Sanyo Denki SANMOTION R ADVANCE Instruction Manual
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Sanyo Denki SANMOTION R ADVANCE Instruction Manual

Sanyo Denki SANMOTION R ADVANCE Instruction Manual

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Table of Contents

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M0008957F
S
TYPE
For Rotary・Linear Motor

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Summary of Contents for Sanyo Denki SANMOTION R ADVANCE

  • Page 1 M0008957F TYPE For Rotary・Linear Motor...
  • Page 3 Details of revision history The sixth edition (F)  Safety precautions ii  Description is corrected as below. , wait at least 10 minutes before performing these tasks. ⇒ , wait at least 15 minutes before performing these tasks.  p.
  • Page 4 Details of revision history  p. 11-5  Description below is added. Note 10) It occurs when the ASIC dedicated for EtherCAT communication is failed to initialization and is not reply to the access from CPU.  p. 11-25  Description below is added. Alarm Code F2 (Initial Process Time-Out) (Initialization failure of the ASIC dedicating for EtherCAT communication) ...
  • Page 5 Safety Precautions Make sure to follow Please read this User Manual and its appendix carefully prior to installation, operation, maintenance or inspection and perform all tasks according to the instructions provided here. A good understanding of this equipment, its safety information as well as all Warnings / Cautions is also necessary before using.
  • Page 6 Safety Precautions Make sure to follow Attention in use ■ Warning Make certain to follow these safety precautions strictly to avoid electric shock or bodily injury.  Do not use this device in explosive environment. Injury or fire could otherwise result. ...
  • Page 7 Safety Precautions Make sure to follow Storage ■ Prohibited  Do not store the device where it could be exposed to rain, water, toxic gases or other liquids. Damage to the device could otherwise result.  Magnetic rails have been magnetized. Keep away from the magnets anyone who has electronic medical device such as a pace maker.
  • Page 8 Safety Precautions Make sure to follow Installation ■ Caution  Do not stand on the device or place heavy objects on top of it. Bodily injury could otherwise result.  Make sure the mounting orientation is correct. Fire or damage to the device could otherwise result. ...
  • Page 9 Safety Precautions Make sure to follow Wiring ■ Caution  Wiring connections must be secure. Bodily injury could otherwise result.  Wiring should be completed based on the Wiring Diagram or the User Manual. Electric shock or fire could otherwise result. ...
  • Page 10 Safety Precautions Make sure to follow Operation ■ Caution  Do not perform extensive adjustments to the device as they may result in unstable operation. Bodily injury could otherwise result.  Trial runs should be performed with the motor in a fixed position, separated from the mechanism.
  • Page 11 Safety Precautions Make sure to follow Mandatory  When transporting the magnetic rail, it must packed as it was. Transporting it without package could result in injury, since it has been magnetized.  Install an external emergency stop circuit that can stop the device and cut off the power instantaneously.
  • Page 12 Also, SANYO DENKI cannot be held responsible for any damages or failures arising out of the use or inability to use those linear motors, even if SANYO DENKI has been advised of the possibility of such damages or failures.
  • Page 13 Table of contents Preface Introduction ···································································································································1-1 SANMOTION R ADVANCED MODEL features (Differences from SANMOTION R) ·······························1-1 Instruction Manual ···························································································································1-3 Contents ·································································································································1-3 Precautions related to these Instructions ························································································1-3 System Configuration ······················································································································1-4 Model number structure ···················································································································1-8 Rotary motor model number (R series) ··························································································1-8 Rotary motor model number (Q-series) ··························································································1-9 Linear motor model number (DS, DD-series) ················································································...
  • Page 14 Contents Protective cover installation ·········································································································3-6 Gear installation and Integration with the target machinery ································································3-6 Allowable bearing load ···············································································································3-8 Cable Installation Considerations ·································································································3-9 Linear motor ································································································································ 3-10 Precautions on linear motor installation ······················································································· 3-10 Installation of single magnet core-type linear motor ········································································ 3-10 Installation of dual magnet core-type linear motor ··········································································...
  • Page 15 Contents Accessing to Object Dictionary ········································································································ 5-15 Service Data Object (SDO) ······································································································· 5-15 Mailbox Protocol ····················································································································· 5-15 CANopen Header Protocol ········································································································ 5-16 SDO Message ························································································································ 5-17 Process Data Object（PDO） ······································································································ 5-28 Distributed Clocks (DC) ·················································································································· 5-30 Clock Synchronization ············································································································· 5-30 System Time ··························································································································...
  • Page 16 Contents PDS FSA ···································································································································· 7-22 Abstract ································································································································ 7-22 FSA (Finite States Automaton) ··································································································· 7-23 Control Word ························································································································· 7-26 Status Word ··························································································································· 7-27 Manufacture specific area ········································································································· 7-28 Profile Area ·································································································································· 7-29 Error Code and Error Operation ································································································· 7-31 Operation Mode ······················································································································ 7-35 Function Group “Position”...
  • Page 17 Contents Monitoring servo gain adjustment parameters ·················································································9-9 Manual tuning method using auto-tuning results ··············································································9-9 Automatic tuning of notch filter ········································································································· 9-10 Operation method ··················································································································· 9-10 Setting parameters ·················································································································· 9-10 Automatic tuning of FF Vibration Suppression Frequency ······································································ 9-11 Operation method ··················································································································· 9-11 Setting parameters ··················································································································...
  • Page 18 Setting of moving direction ······································································································ 13-10 13.4 Precautions ······························································································································· 13-11 When you use SANYO DENKI servo amplifier with other manufacturer linear motor combined. ············· 13-11 Setting of parameters to combine amplifier and motor ·································································· 13-11 Safe Torque Off (STO) Function 14.1...
  • Page 19 Contents Selection 15.1 Rotary Motor Sizing ······················································································································· 15-1 Flowchart of Servo Motor Sizing ································································································· 15-1 Make an operation pattern ········································································································ 15-2 Calculate motor axis conversion load moment of inertia (J ) ····························································· 15-2 Calculate motor shaft conversion load torque (T ) ··········································································...
  • Page 20 Contents 16.7 Outline dimension of regenerative resistor ·························································································· 16-59 16.8 Explanation of EtherCAT Terms and Abbreviations ··············································································· 16-62...
  • Page 21 Preface Introduction ······················································································································································ 1-1 SANMOTION R ADVANCED MODEL features (Differences from SANMOTION R) ··················································· 1-1 Instruction Manual ············································································································································· 1-3 Contents ······················································································································································ 1-3 Precautions related to these Instructions ············································································································ 1-3 System Configuration ········································································································································ 1-4 Model number structure ····································································································································· 1-8 Rotary motor model number (R series) ·············································································································· 1-8 Rotary motor model number (Q-series) ··············································································································...
  • Page 22 1. Preface Introduction Introduction The AC Servo amplifier SANMOTION R ADVANCED MODEL is a consolidated power supply, single-shaft type servo amplifier consisting of three (6) models according to capacity. The servomotor corresponds to the Rotary Motor R series, Q-series over-2kW model, linear motor DS-series and DD-series. For motor encoder, rotary motor can use serial encoder and pulse encoder, linear motor can use pulse encoder.
  • Page 23 1. Preface Introduction ■ Improved Software Setup functions Improvement of operation trace function, ability to measure operational properties of the servo motor with virtually the same operability of an oscilloscope, which increases measurement efficiency of machinery properties. Additionally, the creation of a multi-window display allows the operator to change parameters by checking measurement data for servo tuning, allowing for improved tuning efficiency.
  • Page 24 1．Preface How To Use This Instruction Manual Instruction Manual This manual outlines the specifications, installation, wiring, operations, functions, maintenance, etc., of the AC servo amplifier SANMOTION R ADVANCED MODEL as follows: 1) Contents ■ Chapter 1 Preface Product outline, model number, names of components. ■...
  • Page 25 1．Preface System configuration System Configuration ■ RS2□01A/RS2□03A/ RS2□05A (Rotary motor) SANMOTION ADVANCED MODEL R S T Setup software EtherCAT With Interface Note1) Molded case circuit breaker (MCCB) Enables parameters setup and monitoring through communication with a PC. Used to protect power line. Turns off the power when overcurrent runs.
  • Page 26 1．Preface System configuration Setup software Note1) ■RS2□10A/RS2□15A (Rotary motor) Enables parameters setup and monitoring through T S R communication SANMOTION ADVANCED MODEL with a PC. Molded case circuit breaker (MCCB) EtherCAT With Interface Used to protect power line. Turns off the power when overcurrent runs.
  • Page 27 1．Preface System configuration ■RS2□30A (Rotary motor) SANMOTION ADVANCED MODEL EtherCAT With Interface T S R (Front cover opened) Molded case circuit breaker (MCCB) Enables parameters setup and Used to protect power line. monitoring through communication Turns off the power when overcurrent runs. with a PC.
  • Page 28 1．Preface System configuration ■RS2□##L (Linear motor) This system configuration is for RS2□10L. Refer to section 13 Linear motor, system configuration diagram for the other system configuration. (Front cover opened) Enables parameters setup and monitoring through communication SANMOTION ADVANCED MODEL with a PC. EtherCAT With Interface...
  • Page 29 Prior to Use Servo Motor Encoder Model Number Model number structure 1) Rotary motor model number (R series) Note 1) Code Reducer Reduction R Series Maximum rotational ratio velocity Planet gear B････2,000min-1 L････3,000 / 4,000min-1 Servo Motor type H････3,500min-1 1/15 2･･･Medium Inertia D････4,500 / 5,000min-1 1/25...
  • Page 30 Prior to Use Servo Motor Encoder Model Number 2) Rotary motor model number (Q-series) Q-series Maximum rotational velocity S････1,000min M････1,500min B････2,000min Servo motor type V････2,000min 1･･･Low-inertia R････2,500min 2･･･Mid- inertia Additional spec identification H････3,000 / 3,500min E･･･CE mark-compliant 4･･･Low-inertia L････3,000min (Large capacity) U･･･UL mark-compliant M･･･CE＋UL mark-compliant D････4,500/ 5,000min...
  • Page 31 Prior to Use Servo Motor Encoder Model Number 3) Linear motor model number (DS, DD-series) ■ Coil model number 0 3 0 Series Cable length Specification identification DS･･･・・ 1･･･300mm 00･･･Standard Single magnet-core 2･･･600mm type 3･･･1000mm DD・・・・ Dual magnet core type Thermal specification A ･･･・・...
  • Page 32 1. Prior to Use Servo Amplifier Model Number 4) Servo Amplifier Model Number RS2 Series Option 2 Safe-torque-off Versatile I/O Input x 2 Input voltage Output x 2 A････AC200V Input x 6 Output x 2 E････AC100V Input x 2 (With delay circuit) Output x 2 Input x 6 (With delay circuit)
  • Page 33 1.Prior to Use Servo Amplifier Part Names Part Names Open front cover. 1) Servo Amplifier ■ RS2*01 / RS2*03/RS2□05 Connector for analog monitor CN5: Model NO. on plug side Digital Operator operation keys Connector : DF11－4DS－2C For setup software Contact : DF11－2428SCA (The end NO.
  • Page 34 1．Preface Servo amplifier part names ■ RS2□10/RS2□15 Digital Operator operation keys Open front cover. Connector for analog monitor For setup software (The end NO. of amp model NO. : CN5: Model numbers on plug side 1, 3, 5 only) Connector: DF11-4DS-2C Contact: DF11-2428SCA (Products of Hirose Electric) alias...
  • Page 35 1．Preface Servo amplifier part names ■ RS2□30 Digital Operator operation keys Open front cover. Connector for analog monitor For setup software (The final NO. of amp model NO. : CN5: Model numbers on plug 1, 3, 5 only) side Connector: DF11-4DS-2C Contact: DF11-2428SCA (Products of Hirose Electric) Rotary switch for station alias...
  • Page 36 1．Preface Servo amplifier part names 2) Rotary motor ■ Lead wire type R2□A04○○○△□◇ Encoder R2□A06○○○△□◇ Frame R2□A08○○○△□◇ R2□AB8○○○△□◇ Shaft Flange Cable for encoder Power cable for servo motor ■ Connector Type Cable for brake R2AA13○○○△□◇ R2AA22○○○△□◇ Q1AA10○○○△□◇ Q1AA12○○○△□◇ Q1AA13○○○△□◇ Q1AA18○○○△□◇ Q2AA10○○○△□◇...
  • Page 37 1．Preface Servo amplifier part names 3) Linear motor ■ Single magnet core type DS030□△○○ DS050□△○○ DS075□△○○ DS100□△○○ DS150□△○○ Shock absorber Cable-veyor Stage Linear motor (Coil) Linear motor (Magnet rail) Linear guide Linear guide rail ■ Dual magnet core type DD030□△○○ DD050□△○○...
  • Page 38 1．Preface Combination Combination 1) Combination motor list ■ Rotary motor (AC200V-input) Combination Combination Motor code Motor code Motor model Motor model amplifier model amplifier model number (OD：0x20FE) number (OD：0x20FE) number number RS2A01A#K## R2AA04003F 0x0181 RS2A01A#K## P50B05020D 0x0286 RS2A03A#K## R2AA04003F 0x7181 RS2A01A#K## P50BA2004D 0x027C...
  • Page 39 1．Preface Combination ■ Rotary motor(AC100V-input) Combination Combination Motor code Motor code Motor model Motor model amplifier model amplifier model number (OD：0x20FE) number (OD：0x20FE) number number RS2E01A#K## R2EA04003F 0x0197 RS2E01A#K## Q2EA07020D 0x00C1 RS2E01A#K## R2EA04005F 0x0198 － － － RS2E01A#K## R2EA06010F 0x019A －...
  • Page 40 1．Preface Servo amplifier part names 2) Combination encoder list ■ Encoder division number Combination amplifier model Combination amplifier Combination amplifier number Encoder code model number model number RS2###L8K## RS2###A8K## RS2###A0K## OD：0x20FE，1 RS2###LAK## RS2###AAK## RS2###A2K## RS2###LBK## Incremental encoder Absolute encoder Linear scale encoder Code 500 P/R 2,048 FMT...
  • Page 41 1．Preface Servo amplifier part names ■ Encoder type (Linear scale encoder hall sensor) Amplifier model Encoder code Linear scale encoder Hall CS-normalization number Remarks (Description) OD：0x20FE，2 (Incremental) sensor (CS-reset method) Encoder type Hall sensor A，B Set to perform CS-normalization with phase U signal of 0x0800 Phase A, B, Z Phase U...
  • Page 42 No Text on This Page.

  • Page 43: Table Of Contents

    2 Specifications Servo Motor ·································································································································2-1 General Specifications·················································································································2-1 Exterior Dimensions/ Specifications / Weight ····················································································2-1 Mechanical Specifications / Mechanical Strength / Working Accuracy ····················································2-1 Oil Seal Type·····························································································································2-2 Holding Brake····························································································································2-3 Degree of decrease rating for R2AA Motor, with Oil Seal and Brake ······················································2-4 Motor Encoder ······························································································································2-5 Serial Encoder Specifications········································································································2-5 Pulse Encoder Specifications ········································································································2-5...

  • Page 44: Specifications

    2.Specifications Servo motor Servo Motor 1) General Specifications Series name R2, Q1, Q2, Q4 Time rating Continuous Insulation classification Type F Voltage/Dielectric strength AC1500V 1 minute Insulation resistance DC500V，greater than 10MΩ Fully closed, Auto cooling Motor flange angle: 86 or less: IP67 Protection method Motor flange angle: 130 or over: IP65 However, except for axial penetration part and...

  • Page 45: Oil Seal Type

    2.Specifications Servo motor Shock Resistance ■ Install the shaft of servo motor in a horizontal direction (shown in the figure below). This shaft should withstand shock acceleration up to 98m/s (when shock is applied in an upward/downward direction) for two (2) times. However, since a precision motor encoder is fixed to the counter-load side of the flange, any shock applied to the shaft may cause damage to the motor encoder.

  • Page 46: Holding Brake

    2.Specifications Servo motor 5) Holding Brake An optional Holding Brake is available for the servo motor. Since the primary use of this brake is for holding, it should never be used for braking, except in emergency situations. Turn the brake excitation On or Off using the “holding brake timing signal output”. When using this signal, set the command for brake release time to 0min for the servo amplifier.

  • Page 47: Degree Of Decrease Rating For R2Aa Motor, With Oil Seal And Brake

    2.Specifications Servo motor Brake operating time is measured in the following circuit: ■ ◆ Varistor used circuit 100VAC 60Hz Brake ◆ Diode used circuit 100VAC 60Hz Brake Exciting voltage Exciting current 100% 100% Holding torque Brake release time Braking delay time Brake release time and Braking delay time refers to those times mentioned in the above table.

  • Page 48: Motor Encoder

    2.Specifications Motor Encoder Motor Encoder 1) Serial Encoder Specifications Absolute Encoder for Incremental System ■ Multiple Synchronization Transmission Model Resolution Baud rate rotations method method 131072 division Half duplex serial PA035S None Asynchronous 2.5Mbps (17bits) communication Model number example: R2-series, square type: 40mm, 200W-model R2AA06020FCH00 Battery Backup Method Absolute Encoder ■...

  • Page 49: Servo Motor Rotational And Moving Direction

    2.Specifications Motor encoder, battery Servo motor rotational and moving direction 1) Rotary motor rotational direction Servo motor rotation direction and encoder signal pulses of pulse encoder ■ Motor rotation direction and motor encoder signal phases are related as follows: Servo motor rotation direction Phase A [CCW] 90°...

  • Page 50: Linear Motor Moving Direction

    Phase B is ahead of phase A by 90°. Phase B is behind Phase A by 90°. Linear motor voltage and hall sensor phase sequence when moving in the reverse direction. ■ Move in the reverse direction CS offset value [CSOF]: 330deg. For SANYO DENKI liner motor...

  • Page 51: Servo Amplifier

    2. Specifications General specifications Servo amplifier 1) General specifications ■ General specifications Control function Speed control/Torque control/Position control (Parameter changeover) Control system IGBT：PWM control Sinusoidal drive Three-phase：AC200 - 230V+10，-15% ，50/60Hz±3Hz Main Circuit Power Single-phrase：AC200 - 230V+10，-15% ，50/60Hz±3Hz Note 2) Note 1) Single-phrase：AC100 - 115V+10，-15% ，50/60Hz±3Hz Note 3) Control Power...

  • Page 52: General Input/Output

    2. Specifications General input/output 2) General Input/Output ■ General input signals Interactive photo coupler (sink, source connection)：×2 input Input power voltage range: DC5V ±5%/ DC12V - DC24V±10%,100mA or over (DC24V) Sequence Forward direction limit switch, Reverse direction limit switch，External trip, Forced input signals discharge, Emergency stop.

  • Page 53: Power Supply, Calorific Value

    2. Specifications Main circuit power, control power capacity Power Supply, Calorific Value 1) Main circuit Power supply capacity, Control Power supply capacity ■ AC200V Input (Rotary motor) Input Servo amplifier Servo motor Rated output Rated main circuit Control voltage capacity model number power supply (kVA) power supply (VA)
  • Page 54 2. Specifications General input/output AC100V Input (Rotary motor) ■ Rated main circuit Control Input Servo amplifier Servo motor model Rated output power supply power supply voltage capacity number (KVA) (VA) R2EA04003F R2EA04005F RS2E01A AC100V R2EA04008F R2EA06010F RS2E03A R2EA06020F The values are of rated speed, torque ratings AC200V Input (Linear motor) ■...

  • Page 55: Inrush Current, Leakage Current

    2. Specifications Inrush and leakage current 2) Inrush Current, Leakage Current Inrush Current ■ Main circuit power Input Servo amplifier Control power (Maximum value between Voltage capacity (Maximum value between1ms after input) 1.2seconds after input) RS2A01# RS2A03# 22A (O-P) RS2A05# AC200V 40A (O-P) RS2A10#...

  • Page 56: Calorific Value

    2. Specifications Amount of heat generation 3) Calorific value ■Rotary motor Servo Servo Servo Input Servo amplifier Servo motor amplifier Input Servo motor amplifier amplifier voltage capacity model number total calorific voltage model number total calorific capacity value (W) value (W) R2AA04003F R2AA18350D R2AA04005F...
  • Page 57 2. Specifications General input/output ■Linear motor Servo Servo Servo Input Servo amplifier Servo motor amplifier Input Servo motor amplifier amplifier voltage capacity model number total calorific voltage model number total calorific capacity value (W) value (W) DS030C1N2 DD030C3Y4 RS2A03L RS2A10L DS050C1N2 DD050C1Y2 DS075C1N2...

  • Page 58: Operation Pattern

    2. Specifications Operation pattern Operation Pattern 1) Time of acceleration and deceleration, Permitted repetition, Loading precaution (For rotary motor) The motor’s acceleration time (t )，and deceleration time (t ) when under constant load is calculated using the following method: Acceleration time = (J ) ･...
  • Page 59 2. Specifications Operation pattern When the motor repeats continuous speed status and stop status ■ In operating status (shown below) the motor should be used at a frequency in which its effective torque is less than the rated torque T Servo motor Time torque...
  • Page 60 2. Specifications Operation pattern When the motor repeats acceleration – constant speed operation – deceleration status ■ For the operating status shown below, the value of permitted repetitions n (times/min) is found in the following equation: Time Servo motor current torque Servo motor rotation Time...

  • Page 61: Time Of Acceleration And Deceleration, Permitted Repetition, Loading Precaution (For Linear Motor)

    2. Specifications Operation pattern 2) Time of acceleration and deceleration, Permitted repetition, Loading precaution (For linear motor) The motor’s acceleration time (t ), and deceleration time (t ) when under constant load is calculated using the following method: Acceleration time = (M ) ･{(V ) / (0.8×F...
  • Page 62 2. Specifications Operation pattern When the motor repeats continuous speed status and stop status ■ In operating status (shown below) the motor should be used at a frequency in which its execution force is less than the rated force F Servo motor Time Force...
  • Page 63 2. Specifications Operation pattern When the motor repeats acceleration – constant speed operation – deceleration status ■ For the operating status shown below, the value of permitted repetitions n (times/min) is found in the following equation: Servo motor Time current Servo motor velocity Time...

  • Page 64: Specifications For Analog Monitor

    2. Specifications Analog monitor Specifications for Analog Monitor Electrical specifications ■ ◆ Output voltage range：DC±8V ◆ Output resistance：1kΩ ◆ Load: less than 2mA Monitor output is indefinite at the time of power ON/OFF and may output DC12V+/- around 10%. Velocity command, Velocity monitor ■...

  • Page 65: Specifications For Dynamic Brake

    2. Specifications Dynamic brake Specifications for Dynamic Brake 1) Allowable frequency Allowable frequency of the dynamic brake (main circuit power ON/OFF) ■ Less than 10 times per hour and 50 times per day at maximum speed within the applied load inertia. Operation intervals ■...

  • Page 66: Decreasing The Rotation Angle

    2. Specifications Dynamic brake 3) Decreasing the rotation angle Staging down the rotation angle using the dynamic brake is show as follows: Rotary motor ■ 2πN×t Coasting distance = I × (αN+βN :Inertia of servo motor (kg･m :Load inertia (motor axis conversion)(kg･m :Servo motor rotation speed (min :Stage down rotation angle (rad) using amplifier internal process t :Stage down rotation angle (rad) using dynamic brake operation...
  • Page 67 2. Specifications Dynamic brake Servo amplifier Servo motor α β (kg･m capacity model number R2AA18350D 1.05 1.3×10 40×10 R2AA18450H 0.67 1.2×10 50×10 R2AA18550R 0.53 7×10 68×10 R2AA22500L 0.41×10 55×10 Q1AA13400D 2.13 0.25×10 6.43×10 Q1AA13500D 1.52 0.20×10 8.47×10 RS2A15 Q1AA18450M 0.43 0.35×10 27.5×10 Q2AA18350H...
  • Page 68 2. Specifications Dynamic brake Linear motor ■ Linear servo motor can apply dynamic brake by short-circuiting motor power line, as linear servo motor is permanent-magnet type. Dynamic brake is activated at an emergency stop due to alarm. When any frictions are ignored in horizontal axis, the coasting distance of moving stage when dynamic brake activated is calculated by the following guide calculation formulas.

  • Page 69: Regeneration Process

    2. Specifications Regeneration process Servo amplifier Servo motor model α β M (kg) capacity number DD030C3Y4 2.02×10 5.92×10 21.6 RS2A10L DD050C1Y2 3.25×10 1.09×10 11.2 DD075C1Y2 1.63×10 9.95×10 14.7 DS100C3N2 2.03×10 1.47×10 18.6 DS150C3N2 9.23×10 1.37×10 26.2 RS2A15L DD050C2Y2 2.93×10 3.01×10 21.2 DD075C2Y2 1.43×10...
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  • Page 71 Installation Servo Amplifier ················································································································································· 3-1 Servo Amplifier·············································································································································· 3-1 Open package ·············································································································································· 3-2 Mounting direction and location ························································································································ 3-3 Control arrangement within the machine ············································································································ 3-3 Rotary Motor ···················································································································································· 3-4 Precautions ·················································································································································· 3-4 Open package ·············································································································································· 3-4 Installation···················································································································································· 3-4 Mounting method··········································································································································· 3-5 Waterproofing and dust proofing ·······················································································································...

  • Page 72: Servo Amplifier

    3 Installation Servo Amplifier Servo Amplifier 1) Servo Amplifier When installing, please be sure to protect the following precautions. ■ Various precautions The device should be installed on non-flammable surfaces only. Installation on or near flammable materials can cause fire. Do not stand, and put heavy items on the servo amplifier.

  • Page 73: Servo Amplifier

    3 Installation Servo Amplifier 2) Open package Verify the followings when the product arrives. If you find any discrepancy, contact your distributor or sales office. ■ Verify that the model number of the servo motor or servo amplifier is the same as ordered. The model number is located on the main nameplate, following the word “MODEL”.

  • Page 74: Mounting Direction And Location

    3 Installation Servo Amplifier 3) Mounting direction and location Rear-mounting Ventilation Refer to Appendix, optional parts, for front mounting plate. 4) Control arrangement within the machine ■ Leave at least 50 mm space above and below the servo amplifier to ensure unobstructed airflow from the inside of the servo amplifier and the radiator.

  • Page 75: Rotary Motor

    60W AC200V 0.53A 3000min 3φ · I.F IP40 SER No.090206001 2002 SANYO DENKI MADE IN Serial No JAPAN 00482921-01 3) Installation Please note the following regarding the installation location and mounting method for the servo motor. The servo motor is designed for indoor use. Make sure to install it indoors.

