Sanmotion R Ad M0010386e
Sanmotion R Ad M0010386e
Sanmotion R Ad M0010386e
TYPE S
Type H
■ p. 1-1
DT and DE series motors are added, and kind of amplifier lineup is changed to 8 from 6.
■ p. 1-9
"1・・・Low Inertia" and "5・・・Medium Inertia" are added to the Servo Motor type.
"02・・・・・・20mm" is added to the Flange dimensions.
20 sq. data is added to the Rated output.
"Note 2)" is added to the Rated output, and "Note 3)" is added to the Encoder type. Those
descriptions are added.
■ p. 1-12 to -14
Below are added.
4) Linear motor model number (DS/DD series, Small type)
5) Linear motor model number (DT series)
■ p. 1-20
R2 motor drawing is corrected
Outline drawing of R2GA motor is added..
■ p. 1-23
Combination motor list is changed to refer chapter 7.
■ p. 2-8
External dimensions of 10A, 15A and 30A are corrected.
■ p. 4-4
Note is added as below.
* 1.25mm2 is recommended for the wire for brake.
■ p. 4-5
DT series motors are added.
■ p. 4-6
Note is added as below.
Note 1) Brake plug is shared with motor power plug.
■ p. 4-7
A part of model number is corrected as follows: "×" --> "X".
■ p. 4-17
Add limitations about home switch and touch probe to input signal of CN2.
Details of revision history
■ p. 6-10
"S->O" is added to 0X002D.
■ p. 6-31
Address is corrected to 0x09A0 from 0x09A.
■ p. 6-44
"Typo is corrected to "Don't" from "Don'".
■ p. 7-22
NVRAM of 0x6081 is changed to "Yes" from "-".
■ p. 7-23
FH of 0x60BC/0x60BD are changed to "" from "×".
NVRAM of 0x60C0 is changed to "Yes" from "-".
NVRAM of 0x60C4_0x02 is changed to "Yes" from "-".
■ p. 7-25
(Servo brake stop) is added to 0x605C_0x00.
■ p. 7-48
Drawing of Homing Cancel sequence is corrected.
■ p. 7-48 to -52
Descriptions of homing method are corrected.
■ p. 7-61
Descriptions Internal Actual Position/Position Actual Value are corrected.
■ p. 7-64
Display range of 0x607A is corrected.
■ p. 7-65
Descriptions of homing method are corrected.
■ p. 7-67
Descriptions of polarity is corrected. (pp is added)
■ p. 7-71
Typo in 0x60B2 is corrected. (cst)
■ p. 7-79 to -83
New objects (0x2002-7, 8, 9; 0x2046; 0x20B0; 0x5085; 0x20F2-6, 7) are added.
■ p. 7-88
Auto-tuning parameters are added.
■ p. 7-94
Adds description that it depends on setting of the gain switching condition.
Details of revision history
■ p. 7-108
Note of the position sync compensation is added.
■ p. 7-112
Description of Multi Stage Notch Tuning is added.
Initial value of 0x2041 is corrected.
■ p. 7-115
Descriptions of gain switching condition is added.
■ p. 7-117
Spec selecting function of correction table is added.
■ p. 7-118
Limiting description of correction table backlash correction function is added.
■ p. 7-125
Note of general purpose input is added.
■ p. 7-130 to -132
Motor parameters are corrected and added.
■ p. 7-139
Descriptions of 0x2109 is corrected.
■ p. 8-20
Apart of description is changed as follows: generic input signals --> controller (control word).
■ p. 10-9
Status code list is unified with the list in chapter 7.
■ p. 11-23
Some part of alarm reset method is corrected.
■ p. 16-43
Drawing of 300A is corrected.
■ p. 16-66
Fixing bracket for RS230 is added..
■ p. 7-132
p. 8-1, 8-3, 8-4,
p. 9-19
Instruction manual number of setup software is changed to M0010842 from M0008363.
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.
Matters that require attention are ranked as “Danger” “Warning” and “Caution” in this document.
■ Warning Symbol
Denotes immediate hazards that will probably cause severe bodily injury
Danger or death as a result of incorrect operation.
Denotes hazards which could cause bodily injury and product or property
Caution damage as a result of incorrect operation.
Caution Even those hazards denoted by this symbol could lead to a serious accident. Make sure to
strictly follow these safety precautions.
■ Prohibited,Mandatory Symbols
i
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.
Do not perform any wiring, maintenance or inspection when the device is hot-wired. After
switching the power off, wait at least 15 minutes before performing these tasks.
Electric shock or damage could otherwise result.
The protective ground terminal ( ) should always be grounded to the unit or control
board. The ground terminal of the motor should always be connected to the protective
ground terminal ( ) of the amplifier.
Electric shock could otherwise result.
Do not touch the inside of the amplifier.
Electric shock could otherwise result.
Do not damage the cable, do not apply unreasonable stress to it, do not place heavy items
on it, and do not insert it in between objects.
Electric shock could otherwise result.
Do not touch the rotating part of the motor during operation.
Bodily injury could otherwise result.
Caution
Use the amplifier and motor together in the specified combination.
Fire or damage to the device could otherwise result.
Only technically qualified personnel should transport, install, wire, operate, or perform
maintenance and inspection on this device.
Electric shock, injury or fire could otherwise result.
Do not expose the device to water, corrosive or flammable gases, or any flammable
material.
Fire or damage to the device could otherwise result.
Be careful of the high temperatures generated by the amplifier/motor and the peripherals.
Burn could otherwise result.
Do not touch the radiation fin of the amplifier, the regenerative resistor, or the motor while
the device is powered up, or immediately after switching the power off, as these parts
generate excessive heat.
Burn could otherwise result.
In terms of designing safety systems using the Safe Torque Off function, personnel who
have expertise of relevant safety standard are supposed to do that job with good
understanding of this instruction manual.
Injury or damage to the device could otherwise result.
Please read the User Manual carefully before installation, operation, maintenance or
inspection, and perform these tasks according to the instructions.
Electric shock, injury or fire could otherwise result.
Do not use the amplifier or the motor outside their specifications.
Electric shock, injury or damage to the device could otherwise result.
Regenerative resistor has instantaneous capacity. Contact our offices if the instantaneous
regenerative power could be high as the result of high-inertia load or high-velocity
rotation.
ii
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. Otherwise, the medical device will not
work appropriately, leading to a serious danger to the person who has the medical
device.
Mandatory
Store the device where it is not exposed to direct sunlight, and within the specified
temperature and humidity ranges {- 20°C to + 65°C,below 90% RH (non-condensing)}.
Damage to the device could otherwise result.
Please contact our office if the amplifier is to be stored for a period of 3 years or longer. The
capacity of the electrolytic capacitors decreases during long-term storage, and could
cause damage to the device.
Damage to the device could otherwise result.
Please contact our office if the amplifier is to be stored for a period of 3 years or longer.
Confirmations such as bearings and the brakes are necessary.
■ Transportation
Caution
When handling or moving this equipment, do not hold the device by the cables, the motor
shaft or detector portion.
Damage to the device or bodily injury could otherwise result.
Keep in mind that it is dangerous at the time of conveyance if it falls and overturns.
Bodily injury could otherwise result.
Mandatory
Follow the directions written on the outside box. Excess stacking could result in collapse.
