Item

Specifications

Control input

(1) servo-ON input
(2) Alarm clear input
(3) Gain switch input
(4) Positive direction drive inhibit input
(5) Negative direction drive inhibit input
(6) Forced alarm input
(7) Inertia ratio switch input

Control output

(1) Servo-alarm output
(2) Servo-ready output
(3) External brake off output
(4) At-speed output
(5) Torque in-limit output
(6) Zero speed detection output
(7) Warning output
(8) Alarm clear attribute output
(9) Servo on status output

Position control

Control input

(1) Deviation counter clear input
(2) Command pulse inhibit input
(3) Command division/multiplication switch input
(4) Anti-vibration switch input
(5) Torque limit switch input
(6) Control mode switch input

Control output

(1) In-position output
(2) Position command ON/OFF output

Pulse
input

Max. command pulse frequency

500 kpps (Optocoupler interface), 8 Mpps (When using line receiver input multiplied by 4)

Input pulse signal format

Differential input. Selectable by parameter.
([1]Positive/Negative pulse [2]A/B quadrature [3]Pulse/Direction)

Electronic gear
(Division/Multiplication of
command pulse)

Applicable scaling ratio: 1/1000 times to 8000 times
Any value of 1 - 2 30 can be set for both numerator (which corresponds to encoder resolution) and denominator (which corresponds to command pulse resolution per motor revolution), but the combination has to be within the range shown above.

Smoothing filter

Primary delay filter or FIR type filter is adaptable to the command input

Analog
input

Torque limit command input

Individual torque limit for both positive and negative direction is enabled.

Torque feed forward input

Analog voltage can be used as torque feed forward input.

Two-degree-of-freedom control

Available

Anti-vibration control

Available

Load variation suppression function

Available

Speed control

Control input

(1) Internal command velocity selection input
(2) Speed zero clamp input
(3) Velocity command sign input
(4) Control mode switch input

Control output

(1) Speed coincidence output
(2) Velocity command ON/OFF output

Analog
input

Velocity command input

Velocity command input with analog voltage is possible. Scale setting and command polarity vary depending on parameters. (6 V/Rated rotational speed: Default)

Torque limit command input

Individual torque limit for both positive and negative direction is enabled.

Torque feed forward input

Analog voltage can be used as torque feed forward input.

Internal velocity command

Switching the internal 8 speed is enabled by command input.

Soft-start/down function

Individual setup of acceleration and deceleration is enabled, with 0 s to 10 s/ 1000 r/min. Sigmoid acceleration/deceleration is also enabled.

Speed zero clamp

Internal velocity command can be clamped to 0 with speed zero clamp input.

Two-degree-of-freedom control

Available

Torque control

Control input

Speed zero clamp input, torque command sign input, control mode switch input.

Control output

(1) Speed coincidence output
(2) Speed in-limit output

Analog
input

Torque command input

Torque command input with analog voltage is possible. Scale setting and command polarity vary depending on parameters. (3 V/rated torque Default)

Speed limit function

Speed limit value with parameter is enabled.

Full-closed control

Control input

(1) Deviation counter clear input
(2) Command pulse inhibit input
(3) Command division/multiplication switch input
(4) Anti-vibration switch input
(5) Torque limit switch input

Control output

(1) In-position output
(2) Position command ON/OFF output

Pulse
input

Max. command pulse frequency

500 kpps (Optocoupler interface), 8 Mpps (When using line receiver input multiplied by 4)

Input pulse signal format

Differential input. Selectable by parameter.
([1]Positive/Negative pulse [2]A/B quadrature [3]Pulse/Direction)

Electronic gear
(Division/Multiplication of
command pulse)

Applicable scaling ratio: 1/1000 times to 8000 times
Any value of 1 - 2 30 can be set for both numerator (which corresponds to encoder resolution) and denominator (which corresponds to command pulse resolution per motor revolution), but the combination has to be within the range shown above.

Smoothing filter

Primary delay filter or FIR type filter is adaptable to the command input

Analog
input

Torque limit command input

Individual torque limit for both positive and negative direction is enabled.

Torque feed forward input

Analog voltage can be used as torque feed forward input.

Setting range of external scale
division/multiplication

1/40 times to 1280 times
Although ratio of the encoder pulse (numerator) and external scale pulse (denominator) can be arbitrarily set in the range of 1 to 2 23 for the numerator and in the range of 1 to 2 23 for the denominator, this product should be used within the aforementioned range.

Two-degree-of-freedom control

Available

Anti-vibration control

Available

Common

Auto tuning

The load inertia is identified in real time by the driving state of the motor operating according to the command given by the controlling device and set up support software “PANATERM”. The gain is set automatically in accordance with the rigidity setting.

Division of encoder feedback pulse

Set up of any value is enabled (encoder pulses count is the max.).

Protective function

Hard error

Over-voltage, under-voltage, over-speed, over-load, over-heat, over-current and
encoder error etc.

Soft error

Excess position deviation, command pulse division error, EEPROM error etc.

Alarm data trace back

Tracing back of alarm data is available