Tsino Dynatron EtherCAT CoolDrive RC Series User manual

Updated
on
Update summary
Updated
version
Version number: D3

Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
2017
Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
March, 2017
CoolDrive RC Series Servo
Drive User Manual
EtherCAT® is registered trademark and patented technology, licensed by
Beckhoff Automation GmbH, Germany
I

Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
Preface
First of all, thank you for your constant trust and support for Tsino-Dynatron Electrical Technology (Beijing)
Co.,Ltd. we will focus on providing you with comprehensive technical services.
This user manual provides safety information, mechanical and electrical installation instructions, basic
commissioning as well as product maintenance guidance for CoolDrive RC Series servo drives. Please read this
manual carefully before use RC series servo drive, and keep it in a safe place for easy access. If there is any
question, please contact Tsino-Dynatron technical support, and we will be happy to serve you.
This manual is targeted at users including:
Servo system designers
Installing and wiring personnel
Commissioning engineers
Maintenance and inspection personnel
Note
1．Some of the pictures in this manual are schematic illustrations that may differ from the products you
receive.
2．The procedures and wirings in this manual are only for guidance. Please make adjustment according to
specific conditions. Tsino-Dynatron does not guarantee that all given procedures and wirings are
universal.
3．Please contact us if the product is used for life-related medical instruments, public service facilities or
facilities that may harm personal safety, such as elevators, passenger transport systems, etc.
4．Please contact us if the product is used for nuclear control, aerospace equipment, equipment with high
cleanliness requirements or equipment with high electromagnetic compatibility (EMC) requirements.
5．CDRC2, CDRC3, CDRC4 and CDRC6 are the short for CoolDrive RC2, CoolDrive RC3, CoolDrive
RC4 and CoolDrive RC6 respectively. Unless otherwise specified, "servo diver", "drive" and "servo" in
this manual all refer to CDRC2, CDRC3, CDRC4 and CDRC6 products.
6．Tsino-Dynatron does not assume any responsibility for any damage caused by:
Failure to follow the instructions
Altering the servo drive without authorization
Improper operation of the servo drive
Natural damage, such as flood, lightning etc.
Damage caused during transport
7．Please contact Tsino-Dynatron technical support in case of any other conditions that are not described in
this manual.
Copyright Statement
All rights reserved. The contents are subject to change without prior notice.
II

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Product Confirmation
Please check the items listed in the table below upon receiving the product in case of any negligence during
purchase and transportation.
Items to Confirm Confirmation Content
Product Appearance Check the product's appearance for any damage or scratch.
Product Model Check the servo drive and servo motor respectively to make sure they are exactly the
product models you purchased.
Check whether the motor
shaft is running smoothly
Rotate the motor shaft by hand, if it can run smoothly, the servo motor shaft is working
well (for motors with electromagnetic brake, the brake needs to be forced open).
Accessories Check the list shipped with the product to make sure you receive the right models and
quantity of accessories.
If you have any questions, please contact the agencies or our sales representatives.
Revisions
Version No. Released Date Description
D1 3/1/2017 Creation of CoolDrive RC Series Servo Drives User
Manual
D2 4/26/2017 Update dimension drawings of RC3, RC4 and RC6
D3 4/26/2017
1. Update wiring diagrams;
2. Add MotorPower for encoder types;
3. Check parameters 0x2094, 0x20D3 and
0x2000.
