Chapter 11 Specifications 11.1 EA190 servo driver specification 198 Technical Manual for EA190 Series Servo Driver V100 Model EA190- 0R9-1B 1R6-1B 2R5-1B 4R8-2B 6R2-2B Adaptive motor encoder 17-bit incremental/23-bit absolute type External structure SIZE A SIZE B Adaptive motor power (kW) 0.05 0.1/0.2 0.4 0.75 1.0 Rated output current (A) 0.9 1.6 2.5 4.8 6.2 Power operati ng conditi ons Power supply 50/60Hz Single-phase AC220V±5% - Three-phase AC220V±5% Temperature Working temperature 0~40°, storage temperature -20°~85° Humidity Working/storage:
≤90%RH (without dew condensation) Altitude ≤1000m Vibration ≤4.9m/s2, 10~60Hz (no operation at the point of resonance is permitted) Cooling method Fan cooling Control method SVPWM, vector control Six control modes Speed control, position control, torque control, speed/position control, torque/speed control, position/torque control Front panel 5 keys, 5-digit LED Regenerative brake Built-in brake unit and resistor; an external braking resistor can be connected Feedback mode Support cable-economical/non-cable-economical incremental 2500-line encode, 17-bit incremental/23-bit absolute encoder Digital input/output Inp ut Servo start, alarm resetting, position pulse deviation counter clearing, speed command direction selection, position/speed multi-segment switching, internal command trigger, control mode switching, pulse disable, forward drive disable, reverse drive disable, forward jog, backward jog Out put Servo ready, brake output, motor rotation output, zero-speed signal, speed approach, speed reached, position approach, torque limit, rotating speed limit, warning output, alarm output.
Protective Function Har dwa re Over-voltage, under-voltage, over-speed, overheat, overload, over-speed, encoder alarm, and so on. Soft war e Excessively large position error, EEPROM fault, and so on. Alarm data tracking function Record 4 groups of historical alarms and relevant data Communication function Modbus RTU Encoder signal output Signal type A, B, Z signal differential outputs, A, B, Z signal open-collector output; Z signal width can be set Resolution Any frequency division can be programmed and output before or after frequency quadruplication Positio n control mode Maximum input pulse frequency Differential input mode: 500Kpps Open-collector input mode:
200Kpps Pulse command mode Pulse + symbol, A and B-phase orthogonal pulse, CW/CCW Command control mode External pulse command, multi-segment position command Command smoothing mode Low-pass filtering, FIR filter, trapezoid-shaped smoothing of multi-segment position command Electronic gear ratio Electronic gear ratio:
N/M multiples (0.001 Position accuracy ±1 pulse command Speed control mode Command control mode Digital speed command, multi-segment speed command, jog command Command smoothing mode S curve smoothing Torque limit Digital setting limit Speed regulation ratio 1:3000 (2500ppr encoder) 1:5000 (23-bit encoder), minimal speed/rated rotating speed of continuous stable operation under the rated load Bandwidth No less than 250Hz (in case of a 2500ppr encoder) No less than 800Hz (in case of a 23-bit encoder) Speed fluctuation ratio Load fluctuation (0 ~100%) Maximum 0.1% For a 23-bit encoder, when the speed command is the rated rotating speed, (rotating speed without load - rotating speed with full load)/rated rotating speed.
Supply voltage change ±10% Maximum 0.1% Ambient temperature (0~ 50℃) Maximum 0.1% Torque control mode Command control mode Digital torque command Command smoothing mode - Speed limit Digital setting limit Accuracy ±3% (current repetition accuracy)