| 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] |
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| 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] |
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| Rated Current [A] | 1.4 | 1.7 | 3.0 | 5.2 | 6.75 | 13.5 | 16.0 |
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| Peak Current [A] | 4.9 | 5.95 | 10.5 | 18.2 | 20.25 | 40.5 | 48.0 |
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| Encoder Type | Quadrature (Incremental) , BiSS-B, BiSS-C(Absolute, Incremental)
Tamagawa Serial(Absolute, Incremental), EnDat 2.2, Sinusoidal, Analog Hall, SSI, Nikon, Panasonic |
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Control
Performance | Speed Control Range | Max. 1 : 5000 |
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| Speed Variation Ratio | ±0.01[%] or less (Load variation 0~100[%]), ±0.1[%] or less (temperature: 25±10[℃]) |
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Torque Control Repetition
Accuracy | ±1[%] or less |
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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 |
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| Physical Layer | 100BASE-TX(IEEE802.3) |
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| Connector | RJ45 x 2 |
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| Communication Distance | Distance between nodes 100[m] or less |
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| DC (Distributed Clock) | Synchronization by DC(Distributed Clock) mode. Minimum DC cycle: 125[us] |
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| LED Display | Link Act IN, Link Act OUT, RUN, ERR |
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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 |
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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 |
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| 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 |
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| Encoder Decimation Output | Differential Line Driver 3 channels AO, /AO, BO, /BO, ZO, /ZO up to 6.5 [Mpps] on 4x interpolation |
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Analog Input &
Output | Analog Input | Input voltage range: -10 ~ +10[V], Function: analog torque limit (1 channel, unallocable) |
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| Analog Output | Total 2 channels (Allocable): able to selectively allocate total 25 types of output |
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| Safety Function | 2 Input Channels(STO1 and STO2), 1 Output Channel(EDM) |
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USB
Communication | Function | Firmware download, tuning, test drive, monitoring, parameter duplication |
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| Communication Standard | Complies with USB 2.0 Full Speed and OTG 2.0 standards |
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| Accessible Device | PC or USB Storage device |
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Embedded
Function | Dynamic Braking | Standard built-in brake (Activated when the servo alarm goes off or when the servo is off). |
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| Regenerative Braking | Braking Built-in by default (100W & 200W excluded) |
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| Display Function | 7-segment display (5 digits) |
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| Self-setting Function | Drive node address setting is possible using rotary switch |
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| Additional Function | Gain tuning, alarm history, jog operation, home searching |
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| Protection Function | Overcurrent, overload, overheat, overvoltage, insufficient voltage,
overspeed, abnormal state of encoder, position following error, current detecting error |
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Operation
Environment | Operating Temperature /
Storage Temperature | 0 ~ +50[°C] / -20 ~ +65[°C] |
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Operating Humidity /
Storage Humidity | Under 80[%]RH / Under 90[%]RH (noncondensing) |
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| Environment | Keep indoors. Avoid corrosive / flammable gas or liquid. |
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