| Input Power | Main Power Supply | 3 Phase AC200 ~ 230[V](-15 ~ +10[%]), 50 ~ 60[Hz] |
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| Control Power Supply | Single Phase AC200 ~ 230[V](-15 ~ +10[%]), 50 ~ 60[Hz] |
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| Rated Current[A] | 1.4 | 1.7 | 3 | 5.2 | 6.75 | 13.5 | 16.7 | 32 | 39.4 | 76 |
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| Peak Current[A] | 4.2 | 5.1 | 9 | 15.6 | 20.25 | 40.5 | 50.1 | 90.88 | 98.5 | 190 |
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| Encoder Type | Quadrature(Incremental) |
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| BiSS-B, BiSS-C(Absolute, Incremental) Tamagawa Serial(Absolute, Incremental) EnDat 2.2 |
| Sinusoidal Analog Hall |
| Control Performance | Speed Control Range | Maximum 1: 5000 |
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| Frequency Response | Maximum 1[kHz] or above(When the 19-bit Serial Encoder is applied) |
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| Speed Variation Ratio | ±0.01[%] or lower(When the load changes between 0 and 100%) |
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| ±0.1[%] or less(Temperature of 25°C[±10] |
| Torque Control Repetition Accuracy | Within ±1% |
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| EtherCAT Communication Specifications | Communication Standard | FoE (Firmware download) |
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| 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) |
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| Connector | RJ45 x 2 |
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| Communication distance | Within connection between nodes 100[m] |
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| DC(Distributed Clock) | By DC mode synchronism. minimum DC cycle: 250[us] |
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| LED Display | LinkAct IN, LinkAct OUT, RUN, ERR |
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| Cia402 Drive Profile | Profile Position Mode Profile Velocity Mode Profile Torque Mode |
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| Cyclic Synchronous Position Mode Cyclic Synchronous Velocity Mode Cyclic Synchronous Torque Mode Homing Mode |
| Digital Input / Output | Digital Input | Input Voltage range : DC 12[V] ~ DC 24[V] Total 8 input channels(allocable) |
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| Above 12 functions can be used selectively for assignment. |
| (*POT, *NOT, *HOME, *STOP, *PCON, *GAIN2, *P_CL, *N_CL, PROBE1, PROBE2, EMG, A_RST) |
| Digital Output | Service rating: DC 24[V] ±10%, 120[ ] Total 4 input channels (allocable) |
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| Above 11 functions can be used selectively for assignment. |
| (*BRAKE±, *ALARM±, *READY±, *ZSPD±, INPOS±, TLMT±, VLMT±, INSPD±, WARN±, TGON±, INPOS±) |
| Safety Function | 2 Input Channels (STO1, STO2), 1 Output Channels (EDM±) |
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| USB Communication | Function | Firmware download, Parameter setting, Tuning, Secondary function, Parameter cop> |
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| Communication Standard | USB 2.0 Full Speed (applies standard) |
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| Connect | PC or USB storing medium |
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| Internal 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 | Default built-in(excluding 15kW), external installation possible |
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| Display Function | 7 segments(5DIGIT) |
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| Self-setting Function | The [MODE] key changes the content displayed in 7 segments |
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| Additional Function | Auto gain tuning function |
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| Protection Function | Overcurrent, overload, overvoltage, insufficient voltage, main
power input problem, control power input problem, overspeed, motor cable,
overheat(power module overheat, abnormal drive operation’s temp), encoder
problem, over-regenerative, sensor problem, communication problem |
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| Operation | Operating Temperature / Storage Temperature | 0 ~ 50[°C] / -20 ~ 70[°C] |
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| Operating Humidity / Storage Humidity | Below 80[%]RH / Below 90[%]RH(avoid dew-condensation) |
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| Environment | Indoor, Avoid corrosive, inflammable gas or liquid, and electrically conductive dust. |
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