(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

(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

(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

(1) In-position output
(2) Position command ON/OFF output

500 kpps (Optocoupler interface), 8 Mpps (When using line receiver input multiplied by 4)

Differential input. Selectable by parameter.
([1]Positive/Negative pulse [2]A/B quadrature [3]Pulse/Direction)

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.

Primary delay filter or FIR type filter is adaptable to the command input

Individual torque limit for both positive and negative direction is enabled.

Analog voltage can be used as torque feed forward input.

Available

Available

Available

(1) Internal command velocity selection input
(2) Speed zero clamp input
(3) Velocity command sign input
(4) Control mode switch input

(1) Speed coincidence output
(2) Velocity command ON/OFF output

Velocity command input with analog voltage is possible. Scale setting and command polarity vary depending on parameters. (6 V/Rated rotational speed: Default)

Individual torque limit for both positive and negative direction is enabled.

Analog voltage can be used as torque feed forward input.

Switching the internal 8 speed is enabled by command input.

Individual setup of acceleration and deceleration is enabled, with 0 s to 10 s/ 1000 r/min. Sigmoid acceleration/deceleration is also enabled.

Internal velocity command can be clamped to 0 with speed zero clamp input.

Available

Speed zero clamp input, torque command sign input, control mode switch input.

(1) Speed coincidence output
(2) Speed in-limit output

Torque command input with analog voltage is possible. Scale setting and command polarity vary depending on parameters. (3 V/rated torque Default)

Speed limit value with parameter is enabled.

(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

(1) In-position output
(2) Position command ON/OFF output

500 kpps (Optocoupler interface), 8 Mpps (When using line receiver input multiplied by 4)

Differential input. Selectable by parameter.
([1]Positive/Negative pulse [2]A/B quadrature [3]Pulse/Direction)

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.

Primary delay filter or FIR type filter is adaptable to the command input

Individual torque limit for both positive and negative direction is enabled.

Analog voltage can be used as torque feed forward input.

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.

Available

Available

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.

Set up of any value is enabled (encoder pulses count is the max.).

Over-voltage, under-voltage, over-speed, over-load, over-heat, over-current and
encoder error etc.

Excess position deviation, command pulse division error, EEPROM error etc.

Tracing back of alarm data is available