7
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Section 3 Specifications
3-1 Servo Drive Specifications ..................................................................................................... 3-2
3-1-1 General Specifications................................................................................................................ 3-2
3-1-2 Characteristics............................................................................................................................ 3-3
3-1-3 EtherCAT Communications Specifications................................................................................. 3-5
3-1-4 EtherCAT Communications Connector Specifications (RJ45).................................................... 3-5
3-1-5 Control I/O Specifications (CN1)................................................................................................. 3-6
3-1-6 Control Input Circuits.................................................................................................................. 3-8
3-1-7 Control Input Details................................................................................................................... 3-9
3-1-8 Control Output Circuits ............................................................................................................. 3-11
3-1-9 Control Output Details .............................................................................................................. 3-12
3-1-10 External Encoder Specifications............................................................................................... 3-16
3-1-11 External Encoder Connector Specifications (CN4)................................................................... 3-17
3-1-12 Analog Monitor Connector Specifications (CN5) ...................................................................... 3-21
3-1-13 USB Connector Specifications (CN7)....................................................................................... 3-22
3-1-14 Safety Connector Specifications (CN8) .................................................................................... 3-22
3-2 Overload Characteristics (Electronic Thermal Function).................................................. 3-25
3-3 Linear Motor Specifications ................................................................................................. 3-28
3-3-1 General Specifications of Iron-core Linear Motors ................................................................... 3-28
3-3-2 Performance Specifications of Iron-core Linear Motors............................................................ 3-29
3-3-3 Iron-core Linear Motor Speed - Force Characteristics.............................................................. 3-32
3-3-4 Temperature Sensor Specifications of Iron-core Linear Motors ............................................... 3-35
3-3-5 General Specifications of Ironless Linear Motors ..................................................................... 3-36
3-3-6 Performance Specifications of Ironless Linear Motors ............................................................. 3-36
3-3-7 Ironless Linear Motor Speed - Force Characteristics ............................................................... 3-39
3-3-8 Temperature Sensor Specifications of Ironless Linear Motors................................................. 3-44
3-3-9 Cable Specifications................................................................................................................. 3-45
3-4 Cable and Connector Specifications................................................................................... 3-46
3-4-1 Resistance to Bending of Robot Cable..................................................................................... 3-46
3-4-2 External Encoder Cable Specifications..................................................................................... 3-47
3-4-3 Connector Specifications.......................................................................................................... 3-48
3-4-4 EtherCAT Communications Cable Specifications..................................................................... 3-49
3-4-5 Analog Monitor Cable Specifications........................................................................................3-52
3-4-6 Control Cable Specifications..................................................................................................... 3-53
3-5 External Regeneration Resistor Specifications.................................................................. 3-58
3-6 Reactor Specifications.......................................................................................................... 3-59
Section 4 System Design
4-1 Installation Conditions............................................................................................................ 4-2
4-1-1 Installation Conditions................................................................................................................. 4-2
4-1-2 Iron-core Linear Motor Installation Conditions............................................................................ 4-4
4-1-3 Ironless Linear Motor Installation Conditions............................................................................ 4-10
4-2 Wiring ..................................................................................................................................... 4-14
4-2-1 Peripheral Equipment Connection Examples ........................................................................... 4-14
4-2-2 Main Circuit and Linear Motor Connections.............................................................................. 4-18
4-2-3 Terminal Block Wire Sizes........................................................................................................ 4-22
4-2-4 Terminal Block Wiring Procedure............................................................................................. 4-24
4-3 Wiring Conforming to EMC Directives ................................................................................ 4-26
4-3-1 100-VAC and 200-VAC Input Servo Drive Models ................................................................... 4-26
4-3-2 400-VAC Input Servo Drive Models.......................................................................................... 4-27
4-4 Noise Reduction .................................................................................................................... 4-29
4-4-1 Wiring Method........................................................................................................................... 4-29
4-4-2 Selecting Connection Components .......................................................................................... 4-33
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