Table of Contents
1. About this user manual ············································································································ 1-1
1.1 Instructions before use ···································································································· 1-2
1.2 Safety instructions ·········································································································· 1-4
2. Specifications ························································································································ 2-1
2.1 Drive information ··········································································································· 2-2
2.1.1 Safety certification ······························································································· 2-2
2.1.2 Nameplate information ························································································· 2-2
2.1.3 Model number ···································································································· 2-3
2.2 Drive specifications ········································································································ 2-4
2.3 Drive dimensions ··········································································································· 2-8
2.4 Drive installation ·········································································································· 2-20
2.5 Computer requirements ································································································· 2-21
3. Operation principles ················································································································ 3-1
3.1 Operation modes ··········································································································· 3-2
3.1.1 Position mode ····································································································· 3-2
3.1.2 Velocity mode ····································································································· 3-3
3.1.3 Force/torque mode ······························································································ 3-3
3.1.4 Stand-alone mode ······························································································· 3-4
3.2 Encoder type ················································································································ 3-4
3.3 Encoder signal output ····································································································· 3-5
3.4 Path planning ················································································································ 3-6
3.5 Servo loops and gains····································································································· 3-8
3.6 Gain margin and phase margin ························································································· 3-9
3.6.1 Nyquist diagram ·································································································· 3-9
3.6.2 Bode diagram ··································································································· 3-11
3.7 Move and settling ········································································································· 3-12
3.8 Error compensation ······································································································ 3-13
3.9 Velocity ripple ·············································································································· 3-14
3.10 Enable ······················································································································· 3-15
3.11 Common physical quantities ··························································································· 3-16
4. Wiring ·································································································································· 4-1
4.1 System configuration and wiring ························································································ 4-2
4.1.1 System wiring diagram ························································································· 4-2
4.1.1.1 Grounding ····························································································· 4-4
4.1.2 CN1 power········································································································· 4-5
4.1.2.1 Power wiring ·························································································· 4-5
4.1.2.2 Motor wiring ··························································································· 4-8
4.1.2.3 Regenerative resistor wiring ······································································ 4-8
4.1.2.4 DC reactor wiring ···················································································· 4-9
4.1.3 CN2 brake/motor power ······················································································ 4-11
4.1.4 CN3 USB communication ···················································································· 4-12
4.1.5 CN4 Modbus communication ··············································································· 4-13
4.1.6 CN5 Modbus communication/safety function ··························································· 4-15
4.1.7 CN6 control signal ····························································································· 4-16
4.1.8 CN7 encoder ···································································································· 4-17
4.1.9 CN8 EtherCAT communication ············································································· 4-18
4.1.10 CN13/CN14 extension I/O signal ·········································································· 4-19
4.2 Drive accessories ········································································································ 4-20
4.3 Main power wiring ········································································································ 4-25
4.3.1 AC power wiring (single-phase) ············································································ 4-25
4.3.2 AC power wiring (three-phase) ············································································· 4-26
4.4 Multiple drives connection ······························································································ 4-27
4.5 I/O signal wiring ··········································································································· 4-29
4.5.1 Digital input wiring ····························································································· 4-29
4.5.1.1 Sink input wiring examples······································································ 4-29
4.5.1.2 Source input wiring examples ·································································· 4-30
4.5.2 Digital output wiring ··························································································· 4-30
4.6 Wiring examples for control commands············································································· 4-32
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