| Input Power |
Main Power Supply |
DC24~80[V] |
| Control Power Supply |
DC24~80[V] |
| Rated Current[A] |
3 |
6 |
| Peak Current[A] |
9[A] > 1[sec] |
18[A] > 1[sec] |
| 1st Encoder Encoder A |
*Quadrature(Max. 10Mpps after X 4)
– With and without halls, Differential
*Serial Encoder(absolute, incremental)
– BiSS(B,C), Endat2.2, Tamagawa Serial, SSI |
| 2nd Encoder Encoder B |
*Quadrature(Max. 10Mpps after X 4)
– Without halls, Differential
*Serial Encoder(absolute, incremental)
– BiSS(B,C), Endat2.2, Tamagawa Serial, SSI
*Analog Encoder – Sinusoidal(1Vpp), Analog hall(Sin/Cos)
– Resolver(Optional) |
| Control Performance |
Speed Control Range |
Maximum 1: 5000 |
| Frequency Response |
Maximum 1 [kHz] or above (When using 19bit Serial Encoder) |
| Speed Variation Ratio |
±0.01 [%] or lower [when load changes between 0 and 100%]
±0.1[%] or lower [temperature 25 ±10°C] |
| Torque Control Repetition Accuracy |
Within ±1% |
| Input Frequency |
4[Mpps], Lind Drive |
| Input Pulse Method |
Symbol + Pulse series, CW+CCW, Phase A/B |
| EtherCAT Communication Specifications |
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 |
Within connection between nodes 100[m] |
| DC(Distributed Clock) |
By DC mode synchronism. minimum DC cycle: 250[us] |
| LED Display |
LinkAct IN, LinkAct OUT, RUN, ERR |
| Cia402 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 / Output |
Digital Input |
Total 4 input channels(allocable)
Total 33 functions can be used selectively for assignment
( *POT, *NOT, *HOME , * STOP, PCON, GAIN2, P_CL, N_CL, PROBE1P, ROBE2, EMG, A_RST, SV_ON, START, PAUSE, REGT, HSTART, ISEL0~5, ABS_RQ, JSTART, JDIR, PCLR, AOVR, INHIB ,SPD1, SPD2, SPD3, MODE) |
| Digital Output |
Total 4 input channels(allocable)
Total 33 functions can be used selectively for assignment
(*BRAKE, *ALARM, *READY, *ZSPD, INPOS1, INPOS2, TLMT, VLMT, INSPD, WARN, TGON, ORG, EOS, IOUT0, IOUT1, IOUT2 IOUT3, IOUT4, IOUT5) |
| Analog Input / Output |
Analog Input |
Input Voltage Range Differential ±10[V](16bit resolution)
Setting torque limit value with 1 channel analog voltage |
| Analog Output |
Total 2 channels(allocable)
Total 15 outputs can be used selectively for assignment |
| Safety Function |
2 input channels(STO1, STO2) |
| Encoder Output Type |
AO(+/-), BO(+/-), ZO(+/-) (Line drive output max. 6.4Mpps) |
| USB Communication |
Function |
Firmware download, parameter setting, tuning, auxiliary function,parameter copy |
| Communication Standard |
Complies with USB 2.0 Full Speed Specifications |
| Connect |
PC or USB storage media |
| Internal Function |
Self-setting Function |
Drive node address can be set using dip switch |
| Additional Function |
Gain tuning, alarm history, JOG operation, origin search |
| Analog Output |
Excessive current/voltage/overload/overheating/speed, excessive current limit,
low voltage, encoder/position following/current sensing fail |
| Operation Environment |
Operating Temperature / Storage Temperature |
0 ~ 50[℃] / -20 ~ 65 ℃ |
| Operating Humidity / Storage Humidity |
Below 80[%]RH / Below 90[%]RH(avoid dew-condensation) |
| Environment |
Indoor, Avoid corrosive, inflammable gas or liquid, and electrically conductive dust. |
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