The basic Specification

Control Mode

1. Position Control 2. Speed Control  3.Torque Control

Feedback Type

1. Incremental Encoder 

2. Absolute Encoder

Conditions of Use

Using/Storage temperature

0~+55℃/20~+85℃

Using/Storage humidity

90% RH or less (non-condensing)

Resistance to vibration/impact resistance

4.9m/s²,19.6m/s²

Speed Torque Control Mode

Performance

Speed control range

1：5000（The lower limit of the speed control range is the condition of not stopping in rated torque load

Speed changing rate

load changing rate

When the load is 0~100%: less than ±0.01%  (in the rated speed)

Voltage changing rate

Rated voltage ±10%: 0% (in the rated speed)

temperature changing rate

0~50℃: less than ±0.1% (in the rated speed)

frequency characteristics

1.25kHz (when JL = JM)

torque control precision (reproducibility)

±2%

Soft start time setting

0~65s (can respectively set acceleration and deceleration time)

Input Signal

Speed instruction input

Instruction Voltage

DC±10V(DC 0V~±10V: Variable setting range)/rated rotating speed              input voltage:±12V (motor forward when the instruction is positive)

Input impedance

About 10KΩ

the circuit time parameter

About 47μs

Torque instruction input

Instruction voltage

DC±10V(DC 0V~±10V: Variable setting range)/rated rotating speed          input voltage:±12V (motor forward when the instruction is positive)

Input impedance

About 10KΩ

the circuit time parameter

About 47μs

Torque speed instruction

Selection of the rotating direction

Input using DI signal

Position Control Mode

Performance

Feed forward compensation

0~100% (Setting resolution 1%)

Position complete width setting

0~65535 command unit (Setting resolution 1 Command unit)

Encoder

Incremental

2500 lines, 5000 lines, wire-saving model

Absolute

17bits, 20bits, 23bits

Input Output Signal

Position output

Output state 

A phase, B phase, C phase, Differential driver output

Divide ratio

Arbitrarily divide

Input signal digital

Function can be defined

8 DI;

Serve ON, P action (or control mode switching, motor’s forward/reverse switch carried by internal speed, zero phase, prohibit command pulse), prohibits forward drive (P-OT), prohibiting reverse drive (N-OT), alarm reset, the forward current limiting, reverse side current limit (or internal speed selection)

Outpour signal sequentially

Function can be defined

3 DO;

Include three kinds from the positioning complete (consistent speed), the rotating motor, servo ready, current limit, the speed limit, the release of the brake warning, Near signal

Built-in Function

Dynamic brake (DB) function

The main power OFF, servo alarm, servo OFF, over-travel action

Over-travel(OT) prevention function

P-OT, N-OT action when DB stops, deceleration stop or coasting stop

Electronic gear

0.001≤B/A≤4000

Protection function

Overcurrent, overvoltage, undervoltage, overload, abnormal regeneration, the main circuit error, heat sink overheat, loss phase of power supply, overflow, overspeed, encoder error, precaution runaway, CPU error, abnormal parameters, position offset, ect

LED display function

Main power CHARGER, 5 LED display

Communication  function

Connected devices

EtherCAT, MODBUS

Axis address setting

Set according to user parameter

function

MODBUS: Status display, the user parameter settings, monitor display, alarm trace display, JOG operation and auto-tuning operation, speed, torque command signal, such as mapping functions 

EtherCAT: Support for CoE protocal

The basic Specification

Control Mode

1. Position Control 2. Speed Control  3.Torque Control

Feedback Type

1. Incremental square wave

2. Absolute

Conditions of Use

Using/Storage temperature

0~+55℃/20~+85℃

Using/Storage humidity

90% RH or less (non-condensing)

Resistance to vibration/impact resistance

4.9m/s²/19.6m/s²

Speed Torque Control Mode

Performance

Speed control range

1：5000（The lower limit of the speed control range is the condition of not stopping in rated torque load

Speed changing rate

load changing rate

When the load is 0~100%: less than ±0.01%  (in the rated speed)

Voltage changing rate

Rated voltage ±10%: 0% (in the rated speed)

temperature changing rate

0~50℃: less than ±0.1% (in the rated speed)

frequency characteristics

1.25kHz (when JL = JM)

torque control precision (reproducibility)

±2%

Soft start time setting

0~65s (can respectively set acceleration and deceleration time)

Input Signal

Speed instruction input

Instruction Voltage

DC±10V(DC 0V~±10V: Variable setting range)/rated rotating speed              input voltage:±12V (motor forward when the instruction is positive)

Input impedance

About 10KΩ

the circuit time parameter

About 47μs

Torque instruction input

Instruction voltage

DC±10V(DC 0V~±10V: Variable setting range)/rated rotating speed          input voltage:±12V (motor forward when the instruction is positive)

Input impedance

About 10KΩ

the circuit time parameter

About 47μs

Torque speed instruction

Selection of the rotating direction

Input using DI signal

Position Control Mode

Performance

Feed forward compensation

0~100% (Setting resolution 1%)

Position complete width setting

0~65535 command unit (Setting resolution 1 Command unit)

Encoder

Incremental

2500 lines, 5000 lines

Absolute

17bit, 20bit, 23bit

Input Signal

Command Pulse

Input pulse types

1.Symbol+pulse

2.CCW+CW pulse

3.90°Phase different (A phase + B phase)

Input pulse state

Differential drive (+5V)

Open Collector (+5V, +12V,or +24V

Input pulse frequency

Differential drive: Maximum 4M

Open collector drive: Maximum 500k

Control Signal

Clear signal (input pulse type and command pulse should be same)

Input Output Signal

Position output

Output state 

A phase, B phase, C phase, Differential driver output

Divide ratio

Ratio setting

Input signal Digital

Function can be defined

9 DI;

Serve ON, P action (or control mode switching, motor’s forward/reverse switch carried by internal speed, zero phase, prohibit command pulse), prohibits forward drive (P-OT), prohibiting reverse drive (N-OT), alarm reset, the forward current limiting, reverse side current limit (or internal speed selection)

Outpour signal Digital

Function can be defined

5 DO;

Include three kinds from the positioning complete (consistent speed), the rotating motor, servo ready, current limit, the speed limit, the release of the brake warning, Near signal

Built-in Function

Dynamic brake (DB) function

The main power OFF, servo alarm, servo OFF, over-travel action

Over-travel(OT) prevention function

P-OT, N-OT action when DB stops, deceleration stop or coasting stop

Electronic gear

0.001≤B/A≤4000

Protection function

Overcurrent, overvoltage, undervoltage, overload, abnormal regeneration, main circuit error, heat sink overheat, loss phase of power supply, overflow, overspeed, encoder error, precaution runaway, CPU error, abnormal parameters, position offset, ect

LED display function

Main power CHARGER, 5 LED display

Communication  function

Connected devices

CAN(optional), MODBUS

Axis address setting

Set according to user parameter

1:N communication

When connect the RS-485 port, the largest slave station is decided by master station’s capacity

function

Status display, the user parameter settings, monitor display, alarm trace display, JOG operation and auto-tuning operation, speed, torque command signal, such as mapping functions l

Others

Zero point search; motor auto-tuning; incremental auto adjust; low-frequency vibration suppression; Operating mode switch; Motor resonance suppression, plenty DIDO function, Full close loop control; Interrupt the length function