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ALPHA7 |  Servo Amplifier Specifications

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Servo Amplifier 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
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
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
M5 Reference potential (0V)
Common for sequence I/O COMIN Common for sequence input signal
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

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
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
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
M5 Reference potential (0V)
Common for sequence I/O COMIN Common for sequence input signal
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

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
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: 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
M5 Reference potential (0V)
Common for sequence I/O COMIN Common for sequence input signal
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

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
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 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
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
M5 Reference potential (0V)
Common for sequence
I/O		 COMIN Common for sequence input signal
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

Servo System Support

Discontinued products

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Instruction Manual list
Users Manual list
Outline drawing,CAD data list

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