  • Page 76: Mounting Method

    3 Installation Rotary motor 4) Mounting method ■ Mounting in several orientations - horizontal, or with the shaft on top or bottom- is acceptable. ■ If the output shaft is used in reduction devices that use grease, oil, or other lubricants, or in mechanisms exposed to liquids, the motor should be installed in a perfectly horizontal or downward position.

  • Page 77: Protective Cover Installation

    3 Installation Rotary motor 6) Protective cover installation ■ Install a protective cover (as described below) for motors continuously subjected to liquids. ■ Turn the connectors (lead outlets) downwards within the angle range shown in the picture below. ■ Install the cover on the side where the water or oil would drip. ■...
  • Page 78 3 Installation Rotary motor ■ Refer to the drawing below for correct centering of the motor shaft and the target machinery. Please note when using a rigid coupling that even a slight mistake in centering can damage the output shaft. Measured at all 4 locations, the difference between the maximum and the minimum should not exceed 3/100mm...

  • Page 79: Allowable Bearing Load

    3 Installation Rotary motor 8) Allowable bearing load ■ The table below shows the allowable bearing load of the servo motors. Do not apply excessive thrust load or radial load. In case of belt driving, make sure that the shaft converted value of belt tension does not exceed the allowable values shown below.
  • Page 80 3 Installation Rotary motor Assembly Operation Servo motor Radial load (N) Thrust load (N) Radial load (N) Thrust load (N) model number Direction Direction Direction Direction F R5AA06020 R5AA06040 R5AA08075 Q1AA10200 Q1AA10250 Q1AA12200 Q1AA12300 Q1AA13300 2000 Q1AA13400 2000 1200 Q1AA13500 2000 1200 Q1AA18450...

  • Page 81: Linear Motor

    3 Installation Linear Motor Linear motor 1) Precautions on linear motor installation Make sure to read “Safety precautions” carefully to use properly. Failure to observe the safety precautions may result in damages or accidents. 2) Installation of single magnet core-type linear motor ■...
  • Page 82 3 Installation Linear Motor ■ Installation of coil <Mounting in the place no magnetic rail exist. > Step Description Install the magnetic rail at only the half of the whole stroke, and confirm that each area with and without magnetic rail is longer than the coil length by 50mm minimum. Shock absorber Linear sensor (Scale tape)
  • Page 83 3 Installation Linear Motor Slide the movable stage which has the coil installed onto the magnetic rails which have been fixed by screws. Magnetic force by which the coil is drawn toward the magnet surface is shown in the table below. When the whole coil is on the magnetic rail, attraction force no longer exists.
  • Page 84 3 Installation Linear Motor ■ Installation of coil <Mounting in the place magnetic rail exist. > Step Description After having installed all the magnetic rails, place the coil above the magnetic rails using non-magnetic spacer of 50mm or thicker. Non magnetic spacer must be of the material which would not be compressed by the coil self weight.

  • Page 85: Installation Of Dual Magnet Core-Type Linear Motor

    3 Installation Linear Motor 3) Installation of dual magnet core-type linear motor ■ Installation and precautions of magnetic rails Step Description Strong magnet is set on the surface of the magnetic rails. High magnetic attraction force is generated between the magnets themselves and between the motor coil, tools or jigs made of iron when they are placed near the magnetic rails.
  • Page 86 3 Installation Linear Motor Install the magnetic rails in order from end. When installing one magnetic rail next to the one already fixed, do not place the former from the side of the latter but place it from front or back of the latter. Otherwise, magnetic force will be generated and may cause injury or breakage.
  • Page 87 3 Installation Linear Motor Temporarily fix the motor coil and the stage using installing bolts and adjust the gap between the dummy magnetic rail and the coil. Appropriate length of the gap is 1.3±0.2mm for the one without magnet cover, 1.1±0.2mm for the one with magnet cover.
  • Page 88 3 Installation Linear Motor When bolts are used. When bolts are used, adjust the gap from side of the stage. Prepare four or more taps for gap adjusting bolts on the side of the stage. The hole position must be determined so that the tip of the gap adjusting bolt touches the upper plate of the motor coil.

  • Page 89: Cable Installation And Considerations

    3 Installation Linear Motor When the motor has been installed, perform wiring. Shock absorber Cable-veyor Stage Linear motor (coil) Linear motor (Magnetic rail) Linear guide Linear guide rail 4) Cable installation and considerations ■ Please be careful not to apply any stresses on or damages to cables. ■...
  • Page 90 No Text on This Page.
  • Page 91 4. Wiring Control power supply, Regeneration resistance, and Wiring protective ground ······························································ 4-1 Name and its function ····································································································································· 4-1 Wire ···························································································································································· 4-1 Wire diameter - Permissible current ·················································································································· 4-2 Recommended Wire Diameter (Rotary motor) ····································································································· 4-2 Recommended wire diameter (Linear motor) ······································································································· 4-4 Wiring of servo motor ·····································································································································...

  • Page 92: Wiring

    4.Wiring Wire Control power supply, Regeneration resistance, and Wiring protective ground 1) Name and its function Connector Terminal name Remarks marking Single-phase AC100 - 115V +10%,-15% 50/60Hz ±3% R・T Main circuit power supply Single-phase AC200 - 230V +10%,-15% 50/60Hz ±3% R・S・T Three-phase AC200 - 230V +10%,-15% 50/60Hz ±3% Single-phase AC100 - 115V +10%,-15% 50/60Hz ±3%...

  • Page 93: Wire Diameter - Permissible Current

    4.Wiring Permissible current, Recommended Wire Diameter 3) Wire diameter - Permissible current Permissible current over ambient Nominal cross-sectional Conductor AWG sides area resistance temperature [A] [Ω/km] 30°C 40°C 55°C 39.5 0.75 26.0 24.4 1.25 15.6 12.0 11.0 9.53 23.0 20.0 15.0 5.41 33.0...
  • Page 94 4.Wiring Permissible current, Recommended Wire Diameter  Input voltage AC200V (R-series) Motor power Main circuit Control Regeneration power supply (U･V･W･ power Servo resistance Servo motor amplifier to be (R･S･T･ ) supply model No. combined AWG No AWG No Q1AA10200D Q1AA10250D Q1AA12200D RS2#10# Q1AA12300D...

  • Page 95: Recommended Wire Diameter (Linear Motor)

    4.Wiring Recommended wire diameter 5) Recommended wire diameter (Linear motor) The following shows recommended wire diameter for use in servo amplifier and rotary motor.  Input voltage AC200V (DS-series: Linear motor) Motor power Main circuit Control Regeneration power supply (U・V・W・ power Servo resistance...

  • Page 96: Wiring Of Servo Motor

    4.Wiring Wiring of servo motor 6) Wiring of servo motor Plug model number for power and brake of R-series servo motor (Products of Japan Aviation Electronics Industry,  Limited) Plug for powering and braking line Plug for braking line (Cable clamp) (Cable clamp) Servo motor [Plug + clamp model number]...
  • Page 97 4.Wiring Wiring of servo motor  Plug model number for power and brake of Q-series servo motor Japan Aviation Electronics Industry, Limited) (Products of Plug for power (Cable clamp) Plug for power (Cable clamp) Servo motor 【Plug + clamp model number】 【Plug + clamp model number】...
  • Page 98 4.Wiring Wiring of servo motor Q-series servo motor Q-series servo motor Canon plug for power line Canon plug for power line (For N/MS3106 (8)B24-11S) (For N/MS3106 (8)B20-15S) Pin assignment (Viewed from motor) Pin assignment (Viewed from motor) Q-series servo motor Q-series servo motor Canon plug for power line Canon plug for brake line...

  • Page 99: Wiring Example

    4.Wiring Wiring Example 7) Wiring Example Even if it turns off power supply, high-pressure voltage may remain in servo amplifier. Therefore, do not touch a power supply terminal for 15 minutes for the prevention from an electric shock. Completion of electric discharge turns off the lamp of CHARGE.
  • Page 100 4.Wiring Wiring Example  Single phase AC200V, Single phase AC100V [Generic output] ◆ When using + side of OUT1 or OUT2 for power supply Single phase AC200 - 230V 50 / 60 Hz Single phase AC100 - 115V 50 / 60 Hz SERVO MOTOR Operation Emergency...

  • Page 101: Electric Wire Crimping Processing

    4.Wiring Crimping processing, Tightening torque 8) Electric wire crimping processing Insert the wire into ferrule, and use a special tool to crimp it in. Insert the ferrule deep into the connector, and tighten it with a special minus screwdriver or something. The recommended torque is 0.5 - 0.6 N･m.

  • Page 102: Wiring Of The Canon Connector For Servo Motors

    4.Wiring Wiring of the canon connector for servo motors Wiring of the canon connector for servo motors Canon plug Manufacture Name Remark Plug side model No. Remarks pin No. name Brake power supply Brake MS3106B24-11S Straight type connection Brake power supply Brake MS3108B24-11S Angle type...

  • Page 103: Wiring With Host Unit

    4.Wiring Wiring with Host Unit Wiring with Host Unit 1) Control signal and pin number (wiring with host unit) CN0 / 1: EtherCAT TX＋ Communication Note1) Pin 4-5 and 7-8 on CN0 / 1EtherCAT communication connector are short-circuited inside the amplifier. 75Ω...
  • Page 104 4.Wiring CN0,CN1 connector disposition 2) CN0, CN1 connector disposition  Pin assignment Two (Port 0/1) standard Ethernet connectionRJ-45 modular connectors are provided for the EtherCAT communication with a higher-level device. The same pin disposition (same signal) is assigned for both connectors and corresponds to the daisy chain topology.

  • Page 105: Cn0,Cn1 Connector Disposition

    4.Wiring CN0,CN1 connector disposition Wiring diagram  Slave Slave Slave Slave axis axis ・・・ axis Shielded Shielded Shielded CN1 （Port1） CN1 (Port1) CN1 (Port1) CN1 (Port1) twisted-pair cable twisted-pair cable twisted-pair cable TX＋ TX＋ TX＋ TX＋ TX－ TX－ TX－ TX－ RX＋...

  • Page 106: Cn2 Connector Disposition

    4.Wiring CN2 connector disposition 3) CN2 connector disposition  MUF-PK10K-X (Note: A view of the connector’s soldered side.) ◆ Signal name and its function Terminal Signal name Description number BAT + Battery (+) BAT - Battery (-) Reserve Do not use Reserve Do not use HWGOFF1+...
  • Page 107 4.Wiring CN2 connector disposition ◆ Terminal connection circuit Terminal Symbol Name Description When using a Battery Backup Method Absolute Encoder, the battery for backup can be mounted in the host unit side, and it can connect via servo amplifier. When it mounts a battery between servo amplifier and a servo motor, it is not BAT+ Battery (+) necessary to connect.

  • Page 108: Cn3 General Input-Output Connector Disposition

    4.Wiring CN3 General input-output connector disposition 4) CN3 General input-output connector disposition  2013595-3 (Note: A view of the connector’s soldered side) ◆ Signal name and its function Terminal number Signal name Description OUT1+ General output 1 (+) OUT1- General output 1 (-) OUT2+ General output 2 (+) OUT2-...

  • Page 109: Cn4 General Input Connector Disposition

    4.Wiring CN4 General input connector disposition 5) CN4 General input connector disposition *Applicabel to RS2#####K#1，RS2#####K3，and RS2#####K5.  MUF-PK8K-X (Note: A view of the connector’s soldered side) ◆ Signal name and its function Terminal number Signal name Description Default setting CONT3+ General input 3 (+) Limit switch function in positive direction...

  • Page 110: Wiring Of Motor Encoder

    4.Wiring Wiring of Motor Encoder Wiring of Motor Encoder 1) EN1connector name and its function Battery backup absolute encoder  R-series Q-series Servo Amplifier Servo motor Remarks Signal name Plug pin number Servo motor Description Note 1) Terminal No. (Specification for Plug pin number leads) 9 (Red)

  • Page 111: Terminal Number

    4.Wiring Wiring of Motor Encoder  Battery less absolute encoder R-series Servo Amplifier Servo motor Q-series Remarks Signal name Plug pin number Servo motor Description Note 1) Terminal No. (Specification for Plug pin number leads) 9 (Red) Power supply Twisted pair 10 (Black) Power supply (Recommendation)

  • Page 112: Connector Model Number For Motor Encoder

    4.Wiring Wiring of Motor Encoder 3) Connector model number for motor encoder R-series servo motor encoder Connector model numbers  (Products of Japan Aviation Electronics Industry, Limited) Motor model number Motor encoder plug model number Connector type Applicable cable diameter R2#A04003 R2#A04005 R2EA04008...

  • Page 113: Canon Connector Plug And Contact For Motor Encoder

    4.Wiring Wiring of Motor Encoder 4) Canon connector plug and contact for motor encoder  Plug model number (Japan Aviation Electronics Industry Ltd.) Application cable Model Number Connector type diameter JN2DS10SL1-R Straight φ5.7 - φ7.3 JN2FS10SL1-R Angle JN2DS10SL2-R Straight φ6.5 - φ8.0 JN2FS10SL2-R Angle JN2DS10SL3-R...

  • Page 114: Peripherals

    4.Wiring Peripherals Peripherals 1) Power supply capacity and peripherals list (Rotary motor) ■ AC200V input Main circuit Input Servo amplifier Servo motor Molded case circuit breaker Magnetic Surge power supply Noise filter voltage capacity model No. (MCCB) contact absorber rating (kVA) R2AA04003F R2AA04005F R2AA04010F...
  • Page 115 4.Wiring Peripherals  AC100V input Servo Main circuit Servo motor Magnetic Surge Input voltage amplifier power supply Circuit breaker Noise filter model No. contact absorber capacity rating (KVA) R2EA04003F HF3030C- LT-C12G801WS R2EA04005F NF30 Type 10A S-N10 RS2#01A R2EA04008F SOSHIN 100V R2EA06010F MITSUBISHI SOSHIN...

  • Page 116: Power Supply Capacity And Peripherals List (Linear Motor)

    4.Wiring Peripherals 2) Power supply capacity and peripherals list (Linear motor)  AC200V input Main circuit Input Servo amplifier Servo motor Magnetic Surge power supply Circuit breaker Noise filter voltage capacity model No. contact absorber rating (KVA) DS030C1N2 Model NF30 10A DS050C1N2 RS2#03L MITSUBISHI...
  • Page 117 Interface About EtherCAT ····························································································································5-1 Overview ································································································································· 5-1 EtherCAT Profile ······················································································································· 5-1 Model (Reference Model) ················································································································5-2 OSI Reference Model ················································································································· 5-2 Drive Architecture ······················································································································ 5-3 Settings ·······································································································································5-4 Node ID ··································································································································· 5-4 Physical Communication Specifications·························································································· 5-4 Communication Specifications··········································································································5-5 Device Model ··························································································································· 5-5 Communication ·························································································································...

  • Page 118: About Ethercat

    5．Interface About EtherCAT 5.1 About EtherCAT This chapter describes the technical specifications for the network communication construction method, physical parameter adjustment method and the function activation method. An appropriate knowledge of servo amplifiers, motion control, networking and EtherCAT CoE (CANopen over EtherCAT) is required for the reader of this chapter. Detailed information of EtherCAT can be obtained from the following ETG(EtherCAT Technology Group)website: http://www.ethercat.org/...

  • Page 119: Model (Reference Model)

    5．Interface Model (Reference Model) 5.2 Model (Reference Model) 1) OSI Reference Model Compared with the OSI (Open Systems Interconnection) reference model, the EtherCAT communication model has no layers in layers 3 - 6. Comparison of OSI reference model and EtherCAT (CoE) model Layer OSI reference model EtherCAT model...

  • Page 120: Drive Architecture

    5．Interface Model (Reference Model) 2) Drive Architecture Ethernet Node Application layer and EtherCAT communication profile IEC61158 Drive Profile CiA402 Device Control State Machine Functions (Modes of operation) Homing Position Velocity Torque Touch Probe Function Function Function Function Function Motor Communication architecture...

  • Page 121: Settings

    5．Interface Settings 5.3 Settings 1) Node ID Each slave drive in the EtherCAT network can have its own respective node ID and the unique node ID setting is basically performed in the position addressing mode. Besides, 0 - 65535 axes addresses can be set using the 4 bit rotary switch (0x0 - 0xF:bit 3 - 0) at the front of the amplifier and with a set value of bit 15 –...

  • Page 122: Communication Specifications

    5．Interface Communication Specifications 5.4 Communication Specifications 1) Device Model ■ Communication This unit includes the data transfer function via the network architecture base. ■ Object Dictionary The Object Dictionary affects the application object, the communication object and the state machine operations used in this device.

  • Page 123: Communication

    5．Interface Communication Specifications ■ Object Index All objects are addressed with a 16-bit index using a 4-digit hexadecimal number. Objects are assigned in the Object Dictionary by individual groups. The Object Dictionary outline prescribed in CoE is as follows: Object Index Assignment Index (Hex) Object 0x1000 - 0x1FFF...

  • Page 124: Ethercat Protocol

    5．Interface Communication Specifications 3) EtherCAT Protocol The commands are standardized as default values with the IEC61158 EtherCAT Communication Profile to simplify network structuring. Each node in a segment can be addressed individually and the EtherCAT datagrams can be used by one (1) Ethernet. The frame ends at the EtherCAT datagrams. Ethernet Header Ethernet Data 14 Byte...

  • Page 125: Command Type

    5．Interface Communication Specifications 5) Command Type Address and access method are determined by the 8-bit command at he head of the EtherCAT datagram. EtherCAT command types are listed below. Read / Write operations and Read operation are executed before Write operation. EtherCAT Command Types Abbreviation Name...

  • Page 126: Wkc (Working Counter)

    5．Interface Communication Specifications 6) WKC (Working Counter) Each EtherCAT datagram will end with a 16 bit working counter (WKC). The working counter counts the device number normally accessed by EtherCAT datagrams. Also, the working counter is incremented by the ESC (hardware) in which the slave amplifier is loaded. Each datagram should have an estimated working counter value calculated in the master.

  • Page 127: Addressing Image

    5．Interface Addressing Image 5.5 Addressing Image 1) Position Addressing (Auto-Increment Addressing) Position addressing is a command to access slaves from the master according to the connection order (physical position). Each slave device provides one (1) 16-bit address field every time datagrams pass through and a slave “0x0000”will be addressed and will respond when receiving the address field.

  • Page 128: Logical Addressing

    5．Interface Addressing Image 3) Logical Addressing A 32-bit address field for logical addressing inside the segment is used as one (1) address value. Logical addressing is not done individually but addresses the 4GB segment width of the logical address space. This section can be used for any slave number and can translate the 32 bit logical address to a physical address using the internal address mapping method of the Fieldbus Memory Management Unit (FMMU).

  • Page 129: Sm (Syncmanager)

    5．Interface Addressing Image 5) SM (SyncManager) ESC memory can be used for data conversion between the master and the slave M-controller without any limitation; however, it has some weak points because the internal ESC is addressed for using communication memory. ■...
  • Page 130 5．Interface Addressing Image Shows the definition and data conversion example under the setting of： Start address: 0x0100 Data length: 0x0100 Buffer address Object index Buffer 0 0x1000 - 0x10FF Both the master and slave access Buffer 0 (Visible) because SM controls all buffers. Buffer 1 0x1100 - 0x11FF Sets only Buffer 0 for SM setting.

  • Page 131: Mailbox Mode

    5．Interface Addressing Image 7) Mailbox Mode It is guaranteed that all transmitted data will be delivered to the reception side because the Write/Read are converted with handshaking in the mailbox mode. Mailbox mode uses only one (1) size buffer set in advance and will be able to be used as a mailbox buffer after the initial settings and boot to SM.

  • Page 132: Accessing To Object Dictionary

    5．Interface Accessing to Object Dictionary 5.6 Accessing to Object Dictionary R-ADVANCED EtherCAT amplifier supports CoE (CANopen over EtherCAT) with two (2) methods provided for accessing the Object Dictionary device. ■ Service Data Object (SDO) ■ Process Data Object (PDO) 1) Service Data Object (SDO) The master can control many of the slave amplifier parameters such as device settings and the monitor, through Read/Write in the Object Dictionary entry, using SDO transfer.

  • Page 133: Canopen Header Protocol

    5．Interface Accessing to Object Dictionary Mailbox Header Configurations Name (Abbreviation) Data Explanation Length Length (Len) 2 Byte Data length to abut the next Address (Ad) 2 Byte Sender’s station address Channel (Ch) 6 bit Reserved (0x00) Priority (Pr) 2 bit Reserved Priority(0x00 - 0x03) Type (Typ)
  • Page 134 5．Interface Accessing to Object Dictionary 4) SDO Message SDO message is configured by “CANopen Header” and “SDO Data frame”. Data transfer capacity is up to 4Byte standard and is possible for up to 1470Byte using the “optional Data” domain. Since most of them are smaller than 4Byte in the R-ADVANCED EtherCAT CoE amplifier, an expedited SDO transfer is possible.
  • Page 135 5．Interface Accessing to Object Dictionary ■ SDO Download Expedited Request Mbx Header CANopen Header Command specific data Master Slave 2 Byte 2 Byte 6 bit 2 bit 4 bit 4 bit 9 bit 3 bit 4 bit 1 Byte 2 Byte 1 Byte 4 Byte Type...
  • Page 136 5．Interface Accessing to Object Dictionary ■ SDO Upload Expedited Request CANopen Header Command specific data Mbx Header Slave Master 2 Byte 2 Byte 6 bit 2 bit 4 bit 4 bit 9 bit 3 bit 4 bit 1 Byte 2 Byte 1 Byte 4 Byte Type...
  • Page 137 5．Interface Accessing to Object Dictionary ■ SDO Download Normal Request CANopen Header Command specific data Mbx Header Master Slave 2 Byte 2 Byte 6 bit 2 bit 4 bit 4 bit 9 bit 3 bit 4 bit 1 Byte 2 Byte 1 Byte 4 Byte n-10 Byte...
  • Page 138 5．Interface Accessing to Object Dictionary ■ SDO Upload Normal Request “SDO Download Normal Response” has the same frame configuration as “SDO Upload Expedited Request”. Please refer to Diagram 3 : SDO Upload Expedited Request ■ SDO Upload Normal Response Master Slave Mbx Header CANopen Header...
  • Page 139 5．Interface Accessing to Object Dictionary ■ Abort SDO Transfer The slave returns an error message as a response to the SDO request when the SDO message has not been accepted for some reason (value is out of set range, etc.) The Abort SDO message structure details and abort code list are as follows: Slave Master...
  • Page 140 5．Interface Accessing to Object Dictionary ■ Emergency (EMCY) Emergency object will be transferred by the master to the request command for mailbox input at the time of error occurrence inside the device. This object permits transfer only once to one error event. In other words, an emergency object will not be transferred unless a new error occurs in the device.
  • Page 141 5．Interface Accessing to Object Dictionary ■ SDO Information ◆ Object List Request Mbx Header CANopen Header Command specific data Slave Master word word 6bit 2bit 4bit 4bit 9bit 3bit 4bit Byte Byte word word Type List T 0x08 :SDO Information 0x03 :CoE 0x08 :CANopen H.＋Cmd Spec Data 7bit...
  • Page 142 5．Interface Accessing to Object Dictionary ◆ Object Dictionary Request Mbx Header CANopen Header Command specific data Slave Master word word 6bit 2bit 4bit 4bit 9bit 3bit 4bit byte byte word word Type Index 0x08 :SDO Information 0x03 :CoE 0x08 :CANopen H. + Cmd Spec Data 7bit 1 bit Byte...
  • Page 143 5．Interface Accessing to Object Dictionary ◆ Entry Description Request Mbx Header CANopen Header Command specific data Slave Master word word 6bit 2bit 4bit 4bit 9bit 3bit 4bit byte byte word word byte byte Type Index S-Idx VInfo 0x08 :SDO Information 0x03 :CoE 0x0A :CANopen H.
  • Page 144 5．Interface Accessing to Object Dictionary ◆ SDO information Error Request Slave Master Mbx Header CANopen Header Command specific data word word 6bit 2bit 4bit 4bit 9bit 3bit 4bit byte byte word Dword Type Abort Code 0x08 :SDO Information 0x03 :CoE 0x0A :CANopen H.

  • Page 145: Process Data Object（Pdo

    5．Interface Accessing to Object Dictionary 5) Process Data Object（PDO） ■ Overview Real time data transfer of EtherCAT is performed with “Process Data Object” (PDO). PDO transfer does not need protocol transfer processing overhead. There are two (2) types of PDO transfers: R x PDO (Reception PDO) from master to slave and T x PDO (Transmission PDO) from slave to master.
  • Page 146 5．Interface Accessing to Object Dictionary The relation between PDO and SM is defined as Sync Manager PDO Assign in Sync Manager Channel (SM) for processing data objects. The Sub-index：0x00 in the SM-PDO Assign table will be assigned a PDO number. Index:0x1C12(SM Channel 2) becomes the Output PDO setting and Index:0x1C13(SM Channel 3 becomes the Input PDO Object Dictionary in the RS2-Advanced EtherCAT CoE amplifier.

  • Page 147: Distributed Clocks (Dc)

    5．Interface Distributed Clocks (DC) 5.7 Distributed Clocks (DC) EtherCAT is supported by the Distributed clock (DC) unit of the slave controller for synchronization between slaves and master. The DC functions provided with R-Advanced EtherCAT amplifier are described as follows: ■ Clock synchronization between slave-master ■...

  • Page 148: Clock Synchronization Process

    5．Interface Distributed Clocks (DC) 3) Clock Synchronization Process The clock synchronization process consists of three (3) steps. 1) Propagation Delay Measurement The master begins propagation delay measurement in each direction toward all slaves. Each slave measures the received time of the measurement frame. Then, the master calculates the propagation delay between the slaves by reading the time stamps.

  • Page 149: Clock Synchronization Initialization Procedure (Example)

    5．Interface Distributed Clocks (DC) 4) Clock Synchronization Initialization Procedure (example) Initialization procedure of clock synchronization including propagation delay measurement, offset correction and drift correction is as follows: 1) The master discovers the network configuration by reading the DL status register of the slaves. 2) The master transmits a minimum of 1byte of data with broadcast Write to Read the receive time of port 0 register.

  • Page 150: Communication Timing

    5．Interface Communication Timing 5.8 Communication Timing EtherCAT synchronous handling works independently from the EtherCAT device inside the master and slaves. The following three (3) communication methods are standard for synchronous modes: 1) Free-run Mode The slave application does not synchronize with the EtherCAT synchronous signal (non-synchronous mode). 2) SM Event Synchronous Mode The slave application synchronizes with an SM2 event when cycle output is transmitted.

