Servo Systems
ALPHA7 | Servo Amplifier Specifications

ALPHA7 Top

Overview

Servo Amplifier

Servomotor

Optional Peripheral Equipment

Catalog

Servo Amplifier Specifications

Specifications
Outline of System Configuration / Interface Specifications

Specifications

Amplifier type RYT □□□F7-△△2			500	101	201	401	751	102	152	202	302	402	502
Outer frame number			Frame 1				Frame 2			Frame 3		Frame 4
Mass [kg]			0.9	0.9	0.9	0.9	1.5	1.5	1.5	2.5	2.5	3.8	3.8
Protective construction/cooling			Open/natural cooling				Open/mechanical cooling
Power supply	Main power supply	Phases	Single-phase, 3-phase					3-phase
		Voltage/frequency	200 to 240VAC, 50/60Hz
		Allowable voltage fluctuation	3-phase: 170 to 264VAC, Single-phase: 190 to 264VAC
	Control power supply	Phases	Single-phase
		Voltage/frequency	200 to 240VAC 50/60Hz
		Allowable voltage fluctuation	170 to 264VAC
Control system			Fully-digital sinusoidal PWM drive
Carrier frequency			10 [kHz]							5 [kHz]
Overload capability			Overload capability varies from motor to motor
Max voltage for regenerative resistance [W]		Built-in resistor	-	-	-	8	20	20	20	30	30	60	60
Max voltage for regenerative resistance [W]		External resistor (Note 1)	17	17	17	17	50	50	50	260	260	300	300
Dynamic brake			Built-in(Note 2)
Feedback			Absolute 24-bit serial encoder, incremental 24-bit serial encoder
Speed fluctuation ratio(Note 3)		Load fluctuation	Within ± 0.01% (load fluctuation 0 to 100% at rated operation speed)
		Power supply fluctuation	0% (power supply fluctuation -10 to +10% at rated operation speed)
		Temperature fluctuation	Within ± 0.2% (25 ± 10°C at rated operation speed when an analog voltage command is issued)
Performance/features		Speed control	Closed-loop control, acceleration/deceleration time setting, manual feed speed/maximum rotation speed adjustment, etc. by using a speed regulator
		Position control	Closed-loop control, electronic gear, output pulse setting, feed forward, homing, interrupt positioning, etc. by using a position regulator
		Torque control	Closed-loop control (proportional open-loop control for current and torque), torque limiting, speed limiting during torque control, etc. by using a current regulator
		Ancillary features	Easy tuning, pattern run, sequence test mode, auto tuning, auto notch filter, vibration suppression control online learning, etc.
Protective features (Alarm display)			Over Current (OC1,OC2),Over Speed (OS),Low Control Voltage (LvC),Overvoltage (Hv),Encoder Trouble (Et1,Et2),Memory Error (dE), Motor Combination Error (CE),Encoder Communication Error (EC),CONT (Control signal) Error (CtE),Over Load (OL1,OL2,OL3),Power Low Voltage (LvP), Regenerative Resistor Overheat (rH1,rH2),Regenerative Transistor Error (rH3),Inrush Current Suppressing Circuit Error (rH4),Deviation Overflow (oF), Amplifier Overheat (AH),Encoder Overheat (EH),Absolute Data Lost (dL1,dL2,dL3),Multi-turn Data Over Flow (AF),Initial Error (IE), Command Pulse Frequency Error (HF),Functional Safety Error (EcF)
Operation and display section of main body			5-digit alphanumeric display with 7-segment LED 4 operation switches (MODE, UP, DOWN, and SET)
Working conditions		Installation place	Indoors at altitude ≦ 1000m, free from dust, corrosive gases and direct sunlight In case of compliance with UL/CE marking: Pollution Degree=2 Over Voltage Category=III
		Temperature/humidity/ atmospheric pressure	-10 to 55°C/10 to 90%RH (without condensation)/70 to 106kPa
		Vibration/ shock resistance	Vibration resistance: 3mm: < 2 to 9Hz 9.8m/s²: < 9 to 20Hz 2m/s²: < 20 to 55Hz 1m/s²: < 55 to 200Hz Shock resistance: 19.6m/s²(2G)
Standards			UL standard: UL61800-5-1 CE marking Low voltage directive: EN61800-5-1 EMC directive: EN61800-3 Machinery directive: EN ISO13849-1 EN60204-1 EN61508 SIL3 EN61800-5-2 SIL3 (STO) EN62061 SIL CL3
Control function	Frequency response		3,200Hz
	Tuning features		Auto tuning, semi-auto tuning, interpolation control mode, manual tuning
	Auto adjustment features		Tuningless features, easy tuning, fine tuning
	Notch filter		5-step
	Damping control		2-step (number of steps that can be configured at the same time)
	Compensation features		Friction compensation, interference detection, cogging torque compensation

Note 1: This value assumes that the external resistor dedicated to each amplifier is connected.

