| Item | Specification |
| Model | i-SERVO (GMT5020-ST2) | |
| power | DC 24V±10% | GMT5020-ST2 rated 2A, maximum 4A |
| DC 48V±10% | GMT5020-ST2 rated 2A, maximum 4A |
| Rated Output Current | GMT5020-ST2、2A (o-peak) | |
| Max. Output Current | GMT5020-ST2、3A (o-peak) | |
| Motor | 2-phase bipolar stepping motor With encoder | |
| Driver Method | PWM trip drive | |
| Quadrant | Four quadrants | |
| Interface | Input: Digital input * 5, mechanical sensor input + LM, -LM, ORG
Analog input * 1, encoder input (A, B, Z)
Output: digital output * 4, Compare ou t * 1, brake output (dedicated for braking) | Digital output / entry can be freely specified |
| Detail of Digital Iutput | SERVO ON (Servo On) / START (motor start / stop)
/ RESET (reset) SELECT PROGRAM (4 bit)
/ CONT MODE (switching control mode) | |
| Detail of Digital Output | /IN POSTISION,ALARM,/TORQUE LIMIT | |
| LED Indicators | Power supply, alarm, motor rotation | 3 types |
| Communication I/F | RS485, up to 16 nodes
RS232C | MODBUS agreement, baud rate 19200bps (default)
(9600bps ~ 115200bps) |
| Control Mode | Position control mode
Speed control mode
Torque control mode
Under pressure control mode | According to command pulse positioning (RS485 / external pulse command)
Digital command (resolution ± 1/350 or more)
Digital command (resolution ± 1/350 or more)
Position control, torque control in speed control |
| Load inertia | Less than 20 times the motor inertia | In position/speed control |
| Dimension of board | W80 x D116 x H20 | |
| Operating temperature / humidity | 0 to 50˚C, less than 85% RH | No condensation |
| Air | Prevent away from corrosive gases | |
| specifications in position control |
| Position mode (four modes) | 1)Full Time Closed Mode
2) Dual Mode (set the speed below Open, set the speed above Closed)
3) Full Time Open Mode
4) Stepping Closed Loop Mode | Open for micro-stepping drive, so the encoder
The resolution of the position accuracy will not be compensated. |
| Position accuracy | Encoder resolution ± 1 Pulse | |
| Instruction maximum frequency | 900 (Kpps) A/B | |
| Electronic gear | A=1~10000 B=1~10000 | Dual mode can not be set |
| Feedforward | 0~100(%) | |
| Positioning completion range(Inposition) | 0~±1000 | |
| Maximum count exception range | ±1~2147483647 | |
| Speed control specifications |
| Speed command | Digital value (PPS) | The number of revolutions varies depending on the encoder resolution |
| Speed control ratio | 500: 1 or more | |
| Command direction of rotation | Digital input (DIR) parameter | |
| start /stop | Digital input (START) parameter | |
| Acceleration and deceleration function | n x MAXrpm x 0.125ms Parameters n: 0 ~ 10 | No acceleration / deceleration when n = 0 |
| Torque control specifications |
| Torque command | Digital value (PPS) | |
| Variable torque range | 0~100.00% | |
| Speed limit | Digital value (RPM) | |
| Command direction of rotation | Digital input (DIR) parameter | |
| start /stop | Digital input (START) parameter | |
| Under pressure control specifications |
| System form | Position control mode is now under pressure Speed control mode is now under pressure | |
| Press the torque command value | Digital value (x0.1%) | 100.0% for the motor rated torque |
| Variable torque range | 0 ~ 100.0% | |