  • Page 151: Ethercat State Machine (Esm)

    5．Interface EtherCAT State Machine (ESM) 5.9 EtherCAT State Machine (ESM) ESM contains states defined by EtherCAT. ■ Init ■ Pre－Operational ■ Safe－Operational ■ Operational ■ Bootstrap 1) ESM ESM change is requested from the master. The master requests the change by writing the ESM with the request to be changed in the AL control register of the slave(s).

  • Page 152: State

    5．Interface EtherCAT State Machine (ESM) 2) State ■ Init State “Init” state defines basic communication relations between the master and slaves in the application layer. Direct communication between the master and slaves is not possible in the application layer. The master uses the “Init” state to initialize the setting for the configuration of the slaves. When the slaves support the mailbox service, the corresponding SM settings will also be executed in “Init”...

  • Page 153: Bootstrap State

    5．Interface EtherCAT State Machine (ESM) 5.10 Bootstrap state In the Bootstrap state, servo amplifier firmware can be downloaded to servo amplifier by using FoE（File access over EtherCAT）protocol.Re-wrinting of servoamplifier firmware is perfomed by changing “Bootstrap state” to “Init state” in the consideration that firmware re-writing has no risks, after the firmware downloaded completely.

  • Page 154: Foe Header Protocol

    5．Interface EtherCAT State Machine (ESM) 2) FoE Header protocol “FoE Header” is 2-byte identifier, and comprised of 1-byte “OpCode” and 1-byte “Reserve” area. The following shows “FoE Header” configuration. FoE Header configuration Code (Abbrev.) Data length Description Opcode 8 bit FoE commnad 0x01 ：...
  • Page 155 0x07 to 0x1FA ：FoE.H ＋ Cmd Spec Data Data request ※ For File Data, use firmware data in Intel Hex format provided by SANYO DENKI. The following shows the structure of Intel Hex format. Structure of Intel Hex format ［1-record (1-line) structure］...
  • Page 156 5．Interface EtherCAT State Machine (ESM) ■ Error request Master Slave Mbx Header FoE Header Command specific data word word 6bit 2bit 4bit 4bit 8bit 8bit 4 byte 0 to 32 byte OpCode Reserved Error Code ErrorText ASCII character string: Option error description 0x1 to 0xFFFFFFFF：Error code 0x05：Error request 0x04：FoE (File Access over EtherCAT)
  • Page 157 Data Link Layer Device Addressing ·························································································································6-1 Address Space Overview ············································································································ 6-1 Shadow Buffer for Register Write Operations ·················································································· 6-1 EtherCAT Slave Controller Function Blocks ···················································································· 6-1 Address Space ·····························································································································6-2 ESC Information ························································································································ 6-4 Station Address ························································································································· 6-5 Write Protection ························································································································ 6-5 ESC Data Link Layer ··················································································································...

  • Page 158: Data Link Layer

    6．Data Link Layer Device Addressing 1） Address Space Overview The device can be addressed via Device Position Address (Auto Increment address), by Node Address (Configured Station Address/Configured Station Alias), or by a Broadcast.  Position Address / Auto Increment Address: The datagram holds the position address of the addressed slave as a negative value.

  • Page 159: Address Space

    6．Data Link Layer Address Space RS2 EtherCAT servo amplifier has an address space of 12kByte. The lower block of 4kByte (0x0000 - 0x1000) is dedicated for configuration registers common to all EtherCAT products. RS2 EtherCAT amplifier has 8kByte of process data RAM space beginning at 0x1000to 0x2FFF The address space list is shown below.
  • Page 160 6．Data Link Layer Table 2: ESC address space Length Length Address Description Address Description (Byte) (Byte) Distributed Clocks (DC) DC – Latch In Unit 0x0900:0x09FF Distributed Clocks (DC) 0x09A8 Latch0 Control 0x0900:0x0903 Receive Time Port 0 0x09A9 Latch1 Control 0x0904:0x0907 Receive Time Port 1 0x09AE Latch0 Status...

  • Page 161: Esc Information

    6．Data Link Layer Register description 1） ESC Information Type Address Description Master Slave Length Rest Value 0x0000 Type of EtherCAT controller 1Byte 0x11 Revision Address Description Master Slave Length Rest Value 0x0001 Revision of EtherCAT controller 1Byte 0x00 Build Address Description Master Slave...

  • Page 162: Station Address

    6．Data Link Layer 2） Station Address Configured Station Address Description Rest Address Master Slave Length Value 0x0010 15:0 Address used for node addressing 0x0000 (FPxx commands) Byte 0x0011 Sets node address. Configured Station Alias Rest Address Description Master Slave Length Value 15:0 Alias Address used for node addressing...

  • Page 163: Esc Data Link Layer

    6．Data Link Layer Write Register Enable Rest Address Description Master Slave Length Value 0x0020 If write register protection is enabled, this register has to be 0x00 written in the same Ethernet frame (value does not care) Byte before other writes to this station are allowed. Write protection is still active after this frame (if Write Register Protection register is not changed).
  • Page 164 6．Data Link Layer ESC DL Control Rest Address Description Master Slave Length Value 0x0100 Forwarding rule: 0x01 0:EtherCAT frames are processed, Non-EtherCAT frames are Byte 0x0103 forwarded without processing 1:EtherCAT frames are processed, Source MAC Address is changed (SOURCE_MAC [1] is set to 1 - locally administered address), Non-EtherCAT frames are destroyed Temporary use of settings in Register 0x101: 0:permanent use...

  • Page 165: Application Layer

    6．Data Link Layer ESC DL Status Rest Address Description Master Slave Length Value 0x0110 PDI operational/EEPROM loaded correctly: 0:EEPROM not loaded, PDI not operational Byte 0x0111 (no access to Process Data RAM) 1:EEPROM loaded correctly, PDI operational (access to Process Data RAM) PDI Watchdog Status: 0:Watchdog expired 1:Watchdog reloaded...
  • Page 166 6．Data Link Layer ■ AL Control and AL Status Register Writing the AL Control register (0x0120:0x0121) initiates a state transition of the device state machine. The AL Status register (0x0130:0x0131) reflects the current state of the slave. ■ Device Emulation Simple devices (without microcontroller) have the device emulation enabled (0x0140.8=1).
  • Page 167 6．Data Link Layer AL Status Code Address Description Master Slave Length Rest Value 0x0134 15:0 AL Status Code: The slave indicates errors during a state 0x0000 transition by setting the Error Indication flag (0x0130.4=1) Byte 0x0135 and writing an error description into the AL Status Code register (0x0134:0x0135).

  • Page 168: Process Data Interface(Pdi)

    6．Data Link Layer 6） Process data interface(PDI) PDI Control Address Description Master Slave Length Rest Value 0x0140 Process data interface: 0x08 8:16 Bit asynchronous microcontroller interface Byte Note) 0x0141 Device emulation (control of AL status): 0x0C 0:AL status register has to be set by slave Note) 1:AL status register will be set to value written to AL control register Enhanced Link detection all ports:...
  • Page 169 6．Data Link Layer 7） Interrupts ESCs support two types of interrupts: AL Event Requests dedicated for a microcontroller, and ECAT event requests dedicated for the EtherCAT master. Additionally, the Distributed Clocks Sync Signals can be used as interrupts for a microcontroller as well.

  • Page 170: Interrupts

    6．Data Link Layer Registers used for AL event requests are described: Registers for AL Event Requests Register Address Name Description 0x0150 PDI Configuration IRQ driver characteristics, depending on PDI 0x0151 SYNC/LATCH PDI Configuration Mapping DC Sync Signals to Interrupts 0x0204:0x0207 AL Event Mask Mask register 0x0220:0x0223...
  • Page 171 6．Data Link Layer ECAT Event Mask Address Description Master Slave Length Rest Value 0x0200 15:0 ECAT Event masking of the ECAT Event Request Events for 0x0000 mapping into ECAT event field of EtherCAT frames: Bytes 0x0201 0:Corresponding ECAT Event Request register bit is not mapped 1:Corresponding ECAT Event Request register bit is mapped AL Event Mask Address...

  • Page 172: Error Counter

    6．Data Link Layer 8） Error Counter RX Error Counter Errors are only counted if the corresponding port is enabled. Address Description Master Slave Length Rest Value 0x0300 Invalid frame counter of Port 0 (counting is stopped when 0xFF is 0x00 reached).

  • Page 173: Watchdog

    6．Data Link Layer 9） Watchdog Watchdog Divider Address Description Master Slave Length Rest Value 0x0400 15:0 Watchdog divider: Number of 25 MHz tics (minus 2) that represents 0x09C2 the basic watchdog increment. (Default value is 100µs = 2,500-2 = Bytes 0x0401 2498) Watchdog Time PDI...

  • Page 174: Esi Eeprom Interface (Slave Information Interface)

    6．Data Link Layer 10） ESI EEPROM Interface (Slave Information Interface) EtherCAT controls the ESI EEPROM interface if EEPROM configuration register 0x0500.0=0 and EEPROM PDI Access register 0x0501.0=0, otherwise PDI controls the EEPROM interface. EEPROM Configuration Address Description Master Slave Length Rest Value 0x0500 EEPROM control...
  • Page 175 6．Data Link Layer EEPROM Address Address Description Master Slave Length Rest Value 0x0504 15:0 EEPROM Address, to be read or written R/(W) R/(W) 0x00000000 Lower Word(=16bit) Bytes 0x0507 31:16 Upper Word r/(w): write access depends upon the assignment of the EEPROM interface (ECAT/PDI). Write access is generally blocked if EEPROM interface is busy (0x0502.15=1).
  • Page 176 6．Data Link Layer PHY Register Address Address Description Master Slave Length Rest Value 0x0513 Address of PHY Register that shall be read/written R/(W) R/(W) 0x00 Byte Reserved, write 0 r/ (w): write access depends on assignment of MI (ECAT/PDI). Write access is generally blocked if Management interface is busy (0x0510.15=1). PHY Data Address Description...
  • Page 177 6．Data Link Layer 12） FMMU [7:0] (Fieldbus Memory Management Units) Each FMMU entry is described in 16 Bytes from 0x0600:0x060F to 0x0670:0x067F. RS2 EtherCAT slave amplifier has 8 FMMUs from FMMU0 - FMMU7. y is the FMMU index (y=0 to 7). ■...
  • Page 178 6．Data Link Layer Logical Start address FMMU y Address Description Master Slave Length Rest Value 0x06y0 31:0 Logical start address within the EtherCAT Address Space. 0x00000000 Bytes 0x06y3 Length FMMU y Address Description Master Slave Length Rest Value 0x06y4 15:0 Offset from the first logical FMMU Byte to the last FMMU 0x0000 Byte + 1 (e.g., if two bytes are used then this parameter...
  • Page 179 6．Data Link Layer 13） SyncManager (sm [7:0]) SyncManager registers are mapped from 0x0800:0x0807 to 0x0838:0x083F. The RS2 EtherCAT slave amplifier has eight SM from SM0 to SM7. y specifies SyncManager (y=0 to 7). ■ Channel Configuration Register Formation. SM Configuration Register Formation is shown below. 2 Byte 2 Byte 1 Byte...
  • Page 180 6．Data Link Layer Physical Start Address SyncManager y Rest Address Description Master Slave Length Value 0x0800+y 15:0 Specifies first byte that will be handled by SyncManager R/(W) 0x0000 r/(w): Register can only be written if SyncManager is disabled Bytes 0x0801+y (+0x6.0 = 0).
  • Page 181 6．Data Link Layer Status Register SyncManager y Address Description Master Slave Length Rest Value 0x0805 Interrupt Write 1: Interrupt after buffer was completely and 0x00 successfully written (0x0804+y Byte 0: Interrupt cleared after first byte of buffer was read Interrupt Read: 1: Interrupt after buffer was completely and successful read (0x0804+y 0: Interrupt cleared after first byte of buffer was...
  • Page 182 6．Data Link Layer 14） Distributed Clocks (DC) Propagation delay measurement, Offset compensation and Drift compensation to Reference Clock are required to perform clock synchronization. Each method is described below. ■ Propagation Delay Measurement Since each slave introduces a small processing/forwarding delay in each direction (within the device and also in the physical layer), as well as the cable between the ESCs has a delay, the propagation delay between Reference Clock and the respective slave clock has to be considered for the synchronization of the slave clocks.
  • Page 183 6．Data Link Layer Parameters for Propagation Delay Calculation Parameter Description tPA, tPB, tPC Processing delay of slave (EtherCAT Processing Delay) Forwarding delay of slave (EtherCAT FoR/Warding Delay) tAB, tBC, tCB, tBA Propagation delay from slave to slave tWAB, tWBC, tWCB, tWBA Wire propagation delay between slaves (assumed to be symmetrical in both directions) tA0, tB0, tC0, tA1, tB1 Receive Time Port 0/1 values of slave (time when first preamble bit is detected) Processing delay (through EtherCAT Processing Unit) if all slaves are identical...
  • Page 184 6．Data Link Layer ■ Offset Compensation The local time of each device is a free running clock which typically will not have the same time as the Reference Clock. To achieve the same absolute System Time in all devices, the offset between the Reference Clock and every slave device’s clock is calculated by the master.
  • Page 185 6．Data Link Layer Receive Time Port 0 Address Description Master Slave Length Rest Value 0x0900 31:0 [Write access] Undefined A write access to register 0x0900 with BWR, APWR (any (special Bytes 0x0903 address) or FPWR (configured address) latches the local time function) of the beginning of the receive frame (start first bit of preamble) at each port...
  • Page 186 6．Data Link Layer 15） DC-Time Loop Control Unit Time loop control unit is defined by master, and the write operation from slave to time loop control register is not performed. ■ Time control loop settings and status Time control loop consists of the following five (5) registers: * The System Time Difference register (0x092C:0x092F) corresponds to the mean value of the difference between local copy of the System Time and the System Time (∆t).
  • Page 187 6．Data Link Layer System Time Delay Address Description Master Slave Length Rest Value 0x0928 31:0 Delay between Reference Clock and the ESC R/(W) R/(W) Write access to this register depends on the Bytes 0x092B setting. Usable when 0140.10=1 or 0x0140.11=1 System Time Difference Address Description...
  • Page 188 6．Data Link Layer SYNC0 Slave SYNC signals ASIC (For Servo control) EtherCAT Device Select SYNC0／1 μ Controller RS2 Distributed Clocks signals 2. Configuration The mapping of Distributed Clocks SyncSignals driver characteristics and SyncSignals to the AL Event Request register is controlled by the setting of the Sync/Latch PDI Configuration register 0x0151. The length of a SyncSignal pulse is defined in the DC Pulse Length of SYNC Signals register (0x0982:0x0983).
  • Page 189 6．Data Link Layer Cyclic Generation (Cyclic Generation) If the SYNC1 Cycle Time is larger than the SYNC0 Cycle Time, it will be generated as follows: when the Start Time Cyclic Operation is reached, a SYNC0 pulse is generated. The SYNC1 pulse is generated after the SYNC0 pulse with a delay of SYNC1 Cycle Time.
  • Page 190 6．Data Link Layer Cyclic Unit Control Address Description Master Slave Length Rest Value 0x0980 SYNC out unit 0: Master controlled (ECAT) 0x00 control 1: Slave controlled (PDI) Byte Reserved Latch In Unit0 Reserved (The Latch function is uncorrespondence.) (0:Master controlled 1:Slave controlled) Latch In Unit1 Reserved (The Latch function is uncorrespondence.) (0:Master controlled 1:Slave controlled)
  • Page 191 6．Data Link Layer SYNC0 Cycle Time Address Description Master Slave Length Rest Value 0x09A0 31:0 Time between two consecutive SYNC0 pulses in ns. R/(W) R/(W) Write to this register depends upon setting of 0x0980.0. Bytes 0x09A3 0:Single shot mode, generate only one SYNC0 pulse. (Unit: 1ns), Usable when 0x0140.10=1 SYNC1 Cycle Time Address...
  • Page 192 6．Data Link Layer Latch0 Time Positive Edge Address Description Master Slave Length Rest Value 0x09B0 63:0 Register captures System time at the positive edge of the Latch0 signal. (Usable when 0x0140.11=1) Bytes 0x09B7 Latch0 Time Negative Edge Address Description Master Slave Length Rest Value 0x09B8 63:0 Register captures System time at the negative edge of the Latch0 signal.
  • Page 193 6．Data Link Layer 16） ESC specific registers Power-On Values Rest Address Description Master Slave Length Value 0x0E00 Port mode (P_MODE) 00: Logical ports 0 and 1 available 0x8C 01: Logical ports 0, 1 and 2 available Bytes 0x0E01 10: Logical ports 0, 1 and 3 available 11: Logical ports 0, 1, 2 and 3 available Physical layer of logical port 0...

  • Page 194: Mii Management Interface

    6．Data Link Layer ■ Digital I/O Output Data Digital I/O Output Data Address Description Master Slave Length Rest Value 0x0F00 31:0 Output Data Note) Register size depends on PDI setting and/or device configuration. Bytes 0x0F03 General Purpose Outputs Address Description Master Slave Length Rest Value 0x0F10 15:0...
  • Page 195 6．Data Link Layer User-RAM Address Byte Description Master Slave Length Rest Value 0x0FA1 0x1F Application specification information Undefined Bytes 0x0FBF Slave Response (User-RAM) Address Description Master Slave Length Rest Value 0x0FC0 Use for response check of slaves. R/(W) Undefined Acknowledge nonresponsive slaves with broadcast reading (BRD) of this Bytes 0x0FFF address after corresponding axis bit is set.
  • Page 196 6．Data Link Layer EEPROM Mapping 1） Address Space Overview 64kbit I C (Inter-Integrated Circuit) Interface EEPROM (Electrically Erasable Programmable Read Only Memory) is loaded in the slave controller of the RS2 EtherCAT slave amplifier for device configuration and for various parameters. It can be used with word addressing for device configuration up to 1kbit, for servo amplifier information from 1kbit - 32kbit and for various parameters from 32kbit - 64kbit.
  • Page 197 6．Data Link Layer Slave Information Interface Area ■ PDI Control Address The initial value of PDI Control Register (0x0140:0x0141) bit: 9 will be copied in DL Status Register Length 0x0000 0x110.2 (EX Link Detection) and enabled/disabled by this bit. 1 word Description Value Register...
  • Page 198 2 word Description Value Register 31:0 Manufacturer’s proper ID: 0x000001B9 Vendor ID for Sanyo Denki is 0x000001B9, the same as our CAN open amplifier. Product Code Address Product code for our EtherCAT products: Length 0x000A CoE Object Index:0x1018 Sub index:0x02...
  • Page 199 6．Data Link Layer Bootstrap Receive Mailbox Offset Address Length Mailbox offset for forwarding from master to the slave to be used in Bootstrap mode. 0x0014 1 word Description Rest Value Register 15:0 Use from register address 0x1800. 0x1800 Bootstrap Receive Mailbox Size Address Length Mailbox size for forwarding from master to the slave to be used in Bootstrap mode.
  • Page 200 6．Data Link Layer Port0 Tx Delay Address Length Correction factor for line delay of Port 0 transmission time. 0x0020 1 word Description Rest Value Register 15:0 Unit: 100ps / LSB, Unsigned16 0x0000 Port1 Tx Delay Address Length Correction factor for line delay of Port 1 transmission time 0x0021 1 word Description...
  • Page 201 6．Data Link Layer 3） Slave information Interface Categories Category Header Address Length Slave information category 0x0040 1 word Description Rest Value Register 15:0 00(0x00) : NOP No info 0x000A 10(0x0A) : STRING Character string frame for other category 20(0x14) : Data Types Reserved 30(0x1E) : General Summary...
  • Page 202 6．Data Link Layer Category Summary Configuration Parameter Address Data Type Value / Description GroupeIdx 0x0000 Unsigned8 (Vendor Specification) Group information: Shown with character strings ImgIdx 0x0001 Unsigned8 (Vendor Specification) Image name: Shown with character strings OderIdex 0x0002 Unsigned8 (Vendor Specification) Device request number: Shown with character strings NameIdx 0x0003 Unsigned8...
  • Page 203 Object Dictionary Object Dictionary ···························································································································7-1 Structure of Object Dictionary······································································································· 7-1 Object types ····························································································································· 7-1 Access types ···························································································································· 7-1 Data Type Area ························································································································· 7-2 CoE Communication Area ···············································································································7-3 Parameter Details of Object Group from 0x1000 ·············································································· 7-5 PDO Mapping ·························································································································· 7-10 Communication Timing ··············································································································...

  • Page 204: Object Dictionary

    7．Object Dictionary Object Object Dictionary 1) Structure of Object Dictionary Each object is addressed using a 16-bit index displaying 4 digits hexadecimal, assigned to each group in the object dictionary. Structure of the Object Dictionary of CoE (CANopen over EtherCAT) comply with CiA draft standard proposal 402 is shown as below.

  • Page 205: Data Type Area

    7．Object Dictionary Object 4) Data Type Area Data type Indicates the data type index of the object contained in Object Dictionary. Standard data type is assigned to the index:0x0001-0x001F, and the data type of the special definition is to the index:0x0020 - 0x07FF. Object Dictionary area indicates the data type. Object Dictionary of Data Type Index Object...

  • Page 206: Coe Communication Area

    7．Object Dictionary Object CoE Communication Area The followings are shown in Table 3-6; CoE communication object list, Object type, Data length, Access (Dir), PDO Mapping, and parameter effective timing (updating). The shapes in the Update column stand for effective timing; #=immediately, $=ESM (EtherCAT State Machine) change required, &=control-power-source re-input.
  • Page 207 7．Object Dictionary Object Communication Area (No.2) Sub- Object Acces Index Name Data Length Index Type Mapping -date 0x1C00 ARRAY SM(Sync Manager) Communication Type 0x00 Number of Entry Unsigned8 0x01 Communication Type of SM0 … Unsigned32 0x07 Communication Type of SM7 0x1C10 ARRAY PDO Assignment of SM 0 to SM3...

  • Page 208: Parameter Details Of Object Group From 0X1000

    7．Object Dictionary Object 1) Parameter Details of Object Group from 0x1000 0x1000:Device Type Index 0x1000 Indicates type and profile function of device Object Code Sub-Idx Name Data Type Access Value 0x00 Device Type [DEVICE] Unsigned32 0x00020192 Displays device type for EtherCAT servo drive. Mode Bit Type Number of Device Profile...
  • Page 209 Byte 8: Year of firmware compiled 0: in 2010 ・・・ A: in 2020 ・・・ F: in 2025 ・・・ Byte 6: Manufacturer specific profile revision SANYO DENKI-conroled number: “0,1・・・9，A・・・Y, Z” Byte 3, 4: Amplifier revision 2: Revision “B” 3: Revision ”C”・・・...
  • Page 210 7．Object Dictionary Object 0x1010:Store Parameters Index 0x1010 Store current amplifier parameters to non-volatile memory Object Code ARRAY Sub-Idx Name/Description Data Type Access Initial value 0x00 Number of Entry Unsigned8 0x01 0x01 Store all parameters [PARASAVE] Unsigned32 0x0000 0001 Store all reservable parameters in a lump In order to avoid storage of parameters by misstate, storage is only executed when a specific signature is written to the “sub-index 1”.
  • Page 211 7．Object Dictionary Object Manufacturer Specific Profile Area Index S-Idx Name Index S-Idx Name 0x2002 0x01 Auto Tuning Mode 0x2029 0x00 Overload Warning Level  0x02 Auto Tuning Characteristic 0x202A 0x00 Velocity Window (Speed Matching Width)  0x03 Auto Tuning Response 0x202B 0x00 Torque (force) Command Filter...
  • Page 212 7．Object Dictionary Object 0x1018:Identity Object Index 0x1018 Indicates information of salve device. Object Code RECORD Sub-Idx Name/Description Data Type Access Value 0x00 Number of Entry Unsigned8 0x04 0x01 Vender ID [VENDOR] Unsigned32 0x0000 01B9 Vender ID registered in ETG 0x02 Product Code [PRODUCT] Unsigned32...

  • Page 213: Pdo Mapping

    7．Object Dictionary Object 2) PDO Mapping Can always optimize because PDO setting is able to change transfer data between the master and slave freely in the EtheCAT CoE profile. The change of the RxPDO mapping uses reception of PDO mapping parameter (0x1600 - 0x1603, 0x1700 - 0x1703) with the R-ADVANCED EtherCAT amplifier, and the TxPDO mapping parameter uses transmission of PDO mapping parameter (0x1A00 - 0x1A03, 0x1B00 - 0x1B03).
  • Page 214 7．Object Dictionary Object 0x1800-0x1803,0x1900-0x1903:TxPDO Parameter 1 - 4,257 - 260(TxPDO) The transmitting PDO parameters 1 - 4 and 257 - 260 0x1800-0x1803 Index show TxPDO setup and state of RxPDO 1 – 4 and 257 - Object Code RECORD 0x1900-0x1903 260 corresponded.
  • Page 215 7．Object Dictionary Object 0x1C00:SM (Sync Manager) Communication Type Index 0x1C00 Indicates Sync Manager communication type. Object Code ARRAY Range Sub-Idx Name Description Data Type Access (Initial Value) 0x00 Number of Entry :SM number of channels to be used Unsigned8 0x08 0x01 Communication 1:Mailbox Reception(from master to...
  • Page 216 7．Object Dictionary Object 0x1C32:SM2 Synchronization (Output Sync Manager Parameter) Index 0x1C32 SM2 synchronization setup Object Code RECORD Sub-Idx Name/Description Data Type Access Range 0x00 Number of synchronization parameter Unsigned8 0x20 0x01 Synchronization Type [SM2TYP] Unsigned16 0x0002 Sets up synchronous mode. Setting Range 0x0000-0x0003 0x00:Not Synchronized (Free Run)
  • Page 217 7．Object Dictionary Object Sub-Idx Name/Description Data Type Access Range 0x0007A120 Minimum Cycle Time : Unit(ns) Unsigned32 0x05 （500μ s） The minimum cycle time is supported by slave. (Maximum time of local cycle) 0x0000F424 Copy and Operation Time (Calc and Copy Time) Unit (ns) Unsigned32 （62.5μ...
  • Page 218 7．Object Dictionary Object 0x1C33:SM3 Synchronization (Input SyncManager Parameter) Index 0x1C33 SM3 Synchronization Object Code RECORD Sub-Idx Name/Description Data Type Access Initial Value 0x00 Number of Synchronization Parameter Unsigned8 0x20 0x01 Synchronization Type [SM3TYP] Unsigned16 0x0002 Setting Range 0x00, 0x02, 0x03, 0x22 0x00:Not synchronized (Free Run) 0x01:Reserved 0x02:DC Sync0 SYNC0 Event Synchronization (Synchronized with SYNC0 Hardware Signal)
  • Page 219 7．Object Dictionary Object Sub-Idx Name/Description Data Type Access PDO Range 0x05 Minimum Cycle Time : Unit (ns) Unsigned32 0x0007A120 （500μ s） The minimum cycle time is supported by slave. (Maximum time of local cycle) ✔ The value shall be the same as Index:0x1C32,Sub-index5. 0x06 Copy and Operation Time (Calc and Copy Time) Unit Unsigned32...