Note 2: We will accept custom orders for models without a dynamic brake.

Note 3: This value represents the average value of the speed fluctuation that is generated from static load fluctuation, power supply fluctuation, and temperature fluctuation as the percentage to the rated rotation speed.

Outline of System Configuration / Interface Specifications

Interface Specifications

Interface type		Specifications
Command interface	Position control	SX bus: IQ area
	Speed control
	Torque control
Communication interface		SX bus (for command interface, parameter editing, and monitoring)
		Our original protocol
		25Mbps,connection of max. 32 axes

Terminal name	Symbol	Specifications
Pulse input VS: For pulse counter LS: For position control	CA, CA CB, CB	Differential input: Max. input frequency ≦ 4.0MHz Open collector input: Max. input frequency ≦ 200kHz (In case of signals at 90-degree phase difference, the above relationship is true for the four-fold frequency.) Pulse format{Command pulse/Command direction, Forward/Reverse pulse, Two signals at 90-degree phase difference}Select one of these formats with a parameter setting
Pulse input VS: For pulse counter LS: For position control	PPI	Pull-up power input at open collector input (24VDC ± 10%)
Pulse output	FFA, FFA FFB, FFB	Differential output: Max. output frequency ≦ 500kHz Two signals at 90-degree phase difference Pulse output count setting (n pulses/rev): 16 ≦ n ≦ 4194304
	FFZ, *FFZ	Differential output: 1pulse/rev
	FZ	Open collector output: 1pulse/rev
	M5	Reference potential (0V)
Analog monitor voltage output	MON1 MON2	0V to ±10VDC Resolution: 14 bits / ± full scale The output data depends on the internal parameter
Analog monitor voltage output	M5	Reference potential (0V)
Common for sequence I/O	COMIN	Common for sequence input signal
Common for sequence I/O	COMOUT	Common for sequence output signal
Sequence input signal	CONT1 to CONT5	ON upon short circuit across contacts, OFF upon open circuit 12VDC-10% to 24VDC+10% Current consumption 8mA (per contact; used at circuit voltage 24VDC) Function of each signal depends on parameter setting Compatible with both sink and source input methods
Sequence output signal	OUT1 to OUT2	Short circuit upon ON, open circuit upon OFF 30VDC / 50mA (max.) Function of each signal depends on parameter setting Compatible with both sink and source output methods