Bodily injury could otherwise result.
The motor angling bolts are used for transporting the motor itself; do not use them for
transporting the machinery, etc.
Damage to the device or bodily injury could otherwise result.
iii
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.
Do not drop this device or subject it to excessive shock of any kind.
Damage to the device could otherwise result.
Do not obstruct the air intake and exhaust vents, and keep them free of debris and foreign
matter.
Fire could otherwise result.
Consult the User Manual regarding the required distance inside the amplifier disposition.
Fire or damage to the device could otherwise result.
Open the box only after checking its top and bottom location.
Bodily injury could otherwise result.
Verify that the products correspond to the order sheet/packing list.
Injury or damage could result.
Secure the device against falling, overturning, or shifting inadvertently during installation.
Use the hardware supplied with the motor (if applicable).
Bodily injury could otherwise result.
Install the device on a metal or other non-flammable support.
Fire could otherwise result.
Magnetic rails have been magnetized. A strong magnetic attraction (or repulsion between
magnets) arises between the magnets themselves or the magnets and any other objects
made of iron such as jigs. Treat them carefully.
Bodily injury could otherwise result.
Magnetic rails and coil have metal edges. Handle them with care.
Bodily injury could otherwise result.
Voltage is generated at the motor power line when the coil is moved after having been
installed.
Electric shock could otherwise result.
Place limit switch and collision safety device to linear motor stroke end.
Failure to observe this may result in injury.
Make sure to install a limit switch and collision safety device at the stroke end.
Make the collision safety device strong enough to resist the maximum output of the
system.
Bodily injury could otherwise result.
■ 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.
Wiring should follow electric equipment technical standards and indoor wiring regulations.
An electrical short or fire could otherwise result.
Do not connect a commercial power supply to the U, V or W terminals of the servo motor.
Fire or damage to the device could otherwise result.
Install a safety device such as a breaker to prevent external wiring short-circuits.
Fire could otherwise result.
Do not bind or band the power cable, input/output signal cable and/or encoder cable
together or pass through the same duct or conduit.
This action will cause faulty operation.
Do not connect DC90V or AC power to the DC24V Brake of the servo motor. Also, do not
connect AC400V to the AC200V Fan of the servo motor.
An electrical short or fire could otherwise result.
There is no safeguard on the linear motor. Use an over-voltage safeguard, short-circuit
breaker, overheating safeguard, and emergency stop to ensure safe operation.
Injury or fire could otherwise result.
iv
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. After verifying successful
operation, install the motor on the mechanism.
Bodily injury could otherwise result.
The securing brake is not to be used as a safety stop for the mechanism. Install a safety
stop device on the mechanism.
Bodily injury could otherwise result.
In the case of an alarm, first remove the cause of the alarm, and then verify safety. Next,
reset the alarm and restart the device.
Bodily injury could otherwise result.
Check that input power supply voltage is less than a specification range.
Damage to the device could otherwise result.
Avoid getting close to the device, as a momentary power outage could cause it to suddenly
restart (although it is designed to be safe even in the case of a sudden restart).
Bodily injury could otherwise result.
Do not use motor or amplifier which is defective or failed and damaged by fire.
Injury or fire could otherwise result.
In the case of any irregular operation, stop the device immediately.
Electric shock, injury or fire could otherwise result.
When using the servo motor in vertical axis, provide safety devices to prevent falls during
the work that will cause an alarm condition.
Injury or damage could result.
Do not touch the rotating part of the linear motor during operation.
Bodily injury could otherwise result.
Install sufficient protective cover in moving part of linear motor.
Bodily injury could otherwise result.
Keep away dust, water or others from the coil moving area and the magnetic rails.
Electric shock, injury or damage to the device could otherwise result.
Prohibited
The built-in brake is intended to secure the motor; do not use it for regular control. Damage
to the brake could otherwise result.
Damage to the device could otherwise result.
Keep the motor’s encoder cables away from static electricity.
Damage to the device could otherwise result.
Standard specification servo amplifiers have a dynamic brake resistor. Do not rotate the
motor continuously from the outside when the amplifier is not powered on, because the
dynamic brake resistor will heat up, and can be dangerous.
Fire or burn could otherwise result.
v
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. Install an external protective circuit to the amplifier to cut off the power
from the main circuit in the case of an alarm.
Motor interruption, bodily injury, burnout, fire and secondary damages could otherwise
result.
There is no safeguard on the motor. Use an over-voltage safeguard, short-circuit breaker,
overheating safeguard, and emergency stop to ensure safe operation.
Injury or fire could otherwise result.
Operate within the specified temperature and humidity range.
Servo Amplifier
Temperature 0°C to 55°C
Humidity below 90% RH (non-condensing).
Servo Motor
Temperature 0°C to 40°C
Humidity below 90% RH (non-condensing).
Burnout or damage to the device could otherwise result.
■ Maintenance・Inspection
Caution
Some parts of the servo amplifier (electrolytic capacitor, cooling fan, lithium battery for
encoder, fuse and relays) can deteriorate with long-term use. Please contact our offices
for replacements.
Damage to the device could otherwise result.
Do not touch or get close to the terminal while the device is powered up.
Electric shock could otherwise result.
Be careful during maintenance and inspection, as the body of the amplifier becomes hot.
Burn could otherwise result.
Please contact your distributor or sales office if repairs are necessary.
Disassembly could render the device inoperative.
Damage to the device could otherwise result.
When a work must be done with the protective cover removed, start working carefully and
safely paying attention to an electric shock or runaway.
Electric shock or injury could otherwise result.
Prohibited
Do not overhaul the device.
Fire or electric shock could otherwise result.
Do not measure the insulation resistance and the pressure resistance.
Damage to the device could otherwise result.
Do not unplug the connector while the device is powered up.
(Except those that can be inserted or removed)
Electric shock or damage could otherwise result.
Do not remove the nameplate cover attached to the device.
vi
Safety Precautions Make sure to follow
■ Disposal
Mandatory
If the amplifier or the motor is no longer in use, it should be discarded as industrial waste.
■ When you use SANYO DENKI amplifier with other manufacturer servo
motor combined.
This Servo amplifier system is designed for using in combination of SANYO DENKI linear motor.
If other companies’ linear motors are used in combination, we will provide you necessary parameters
(Motor parameter files) to drive that based on your motor constant provided to us.
In that case, SANYO DENKI do not conduct the combination test of this servo amplifier with other
companies’ linear motors. Therefore, SANYO DENKI assumes no responsibility whatsoever for any
motions and characteristics resulting from the use in the combination of that.