  • Page 220: Communication Timing

    7．Object Dictionary Object 3) Communication Timing Since application is synchronized with master and slave, data handling of EtherCAT makes a peculiar motion. As for synchronization type, synchronization mode discernment is possible by the combination of 0x1C32 and 0x1C33 of sub index in Object Dictionary. Terms used to Communication Timing are explained below.

  • Page 221: Free Run Mode (Free Run:asynchronous Operation)

    7．Object Dictionary Object The synchronous mode supported to RS2-EtherCAT amplifier is shown the following. 4) Free Run Mode (Free Run:Asynchronous Operation) In free run mode, starts by the local timer interrupt of an application controller. Local cycle moves independently of communication cycle or master cycle. As an optional feature, slave supports 0x02 of 0x1C32 "Cycle Time".

  • Page 222: Sm2 Event Synchronization Mode (Synchronous With Sm2 Event)

    7．Object Dictionary Object 5) SM2 Event Synchronization Mode (Synchronous with SM2 Event) Since slave process is started to SM2 event cycle, always synchronizes with SM2 event. Operated in local cycle time until receiving SM2 event. With RS2-EtherCAT amplifier, since Output is always effective, SM3 event synchronization cannot be performed.

  • Page 223: Dc Mode (Sync0 Event Synchronization)

    7．Object Dictionary Object 6) DC Mode (SYNC0 Event Synchronization) Local cycle of slave is started to SYNC0 event reception. Process data frame must complete data reception within slave before the next SYNC0 interruption generating. "Calc and Copy Time" contains the minimum time lag between frame reception and SYNC0 event. Parameter of DC Mode (SYNC0 Event Synchronization) Index Sub-Index...

  • Page 224: Dc Mode (Sync1 Event Synchronization)

    7．Object Dictionary Object 7) DC Mode (SYNC1 Event Synchronization) Local cycle of slave is started to SYNC0 event reception. Should receive process data frame before the next SYNC0 interruption generating. Since SYNC1 is used for "Output Valid", SYNC1 cycle time defines the time lag between SYNC0 and "Start Driving Output".

  • Page 225: Pds Fsa

    7．Object Dictionary Object PDS FSA (Power Device System Finite State Automaton) 1) Abstract PDS (Power System Device) FSA (Finite States Automaton)of the EtherCAT slave amplifier is an abstract concept which defines the state of the control device stays or passes, operation with the Black Box.

  • Page 226: Fsa (Finite States Automaton)

    7．Object Dictionary Object 2) FSA (Finite States Automaton) FSA of RS2 EtherCAT slave amplifier determines the sequence of device state and drive control, and operation peculiar to each state is shown. With this State Machine, what kind of command slave amplifier receives is changed. Power Off or Reset Start Low Level power...
  • Page 227 7．Object Dictionary Object FSA and FSA state describes the state transitions. FSA State Definition State Description Not Ready to Switch on The control source is provided to the slave and established. Slave is performing initialization or self-test. Switch on Disabled Initialization is completed, and slave is in condition to be able to set parameter.
  • Page 228 7．Object Dictionary Object State Shift of FSA [Before Shift]->[After] Event / Action [Start] Event : After control power supply ON or reset application, shifts automatically.  Action : Slave performs initialization and self-test. [Not ready to Switch on] [Not ready to Switch on] Event : Shifts automatically.

  • Page 229: Control Word

    7．Object Dictionary Object 3) Control Word Control Word (Object: 0x6040) indicates the command for controlling the FSA state of slave. Control Word consists of "FSA Control Bit", "Operation Mode spec. Control Bit", and "Maker Option Control Bit." All the operation mode common "FSA Control Bit" allotment and command coding are described below.

  • Page 230: Status Word

    7．Object Dictionary Object 4) Status Word Status Word (Object: 0x6041) provides the status of slave FSA. Status Word consists of a "Slave FSA Status Bit", "Operation Mode spec. Status Bit", and "Maker Option Status Bit." "FSA State Bit of Slave" allotment of servo amplifier common portion and command coding are described below.

  • Page 231: Manufacture Specific Area

    7．Object Dictionary Object 5) Manufacture specific area Shared parts with the entire operating mode in manufacture specific area for control words are described below. Allocation for control words (manufacture specific area) bit15 bit14 bit13 bit12 bit11 Cseten Reserved Reserved Eclr Reserved 0x6040：Control words (shared parts with manufacture specific area）...

  • Page 232: Profile Area

    7．Object Dictionary Object Profile Area The followings are shown in Table ; profile area of CoE (CANopen over EtherCAT) object list, RS2-EtherCAT Supported / Un-supported, Data length, Access (Dir), PDO Mapping, and parameter effective timing (updating). #=immediately, $=ESM change required, and &=control-power-source re-input. Profile Area (No.1) :Support, ×:Not Supported, :Support (Not changeable :Fixed Value), -:None Index...
  • Page 233 7．Object Dictionary Object Profile Area (No.2) Index S-Idx FP FV Name Data Type PDO_M Update 0x6084 0x00   × × Profile Deceleration (Decelerating Constant) Unsigned32 0x6085 0x00     Quick Stop Deceleration Unsigned32 0x6086 0x00   ...

  • Page 234: Error Code And Error Operation

    7．Object Dictionary Object Profile Area (No.3) Index S-Idx FP FV FT FH Name Data Type PDO_M Update 0x60E3 0x00 Support Homing Method ↑ 0x01  Support Homing Method 1 Unsigned16 × × ×  ↑ 0x02 Support Homing Method 2 Unsigned16 ×...
  • Page 235 7．Object Dictionary Object 0x603F： Error code Index 0x603F Displays codes of errors occurred in the servo amplifier. Object code Variable Sub-Idx Description Data Type Access Initial value 0x00 Error codes [ERRCODE] Integer16 0x0000 For the list of error codes, please refer to the list of alarm Display 0x0000 - 0xFFFF codes in chanpter 11.3.
  • Page 236 7．Object Dictionary Object 0x605B: Shutdown Option Code When shifts from Operation Enabled to the Ready to Switch Index 0x605B Object Code Variable On State, determined how it operates. Sub-Idx Description Data Type Access Initial Value 0x00 Shutdown Option Code Integer16 0xFFFF Setting 0xFFFF - 0xFFFF...
  • Page 237 7．Object Dictionary Object 0x605D:Halt option code This object shall indicate what action is performed when the Index 0x605D Object Code Variable Halt function is executed. Sub-Idx Name/Description Data Type Access Initial Value 0x00 Halt option code Integer16 0x0001 By Control mode, treated in the amplifier internally as Setting 0x0001 - 0x0003(1-3) shown below.

  • Page 238: Operation Mode

    7．Object Dictionary Object 2) Operation Mode EtherCAT-CoE specification has modes of operation shown in operation mode list. Profiles applicable to RS2 EtherCAT-CoE slave amplifier are listed in the following Operation Mode List. Besides, operation mode supported can check at "Supported Drive Mode:0x6502." Operation Mode List R-ADVANCED Operation Mode...

  • Page 239: Function Group "Position" Mode

    7．Object Dictionary Object 3) Function Group “Position” Mode # Abstract of Function Group “Position” Mode As for function group “Position” operation mode, “Profile position Mode” and “Cyclic Synchronous Position Mode” are supported. 0x6060: Operate “Profile Position Mode” by setting “1” in operation mode, and “Cyclic Synchronous Position Mode”...
  • Page 240 7．Object Dictionary Object List of Position Mode Object (Standardized Device Profile Area) 0x6060 Index Sub-Index Name Mapping Mode Possible csp, pp 0x6040 0x00 Control Word Possible csp, pp 0x6041 0x00 Status Word csp, pp 0x605A 0x00 Quick stop option code Possible csp, pp 0x6063...
  • Page 241 Profile Position Mode (pp) Torque Compensation Polarity(Torque) 0x2000 0x60B2 0x607E Target Position 0x607A TRQOFF CMDPOL TAPOS Bit4 0x607D,1 Higher Tracking Control Velocity SMINLIM Software Compensation Gain 0x2000 Position Limit 0x200E 0x607D,2 TRCVGN Bit9 SMAXLIM Velocity Limit Profile Velocity 0x6081 0x2000 PROVEL 0x201C 0x607F...
  • Page 242 Higher Tracking Control Velocity Compensation Gain 0x2000 0x2007 Current TRCPGN Bit8 Limitation FF Filter Using model following control Position Offset Cycle Synchronization Using model following vibration 0x2008,1 0x2008,2 FF Vibration Position Position mode（csp） suppressor control FFGN FFFIL Suppressor 0x60B0 Command Torque Control 0x6072...

  • Page 243: Profile Position Mode

    7．Object Dictionary 4) Profile Position Mode 0x6060: When Operation Mode is set “1”, “Profile Position Mode” shall be operated. The master sends “Target Position (0x607A)”, “Profile Velocity (0x6081), “Profile Acceleration and Deceleration (0x6083, 0x6084). The slave (Drive device) executes trajectory generation and reaches to the target position by setting Bit4=1:New setpoint of Control word 0x6040.
  • Page 244 7．Object Dictionary If the bit ‘change set immediately’ is "1" the new target position will be active immediately. The drive receives the first target position at t0. At the time point t1 the drive receives a second target position. (6) The drive readapts the actual move to the new target position immediately. 0x6083 Profile acceleration 0x6084...
  • Page 245 7．Object Dictionary 0x6041:Status Word (Profile Position Mode: pp) This object indicates Operation Mode Specific bit and Index 0x6041 Object code Variable Manufacturer Specific bit of the Profile Position mode (pp). Sub-Idx Discription Data Type Access Initial value 0x00 Status Word [STSWORD] Unsigned16 Possible...

  • Page 246: Cycle Synchronization Position Mode

    7．Object Dictionary 5) Cycle Synchronization Position Mode 0x6060:When Operation Mode is “8”, Servo amplifier is operated by Cycle Synchronization Position Mode. In “Cycle Synchronization Position control system”, the master (Control Device) generate trajectory and transmit the Target position continuously to the slave to make control Position, Velocity and Torque (force). Velocity offset and Torque (force) offset are used for as Additive velocity value and Additive torque (force) value, then the Position offset function calculates offset value for the new target position.
  • Page 247 7．Object Dictionary Status Word 0x6041: (Cyclic Sync. Position Mode: csp) This object indicates Operation Mode Specific bit and Index 0x6041 Manufacturer Specific bit under Cyclic Sync. Position Mode Object code Variable (csp). Sub-Idx Description Data Type Access Initial value 0x00 Status Word [STSWORD] Unsigned16...

  • Page 248: Function Group "Velocity", "Homing Mode

    7．Object Dictionary 6) Function Group “Velocity”, ”Homing mode” Abstract of Function Group “Velocity”, ”Homing mode” ■ In Function Group "Velocity" the operation mode, “Profile Velocity mode” and "Cyclic Synchronous Velocity Mode" shall be supported. 0x6060:When the bit is set “3” in Operation Mode it is operated profile Velocity Mode, and when the bit is set “9”, it is operated by Cyclic Synchronous Velocity Mode.
  • Page 249 Torque Compensation Polarity (Torque) 0x2000 0x60B2 0x607E TRQOFF CMDPOL bit4 Higher Tracking Control Velocity Compensation Gain 0x2000 0x200E TRCVGN bit9 Velocity Limit 0x2000 0x201C VCMMAX bit3 Homing Velocty (hm) Homing Mode Homing Acceleration and Homing method 0x6099,1 Deceleration Velocity SSVCMD 0x6098 0x609A Load Inertia...

  • Page 250: Profile Velocity Mode

    7．Object Dictionary 7) Profile Velocity Mode In this Profile torque mode, the master (Control Device) generates trajectory and transmits 0x60FF:Target velocity to the slave to make control velocity and torque (force) by Cyclic mode or Non-Cyclic mode. an inclination is given to target When the Profile acceleration and deceleration 0x60083, 0x6084 are used, velocity.
  • Page 251 7．Object Dictionary 0x6040:Control Word (Cyclic Sync. Velocity Mode: csv, Profile Velocity Mode: pv) This object shall indicate the operation mode specific and Index 0x6040 manufacturer specific bit in Cyclic Sync-position mode (csv), Object code Variable Profile velocity mode (pv) Sub-Idx Description Data Type Access...

  • Page 252: Homing Mode

    7．Object Dictionary 9) Homing Mode This clause describes the method by which a drive seeks the home position (also called, the datum, reference point or zero point) Input objects are defined as well as the output objects. The user may specify the speed, acceleration and the method of homing.
  • Page 253 7．Object Dictionary The below shows the Homing Methods list. Homing Method Method Homing Mode Stop direction Function -128 to 0 Reserved Homing on negative limit switch and index pulse positive Supported Homing on positive limit switch and index pulse negative Supported Homing on positive home switch and index pulse negative...
  • Page 254 7．Object Dictionary # Object:0x607C Use of the object 0x607C Homing Offset The set homing offset (0x607C) is used to calculate actual position during homing. Homing offset can be always Written, however is used only in the homing mode to re-calculate actual position. The position actual value (0x6064) is the current software position in the amplifier.
  • Page 255 7．Object Dictionary The following sequence shows homing modes corresponding to the Amplifier of Servo Amplifier 1) Start and completion sequence of homing mode SOFF Enable operation (0x6040:bit3-1) Operation Mode (0x6060) Operation Display (0x6061) Homing operation start/stop(0x6040:bit4) Calculation method rel/abs (0x60E6) Homing attained (0x6041:bit12) Target reached...
  • Page 256 7．Object Dictionary # Definitions of general purpose input signals in the homing mode 1) In the homing mode, input allocation and sequence of positive limit switch (CC:OT) and negative limit switch (CCW:OT) are determined by setting of 0x01:Positive limit switch and 0x02:negative limit switch in 0x20F. And also, the limit switch for the homing direction is determined by the homing method, regardless 0x01: Positive limit switch and 0x02: Negative limit switch in 0x20F8 that were previously loaded and shall be discarded.
  • Page 257 7．Object Dictionary # Homing Method [3][4]: Homing on positive home switch and index Pulse # Homing Method [5][6]: Homing on positive home switch and index Pulse Using these methods as shown in the below figure, the initial direction of movement shall be dependent on the state of the home switch input.
  • Page 258 7．Object Dictionary # Homing Method [11][12][13][14]: Homing on negative home switch, home switch and index Pulse Index Pulse Index Pulse Home Switch Home Switch Negative Limit Switch Negative Limit Switch [11] Homing on negative limit switch, homing on positive home switch and index pulse (Pos) [12] Homing on negative limit switch, homing on positive home switch and index pulse (Neg) [13] Homing on negative limit switch, homing on negative home switch and index pulse (Pos) [14] Homing on negative limit switch, homing on negative home switch and index pulse (Neg)
  • Page 259 7．Object Dictionary # Homing Method [19][20]: Homing on positive home switch [21][22]: Homing on negative home switch Homing without index pulse There methods are similar to methods 3 to 6 that the home position is not dependent on the index pulse but only depend on the relevant home or limit switch transitions.
  • Page 260 7．Object Dictionary ■ Home position retention function when using absolute system If using absolute system, execution result of “OD: 0x6098 Homing method 35 (Homing to present position)“ can be retained by performing all parameters retention in “OD: 0x1010 Store parameter,” and then the origin coordinate shall be retained in “OD: 0x6064: Actual position”...
  • Page 261 7．Object Dictionary 0x6041:Status Word(Homing Mode: hm) This object indicates Operation Mode Specific bit and Index 0x6041 Object code Variable Manufacturer Specific bit in Homing Mode. Sub-Idx Description Data Type Access Initial value 0x00 Status Word [STSWORD] Unsigned16 Possible 0x0000 *For details on Bit 6, 5, 3, 2, 1 and 0, see the Status Range 0x0000-0xFFFF Word List Bit Pattern (Bit 6,5,3,2,1,0)
  • Page 262 7．Object Dictionary 10) Function Group “Torque (force)” Abstract of Function Group “Torque (force)” ■ As for function group ” Torque (force)” Mode, “Profile Torque (force) Mode” and ”Cyclic Synchronous Torque (force) Mode” are supported. 0x6060: If Operation Mode is set “4”, it is operated by Profile torque (force) mode. If it is set “10”, Cyclic synchronous torque (force) mode is operated.

  • Page 263: Profile Torque (Force) Mode

    7．Object Dictionary 11) Profile torque (force) mode In this Profile torque mode, the master (Control Device) generates trajectory and transmits Target torque (force) (0x6071) to the slave to make control torque (force) by Cyclic mode or Non-Cyclic mode. And also, enable to slope the target torque (force) by setting 0x6087:Torque slope. 0x605D:Holt option code 0x605A:Quick stop option code 1, 2:0x6087(Torque slope)
  • Page 264 7．Object Dictionary 0x6040:Control word (Cyclic synchronous torque (force) mode: cst, Profile torque (force) mode:tq) This object indicates operation mode specific bits and Index 0x6040 manufacturer specific bits of the Cyclic synchronous torque Object code Variable (force) mode (cst) and Profile torque (force) mode (tq) Sub-Idx Description Data Type...

  • Page 265: Function Group "Touch Probe

    7．Object Dictionary 13) Function Group “Touch Probe” Abstract of Touch Probe ■ “Touch Probe function” is a latching function to latch the edge-triggered sensor position by digital input. ”Touch Probe in the event” is independent from NC cycle time function since it latches the sensor position in the hardware of the slave, therefore, it enables capture it more precisely.
  • Page 266 7．Object Dictionary Master-led homing (Touch probe homing method)： Homing with touch-probe (without Limit ■ Switch) EtherCAT-support is recommended for touch probe homing to support correct and fast homing. Toucn probe events can be accurately captured as the events function separately inside slave hardware, unlike master/ slave sampling frequency.

  • Page 267: Operation Mode Parameter (Profile Area)

    7．Object Dictionary 14) Operation Mode Parameter (Profile Area) 0x6060:Operation Mode Index 0x6060 Indicates requested operation mode. Object Code Variable Sub-Idx Description Data Type Access Initial Value 0x00 Operation Mode [OPMODE] Integer8 Possible 0x00 Setting 0x00 - 0x0A :No Mode/Mode is not assigned. Range (0 to 10) :(pp) Profile Position Mode...
  • Page 268 7．Object Dictionary 0x6063: Internal Actual Position Index 0x6063 Indicates real position of motor sensor. Object Code Variable Initial Sub-Idx Description Data Type Access Value 0x00 Internal Actual Position [IACPMON] Integer32 Possible Real position acquired from the sensor. Display 0x80000000 - 0x7FFFFFFFF Monitor unit is indicated with the resolution of motor Range (-2147483648 to 2147483647 Pulse)
  • Page 269 7．Object Dictionary 0x6067:Position Window (Input Position Window) Sets up the range permissible as target position attainment. Index 0x6067 When position actual value of position encoder is in Position Object Code Variable Window, means arriving at target position. Sub-Idx Description Data Type Access Initial Value 0x00...
  • Page 270 7．Object Dictionary 0x606C: Velocity Actual Value Has actual velocity value calculated from position sensor. Index 0x606C Object Code Variable Value shall be given in the velocity unit of user definition. Sub-Idx Description Data Type Access Initial Value 0x00 Velocity Actual Value [ACVMON] Integer32 Possible...
  • Page 271 7．Object Dictionary 0x6072: Maximum Torque (force) Indicates maximum set value of the torque (force) permitted Index 0x6072 Object Code Variable to the motor. Sub-Idx Description Data Type Access Initial Value 0x00 Maximum Torque (force) [MAXTRQ] Unsigned16 Possible 0x1388 Setting units are 1% / LSB in 1/1000 unit of rated torque (500.0%) (force).
  • Page 272 7．Object Dictionary ＜Explanations for setting value＞ － It is a user-defined unit same as Target Position. In this servo amplifier this unit is 1 Pulse/LSB. － In case Minimum position range limit = 0x00000000 and Maximum position range limit = 0x00000000, or Minimum position range limit = 0x80000000 and Maximum position range limit = 0x7FFFFFFF are set, position coordinate is recognized as “Linear coordinate”.
  • Page 273 7．Object Dictionary 0x607C: Home offset (homing mode) Normalizes homing position (mechanical origin) Index 0x607C Object code Variable detected in homing mode by homing offset value. Sub-Idx Description Data Type Access Initial Value 0x00 Home offset [HOFFSET] Integer32 Possible 0x00000000 (0 pulse) ■The set homing offset (0x607C) is used to Setting Range 0x80000000-0x7FFFFFFF...
  • Page 274 7．Object Dictionary 0x607E: Polarity (Position, Velocity, Torque (force) Command/Offset Input Polarity) Sets command for input polarity. Index 0x607E When Bit=1, the command value is multiplied by -1, and it serves as a Object Code Variable reverse command. Sub-Idx Description Data Type Access Initial Value 0x00...
  • Page 275 7．Object Dictionary 0x607F: Maximum Profile Velocity (Velocity Limit Command) Index 0x607F Sets permissible velocity to Velocity command. Object Code Variable Sub-Idx Description Data Type Access Initial Value 0x00 Maximum Profile Velocity [VCLM] Unsigned32 0xFFFF Limit maximal allowed profile velocity (0x6081) during a profiled position (pp) motion.
  • Page 276 7．Object Dictionary 0x6084: Profile Deceleration Parameters to decide the gradient at the time of motor Index 0x6084 Object Code Variable deceleration. Sub-Idx Description Data Type Access Initial Value 0x00 Profile Deceleration [TVCDEC] Unsigned32 Possible 0xFFFFFFFF The parameters to give deceleration incline against Setting Range 0x00000000-0xFFFFFFFF preset velocity command, and set the rate of velocity...
  • Page 277 7．Object Dictionary 0x6087: Torque (force) slope This object shall give incline to torque (force) command in Index 0x6087 Object Code Variable Torque (force) profile mode (tq) Sub-Idx Description Data Type Access Initial Value 0x00 Torque (force) slope [TSLOPE] Unsigned32 Possible 0xFFFFFFFF Even Torque (force) slope is set the value more than Setting range 0.1%-0xFFFFFFFF...
  • Page 278 7．Object Dictionary 0X6099: HOMING VELOCITY Homing velocity is used during the procedure command Index 0x6099 Object code ARRAY “Homing operation” Sub-Idx Description Data Type Access Initial value 0x00 Number of entry Unsigned8 0x02 0x01 Switch search speed [SSVCMD] Unsigned32 Possible 0x000A0000 Set the motor speed during search for a end position Setting range...
  • Page 279 7．Object Dictionary 0x60B2: Torque (force) Offset (Torque (force) Compensation) In cst Mode, object gives Offset to Target torque (force). In csp and Index 0x60B2 csv Mode, Feed forward function to Torque (force) control system Object Code Variable as a Torque (force) compensation function. Sub-Idx Description Data Type...
  • Page 280 7．Object Dictionary 0x60B9:Touch probe status Index 0x60B9 Displays the status of the touch probe Object Code Variable Sub-Idx Description Data Type Access Initial Value 0x00 Touch probe status [TPSTS] Unsigned16 Possible 0x0000 Displays the status of the touch probe Setting Range 0x0000-0xFFFF bit0: Touch probe 1 switch enable monitor 0:Touch probe 1 is switched off...
  • Page 281 7．Object Dictionary 0x60BD:Touch probe pos 2 neg value (negative edge) Index 0x60BD Position value of the touch probe 2 at negative edge. Object Code Variable Sub-Idx Description Data Type Access Initial Value 0x00 Touch probe pos 2 neg value [TP2NPOS] Integer32 Possible Display...
  • Page 282 7．Object Dictionary 0x60E1: Reverse Direction Torque (force) Limit Value Sets limit value of motor reverse direction max. torque Index 0x60E1 Object Code Variable (force). Sub-Idx Description Data Type Access Initial Value 0x00 Reverse Direction Torque (force) Limit Value [TCLM-R] Unsigned16 Possible 0x1388 Setting units are 1%/ LSB in 1/1000 unit of rated torque...
  • Page 283 7．Object Dictionary 0x0F Support homing method 15 [HSUP0F] Unsigned16 0x0311 Supports Homing method 17” Homing on negative limit switch.” 0x10 Support homing method 16 [HSUP10] Unsigned16 0x0312 Supports Homing method 18 “Homing on positive limit switch.” 0x11 Support homing method 17 [HSUP11] Unsigned16 0x0313...
  • Page 284 7．Object Dictionary 0x60F2: Positioning option code Index 0x60F2 Set the behavior of positioning. Object Code Variable Sub-Idx Description Data Type Access Initial Value 0x00 Unsigned16 Possible 0x0000 Positioning option code ［POSOP］ Setting Range 0x0000～0xFFFF See table below for definition of bit 7 and 6. Set 0 except bit 7 and 6.
  • Page 285 7．Object Dictionary 0x60FD: Digital inputs This object shall monitor the status of general-purpose Index 0x60FD Object code Record input, output and hardware gate off. Sub-Idx Description Data Type Access Initial value 0x00 Digital input monitor [DINPUT] Unsigned32 Possible Monitor general-purpose input: CONT1, 2 and Display range 0x00000000-0xFFFFFFFF HWGOFF1.
  • Page 286 7．Object Dictionary 0x6502:Supported Drive mode This object shall provide information on the supported drive Index 0x6502 Object code Variable modes by the servo amplifier. Sub-Idx Description Data Type Access Initial value 0x00 Support drive mode [SUPMODE] Unsigned32 0x103AD 0:Not supported 1: Supported Display range 0x103AD-0x103AD...