Specifications
Outline of System Configuration / Interface Specifications

Specifications

Amplifier type RYT □□□F7-△△2			500	101	201	401	751	102	152	202	302	402	502
Outer frame number			Frame 1				Frame 2			Frame 3		Frame 4
Mass [kg]			0.9	0.9	0.9	0.9	1.5	1.5	1.5	2.5	2.5	3.8	3.8
Protective construction/cooling			Open/natural cooling				Open/mechanical cooling
Power supply	Main power supply	Phases	Single-phase, 3-phase					3-phase
		Voltage/frequency	200 to 240VAC, 50/60Hz
		Allowable voltage fluctuation	3-phase: 170 to 264VAC, Single-phase: 190 to 264VAC
	Control power supply	Phases	Single-phase
		Voltage/frequency	200 to 240VAC 50/60Hz
		Allowable voltage fluctuation	170 to 264VAC
Control system			Fully-digital sinusoidal PWM drive
Carrier frequency			10 [kHz]							5 [kHz]
Overload capability			Overload capability varies from motor to motor
Max voltage for regenerative resistance [W]		Built-in resistor	-	-	-	8	20	20	20	30	30	60	60
Max voltage for regenerative resistance [W]		External resistor (Note 1)	17	17	17	17	50	50	50	260	260	300	300
Dynamic brake			Built-in(Note 2)
Feedback			Absolute 24-bit serial encoder, incremental 24-bit serial encoder
Speed fluctuation ratio(Note 3)		Load fluctuation	Within ± 0.01% (load fluctuation 0 to 100% at rated operation speed)
		Power supply fluctuation	0% (power supply fluctuation -10 to +10% at rated operation speed)
		Temperature fluctuation	Within ± 0.2% (25 ± 10°C at rated operation speed when an analog voltage command is issued)
Performance/features		Position control	Auto start, manual run, pulse train, homing
		Number of position data points	99 points (position, speed, stop timer, M code output, and various statuses)
		Maximum position specifications	±2,000,000,000
		Position specifications method	Absolute/incremental
		Ancillary features	Easy tuning, pattern run, sequence test mode, auto tuning, auto notch filter, vibration suppression control online learning, etc.
Protective features (Alarm display)			Over Current (OC1,OC2),Over Speed (OS),Low Control Voltage (LvC),Overvoltage (Hv),Encoder Trouble (Et1,Et2),Memory Error (dE), Motor Combination Error (CE),Encoder Communication Error (EC),CONT (Control signal) Error (CtE),Over Load (OL1,OL2,OL3),Power Low Voltage (LvP), Regenerative Resistor Overheat (rH1,rH2),Regenerative Transistor Error (rH3),Inrush Current Suppressing Circuit Error (rH4),Deviation Overflow (oF), Amplifier Overheat (AH),Encoder Overheat (EH),Absolute Data Lost (dL1,dL2,dL3),Multi-turn Data Over Flow (AF),Initial Error (IE), Command Pulse Frequency Error (HF),Functional Safety Error (EcF)
Operation and display section of main body			5-digit alphanumeric display with 7-segment LED 4 operation switches (MODE, UP, DOWN, and SET)
Working conditions		Installation place	Indoors at altitude ≦ 1000m, free from dust, corrosive gases and direct sunlight In case of compliance with UL/CE marking: Pollution Degree=2 Over Voltage Category=III
		Temperature/humidity/ atmospheric pressure	-10 to 55°C/10 to 90%RH (without condensation)/70 to 106kPa
		Vibration/ shock resistance	Vibration resistance: 3mm: < 2 to 9Hz 9.8m/s²: < 9 to 20Hz 2m/s²: < 20 to 55Hz 1m/s²: < 55 to 200Hz Shock resistance: 19.6m/s²(2G)
Standards			UL standard: UL61800-5-1 CE marking Low voltage directive: EN61800-5-1 EMC directive: EN61800-3 Machinery directive: EN ISO13849-1 EN60204-1 EN61508 SIL3 EN61800-5-2 SIL3 (STO) EN62061 SIL CL3
Control function	Frequency response		3,200Hz
	Tuning features		Auto tuning, semi-auto tuning, interpolation control mode, manual tuning
	Auto adjustment features		Tuningless features, easy tuning, fine tuning
	Notch filter		5-step
	Damping control		2-step (number of steps that can be configured at the same time)
	Compensation features		Friction compensation, interference detection, cogging torque compensation

Note 1: This value assumes that the external resistor dedicated to each amplifier is connected.

Note 2: We will accept custom orders for models without a dynamic brake.

Note 3: This value represents the average value of the speed fluctuation that is generated from static load fluctuation, power supply fluctuation, and temperature fluctuation as the percentage to the rated rotation speed.

Outline of System Configuration / Interface Specifications

Interface Specifications

Interface type		Specifications
Command interface	Position control	SX bus: IQ area
	Speed control
	Torque control
Communication interface		SX bus (for command interface, parameter editing, and monitoring)
		Our original protocol
		25Mbps,connection of max. 32 axes

