| Task: | Program |
|---|---|
| Structure: | Closed-Loop |
| Mathematical Model: | Linear |
| Signal: | Continuous |
| Function: | Automatic Control |
| Certification: | ISO: 9001, CE |
| Customization: |
|---|
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| Operating conditions |
Temperature | Working temperature 0~40° , storage temperature -20° ~85° | ||||
| Humidity | Working/storage: ≤ 90% RH (without dew condensation) | |||||
| Altitude | ≤ 1,000 m | |||||
| Vibration | ≤ 4.9 m/s2, 10~60 Hz (no operation at the point of resonance is permitted) | |||||
| Cooling method | Fan cooling | |||||
| Control method | SVPWM, vector control | |||||
| Six control modes | Speed control, position control, torque control, speed / position control, torque / speed control, position /torque control | |||||
| Front panel | 5 keys, 5-digit LED | |||||
| Regenerative brake | Built-in brake unit and resistor; an external braking resistor can be connected | |||||
| Feedback mode | Support 17-bit incremental / 23-bit absolute encoder | |||||
| Digital input / output | Input | Servo start, alarm resetting, position pulse deviation counter clearing, speed command direction selection, position / speed multi-segment switching, internal command trigger, control mode switching, pulse disable, forward drive disable, reverse drive disable, forward jog, backward jog | ||||
| Output | Servo ready, brake output, motor rotation output, zero-speed signal, speed approach, speed reached, position approach, torque limit, rotating speed limit, warning output, alarm output. |
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| Protective Function | Hardware | Over-voltage, under-voltage, over-speed, overheat, overload, over-speed, encoder alarm, and so on. |
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| Software | Excessively large position error, EEPROM fault, and so on. | |||||
| Alarm data tracking function | Record 4 groups of historical alarms and relevant data | |||||
| Communication function | Modbus RTU | |||||
| Encoder signal output resolu- tion |
Signal type | A, B, Z differential outputs, Z signal open-collector output; Z signal width can be set. | ||||
| Resolution | Any frequency division can be programmed and output before or after frequency quadruplication | |||||
| Position control mode |
Maximum input pulse frequency |
Differential input mode: 500 Kpps Open-collector input mode: 200 Kpps |
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| Pulse command mode |
Pulse + symbol, A and B-phase orthogonal pulse, CW/CCW | |||||
| Command con- trol mode |
External pulse command, multi-segment position command | |||||
| Command smoothing mode |
Low-pass filtering, FIR filter, trapezoid-shaped smoothing of multi-segment position command | |||||
| Electronic gear ratio |
Electronic gear ratio: N/M multiples (0.001 < N/M < 64000 = N: 1~230, M: 1 ~ 230 | |||||
| Position accuracy | ±1 pulse command | |||||
| Speed control mode |
Command control mode | digital speed command, multistage speed command, inching command | ||||
| Command smoothing mode |
Low-pass filtering, smooth S curve | |||||
| Torque limit | Digital setting limit | |||||
| Speed regula- tion ratio |
1:5000 (23-bit encoder) | Minimal speed/rated rotating speed of continuous stable operation under the rated load |
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| Bandwidth | No less than 800 Hz (in case of a 23-bit encoder) | |||||
| Speed regula - tion ratio |
Load fluctuation (0 ~100%) | Maximum 0.1% | For a 23-bit encoder, when the speed command is the rated rotating speed, (rotating speed without load rotating speed with full load) / rated rotating speed. |
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| Power voltage change ±10% | Maximum 0.1% | |||||
| Environment temperature (0~50ºC ) |
Maximum 0.1% | |||||
| Torque con- trol mode |
Command con- trol mode |
digital torque command | ||||
| Command smoothing mode |
Low-pass filtering | |||||
| Speed limit | Digital setting limit | |||||
| Accuracy | ±3% (current repetition accuracy) | |||||
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