| Customization: | Available |
|---|---|
| Task: | Program |
| Structure: | Closed-Loop |
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High-speed response performance
•Up to 1.0KHz speed frequency response.
| Item | Specification | ||||
| Basic specification | Control type | IGBT PWM control sine wave current driving | |||
| Feedback | Supporting incremental 2500 ppr encoder, 17 bit incremental encoder, 23 bit absolute encoder | ||||
| Six (6) control modes | Speed control, position control, torque control, speed/position control, torque/speed control, position/torque control | ||||
| Front panel | 5 buttons, 5 LED places | ||||
| Regenerative brake (note 1) | Built in braking unit and resistor, allowing to connect with the external braking resistor. | ||||
| Use condition | Ambient temperature | Operating temperature 0~40°, storage temperature: -20°~ 85° | |||
| Ambient humidity | Operating/storage: ≤90%RH (without condensation) | ||||
| Altitude | ≤1,000m | ||||
| Vibration-resisting impact strength | Oscillation: ≤4.9m/s2 (no work is allowed at the point of resonance); impact: ≤19.6m/s2 | ||||
| Protection degree | I P 1 0 | ||||
| Class of pollution | 2 | ||||
| Type of cooling (note2) | Fan cooling | ||||
| Performance | Speed torque control mode |
Speed fluctuation ratio |
Load variance | 0~100% load: 0.3% maximally | On the basis of 23 bit encoder and at the rated speed |
| Power voltage variance | Rated voltage ±10%: 0.3% maximally | ||||
| Ambient temperature | 0~50°: 0.3% maximally | ||||
| Speed ratio | 1:3000 (2500ppr encoder) 1:5000 (17 bit and 23 bit encoder) |
Continuous and stable operating at rated load: minimum speed/rated speed |
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| Frequency bandwidth | 800Hz (17 bit encoder) | ||||
| Torque control accuracy | ±3% (current repeated accuracy ) | ||||
| Soft start time setting | 0~30s (setting acceleration and deceleration respectively) | ||||
| Position control mode |
Feed-forward compensation | 0~100% (setting the resolution 1%) | |||
| Positioning completion width | 1~65535 command unit (setting the resolution 1 command unit) | ||||
| Minimum setting time | 5ms (no-load, when the positioning completes at the rated speed) | ||||
| Speed torque control mode | Input signal | Speed command input | Command voltage | +/10v resolution 12 bits (the motor rotates positively when there is positive command note3) | |
| Input impedance | 5.1 ohm approximately | ||||
| Circuit constant | 200μs | ||||
| Torque command input |
Command voltage | ±10V resolution 12 bits | |||
| Input impedance | 5.1 ohm approximately | ||||
| Circuit constant | 200μs | ||||
| Multi-stage speed command | The default use of DI5 (CMD0), DI6 (CMD1), D17 (CMD2), D18 (CMD3) signal mix is used to realize 16-section speed selection |
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| Position control mode | Input signal | Command pulse | Input form | Differential drive: open-collector circuit | |
| Pulse form | Pulse + direction: orthogonal pulse ; CW/CCW | ||||
| Input pulse frequency | Differential drive: max. 500Kpps; open-collector circuit: max. 200Kpps | ||||
| Command pulse wave filtration | Allowing to setting the pulse filtering parameters | ||||
| Multi-stage position command | Allowing to set the DI5 (CMD0), DI6 (CMD1), D17 (CMD2), D18 (CMD3) signal mix to realize 16-section position selection (the one with the terminal capable of making CTRG trigger signal is provided separately). |
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| 16-section position progressive mode, using CTRG terminal single triggering | |||||
| Command sliding mode | Lowpass filtering, moving-average filters | ||||
| Internal open-collector power | + 2 4 V | ||||
| Internal current-limiting resistance | Open-collector circuit: 2.2KΩ Differential drive: 200Ω |
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| Input/output signal | Position output | Output form | Phase A, B and Z: differential output Phase Z: OC output The pulse width of the Phase Z can be adjusted, max.3ms |
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| Frequency dividing ratio | Random frequency dividing; the number of frequency dividing can be the one of 4 times before frequency or after frequency. |
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| Input/output signal | Digital input | Modifiable signal distribution | 8-way DI | ||
| Servo enabled, fault resetting, position pulse error counter clearing, speed command direction selection, position/speed multi-stage switch, zero-position fixing enabled, internal command triggering, control mode switch, pulse Inhibited, positive drive Inhibited, Negative drive Inhibited, second torque limit, positive inching, negative inching, others |
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| Digital input | Modifiable signal distribution | 4-way D0 | |||