  • Page 287: Manufacturer Specific Area

    7．Object Dictionary Manufacturer Specific Area 1) Object Group (0x2000-) The followings are shown in Table; Manufacturer area of CoE (CANopen over EtherCAT) object list, RS2-EtherCAT Supported / Un-supported, Data length, Access (Dir), PDO Mapping, and parameter effective timing (updating). #=immediately, $=ESM change required, and &=control-power-source re-input. Manufacturer Specific Area (No.1) Index S-Idx...
  • Page 288 7．Object Dictionary Manufacturer Specific Area (No.2) Index S-Idx FP FV FT FH Name Data Type Update Mapping 0x200E 0x00 Higher Tracking Control Velocity   ×  Unsigned16 Compensation Gain 0x200F 0x00 Acceleration Feedback Compensation Unsigned8  0x01   ×...
  • Page 289 7．Object Dictionary Manufacturer Specific Area (No.3) Index S-Idx FP FV FT FH Name Update Data Type Mapping 0x201C 0x00   ×  Internal Velocity Command limit Unsigned32  0x201D 0x00 × × × Position Command error 1 level Unsigned32 Sequence Operation Torque (force) Limit 0x201E 0x00...
  • Page 290 7．Object Dictionary Manufacturer Specific Area (No.4) Index S-Idx FP FV FT FH Name Data Type Update Mapping 0x20F0 0x00 Amplifier Function Selection Unsigned8      0x01 Limit behavior Unsigned8  0x02  × × × Positioning Method Unsigned8 &...
  • Page 291 7．Object Dictionary Manufacturer Specific Area (No.5) Index S-Idx FP FV FT FH Name Data Type Update Mapping 0x2100 0x00     Status Word 1 Unsigned16 Possible 0x2101 0x00 Amplifier error field Unsigned8  0x01     Alarm actual 1 Unsigned8 Possible...
  • Page 292 7．Object Dictionary Manufacturer Specific Area (No.6) Index S-Idx FP FV FT FH Name Data Type Update Mapping Internal Control Cycle Position Actual 0x2110 0x00 Unsigned8 Value Internal Control Cycle Actual Position 1  0x01     Integer32 Possible (125us Latest) Internal Control Cycle Actual Position 2 ...

  • Page 293: Control Command Parameter

    7．Object Dictionary 2) Control Command Parameter 0x2000: Control Word 1 Index 0x2000 Manufacturer-specific object for the servo amplifier control. Object Code Variable Sub-Idx Description Data Type Access Initial value 0x00 Control Woad1 [CWORD1] Unsigned16 Possible Enables various functions. 0:disabled 1:enabled discen intpodi vcmpen icmpen vcmlim pcon ppcon...
  • Page 294 7．Object Dictionary 0x2001: Parameter Select Index 0x2001 Controls the selection of various parameters. Object Code Variable Sub-Idx Description Data Type Access Initial value 0x00 Parameter Select [PARSEL] Unsigned16 Possible Enables various functions. supfsel mdlfsl bit1-0:model suppression frequency switch selection* [MDLFSEL] Under the model control, resonance/anti-resonance frequency 1-4 to be used is selected.

  • Page 295: Auto-Tuning Parameter

    7．Object Dictionary 3) Auto-Tuning Parameter 0x2002: Auto-tuning Index 0x2002 Auto-tuning settings Object Code Array Sub-Idx Description Data Type Access Initial value 0x00 Number of entry Unsigned8 0x04 0x01 Auto-tuning Mode [TUNEMODE] Unsigned8 0x02 Set the validity, invalidity of Auto-tuning, and Load inertia Setting range 0x00-0x02 moment rate estimation.

  • Page 296: Basic Control Parameter

    7．Object Dictionary Sub-Idx Description Data Type Access Initial value 0x03 Sets the Auto-Tuning Response [ATRES] Unsigned8 0x05 *The larger the set value, the higher the response. Setting range 0x01-0x1E *Caution, if the response is set too high, the machine may (1-30) oscillate.
  • Page 297 7．Object Dictionary 0x2004: Position Command Filter This low-pass filter suppresses any sudden change of the Index 0x2004 Object Code Variable position control pulse. Sets time constants. Sub-Idx Description Data Type Access Initial value 0x00 Position Command Filter [PCFIL] Unsigned16 0x0000 Time constant for the filter will be set.
  • Page 298 7．Object Dictionary 0x2006: Position Integral Time Constant 1 Integral time constant for position controller. By setting bit5, 4, gain change selection (GC), in parameter Index 0x2006 Object Code Array selection (0x2001), the position integral time constant to be used is selected. Sub-Idx Description Data Type...
  • Page 299 7．Object Dictionary 0x2008: Feed Forward compensation parameter Sets parameters regarding Feed Forward compensation Index 0x2008 Object Code Array functions. Sub-Idx Description Data Type Access Initial value 0x00 Number of entry Unsigned8 0x0002 0x01 Feed Forward Gain [FFGN] Unsigned16 Possible 0x0000 Sets feed forward compensation gain to position control (0 %) system.
  • Page 300 7．Object Dictionary 0x200B: Velocity Loop Proportional Gain Proportional gain of velocity controller. By setting bit5, 4, gain Index 0x200B change selection (GC), in the parameter selection (0x2001), the Object Code Array Position Loop Proportional Gain to be used is selected. Sub-Idx Description Data Type...
  • Page 301 7．Object Dictionary 0x200D: Load Inertia Moment Ratio Sets inertia moment of the loading device to the servo motor inertia moment. Setting value=J ×100% Index 0x200D : Load inertia moment, JM: Motor inertia moment) Object Code Array By setting bit5, 4, gain change selection (GC) in the parameter selection (0x2001), the Load Inertia Moment Ratio to be used is selected.
  • Page 302 7．Object Dictionary 0x200F: Acceleration Feedback Compensation Sets acceleration feedback compensation gain to make the Index 0x200F Object Code Array velocity loop stable. Sets the cutoff frequency. Sub-Idx Description Data Type Access Initial value 0x00 Number of entry Unsigned8 0x02 0x01 Acceleration Feedback Gain [AFBK] Indeger16...

  • Page 303: Feed Forward Vibration Suppressor Control / Notch Filter Parameter

    7．Object Dictionary 5) Feed Forward vibration suppressor control / Notch filter Parameter 0x2012: FF Vibration Suppressor Frequency Sets the frequency of the machine vibration to be suppressed by FF vibration suppressor function. Change this while the servo motor is OFF. Shows the center frequency of the notch filter in response to the Index 0x2012...
  • Page 304 7．Object Dictionary 0x2013: Velocity Command Notch Filter Notch filter to eliminate frequency element arbitrarily set from velocity command. Index 0x2013 Sets the center frequency of the filter. When sympathetic Object Code Variable vibration occurs in velocity control system, the gain is raised by setting the resonance frequency.
  • Page 305 7．Object Dictionary 0x2014: Torque (force) Command Notch Filter Notch filter to eliminate sympathetic vibration element included in torque (force) command. Index 0x2014 Set the center frequency of the notch filter. Object Code Array Inputs increment uses HZ/LSB steps, but in the servo amplifier, the setting will be enabled by 10 HZ steps.

  • Page 306: High Setting Control Settings

    7．Object Dictionary 6) High setting control settings 0x2015:High setting control settings Parameter setting to implement high setting control by adding Index 0x2015 position deviation to Acceleration and Deceleration Object Code Array Compensation Values. Sub-Idx Description Data Type Access Initial value 0x00 Number of entry Unsigned8...

  • Page 307: Observer Parameter

    7．Object Dictionary 7) Observer Parameter 0x2016: Observer Parameter Sets various parameters in the disturbance suppression observer. Index 0x2016 Object Code Record Observer compensation operates with control word 1 (0x2000) bit 11: disturbance Observer compensation enable [OBCON]=“1” Sub-Idx Description Data Type Access Initial value 0x00...
  • Page 308 7．Object Dictionary Sub-Idx Description Data Type Access Initial value 0x05 Observer Load Inertia Ratio [OBJLJM] Unsigned16 0x0064 Sets the Inertia moment (Load Inertia) of the loading device (100%) for the motor inertia moment at the disturbance suppression Setting range 0x0000-0x1388 observer.

  • Page 309: Model Following Control Settings Parameter

    7．Object Dictionary 8) Model Following Control Settings Parameter # A note of caution in using Model Following Control * If oscillation is restrained when using Model Following Vibration Suppressor Control, the vibration suppression effect disappears when the alarm occurs. * When the Gain Switching Function is used, please stop the servo motor. * When the Model Vibration Suppressor Frequency switching is used, please stop the servo motor.
  • Page 310 7．Object Dictionary 0x2019: Model Control Antiresonance Frequency Sets antiresonance frequency to the mechanical device with Model following vibration suppressor control. Sets actual antiresonance frequency value of the mechanical system by using System Analysis function of the Software Setup. Index 0x2019 Object Code Array Control Word 1(0x2000) bit10：Enable vibration suppression...
  • Page 311 7．Object Dictionary 0x201A: Model Control Resonance Frequency Sets resonance frequency of the mechanical device with Model following vibration suppressor control. Sets actual resonance frequency value of the mechanical system by using System Analysis function of the Software Setup. Index 0x201A Object Code Array Control Word 1(0x2000) bit10：Enable vibration suppression...

  • Page 312: Amplifier Function Parameter

    7．Object Dictionary 9) Amplifier Function Parameter 0x201C: Internal Velocity Command limit Sets the allowable velocity in response to the Internal Velocity Index 0x201C Object Code Variable Command. Sub-Idx Description Data Type Access Initial value 0x00 Internal Velocity Command limit [VCMMAX] Unsigned16 0xFFFF In the cycle synchronous position (csp) or the profile...
  • Page 313 7．Object Dictionary 0x201E: Sequence Operation Torque (force) Limit Value Parameter to set the output torque (force) in Sequence Index 0x201E Object Code Variable Operation. Sub-Idx Description Data Type Access Initial value 0x00 Sequence Operation Torque (force) Limit Value Unsigned16 0x04B0 [SQTCLM] (120.0 %) This is Torque (force) Limit Value for the following...
  • Page 314 7．Object Dictionary 0x2021: Low Speed Range Sets the acceptable Low Speed Range of the motor rotation Index 0x2021 Object Code Variable speed. Sub-Idx Description Data Type Access Initial value 0x00 Low Speed Range [LOWV] Unsigned16 0x0032 When the speed is lower than this value, Low speed range (50min is output.
  • Page 315 7．Object Dictionary 0x2023: Analog Monitor Select Output Selects the output selection and the polarization character of Index 0x2023 Object Code Record Analog Monitor 1, 2. Sub-Idx Description Data Type Access Initial value 0x00 Number of entry Unsigned8 0x03 0x01 Analog Monitor Select Output 1 [MON1] Unsigned8 0x05...
  • Page 316 7．Object Dictionary 0x03 Analog Monitor Output Polarity Selection [MONPOL] Unsigned8 0x00 Selects the output polarity of analog monitor 1/2. Setting range 0x00-0x08 *For both MON1 and MON2, set from any of the followings: +No Polarity Rotation, - Polarity Rotation, ABS Absolute Value Output 0x00:AMON1/AMON2 at positive rotation+voltage output/at positive rotation+output 0x01:AMON1/AMON2 at positive rotation-voltage output/at positive rotation+output...
  • Page 317 7．Object Dictionary # About Holding Brake Servo motor with Holding brake function is usually used with an axis that is always affected by gravity and external forces in order to avoid movable Holding brake -> parts falling off from its position when main circuit power is OFF, or servo OFF.
  • Page 318 7．Object Dictionary 0X2026: BRAKE OPERATION BEGINNING TIME Parameter to compulsorily set the time to operate the Dynamic Index 0x2026 brake and the Holding brake when motor does not stop at Servo Object Code Variable OFF and EMR upon entry. Sub-Idx Description Data Type Access...
  • Page 319 7．Object Dictionary 0x2029: Overload Warning Level Parameter to output Warning before detecting the Overload Index 0x2029 Object Code Variable warning. Sub-Idx Description Data Type Access Initial value 0x00 Overload Warning Level [OLWLV] Unsigned16 0x005A * the allowable setting Level range is as follows (90%) (the Overload warning level =100%;) Setting range...
  • Page 320 7．Object Dictionary 0x202C:Feed Forward Filter, Depth Selection (FF Vibration Suppressor Level Selection) Sets the characteristics of 0x2012 Feed Forward vibration Index 0x202C Object Code Variable suppressor frequency in operation. Sub-Idx Description Data Type Access Initial value 0x00 Feed Forward Filter, Depth Selection [SUPLV] Unsigned8 0x00...
  • Page 321 7．Object Dictionary Sub-Idx Description Data Type Access Initial value 0x02 Torque (force) Command Notch Filter B Depth Selection Unsigned8 0x00 [TCNFDB] Setting range 0x00-0x03 Selects the depth of the Torque (force) Command Notch Filter B. * The larger the value is, the shallower the depth. 0x00:-∞...
  • Page 322 7．Object Dictionary 0x202E： Torque (force) attainment setting Sets detection level of torque attainment monitor (a function to detect that Index 0x202E Object Code Variable commanded internal torque value exceeds set value). Sub-Idx Description Access Initial value Data Type 0x00 Torque (force) attainment setting [TA] Unsigned16 0x064...
  • Page 323 7．Object Dictionary 0x203D: Amplifier temperature warning level Index 0x203D Sets the warning output level which is issuing before the amplifier temperature error. Sub-Idx Description Data Type Access Initial value 0x01 Amplifier temperature warning high level setting Signed16 0x4B（75℃） [DEGWHL] Display range 0x038 to 0x005F (56 to 95℃）...

  • Page 324: System Parameter

    7．Object Dictionary 10) System Parameter 0x20F0: Amplifier Function Selection Index 0x20F0 Set the Sequence function. Object Code Record Sub-Idx Description Data Type Initial Access value 0x00 Number of entry Unsigned8 0x05 0x01 Limit behavior Selection [ACTOT] Unsigned8 0x06 Selects the operation when the positive direction limit switch Setting 0x00-0x08 (normal rotation over travel) or the negative direction limit...
  • Page 325 7．Object Dictionary Sub-Idx Description Data Type Initial Access value 0x03 In-Position Signal/ Position Deviation Monitor [PDEVMON] Unsigned8 0x00 Select in-position signal (INP) and Position deviation monitor Setting 0x00-0x01 output before and after passing through the Position range Command Filter. 0x00:After Filter Compare Position command value with Feedback value after passing through the filter. 0x01:Before Filter Compare Position command value with Feedback value before passing through the filter.
  • Page 326 7．Object Dictionary 0x20F1: Sensor Function Selection Index 0x20F1 Sets the Sensor Function. Object Code Record Initial Sub-Idx Description Data Type Access value 0x00 Number of entry Unsigned8 0x04 0x01 Serial encoder Clear Function Selection [ECLRFUNC] Unsigned8 0x00 Selects the encoder clear method. Setting 0x00-0x01 range...
  • Page 327 7．Object Dictionary 0x03 External Encoder Digital Filter selection [EX-ENFIL] Unsigned8 0x01 This parameter can be set only when using fully closed Setting 0x00-0x07 controlfunciton. range Pulse lower than the set value is eliminated as noise when noise superposition occurred in encoder signals. Consider Encoder resolution and Maximum rotation velocity of the servo motor in operation when selecting value.
  • Page 328 7．Object Dictionary 0x20F2: Amplifier Alarm Detect Selection Index 0x20F2 Sets the Sequence function. Object Code Record Sub-Idx Description Data Type Access Initial value 0x00 Number of entry Unsigned8 0x03 0x01 Main Circuit Under-voltage (ALM_62) Detection Unsigned8 0x01 [MPESEL] Setting range 0x00-0x01 When DC input power specification is selected, select whether the Main Circuit Under-voltage alarm should be detected or not.
  • Page 329 7．Object Dictionary 0x20F3: Position Control Selection Selects the control characteristics and the control encoder in Index 0x20F3 Cyclic SYNC Position mode (CSP) and Profile position operation Object Code Record modes. Initial Sub-Idx Description Data Type Access value 0x00 Number of entry Unsigned8 0x02 0x01...
  • Page 330 7．Object Dictionary 0x20F5: Torque (force) Limit at Power Supply Shortage When a power supply shortage is detected, select whether the normal limit value or the sequence operation torque (force) limit of Index 0x20F5 Object Code Variable the motor output current is used. Provided as a SEMI F47support function.
  • Page 331 7．Object Dictionary 0x02 Negative Limit Switch Function [NLIMSW] Unsigned8 0x00 Select the valid condition of the negative direction limit switch function Setting range 0x00-0x09 The same as Sub Index:01(positive direction limit switch function.) 0x03 External Trip Input Function [EXT-E] Unsigned8 0x00 Sets the trip valid condition the same as the trip Setting range...
  • Page 332 7．Object Dictionary 0x20F9: General Purpose Output Setting Index 0x20F9 Selects General Output 1, 2(OUT1, OUT2) function Object Code Record Sub-Idx Description Data Type Access Initial value 0x00 Number of entry Unsigned8 0x02 0x01 General Purpose Output 1 [OUT1] Unsigned8 0x42 Selects the Output signal for General Purpose Output Setting range 0x00-0x55...
  • Page 333 7．Object Dictionary # General output parameter list Item Setting value Item Setting value The output is always OFF. 00:Always_OFF The output is always ON. 01:Always_ON The output is ON during Servo Ready complete. 02:S-RDY_ON The output is OFF during Servo Ready complete. 03:S-RDY_OFF The output is ON while the main power supply is turned on.
  • Page 334 7．Object Dictionary 0x20FA： Extended Station Alias Index 0x20FA Extended parameter to set the Station Alias 0xF. Object Code Variable Sub-Idx Description Data Type Access Initial value 0x00 Number of entry Unsigned8 0x02 0x01 Unsigned8 0x00 Extended unit address ［EXUNITS］ Setting range 0x00～0xFF Parameter to set address 256-65535 in the intrinsic slave Station Alias Reg:0x0012, 0x0013.
  • Page 335 7．Object Dictionary 0x20FD: Amplifier System Selection Index 0x20FD Selects the system configuration of the servo amplifier. Object Code Record Sub-Idx Description Data Type Access Initial value 0x00 Number of entry Unsigned8 0x03 0x01 Main power input type [MPWRIN] Unsigned8 0x00 Selects the main circuit mode to actually be wired.
  • Page 336 7．Object Dictionary 0x20FE： Motor code Index 0x20FE Sets the code of the drive motor. Object Code Variable Sub-Idx Description Data Type Access Sub-Idx 0x00 Combination Motor code [MOCODE] Unsigned16 0x00 Sets the combination motor code. Setting range 0x0000-0xFFFF The motor code list can be set via communication. ■Rotary motor (200V) Servo motor Amplifier...
  • Page 337 7．Object Dictionary Servo motor Amplifier Series Motor code Input type Flange size Output Maximum speed model number capacity － 0x0061 Q2AA04006D AC200V □42mm 5,000 min 0x0062 Q2AA04010D AC200V □42mm 100W 5,000 min － 0x0065 Q2AA05020D AC200V □54mm 200W 5,000 min －...
  • Page 338 7．Object Dictionary Servo motor Amplifier Series Motor code Input type Flange size Output Maximum speed model number capacity － 0x0111 R2AA18750M AC200V 150A □180mm 7.5kW 1,500 min 0x0181 R2AA04003F AC200V □40mm 6,000 min － 0x7181 R2AA04003F AC200V □40mm 6,000 min －...
  • Page 339 7．Object Dictionary Series Servo motor Amplifier Series Motor code Input type Flange size Output Maximum speed model number capacity 0x00C1 Q2EA07020D AC100V 200W 5,000 min － □76mm Series － － － － － － － 0x0197 R2EA04003F AC100V 6,000 min －...
  • Page 340 7．Object Dictionary 0x20FF: Combination Encoder Selection Selects the motor sensor specifications and functions driven by combination. Index 0x20FF * Reactivate the control power after changing the Object Code Record setting this will reset the setting. Sub-Idx Description Access Initial value Data Type 0x00 Number of entry...
  • Page 341 7．Object Dictionary 0x02 Encoder type [ENTYPE] Unsigned16 0xFFFF Selects the type of motor sensor. Setting range 0x0000-0x0601 # Incremental system (Wire-saving incremental encoder: 4pairs) 0x0000: Wire-saving incremental encoder # Incremental System (Absolute encoder for incremental system) 0x0101:asynchronous encoder 2.5MHz(without multiple rotation output) 0x0201:asynchronous encoder 4.0MHz(without multiple rotation output) *Used when the position at the turn-on state is zero.
  • Page 342 7．Object Dictionary 11) Monitor Parameter 0x2100: Status Word 1 Index 0x2100 Indicates servo amplifier status. Object Code Variable Sub-Idx Description Data Type Access Initial value 0x00 Status Word 1 Unsigned16 Possible Indicates various internal statuses of the amplifier. sact eact bcnt eclrm ecsm...
  • Page 343 7．Object Dictionary 0x2101: Amplifier Error Field Indicates the alarm occurring in the servo amplifier. Sub-Index 0x00 indicates the number of Index alarms that are currently occurring, and Sub-Index 0x01-0x04 indicates the contents of Object Code 0x2101 alarms and Amplifier Status when the alarms occur up to four. Resets the alarm by setting Array Alarm reset in Control Word (0x6040.7).
  • Page 344 7．Object Dictionary 0x2103: Warning Status Indicates the warnings and limitation status of the servo Index 0x2103 Object Code Record amplifier. Initial Sub-Idx Description Data Type Access value 0x00 Number of entry Unsigned8 0x02 0x01 Warning monitor [WARMON] Unsigned16 Possible 0x0000 0:no warning (without limitation) 1:during warning (under limitation) rolw...
  • Page 345 7．Object Dictionary 0x2104: Actual Gain Monitor Indicates the actual setting value of the gain parameter to Index 0x2104 switch to real time various gain parameters through auto-tuning Object Code Array or gain switching selection. Sub-Idx Description Data Type Access Initial value 0x00 Number of entry Unsigned8...
  • Page 346 7．Object Dictionary 0x2105: Z-phase Signal Base Actual Position Index 0x2105 Indicates the Actual Position from C phase. Object Code Variable Sub-Idx Description Data Type Access Initial value 0x00 Z-phase Signal Base Actual Position [CCUNIT] Integer32 Possible In the incremental encoder, indicates the position within Setting 0x00000000-0xFFFFFFFF one rotation based on C phase.
  • Page 347 7．Object Dictionary 0x2109: Temperature inside the servo amplifier Index 0x2109 Indicates the temperature inside the servo amplifier. Object Code Variable Sub-Idx Description Data Type Access Initial value 0x00 Temperature inside the servo amplifier [ATEMP] Integer16 Possible The monitor value inside the servo amplifier (near the Setting range 0x8000-0x7FFF control CPU).
  • Page 348 7．Object Dictionary 0x2110: Internal Control Cycle Position Actual Value Returns the Actual Position value latched every control cycle (125μs). Index 0x2110 Object Code Array Monitor unit is expressed by the resolution of the motor sensor used. Sub-Idx Description Data Type Access Initial value 0x00...
  • Page 349 7．Object Dictionary 0x2113: Minimum Communication Cycle Actual Position Returns the Actual Position value latched every minimum Index 0x2113 communication cycle (500μs). Monitor unit is expressed by the Object Code Array resolution of the motor sensor used. Sub-Idx Description Data Type Access Initial value 0x00...
  • Page 350 7．Object Dictionary 0x211F: Digital inputs 2 Index 0x211F This object monitors 16 bits of low ranks of 0ｘ60FD. Object code Record Sub-Idx Description Data Type Access Initial value 0x00 Digital input monitor [DINPUTU16] Unsigned16 Possible Monitor general-purpose input. Display range 0x0000-0xFFFF 1: Photocoupler is on.
  • Page 351 7．Object Dictionary 0x21FE: Combination Motor Code Monitor Index 0x21FE Indicates the motor code used in servo amplifier. Object code Variable Sub-Idx Description Data Type Access Initial value 0x00 Motor Code Monitor Unsigned16 － ［MOCODEMON］ Display range 0x0000-0xFFFF Indicates the motor code set in servo amplifier. ■When automatic setting of motor parameter is NOT used It becomes same with the value set to the Motor Code (0x20FE: 0x00) at the time of control power turned It is not reflected until after control power cycle even if rewrite the set value of Motor Code (0x20FE:...
  • Page 352 No Text on This Page.
  • Page 353 Operation Standard setting value upon shipment ·······························································································8-1 Test opeartion ·······························································································································8-2 Installation and Wiring ·················································································································8-2 Safe Torque OFF Function ···········································································································8-2 Movement Confirmation ···············································································································8-3 Machine Movement Check ···········································································································8-4 ESC Power ON Sequence ··············································································································8-5 EtherCAT Initialization Process ·········································································································8-6 INIT State ·································································································································8-6 Pre-Operational State ··················································································································8-8 Safe-Operational State ················································································································8-9 Operational State ·····················································································································...

  • Page 354: Operation

    8.Operation System parameter setting value upon shipment Standard setting value upon shipment The system parameters setting value upon shipment from the factory is shown below. ■ Servo Amplifier Model Number:RS2##AK Name Code Setting Value Object Main Circuit Power ○ : A 200V-input : _AC_3-Phase 0x20FD.1: MPWRIN...

  • Page 355: Test Opeartion

    8.Operation Servo amplifier status display Test opeartion 1) Installation and Wiring Confirm the installation and wiring of the servo amplifier and servo motor. Process Items and Contents Installation ■ Install servo amplifier and servo motor according to “Installation 3-1”. Servo motor shaft should be in disengaged state and machine should not be connected. Do not connect Wiring / Connecting →...

  • Page 356: Movement Confirmation

    8.Operation Servo amplifier status display 3) Movement Confirmation Perform JOG operations using Setup Software or Digital Operator. Process Items and Contents Input signal check: Generic Input signals (CN3) Select Input signals to be used from General parameter Group9 and assign in CONT1, and CONT2.

  • Page 357: Machine Movement Check

    8.Operation Servo amplifier status display 4) Machine Movement Check Connect servo motor shaft to machine and check movement. Process Items and Contents Connect to machine Connect motor shaft to machine. ■ Connect servo motor shaft to machine. Input low velocity command and check that movements such as movement ■...

  • Page 358: Esc Power On Sequence

    8.Operation Servo amplifier status display ESC Power ON Sequence Shows RS2 EtherCAT slave amplifier power ON sequence at input of control power supply. 1 Power ON : Control voltage reaches operational voltage of ESC PLL Clock : Output PLL clock 3 Reset Cancel: Starts ESC operation.

  • Page 359: Ethercat Initialization Process

    8.Operation Servo amplifier status display EtherCAT Initialization Process Various parameter settings from master to slave datalink layer and application layer are required to begin cyclic communication after control power of slave amplifier has been established. The following procedure is an example of the initialization process: Write 1) INIT State Read...
  • Page 360 8.Operation Servo amplifier status display EtherCAT Master (Host) EtherCAT Slave (Subordinate) W 0x0920(8byte) : System Time Offset Write Calculated System Time Offset Value  W 0x0928(4byte) : System Time Delay Write System Time Delay  Static Drift Correction W 0x0910(8byte) : System Time Send ARMW or FRMW command to all slaves.

