Features

  • Enhanced efficiency integrated servo system
    • Cost effective from installation by integrated system of motor, encoder cable and drive
    • Maximizes useful space when installed in limited and small spaces
    • High effectiveness for application of multi axis because there is no limitation for space of installation
  • Real-time control through EtherCAT
    • High speed, real-time capability, and synchronization mechanism
    • Improved EtherCAT communication speed
    • Supporting CoE, EoE and FoE
  • Enhanced efficiency integrated servo system
    • Cost effective from installation by integrated system of motor, encoder cable and drive
    • Maximizes useful space when installed in limited and small spaces
    • High effectiveness for application of multi axis because there is no limitation for space of installation
  • Real-time control through EtherCAT
    • High speed, real-time capability, and synchronization mechanism
    • Improved EtherCAT communication speed
    • Supporting CoE, EoE and FoE

Specification

Rated Values of Drive
Rated □4050W □40100W □60100W □60200W □60300W
Continuous output current [Arms] 1.77 2.38 3.62 5 6.8
Maximum output current [Arms] 3.54 3.75 7.24 10 13.6
Input voltage DC 48V ~ DC 60V


Basic
Category Details
Use conditions Control method PWM controlled sine wave current driving method
Operatingtemperature/storagetemperature 0∼+40[℃] / -20~ +60[℃]
Operatinghumidity/storagehumidity Below 80% RH / Below 90% RH (no freeze or condensation)
Vibration-/impact-resistance TBD
Degreeofprotection/degreeofpollution TBD
Altitude 1000m or lower
Other To be free from electrostatic noise, strong electrolysis, or radiation.
Performance Speed variation Load variation At 0 to 100% load: ± 3% (at rated speed)
Voltage variation Rated voltage ±10%: 0% (at rated speed)
Temperaturevariation 25℃: ±0.1% or less (at rated speed)
Input/output signal Input signal Input voltage range: DC 12 V - DC 30 V
The 4-channel input signal can be assigned to 12 functions:
POT, NOT, HOME, STOP, PCON, GAIN2, PCL, NCL, PROBE1, PROB2, EMG, and ARST.
Output signal Rated voltage and current: DC 24 V ±10%, 120 [   ]
The 2-channel output signal can be assigned to 11 functions: BRAKE, ALARM, RDY, ZSPD, INPOS1, TLMT, VLMT, INSPD, WARN, TGON, and INPOS2.
Analog Monitor Number of channels: 1, Output voltage range: ±4V, Angular resolution: 12 bits, Stabilization time: 15 us
USB communication Connecting device PC or USB storage medium
Communication standard Conform to the USB 2.0 Full Speed Standard.
Function Firmware download, parameter setting, adjustment, auxiliary functions, and parameter copy function.
Dynamic brake (three-phase short-circuit) Activates when servo alarm, servo OFF, or Emergency stop (POT, NOT and EMG) is input.
Protection functions Overcurrent, overload, current limit, overheat, overvoltage, undervoltage, overspeed, encoder error, position follow error, ect.
Auxiliary functions Gain adjustment, alarm history, JOG drive, programmed JOG drive, etc.
Safety functions Input STO1 and STO2
Compatible standard TBD


EtherCAT Communication
Category Details
Communicati on standard FoE Firmware download
EoE Parameter setting, adjustment, auxiliary functions, and parameter copy through UDP.
CoE IEC 61158 Type12, IEC 61800-7 CiA 402 drive profile
Physical layer 100BASE-TX(IEEE802.3)
Connector RJ45 x 2
Distance Within 100 m between nodes
DC (Distributed Clock) Sync by DC mode
LED Display •L/A0(Link/Act IN) •L/A1(Link/Act OUT) •RUN •ERR
Cia402 drive Profile Supports CSP, CSV, CST, PP, PV, PT, and HM Modes.