4. Add motor brake circuit fault.
III

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Contents
Preface ......................................................................................................................................................... II
Contents..................................................................................................................................................... IV
Chapter 1 Safety Information ................................................................................................................ 1
Electrical Safety............................................................................................................................ 11.1
Safety Guidance............................................................................................................................ 11.2
Environmental Requirements ....................................................................................................... 11.3
Operational Guidance ................................................................................................................... 11.4
Motor Safety ................................................................................................................................. 11.5
Parameters Adjustment................................................................................................................. 11.6
Chapter 2 Product Information .............................................................................................................. 2
Model Description ........................................................................................................................ 22.1
Technical Specifications............................................................................................................... 42.2
RC Series drive General Technical Specifications ............................................................... 42.2.1
RC Series Drive Specific Technical Specifications .............................................................. 62.2.2
Encoder Interface Technical Specifications.......................................................................... 62.2.3
Mounting Dimensions .................................................................................................................. 62.3
Dimension Drawing of RC2 ................................................................................................. 62.3.1
Dimension Drawing of RC3 ................................................................................................. 72.3.2
Dimension Drawing of RC4 ................................................................................................. 82.3.3
Dimension Drawing of RC6 ................................................................................................. 12.3.4
Chapter 3 Installation............................................................................................................................. 2
Environmental Requirements ....................................................................................................... 23.1
Mechanical Installation................................................................................................................. 23.2
Safety Information ................................................................................................................ 23.2.1
Mounting Distance................................................................................................................ 23.2.2
Electrical Installation.................................................................................................................... 33.3
Safety Information ................................................................................................................ 33.3.1
Wiring........................................................................................................................................... 43.4
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RC2 Wiring Diagram ............................................................................................................ 53.4.1
RC3 Wiring Diagram ............................................................................................................ 93.4.2
RC4 Wiring Diagram .......................................................................................................... 133.4.3
RC6 Wiring Diagram .......................................................................................................... 173.4.4
Connector Pin Definition .................................................................................................... 203.4.5
Inspection After Installation ....................................................................................................... 283.5
Chapter 4 Power On ............................................................................................................................ 29
Inspection Before Power On....................................................................................................... 294.1
Cable Inspection.................................................................................................................. 294.1.1
Wiring Requirements .......................................................................................................... 294.1.2
Power On .................................................................................................................................... 294.2
Power On ............................................................................................................................ 294.2.1
Definition of Indicator Status.............................................................................................. 304.2.2
Chapter 5 Trial Operation.................................................................................................................... 31
Preparation Before Trial Operation ............................................................................................ 315.1
Precautions .......................................................................................................................... 315.1.1
Servo Parameter Settings .................................................................................................... 315.1.2
Trial Operation Through DriveStarter ........................................................................................ 325.2
Precautions .......................................................................................................................... 325.2.1
Trial Operation Under Point to Point (PP) Mode................................................................ 335.2.2
Trial Operation Under Profile Velocity (PV) Mode ........................................................... 335.2.3
Trial Operation Under PT Mode......................................................................................... 365.2.4
Chapter 6 Object Dictionary................................................................................................................ 39
Object Dictionary Overview....................................................................................................... 396.1
Structure of Object Dictionary............................................................................................ 396.1.1
Object Dictionary Description ............................................................................................ 396.1.2
Communication parameter objects ............................................................................................. 396.2
Devices Description ............................................................................................................ 396.2.1
PDO mapping...................................................................................................................... 406.2.2
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Communication................................................................................................................... 446.2.3
CiA402 Parameter Objects ......................................................................................................... 466.3
System State Machine......................................................................................................... 466.3.1
Control Mode ...................................................................................................................... 516.3.2
Other Objects ...................................................................................................................... 636.3.3
RC Series Parameters ................................................................................................................. 646.4
Drive Parameters................................................................................................................. 646.4.1
Motor Parameters................................................................................................................ 686.4.2
Encoder Parameters............................................................................................................. 726.4.3
Motor Brake Parameters ..................................................................................................... 746.4.4
Operation Parameters .......................................................................................................... 786.4.5
Basic Adjustment Parameters ............................................................................................. 886.4.6
Filter Parameters ................................................................................................................. 946.4.7
Limit Parameters................................................................................................................. 996.4.8
Monitor Parameters........................................................................................................... 1016.4.9
Chapter 7 Running............................................................................................................................. 106
Control Source Selection .......................................................................................................... 1067.1
Power Loop Setting .................................................................................................................. 1077.2
Motor Parameters ..................................................................................................................... 1087.3
Encoder Setting......................................................................................................................... 1137.4
Braking ..................................................................................................................................... 1177.5
Regenerative braking ........................................................................................................ 1177.5.1
Motor brake activated ....................................................................................................... 1197.5.2
Modes of Operation .................................................................................................................. 1227.6
Basic Running Function Setting ............................................................................................... 1237.7
Servo ON/OFF .................................................................................................................. 1237.7.1
Motor Rotational Direction Selection ............................................................................... 1267.7.2
Stop Function .................................................................................................................... 1267.7.3
Motor Overload Parameter Setting ................................................................................... 1297.7.4