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.
vii
Table of contents
1. Preface
1.1 Introduction ···································································································································1-1
1) SANMOTION R ADVANCED MODEL features (Differences from SANMOTION R) ·······························1-1
1.2 Instruction Manual···························································································································1-3
1) Contents ·································································································································1-3
2) Precautions related to these Instructions························································································1-3
1.3 System Configuration ······················································································································1-4
1.4 Model number structure ···················································································································1-9
1) Rotary motor model number (R series) ··························································································1-9
2) Rotary motor model number (Q-series)························································································ 1-10
3) Linear motor model number (DS, DD-series) ················································································ 1-11
4) Linear Motor Model Number (DS/DD series, Small type) ································································· 1-12
5) Linear Motor Model Number (DT series) ······················································································ 1-13
6) Servo Amplifier Model Number ·································································································· 1-14
1.5 Part Names ································································································································· 1-15
1) Servo Amplifier ······················································································································· 1-15
2) Rotary motor ·························································································································· 1-19
3) Linear motor ·························································································································· 1-21
1.6 Combination ································································································································ 1-22
1) Combination motor list ············································································································· 1-22
2) Combination encoder list ·········································································································· 1-22
2 Specifications
2.1 Servo Motor ···································································································································2-1
1) General Specifications ···············································································································2-1
2) Exterior Dimensions / Specifications / Weight··················································································2-1
3) Mechanical Specifications / Mechanical Strength / Working Accuracy···················································2-1
4) Oil Seal Type ···························································································································2-2
5) Holding Brake ··························································································································2-3
6) Degree of decrease rating for R2AA Motor, with Oil Seal and Brake ····················································2-4
2.2 Motor Encoder ·······························································································································2-5
1) Serial Encoder Specifications ······································································································2-5
2) Pulse Encoder Specifications ······································································································2-5
2.3 Servo motor rotational and moving direction ·························································································2-6
1) Rotary motor rotational direction ··································································································2-6
2) Battery Specification ··················································································································2-6
3) Linear motor moving direction······································································································2-7
2.4 Servo Amplifier ·······························································································································2-8
1) General Specifications ···············································································································2-8
2) General Input/Output ·················································································································2-9
2.5 Power Supply, Calorific Value ·········································································································· 2-10
1) Main circuit Power supply capacity, Control Power supply capacity···················································· 2-10
2) Inrush Current, Leakage Current ································································································ 2-13
3) Calorific value ························································································································ 2-14
2.6 Operation Pattern ························································································································· 2-16
1) Time of acceleration and deceleration, Permitted repetition, Loading precaution (For rotary motor) ········ 2-16
2) Time of acceleration and deceleration, Permitted repetition, Loading precaution (For linear motor) ········ 2-18
2.7 Specifications for Analog Monitor······································································································ 2-20
2.8 Specifications for Dynamic Brake ····································································································· 2-21
1) Allowable frequency ················································································································ 2-21
2) Instantaneous tolerance ··········································································································· 2-21
3) Decreasing the rotation angle ···································································································· 2-22
2.9 Regeneration Process ··················································································································· 2-25
1) Resistance value of built-in regeneration resistor ··········································································· 2-25
3. Installation
3.1 Servo Amplifier ·······························································································································3-1
1) Servo Amplifier ·························································································································3-1
2) Open package ··························································································································3-2
3) Mounting direction and location····································································································3-3
4) Control arrangement within the machine ························································································3-3
5) Cooling condition (for DC input type amplifier only) ··········································································3-4
3.2 Rotary Motor ··································································································································3-5
1) Precautions ·····························································································································3-5
2) Open package ··························································································································3-5
3) Installation ·······························································································································3-5
4) Mounting method ······················································································································3-6
5) Waterproofing and dust proofing ··································································································3-6
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4. Wiring
4.1 Control power supply, Regeneration resistance, and Wiring protective ground ·············································4-1
1) Name and its function ················································································································4-1
2) Wire ·······································································································································4-1
3) Wire diameter - Permissible current ······························································································4-2
4) Recommended Wire Diameter (Rotary motor) ·················································································4-2
5) Recommended wire diameter (Linear motor) ··················································································4-5
6) Wiring of servo motor·················································································································4-6
7) Wiring Example ························································································································4-8
8) Electric wire crimping processing ······························································································· 4-11
9) High voltage circuit terminal; tightening torque ·············································································· 4-11
10) Wiring of the canon connector for servo motors ············································································· 4-11
4.2 Wiring with Host Unit ····················································································································· 4-12
1) Control signal and pin number (wiring with host unit) ······································································ 4-12
2) IN, OUT connector disposition ··································································································· 4-13
3) CN1 connector disposition ········································································································ 4-15
4) CN2 General input-output connector layout ·················································································· 4-16
4.3 Wiring of Motor Encoder ················································································································· 4-18
1) EN1, EN2 connector name and its function ·················································································· 4-18
2) Terminal number ····················································································································· 4-19
3) Connector model number for motor encoder ················································································· 4-20
4) Canon connector plug and contact for motor encoder ····································································· 4-21
5) Recommended encoder cable specification ·················································································· 4-21
6) Encoder cable length ··············································································································· 4-21
4.4 Peripherals ·································································································································· 4-22
1) Power supply capacity and peripherals list (Rotary motor) ······························································· 4-22
2) Power supply capacity and peripherals list (Linear motor)································································ 4-24
3) Cooling fan connectors to connect motor ····················································································· 4-24
5. Interface
5.1 About EtherCAT ·····························································································································5-1
1) Overview·································································································································5-1
2) EtherCAT Profile ·······················································································································5-1
5.2 Model (Reference Model) ·················································································································5-2
1) OSI Reference Model ················································································································5-2
2) Drive Architecture ·····················································································································5-3
5.3 Settings ········································································································································5-4
1) Node ID ··································································································································5-4
2) Physical Communication Specifications ·························································································5-4
5.4 Communication Specifications ···········································································································5-5
1) Device Model ···························································································································5-5
2) Communication ························································································································5-6
3) EtherCAT Protocol ····················································································································5-7
4) Datagram Header ·····················································································································5-7
5) Command Type ························································································································5-8
6) WKC (Working Counter) ·············································································································5-9
7) Frame Processing ·····················································································································5-9
5.5 Addressing Image ························································································································· 5-10
1) Position Addressing (Auto-Increment Addressing) ·········································································· 5-10
2) Node Addressing (Fixed Addressing) ·························································································· 5-10
3) Logical Addressing ·················································································································· 5-11
4) FMMU(Fieldbus Memory Management Unit)················································································ 5-11
5) SM (SyncManager) ················································································································· 5-12
6) Buffer Mode (3 Buffer Mode) ····································································································· 5-12
7) Mailbox Mode ························································································································ 5-14
5.6 Accessing to Object Dictionary ········································································································ 5-15
1) Service Data Object (SDO) ······································································································· 5-15
2) Mailbox Protocol ····················································································································· 5-15
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7. Object Dictionary
7.1 Object Dictionary ····························································································································7-1
1) Structure of Object Dictionary ······································································································7-1
