Common Specifications

Main circuit
Single phase, 100-115V
+10%
–15%
50/60Hz
Control circuit
Single phase, 100-115V
+10%
–15%
50/60Hz
Frame A, B
Single phase, 200-240V
+10%
–15%
50/60Hz
Frame C, D
Single/3-phase, 200-240V
+10%
–15%
50/60Hz
Frame E to G
3-phase, 200-230V
+10%
–15%
50/60Hz
Frame A to D
Single phase, 200-240V
+10%
–15%
50/60Hz
Frame E to G
Single phase, 200-230V
+10%
–15%
50/60Hz
100V
Main circuit
Input power
200V
Control circuit
Temperature
Position control
Common Specifications of Driver
Operating : 0 to 55˚C, Storage : –20 to +65˚C (Max.temperature guarantee 80˚C for 72 hours <Nomal temperature>)
Humidity
Both operating and storage : 90%RH or less (free from condensation)
Environment
Altitude
1000m or lower
or less, 10 to 60Hz (No continuous use at resonance frequency)
Velocity control
Vibration
Withstand voltage
5.88m/s2
Should be 1500VAC (Sensed current: 20mA) or higher for 1 minute between Primary and Ground.
Control method
IGBT PWM Sinusoidal wave drive
17-bit (131072 resolution) absolute/incremental encoder,
Encoder feedback
2500P/r (10000 resolution) incremental encoder
Made by Sony Manufacturing System
Resolution(µm)
0.05
0.05
SR77 Series
SR87 Series
Max. Speed*(m/s)
2
2
High resolution laser scales are also available.
Input
10 inputs
(1) Servo-ON, (2) Control mode switching, (3) Gain switching/Torque limit switching, (4) Alarm clear
Other inputs vary depending on the control mode.
Output
6 outputs
(1) Servo alarm, (2) Servo ready, (3) Release signal of external brake (4) Zero speed detection,
(5) Torque in-limit. Other outputs vary depending on the control mode.
Input
3 inputs (16Bit A/D : 1 input, 10Bit A/D : 2 inputs)
Output
2 outputs (for monitoring)
(1) Speed monitor (Monitoring of actual motor speed or command speed is enabled. Select the content
and scale with parameter.), (2) Torque monitor (Monitoring of torque command, [approx. 3V/rated
torque]), deviation counter or full-closed deviation is enabled. Select the content or scale with parameter.)
Input
2 inputs
Select the exclusive input for line driver or photo-coupler input with parameter.
Output
4 outputs
Feed out the encoder pulse (A, B and Z-phase) or feedback scale pulse (EXA, EXB and EXZ-phase) in
line driver. Z-phase and EXZ-phase pulse is also fed out in open collector.
RS232
1 : 1 communication to a host with RS232 interface is enabled.
RS485
1 : n communication up to 15 axes to a host with RS485 interface is enabled.
Control signal
Analog signal
Pulse signal
Communication
function
* The maximum speed depends on the
driver performance.
It is limited by the machine configuration
and system configuration.
Front panel
(1) 5 keys (MODE, SET, UP, DOWN, SHIFT), (2) LED (6-digit)
Regeneration
Frame A, B, G : no built-in regenerative resistor (external resistor only) Frame C to F : Built-in
regenerative resistor (external resistor is also enabled.)
Dynamic brake
Setup of action sequence at Power-OFF, Servo-OFF, at protective function activation and over-travel
inhibit input is enabled.
* For G is no function.
Switching among the following 7 mode is enabled, (1) Position control, (2) Velocity control,
Control mode
(3) Toque control, (4) Position/Velocity control, (5) Position/Torque control,
(6) Velocity/Torque control and (7) Full-closed control.
A4-15
Torque control
Max. Speed*(m/s)
2
5
4
5
4
Full closed control
Resolution(µm)
0.05
0.5
0.1
0.5
0.1
Common
Feedback scale (full-closed control only)
ABS AT573A Series
ABS ST771A Series
ABS ST773A Series
ABS ST771AL Series
ABS ST773AL Series
Functions
Basic Specifications
Made by Mitsutoyo
Common Specifications of Driver
(1) Deviation counter clear (2) Command pulse inhibition (3) Electronic gear switching (4) Damping control switching
Control output
(1) Positioning complete (In-position)
Pulse input
Control input
Support (1) RS422 line drive signal and (2) Open collector signal from controller.