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Communication Setting..................................................................................................... 1307.7.5
Load Inertia Ratio ............................................................................................................. 1327.7.6
Command Limit ................................................................................................................ 1337.7.7
Rotor Compensation Angle and Phase Sequence Detection Setting................................. 1377.7.8
Position Control........................................................................................................................ 1397.8
CSP Mode Running .......................................................................................................... 1397.8.1
Basic Setting of Position Control...................................................................................... 1397.8.2
Homing Mode ................................................................................................................... 1417.8.3
PP Mode Parameters ......................................................................................................... 1427.8.4
Position regulator .............................................................................................................. 1447.8.5
Position Filter Setting........................................................................................................ 1457.8.6
Positioning Completion Output ........................................................................................ 1457.8.7
Position Following Setting................................................................................................ 1467.8.8
Positioning Vibration Suppression Function .................................................................... 1477.8.9
Position Unit Setting ......................................................................................................... 1497.8.10
Position Saved on Last Power Off .................................................................................... 1497.8.11
Servo ON Vibration Suppression...................................................................................... 1507.8.12
Software Position Limit Function ..................................................................................... 1517.8.13
Velocity Control ....................................................................................................................... 1527.9
CSV Mode Running.......................................................................................................... 1527.9.1
Basic Setting of Velocity Control ..................................................................................... 1537.9.2
Square Wave Speed Setting .............................................................................................. 1557.9.3
Sine Wave Speed Setting .................................................................................................. 1567.9.4
Manual Jog........................................................................................................................ 1577.9.5
Velocity Limit................................................................................................................... 1587.9.6
Velocity Filter Setting....................................................................................................... 1597.9.7
Velocity regulator ............................................................................................................. 1607.9.8
Acceleration Feedforward Torque Compensation Function ............................................. 1637.9.9
Velocity Output................................................................................................................. 1647.9.10
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Velocity Following Setting ............................................................................................... 1647.9.11
Zero Velocity Window...................................................................................................... 1667.9.12
Notch Filter ....................................................................................................................... 1667.9.13
Torque Control ......................................................................................................................... 1697.10
CST Mode Running .......................................................................................................... 1697.10.1
Basic Setting of Torque Control ....................................................................................... 1697.10.2
Square Wave Torque Setting ............................................................................................ 1707.10.3
Sine Wave Setting............................................................................................................. 1717.10.4
Internal Torque Limit........................................................................................................ 1727.10.5
Torque Filter Setting ......................................................................................................... 1737.10.6
Current Regulator.............................................................................................................. 1767.10.7
Notch Filter Function........................................................................................................ 1787.10.8
Others ....................................................................................................................................... 1797.11
Inverter Rated Current ...................................................................................................... 1797.11.1
Encoder Resetting ............................................................................................................. 1797.11.2
Protection Thresholds for Over Current, Over Voltage and Under Voltage..................... 1807.11.3
Charge Relay Control Function ........................................................................................ 1817.11.4
Rotor Positioning Error Detection Sensitivity .................................................................. 1817.11.5
Flux weaking control ........................................................................................................ 1817.11.6
Rotor Compensation Angle Detection .............................................................................. 1827.11.7
Alarm Operation Switch ................................................................................................... 1857.11.8
Chapter 8 Adjustment ........................................................................................................................ 186
Basic Adjustment...................................................................................................................... 1868.1
About the Adjustment ....................................................................................................... 1868.1.1
Safety Instructions............................................................................................................. 1868.1.2
Regulator Adjustment............................................................................................................... 1878.2
Velocity regulator ............................................................................................................. 1888.2.1
Position regulator .............................................................................................................. 1928.2.2
Current Regulator.............................................................................................................. 1938.2.3
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Acceleration Feedforward Torque Compensation Function ............................................. 1968.2.4
Filter Adjustment...................................................................................................................... 1968.3
Position Filters .................................................................................................................. 1978.3.1
Velocity Filters.................................................................................................................. 1988.3.2
Torque Filters.................................................................................................................... 2008.3.3
Notch Filter Function........................................................................................................ 2018.3.4
Mechanical Rigidity Reference ................................................................................................ 2048.4
Chapter 9 Maintenance ...................................................................................................................... 205
Safety Information.................................................................................................................... 2059.1
Fault Description ...................................................................................................................... 2059.2
Faults and Handling Suggestions.............................................................................................. 2069.3
Unrecoverable Faults ........................................................................................................ 2069.3.1
Recoverable Faults 0......................................................................................................... 2099.3.2
Recoverable Faults 1......................................................................................................... 2149.3.3
Recoverable Faults 2......................................................................................................... 2199.3.4
Alarm and Handling Suggestions ............................................................................................. 2259.4
Chapter 10 Appendix........................................................................................................................... 230
RC Series Parameter List.......................................................................................................... 23010.1
RC Series Object Dictionary .................................................................................................... 23510.2
Communication parameter objects.................................................................................... 23510.2.1
CiA402 Standard Parameters ............................................................................................ 24210.2.2
RC Series Parameter Objects ............................................................................................ 24510.2.3
RC Series Product Accessories................................................................................................. 25410.3
Standard Accessories ........................................................................................................ 25410.3.1
Optional Accessories......................................................................................................... 25610.3.2
Wire-Making Diagram for RS485 Debugging Lines........................................................ 25910.3.3
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Chapter 1 Safety Information
Electrical Safety1.1
The servo drive is an industrial electronic product, please keeps away from the device during operation, and
do not perform live wiring, or personal injury may be caused. Extreme caution should be taken when handling or
approaching drives. If the drive has a fault or alarm, please determine the detailed fault or alarm content with the
debugging software, and then solve it accordingly. For detailed faults and alarms, please refer to relevant chapters
in the user manual.