2) Object types ····························································································································7-1
3) Access types ···························································································································7-1
4) Data Type Area ························································································································7-2
7.2 CoE Communication Area·················································································································7-3
1) Parameter Details of Object Group from 0x1000··············································································7-4
2) PDO Mapping ··························································································································7-6
3) Communication Timing············································································································· 7-12
4) Free Run Mode (Free Run:Asynchronous Operation) ····································································· 7-13
5) DC Mode (SYNC0 Event Synchronization) ··················································································· 7-14
6) DC Mode (SYNC1 Event Synchronization) ··················································································· 7-15
7.3 PDS FSA ···································································································································· 7-16
1) Abstract ································································································································ 7-16
2) FSA (Finite States Automaton) ··································································································· 7-17
3) Control Word ························································································································· 7-19
4) Status Word ··························································································································· 7-20
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8. Operations
8.1 Standard Setting Value upon Shipment ································································································8-1
8.2 Test opeartion ································································································································8-2
1) Installation and Wiring················································································································8-2
2) Safe Torque OFF Function ··········································································································8-2
3) Movement Confirmation ·············································································································8-3
4) Machine Movement Check··········································································································8-4
8.3 ESC Power ON Sequence ················································································································8-5
8.4 EtherCAT Initialization Process ··········································································································8-6
1) INIT State ································································································································8-6
2) Pre-Operational State ················································································································8-8
3) Safe-Operational State ···············································································································8-9
4) Operational State ······················································································································8-9
5) Boot Strap state ······················································································································ 8-10
6) Boot Strap State (upload)·········································································································· 8-12
8.5 Operation Sequence······················································································································ 8-13
1) Operation Sequence from Power ON to Power OFF······································································· 8-13
2) Alarm Occurrence Stop Sequence ······························································································ 8-17
3) Alarm Reset Sequence ············································································································ 8-20
8.6 SEMI F47 Support Functions··········································································································· 8-21
9. Adjustments
9.1 Servo Tuning Functions and Basic Adjustment Procedure ·······································································9-1
1) Servo tuning functions ···············································································································9-1
2) Tuning method selection procedure ······························································································9-2
9.2 Automatic Tuning ····························································································································9-3
1) Use the following parameters for Automatic tuning” ··········································································9-3
2) Automatically adjusted parameters in auto-tuning ············································································9-6
3) Adjustable parameters during auto-tuning ······················································································9-6
4) Unstable functions during auto-tuning ···························································································9-8
5) Adjustment method for auto-tuning ·······························································································9-8
6) Auto-Tuning Characteristic selection flowchart ················································································9-9
7) Monitoring servo gain adjustment parameters ··············································································· 9-10
8) Manual tuning method using auto-tuning results ············································································ 9-10
9.3 Automatic tuning of notch filter ········································································································· 9-11
1) Operation method ··················································································································· 9-11
2) Setting parameters ·················································································································· 9-11
9.4 Automatic tuning of FF Vibration Suppression Frequency ······································································ 9-12
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11. Maintenance
11.1 Trouble shooting ··························································································································· 11-1
11.2 Warning and Alarm List ·················································································································· 11-3
1) Warning Overview ··················································································································· 11-3
2) Warning List ·························································································································· 11-3
11.3 Alarm Display······························································································································· 11-3
1) Alarm Display Overview ··········································································································· 11-3
2) Alarm display list····················································································································· 11-4
11.4 Trouble shooting When Alarm Occurs ······························································································· 11-6
11.5 Encoder Clear and Alarm Reset Methods························································································· 11-23
11.6 Inspection ································································································································· 11-24
11.7 Maintenance Parts ······················································································································ 11-25
1) Inspection Parts···················································································································· 11-25
2) How to Replace the Battery for Motor Encoder ············································································ 11-26
xii
Contents
15. Selection
15.1 Rotary Motor Sizing ······················································································································· 15-1
1) Flowchart of Servo Motor Sizing································································································· 15-1
2) Make an operation pattern ········································································································ 15-2
3) Calculate motor axis conversion load inertia (JL)············································································ 15-2
4) Calculate motor shaft conversion load torque (TL) ·········································································· 15-3
5) Calculate acceleration torque (Ta) ······························································································ 15-4
6) Calculate deceleration torque (Tb) ······························································································ 15-4
7) Calculate effective torque (Trms) ································································································ 15-4
8) Judgment condition ················································································································· 15-4
xiii
Contents
16. Appendixes
16.1 Standards Conformity ···················································································································· 16-1
1) Standards conformity ··············································································································· 16-1
2) Over-voltage Category, Protection Grade, Pollution Level ································································ 16-2
3) Connection and installation ······································································································· 16-2
4) UL File Number ······················································································································ 16-2
16.2 Compliance with EN Directives ········································································································ 16-3
1) Conformity verification test ········································································································ 16-3
2) EMC Installation Requirements ·································································································· 16-4
16.3 Servo Motor Dimension ·················································································································· 16-5
1) R2 motor, Flange Size 40mm,60mm,80mm, 86mm and 100mm ····················································· 16-5
2) R2 motor, Flange Size 130mm and 220mm ·················································································· 16-6
3) R2 motor, Flange Size130mm, 2kW ···························································································· 16-6
4) R2 motor, Flange Size180mm, 3.5 to 7.5kW ················································································· 16-7
5) R2 motor, Flange Size 180mm, 11kW ························································································· 16-7
6) R2 motor, Flange Size 220mm, 3.5 to 5kW··················································································· 16-8
7) Flange Size 14mm (48V DC) ····································································································· 16-8
8) R2 motor, Flange Size 20mm ···································································································· 16-9
9) R5 motor, Flange Size 60mm, 80mm ························································································ 16-10
10) DS Linear motor with core, flat-type ·························································································· 16-11
11) DD Linear motor with core, twin-type························································································· 16-13
12) Small cylinder type linear motor DE0AC001A03MX00 (48VDC) ······················································ 16-14
16.4 Servo Motor Data Sheet ··············································································································· 16-17
1) Characteristics table ·············································································································· 16-17
2) Velocity-Torque characteristics································································································· 16-28
3) Velocity-force characteristics ··································································································· 16-36
4) Velocity-force characteristic of DE0AC001A03MX00 ···································································· 16-39
5) Overload characteristic ·········································································································· 16-40
16.5 Servo Amplifier Dimensions ·········································································································· 16-52
16.6 Optional Parts ···························································································································· 16-56
1) Connector of Servo Amplifier ··································································································· 16-56
2) Connector Model Number ······································································································· 16-60
3) Battery-backup absolute encoder battery related parts·································································· 16-62
4) Junction cable for servo motor ································································································· 16-65
5) Fixing bracket ······················································································································ 16-66
6) Setup software and serial communication-related parts ································································· 16-67
7) Dedicated cable, exclusive to monitor box for analog monitor ························································· 16-67
16.7 Outline dimension of regenerative resistor························································································ 16-68
16.8 Explanation of EtherCAT Terms and Abbreviations ············································································· 16-71
xiv
No Text on This Page.
1
1. Preface
1.1 Introduction ······················································································································································ 1-1
4) Linear Motor Model Number (DS/DD series, Small type) ····················································································· 1-12
1
1. Preface Introduction
1.1 Introduction
The AC Servo amplifier SANMOTION R ADVANCED MODEL is a consolidated power supply, single-shaft type servo
amplifier consisting of eight (8) models according to capacity.
The servomotor corresponds to the Rotary Motor R series, Q-series over-2kW model, linear motor DS-series, DD-series,
DT series and DE series. For motor encoder, rotary motor can use serial encoder and pulse encoder, linear motor can use
pulse encoder. Furthermore, this system also corresponds to external pulse encoder for fully closed control system. Backup
batteries for motor encoder can be supplied via servo amplifier connector and installed in encoder cable. EtherCAT
communication connectors, PC connection connectors and encoder are all equipped with connectors for the monitor.
The integrated power connector uses a smaller connector for the motor encoder.
In addition, we intend to reduce the cubic volume by a maximum of 15% by miniaturizing the power circuit and save
19% of energy by adopting a new generation IPM.