Type of input pulse
Differential input. Selectable with parameter, ((1) CW/CCW (2) A and B-phase (3) Command and Direction)
Electronic gear
Division/Multiplication
of command pulse
(
)
Process the command pulse frequency x
(1 to 10000) x 2(0-17)
1 to 10000
as a position command input
Primary delay filter or FIR type filter is selectable to the command input.
Torque limit command input
Individual torque limit for both CW and CCW direction is enabled. (3V/rated torque)
Damping control
Usable
Control input
(1) Speed zero clamp (2) Selection of internal speed setup (3) Gain switching or Torque limit switching input
Control output
(1) Speed arrival (at-speed)
Analog input
Smoothing filter
Usable
Setup of scale and rotational direction of the motor against the command voltage is enabled with
Velocity command input
Torque limit command input
parameter, with the permissible max. voltage input = ± 10V and 6V/rated speed (default setup).
Individual torque limit for both CW and CCW direction is enabled. (3V/rated torque)
1 : 5000
Speed control range
8-speed with parameter setup
Soft-start/down function
Individual setup of acceleration and deceleration is enabled, with 0 to 10s/1000r/min. S-shaped acceleration/deceleration is also enabled.
Zero-speed clamp
0-clamp of internal speed command with speed zero clamp input is enabled.
Instantaneous speed observer
Usable
Speed command filter
Usable
Control input
(1) Speed zero clamp
Control output
(1) Speed arrival (at-speed)
Analog input
Internal speed command
Setup of scale and CW/CCW torque generating direction of the motor against the command voltage is
Speed command input
enabled with parameter, with the permissible max. voltage input = ± 10V and 3V/rated speed (default setup).
Speed limit input
Speed limit input by analog voltage is enabled. Scale setup with parameter.
Speed limit function
Speed limit value with parameter or analog input is enabled.
Control input
(1) Deviation counter clear (2) Command pulse input inhibition (3) Electronic gear switching (4) Damping control switching
Control output
(1) Full-closed positioning complete (in-position)
Pulse input
Torque control
Exclusive interface for line driver : 2Mpps, Line driver : 500kpps, Open collector : 200kpps
Input pulse signal format
Instantaneous speed observer
Max. command pulse frequency
Exclusive interface for line driver : 2Mpps, Line driver : 500kpps, Open collector : 200kpps
Input pulse signal format
Differential input. Selectable with parameter ((1) CCW/CW (2) A and B-phase (3) Command and direction)
Electronic gear
Division/Multiplication
of command pulse
Process the command pulse frequency x
(
)
(1 to 10000) x 2(0-17)
1 to 10000
as a position command input
Smoothing filter
Primary delay filter is adaptable to the command input.
Torque limit command input
Individual torque limit for both CW and CCW direction is enabled. (3V/rated torque)
Setup range of division /
multiplication of feedback scale
Setting of ratio between encoder pulse (denominator) and feedback scale pulse (numerator) is
Auto-gain tuning
Analog
input
Full-closed control
Max. command pulse frequency
Real-time
Corresponds to load inertia fluctuation, possible to automatically set up parameters related to notch filter.
Normal mode
Estimates load inertia and sets up an appropriate servo gain.
Fit-gain function
Automatically searches and sets up the value which makes the fastest settling time with external command input.
enabled within a range of (1 to 10000) x 2(0-17) / (1 to 10000).
Masking of the following input signal is enabled.
Division of encoder feedback pulse
Protective
function
(1) Over-travel inhibition (2) Torque limit (3) Command pulse inhibition (4) Speed-zero clamp (5) Counter clear
Set up of any value is enabled (encoder pulses count is the max.).
Soft error
Over-voltage, under-voltage, over-speed, over-load, over-heat, over-current and encoder error etc.
Hard error
Excess position deviation, command pulse division error, and EEPROM error etc.
Traceability of alarm data
Traceable up to past 14 alarms including the present one.
Damping control function
Manual setup with parameter
Setup
Common
Masking of unnecessary input
Manual
5push switches on front panel
Setup support software
PANATERM (Supporting OS : Windows98, Windows ME, Windows2000, and WindowsXP)
MODE
A4-16
SET
MINAS A4 Common Specifications of Driver
Functions
Velocity control
Analog
input
Position control
MINAS A4
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