Customization: | Available |
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Task: | Program |
Structure: | Closed-Loop |
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Basic Specofocation |
Control method | IGBT: PWM control, sine-wave current drive type. 220V.380V;Single phase or three phase full-wave rectifier |
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Encoder feedback | 17bit serial incremental encoder, 23bit serial absolute encoder | |||||
Front panel | 5 keys, 5-digit LED display, main power CHARGE | |||||
Regenerative brake | Can be basically built-in and externally installed | |||||
Use conditions | Environment temperature | Working temperature 0~40° | ||||
Ambient humidity | Working/storage: <= 90%RH (without dew condensation) | |||||
Anti-vibration/ impact strength |
4.9m/s2/19.6m/s2 | |||||
Protection level | IP10 | |||||
Pollution level | 2 level | |||||
Altitude | Less than 1,000m | |||||
Cooling method | Fan cooling | |||||
EtherCAT slave Specification |
EtherCAT basic Specification |
Communication protocol | EtherCAT protocol | |||
Support services | CoE(PDO, SDO) | |||||
Instruction synchronization cycle |
1ms or its integral multiple | |||||
Synchronization method | DC- distributed clock | |||||
Physical layer | 100BASE-TX | |||||
Baud rate | 100Mbit/s | |||||
Duplex mode | Full duplex | |||||
Topological structure | Linear | |||||
Transmission medium | Shielded Cat-5E or better network cable | |||||
Transmission distance | Less than 50m between two nodes | |||||
Quantity of slave stations | No more than 100 | |||||
EtherCAT frame length | 44~1,498 bytes | |||||
Process data | 44~1,498 bytes | |||||
Communication BER (bit error rate) |
1/1000000000 | |||||
EtherCAT Configuration Unit |
FMMU unit | 4 | ||||
Storage synchronization management unit |
4 | |||||
Process data RAM | 4K | |||||
Distributed clock | 64 digits | |||||
EEPROM capacity | 16K | |||||
Support running mode CIA402 | Profile Position Mode Profile Velocity Mode Profile Torque Mode Interpolation Position Mode Cyclic Synchronous Position Mode Cyclic Synchronous Velocity Mode Cyclic Synchronous Torque Mode Homing Mode |
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Performance | Speed-torque control mode |
Speed Fluctuation ratio |
Load Fluctuation | At 0~100% load: Maximum 0.3% | At rated speed | |
Supply voltage change | At rated voltage ± 10%: Maximum 0.3% |
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Environment temperature |
0~50ºC : Maximum 0.3% | |||||
Speed regulation ratio | 1:5000 | Minimal speed/rated rotating speed of continuous stable oper- ation under the rated load |
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Frequency bandwidth | 1.0KHz (17bit and 23bit encoder) | |||||
Torque control accuracy | ±3% (current repetition accuracy) | |||||
Soft start time setting | 0~30s (acceleration and deceleration can be set respectively) | |||||
Position control mode | Feedforward compensation | Resolution 0~100% (set resolution 1%) | ||||
Positioning completion width | 1~655,335 instruction units (set resolution to 1 instruction unit) | |||||
Min setting time | 5ms (no load, from rated speed to positioning completion) | |||||
Input/ out- put signal |
Digital input signal |
Function allocation available | Servo enable, alarm resetting, pulse deviation counter clearing, speed command direction selection, position/speed multi-segment switching, internal command trigger, control mode switching, pulse disable, forward drive disable, reverse drive disable, forward inch, backward inch |
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Digital output signal |
Function allocation available | Servo ready, brake output, motor rotation output, zero-speed signal, speed approach, speed reached, position approach, torque limit, rotating speed limit, warning output, alarm output |
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Built-in function |
Over-travel (OT) prevention function | Stopped immediately when P-OT and N-OT are activated. | ||||
Electronic gear ratio | 1.0 ≤ B/A ≤ 64000.0 | |||||
Protective Function | Over-voltage, under-voltage, over-speed, overheat, overload, over-speed, over-temperature, encoder alarm, braking resistor overload alarm, excessive position error, EEPROM alarm, abnormal communi- cation etc. |
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RS232 communication | Status display, user parameter setting, monitoring display, alarm tracking display, JOG operation and automatic tuning operation, speed, torque instruction signal etc. |
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Others | Gain adjustment, alarm record, JOG operation |