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