  • Page 361: Pre-Operational State

    8.Operation Servo amplifier status display 2) Pre-Operational State EtherCAT Master (Host) EtherCAT Slave (Subordinate) Is ESM in "Pre-Operational" state? R 0x0130 - : AL Status 0x0002) Parameter Setting in Object Dictionary Using Mailbox ･ Sets PDO Object Index to be assigned in SM2 W 0x1C12.0=0x01 : SM2 RxPDO Entry ･...

  • Page 362: Safe-Operational State

    8.Operation Servo amplifier status display EtherCAT Master (Host) EtherCAT Slave (Subordinate) PDO 用 SM と FMMU の設定 ･ SM2 Setting (Process Data Output) 0x1100～26byte W 0x0810- ：SM2 Resistor（0x00010004001A1100） ･ SM3 Setting(Process Data Input) 0x1140～18byte W 0x0818- ：SM3 Resistor（0x0001000000121140） W 0x0600- :FMMU0 Resistor FMMU0 Setting (RxPDO) L:0x10000 ->...

  • Page 363: Operational State

    8.Operation Servo amplifier status display 4) Operational State EtherCAT Master (Host) EtherCAT Slave (Subordinate) R 0x0130 - : AL Status (0x0008) Is ESM in "Operation" state? Start accessing using logical address mode 0x10000 : RxPDO, TxPDO (Data unprocessed) Data Datagram: LRW (Addr:0x10000) 8Byte W 0x0910:0x0917: System Time Data Datagram: ARMW (Addr:0x0910) 8byte R 0x0130...

  • Page 364: Boot Strap State

    8.Operation Servo amplifier status display 5) Boot Strap state [Data transfer to servo amplifier] EtherCAT Master (Host) EtherCAT Slave (Subordinate) ・ESM= Request for “Boot” state W 0x0120- ：AL-control （0x0003） Is ESM in”Boot” state? R 0x0130- ：AL-status （0x0003） Start FoE communication Write-request Receive write-request ・Password (not used)
  • Page 365 8.Operation Servo amplifier status display [Writing procedure to CPU flash after data transfer] EtherCAT Master (Host) EtherCAT Slave (Subordinate) W 0x0120- ：AL-control (0x0001) ・ESM= Request for “Init” state W 0x0130- ：AL-status (0x0001) Is ESM in “Init” state? Re-writing firmware by CPU cell flash . ・ESM = ”Init”...

  • Page 366: Coe Operation (Profile Position Mode: When Cia402 Ver.2)

    8.Operation Servo amplifier status display 6) CoE Operation (Profile Position Mode: When CiA402 Ver.2) EtherCAT Master EtherCAT slave Mode Change to Profile Position Mode W 0x6060 = 0x01 : OperationMode  PP R 0x6061 : Mode of Operation Display Profile Position Mode? 0x6060 = 1? Demand to Ready to Switch On Bit3-0 = x110b W 0x6040 = 6...

  • Page 367: Operation Sequence

    8.Operation Operation sequence (power-on) Operation Sequence 1) Operation Sequence from Power ON to Power OFF Power ON → Servo ON ■ Control Power ON Control Power Supply (r, t) 2sec(max) Power ON 0msec(min) Enabling Signal Main Circuit Power ON Main Circuit Power Supply (R, S, T) Inrush current protection time Power ON signal...
  • Page 368 8.Operation Operation sequence (power-off) Servo OFF  Power OFF ■ Sequence in case of Servo OFF during motor rotation depends on Disable Option Code (0x605C) setting. Control Power Control power Supply (r, t) Control Power ON Simultaneous Shut down：0msec supply OFF (min) Main Circuit Power Supply (R, S, T)
  • Page 369 8.Operation Operation sequence (power-off) Main Circuit OFF, Quick STOP (Emergency STOP) Sequence ■ When motor did not stop with the setting value of the holding brake engage starting time, or main circuit voltage drop is detected Enable operation (0x6040.3) 1:Servo ON Quick Stop (0x6040.2) 0:Emergency STOP...
  • Page 370 8.Operation Operation sequence (power-off) Main Circuit OFF, Quick STOP (Emergency STOP) Sequence ■ When motor is stopped within holding brake start engage time or before main circuit voltage drop detection Enable operation (0x6040.3) 1:Servo ON Quick Stop (0x6040.2) 0:Emergency Stop Main Circuit Power Supply(R, S, T) Main Circuit ON...

  • Page 371: Alarm Occurrence Stop Sequence

    8.Operation Operation sequence (when alarm activated) 2) Alarm Occurrence Stop Sequence Servo motor is stopped by dynamic brake or servo brake with alarm occurrence. To stop either with dynamic brake or servo brake, please refer to “Movement of SB, DB at the time of Alarm detection” in the alarm code list.
  • Page 372 8.Operation Operation sequence (when alarm activated) Stop Sequence with Servo Stop (Quick Stop option code) when alarm ■ activated When a motor does not stop with the setting value of holding brake engage start time Error Occur 1:Alarm status monitor0x6041.3) Enable operation 1:Servo ON (0x6040.3)
  • Page 373 8.Operation Operation sequence (when alarm activated) Stop Sequence with Servo Stop (Quick Stop option code) when alarm ■ activated When a motor has stopped with the setting value of holding brake engage start time Error Occur 1:Alarm status (monitor0x6041.3) Enable operation 1:Servo ON (0x6040.3) Main circuit power...

  • Page 374: Alarm Reset Sequence

    8.Operation Operation sequence (when alarm reset) 3) Alarm Reset Sequence Alarm can be reset by inputting alarm reset signal from generic input signals. Power ON 1:Power ON enabled enable signal Main circuit power Main circuit power ON Supply(R, S, T) Inrush current protection time Power ON signal (0x6041.4)

  • Page 375: Semi F47 Support Functions

    8.Operation EMI F47 Standard Support Functions SEMI F47 Support Functions This is a function used to limit motor output current by detecting control power sag warning when momentary power interruptions of the control power supply (drop to AC135V - AC152V)are detected.
  • Page 376 No Text on This Page.
  • Page 377 Adjustments Servo Tuning Functions and Basic Adjustment Procedure······································································9-1 Servo tuning functions ·················································································································9-1 Tuning method selection procedure································································································9-2 Automatic Tuning ··························································································································9-3 Use the following parameters for Automatic tuning” ···········································································9-3 Automatically adjusted parameters in auto-tuning··············································································9-6 Adjustable parameters during auto-tuning························································································9-6 Unstable functions during auto-tuning ·····························································································9-7 Adjustment method for auto-tuning·································································································9-7 Auto-Tuning Characteristic selection flowchart··················································································9-8 Monitoring servo gain adjustment parameters ··················································································9-9...

  • Page 378: Servo Tuning Functions And Basic Adjustment Procedure

    9. Adjustments Selection of Tuning Method Servo Tuning Functions and Basic Adjustment Procedure To operate the servo motor (and machine) using the servo amplifier, adjustments of the servo gain and its control system is necessary. Generally, the higher setting value of the servo gain increases the machine response.

  • Page 379: Tuning Method Selection Procedure

    9. Adjustments Selection of Tuning Method 2) Tuning method selection procedure The selection procedure is displayed in the following chart: Start tuning Tune the servo gain automatically? Tune servo gain manually? >>(Manual tuning) >>(Auto-tuning) How to use Manual tuning Auto tuning functions Need to suppress machine resonance? >>(Automatic tuning of notch filter ) Usage of automatic notch filter...

  • Page 380: Automatic Tuning

    9. Adjustments Automatic Tuning Automatic Tuning 1) Use the following parameters for Automatic tuning” Parameter List The following parameters are used for auto-tuning. ◆ Group0 ID00: Tuning Mode Index:0x2002, 0x01 [TUNMODE] 00:_AutoTun Automatic Tuning 01:_AutoTun_JRAT-Fix Automatic Tuning [JRAT manual setting] 02:_ManualTun Manual Tuning ◆...
  • Page 381 9. Adjustments Automatic Tuning Contents Object ID Auto-Tuning Characteristic [ATCHA] ■ Auto-Tuning Characteristic to fit the mechanical requirements and movements are provided. Parameters that can be adjusted vary depending on each auto-tuning characteristic. Set the parameters based on the situation. ■...
  • Page 382 9. Adjustments Automatic Tuning Contents Object ID Auto-Tuning Characteristic [ATCHA] Selection Meaning Positioning control 4 Positioning4 (High Response, Horizontal Axis Limited) Select this mode when the machine movement is on a horizontal axis and ◆ receives no disturbing influence from external sources. Positioning time may be shortened compared to “Positioning Control 2”.

  • Page 383: Automatically Adjusted Parameters In Auto-Tuning

    9. Adjustments Automatic Tuning 2) Automatically adjusted parameters in auto-tuning The following parameters are automatically adjusted at the time of auto-tuning. These parameters will not reflect on motor movements by changing or overriding those values. However, some of them can be adjusted manually depending on selected [Tuning Mode] and [Auto-Tuning Characteristic].

  • Page 384: Unstable Functions During Auto-Tuning

    9. Adjustments Automatic Tuning ■ General parameters Group5 [High setting control setting] CoE Object ID Symbol Name 0x2015, 0x01 CVFIL Command Velocity Low-pass Filter 0x2015, 0x02 CVTH Command Velocity Threshold 0x2015, 0x03 ACCC0 Acceleration Compensation 0x2015, 0x04 DFCC0 Deceleration Compensation 4) Unstable functions during auto-tuning The following functions cannot be used during auto-tuning: ■...

  • Page 385: Auto-Tuning Characteristic Selection Flowchart

    9. Adjustments Automatic Tuning 6) Auto-Tuning Characteristic selection flowchart Start tuning Set tuning mode 00:_AutoTun Automatic Tuning Can Automatic estimate JRAT？ Change tuning mode to 01:_AutoTun_JRAT-Fix Automatic Tuning [JRAT Manual Setting] Set JRAT1 Are there any problem with response or setting time？ Match the characteristics between the axes？...

  • Page 386: Monitoring Servo Gain Adjustment Parameters

    9. Adjustments Automatic Tuning 7) Monitoring servo gain adjustment parameters The following parameters can be monitored with Digital Operator and Software Setup when auto-tuning is used. Refer to [See Section 10] for use of Digital Operator. CoE Object ID Symbol Name Unit 0x2104, 0x05...

  • Page 387: Automatic Tuning Of Notch Filter

    9．Adjustments Automatic tuning of notch filter Automatic tuning of notch filter Automatic notch filter can suppress high frequency resonance resulting from coupling and rigidity from the device mechanism. With short periods of operation of servo amplifier and servo motor, the mechanical resonance frequency can be found easily.

  • Page 388: Automatic Tuning Of Ff Vibration Suppression Frequency

    9．Adjustments Automatic tuning of FF Vibration Suppression Frequency Automatic tuning of FF Vibration Suppression Frequency Set FF vibration suppressor frequency to suppress low frequency vibration at the tip or body of the machine. Automatic tuning of FF Vibration suppression frequency simply enables the frequency tune in minimal motion cycle time between the servo amplifier and the servo motor.

  • Page 389: Using Manual Tuning

    9．Adjustments Manual Tuning Using Manual Tuning All gain is adjustable manually using manual tuning mode when characteristics in auto-tuning are insufficient. Sets the Tuning Mode to Manual tuning. ■ General parameters Group0 ID00: Tuning Mode Index:0x2002, Sub-Index:0x01 [TUNMOD] 02:_ManualTun Manual Tuning 1) Servo system structure and servo adjustment parameters The servo system consists of three (3) subsystems: Position loop, Velocity loop and Current loop.

  • Page 390: Basic Manual Tuning Method For Velocity Control

    9．Adjustments Manual Tuning ■ Load inertia moment ratio Index:0x200D, 0x01 - 0x04 [JRAT] Set this value to the calculation shown below: Motor axis converted load inertia moment (J JRAT＝ ×100% Motor inertia moment (J ■ Higher Tracking Control Velocity Compensation Gain Index:0x2007, 0x00 [TRCVGN] Tracking effect can be improved by increasing compensation gain.

  • Page 391: Model Following Control

    9．Adjustments Model Following Control Model Following Control Model following control is a method used to obtain a higher response. Model control systems include mechanical devices in a servo amplifier and run a servo motor in order to track the Model control system. Select [Position control form] in [Control mode] Select [Model following control] in [Position control selection] CoE Object ID...

  • Page 392: Manual Tuning Method For Model Following Control

    9．Adjustments Model Following Control 2) Manual tuning method for Model following control ■ Set Velocity Loop Proportional Gain (0x2005, 0x01)(KVP1) at as high a value as possible within a stable range that will not cause vibration or oscillation. If vibration increases, lower the value. ■...

  • Page 393: Tuning To Suppress Vibration

    9．Adjustments FF Vibration Suppressor Control/ Model Tracking Vibration Suppressor Control Tuning to Suppress Vibration 1) FF vibration suppressor control FF vibration suppressor control can be used as a method of suppressing the vibration of the mechanical tip. ■ Adjust this gain by using the same basic tuning procedures from Position control. ■...

  • Page 394: Model Tracking Vibration Suppressor Control

    9．Adjustments Model Tracking Vibration Suppressor Control ■ Adjustable parameters in Model following vibration suppressor control ◆ General parameters Group3 [Model following control settings] CoE Object ID Symbol Name Unit Setting range 0x2017, 0x01 Model Control Gain 1 1 / s 15 - 315 0x2018, 0x01 OSSFIL...

  • Page 395: Tuning Methods

    9．Adjustments Model Tracking Vibration Suppressor Control 3) Tuning methods ■ First, execute Model following control auto-tuning by selecting [01:_Model following control] in [Position Control Selection(0x20F3, 0x01)(ID07)] at System parameters and tune the machine with the best servo gain. Refer to Auto-tuning method in Model following control for instructions on tuning. When the best servo gain for the machine has been selected, ignore this step.

  • Page 396: Using The Disturbance Observer Function

    9．Adjustments Disturbance Observer Using the Disturbance Observer Function The servo motor speed will fluctuate when an external force is applied to the operating machine, and it may affect the machine operation. The Disturbance Observer is a function to suppress the influence of external load torque (force) by estimating the load torque (force) inside the servo amplifier and adding the load torque (force) compensation to the torque (force) command.
  • Page 397 10. Digital Operator 10.1 EtherCAT Indicator ······················································································································ 10-1 PORT0/1 Link / Activity Indicator Code: P0 L/A, P1 L/A ···································································· 10-1 RUN Indicator Code：RUN ········································································································ 10-2 Error Indicator Code：ERR ········································································································ 10-3 10.2 Servo Amplifier Indicator ··············································································································· 10-4 Main Circuit Power Supply Indicator Code：CHARGE ······································································· 10-4 Control Power Supply Establish Indicator ······················································································...

  • Page 398: Digital Operator

    10． Digital Operator EtherCAT Indicator 10.1 EtherCAT Indicator The servo amplifier has seven (7) indicators: four (4) indicators standardized by EtherCAT specifications and three (3) indicators with characteristics particular to the R Advanced Model. There are 3 LEDs in green and 1 LED in red for the EtherCAT indicators. * PORT0 Link/Activity indicator : LED (GREEN) * PORT1 Link/Activity indicator...

  • Page 399: Run Indicator Code：run

    10．Digital Operator EtherCAT Indicator 2) RUN Indicator Code：RUN RUN indicator (Green LED) displays EtherCAT communication State machine status with Lighting /Extinguishing/ Flickering of the LED. Explains the RUN indicator below. RUN Indicator explanation RUN State Explanation INIT “INIT” state Blinking PRE-OPERATIONAL “PRE-OPERATIONAL”...
  • Page 400 10．Digital Operator EtherCAT Indicator 3) Error Indicator Code：ERR Error Indicator (Red LED) displays invalid state machine (ESM) change and/or watchdog error with an ON/OFF flickering of the LED. Explains the Error Indicator status below. Error Indicator Explanation Error State State Explanation No error EtherCAT operating normally...

  • Page 401: Servo Amplifier Indicator

    10． Digital Operator Servo Amplifier Indicator 10.2 Servo Amplifier Indicator This servo amplifier has three types of indicator characteristics for the R ADVANCED MODEL, other than EtherCAT indicators: * Main circuit power charge indicator : LED(RED) * Control power supply establish indicator : LED(BLUE) * Digital Operator indicator : 7 segment LED×5(RED)

  • Page 402: Digital Operator Indicator

    10． Digital Operator Digital Operator Indicator 10.3 Digital Operator Indicator 1) Digital Operator Names and Functions Status display, Alarm history and Monitor can be confirmed with the 5-digit, 7-segment Red LED on the upper front of the servo amplifier. ■ Names 5-digit display 7 segment EtherCAT status LED（from left）...

  • Page 403: Digital Operator Display Form

    10． Digital Operator Digital Operator Display Form 10.4 Digital Operator Display Form Digital operator displays data becomes the following form. ■ Data of 0 to +65535 Symbol Digital operator display Range of a digit display Plus Position of 1 display 0 - 9 Plus Position of 10 display...

  • Page 404: Status Display Mode

    10． Digital Operator Status Display Mode 10.5 Status Display Mode Normal Display : Servo amplifier status can be confirmed in this MODE. 1) Servo Amplifier Status Display Marking Servo amplifier status ・Control power supply established. Control power supply (r, t) is established and amplifier (RDY) is ON. ・EtherCAT FSA “Switch ON Disabled”...

  • Page 405: Forward/Inverse Limit, Emergency Stop Display

    10． Digital Operator Status Display Mode 2) Forward/Inverse Limit, Emergency Stop Display Marking Servo amplifier status ・Forward direction limit status Command input of forward direction is disabled by forward direction limit switch input ・Inverse direction limit status Command input of inverse direction is disabled by inverse direction limit switch input ・Emergency Stop status Motor is under STOP status by inputting Quick Stop, Shut Down or Emergency Stop ・Quick Step Active status...

  • Page 406: Display Of Linear Motor Magnetic Pole Position Detecting Status

    10． Digital Operator Status Display Mode 3) Display of linear motor magnetic pole position detecting status Marking Servo amplifier status ・Magnetic pole position not detected state (flashing) Linear motor CS-position setting is needed when hall sensor is not used for detecting magnetic pole.

  • Page 407: Alarm Display

    10． Digital Operator Alarm Display 5) Alarm Display Alarm number can be confirmed at the time of alarm occurrence. Marking Servo amplifier status Displays Alarm Code with “2 digits” following “AL.” and Status Code at the time of alarm occurrence with “1 digit” after the alarm code. Please take a measure according to the contents of "Maintenance"...

  • Page 408: Trial Run Mode

    10． Digital Operator Trial Run Mode 10.6 Trial Run Mode 1) Velocity-controlled JOG Operation Displayed MODE Key Process character， How to operate Operation number, code Once ON Push Key until it displays the left. [MODE] Display changes and right end LED blinks. More than 1sec Push key more than 1 sec to show display on left [INC]...

  • Page 409: Encoder Clear

    10． Digital Operator Trial Run Mode 2) Encoder Clear Displayed MODE Key Process character， How to operate Operation number, code Once ON Push Key until it displays the left. [MODE] Display changes and right end LED blinks. More than 1sec Push key more than 1 sec to show display on left [INC] Twice ON...

  • Page 410: Alarm History Mode

    10． Digital Operator Alarm History Mode 10.7 Alarm History Mode 1) Alarm History Display Mode Displayed MODE Key Process character， How to operate Operation number, code Once ON Push Key until it displays the left. [MODE] Display changes and right end LED blinks. More than 1sec Displays an Alarm History number that requests to be checked.

  • Page 411: Monitor Display Mode

    10． Digital Operator Monitor Display Mode 10.8 Monitor Display Mode Displayed MODE Key Process character， How to operate Operation number, code Once ON Press the key until you see the display on the left. [MODE] The right end of the LED blinks after the change. More than 1sec ON Displays ID that requests monitoring.

  • Page 412: Monitor Details

    10． Digital Operator Monitor Display Mode 2) Monitor Details Contents ■ Servo amplifier status code [STATUS] Code Status Power OFF status (P-OFF) Power ON status (P-ON) Servo ready status (S-RDY) Servo ON status (S-ON) Emergency stop status (EMR) Alarm status and power OFF (ALARM_P-OFF) Alarm status and power ON (ALARM_P-ON)
  • Page 413 10． Digital Operator Monitor Display Mode Refer to the following charts for the display format of ID01 - 05 as Software Setup and Digital Operator have different indicators: ■ Display of the Digital operator LED4 LED3 LED2 LED1 Digital operator at the front of the servo amplifier Contents ■...
  • Page 414 10． Digital Operator Monitor Display Mode Contents ■ Command position monitor [CPMON] Displays the current position of the pulse command (assuming that the position at the time the control power was turned ON is the original mode). If the current position exceeds the displayed range, the maximum reverse polarity value will be displayed.
  • Page 415 10． Digital Operator Monitor Display Mode Contents ■ Velocity Loop Proportional Gain monitor [KVP MON] Displays actual Velocity Loop Proportional Gain. Value can be confirmed when changing gain and at Auto-tuning function. ■ Velocity Loop Integral Time Constant monitor [TVI MON] Displays actual Velocity Loop Integral Time Constant.

  • Page 416: Analog Monitor

    10． Digital Operator Analog Monitor Display, Fixed Monitor Display 10.9 Analog monitor Respective signals and internal state of servo amplifier can be monitored using an exclusive monitoring box and cable. Refer to “Optional Goods” (Chapter 15) for the details of the monitor box and cable. ■...
  • Page 417 Maintenance 11.1 Trouble shooting ························································································································· 11-1 11.2 Warning and Alarm List ················································································································· 11-3 Warning Overview ···················································································································· 11-3 Warning List ···························································································································· 11-3 11.3 Alarm Display ····························································································································· 11-3 Alarm Display Overview ············································································································· 11-3 Alarm display list ······················································································································ 11-4 11.4 Trouble shooting When Alarm Occurs ······························································································ 11-6 11.5 Encoder Clear and Alarm Reset Methods ·······················································································...

  • Page 418: Trouble Shooting

    11．Maintenance Trouble shooting 11.1 Trouble shooting When troubles occur without any alarm displayed, check and take corrective actions for them referring to the description below. When alarm occurs take corrective measures referring to “Trouble Shooting When Alarm Occurs”. ■ “≡” does not blink in 7-segment LED even if main power is ON. Investigation Assumed causes and corrective actions ■...
  • Page 419 11．Maintenance Trouble shooting ■ Servo motor rotates only once, and stops. Investigation Assumed causes and corrective actions Check motor power line. ■ The servo motor power line is not connected. Check a setup of a combination motor. Check a setup of encoder resolution. ■...

  • Page 420: Warning And Alarm List

    11. Maintenance Warning and Alarm List 11.2 Warning and Alarm List Warning Overview The method of warning displayed, the name of alarm, contents, stop operation at the time of detection, and alarm reset is described on the following tables. Corresponding bit of the warning monitor (Index:0x2103, 0x01) is set when a warning has occurred. Normal operation is possible even when detecting a warning;...

  • Page 421: Alarm Display List

    11. Maintenance Alarm display list Alarm display list Alarm code list 1/2 0x1001 0x2101 0x603F Detection Alarm Error Error 0x2102 Alarm name Alarm contents Operations Reset Code Register Code 0x10 Port 0 Rx Invalidity Frame Error * Received invalid frame successively at Port 0 0x11 Port 1 Rx Invalidity Frame Error * Received invalid frame successively at Port 1...
  • Page 422 11. Maintenance Alarm display list Alarm code list 2/2 0x1001 0x2001 0x603F Alarm Detection Error Error 0x2002 Alarm name Alarm contents Reset Operations Code Register Code * Absolute encoder rotation overflow 0xA0 Serial Encoder Internal Error 0 * Frequent rotation counter overflow 0x7300 * Multi-turn error 0xA1...