| Servo ready, brake output, motor rotary output , zero-speed signal, speed proximity, speed arrival, position proximity, position arrival, torque limit, speed limit, warning output, fault output, others |
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| Internal functions | Overrun prevention function | P-OT, N-OT take effect, deceleration stop | |||
| Origin return | Optional 35 origin return modes | ||||
| Electronic gear ratio | N/M time N: 1~65535 M: 1~65535 | ||||
| Allowing to switch the molecule of 4 types of electronic gear ratios via terminal | |||||
| LED display | 5-bit LED display: main circuit CHARGE | ||||
| Protection function | Overvoltage, undervotage , overcurrent, overspeed, IGBT overheat, overload, encoder abnormality, large position error, EEPROM fault, others |
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| Analog quantity output for observation | 2-way AO: DC0~10V, maximum output current: 1mA | ||||
| Allowing to set the observation object | |||||
| Communication function | Communication mode | RS232, RS485 | |||
| Communication protocol | M o d b u s R T U , | ||||
| Others | Two-stage gain switch, automatic gain adjustment, 4 groups of alarm records, JOG operation | ||||
| Item | Description |
| Antirust treatment | Before installation, please wipe off the "rust inhibitor" on the extension of the servo motor shaft before relevant antirust treatment. |
| Notes for encoders | •The shaft extension shall not be impact during installation, otherwise the encoder inside will be cracked.
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| Pulley installation | •When installing pulleys on a servo motor shaft with a keyway, use screw holes at the shaft end. In order to install the pulley, first insert the double-headed nail into the screw hole of the shaft, use a washer on the surface of the coupling end, and gradually fasten the pulley with a nut. |
| •For servo motor shaft with a keyway, install it with the screw hole at shaft end. For a shaft without keyway, wear coupling or similar methods can be adopted. | |
| •When the pulley is removed, a pulley remover should be used to prevent impact on the bearing. | |
| •In order to ensure safety, a protective cover or similar device shall be installed in the rotating area. | |
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| Centering | •Please use a coupling to connect the device with the machine and keep the axis of the servo motor in a straight line with that of the machinery. The radial runout of the coupling should not be greater than 0.03 mm. If centering is not sufficient, vibration will occur, which may damage bearings, encoders, etc. |
| Installation direction | •Servo motor can be installed in a horizontal or vertical direction. Please do not install the device obliquely, otherwise it may cause wearing of motor bearing. |
| Countermeasures for oil and water | For use in places with water dripping, please confirm the protection rating of the servo motor before use (except the shaft penetration part). For use in places where oil drips to the shaft penetration part, please be sure to use servo motors with oil seals. |
| Service conditions for servo motors with oil seals: | |
| •Please make sure that the oil level is lower than the lip of the oil seal during use. | |
| •Please use the oil seal in a state where the oil spatter can be kept in a good degree. | |
| •When the servo motor is installed vertically upward, please be careful to prevent oil accumulation on the oil seal lip. | |
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| Cable stress condition | Do not bend the cables excessively or apply tension to them, especially for the 0.14 mm2 or 0.2 mm2 core wires of the encoder signal cables, which is very thin. So please do not stretch them too tightly during wiring and use.When installing in the tow chain, high-flexibility tow chain cables must be selected. |
| Connector handling | For the connector part, please pay attention to the following: |
| •When connecting a connector, please make sure that there is no foreign matter such as garbage or metal debris in the connector. | |
| •When connecting the connector to the servo motor, be sure to connect from the side of the main circuit cable of the servo motor first, and the main cable must be reliably grounded. Otherwise, the encoder may fail due to the potential difference with PE. | |
| •When wiring, please make sure the pins are arranged correctly. | |
| •The connector is made of resin. Do not apply impact to the connector, otherwise it may be damaged. | |
| •Always hold the main body of the servo motor during handling while the cables remain connected. Otherwise, the connector may be damaged or the cables may be broken. | |
| •If a cable needs to be bent, due care should be taken during wiring so as not to cause pressure or tension on the connector, otherwise damage or poor contact of the connector may be caused. |
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