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Driver Specifications

A6 SF series (Multifunction type)
Position, Speed, Torque, Full-closed type

Basic Specifications

Item Specifications
Input power 100 V Main circuit Single phase 100 V ＋10 ％－15 ％　～120 V ＋10 ％－15 ％　50 Hz / 60 Hz
Control circuit Single phase 100 V ＋10 ％－15 ％　～120 V ＋10 ％－15 ％　50 Hz / 60 Hz
200 V Main circuit A-frame to
D-frame		 Single/3-phase 200 V ＋10 ％－15 ％　～240 V ＋10 ％－15 ％　50 Hz / 60 Hz
E-frame,
H-frame		 3-phase 200 V ＋10 ％－15 ％　～240 V ＋10 ％－15 ％　50 Hz / 60 Hz
Control
circuit		 A-frame to
D-frame		 Single phase 200 V ＋10 ％－15 ％　～240 V ＋10 ％－15 ％　50 Hz / 60 Hz
E-frame,
H-frame		 Single phase　200 V ＋10 ％－15 ％　～240 V ＋10 ％－15 ％　50 Hz / 60 Hz
Environment temperature Ambient temperature: 0 ˚C to 55 ˚C (free from freezing)
Storage temperature: –20 ˚C to 65 ˚C
(Max.temperature guarantee: 80 ˚C for 72 hours free from condensation*1)
humidity Both operating and storage : 20 % to 85 %RH (free from condensation*1)
Altitude Lower than 1000 m
Vibration 5.88 m/s2 or less, 10 Hz to 60 Hz
Control method IGBT PWM Sinusoidal wave drive
Encoder feedback 23-bit (8388608 resolution) absolute encoder, 7-wire serial
* When using it as an incremental system (not using multiturn data), do not connect the battery for absolute encoder. Parameter Pr. 0.15 must be set to “1” (factory settings).
External scale feedback A/B phase, homing signal differential input. Serial communication is also supported.
Manufacturers that support serial communication scale:
Fagor Automation S.Coop., Magnescale Co., Ltd., Mitutoyo Corporation Nidec Sankyo Corporation, Renishaw plc
Parallel I/O connector Control signal Input General purpose 10 inputs
The function of general-purpose input is selected by parameters.
Output General purpose 6 outputs
The function of general-purpose output is selected by parameters.
Analog signal Input 3 inputs (16-bit A/D : 1 input, 12-bit A/D : 2 inputs)
Output 2 outputs (Analog monitor: 2 output)
Pulse signal Input 2 inputs (Photo-coupler input, Line receiver input)
Both open collector and line driver interface can be connected.
High speed line driver interface can be connected.
Output 4 outputs ( Line driver: 3 output, open collector: 1 output)
Line driver output for encoder pulses (A/B/Z signal) or external feedback pulses (EXA/EXB/EXZ signal) open collector output also available for Z or EXZ signal.
Communication
function		 USB USB interface to connect to computers for parameter setting or status monitoring.
RS232 1:1 communication
RS485 1: n communication (max 31) (Supports Modbus)
Safety function A dedicated connector is provided for Functional Safety.
Front panel (1) 5 keys
(2) LED (6-digit)
Regeneration A-frame, B-frame, G-frame, H-frame: no built-in regenerative resistor (external resistor only)
C-frame to F-frame: Built-in regenerative resistor (external resistor is also enabled.)
Dynamic brake A-frame to G-frame: Built-in
H-frame: External resistor only
Control mode Switching among the following 7 mode is enabled,
(1) Position control
(2) Speed control
(3) Toque control
(4) Position/Speed control
(5) Position/Torque control
(6) Speed/Torque control
(7) Full-closed control

*1 Air containing water vapor will become saturated with water vapor as the temperature falls, causing dew.