We have shortened the positioning time to 1/2 the current use, which improves the throughput of the machine using a
high-response model following control and using model following vibration suppression control and feed forward
vibration suppression control simultaneously.
Furthermore, external disturbance suppression can be performed at the same time with parallel use of an external
disturbance observer, which creates the target value’s required response and the external disturbance suppression as
well as stabilizes the robust activity necessary to operate the servo realistically at a high level.
■ Noise reduction
Using “model following vibration control” and “feed forward vibration control” the entire machinery system vibration is
suppressed with an added bonus of cutbacks in energy expenditure.
The motor encoder resolution ability has increased and as a result positioning resolution has improved which increases
the processing accuracy of your equipment.
1-1
1. Preface Introduction
With the addition of “status display function at the time of alarm” and
“time-stamp function of alarm history” diagnosing the specific cause of an
alarm has become easier, improving maintenance.
Feedback
input EDM
Safty unit
+
Device
Power
Moter
1-2
1.Preface How To Use This Instruction Manual
1) Contents
■ Chapter 1 Preface
Product outline, model number, names of components.
■ Chapter 2 Specifications
Detailed specifications for Servo Motor, Servo Amplifier and Motor Encoder.
■ Chapter 3 Installation
Explanation of installation procedure
■ Chapter 4 Wiring
Illustrations and explanations of wiring
■ Chapter 5 EtherCAT Interface
Explanation of EtherCAT Interface Overview
■ Chapter 6 EtherCAT Datalink
Explanation of EtherCAT Slave Controller (ESC)
■ Chapter 7 Object Dictionary
Explanation of EtherCAT Interface Object Dictionary
■ Chapter 8 Operations」
Discussion of operation sequence, test operations and parameters
■ Chapter 9 Adjustments
Explanation of auto tuning, manual servo tuning, etc.
■ Chapter 10 Digital Operator
Explanation of the LED display and the digital operator
■ Chapter 11 Maintenance
Explanation of troubleshooting when alarms occur and inspection
■ Chapter 12 Full-closed Control
Explanation of full-closed control and how to use it
■ Chapter 13 Linear motor
Explanation of how to use when linear motor connected.
■ Chapter 14 Safe Torque Off function
Explanation of safe torque off function and how to use it
■ Chapter 15 Selection
Explanation of selection method for the servo motor as well as regenerative resistance capacity
■ Chapter 16 Appendix (Materials)
Explanation of EtherCAT terminology, servo motor data sheets, dimensions and international standards
Original text of this instruction manual is Japanese. Original text writing has priority if there is difference between original text
and the other language writing.
1-3
1.Preface System configuration
Noise filter
Electromagnetic contactor
Motor power
Motor encoder
Servo motor
1-4
1.Preface System configuration
Noise filter
【Built-in
regenerative resistor】
Shot-circuits RB4-RB1.
Motor encoder
【External regenerative resistor】
Remove short bar RB4-RB1,
Connect the register to RB1-RB2.
Motor power
Servo motor
1-5
1.Preface System configuration
■RS2□30A (Rotary motor)
Electromagnetic contactor
Motor power
Safety device
Safety PLC, etc.
Motor Encoder
1-6
1.Preface System configuration
■RS2□##A (Linear motor)
Noise filter
Installed to prevent
incoming noise from
power line.
General input/output connector
for homing, probing and general
signals.
Electromagnetic contactor
External regenerative
resistor
【Built-in】
Short circuit between
RB4-RB1.
【External】
Remove short bar between
RB4-RB1, and connect resistors
between RB1-RB2.
Safety device
Linear Safety PLC etc.
Motor power
Hall sensor
Linear sensor
1-7
1.Preface System configuration
■RS2□##A(DC48V/24V)
DC power supply
DC48V/24V
DC power supply
DC24V
General input/output
connector for homing,
probing and general signals.
External
regenerative resistor
Connected to other amplifier
Normally built-in regenerative resistor of servo amplifier is
used for operation. An external regenerative resistor is Host unit
used in case of insufficient capacity such as may be
caused by high frequency of use.
Motor power
Motor encoder
Safety device
Used for servo motor Safety PLC etc.
with brake.
Servo motor
1-8
1.Preface Model number structure
Note 1)
Code Reducer Reduction
R Series Maximum rotational ratio
velocity A Planet gear 1/3
Servo Motor type S・・・・1,000min-1 B 1/5
1・・・Low Inertia B・・・・2,000min-1 C 1/9
2・・・Medium Inertia R・・・・2,500min-1 D 1/15
L・・・・3,000 / 4,000min-1 E 1/25
5・・・Medium Inertia
H・・・・3,500min-1 S Backlash-less 1/5
planet gear
D・・・・4,500 / 5,000min-1 T 1/11
F・・・・6,000min-1 U 1/21
Voltage V 1/33
AA・・・200V-motor
EA・・・100V-motor Holding brake
GA・・・ 48V-motor X・・・No brake
FA・・・ 24V-motor B・・・With brake (90V)
C・・・With brake (24V)
◆ Serial Encoder
Resolution within 1 Resolution within
Model type Name Transmission system
rotation multiple rotations
Half-duplex
Absolute encoder for incremental
PA035S 131072 (17bit) - asynchronous
system
2.5Mbps (standard)
Half-duplex
Battery backup method absolute
PA035C 131072 (17bit) 65,536(16bit) asynchronous
encoder
2.5Mbps (standard)
Half-duplex
RA035C 131072 (17bit) 65,536(16bit) Battery-less absolute encoder asynchronous
2.5Mbps (standard)
Half-duplex
HA035 131,072(17bit) 65,536(16bit) Battery-less absolute encoder asynchronous
2.5Mbps (standard)
◆ Pulse Encoder
Standard Applicable range
Model type Name
No. of divisions (No. of pulses) No. of divisions, No. of (pulses)
PP031H
8192・20000・32768・40000 Wire-saving
PP031T 8000(2000P/R)
(2048・5000・8192・10000P/R) incremental encoder
PP062
1-9
1.Preface Model number structure
Q 1 A A 1 0 2 0 0 D C P 00 E
Power voltage
AA・・・200V-motor
Specification identification
Holding brake 00・・・Standard
X・・・No brake
B・・・With brake (90V)
C・・・With brake (24V)
Flange size
10・・・・・100mm
12・・・・・120mm
13・・・・・130mm Encoder type
S・・・Wire-saving incremental encoder (PP062)
18・・・・・180mm
H・・・Absolute encoder for incremental system (PA035S)
22・・・・・220mm
P・・・Battery backup absolute encoder (PA035C)
W・・・Battery-less absolute encoder (RA035C)
Rate output
200 2.0kW 400 4.0kW 700 7kW
250 2.5kW 450 4.5kW 750 7.5kW
300 3.0kW 500 5.50W 11K 11kW
350 3.5kW 550 5.5kW 15K 15kW
■ Motor encoder
◆ Serial encoder
Resolution within 1 Resolution in
Model Name Transmission method
rotation. multiple rotation
Absolute encoder for Half-duplex asynchronous
PA035S 131,072(17bit) -
incremental system type, 2.5Mbps (standard)
Battery backup absolute Half-duplex asynchronous
PA035C 131,072(17bit) 65,536 (16bit)
encoder type, 2.5Mbps (standard)
Half-duplex asynchronous
RA035C 131,072(17bit) 65,536 (16bit) Battery-less absolute encoder
type, 2.5Mbps (standard)
◆ Pulse encoder
Standard Applicable range
Model type Name
Division number (pulse number) No. of divisions, N(o. of pulses)
8192・20000・32768・40000・
PP031H
80000・100000 Wire-saving incremental
PP031T 8000(2000P/R)
(2048・5000・8192・10000・ encoder
PP062
20000・25000P/R)
1-10
1.Preface Model number structure
DS 030 C 1 N2 E C 1 00
Thermal specification
A ・・・・・ No thermal
C ・・・・・ With thermal
Magnet width
030・・・・・30mm
050・・・・・50mm Hall sensor specification
075・・・・・75mm E ・・・・・ Line driver (standard spec)
100・・・・・100mm B ・・・・・ Open collector
150・・・・・150mm A ・・・・・ No
Cooling option
Type N2 ・・・・・ Natural cooling
C・・・Coil Y2,Y4 ・・・・・ Water cooling
Coil length
Flat type, with core (DS) Twin type, with core (DD)
1 200mm 226mm
2 376mm 402mm
3 552mm 578mm
4 - 754mm
DS 030 M 512 A 00
Series
DS・・・・・ Cover Specification identification
Flat type, with core. A ・・・・・ No cover 00 ・・・・ DS-standard
DD・・・・ B ・・・・・ With cover 02 ・・・・ DD-standard
Twin type, with core.