Terminal name	Symbol	Specifications
Pulse input VS: For pulse counter LS: For position control	CA, CA CB, CB	Differential input: Max. input frequency ≦ 4.0MHz Open collector input: Max. input frequency ≦ 200kHz (In case of signals at 90-degree phase difference, the above relationship is true for the four-fold frequency.) Pulse format{Command pulse/Command direction, Forward/Reverse pulse, Two signals at 90-degree phase difference}Select one of these formats with a parameter setting
Pulse input VS: For pulse counter LS: For position control	PPI	Pull-up power input at open collector input (24VDC ± 10%)
Pulse output	FFA, FFA FFB, FFB	Differential output: Max. output frequency ≦ 500kHz Two signals at 90-degree phase difference Pulse output count setting (n pulses/rev): 16 ≦ n ≦ 4194304
	FFZ, *FFZ	Differential output: 1pulse/rev
	FZ	Open collector output: 1pulse/rev
	M5	Reference potential (0V)
Analog monitor voltage output	MON1 MON2	0V to ±10VDC Resolution: 14 bits / ± full scale The output data depends on the internal parameter
Analog monitor voltage output	M5	Reference potential (0V)
Common for sequence I/O	COMIN	Common for sequence input signal
Common for sequence I/O	COMOUT	Common for sequence output signal
Sequence input signal	CONT1 to CONT5	ON upon short circuit across contacts, OFF upon open circuit 12VDC-10% to 24VDC+10% Current consumption 8mA (per contact; used at circuit voltage 24VDC) Function of each signal depends on parameter setting Compatible with both sink and source input methods
Sequence output signal	OUT1 to OUT2	Short circuit upon ON, open circuit upon OFF 30VDC / 50mA (max.) Function of each signal depends on parameter setting Compatible with both sink and source output methods

Specifications
Outline of System Configuration / Interface Specifications

Specifications

Amplifier type RYT □□□F7-△△2			500	101	201	401	751	102	152	202	302	402	502
Outer frame number			Frame 1				Frame 2			Frame 3		Frame 4
Mass [kg]			0.9	0.9	0.9	0.9	1.5	1.5	1.5	2.5	2.5	3.8	3.8
Protective construction/cooling			Open/natural cooling				Open/mechanical cooling
Power supply	Main power supply	Phases	Single-phase, 3-phase					3-phase
		Voltage/frequency	200 to 240VAC, 50/60Hz
		Allowable voltage fluctuation	3-phase: 170 to 264VAC, Single-phase: 190 to 264VAC
	Control power supply	Phases	Single-phase
		Voltage/frequency	200 to 240VAC 50/60Hz
		Allowable voltage fluctuation	170 to 264VAC
Control system			Fully-digital sinusoidal PWM drive
Carrier frequency			10 [kHz]							5 [kHz]
Overload capability			Overload capability varies from motor to motor
Max voltage for regenerative resistance [W]		Built-in resistor	-	-	-	8	20	20	20	30	30	60	60
Max voltage for regenerative resistance [W]		External resistor (Note 1)	17	17	17	17	50	50	50	260	260	300	300
Dynamic brake			Built-in(Note 2)
Feedback			Absolute 24-bit serial encoder, incremental 24-bit serial encoder
Speed fluctuation ratio(Note 3)		Load fluctuation	Within ± 0.01% (load fluctuation 0 to 100% at rated operation speed)
		Power supply fluctuation	0% (power supply fluctuation -10 to +10% at rated operation speed)
		Temperature fluctuation	Within ± 0.2% (25 ± 10°C at rated operation speed when an analog voltage command is issued)
Performance/features		Speed control	Closed-loop control, acceleration/deceleration time setting, manual feed speed/maximum rotation speed adjust- ment, speed command zero clamping, etc. by using a speed regulator
		Number of position data points	31 points (position, speed, acceleration time, deceleration time, stop timer, M code output, and various statuses)
		Position control	Closed-loop control, electronic gear, output pulse setting, feed forward, homing, interrupt positioning, auto start, etc. by using a position regulator
		Torque control	Closed-loop control (proportional open-loop control for current and torque), torque limiting, speed limiting during torque control, etc. by using a current regulator
		Ancillary features	Easy tuning, pattern run, sequence test mode, auto tuning, auto notch filter, vibration suppression control online learning, etc.
Protective features (Alarm display)			Over Current (OC1,OC2),Over Speed (OS),Low Control Voltage (LvC),Overvoltage (Hv),Encoder Trouble (Et1,Et2),Memory Error (dE), Motor Combination Error (CE),Encoder Communication Error (EC),CONT (Control signal) Error (CtE),Over Load (OL1,OL2,OL3),Power Low Voltage (LvP), Regenerative Resistor Overheat (rH1,rH2),Regenerative Transistor Error (rH3),Inrush Current Suppressing Circuit Error (rH4),Deviation Overflow (oF), Amplifier Overheat (AH),Encoder Overheat (EH),Absolute Data Lost (dL1,dL2,dL3),Multi-turn Data Over Flow (AF),Initial Error (IE), Command Pulse Frequency Error (HF),Functional Safety Error (EcF)
Operation and display section of main body			5-digit alphanumeric display with 7-segment LED 4 operation switches (MODE, UP, DOWN, and SET)
Working conditions		Installation place	Indoors at altitude ≦ 1000m, free from dust, corrosive gases and direct sunlight In case of compliance with UL/CE marking: Pollution Degree=2 Over Voltage Category=III
		Temperature/humidity/ atmospheric pressure	-10 to 55°C/10 to 90%RH (without condensation)/70 to 106kPa
		Vibration/ shock resistance	Vibration resistance: 3mm: < 2 to 9Hz 9.8m/s²: < 9 to 20Hz 2m/s²: < 20 to 55Hz 1m/s²: < 55 to 200Hz Shock resistance: 19.6m/s²(2G)
Standards			UL standard: UL61800-5-1 CE marking Low voltage directive: EN61800-5-1 EMC directive: EN61800-3 Machinery directive: EN ISO13849-1 EN60204-1 EN61508 SIL3 EN61800-5-2 SIL3 (STO) EN62061 SIL CL3
Control function	Frequency response		3,200Hz
	Tuning features		Auto tuning, semi-auto tuning, interpolation control mode, manual tuning
	Auto adjustment features		Tuningless features, easy tuning, fine tuning
	Notch filter		5-step
	Damping control		2-step (number of steps that can be configured at the same time)
	Compensation features		Friction compensation, interference detection, cogging torque compensation
	Full-closed control(Note 4)		External-scale based Full-closed control function, Full-closed control “enable/disable” switching function