Encoder
Category Details
Encoder Type Magnetic Encoder (12bit)


Motor
Model Unit □40 50W □40 100W □60100W □60200W □60300W
Rated Torque [Kgf cm] 1.62 3.25 3.25 6.5 9.74
Max. Torque [Kgf cm] 3.24 4.88 6.5 13 19.48
Rated Speed [rpm] 3000 2400 3000 3000 3000
Max Speed [rpm] 3000 3000 3000 3000 3000
Inertia [Kg㎡x10-4] 0.024 0.045 0.114 0.182 0.321
Rated Values of Drive
Rated □4050W □40100W □60100W □60200W □60300W
Continuous output current [Arms] 1.77 2.38 3.62 5 6.8
Maximum output current [Arms] 3.54 3.75 7.24 10 13.6
Input voltage DC 48V ~ DC 60V


Basic
Category Details
Use conditions Control method PWM controlled sine wave current driving method
Operatingtemperature/storagetemperature 0∼+40[℃] / -20~ +60[℃]
Operatinghumidity/storagehumidity Below 80% RH / Below 90% RH (no freeze or condensation)
Vibration-/impact-resistance TBD
Degreeofprotection/degreeofpollution TBD
Altitude 1000m or lower
Other To be free from electrostatic noise, strong electrolysis, or radiation.
Performance Speed variation Load variation At 0 to 100% load: ± 3% (at rated speed)
Voltage variation Rated voltage ±10%: 0% (at rated speed)
Temperaturevariation 25℃: ±0.1% or less (at rated speed)
Input/output signal Input signal Input voltage range: DC 12 V - DC 30 V
The 4-channel input signal can be assigned to 12 functions:
POT, NOT, HOME, STOP, PCON, GAIN2, PCL, NCL, PROBE1, PROB2, EMG, and ARST.
Output signal Rated voltage and current: DC 24 V ±10%, 120 [   ]
The 2-channel output signal can be assigned to 11 functions: BRAKE, ALARM, RDY, ZSPD, INPOS1, TLMT, VLMT, INSPD, WARN, TGON, and INPOS2.
Analog Monitor Number of channels: 1, Output voltage range: ±4V, Angular resolution: 12 bits, Stabilization time: 15 us
USB communication Connecting device PC or USB storage medium
Communication standard Conform to the USB 2.0 Full Speed Standard.
Function Firmware download, parameter setting, adjustment, auxiliary functions, and parameter copy function.
Dynamic brake (three-phase short-circuit) Activates when servo alarm, servo OFF, or Emergency stop (POT, NOT and EMG) is input.
Protection functions Overcurrent, overload, current limit, overheat, overvoltage, undervoltage, overspeed, encoder error, position follow error, ect.
Auxiliary functions Gain adjustment, alarm history, JOG drive, programmed JOG drive, etc.
Safety functions Input STO1 and STO2
Compatible standard TBD


EtherCAT Communication
Category Details
Communicati on standard FoE Firmware download
EoE Parameter setting, adjustment, auxiliary functions, and parameter copy through UDP.
CoE IEC 61158 Type12, IEC 61800-7 CiA 402 drive profile
Physical layer 100BASE-TX(IEEE802.3)
Connector RJ45 x 2
Distance Within 100 m between nodes
DC (Distributed Clock) Sync by DC mode
LED Display •L/A0(Link/Act IN) •L/A1(Link/Act OUT) •RUN •ERR
Cia402 drive Profile Supports CSP, CSV, CST, PP, PV, PT, and HM Modes.


Encoder
Category Details
Encoder Type Magnetic Encoder (12bit)


Motor
Model Unit □40 50W □40 100W □60100W □60200W □60300W
Rated Torque [Kgf cm] 1.62 3.25 3.25 6.5 9.74
Max. Torque [Kgf cm] 3.24 4.88 6.5 13 19.48
Rated Speed [rpm] 3000 2400 3000 3000 3000
Max Speed [rpm] 3000 3000 3000 3000 3000
Inertia [Kg㎡x10-4] 0.024 0.045 0.114 0.182 0.321