  • Page 423: Trouble Shooting When Alarm Occurs

    11．Maintenance Trouble shooting When Alarm Occurs 11.4 Trouble shooting When Alarm Occurs Note) V means the cause number with possibility. ■ Alarm code 10 (Port 0 Rx Invalid Frame Error) ■ Alarm code 11 (Port 1 Rx Invalid Frame Error) ■...
  • Page 424 11. Maintenance Trouble shooting ■ Alarm code 21 (Main Circuit Power Device Error) Cause Status at the time of alarm Issued when control power is turned ON. Issued at input of servo ON. Issued while starting and stopping the servo motor. Issued after extended operating time.
  • Page 425 11. Maintenance Trouble shooting ■ Alarm code 23 (Current Detection Error 1) Cause Status at the time of alarm Issued at input of servo ON. Issued during operation. Corrective actions Cause Investigation and corrective actions ■ Defect in internal circuit of servo amplifier. ■...
  • Page 426 11. Maintenance Trouble shooting ■ Alarm code 41 (Overload 1) Cause Status at the time of alarm Issued at input of servo ON. After command input, issued without rotating the motor. After command input, brief motor rotation Corrective actions Cause Investigation and corrective actions ■...
  • Page 427 11. Maintenance Trouble shooting Alarm code 42 (Overload 2) Cause Status at the time of alarm Issued at input of servo ON. After command input, issued without rotating the servo motor. After command input, brief motor rotation. Corrective actions Cause Investigation and corrective actions ■...
  • Page 428 11. Maintenance Trouble shooting ■ Alarm code 44 (Magnetic pole position estimation error) Cause Status at the time of alarm Occurred when control power supply was turned on. ✔ Occurred during magnetic pole position error detection. ✔ Corrective action Cause Investigation and corrective actions ■...
  • Page 429 11. Maintenance Trouble shooting ■ Alarm Code 52 (In-rush prevention resistance Overheat) Cause Status at the time of alarm Issued when power supply control is turned ON. Issued when main circuit power supply is turned ON. Issued during operation. Corrective actions Cause Investigation and corrective actions ■...
  • Page 430 11. Maintenance Trouble shooting ■ Alarm Code 55 (External Error) When host device or thermal output signal of external regenerative resistor are not connected ◆ Cause Status at the time of alarm Issued when power supply control is turned ON. Corrective actions Cause Investigation and corrective actions...
  • Page 431 11. Maintenance Trouble shooting ■ Alarm Code 61 (Over-Voltage) Cause Status at the time of alarm Issued when power supply control is turned ON. Issued when power supply of main circuit is turned ON. Issued while starting and stopping the servo motor. Corrective actions Cause Investigation and corrective actions...
  • Page 432 11. Maintenance Trouble shooting ■ Alarm Code 71 (Control Power Supply Under-voltage) Cause Status at the time of alarm Issued when power supply control is turned ON. Issued during operation. Corrective actions Cause Investigation and corrective actions ■ Defect in internal circuit of servo ■...
  • Page 433 11. Maintenance Trouble shooting ■ Alarm Code 84 (Serial Encoder Communication Error) Cause Status at the time of alarm Issued when power supply control is turned ON. Corrective actions Cause Investigation and corrective actions ■ Defect in internal circuit of motor encoder. ■...
  • Page 434 11. Maintenance Trouble shooting ■ Alarm Code A0 (Serial Encoder Internal Error 0) Cause Status at the time of alarm Issued when power supply control is turned ON. Issued while driving the servo motor. Corrective actions Cause Investigation and corrective actions ■...
  • Page 435 11. Maintenance Trouble shooting ■ Alarm Code A3 (Serial Encoder Internal Error 3) Cause Status at the time of alarm Issued when power supply control is turned ON. Issued while stopping the servo motor. Issued while stopping the servo motor. Corrective actions Cause Investigation and corrective actions...
  • Page 436 11. Maintenance Trouble shooting ■ Alarm Code C1 (Over-speed) Cause Status at the time of alarm Issued when command is entered after Servo ON. Issued when the servo motor is started. Issued other than operating and starting the motor. Corrective actions Cause Investigation and corrective actions ■...
  • Page 437 11. Maintenance Trouble shooting ■ Alarm Code C5 (Model Tracking Vibration Suppression, Control Error) Cause Status at the time of alarm Issued after entering position command Corrective actions Cause Investigation and corrective actions ■ Setup of model control gain is high. ■...
  • Page 438 11. Maintenance Trouble shooting ■ Alarm Code D2 (Position Command Error 1) ※ Cause Status at the time of alarm Issued after entering position command Corrective actions Cause Investigation and corrective actions ■ Velocity converted value of Position command exceeds the setting value of Position command error 1.
  • Page 439 11. Maintenance Trouble shooting ■ Alarm Code E1 (EEPROM Error) Cause Status at the time of alarm Issued during parameter change in Setup Software Corrective actions Cause Investigation and corrective actions ■ Defect in internal circuit of servo amplifier. ■ No response from EEPROM when saving ■...
  • Page 440 11. Maintenance Trouble shooting ■ Alarm Code E6 (System Parameter Error 2) Cause Status at the time of alarm Issued when control power supply is turned ON. Corrective actions Cause Investigation and corrective actions ■ Selected values of system parameters and ■...
  • Page 441 11. Maintenance Trouble shooting ■ Alarm Code EA (Motor code setting Error) Cause Status at the time of alarm Issued during amplifier initialization. Corrective actions Cause Investigation and corrective actions ■ Combinable motor code of amplifier capacity is not set. ■...
  • Page 442 11. Maintenance Trouble shooting ■ Alarm Code F1 (Task Process Error) Cause Status at the time of alarm Issued during operation. Corrective actions Cause Investigation and corrective actions ■ Defect in internal circuit of servo amplifier. ■ Replace the servo amplifier. ■...

  • Page 443: Encoder Clear And Alarm Reset Methods

    11．Maintenance Trouble shooting When Alarm Occurs 11.5 Encoder Clear and Alarm Reset Methods A procedure of "encoder clear and alarm reset method “differs by the motor encoder in use. Refer table below and recover from alarm state depending on alarm reset method applicable to motor encoder in use.

  • Page 444: Inspection

    11. Maintenance Inspection 11.6 Inspection For maintenance purposes, a daily inspection is typically sufficient. Upon inspection, refer to the following description. Testing conditions Inspection Inspection Inspection Solution if abnormal During While location Time Items Methods operation stopping Check for Daily Vibration excessive vibration.

  • Page 445: Maintenance Parts

    3.6 V during inspection, replace it with new one. ■ At SANYO DENKI, the overhauled servo amplifier is shipped with the same parameters as the ones before overhauling, however, be sure to confirm the parameters before use.

  • Page 446: How To Replace The Battery For Motor Encoder

    11．Maintenance Maintenance Parts How to Replace the Battery for Motor Encoder Process Description Turn ON the servo amplifier control power supply. Prepare the replacement lithium battery. [Our model number: AL-00697958-01] Open the battery case. Remove the battery connector. Take out the used lithium battery and put in the new replacement one. Attach the connector in the right direction.
  • Page 447 Fully-closed control 12.1 System configuration ······················································································································ 12-1 12.2 Internal Block Diagram···················································································································· 12-4 Block Diagram With Model Following Control ················································································· 12-4 Block Diagram Without Model Following Control ············································································· 12-5 12.3 Wiring ······································································································································· 12-6 Connector name and function ····································································································· 12-6 Terminal number ······················································································································ 12-6 12.4 Fully-closed control related parameters ····························································································...

  • Page 448: System Configuration

    12．Fully-closed control System configuration 12.1 System configuration Software Setup ■ RS2□01/RS2□03/ RS2□05 Note1） T S R SANMOTION ADVANCED MODEL Enables parameters setup and monitoring through EtherCAT With Interface communication with a PC. Wiring breaker (MCCB) Cuts off power in the case of an overload, to protect the power line.
  • Page 449 12．Fully-closed control System configuration ■ RS2□10/RS2□15 Setup software Note1) Parameter setting and monitoring can be pefromed via T S R SANMOTION ADVANCED MODEL communication with PC. EtherCAT With Interface Wiring breaker (MCCB) Used to protect power line. Power off when overcurrent runs.
  • Page 450 12．Fully-closed control System configuration ■RS2□30 T S R SANMOTION ADVANCED MODEL With EtherCAT Interface Molded case circuit breaker (MCCB) Setup software (Front cover opened) Note1) Used to protect power line. Power off when overcurrent runs. Parameter setting and monitoring can be pefromed via communication with PC.

  • Page 451: Internal Block Diagram

    12．Full-Closed Block Diagram With Model Following Control 12.2 Internal Block Diagram 1) Block Diagram With Model Following Control Higher Tracking Control Velocity Compensation Gain 0x2000 0x2007 Current TRCPGN Bit8 Limitation FF Filter Cycle Synchronization Position Offset 0x2008,1 0x2008,2 FF Vibration Position mode（csp）...

  • Page 452: Block Diagram Without Model Following Control

    Block Diagram Without Model Following Control Profile Position Mode (pp) Torque Compensation Polarity(Torque) 0x2000 0x60B2 0x607E 0x607A TRQOFF CMDPOL TAPOS Block Diagram Without Model Following Control Bit4 0x607D,1 Higher Tracking Control Velocity SMINLIM Software Compensation Gain 0x2000 Position Limit 0x200E 0x607D,2 TRCVGN Bit9...

  • Page 453: Wiring

    12．Full-Closed Wiring 12.3 Wiring 1) Connector name and function EN2 terminal number and signal name for external encoder are shown below. Refer to 4.3 “Motor Code Wiring” for the connection method of motor encoder (EN1). ■ EN2 External pulse encoder Signal name Description Note 1)

  • Page 454: Fully-Closed Control Related Parameters

    12．Full-Closed System Parameter 12.4 Fully-closed control related parameters When using by full-closed control, please set a parameter as follows. When using linear motor, fully closed control is not available. 1) System parameters settings The System parameters have the following restrictions when Full-closed control is used for operation: Full-closed control becomes valid when the Control mode is in [Positions control].
  • Page 455 12．Full-Closed Rotation direction of servo motor 2) Rotation direction setting for the servo motor Rotation of the servo motor in Full-closed control is determined by Command polarity and External pulse encoder polarity. ■ Setting of Command input polarity Group Polarity Object ID ■...

  • Page 456: Setting For External Encoder Resolution

    12．Full-Closed External Encoder resolution , Digital filter 3) Setting for external encoder resolution ■ Setting of External Encoder input pulse number Group External Encoder Division Setting Number Object ID ■ Set the external pulse encoder resolution to be used for Full-closed control. ■...

  • Page 457: Remarks

    12．Full-Closed Remarks 12.5 Remarks 1) Input power timing for the external pulse encoder ■ Please provide the power supply for the External pulse encoder on your own. ■ Turn the power ON before or at the same time of inputting the Control power to the servo amplifier. If there is more than 1s delay from the Control power input, [AL83 Alarm] (encoder connector 2 wire down) may occur.
  • Page 458 No Text on This Page.
  • Page 459 Setting of magnetic pole position estimation method ··························································································· 13-8 Setting of moving direction ··························································································································· 13-10 13.4 Precautions ·················································································································································· 13-11 When you use SANYO DENKI servo amplifier with other manufacturer linear motor combined. ································· 13-11 Setting of parameters to combine amplifier and motor ························································································ 13-11...
  • Page 460 13．Linear motor System configuration diagram 13.1 System configuration diagram RS2□01L / RS2□03L / RS2□05 SANMOTION ADVANCED MODEL (Front cover opened) EtherCAT T S R With Interface Performs parameter setting and monitoring Molded case circuit breaker by connected with PC. (MCCB) Note1) Setup software Used to protect power line.
  • Page 461 13．Linear motor System configuration diagram ■RS2□10L / RS2□15L (Front cover opened) SANMOTION ADVANCED MODEL Performs parameter setting and monitoring by connected with PC. EtherCAT With Interface T S R Molded case circuit breaker Note1) Setup software (MCCB) Used to protect power line. Turns off the power supply if overcurrent runs.

  • Page 462: Linear Motor

    13．Linear motor System configuration diagram ■RS2□30L SANMOTION ADVANCED MODEL T S R EtherCAT With Interface Molded case circuit breaker (Front cover opened) (MCCB) Used to protect power line. Turns off the power supply if overcurrent runs. Performs parameter setting and monitoring by connected with PC.

  • Page 463: Wiring

    13．Linear motor System configuration diagram 13.2 Wiring 1) Recommended specification for encoder cable Shielded many-to-one cable Cable rating 80℃ 30V Conductor resistance value 1Ω or less Note1) Conductor size AWG size: 26 to 18 ）: 0.15 to 0.75 SQ（mm Note1) Shows conductor resistance value for the conductor length to be actually used. 2) Encoder cable length Maximum cable lengths by conductor size of power (5V, SG) cable Conductor resistance...

  • Page 464: Connector Names And Functions

    13．Linear motor System configuration diagram 4) Connector names and functions The following shows terminal numbers and signal names of linear scale sensor EN1. ■ Linear sensor EN1 (incremental differential output) Remarks Signal name Description Terminal number Note1) Note3) Twisted-pair Power supply common Note4) Note3) Twisted-pair...

  • Page 465: Linear Motor Control-Related Parameters

    13．Linear motor System configuration diagram 13.3 Linear motor control-related parameters Set the parameters as follows to use linear motor. 1) Setting of system parameter Group Contents Object ID Motor code ■ Set combination motor code you use. Set the combination motor code by selecting the linear motor code you use from “section 1.6, list of combination motor”...

  • Page 466: Setting Of Linear Scale Sensor

    13．Linear motor System configuration diagram 2) Setting of linear scale sensor CS-detection method of linear motor varies depending on system parameter “System ID04” or “OD：0x20FF, 0x01 sensor type code.” Verify the following parameter settings. Group Contents Object ID Encoder digital filter selection （EN1） ■...

  • Page 467: Setting Of Magnetic Pole Position Estimation Method

    13．Linear motor System configuration diagram 3) Setting of magnetic pole position estimation method CS-detection method of linear motor varies depending on system parameter “System ID04” or “OD：0x20FF, 0x01 sensor type code.” Verify the following parameter settings. Group Contents Object ID Hall sensor digital filter selection (External encoder digital filter selection) ■...
  • Page 468 13．Linear motor System configuration diagram Group Contents Object ID Magnetic pole position estimation frequency ■ Set frequency of torque (force) applied at magnetic pole position estimation. Setting range ：5 to 100Hz GroupB 0x20F1, 0x08 ：50Hz Initial value ID0C EMPFREQ ✔ Change excitation frequency when detection cannot be normally completed due to resonance point of machine, at amplifier hardware magnetic pole position estimation.
  • Page 469 13．Linear motor System configuration diagram 4) Setting of moving direction Moving direction of linear motor depends on polarity of command and linear scale sensor. ■ Setting of command-input polarity Group Contents Object ID Polarity ■ Select position command polarity from the following contents. Servo motor moving direction can be reversed without changing command wiring.

  • Page 470: Precautions

    13．Safe Torque Off Function Safety Precautions 13.4 Precautions 1) When you use SANYO DENKI servo amplifier with other manufacturer linear motor combined. ■ When you use our servo amplifier with other manufacturer linear motor combined, we provide “servo amplifier parameter (motor parameter file)” needed to drive the motor based on motor constants you provide us. In this case, we do not conduct any combination tests of servo amplifier and the linear motor, so we assume no responsibility whatsoever for any combination operations and characteristics of the motor.
  • Page 471 14 Safe Torque Off (STO) Function 14.1 System configuration ······································································································································· 14-1 14.2 Safe Torque Off (STO) Function ························································································································· 14-5 Overview ··················································································································································· 14-5 Standards Conformity ··································································································································· 14-5 Risk assessment ········································································································································· 14-6 Residual risk ··············································································································································· 14-6 Delay Circuit ··············································································································································· 14-6 14.3 Wiring ··························································································································································· 14-7 CN2 connector disposition ·····························································································································...

  • Page 472: System Configuration

    14．Safe Torque Off Function System configuration 14.1 System configuration ■ RS2□01/RS2□03/ RS2□05 (Rotary motor) Note1） Setup software T S R SANMOTION ADVANCED MODEL EtherCAT With Interface Parameter setting and Molded case circuit breaker monitoring can be (MCCB) performed by communicating with PC. Used to protect power line.
  • Page 473 14．Safe Torque Off Function Safe Torque Off Function ■ RS2□10/RS2□15 (Rotary motor) Note1） Software Setup Parameter setting and monitoring can be performed T S R by communicating with PC. Molded case circuit breaker (MCCB) SANMOTION ADVANCED MODEL EtherCAT With Interface Used to protect power line.
  • Page 474 14．Safe Torque Off Function Safe Torque Off Function ■ RS2□30 (Rotary motor) SANMOTION ADVANCED MODEL EtherCAT With Interface T S R (Front cover opened) Molded case circuit breaker (MCCB) Used to protect power line. Parameter setting and monitoring can Turns off the power when overcurrent runs. be performed by communicating with Noise filter Software Setup...
  • Page 475 14．Safe Torque Off Function Safe Torque Off Function ■RS2□##L (Linear motor) This system configuration is for RS2□10L. Refer to section 13 Linear motor, system configuration diagram for the other system configuration. (Front cover opened) SANMOTION ADVANCED MODEL Parameter setting and monitoring can be performed by communicating with EtherCAT With...

  • Page 476: Safe Torque Off (Sto) Function

    14．Safe Torque Off Function Safe Torque Off Function 14.2 Safe Torque Off (STO) Function The Safe Torque Off function reduces injury risks for those working near the moving parts of the equipment. This function uses 2-channel input signals to interrupt electric current to the servo motor. Historically, we used to keep machine safety by shutting down power supply to servo amplifier using Circuit breaker etc.

  • Page 477: Risk Assessment

    14．Safe Torque Off Function Safe Torque Off Function 3) Risk assessment The servo amp unit meets the requirements of the above functional safety standards. However, before activating this safety function, be sure to assess the risks associated with the overall equipment to ensure safety. 4) Residual risk Note that activating the STO function does not address the following hazards.

  • Page 478: Wiring

    14．Safe Torque Off Function Wiring 14.3 Wiring 1) CN2 connector disposition ■ MUF-PK10K-X (*View of connecter from soldered direction.) 2) Wiring diagram for CN2 terminals The CN2 pin functions and connected circuits are described below. Symbol Description BAT + Battery input Battery connection terminal terminal (Refer to [Wiring (4)] for details.)
  • Page 479 14．Safe Torque Off Function Safe Torque Off Operations 3) Example of wiring Example of wiring to safety switch (1-axis used) Servo amplifier DC24V 2.2kΩ HWGOFF1＋ HWGOFF1－ 4.7kΩ HWGOFF2＋ 2.2kΩ HWGOFF2－ 4.7kΩ EDM＋ EDM－ Example of wiring to safety unit (multiple axes used) Safety unit Servo amplifier 2.2kΩ...

  • Page 480: Safety Input-Off Shot Pulse For Safety Device Self-Diagnosis

    14. Safe Torque Off function Wiring 4) Safety input-off shot pulse for safety device self-diagnosis When you connect safety device supplied with safety input-off shot pulse signal for self-diagnosis added to safety output signal, such as safety unit or safety sensor, use safety device whose safety input-off shot pulse signal is 1ms or less. Safe-torque-off function is not activated when the period of safety input signal (HWGOFF1, HWGOFF2)-OFF is 1ms or less.

  • Page 481: Recovery From Safe Torque Off Active State

    14．Safe Torque Off Function Reset from STO Active State 2) Recovery from Safe Torque Off active state While servo-off signal is input as described in 1), turning on the safety input 1 or safety input 2 signal activates SRDY state. Operations may resume when servo-on signal is input.

  • Page 482: Safe Torque Off While Servo Motor Running

    14．Safe Torque Off Function Safe Torque Off while Servo Motor Running 3) Safe Torque Off while Servo Motor Running Depending on setting of Disabling Operation Option code(0x605C,0x00:[DISOP]),it will be vary how the motor stops. ■ In case the setting value is either -4 or -5 (motor stops with servo brake when servo off) Depending on amplifier part number, it varies how the motor stops.
  • Page 483 14．Safe Torque Off Function Safe Torque Off while Servo Motor Running ■ In case the setting value is either -2 or -3 (motor stops with dynamic brake when servo off) When either safety input 1or safety input 2 input is off, current to servo motor is shut down, then motor stops by dynamic brake. ◆...

  • Page 484: Safe Torque Off While Servo Motor Stoppage

    14．Safe Torque Off Function Safe Torque Off during Servo Motor Stoppage 4) Safe Torque Off while Servo Motor stoppage Turning Off safety input 1 or safety input 2 input causes the holding brake signal to issue notification of the operating status. However, since this interrupts current supply to the servo motor, the "holding brake delay time"...

  • Page 485: Deviation Clear

    14．Safe Torque Off Function Deviation clear, Detecting HWGOFF Signal Errors 5) Deviation clear Note the following if the Deviation Clear Selection parameter (0x20F0,0x05:[CLR]) is set to Type 3 or Type 4 (do not clear deviations when Servo Off). As long as positioning commands are being issued during position control, activating the safe torque off function will trigger the excessive cumulative positional deviation error (alarm D1).

  • Page 486: Error Detection Monitor (Edm)

    14．Safe Torque Off Function Error Detection Monitor (EDM) 14.5 Error Detection Monitor (EDM) 1) Specifications The EDM output signals monitor errors in the safe torque off circuit, /HWGOFF1 wire, or /HWGOFF2 wire. The following table shows the relationships among /HWGOFF1 input, /HWGOFF2 input, and EDM output. Signal State Safety input 1 (HWGOFF1)

  • Page 487: Confirmation Test

    14．Safe Torque Off Function Confirmation Test 14.6 Confirmation Test Before using the safe torque off function, you must confirm that the safe torque off operations correctly during machine startup and servo amp replacement. 1) Preparations Before performing the confirmation test, perform a test operation to confirm that the equipment operates properly and that there are no problems in the servo amp, servo motor installation, or wire connections.

  • Page 488: Safety Precautions

    14．Safe Torque Off Function Safety Precautions 14.7 Safety Precautions As for Safe Torque Off function, strictly adhere to the following safety precautions. Incorrect use of this function can result in physical injury and damage to people and/or machinery.  The person who designs a system using the safety function (STO function) must have full knowledge of the related safety standards and full understanding of the instructions in this manual.
  • Page 489 Selection 15.1 Rotary Motor Sizing ····················································································································· 15-1 Flowchart of Servo Motor Sizing ·································································································· 15-1 Make an operation pattern·········································································································· 15-2 Calculate motor axis conversion load moment of inertia (J ) ······························································ 15-2 Calculate motor shaft conversion load torque (T ) ··········································································· 15-3 Calculate acceleration torque (T ) ································································································...

  • Page 490: Rotary Motor Sizing

    15．Selection Servo Motor Sizing 15.1 Rotary Motor Sizing It is estimated that selection of servo motor capacity computes required servo motor capacity from machine specification (composition). In addition, since the capacity selection of a servo motor can download "the capacity selection software of a servo motor"...

  • Page 491: Make An Operation Pattern

    15．Selection Servo Motor Sizing 2) Make an operation pattern Velocity min Time[s] ta= Acceleration time tb= Deceleration time tr= Constant velocity time ts= Stop time t=1 cycle 3) Calculate motor axis conversion load moment of inertia (J The inertia moment of a moving part ■...

  • Page 492: Calculate Motor Shaft Conversion Load Torque (T L )

    15．Selection Servo Motor Sizing 4) Calculate motor shaft conversion load torque (T Ball screw (in horizontal axis) ■ (F＋μ W) [N・m] × × × η 2π ■ Ball screw (in vertical axis) When motor drives upward (F＋(μ ＋1)W) × [N・m] ×...
  • Page 493 15．Selection Servo Motor Sizing ■ Belt pulley (Vertical axis) (F＋(μ ＋1)W) × × [N・m] × η Belt pulley (in vertical axis) ■ When motor drives upward (F＋(μ ＋1)W) [N・m] × × × η When motor drives downward (F＋(μ －1)W) [N・m] ×...

  • Page 494: Calculate Acceleration Torque (T A )

    15．Selection Servo Motor Sizing 5) Calculate acceleration torque (T 2π (N ) ×(J ＋J [N・m] 60×ta : Servo motor rotation velocity after acceleration [min : Servo motor rotation velocity before acceleration [min : Load inertia moment [kg･m : Rotor inertia moment of servo motor [kg･m 6) Calculate deceleration torque (T 2π...

  • Page 495: Linear Motor Sizing

    15．Selection Servo Motor Sizing 15.2 Linear motor sizing It is estimated that selection of servo motor capacity computes required servo motor capacity from machine specification (composition). Here, the fundamental formula is described. 1) Linear motor sizing flow chart ① Provisional motor sizing Provisionally select a coil whose maxim force meets the required force in use.

  • Page 496: Required Maximum Force And Effective Force

    15．Selection Servo Motor Sizing 2) Required maximum force and effective force ■ Calculate frictional force Ff. Ff＝（ M･g･cosθ + Fatt ）･μ + Fadd : Coil mass [kg] : Load mass [kg] : Moving part mass＝MC + ML [kg] : Gravity acceleration＝9.8 [m/s2] cosθ...

  • Page 497: Selection Of Magnet Rail

    15．Selection Servo Motor Sizing 3) Selection of magnet rail The following 5 types of length for magnet rail-with core, no core: 64， 128， 256， 512， 1024 [mm] Determine the length so that “magnet rail length≧ coil length +stroke + margin.” Provided that, install magnet rail for the half-length from the end of the entire stroke and enable coil to be installed in moving stage in the part magnet rail not installed, to ease coil installation into machine.

  • Page 498: Capacity Selection Of Regenerative Resistor

    15．Selection Capacity Selection of Regenerative Resistor 15.3 Capacity Selection of Regenerative Resistor Calculate "regeneration effective power (PM)", and determine the capacity of the regeneration resistance to be used. Judge whether usage of an internal regenerative register machine is possible by this calculation result. 1) How to find "regeneration effective power (PM)"...

  • Page 499: How To Find "Regeneration Effective Power (Pm)" Of The Vertical Axis Drive By A Formula （Rotary Motor

    15．Selection Capacity Selection of Regenerative Resistor 2) How to find "regeneration effective power (PM)" of the vertical axis drive by a formula （Rotary motor） ■ Calculate regeneration energy. EM = EVUb + EVD + EVDb × N × 3・Keφ × ×...

  • Page 500: How To Find "Regeneration Effective Power (Pm)" Of The Vertical Axis Drive By A Formula (Linear Motor)

    15．Selection Capacity Selection of Regenerative Resistor 3) How to find "regeneration effective power (PM)" of the vertical axis drive by a formula (Linear motor) ■ Calculate regeneration energy. 3･Rφ･tb M･V － Ff･tb PM ＝ ・M ･ V [J/s]＝[W] － ･Ff･tb －...

  • Page 501: Capacity Selection Of External Regenerative Resistor

    15．Selection Capacity of External Regenerative Resistor and Model Name 4) Capacity Selection of Regenerative Resistor Judge whether an internal regenerative resistor can be used from the calculation result. Moreover, when you cannot use it, determine the capacity of an external regeneration resistor. Allowable power of an internal regenerative resistor ■...

  • Page 502: Selection Of External Regenerative Resistor Instantaneous Tolerance

    15．Selection Servo Motor Sizing Servo amplifier 125W or Less than [PM] 250W or less 500W or more model number less 500W Resistor Sign J×1 K×2 J×4 Please contact us RS2#15A#AL0 Connection Ⅲ Ⅴ Ⅵ Number Servo amplifier 125W or Less than [PM] 250W or less 500W or more...
  • Page 503 15．Selection Connection of Regenerative Resistance 8) Connection of Regenerative Resistance The connection method of a resistor corresponds with the connection number of the external regeneration resistor selected by the 4) clause. ■ Connection of regenerative resistance Connection Number 3 Connection Number 4 ■...

  • Page 504: Thermostat Connection Of External Regenerative Resistor

    15．Selection Thermostat Connection 9) Thermostat Connection of External Regenerative Resistor Connect a thermostat to either of "the general inputs CONT1-CONT2." Please allocate the connected general input signal to [Group9 ID02: External Trip Input Function of General Parameter (0x20F8, 0x03)[EXT-E]]. ■ Example: When connecting the thermostat to CONT2 The external trip function will be valid when【05H:CONT2_OFF】CONT2 is turned off in [Grop9 ID02 External Trip Input Function(0x20F8,0x03)[EXT-E]].

  • Page 505: Confirmation Method Of Regeneration Effective Power Pm In Actual Operation

    15．Selection Confirmation method of regeneration power in actual operation 11) Confirmation method of regeneration effective power PM in actual operation Regeneration effective power PM can be easily confirmed in the digital operator or by R ADVANCED MODEL setup software and CoE Object. ■...
  • Page 506 No Text on This Page.
  • Page 507 16. Appendix 16.1 Standards Conformity ............................16-1 Standards conformity ............................16-1 Over-voltage Category，Protection Grade, Pollution Level ................16-1 Connection，Installation ..........................16-2 UL File Number .............................. 16-2 16.2 Compliance with EN Directives .......................... 16-3 Conformity verification test ..........................16-3 EMC Installation Requirements ........................16-4 16.3 Servo Motor Dimension ............................