Note 1: This value assumes that the external resistor dedicated to each amplifier is connected.

Note 2: We will accept custom orders for models without a dynamic brake.

Note 3: This value represents the average value of the speed fluctuation that is generated from static load fluctuation, power supply fluctuation, and temperature fluctuation as the percentage to the rated rotation speed.

Note 4: VV/VC type

Outline of System Configuration / Interface Specifications

Interface Specifications

Interface type		Specifications
Command interface	Positioning feature	RS-485 (Modbus-RTU), Di/Do
	Position control	Pulse command
	Speed control	Analog voltage input
	Torque control	Analog voltage input
Communication interface		Dual RS-485 ports (for parameter editing and monitoring)
		Our original protocol, Modbus-RTU
		9600/19200/38400/115200 bps, connection of max. 31 axes
External encoder connection for Full-closed control	CN5	Compatible with ABZ pulse encoder

Terminal name	Symbol	Specifications
Pulse input Also used for CONT signal	CA, CA CB, CB	Differential input:Max. input frequency ≦ 4.0MHz Open collector input:Max. input frequency ≦ 200kHz (In case of signals at 90-degree phase difference, the above relationship is true for the four-fold frequency.) Pulse format{Command pulse/Command direction, Forward/Reverse pulse, Two signals at 90-degree phase difference}Select with parameters from here.
	CA, CA CB, CB	CA,CA: CONT CA signal, CB,CB: CONT CB signal, compatible with both sink input and source input
	PPI	Pull-up power input at open collector input (24VDC ± 10%)
Pulse output Also used for OUT signal	FFA, FFA FFB, FFB	Differential output: Max. output frequency ≦ 1.0MHz Two signals at 90-degree phase difference Pulse output count setting (n pulses/rev): 16 ≦ n ≦ 4194304
	FFZ, *FFZ	Differential output: 1 pulse/rev
	FZ	Open collector output 1pulse/rev, FZ: OUT FZ signal
	M5	Reference potential (0V)
Analog monitor voltage output	MON1 MON2	0V to ±10VDC Resolution: 14 bits / ± full scale The output data depends on the internal parameter
Analog monitor voltage output	M5	Reference potential (0V)
Common for sequence I/O	COMIN	Common for sequence input signal
Common for sequence I/O	COMOUT	Common for sequence output signal
Sequence input signal	CONT1 to CONT8	ON upon short circuit across contacts, OFF upon open circuit 12VDC-10% to 24VDC+10% Current consumption 8mA (per contact; used at circuit voltage 24VDC) Function of each signal depends on parameter setting Compatible with both sink and source input methods
Sequence output signal	OUT1 to OUT5	Short circuit upon ON, open circuit upon OFF 30VDC / 50mA (max.) Function of each signal depends on parameter setting Compatible with both sink and source output methods
Analog voltage input	VREF	Speed command entry when performing speed control Valid range: -10V to 0 to +10V, input impedance: 20kΩ Resolution: 16 bits / ± full scale
	TREF	Torque command entry when performing torque control Valid range: -10V to 0 to +10V, input impedance: 20kΩ Resolution: 16 bits / ± full scale
	P10	Analog command power output (+10VDC), output capacity 30mA
	M5	Reference potential (0V)

