Basic Specifications | Control Method | IGBT PWM control sine wave current drive |
Encoder Feedback | 17bit/23bit absolute encoder |
Control Signal Input | 6 DI inputs, select the input function according to the function code configuration |
Control Signal Output | 3 DO outputs, select the output function according to the function code configuration |
Communication | USB interface. Function code parameter setting, status monitoring, waveform viewing, parameter self-tuning, etc. can be performed through upper computer |
Braking Resistor | Built-in braking resistor, support external braking resistor |
General Function | Automatic Parameter Tuning | Automatic load inertia identification, automatic rigidity level and parameter self-tuning can be carried out through the cooperation of the upper computer |
Waveform View | The waveform of data such as real-time speed/torque/position deviation can be observed through the host computer |
Waveform Storage | The waveform acquisition frequency is 1KHz, and the original waveform data can be saved up to 10s |
Parameter import and export | Support batch parameter import and export; support SDO download |
Vbration Suppression | Mechanical vibration can be suppressed by setting vibration suppression parameters |
Protective Function | Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc. |
Brake | Support output control |
Universal Control DI input | Servo enable (SON), fault and warning clear (A-CLR), forward drive prohibition (POT), reverse drive prohibition (NOT), emergency stop (E-STOP) |
General Control DO Output | servo ready(RDY), fault signal (ALM), warning signal (WARN), rotation detection (TGON), zero speed signal (ZSP), torque limit (T-LIMIT), speed limit (V- LIMIT), servo open state output (SRV-ST), servo brake output (BRK-OFF), communication VDO |
EtherCAT | | Communication Protocol | EtherCAT protocol |
Support Service | CoE（PDO，SDO） |
Synchronously | DC-distributed clock |
physical layer | 100BASE-TX |
Baud rate | 100 Mbit/s（100Base-TX） |
Duplex Mode | full duplex |
Topology | circular, linear |
Transmission medium | Shielded Cat 5e or better network cable. |
Transmission distance | The distance between two nodes is less than 100M (the environment is good and the cable is good). |
Number of Slave Stations | The protocol supports up to 65535, and the actual use does not exceed 100. |
Frame Length | 44 bytes~1498 bytes |
Process Data | A single Ethernet frame is up to 1486 bytes. |
Sync Jitter | <1us |
Distributed Clock | 64 bit |
EEPROM Capacity | 8kbit initialization data is written by the EtherCAT master station |
| | Control Mode | CSP、HM |
Sync Cycle | 125μs |