1-11
1. Prior to Use Model Number Structure
DS 045 C C1 A N E A 1 00
Voltage
Type A ・・・・・ 200V AC
C・・・Coil
Coil length
Flat type, with core (DS) Twin type, with core (DD)
C1 130mm -
B4 - 349mm
C2 - 253mm
DS 045 M C512 A 00
Series
DS・・・・・ Cover Specification identification
Flat type, with core A ・・・・・ No cover 00 ・・・・ DS standard
DD・・・・ B ・・・・・ With cover
Twin type, with core
Type
M・・・Magnet rail
1-12
1.Preface Model number structure
5) Linear Motor Model Number (DT series)
■ Coil model number
DT 030 C D1 A N E A 1 00
Thermal specification
A ・・・・・ No thermal
Winding specification
N ・・・・・ Standard winding
Voltage
Type A ・・・・・ 200V AC
C・・・Coil
Coil length
D1・・・145mm
DT 030 M 512 A 00
Series
DT・・・・・ Cover Specification identification
Center magnet type A ・・・・・ No cover 00 ・・・・ DS standard
B ・・・・・ With cover
Magnet width
030・・・・・30mm
Type
M・・・Magnet rail
1-13
1.Preface Model number structure
■ If you use servo amplifier for fully closed system, the motor encoder type is”2” or “A.”
Please identify applicable motor model number you use.
■ If you use serial encoder for semi-closed system, please use motor encoder type "2".
The motor encoder type "2", when used its external encoder as motor encoder, can be used
also as pulse encoder for semi-closed system.
* Setup values for the servo amplifier are (default values) at the time of shipment from our factory.
* Adjustments for system parameters according to your equipment specifications as well as for combination of servo
amplifier and servo motor are necessary.
* Make certain to follow the appropriate set-up procedure to operate your system by referring to the following pages.
* See chapter 13 for Safe Torque Off function.
1-14
1.Prior to Use Servo Amplifier Part Names
■ RS2*01 / RS2*03/RS2□05
Protective
ground terminal Connector (EN2) for fully closed
control, hall sensor signal
1-16
1.Preface Servo amplifier part names
■ RS2□30
1-17
1.Preface Servo amplifier part names
■RS2□##A(DC48V/24V)
Open front cover.
1-18
1.Preface Rotary motor part names
2) Rotary motor
■ Lead wire type Frame Brake Encoder
R2□A04○○○△□◇
R2□A06○○○△□◇
R2□A08○○○△□◇
R2□AB8○○○△□◇
Shaft
Flange
Power cable for servo motor Cable for brake Cable for encoder
R2GAD10○○△□◇
R2GA02D○○△□◇
Frame Encoder
Shaft
1-19
1.Preface Rotary motor part names
■ Connector Type
R1AA18○○○△□◇
R2AA13○○○△□◇
R2AA22○○○△□◇
Q1AA10○○○△□◇
Q1AA12○○○△□◇
Q1AA13○○○△□◇
Q1AA18○○○△□◇
Q2AA10○○○△□◇
Q2AA13○○○△□◇
Q2AA18○○○△□◇
Q2AA22○○○△□◇
Q4AA18○○○△□◇ Frame Encoder
Shaft
Flange
Encoder connector
1-20
1.Preface Linear motor part names
3) Linear motor
Shock absorber
Cable-veyor
Stage
Linear motor
(Coil)
Linear motor
(Magnet rail)
Linear guide
Stage
Linear motor
(Magnet rail)
Linear motor
(Coil)
1-21
1.Preface Combination
1.6 Combination
1) Combination motor list
■ Refer "Motor Code (0x20FE)" in "chapter 7 Object Dictionary".
1-22
1.Preface Combination
■ Encoder type (Rotary motor)
Encoder Amplifier
Motor model
code model
Combination encoder Specification number Remarks (Description)
OD: number
Encoder type
0x20FE,2 Encoder type
Incremental encoder Set when motor encoder is wire-saving
0x0000 4 pairs 2,A S
(Wire-saving incremental) incremental encoder.
2.5MHz Encoder for incremental system, which is
0x0101
Asynchronous encoder Without multi turn output serial-output only within rotation, set to use
2 H
(Incremental system) 4.0MHz in the same way as incremental encoder.
0x0201
Without multi turn output * Use the position at power-on as zero.
2.5MHz Encoder normally used in absolute system,
0x0301
Optical With multi turn output set to use in incremental system.
2 P, R
asynchronous encoder 4.0MHz No backup lithium battery cell is needed to
0x0401
With multi turn output connect.
2.5MHz
0x0501 Encoder normally used in absolute system,
Revolver type With multi turn output
2 W set to use in incremental system.
asynchronous encoder 4.0MHz
0x0601 * Use the position at power-on as zero.
With multi turn output
2.5MHz Set to use in absolute system.
0x0300
Optical With multi turn output This is multiple rotation backup system. For
2 P, R
asynchronous encoder 4.0MHz encoder type P, lithium battery connection
0x0400
With multi turn output to motor is required.
2.5MHz Set to use in absolute system.
0x0500
Revolver type With multi turn output Multiple rotations is mechanical backup
2 W
asynchronous encoder 4.0MHz system, no battery cell is needed to
0x0600
With multi turn output connect.
Note1) When specification for hall sensor output is for line driver, select encoder type “A” of amplifier model number.
When specification for hall sensor output is for open collector, select encoder type “B of amplifier model number.
Note2) Both encoder type “A” and “B” can be used, however, select amplifier “2” when hall sensor not used.