Specifications
Outline of System Configuration / Interface Specifications

Specifications

Amplifier type RYT □□□F7-△△2			500	101	201	401	751	102	152	202	302	402	502
Outer frame number			Frame 1				Frame 2			Frame 3		Frame 4
Mass [kg]			0.9	0.9	0.9	0.9	1.5	1.5	1.5	2.5	2.5	3.8	3.8
Protective construction/cooling			Open/natural cooling				Open/mechanical cooling
Power supply	Main power supply	Phases	Single-phase, 3-phase					3-phase
		Voltage/frequency	200 to 240VAC, 50/60Hz
		Allowable voltage fluctuation	3-phase: 170 to 264VAC, Single-phase: 190 to 264VAC
	Control power supply	Phases	Single-phase
		Voltage/frequency	200 to 240VAC 50/60Hz
		Allowable voltage fluctuation	170 to 264VAC
Control system			Fully-digital sinusoidal PWM drive
Carrier frequency			10 [kHz]							5 [kHz]
Overload capability			Overload capability varies from motor to motor
Max voltage for regenerative resistance [W]		Built-in resistor	-	-	-	8	20	20	20	30	30	60	60
Max voltage for regenerative resistance [W]		External resistor (Note 1)	17	17	17	17	50	50	50	260	260	300	300
Dynamic brake			Built-in(Note 2)
Feedback			Absolute 24-bit serial encoder, incremental 24-bit serial encoder
Speed fluctuation ratio(Note 3)		Load fluctuation	Within ± 0.01% (load fluctuation 0 to 100% at rated operation speed)
		Power supply fluctuation	0% (power supply fluctuation -10 to +10% at rated operation speed)
		Temperature fluctuation	Within ± 0.2% (25 ± 10°C at rated operation speed when an analog voltage command is issued)
Performance/features		Speed control	Closed-loop control, acceleration/deceleration time setting, manual feed speed/maximum rotation speed adjustment, etc. by using a speed regulator
		Position control	Closed-loop control, electronic gear, output pulse setting, feed forward, homing, interrupt positioning, etc. by using a position regulator
		Torque control	Closed-loop control (proportional open-loop control for current and torque), torque limiting, speed limiting during torque control, etc. by using a current regulator
		Ancillary features	Easy tuning, pattern run, sequence test mode, auto tuning, auto notch filter, vibration suppression control online learning, etc.
Protective features (Alarm display)			Overvoltage (OC01, OC02), Over Speed (OS), Low Control Voltage (LvCn), Overvoltage (Hv), Encoder Trouble (Et01, Et02),Memory Error (dE), Motor Combination Error (CE), Encoder Communication Error (EC), CONT (Control signal) Error, Over Load (OL01, OL02, OL03), Power Low Voltage (LvPo),Regenerative Resistor Overheat (rH01, rH02), Regenerative Transistor Error (rH03),Inrush Current Suppressing Circuit Error (rH04), Deviation Overflow (oF), Amplifier Overheat (AH), Encoder Overheat (EH),Absolute Data Lost (dL01, dL02, dL03), Multi-turn Data Over Flow (AF), Initial Error (IE),Command Pulse Frequency Error (HF),Functional Safety Error (SFty), EtherCAT Communication Error (CY) * If the message is four-digit, two digits of the message alternately appear at a time on the 7-segment LED.
Operation and display section of main body			2-digit alphanumeric display with 7-segment LED Rotary switch
Working conditions		Installation place	Indoors at altitude ≦ 1000m, free from dust, corrosive gases and direct sunlight In case of compliance with UL/CE marking: Pollution Degree=2 Over Voltage Category=III
		Temperature/humidity/ atmospheric pressure	-10 to 55°C/10 to 90%RH (without condensation)/70 to 106kPa
		Vibration/ shock resistance	Vibration resistance: 3mm: < 2 to 9Hz 9.8m/s²: < 9 to 20Hz 2m/s²: < 20 to 55Hz 1m/s²: < 55 to 200Hz Shock resistance: 19.6m/s²(2G)
Standards			UL standard: UL61800-5-1 CE marking Low voltage directive: EN61800-5-1 EMC directive: EN61800-3 Machinery directive: EN ISO13849-1 EN60204-1 EN61508 SIL3 EN61800-5-2 SIL3 (STO) EN62061 SIL CL3
Control function	Frequency response		3,200Hz
	Tuning features		Auto tuning, semi-auto tuning, interpolation control mode, manual tuning
	Auto adjustment features		Tuningless features, easy tuning, fine tuning
	Notch filter		5-step
	Damping control		2-step (number of steps that can be configured at the same time)
	Compensation features		Friction compensation, interference detection, cogging torque compensation
	Full-closed control(Note 4)		External-scale based Full-closed control function, Full-closed control “enable/disable” switching function