Safety Guidance1.2
Only trained and experienced engineers should perform system design, installation, commissioning and
maintenance. Please read the safety information and the instruction manual carefully prior to operation.
Neither stopping the servo drive nor its safety function can ensure the input and output voltages are isolated,
which can cause bodily injury, therefore, please disconnect the power supply with a qualified electrical insulation
device before wiring.
In any case, hazard analysis must be conducted upon drive failure, and further steps must be taken to reduce
the risk if necessary, for example, the overspeed protection device should be applied upon speed control failure,
and the fault protection mechanical braking device should be applied upon motor braking failure.
Environmental Requirements1.3
The transport, storage, installation and use of the drive must follow the instructions described in these manual
as well as specific environmental requirements.
Operational Guidance1.4
Personnel responsible for design, installation and commissioning should follow all relevant regulations, such
as national wiring rules, accident prevention regulations, electromagnetic compatibility (EMC) regulations and so
on. The selection of cable, fuse and other protection devices should be in accordance with the relevant design
specifications, and the equipment must be reliably grounded.
Motor Safety1.5
Make sure the installation and maintenance of the motor are according to the instructions of the motor
manufacturer.
If the driven motor exceeds the maximum output of the drive, please contact our technical support.
Low-speed operation of the motor may lead to overheating, and the motor must be equipped with a
thermistor, and if necessary, forced cooling fan is also required.
The motor parameters in the drive can affect the normal operation of the motor, and the default value
does not apply to all motors.
Do not touch a motor that has been running for a long time, which may result in burns.
Parameters Adjustment1.6
Some parameters have a significant impact on the drive operation. Before changing such parameters, please
consider its possible effect on the control system carefully, do not change parameters blindly.
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Chapter 2 Product Information
Model Description2.1
CD RC6 A 05 02 T0 V 1- - - -C00
1 2 3 4 D 6 87
Number
Item
Symbol
Description
Remarks
①Product Name
RC2
Biaxial servo motor drive product
RC3
Triaxial servo motor drive product
RC4
Quadraxial servo motor drive product
RC6
Hexaxial servo motor drive product
②
AC input
voltage class
A
200V class
③
Rated output
current of shaft
group 1
22
Shaft 1 has a rated output current of
2.5Arms, and shaft 2 has a rated output
current of 2.5Arms
Only for RC2, RC3 and RC4
model selection
25
Shaft 1 has a rated output current of
2.5Arms, and shaft 2 has a rated output
current of 5Arms
52
Shaft 1 has a rated output current of
5Arms, and shaft 2 has a rated output
current of 2.5Arms
55
Shaft 1 has a rated output current of
5Arms, and shaft 2 has a rated output
current of 5Arms
02
Shaft 1~shaft 3 have a rated output current
of 2.5Arms
Only for RC6 model
selection
05
Shaft 1~shaft 3 have a rated output current
of 5Arms
④
Rated output
current of shaft
group 2
00
Without shaft 3 and shaft 4
Only for RC2, RC3 and RC4
model selection
20
Shaft 3 has a rated output current of
2.5Arms, without shaft 4
50
Shaft 3 has a rated output current of
5Arms, without shaft 4
22
Shaft 3 has a rated output current of
2.5Arms, and shaft 4 has a rated output
current of 2.5Arms
25
Shaft 3 has a rated output current of