1-23
2
2 Specifications
2.1 Servo Motor ·································································································································2-1
1) General Specifications ·················································································································2-1
2) Exterior Dimensions / Specifications / Weight ···················································································2-1
3) Mechanical Specifications / Mechanical Strength / Working Accuracy ····················································2-1
4) Oil Seal Type ·····························································································································2-2
5) Holding Brake ····························································································································2-3
6) Degree of decrease rating for R2AA Motor, with Oil Seal and Brake ······················································2-4
2.2 Motor Encoder ······························································································································2-5
1) Serial Encoder Specifications ········································································································2-5
2) Pulse Encoder Specifications ········································································································2-5
2.3 Servo motor rotational and moving direction························································································2-6
1) Rotary motor rotational direction ····································································································2-6
2) Battery Specification ···················································································································2-6
3) Linear motor moving direction ·······································································································2-7
2.4 Servo Amplifier ·····························································································································2-8
1) General Specifications ·················································································································2-8
2) General Input/Output···················································································································2-9
2.5 Power Supply, Calorific Value ········································································································ 2-10
1) Main circuit Power supply capacity, Control Power supply capacity ····················································· 2-10
2) Inrush Current, Leakage Current ································································································· 2-13
3) Calorific value ·························································································································· 2-14
2.6 Operation Pattern ························································································································ 2-16
1) Time of acceleration and deceleration, Permitted repetition, Loading precaution (For rotary motor)············ 2-16
2) Time of acceleration and deceleration, Permitted repetition, Loading precaution (For linear motor) ·········· 2-18
2.7 Specifications for Analog Monitor ···································································································· 2-20
2.8 Specifications for Dynamic Brake ···································································································· 2-21
1) Allowable frequency ·················································································································· 2-21
2) Instantaneous tolerance ············································································································· 2-21
3) Decreasing the rotation angle ····································································································· 2-22
2.9 Regeneration Process ·················································································································· 2-25
1) Resistance value of built-in regeneration resistor ············································································ 2-25
2
2.Specifications Servo motor
Up/Down
Left/Right
Forward/backward
Horizontal direction
■ Vibration Classification
The vibration classification of the servo motor is V15 or less at maximum rotation speed for a single servo
motor unit and is measured as indicated in the figure below.
Vibration measurement position
2-1
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/s2 (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. Therefore, try to avoid shock to the
shaft under any circumstances.
Up/Down
Horizontal direction
■ Mechanical Strength
The axis strength of the servo motor can withstand instantaneous maximum torque.
■ Working Accuracy
The following table shows the accuracy and precision of the servo motor output shaft
(Total Indicator Reading) of the parts surrounding the shaft.
2-2
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-1 for the servo amplifier.
To externally control the holding brake, a response time (as in the table below) is required.
When using a motor with the brake, determine a time sequence that accounts for this delay.
Static friction torque Release time Braking delay time ms
Servo motor model number
N・m ms Varistor Diode
R1AA18550H
54.9
R1AA18750L 140 400
R1 300
R1AA1811KR 75
R1AA1815KB 120 60 600
R2AA04003F 0.32
R2AA04005F 0.32 25 15 100
R2AA04010F 0.32
R2AA06010F 0.36
30 20 120
R2AA06020F 1.37
R2AA08020F 2.55 40 20 200
R2AA06040□ 1.37 30 20 120
R2AA08040F 2.55
40 20 200
R2AA08075F 2.55
R2AAB8100F 3.92 40 20 200
R2AA10100F 3.92 40 20 200
R2AA13050□ 3.50 40 30 120
R2AA13120□ 9.0 100 30 130
R2AA13180□ 9 100 30 130
R2AA13200□ 12.0
100 30 140
R2AA18350L 22
R2AA18450H 32
R2AA18550□ 42 150 40 250
R2AA18750H 54.9
R2 R2AA22500L 42 150 60 250
R2EA04003F 0.32
R2EA04005F 0.32 25 15 100
R2EA04008F 0.32
R2EA06010F 0.36
30 20 120
R2EA06020F 1.37
R2GA04003F 0.32
R2GA04005F 0.32 25 15 100
R2GA04008D 0.32
R2GA06010D 0.36
30 20 120
R2GA06020D 1.37
R2GA04003F
0.32
R2FA04003F
R2GA04005F
0.32 25 15 100
R2FA04005D
R2GA04008D
0.32
R2FA04006R
R2GA06010D
0.36
R2FA06007R
30 20 120
R2GA06020D
1.37
R2FA06008A
R5AA06020H 1.37 30 20 120
R5AA06020F 1.37 30 20 120
R5AA06040H 1.37 30 20 120
R5
R5AA06040F 1.37 30 20 120
R5AA08075D 2.55 40 20 200
R5AA06075F 2.55 40 20 200
* For specifications on other motor, please contact us.
* For flange size 14 and 20 sq. motor, holding brake cannot equipped.
2-3
2.Specifications Servo motor
Static friction torque Release time Braking delay time ms
Servo motor model number
N・m ms Varistor Diode
Q1AA10200D 7.84 100 30 140
Q1AA10250D 9.80 100 30 140
Q1AA12200D 7.84 100 30 140
Q1AA12300D 11.8 100 30 140
Q1
Q1AA13400D 19.6
120 50 150
Q1AA13500D 19.6
Q1AA18450M 32.0 150 40 250
Q1AA18750H 54.9 300 140 400
Q2AA13200H 12.0 100 30 140
Q2AA18200H 12.0 100 30 140
Q2AA18350H 32.0 120 40 150
Q2AA18450H 32.0 150 40 250
Q2AA18550H
Q2 54.9 300 140 400
Q2AA18750L
Q2AA22550B 90.0 300 140 400
Q2AA22700S
Q2AA2211KV 90.0 300 140 400
Q2AA2215KV
* For specifications on other motor, please contact us.
* For flange size 14 and 20 sq. motor, holding brake cannot equipped.
100VAC
60Hz
EDC Brake
100VAC
60Hz
EDC Brake
Exciting
voltage EDC
Exciting Ib
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.
The Brake release time is the same for both the varistor and diode.
6) Degree of decrease rating for R2AA Motor, with Oil Seal and Brake
In terms of servomotors with oil-seal and/or brake, the following de-rating ratios have to be applied to the
torque characteristic in the continuous speed range.
Oil seal
Without oil seal With oil seal
Brake
Without brake - Degree of decrease rating 2
With brake Degree of decrease rating 1 Degree of decrease rating 2
2-4
2.Specifications Motor Encoder
2-5
2.Specifications Rotary motor rotational direction
Phase Z
t
Phase B is behind Phase A 90°
Phase Z
t
Phase B is behind Phase A 90°
* When Z Phase is at high level, both Phases A and B cross the low level once every rotation
■ Serial Encoder
Servo motor rotation direction :Counterclockwise rotation from the load side “CCW”
・・・Note : Position signal output : Increase
Servo motor rotation direction :Clockwise rotation from the load side “CW”
・・・Note : Position signal output : Decrease
* This is the serial encoder output position, and the rotation direction differs in EtherCAT
communication.
2) Battery Specification
Model: ER3VLY (produced by TOSHIBA LIFESTYLE PRODUCTS & SERVICES CORPORATION)
Voltage:3.6V
2-6
2.Specifications Linear motor moving direction
90° 90°
Phase B
Phase B
t t
Vu
W U
Vw
Move in the reverse direction Vv
Vu Vv Vw V
0 90 180 270 0 90 180 270
S1
S2
S3
2-7
2. Specifications General specifications
Note 1) Power source voltage should be within the specified range AC200V Power input type:
Specified power supply range = AC170V - AC253V
AC100VPower input type: Specified power supply range = AC85V - AC127V
Note 2) AC200V-single-phase input type corresponds only to RS2□01/RS2□03/RS2□05.
