| A4 Servo driver standard specification |
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| standard specification | Input power | Main loop power | single/3 phase : 200-240VAC 50/60Hz |
| Control loop power | single phase :220-240VAC 50/60Hz |
| Working condition | Temperature | Working temperature: 0-55 ° C Storage temperature -20 ° C -60 ° C |
| Humidity | Work / save ≤ 90% RH or less (no condensation) |
| Altitude | ≤1000m |
| Vibration | ≤5.88M/S²，10-60HZ (not allowed to work at the resonance point) |
| Atmospheric pressure | 80Kpa-106Kpa |
| Installation Location | Indoor (avoid direct sunlight) no corrosive mist (avoid fume flammable gas dust) |
| Control method ICBG | PWM sine wave control |
| Code feedback | 2500p/r (resolution: 10000), 5-wire incremental encoder |
| control signal | Input | 10 points input (function configurable): servo enable, alarm clear, control mode switching, gain switching; the rest is related to control mode. |
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| output | 6-point output (function configurable): servo ready, servo alarm, brake release, torque limit; the rest is related to control mode. |
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| Analog signal | input | 2 analog inputs, 12-bit resolution, input range -9.5v - +9.5v, where AI2 is fixed as a torque limit input. |
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| output | None (only DO output signal is supported) |
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| Pulse signal | input | 2 high-speed inputs: differential (600K) and single-ended (200K) pulse inputs |
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| output | 3 high-speed pulse output, output signal form: 5v differential signal; 1 channel Z signal single-ended output. |
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| Communication function | RS485 | Modbus protocol, 1:n (n ≤ 32) |
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| Display panel and operation buttons | 5 buttons (Mode, Set, Left, Up, Down) and 6 digital tubes |
| Regenerative discharge braking resistor | Built-in 100W40Ω braking resistor, external braking resistor is required for frequent braking. |
| Function | Control mode | The following six modes are selected by parameters: position mode, speed mode, torque mode, position/speed mode, position/torque mode, speed/torque mode. |
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| Position control | Control input | CW direction is prohibited, CCW direction is prohibited, emergency stop, position loading signal, home switch, zero return start |
| Position deviation clear, command pulse inhibit, command pulse frequency selection |
| Control output | Positioning completed |
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| Pulse input | Maximum command pulse frequency | Differential (600K) and single-ended (200K) pulse inputs |
| Input burst form | ① command / pulse, ②CW / CCW, ③A / B two phase |
| Command pulse division frequency | The range is 2500*4/PA045 (PA045 range is 0-32767) |
| Smoothing filter | Primary delay filter can be selected for command pulse |
| Communication control | Protocol | Modbus protocol |
| Features | Servo with absolute positioning, relative positioning, homing function, built-in 32-segment position can be loaded |
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| speed control | Control input | CW direction is prohibited, CCW direction is prohibited, zero speed clamp, speed command reverse selection |
| Internal speed selection 1, internal speed selection 2 |
| Control output | Internal speed arrival |
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| Analog input | Speed command input | The analog speed command can be input, and the proportional and direction can be adjusted by parameters (default: 5V rated speed) |
| Torque limit command input | Torque limit can be set in both CW and CCW directions (default: 3V rated torque) |
| Internal speed command | Select 4 internal speeds by entering control points |
| Communication speed command | Built-in 32-segment speed, can be loaded by communication command |
| Zero speed clamp | Internal speed can be zero by zero speed clamp input |
| Zero speed detection | Available |
| Speed arrival | Available |
| Torque control | Control input | CW direction is prohibited, CCW direction is prohibited, zero speed clamp, speed command reverse selection |
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| Control output | Speed arrival, torque limit |
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| Analog input | Torque command input | Analog torque command can be input, other ratios and directions can be adjusted with parameters (default: 3V rated torque) |
| Communication torque command | Built-in 16-segment speed, can be loaded by communication command |
| Speed limit function | Related parameters can set the speed limit value |