Function

Item Specifications
Control input (1) servo-ON input
(2) Alarm clear input
(3) Gain switch input
(4) Positive direction drive inhibit input
(5) Negative direction drive inhibit input
(6) Forced alarm input
(7) Inertia ratio switch input
Control output (1) Servo-alarm output
(2) Servo-ready output
(3) External brake off output
(4) At-speed output
(5) Torque in-limit output
(6) Zero speed detection output
(7) Warning output
(8) Alarm clear attribute output
(9) Servo on status output
Position control Control input (1) Deviation counter clear input
(2) Command pulse inhibit input
(3) Command division/multiplication switch input
(4) Anti-vibration switch input
(5) Torque limit switch input
(6) Control mode switch input
Control output (1) In-position output
(2) Position command ON/OFF output
Pulse
input		 Max. command pulse frequency 500 kpps (Optocoupler interface), 8 Mpps (When using line receiver input multiplied by 4)
Input pulse signal format Differential input. Selectable by parameter.
([1]Positive/Negative pulse [2]A/B quadrature [3]Pulse/Direction)
Electronic gear
(Division/Multiplication of
command pulse)		 Applicable scaling ratio: 1/1000 times to 8000 times
Any value of 1 - 2 30 can be set for both numerator (which corresponds to encoder resolution) and denominator (which corresponds to command pulse resolution per motor revolution), but the combination has to be within the range shown above.
Smoothing filter Primary delay filter or FIR type filter is adaptable to the command input
Analog
input		 Torque limit command input Individual torque limit for both positive and negative direction is enabled.
Torque feed forward input Analog voltage can be used as torque feed forward input.
Two-degree-of-freedom control Available
Anti-vibration control Available
Load variation suppression function Available
Block operation Modbus (RS 232, RS 485) or interface is selectable
Speed control Control input (1) Internal command velocity selection input
(2) Speed zero clamp input
(3) Velocity command sign input
(4) Control mode switch input
Control output (1) Speed coincidence output
(2) Velocity command ON/OFF output
Analog
input		 Velocity command input Velocity command input with analog voltage is possible. Scale setting and command polarity vary depending on parameters. (6 V/Rated rotational speed: Default)
Torque limit command input Individual torque limit for both positive and negative direction is enabled.
Torque feed forward input Analog voltage can be used as torque feed forward input.
Internal velocity command Switching the internal 8 speed is enabled by command input.
Soft-start/down function Individual setup of acceleration and deceleration is enabled, with 0 s to 10 s/ 1000 r/min. Sigmoid acceleration/deceleration is also enabled.
Speed zero clamp Internal velocity command can be clamped to 0 with speed zero clamp input.
Two-degree-of-freedom control Available
Torque control Control input Speed zero clamp input, torque command sign input, control mode switch input.
Control output (1) Speed coincidence output
(2) Speed in-limit output
Analog
input		 Torque command input Torque command input with analog voltage is possible. Scale setting and command polarity vary depending on parameters. (3 V/rated torque Default)
Speed limit function Speed limit value with parameter is enabled.
Full-closed control Control input (1) Deviation counter clear input
(2) Command pulse inhibit input
(3) Command division/multiplication switch input
(4) Anti-vibration switch input
(5) Torque limit switch input
Control output (1) In-position output
(2) Position command ON/OFF output
Pulse
input		 Max. command pulse frequency 500 kpps (Optocoupler interface), 8 Mpps (When using line receiver input multiplied by 4)
Input pulse signal format Differential input. Selectable by parameter.
([1]Positive/Negative pulse [2]A/B quadrature [3]Pulse/Direction)
Electronic gear
(Division/Multiplication of
command pulse)		 Applicable scaling ratio: 1/1000 times to 8000 times
Any value of 1 - 2 30 can be set for both numerator (which corresponds to encoder resolution) and denominator (which corresponds to command pulse resolution per motor revolution), but the combination has to be within the range shown above.
Smoothing filter Primary delay filter or FIR type filter is adaptable to the command input
Analog
input		 Torque limit command input Individual torque limit for both positive and negative direction is enabled.
Torque feed forward input Analog voltage can be used as torque feed forward input.
Setting range of external scale
division/multiplication		 1/40 times to 1280 times
Although ratio of the encoder pulse (numerator) and external scale pulse (denominator) can be arbitrarily set in the range of 1 to 2 23 for the numerator and in the range of 1 to 2 23 for the denominator, this product should be used within the aforementioned range.
Two-degree-of-freedom control Available
Anti-vibration control Available
Load variation suppression control Available
Block operation Modbus (RS 232, RS 485) or interface is selectable
Common Auto tuning The load inertia is identified in real time by the driving state of the motor operating according to the command given by the controlling device and set up support software “PANATERM”. The gain is set automatically in accordance with the rigidity setting.
Division of encoder feedback pulse Set up of any value is enabled (encoder pulses count is the max.).
Protective function Hard error Over-voltage, under-voltage, over-speed, over-load, over-heat, over-current and encoder error etc.
Soft error Excess position deviation, command pulse division error, EEPROM error etc.
Alarm data trace back Tracing back of alarm data is available

 

A6 SG series (RS485 communication type)
A6 SE series (Besic type)
Position control only type