2.5Arms, and shaft 4 has a rated output
current of 5Arms
52
Shaft 3 has a rated output current of
5Arms, and shaft 4 has a rated output
current of 2.5Arms
55
Shaft 3 has a rated output current of
5Arms, and shaft 4 has a rated output
current of 5Arms
02
Shaft 4~shaft 6 have a rated output current
of 2.5Arms
Only for RC6 model
selection
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05
Shaft 4~shaft 6 have a rated output current
of 5Arms
⑤Encoder Type
H0
Hiperface DSL encoder
T0
Tamagawa absolute encoder, multi-turn
16Bit/single-turn 17Bit, 2.5Mbps
T1
Tamagawa absolute encoder, single-turn
17Bit, 2.5Mbps
T4
Tamagawa absolute encoder, multi-turn
16Bit/single-turn 23Bit, 2.5Mbps
T5
Tamagawa absolute encoder, single-turn
23Bit, 2.5Mbps
Y0
BiSS-C encoder
N0
Nikon absolute encoder, multi-turn
16Bit/single-turn 17Bit, 2.5Mbps/4Mbps
N1
Nikon absolute encoder, single-turn 17Bit,
2.5Mbps/4Mbps
N2
Nikon absolute encoder, multi-turn
16Bit/single-turn 20Bit, 2.5Mbps/4Mbps
N3
Nikon absolute encoder, single-turn 20Bit,
2.5Mbps/4Mbps
E0
EnDat2.2 encoder
S0
SSI encoder
R0
Resolver
P0
Panasonic absolute encoder, multi-turn
16Bit/single-turn 17Bit, 2.5Mbps
P2
Panasonic absolute encoder, multi-turn
16Bit/single-turn 20Bit, 2.5Mbps
P1
Panasonic absolute encoder, single-turn
17Bit, 2.5Mbps
P3
Panasonic absolute encoder, single-turn
20Bit, 2.5Mbps
P4
Panasonic absolute encoder, multi-turn
16Bit/single-turn 23Bit, 2.5Mbps
K0
SANKYO absolute encoder, single-turn
17Bit/multi-turn 24Bit, 2.5Mbps
K1
SANKYO absolute encoder, single-turn
17Bit, 2.5Mbps
M0
MotorPower absolute encoder, multi-turn
16Bit/single-turn 17Bit, 2.5Mbps
M1
MotorPower absolute encoder, single-turn
17Bit, 2.5Mbps
M2
MotorPower absolute encoder, multi-turn
16Bit/single-turn 20Bit, 2.5Mbps
M3
MotorPower absolute encoder, single-turn
20Bit, 2.5Mbps
⑥Product
category
V
Robot dedicated servo product
S
Universal servo product, with shaft control
IO port on each shaft
⑦
Product Version
No.
1
Product version No. is 1
⑧
Customization
code
C00
C00: standard product, and the
customization code can be omitted
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Technical Specifications2.2
RC Series drive General Technical Specifications2.2.1
Table 2.2-1. RC series servo drive technical specifications
Power Input
Input line voltage
220V 3AC ±15%
220V 1AC ±15%
Input line voltage frequency
47~63Hz
Rated input current
12Arms
Overvoltage class
Class III
Control power input (brake current not
taken into account)
Control power current
DC 2A
Control power voltage
DC 24V -15%/+20%
Motor brake output
Max. output current
DC 1A
Output voltage
DC 24V
Module control IO
port
STO input
2 channels
Alarm output
1 channel, max. output current: 0.1A
Fan output
2 channels, total max. output current: 0.4A
Shaft control IO (Only for S products)
High speed DI
2 channels
Low speed DI
2 channels
DO
1 channels
Regenerative
braking
Braking resistor operation DC bus voltage
DC 385V
Min. resistance of external braking resistor
65Ω
Control performance
Min. control cycle of current loop
125us
Min. control cycle of speed loop
125us
Min. control cycle of position loop
125us
Communication bus
Bus type
EtherCAT
Min. communication cycle
500us
Note 1
Device configuration file
IEC61800-7 Profile type1 (CiA402)
CoE (CANopen over EtherCAT)
Communication object
PDO (Process Data Object)
SDO (Service Data Object)
Synchronization type
SYNC0 Event Synchronization
Free Run
Note 2
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Operation mode
Profile position mode (PP), homing mode (HM), cyclic synchronous
position mode (CSP), cyclic synchronous velocity mode (CSV),
cyclic synchronous torque mode (CST).
