-|Transparent Guide|-
Input
Exclusive input: 7, General input: 5
Output
Exclusive output: 2 General output: 4
External power supply
VEX (Default: 24 VDCᜡ), GEX (GND)
Input resistance
4.7 kΩ (Anode Pull-Up)
Insulation resistance
≥ 200 MΩ (500 VDCᜡ megger)
Dielectric strength
1,500 VACᜠ 60 Hz for 1 minute
Vibration
1.5 mm double amplitude at frequency 10 to 55 Hz (for 1 minute)
in each X, Y, Z direction for 2 hours
Shock
300 m/s
2
(≈ 30 G) in each X, Y, Z direction for 3 times
Ambient temp.
0 to 50℃, storage: -10 to 60℃ (no freezing or condensation)
Ambient humi.
35 to 85%RH, storage: 10 to 90%RH (no freezing or condensation)
Protection rating
IP20 (IEC standard)
Approval
ᜢ ᜣ ᜥ
Unit weight (packaged)
≈ 770 g (≈ 1,040 g)
Run method
2-phase bipolar closed-loop control method
Speed filter
Disable, 2, 4, 6, 8, 10, 20, 40, 60(factory default), 80, 100, 120, 140,
160, 180, 200 ms
Control Gain
0 (factory default) to 31, (31: Fine Gain)
Max. rotation speed
3,000 rpm
In-Position
Fast Response: 0 to 7 (factory default), Accurate Response: 0 to 7
Operation mode
CSP, CSV, CST, PP, PV, HM
Home search
Homing on the negative limit switch and index pulse
Homing on the positive limit switch and index pulse
Homing on the home switch and index pulse (Positive)
Homing on the home switch and index pulse (Negative)
Homing without an index pulse (negative limit switch)
Homing without an index pulse (positive limit switch)
Homing without an index pulse (Positive and Home sensor ON)
Homing without an index pulse (Negative and Home sensor ON)
Homing on the index pulse (Negative)
Homing on the index pulse (Positive)
Set the Origin with Home offset
Set the Origin and Reset Current Position
Torque Homing Search- with Home offset
Torque Homing with Home offset
Specifications
Model
AiCA-D-
60MA-□-EC
AiCA-D-
60LA-□-EC
AiCA-D-
86MA-□-EC
AiCA-D-
86LA-□-EC
Main
power
Power supply
200 - 240 VACᜠ 50/60 Hz
Max. RUN power
01)
≤ 800 VA
Stop power
02)
≤ 60 VA
≤ 65 VA
AUX
power
03)
Power supply
24 VDCᜡ
Input current
0.3 A
0.5 A
Max. RUN current
04)
2.0 A / Phase
Stop current
20 to 100% of max. RUN current
Resolution
500, 1000, 1600, 2000, 3200, 3600, 5000, 6400, 7200, 10000
(factory default) PPR
01) When changing the load rapidly, instantaneous peak current may increase. The capacity of power supply should
be over 1.5 to 2 times of max. RUN power.
02) Based on ambient temp. 25 ℃, ambient humi. 55 %RH, stop current 20%
03) Auxiliary power is only available in built-in brake type and not available in standard type.
04) RUN current varies depending on the input RUN frequency and max. RUN current at the moment varies also.
■
EtherCAT
Comm. specifications
EtherCAT
Association approval
01)
Support protocol
CoE (support CiA402 profile), support FoE
Physical layer
100BASE-TX (IEEE802.3)
Connection cable
CAT5e class or over (Shield type: SF/FTP, S/FTP, SF/UTP)
Max. comm. distance
Within 100 m distance between nodes
Baud rate
10 / 100 Mbps
Distributed clock
DC cycle: 250 us, 500 us, 1 ms, 2 ms, 4 ms, 8 ms
Node ID setting
ECAT ID switch setting: 1 to 99
Physical address setting at Master: 1 to 65535
Topology
Star, Line, Tree
01) EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
Communication Interface
Power Supply Configuration Diagram
200 - 240 VACᜠ
Surge protector
Circuit breaker
Noise filter for power
Noise filter
for signal line
L
N
PE
RG1
CN2
RG2
Regenerative resistance
■ Noise filter for signal line
Connect to wiring to suppress external noise.
Depending on frequency, filtered noise may different.
Type
Model
Manufacture
Motor line, I/O signal line
28A5776-0A2
Lairdtech
Power line
28A5131-0A2
Communication line
28A2025-0A2
■ Noise filter for power
Connect the power to suppress external noise.
The wires should be connected as short as possible and grounded.
Model
Specifications
Manufacture
RNS-2006
Rated voltage: 250 V
Rated current: 6 A
Max. leakage current: 1 mA
Orient Electronics
■ Regenerative resistance
Connect the pin 1, 2 on the power connector.
Use in condition of the high inertia load or the short deceleration time.
Forced cooling is required in condition of high surface temperature of regenerative resistance.
Model
Specifications
Manufacture
IRC100
Resistance: 100 Ω ±5%,
Rated power: 60 W (standby),
100 W (heatsink attached)
Rara Electronics Corp.
■ Surge protector
Protect the product from external noise and surge by connecting power.
Be sure to disconnect the surge protector when testing internal pressure.
It may result in product damage.
Model
Specifications
Manufacture
LT-C12G801W
Nominal discharge current: 2500 A
Max. discharge current: 5000 A
Voltage protection level: 1.5 kV
OTOWA Electric Co. Ltd
Troubleshooting
Malfunction
Causes
Troubleshooting
When communication is
not connected
The communication
cable is not connected.
Check communication cable wiring.
Check communication cable connected correctly.
XML file does not match.
Check provided XML file is
correct.
When motor does not
excite at operation enable
status
Hold Off signal input.
Check the Hold Off input signal.
In case of ON, Servo is OFF and excitation of the
motor is released.
Alarm occurs.
Check the alarm type and remove the cause.
When motor rotates to the
opposite direction of the
designated direction
Polarity parameter
setting is not correct.
Check the Polarity parameter settings.
When motor drives
unstable
Connection between
motor and encoder is
unstable.
Check the driver and motor are connected
correctly.
Control Gain value is not
correct.
Change the Control Gain parameter as the
appropriate value.