Basic Specifications

Item Specifications
Input power 100 V Main circuit Single phase　100 V ＋10 ％－15 ％　～120 V ＋10 ％－15 ％　50 Hz / 60 Hz
Control circuit Single phase　100 V ＋10 ％－15 ％　～120 V ＋10 ％－15 ％　50 Hz / 60 Hz
200 V Main
circuit		 A-frame to
D-frame		 Single/3-phase　200 V ＋10 ％－15 ％　～240 V ＋10 ％－15 ％　50 Hz / 60 Hz
E-frame to
F-frame		 3-phase　200 V ＋10 ％－15 ％　～240 V ＋10 ％－15 ％　50 Hz / 60 Hz
Control
circuit		 A-frame to
D-frame		 Single phase　200 V ＋10 ％－15 ％　～240 V ＋10 ％－15 ％　50 Hz / 60 Hz
E-frame to
F-frame		 Single phase　200 V ＋10 ％－15 ％　～240 V ＋10 ％－15 ％　50 Hz / 60 Hz
Environment temperature Ambient temperature: 0 ˚C to 55 ˚C (free from freezing)
Storage temperature: –20 ˚C to 65 ˚C
(Max.temperature guarantee: 80 ˚C for 72 hours free from condensation*1)
humidity Both operating and storage : 20 % to 85 %RH (free from condensation*1)
Altitude Lower than 1000 m
Vibration 5.88 m/s2 or less, 10 Hz to 60 Hz
Control method IGBT PWM Sinusoidal wave drive
Encoder feedback 23-bit (8388608 resolution) absolute encoder, 7-wire serial
* A6SG series
When using it as an incremental system (not using multiturn data), do not connect the battery for absolute encoder. Parameter Pr. 0.15 must be set to “1” (factory settings).
* A6SE series
Since it can be used only as an incremental system, do not connect the battery for absolute encoder. Parameter Pr. 0.15 must be set to “1” (factory settings).
Parallel I/O connector Control signal Input General purpose 10 inputs
The function of general-purpose input is selected by parameters.
Output General purpose 6 outputs
The function of general-purpose input is selected by parameters.
Analog signal Input None
Output 2 outputs (Analog monitor: 2 output)
Pulse signal Input 2 inputs (Photo-coupler input, Line receiver input)
Output 4 outputs ( Line driver: 3 output, open collector: 1 output)
Communication
function		 USB USB interface to connect to computers for parameter setting or status monitoring.
RS232 1:1 communication * RS485, RS232 connector is not installed on A6 SE series.
RS485 1: n communication (max 31)
Front panel (1) 5 keys
(2) LED (6-digit)
Regeneration A-frame, B,-frame: no built-in regenerative resistor (external resistor only)
C-frame to F-frame: Built-in regenerative resistor (external resistor is also enabled.)
Dynamic brake A-frame to F-frame: Built-in
Control mode (1) Position control
(2) Internal velocity command
(3) Position/Internal velocity command

*1 Air containing water vapor will become saturated with water vapor as the temperature falls, causing dew.

Function

Item Specifications
Position control Control input (1) Deviation counter clear input
(2) Command pulse inhibit input
(3) Command division/multiplication switch input
(4) Anti-vibration switch input
(5) Torque limit switch input
(6) Control mode switch input
Control output (1) In-position output
(2) Position command ON/OFF output
Pulse
input		 Max. command
pulse frequency		 500 kpps (Optocoupler interface) 8 Mpps (Line receiver interface)
Input pulse signal
format		 Differential input. Selectable by parameter.
([1]Positive/Negative pulse [2]A/B quadrature [3]Pulse/Direction)
Electronic gear
(Division/Multiplication
of command
pulse)		 Applicable scaling ratio: 1/1000 times to 8000 times
Any value of 1 - 2 30 can be set for both numerator (which corresponds to encoder resolution) and denominator (which corresponds to command pulse resolution per motor revolution), but the combination has to be within the range shown above.
Smoothing filter Primary delay filter or FIR type filter is adaptable to the command input
Anti-vibration control Available
Two-degree-of-freedom control Available
Load variation suppression control Available
Block operation Modbus (RS 232, RS 485) or interface is selectable. (A6SE : interface only.)
Speed control Control input (1) Internal command velocity selection input
(2) Speed zero clamp input
(3) Velocity command sign input
(4) Control mode switch input
Control output (1) Speed coincidence output
(2) Velocity command ON/OFF output
Internal velocity command Switching the internal 8 speed is enabled by command input.
Soft-start/down function Individual setup of acceleration and deceleration is enabled,
with 0 s to 10 s/ 1000 r/min. Sigmoid acceleration/deceleration is also enabled.
Zero-speed clamp Internal velocity command can be clamped to 0 with speed zero clamp input.
Two-degree-of-freedom control Available
Common Auto tuning The load inertia is identified in real time by the driving state of the motor operating according to the command given by the controlling device and set up support software “PANATERM”. The gain is set automatically in accordance with the rigidity setting.
Division of encoder feedback
pulse		 Set up of any value is enabled (encoder pulses count is the max.).
Protectiv
function		 Hard error Over-voltage, under-voltage, over-speed, over-load, over-heat, over-current and encoder
error etc.
Soft error Excess position deviation, command pulse division error, EEPROM error etc.
Alarm data trace back Tracing back of alarm data is available

 

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