Specification:
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
Tracing back of alarm data is available
