| Control Method | IGBT PWM controlled since ave current drive |
| Encoder | 2500ppr incremental encoder, 17 bit absolute encoder |
| Input signal | 8*DI, Select input function according to function code configuration |
| Output signal | 4*DO, Select input function according to function code configuration |
| Analog signal input | 2 channel AI input, range (-10v〜10v) |
| Pulse signal input | Open collector or differential input |
| Pulse feedback output | A,B,Z differential output |
| Internal instructions | Support 8 internal speed commands and multiple internal position commands |
| Modbus communication | channel 1 |
| PC communication | RS422 port, parameter setting, monitoring status, waveform viewing, parameter auto-tuning |
| Braking resistor | Built-in braking resistor, supporting external braking resistor |
| General function |
|---|
| Automatic parameter tuning | It can cooperate with the host computer for automatic load inertia identification and automatic rigidity level, and the parameters self tuning |
| Waveform viewing | View position, speed, torque and other curves on PC in real time |
| Waveform storage | The waveform sampling frequency is 1KHz and the original waveform data can be stored for up to 10s |
| Parameter import/export | Support batch parameter import and export, support PCL automatic configurstion of servo parameters (supported by the same models) |
| Vibration suppression | Suppress mechanical vibration by settling vibration suppression parameters |
| Protective function | Overvoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc. |
| Brake | Support brake output control |
| Universal control DI | Servo enable (SON), fault and warning clear (A-CLR), forward drive prohibition (POT), reverse drive prohibition (NOT), command reverse (C-SIGN), emergency stop (E-STOP), gain switching (GAIN-SEL), multi-stage internal speed command selection (INSPD1, INSPD2, INSPD3) |
| Universal control DO | 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 on state output (SRV-ST), servo brake output (BRK-OFF) |
| Position mode |
|---|
| Input control | Deviation counter clear (CL), electronic gear switching 1 (GEAR-SEL), pulse input inhibit (INH), command inversion (C-GIN) |
| Output control | Positioning complete (P-COIN), positioning approach (P-NEAR) |
| Pulse frequency | max 500KHz |
| Pulse type | Pulse + Direction, CCW/CW pulse, orthogonal coding |
| Electronig gear ratio | range: 0.01〜100 |
| Pulse filtering | Low-pass filter or smooth filter |
| Pulse output | Differential orthogonal coding A, B, Z output, PPR is settable, can be set to integer or fraction |
| Torque limit | Forward/reverse operation torque limit is settable |
| Speed limit | Forward/reverse operation speed limit is settable |
| Speed mode |
|---|
| Control input | Zero clamp (ZCLAMP), command inversion (C-SIGN), speed limit analog input |
| Control output | Velocity consistent (V-COIN), speed approach (V-NEAR) |
| Analog input | -10V〜+10V analog input |
| Internal command | Set the speed via internal function code |
| Soft start | acc. and dec. time are settable |
| Zero clamp | Motor speed can be clamped to zero via the setting of zero clamp function |
| Torque limit | Set the torque limit |
| Torque mode |
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| Command output | Command inversion (C-SIGN), speed limit analog input |
| Control output | Torque reached (T-COIN), speed limit (V-LIMIT) |
| Analog input | -10V〜+10V analog input |
| Internal command | Set torque through internal parameter |
| Speed limit | Limits maximum speed in torque mode |
