Control input | (1) servo-ON input
(2) Alarm clear input
(3) Gain switch input
(4) Positive direction drive inhibit input
(5) Negative direction drive inhibit input
(6) Forced alarm input
(7) Inertia ratio switch input |
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Control output | (1) Servo-alarm output
(2) Servo-ready output
(3) External brake off output
(4) At-speed output
(5) Torque in-limit output
(6) Zero speed detection output
(7) Warning output
(8) Alarm clear attribute output
(9) Servo on status output |
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Position 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
(6) Control mode switch input |
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Control output | (1) In-position output
(2) Position command ON/OFF output |
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Pulse
input | Max. command pulse frequency | 500 kpps (Optocoupler interface), 8 Mpps (When using line receiver
input multiplied by 4) |
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Input pulse signal format | Differential input. Selectable by parameter.
([1]Positive/Negative pulse [2]A/B quadrature [3]Pulse/Direction) |
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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. |
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Smoothing filter | Primary delay filter or FIR type filter is adaptable to the command
input |
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Analog
input | Torque limit command input | Individual torque limit for both positive and negative direction is
enabled. |
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Torque feed forward input | Analog voltage can be used as torque feed forward input. |
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Two-degree-of-freedom control | Available |
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Anti-vibration control | Available |
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Load variation suppression function | Available |
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Speed control | Control input | (1) Internal command velocity selection input
(2) Speed zero clamp input
(3) Velocity command sign input
(4) Control mode switch input |
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Control output | (1) Speed coincidence output
(2) Velocity command ON/OFF output |
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Analog
input | Velocity command input | Velocity command input with analog voltage is possible. Scale
setting and command polarity vary depending on parameters. (6
V/Rated rotational speed: Default) |
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Torque limit command input | Individual torque limit for both positive and negative direction is
enabled. |
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Torque feed forward input | Analog voltage can be used as torque feed forward input. |
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Internal velocity command | Switching the internal 8 speed is enabled by command input. |
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Soft-start/down function | Individual setup of acceleration and deceleration is enabled, with
0 s to 10 s/ 1000 r/min. Sigmoid acceleration/deceleration is also
enabled. |
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Speed zero clamp | Internal velocity command can be clamped to 0 with speed zero clamp
input. |
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Two-degree-of-freedom control | Available |
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Torque control | Control input | Speed zero clamp input, torque command sign input, control mode
switch input. |
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Control output | (1) Speed coincidence output
(2) Speed in-limit output |
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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) |
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Speed limit function | Speed limit value with parameter is enabled. |
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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 |
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Control output | (1) In-position output
(2) Position command ON/OFF output |
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Pulse
input | Max. command pulse frequency | 500 kpps (Optocoupler interface), 8 Mpps (When using line receiver
input multiplied by 4) |
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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. |
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Torque feed forward input | Analog voltage can be used as torque feed forward input. |
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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. |
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Two-degree-of-freedom control | Available |
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Anti-vibration control | Available |
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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. |
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Division of encoder feedback pulse | Set up of any value is enabled (encoder pulses count is the max.). |
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Protective function | Hard error | Over-voltage, under-voltage, over-speed, over-load, over-heat,
over-current and
encoder error etc. |
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Soft error | Excess position deviation, command pulse division error, EEPROM
error etc. |
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Alarm data trace back | Tracing back of alarm data is available |
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