General Specifications

Main Power Supply
Single-phase/3-phase 220V～240V 50～60HZ

Control Power Supply
Single-phase 220V～240V 50～60HZ

Encoder Feedback
Absolute encoder, 7 wires serial, 17 bits (131072 resolution)
Incremental encoder, 5 wires serial, 20 bits (1048576 resolution)
ABZ-phase incremental encoder, 2500P/r (10000 resolution)

Pulse & Direction Input Signal
2 groups of differential input signal (one for pulse, the other for direction)

Pulse Output
ABZ-phase encoder pulse output through line driver

Communication
Connected to PC (which has iMotion installed) via USB interface

Control Mode
① Position control; ② Velocity control; ③ Torque control

Position Control

Control Input
① Deviation counter clear;② Command pulse input inhibition;③ Electronic gear switching;④ Gain switching, etc

Control Output
Positioning complete (in-position)

Max Pulse Input Frequency
Line driver: 1Mpps Open collector: 200Kpps

Pulse Input Mode
Differential input, with parameter setup (① Positive/ negative; ② A-phase/B-phase; ③ Command/ direction)

Electronic Gear (division/multiplication of command pulse)
1/1000~1000 times

Filter
Smoothing filter, FIR filter, time delay filter

Pulse Output
Phase A, phase B and phase C: line driver output Pulse output division: within a range of 1 to 1/4 of encoder resolution

Velocity Control

Control Input
① 1st internal velocity; ② 2nd internal velocity; ③ 3rd internal velocity; ④ Zero-speed clamp

Control Output
At-speed(speed arrival)

Internal Velocity Command
8-velocity with parameter setup

Acceleration/Deceleration Adjustment
Individual setup of acceleration and deceleration is enabled. Sigmoid acceleration/deceleration is also enabled.

Zero-speed Clamp
In velocity mode, zero-speed clamp can work in velocity mode or position mode with parameter setup.

Torque Control

Control Input
Zero-speed clamp

Control Output
At-speed(speed arrival)

Speed Limit
Speed limit settable with parameter setup

Torque Command Filter
One first-order low pass filter, four notching filters