Topology
Linear structure
Supported encoders
Nikon
●
Tamagawa
●
Panasonic
●
MotorPower
●
Integrated security features
Safe Torque Off (STO)
●
Note 3
Safe Stop 1 (SS1)
●
Safe Stop 2 (SS2)
●
Safe Brake Control (SBC)
●
Extended security features
○
Product external specifications
IP Level
IP20
Co
oling Mode External forced air cooling
Operating Temperature
0～40 °C no derating 40～55 °C derating
Operating Altitude
<1000 m no derating,
> 1000 ~ 4000 m derating
Note 1: The minimum communication cycle of EtherCAT depends on the real-time of the Master. The RC Series drive supports
a minimum communication cycle of 500us.
Note 2: Only support PP operation mode.
Note 3: ● represents standard features supported by the product; ○ represents optional features supported by the product.
Note 4: See the table below for the description of integrated security features.
Integrated security
features
Description
STO (Safe Torque Off)
Once this function is activated, PWM output is blocked, the motor output is
stopped, and the motor stops freely, preventing the drive mechanism from
restarting by cutting off the motor power supply.
Conform to: EN60204-1 Section 5.4; Stop type 0 in EN60204-1.
SS1 (Safe Stop 1)
Once this function is activated, the motor brakes (emergency) at deceleration
along a ramp, and goes to STO stop after reaching the delay time.
Conform to: Stop type 1 in EN60204-1;
SS2 (Safe Stop 2)
Once this function is activated, the motor brakes (emergency) at deceleration
along a ramp. The PWM output remains after the motor stops, in order to
stay at the current position.
Conform to: Stop type 2 in EN60204-1;
SBC (Safe Brake
Control)
When this function is activated, once no PWM output is detected, the motor
brake will be forced active.
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RC Series Drive Specific Technical Specifications2.2.2
Table 2.2-2. RC Series Drive Specific Technical Specifications
Model
Rated output current (Arms) Max. output current (Arms) Size (mm)
Shaft
1
Shaft
2
Shaft
3
Shaft
4
Shaft
5
Shaft
6
Shaft
1
Shaft
2
Shaft
3
Shaft
4
Shaft
5
Shaft
6 Without cooling fan With cooling fan
CDRC2-A2200-XXXX 2.5 2.5 — — — — 7.5 7.5 — — — —
W186×H231×D82 W186×H231×D109
CDRC2-A5500-XXXX 5 5 — — — — 15 15 — — — —
CDRC3-A2220-XXXX 2.5 2.5 2.5 — — — 7.5 7.5 7.5 — — —
W251×H231×D82 W251×H231×D109
CDRC3-A5550-XXXX 5 5 5 — — — 15 15 15 — — —
CDRC4-A2222-XXXX 2.5 2.5 2.5 2.5 — — 7.5 7.5 7.5 7.5 — —
W251×H231×D82 W251×H231×D109
CDRC4-A5222-XXXX 5 2.5 2.5 2.5 — — 15 7.5 7.5 7.5 — —
CDRC4-A5552-XXXX 5 5 5 2.5 — — 15 15 15 7.5 — —
CDRC4-A5555-XXXX 5 5 5 5 — — 15 15 15 15 — —
CDRC6-A0202-XXXX 2.5 2.5 2.5 2.5 2.5 2.5 7.5 7.5 7.5 7.5 7.5 7.5
W315×H230×D76 W315×H230×D100CDRC6-A0502-XXXX 5 5 5 2.5 2.5 2.5 15 15 15 7.5 7.5 7.5
CDRC6-A0505-XXXX 5 5 5 5 5 5 15 15 15 15 15 15
Encoder Interface Technical Specifications2.2.3
Table 2.2-3. Encoder Interface Technical Specifications
Electrical parameters
Rated output voltage (V)
5.0
Max. output current (mA)
200
Recommended cable parameters
Cable structure
Shielded twisted-pair copper wire
Core cross section and max. length
Core cross section (mm2)
Max. length of cable (m)
0.15
5
0.2
10
Mounting Dimensions2.3
Dimension Drawing of RC22.3.1
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Dimension Drawing of RC32.3.2
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Dimension Drawing of RC42.3.3
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Dimension Drawing of RC62.3.4
1