Note 1: This value assumes that the external resistor dedicated to each amplifier is connected.

Note 2: We will accept custom orders for models without a dynamic brake.

Note 3: This value represents the average value of the speed fluctuation that is generated from static load fluctuation, power supply fluctuation, and temperature fluctuation as the percentage to the rated rotation speed.

Note 4: VV/VC type

Interface Specifications

Interface type		Specifications
Command interface	Position control	EtherCAT CiA402 drive profile
	Speed control
	Torque control
Communication interface		EtherCAT (for command interface, parameter editing, and monitoring)
		Can application over EtherCAT
		100Mbps
External encoder connection for Full-closed control	CN5	Compatible with ABZ pulse encoder

EtherCAT Communication Specifications

Item		Specifications
Physical layer		100Base-TX[IEEE802.3]
Baud rate		100Mbps(Full duplex)
Topology		Line
Communication cable		Twist pair cable CAT5e
Communication distance		Node-to-node distance: Max. 100 m
Number of slaves		65535 * The number of slaves that can be controlled with PDO is limited depending on the communication cycle and data length.
Communication port		2 ports (RJ45 connectors)
Station alias		Setting range: 0-65535
Device profile		CAN application over EtherCAT
Cia402 drive profile		pp: Profile position mode
		pv: Profile velocity mode
		hm: Homing mode
		csp: Cyclic synchronous position mode
		csv: Cyclic synchronous velocity mode
		cst: Cyclic synchronous torque mode
Touch probe		Supported (two inputs)
Synchronization method	Synchronous mode	DC: Distribute clock
	Synchronous mode	SM2: Cyclic PDO communication
	Asynchronous mode	Free RUN
Communication cycle		125[μs], 250[μs], 500[μs], 1000[μs], 2000[μs], 4000[μs]
Communication form		SDO, PDO
SDO message		Normal Request, Normal Response
Free PDO Mapping		Supported *Only the objects defined to be supportable in our specifications
Maximum PDO data count		4x16 [Entry/PDO] (RxPDO) + 4x16 [Entry/PDO] (TxPDO)
Maximum PDO data length		128 [bytes] (Rx PDO) + 128 [bytes] (Tx PDO)

Terminal name	Symbol	Specifications
Analog monitor voltage output	MON1 MON2	0V to ±10VDC Resolution: 14 bits / ± full scale The output data depends on the internal parameter
Analog monitor voltage output	M5	Reference potential (0V)
Common for sequence I/O	COMIN	Common for sequence input signal
Common for sequence I/O	COMOUT	Common for sequence output signal
Sequence input signal	CONT1 to CONT6	ON upon short circuit across contacts, OFF upon open circuit 12VDC-10% to 24VDC+10% Current consumption 8mA (per contact; used at circuit voltage 24VDC) Function of each signal depends on parameter setting Compatible with both sink and source input methods
Sequence output signal	OUT1 to OUT2	Short circuit upon ON, open circuit upon OFF 30VDC / 50mA (max.) Function of each signal depends on parameter setting Compatible with both sink and source output methods