| Input Power |
Main Power |
1-Phase AC100 ~ 120[V],
1-Phase AC200 ~ 240[V],
3-Phase AC200 ~ 240[V], (-15 ~ +10[%]),
50 ~ 60[Hz] |
1-Phase
AC200 ~ 240[V],
3-Phase
AC200 ~ 240[V],
(-15 ~ +10[%]),
50 ~ 60[Hz] |
3-Phase AC200 ~ 240[V], (-15 ~ +10[%]),
50 ~ 60[Hz] |
| Control Power |
1-Phase AC100 ~ 120[V]
1-Phase AC200 ~ 240[V]
(-15 ~ +10[10%]), 50 ~ 60[Hz] |
1-Phase AC200 ~ 240[V]
(-15 ~ +10[10%]), 50 ~ 60[Hz] |
| Rated Current [A] |
1.4 |
1.7 |
3.0 |
5.2 |
6.75 |
13.5 |
16.0 |
| Peak Current [A] |
4.9 |
5.95 |
10.5 |
18.2 |
20.25 |
40.5 |
48.0 |
| Encoder Type |
Quadrature (Incremental) , BiSS-B, BiSS-C(Absolute, Incremental)
Tamagawa Serial(Absolute, Incremental), EnDat 2.2, Sinusoidal, Analog Hall, SSI, Nikon, Panasonic |
Control
Performance |
Speed Control Range |
Max. 1 : 5000 |
| Speed Variation Ratio |
±0.01[%] or less (Load variation 0~100[%]), ±0.1[%] or less (temperature: 25±10[℃]) |
Torque Control Repetition
Accuracy |
±1[%] or less |
EtherCAT
Specification |
Communication Standard |
FoE (Firmware download) EoE (Parameter setting by UDP, Tuning, Secondary function, Parameter copy)
CoE (IEC 61158 Type12, IEC 61800-7 CiA 402 Drive profile |
| Physical Layer |
100BASE-TX(IEEE802.3) |
| Connector |
RJ45 x 2 |
| Communication Distance |
Distance between nodes 100[m] or less |
| DC (Distributed Clock) |
Synchronization by DC(Distributed Clock) mode. Minimum DC cycle: 125[us] |
| LED Display |
Link Act IN, Link Act OUT, RUN, ERR |
CiA 402 Drive
Profile |
Profile Position Mode, Profile Velocity Mode, Profile Torque Mode, Cyclic Synchronous Position Mode
Cyclic Synchronous Velocity Mode, Cyclic Synchronous Torque Mode, Homing Mode |
Digital Input,
Digital Output |
Digital Input |
Input Voltage range: DC 12[V] ~ DC 24[V] / Total 6 input channels (allocable)
Inputs of total 15 functions are selectively allocable
(*POT, *NOT, *HOME, *STOP, *PCON, *GAIN2, P_CL, N_CL, PROBE1, PROBE2, EMG, A_RST, SV_ON, LVSF1,
LVSF2) Note) *: Fundamentally allocated signals |
| Digital Output |
Service rating: DC 24[V] ±10%, 120[mA] total 3 channels (allocable)
Total 11 outputs are selectively allocable
(*BRAKE, *ALARM, *READY, ZSPD, INPOS, TLMT, VLMT, INPOS2, INSPD, WARN, TGON)
Note)* Automatically allocated signals |
| Encoder Decimation Output |
Differential Line Driver 3 channels AO, /AO, BO, /BO, ZO, /ZO up to 6.5 [Mpps] on 4x interpolation |
Analog Input &
Output |
Analog Input |
Input voltage range: -10 ~ +10[V], Function: analog torque limit (1 channel, unallocable) |
| Analog Output |
Total 2 channels (Allocable): able to selectively allocate total 25 types of output |
| Safety Function |
2 Input Channels(STO1 and STO2), 1 Output Channel(EDM) |
USB
Communication |
Function |
Firmware download, tuning, test drive, monitoring, parameter duplication |
| Communication Standard |
Complies with USB 2.0 Full Speed and OTG 2.0 standards |
| Accessible Device |
PC or USB Storage device |
Embedded
Function |
Dynamic Braking |
Standard built-in brake (Activated when the servo alarm goes off or when the servo is off). |
| Regenerative Braking |
Braking Built-in by default (100W & 200W excluded) |
| Display Function |
7-segment display (5 digits) |
| Self-setting Function |
Drive node address setting is possible using rotary switch |
| Additional Function |
Gain tuning, alarm history, jog operation, home searching |
| Protection Function |
Overcurrent, overload, overheat, overvoltage, insufficient voltage,
overspeed, abnormal state of encoder, position following error, current detecting error |
Operation
Environment |
Operating Temperature /
Storage Temperature |
0 ~ +50[°C] / -20 ~ +65[°C] |
Operating Humidity /
Storage Humidity |
Under 80[%]RH / Under 90[%]RH (noncondensing) |
| Environment |
Keep indoors. Avoid corrosive / flammable gas or liquid. |
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