gear ratio
(
1 to 2
30
1 to 2
30
)
as positional command
input. Use electronic gear ratio in the range 1/1000 times to 8000 times.
Smoothing lter Primary delay lter or FIR type lter is adaptable to the command input
Analog
input
Torque limit
command input
Individual torque limit for both positive and negative direction is enabled.
Torque feed forward input Analog voltage can be used as torque feed forward input.
Vibration suppression control Maximum of 3 may be used simultaneously
Model-type damping lter Maximum of 2 may be used simultaneously
Two-degree-of-freedom control
system
Available
Load variation suppression
function
Available
Position compare output function
Available [Condition] Block operation valid setting
Return to origin completed state in increment mode (when block operation origin return
invalidation setting is set to invalid)
External scale position
information monitor function
under semi-closed control
Available
Block operation Available
*1
Velocity control
Control input
Internal command velocity selection 1, Internal command velocity selection 2, Internal
command velocity selection 3, speed zero clamp, etc.
Control output Speed arrival, etc.
Analog
input
Velocity command
input
Speed command input can be provided by means of analog voltage.
Parameters are used for scale setting and command polarity. (6 V/Rated rotational speed
Default)
Torque limit
command input
Torque limit can be applied to each direction respectively.
Torque feed forward input Analog voltage can be used as torque feed forward input.
Internal velocity command Switching the internal 8speed is enabled by command input.
Soft-start/down function
0 to 10s/1000 r/min r/min Setting is possible for acceleration and deceleration respectively.
S shaped acceleration/deceleration is possible.
Zero-speed clamp Internal velocity command can be clamped to 0 with speed zero clamp input.
Velocity command lter Available
Two-degree-of-freedom control
system
Available
Load variation suppression
function
Available
Position compare output
function
Unavailable
External scale position
information monitor function
under semi-closed control
Available
Block operation Unavailable
2. Driver
Specifications (The Mutifuction type)
Caution
*
1 For details of block operation functions, please refer to Technical reference (Modbus communication and
Block operation Specication).
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