  • Page 508: Appendix

    16. Appendix Standards Conformity 16.1 Standards Conformity Conformance examinations of overseas standards for our products are implemented by certificate authorities, and attestation markings are performed based on the certificates of attestation issued by the authorities. Standards conformity The following overseas standard examinations are implemented for the product. ■...

  • Page 509: Connection，Installation

    16. Appendix Standards Conformity Connection，Installation Be careful of connection and installation as follows. Always ground the protective earth terminals of the servo amplifier to the power supply earth. When connecting grounding wire to the protective earth terminal, always connect one wire in one terminal;...
  • Page 510 16. Appendix Compliance with EN Directives 16.2 Compliance with EN Directives We implement the conformity verification test of "Low Voltage Directive" and "an EMC command" in a certificate authority so that a user's CE Marking acquisition can be performed easily, and servo amplifier CE Marking is done based on the published certificate of attestation.

  • Page 511: Emc Installation Requirements

    16. Appendix Compliance with EN Directives EMC Installation Requirements For the installation requirements, in our company the verification test is implemented by the following installations and measures methods, as machines and configurations differ depending on customers’ needs. This servo amplifier has been authorized to display CE marking based on the recognition certificate issued by a certifying authority.

  • Page 512: Servo Motor Dimension

    16. Appendix Outline dimensional drawing of servo motor [R2□40-□100] 16.3 Servo Motor Dimension R2 motor, Flange Size 40mm, 60mm, 80mm, 86mm and 100mm QE Tap Oil seal (Optional) Depth LT Note1 Teflon Wire Teflon Wire (For fixing) (For fixing) Shielded cable (for fixing) (For motor and earth) (For brake) For sensor...

  • Page 513: R2 Motor, Flange Size 130Mm 0.5Kw To 1.8Kw

    16. Appendix Outline dimensional drawing of servo motor [R2□130] R2 motor, Flange Size 130mm 0.5kW to 1.8kW Battery backup method absolute encoder Incremental encoder Absolute encoder for incremental system Without Brake With Brake Without Brake With Brake Servo motor model number R2AA13050△□◇...

  • Page 514: R2 Motor, Flange Size 180Mm 3.5Kw To 7.5Kw

    Outline dimensional drawing of servo motor [R2□180] 11.Appendix R2 motor, Flange Size 180mm 3.5kW to 7.5kW Battery backup method absolute encoder Incremental encoder Absolute encoder for incremental system Without Brake With Brake Without Brake With Brake Servo motor LL KB2 KB3 KL3 KB2 KB3 KL3 KB2 KB3 KB2 KB3 KL3 LG KL1 KL2...

  • Page 515: R2 Motor, Flange Size 220Mm 3.5Kw To 5Kw

    16. Appendix Outline dimensional drawing of servo motor [R2□130] R2 motor, Flange Size 220mm 3.5kW to 5kW Battery backup method absolute encoder Incremental encoder Absolute encoder for incremental system Without Brake With Brake Without Brake With Brake Servo motor model number R2AA22500△□◇...

  • Page 516: R5 Motor, Flange Size 60Mm, 80Mm

    16. Appendix Servo motor dimensional drawing [R5□60-□80] R5 motor, flange size 60mm, 80mm 0.07 □LC LL±1 0.02 (LG) 4-φLZ1 0.06 N.P. N.P. Oil seal M5×0.8 (φD1) (φD2) (φD3) Depth LT Cable for motor（for fix） Shielded cabel for sensor（for fix） Motor,Earth 0.75mm AWG26,3-pair Cable for brake（for fix）...

  • Page 517: Q1 Motor, Flange Size 100Mm, 120Mm, 130Mm, And 180Mm

    16. Appendixes Outline dimensional drawing of servo motor [Q1□100-□180] Q1 motor, flange size 100mm, 120mm, 130mm, and 180mm Tap QE Oil seal Depth LT Type S Eyebolt (or equivalents) For sensor (Tap for removing motor) Section H-H MS3102A□□-□□□(or equivalents) JL04V-2E10SL-3PE-B (ブレーキ用) For motor, break, grounding For breaking...

  • Page 518: Q2 Motor, Flange Size 130Mm, 180Mm, And 220Mm

    16. Appendix Outline dimensional drawing of servo motor [Q2□130-□220 Q2 motor, flange size 130mm, 180mm, and 220mm Tap QE Oil seal Depth LT Type S Eyebolt (Or equivalents) For sensor (Tap for removing motor) Section H-H (Or equivalents) JL04V-2E10SL-3PE-B For motor, break, grounding For breaking (ブレーキ用) Wire-saving incremental encoder...

  • Page 519: Q4 Motor, Flange Size 180Mm

    16. Appendix Outline dimensional drawing of servo motor [Q4□180] Q4 motor, flange size 180mm Key position キー位置 Key position キー位置 MS3102A32-17P （相当品） Or equivalents MS3102A10SL-4P MS3102A20-29P （相当品） Or equivalents (モータ用) （ファンモータ用） （エンコーダ用） For motor For fan motor For encoder □180 0.10 アイボルト...

  • Page 520: Single Magnet Core Type Linear Servo Motor

    16. Appendix Outline dimensional drawing of linear motor [DS] Single magnet core type linear servo motor ●Outline dimensional drawing of single magnet core-type linear motor coil DS□□□C1 N1-M5 Depth7 (The number of taps par 1line :N2) Hall sensor DS□□□C2 N1-M5 Depth7 (The number of taps par 1line :N2) Hall sensor DS□□□C3...
  • Page 521 16. Appendix Outline dimensional drawing of linear motor [DS]  Single magnet core-type, outline dimensional drawing of magnet rail DS□□□M□□□B00 N3-φ6.5 φ11Spot facing Depth: d Dimension Coil model. no. M064B00 63.3 M128B00 127.3 DS030 31.65 14.25 M256B00 255.3 M512B00 511.3 M064B00 63.3 M128B00...

  • Page 522: Dual Magnet Core Type Linear Servo Motor

    16. Appendix Outline dimensional drawing of linear motor [DD] Dual magnet core type linear servo motor  Dual magnet core type linear servo motor Coil Dimension DD□□□C□ N1-M8 Depth12 Dimension Coil model. no. W1(mm) L1(mm) L2(mm) L3(mm) H1(mm) H2(mm) C1Y4 40.5 50.5 DD030...

  • Page 523: Servo Motor Data Sheet

    16. Appendix Servo motor data sheet 16.4 Servo Motor Data Sheet Characteristics table Specification of R2 motor, AC200V ■ Servo motor model number R2AA 04003F 04005F 04010F 06010F 06020F 06040H 08020F Amplifier size combined RS2A01 RS2A01 RS2A01 RS2A01 RS2A01 RS2A01 RS2A01 *Rated output 0.03...
  • Page 524 16. Appendix Servo motor data sheet Servo motor model number R2AA 10100F 13050H 13050D 13120B 13120D 13120L 13180H Amplifier size combined RS2A05 RS2A03 RS2A03 RS2A03 RS2A05 RS2A05 RS2A05 *Rated output 0.55 0.55 *Rated velocity 3000 2000 2000 2000 2000 2000 2000 *Maximum velocity 6000...
  • Page 525 16. Appendix Servo motor data sheet Servo motor model number R2AA 18550H 18750H 1811KR 22500L Amplifier size combined RS2A30 RS2A30 RS2A30 RS2A15 *Rated output *Rated velocity 1500 1500 1500 2000 *Maximum velocity 3000 3000 2500 4000 *Rated torque N･m 35.0 48.0 70.0 24.0...
  • Page 526 16. Appendix Servo motor data sheet Specification of R5 motor, AC200V ■ Servo motor model number R5AA 06020H 06020F 06040H 06040F 08075D 08075F Amplifier size combined RS2A01 RS2A01 RS2A01 RS2A03 RS2A03 RS2A03 *Rated output 0.75 0.75 *Rated velocity 3000 3000 3000 3000 3000...
  • Page 527 16. Appendix Servo motor data sheet Specification of Q1 motor, AC200V ■ Servo motor model number Q1AA 10200D 10250D 12200D 12300D 13300D Amplifier capacity of the servo amplifier to combine RS2A10 RS2A10 RS2A10 RS2A10 RS2A10 *Rated output *Rated velocity 3000 3000 3000 3000...
  • Page 528 16. Appendix Servo motor data sheet Specification of Q2 motor, AC200V ■ Servo motor model Q2AA 13200H 18200H 18350H 18450H 18550R 22550B Amplifier capacity of the servo amplifier to combine RS2A10 RS2A10 RS2A15 RS2A15 RS2A15 RS2A15 *Rated output *Rated velocity 2000 2000 2000...
  • Page 529 16. Appendix Servo motor data sheet Specification of Q4 motor, AC200V ■ Servo motor model Q4AA 1811KB 1815KB Amplifier capacity of the servo amplifier to combine RS2A30 RS2A30 *Rated output *Rated velocity 1500 1500 *Maximum velocity Nmax 2000 2000 *Rated torque N･m 95.5 *Continuous Torque at stall...
  • Page 530 16. Appendix Servo motor data sheet Specification of single magnet core-type, AC200V ■ Linear motor model DS 075C1N2 075C2N2 075C3N2 100C1N2 100C2N2 100C3N2 Amplifier capacity of the servo amplifier to combine RS2A03L RS2A05L RS2A10L RS2A05L RS2A10L RS2A15L *Rated output 0.64 1.28 1.92 1.51...
  • Page 531 16. Appendix Velocity-torque characteristic Specification of dual magnet core-type (DD), AC200V ■ Linear motor model DD 030C1Y4 030C2Y4 030C3Y4 050C1Y2 050C3Y2 050C2Y2 Amplifier capacity of the servo amplifier to combine RS2A05L RS2A10L RS2A10L RS2A10L RS2A30L RS2A15L *Rated output 0.95 1.89 2.84 2.10 4.20...

  • Page 532: Velocity-Torque Characteristics

    16. Appendix Velocity-torque characteristic Velocity-Torque characteristics The value of velocity-torque characteristic of R2AA motor shown below is the values when using input power supply AC200V, 3-phase and single-phase. When the voltage is under 200V, instantaneous zone decreases. Velocity-torque characteristic Velocity-torque characteristic Velocity-torque characteristic R2AA04003F (30W) R2AA04005F (50W)
  • Page 533 16. Appendix Velocity-torque characteristic Velocity-torque characteristic Velocity-torque characteristic Velocity-torque characteristic R2AA10075F (750W) R2AA10100F (1kW) R2AAB8100F (1kW) 3Φ 3Φ Instantaneous 3Φ 1Φ Instantaneous Instantaneous 1Φ 1Φ Continuous Continuous Continuous 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000 Velocity (min Velocity (min...
  • Page 534 16. Appendix Velocity-torque characteristic Velocity-torque characteristic Velocity-torque characteristic Velocity-torque characteristic R2AA18450H (4.5kW) R2AA18350D (3.5kW) R2AA18350L (3.5kW) Instantaneous Instantaneous Instantaneous Continuous Continuous Continuous 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 Velocity (min Velocity (min Velocity (min Velocity-torque characteristic Velocity-torque characteristic...
  • Page 535 16. Appendix Velocity-torque characteristic R2EA Motor Velocity-Torque Characteristics indicate the values when amplifier power supply is AC100V. Instant domain decreases when amplifier power supply is below 100V. Velocity-torque characteristic Velocity-torque characteristic Velocity-torque characteristic R2EA04008F (80W) R2EA04003F (30W) R2EA04005F (50W) Instantaneous zone Instantaneous zone Instantaneous zone Continuous zone...
  • Page 536 16. Appendix Velocity-torque characteristic R5AA Motor velocity-torque characteristics indicate the values when amplifier power supply is AC200V. Instantaneous zone decreases when amplifier power supply is below 200V. Velocity-torque characteristic Velocity-torque characteristic Velocity-torque characteristic R5AA06020H (200W) R5AA06020F (200W) R5AA06040H (400W) 3Φ 1Φ...
  • Page 537 16. Appendix Velocity-torque characteristic Velocity-torque characteristic of Q1AA motor shows when input power supply is AC200V, 3-phase. When power voltage is under 200V, instantaneous zone decreases. Velocity-torque characteristic Velocity-torque characteristic Velocity-torque characteristic Q1AA10250D (2.5kW) Q1AA10200D (2kW) Q1AA12200D (2kW) Instantaneous zone Instantaneous zone Instantaneous zone Instantaneous zone...
  • Page 538 16. Appendix Velocity-torque characteristic Velocity-torque characteristic Velocity-torque characteristic Velocity-torque characteristic Q2AA18550R (5.5kW) Q2AA18450H (4.5kW) Q2AA22550B (5.5kW) Instantaneous zone Instantaneous zone Instantaneous zone Instantaneous zone Instantaneous zone Continuous zone Continuous zone Continuous zone Continuous zone 1000 2000 3000 1000 2000 3000 1000 2000 3000...

  • Page 539: Velocity-Force Characteristics

    16. Appendix Velocity-force characteristics 3) Velocity-force characteristics Velocity-force characteristic of DS linear motor is the value when input power is AC200V, 3-phase. When the power supply voltage is under 200V, the instantaneous zone decreases. Velocity-force characteristic Velocity-force characteristic Velocity-force characteristic DS0360C3N2 DS030C1N2 DS030C2N2...
  • Page 540 16. Appendix Velocity-force characteristics Velocity-force characteristic Velocity-force characteristic Velocity-force characteristic DS100C3N2 DS100C1N2 DS100C2N2 1400 4000 2500 3500 1200 2000 Instantaneous 3000 Instantaneous zone 1000 zone Instantaneous zone 2500 1500 2000 1000 Continuous zone 1500 Continuous zone 1000 Continuous zone Velocity v[m/s] Velocity v[m/s] Velocity v[m/s] Velocity-force characteristic...
  • Page 541 16. Appendix Velocity-force characteristics Velocity-force characteristic of DD linear motor is the value when input power is AC200V. 3-phase. When the power supply voltage is under 200V, the instantaneous zone decreases. Velocity-force characteristic Velocity-force characteristic Velocity-force characteristic DD030C3Y4 DD030C1Y4 DD030C2Y4 2000 1400 Instantaneous zone...

  • Page 542: Overload Characteristics

    16. Appendix Velocity-force characteristics 4) Overload characteristics The following show overload characteristic of R2AA motor. Overload characteristic Overload characteristic Overload characteristic R2AA04005F (50W) R2AA04003F (30W) R2AA04010F (100W) 10000 10000 10000 Max rotational velocity At stoppage 度 停止時 1000 1000 1000 When rotating 回転時...
  • Page 543 16. Appendix Velocity-force characteristics Overload characteristic Overload characteristic Overload characteristic R2AA10075F (750W) R2AAB8100F (1kW) R2AA10100F (1kW) R2 AA10075 F（7 50W） 10000 1 00 00 10000 Max rotational velocity At stoppage 10 00 1000 1000 1 00 When rotating At stoppage Output current ratio (I/IR) 0.
  • Page 544 16. Appendix Velocity-force characteristics Overload characteristic Overload characteristic Overload characteristic R2AA18350D (3.5kW) R2AA18450H (4.5kW) R2AA18350L (3.5kW) R2AA1835 0D（3.5kW） （ ） 10000 10000 100 0 0 Max rotational velocity At stoppage 1000 1000 10 0 0 1 0 0 0 .5 1 .5 2.
  • Page 545 16. Appendix Velocity-force characteristics The following show overload characteristic of R2EA motor. Overload characteristic Overload characteristic Overload characteristic R2EA04005F (50W) R2EA04008F (80W) R2EA04003F (30W) 10000 10000 10000 1000 1000 1000 Output current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR) Overload characteristic Overload characteristic R2EA06020F (200W)
  • Page 546 16. Appendix Velocity-force characteristics The following show overload characteristic of Q1AA motor. Overload characteristic Overload characteristic Overload characteristic Q1AA10200D (2kW) Q1AA10250D (2.5kW) Q1AA12200D (2kW) 10000 10000 10000 Maximum Rotational velocity At stoppage 1000 1000 1000 Output current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR) Overload characteristic Overload characteristic...
  • Page 547 16. Appendix Velocity-force characteristics Overload characteristic Overload characteristic Overload characteristic Q2AA18450H (4.5kW) Q2AA22550B (5.5kW) Q2AA18550R (5.5kW) 10000 10000 10000 Maximum rotational velocity At stoppage 1000 1000 1000 Output current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR) Overload characteristic Overload characteristic Overload characteristic Q2AA22700S (7kW)
  • Page 548 16. Appendix Velocity-force characteristics The following show overload characteristic of DS linear motor. Overload characteristic Overload characteristic Overload characteristic DS030C1N2 (0.64 kW) DS030C2N2 (1.28 kW) DS030C3N2 (1.92 kW) 10000 1000 10000 1000 1000 Output current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR) Overload characteristic Overload characteristic...
  • Page 549 16. Appendix Velocity-force characteristics Overload characteristic Overload characteristic Overload characteristic DS100C1N2 (1.512 kW) DS100C2N2 (3.024 kW) DS100C3N2 (4.536 kW) 10000 10000 10000 1000 1000 1000 Output current ratio （I/IR） Output current ratio （I/IR） Output current ratio （I/IR） Overload characteristic Overload characteristic Overload characteristic DS150C2N2 (2.88 kW) DS150C3N2 (4.32 kW)
  • Page 550 16. Appendix Velocity-force characteristics The following show overload characteristic of DD linear motor. Overload characteristic Overload characteristic Overload characteristic DD030C1Y4 (0.95 kW) DD030C3Y4 (2.84 kW) DD030C2Y4 (1.89) 10000 10000 10000 1000 1000 1000 Output current ratio （I/IR） Output current ratio （I/IR） Output current ratio （I/IR）...

  • Page 551: Servo Amplifier Dimensions

    16．Appendixes Servo amplifier dimension 16.5 Servo amplifier dimensions RS2□01A□□L□ Terminal Layout DETAIL A DETAIL B (70) (17) Direction of installation RS2□03A□□L□ Terminal Layout DETAIL A DETAIL B (70) (17) Direction of installation Cooling Fan 16- 44...
  • Page 552 16．Appendixes Servo amplifier dimension RS2□05A□□L□ Terminal Layout DETAIL A DETAIL B (70) (17) Direction of installation Cooling Fan Inlet RS2□10A□□A□ Direction of Installation 16- 45...
  • Page 553 16. Appendix Servo Amplifier Dimension RS2□15A□□A□ Direction of Installation RS2□30A□□L□ Direction of Installation 16- 46...

  • Page 554: Optional Parts

    16.6 Optional parts 1) Connectors layout on servo amplifier SANYO DENKI offers the following optional parts. RS2#01, RS2#03, RS2#05 Note1) The following connectors have SANYO DENKI connector model numbers. Front cover open CN6: Used for setting up connection, only for amplifier model trailing number 1, 3, and 5.
  • Page 555 16. Appendix Optional parts (connectors) RS2#10, RS2#15 CN6: Used for setting up connection, only for Front cover open amplifier model trailing number 1, 3, and CN5 (Connector for analog monitor) CN4: Used for setting up, only for amplifier model trailing number 0, 2, and 4. Used for extended general input signal, only for amplifier model trailing number 1, 3, and 5.
  • Page 556 16. Appendix Optional parts (connectors) RS2#30 Front cover open CN6: Used for setting up connection, only for amplifier model trailing number 1, 3, and 5. CN5 (Connector for analog monitor) CN4: Used for setting up, only for amplifier model trailing number 0, 2, and 4. Used for extended general input signal, only for amplifier model trailing number 1, 3, and 5.
  • Page 557 16. Appendix Optional parts (connectors) 2) Connector model numbers RS2#01, RS2#03, RS2#05  SANYO DNEKI model numbers of respective connectors Connector SANYO DENKI Item Manufacturer model NO. Manufacturer model NO. Ethernet Not provided by our company. CN0, CN1 For host unit connection Please use shielded type modular plug (RJ-45) corresponding to the CAT5e standard.
  • Page 558 16. Appendix Optional parts (connectors) RS2#10, RS2#15, RS2#30  SANYO DENKI single connector model number Connector Intended use Model number Manufacturer model number Manufacturer EthernetTo Not included. CN0, CN1 To connect to host Please use CAT5e standard-compliant shielded modular plug (RJ-45)

  • Page 559: Battery Backup Absolute Encoder Battery Related Parts

    16. Appendix Option Parts Dimensions 3) Battery-backup absolute encoder battery related parts Name Description SANYO DENKI model NO. lithium battery: ER3VLY Battery unit (lithium battery) TOSHIBA LIFESTYLE PRODUCTS & AL-00697958-01 SERVICES CORPORATION AL-00697960-01 Battery trunk cable with single connector. AL-00697960-06...
  • Page 560 16. Appendix Optional parts (connectors)  Battery trunk cable (Model No.: AL-00697960-□□) Battery unit Connector for The battery backup method the servo amplifier side with built-in battery absolute encoder side Model number L [m] MODEL AL-00697960- – – AL-00697960-01 MADE IN JAPAN 00157312A AL-00697960-02 Length of cable:L(m) AL-00697960-03...
  • Page 561 16. Appendix Option Parts Dimensions  Battery trunk cable (Model No.: AL-00731792-01) Battery unit Connector for Relay connector for the servo amplifier side with built-in battery the battery backup method absolute encoder side MODEL AL-00731792-01 MADE IN JAPAN 00157312A (382) (40) (42) 300±10...

  • Page 562: Junction Cable For Servo Motor

    16. Appendix Optional parts (connectors) 4) Junction cable for servo motor Power cable AMP INC. product, Connector: 1-480703-0 J.S.T. Mfg. Co.,Ltd product, (100) Contact: 350536-3 N1.25-4 PHOENIX CONTACT GmbH Green/Yellow Co. KG product, MSTBT2.5/3-STF-5.08 Lead wire color White Black White Black Green/ Yellow J.S.T.

  • Page 563: Fixing Bracket

    16. Appendix Optional parts (connectors) 5) Fixing bracket Fixing brackets are supplied with servo amplifier, RS2□01, RS2□03, RS2□05 and RS2□30.  List of fixing brackets for RS2□01 through 05, 30. Servo amplifier Bracket fixing Model number Contents model number position Front AL-00736863-01 Fixing bracket (top and bottom set)

  • Page 564: Setup Software And Serial Communication-Related Parts

    NO.8 NO.1 Cable For RS2#####K#1, RS2#####K#3, and RS2#####K#5 Connector NO. Name Description QTY SANYO DENKI model NO. Cable for communication with PC PC-servo amplifier AL-00745525-01 Outline dimensional drawing of cable for communication with PC (Model number: AL-00745525-01） Cable 16- 57...
  • Page 565 16. Appendix Option Parts Dimensions 7) Dedicated cable, exclusive to monitor box for analog monitor Connector NO. Name Contents SANYO DENKI model NO. Monitor box unit Monitor box Q-MON-3 2 dedicated cables Dedicated cable 2 dedicated cables AL-00690525-01 Outline dimensional drawing of monitor box (Model number: Q-MON-3)

  • Page 566: Outline Dimension Of Regenerative Resistor

    16. Appendix External Dimension of Regenerative Resistor 16.7 Outline dimension of regenerative resistor  REGIST-080W 122±0.4 6±1 6±1 φ4.3 ２ Silicon rubber glass braided wire 0.5mm White (Thermo start) ２ Silicon rubber glass braided wire 0.75mm Black  REGIST-120W 172±0.4 6±1 6±1 φ4.3...
  • Page 567 16. Appendix External Dimension of Regenerative Resistor  REGIST-220W 220±0.4 6±1 6±1 φ4.3 ２ Silicon rubber glass braided wire 0.5mm White (Thermo start) ２ Silicon rubber glass braided wire 0.75mm Black  REGIST-500CW φ 2- 4.5 ±0.8 +0.4 -1.2 ±0.3 Thermostat Lead AWG24, White Earth mark...
  • Page 568 16. Appendix External Dimension of Regenerative Resistor  REGIST-1000W ● ● Connection wiring diagram 16- 61...

  • Page 569: Explanation Of Ethercat Terms And Abbreviations

    16. Appendix Explanation of EtherCAT Terms and Abbreviations 16.8 Explanation of EtherCAT Terms and Abbreviations [-A-] Address Automation Device Specification (Beckhoff) Application Layer APRD Auto Increment Physical Read APWR Auto Increment Physical Write APRW Auto Increment Physical ReadWrite ARMW Auto Increment Physical Read Multiple Write Automation Device Specification over EtherCAT ASIC Application Specific Integrated Chip...
  • Page 570 16. Appendix Explanation of EtherCAT Terms and Abbreviations EtherCAT Technology Group (｢<http://www.ethercat.org>｣) EtherCAT Real-time Standard for Industrial Ethernet Control Automation Technology (Ethernet for Control Automation Technology) EtherType Identification of an Ethernet frame with a 16-bit number assigned by IEEE. For example, IP uses EtherType 0x0800 (hexadecimal) and the EtherCAT protocol uses 0x88A4.
  • Page 571 16. Appendix Explanation of EtherCAT Terms and Abbreviations Connector used for industrial Ethernet Address Media Access Control Address: Also known as Ethernet address; used to identify an Ethernet node. The Ethernet address is 6 bytes long and is assigned by the IEEE. Mandatory Services Mandatory services, parameters, objects, or attributes.
  • Page 572 16. Appendix Explanation of EtherCAT Terms and Abbreviations Response Response to a service on the client side. Reset Reset controller monitors the supply voltage to control the external and internal reset. RJ45 FCC Registered Jack, standard Ethernet connector (8P8C) RMII Reduced Media Independent Interface Router Network component acting as a gateway based on the interpretation of the IP address.
  • Page 573 Release ServoAmplifier revision Revision A Nov. 2009 Revision B Sep. 2010 Revision C Mar. 2011 C,D,E,F Revision D Jul. 2013 Revision E Jun. 2015 Revision F Nov. 2015...
  • Page 574 SANYO DENKI AMERICA, INC. : +1 310 783 5400 468 Amapola Avenue Torrance, CA 90501, U.S.A. SANYO DENKI SHANGHAI CO., LTD. : +86 21 6235 1107 Room 2106-2109, Bldg A, Far East International Plaza, No.319, Xianxia Road, Shanghai, 200051, China...

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