Note 3) AC100Vsingle-phase input type corresponds only to,RS2*01/RS2*03
Note 4) DC input type corresponds only to RS2K02/ RS2K04/ RS2J02/ RS2J04.
■ Performance
Speed control range 1:5000
Frequency
800Hz
characteristics
■ Built-in functions
Over current, Current detection error, Overload, Regeneration error, Magnetic pole
position estimation error, Amplifier overheating, External overheating, Over
voltage, Main circuit power low voltage, Main circuit power supply open phase,
Protection functions
Control power supply low voltage, Encoder error, Over speed, Speed control error,
Speed feedback error, Excessive position, Position command error, Built-in
memory error, Parameter error
Digital operator Status display, Monitor display, Alarm display, Test operation, Adjustment mode
Dynamic brake circuit Built -in
Regeneration
Built -in
process circuit
Speed monitor (VMON) 2.0V±10% (at 1000min-1)
Monitor
Torque (Thrust) (TCMON) 2.0V±10% (at 100%)
2-8
2. Specifications Main circuit power, control power capacity
2) General Input/Output
■ General input signals
Interactive photo coupler (sink, source connection):×6 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.
Refer to [Index:0x20F8 General input function selection (Section 7)]
* TH denotes the minimum time that H-level input signal must be held and TL denotes the minimum
time that L-level input signals must be held.
* Generic input signals will be set depending on the selection of each function. Validity conditions and
AC characteristics differ depending on set functions.
* Shows AC characteristics in respective functions.
* Generic output is transmitted when the set function has held longer than 125ms inside the servo
amplifier.
2-9
2. Specifications Main circuit power, control power capacity
2-10
2. Specifications Main circuit power, control power capacity
2-11
2. Specifications Main circuit power, control power capacity
2-12
2. Specifications Inrush and leakage current
■ Leakage Current
Servo amplifier capacity Electric leakage current per motor
RS2#01# 0.8 mA
RS2#03# 0.8 mA
RS2#05# 1.5 mA
RS2A10# 3.0 mA
RS2A15# 3.0 mA
RS2A30# 3.0 mA
RS2K(J)# 0.8 mA
2-13
2. Specifications Calorific value
3) Calorific value
■ Rotary motor
Servo Servo
Servo Servo
Input Servo motor amplifier Input Servo motor amplifier
amplifier amplifier
voltage model number total calorific voltage model number total calorific
capacity capacity
value (W) value (W)
R2AA04003F 13 R1AA13400F 157
R2AA04005F 14 R1AA13500F 180
R2AA04010F 15 R2AA18450H 163
R2AA06010F 15 R2AA18550R 213
RS2A01A R2AA06020F 20 R2AA22500L 164
R2AA08020F 20 Q1AA13400D 157
R5AA06020H 20 RS2A15A Q1AA13500D 180
R5AA06020F 20 Q1AA18450M 150
R5AA06040H 22 Q2AA18350H 148
R1AA10100H 45 Q2AA18450H 163
R1AA10150H 60 Q2AA18550R 213
R2AA06040F 31 Q2AA22550B 230
R2AA08040F 30 Q2AA22700S 235
R2AA08075F 43 AC200V R1AA18550H 315
R2AAB8100H 45 R1AA18750L 365
RS2A03A R2AA13050H 40 R1AA1811KR 430
R2AA13050D 44 R1AA1815KB 450
R2AA13120B 49 R2AA18550H 315
R5AA06040F 31 R2AA18750H 365
R5AA08075D 43 RS2A30A Q1AA18750H 380
R5AA08075F 43 Q2AA18550H 315
R1AA10100F 60 Q2AA18750L 365
R1AA10150F 70 Q2AA2211KV 440
AC200V R1AA10200H 70 Q2AA2215KV 450
R1AA10250H 80 Q4AA1811KB 430
R2AAB8100F 45 Q4AA1815KB 450
RS2A05A
R2AA10100F 50 R2EA04003F 13
R2AA13120D 68 R2EA04005F 15
RS2E01A
R2AA13120L 60 AC100V R2EA04008F 16
R2AA13180H 87 R2EA06010F 17
R2AA13200L 87 RS2E03A R2EA06020F 26
R1AA10200F 100
R1AA10250F 115
R1AA13300H 120
R1AA13300F 135
R1AA13400H 157
R1AA13500H 170
R2AA13180D 92
R2AA13200D 100
RS2A10A
R2AA18350L 148
Q1AA10200D 112
Q1AA10250D 118
Q1AA12200D 104
Q1AA12300D 125
Q1AA13300D 127
Q2AA13200H 98
Q2AA18200H 108
For specifications on other motor, please contact us.
2-14
2. Specifications Calorific value
■ Rotary motor
■ 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 41 DD030C3Y4 138
DS050C1N2 41 RS2A10L DD050C1Y2 110
RS2A03A DS075C1N2 42 DD075C1Y2 110
DS045CC1AN 41 DS100C3N2 185
DT030CD1AN 41 DS150C3N2 185
AC200V RS2A15L
DS030C2N2 68 DD050C2Y2 210
DS050C2N2 68 DD075C2Y2 210
DS075C2N2 69 DD050C3Y2 270
RS2A05A
AC200V DS100C1N2 70 RS2A30L DD075C3Y2 275
DS150C1N2 70 DD075C4Y2 380
DD030C1Y4 65
DS030C3N2 91
DS050C3N2 91
DS075C3N2 93
RS2A10A
DS100C2N2 135
DS150C2N2 135
DD030C2Y4 110
* Generation of heat from regeneration resistance is not included in the numerical value of the above
table. It is necessary to add it if needed.
* Strictly follow installation method [3-1 Installation Servo amplifier (3-1)].
* Value are rated speed and rated torque.
2-15
2. Specifications Operation pattern
* These expressions are for the rated speed values but exclude the viscous torque and friction of the
motor.
■ Loading precaution
There are separate limitations on repetitive operations for both the servo motor and servo amplifier, and
the conditions of both must be met simultaneously.
■ 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 TR.
Ta
Servo motor TL
Time
torque
Tb
ta ts tb
◆ If the operating cycle is considered as “t”, the usable range can be determined as follows:
Ta 2 ta + T L 2 ts + Tb 2 tb
t >= [s]
TR 2
Ta :Acceleration torque Tb :Deceleration torque
TL :Load torque Trms :Effective torque
TR :Rated torque ts :constant speed time [s]
◆ When the cycle time (t) is predetermined Ta,Tb,ta,tb appropriate in the above formula are required.
* When actually determining the system drive mode, it is recommended to calculate the load margin
and suppress it to Trms < 0.9TR.
2-16
2. Specifications Operation pattern
Tp
Servo motor TL
Time
torque
-Tp
Servo motor N
rotation Time
velocity
TR:Rated torque
■ 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:
Tp
TL
Servo motor Time
current torque -Tp
Servo motor N
rotation Time
velocity
1 TR2-TL2
n = 2.86 × 102 × × [times / min]
N (JM+JL) TP
TR : Rated torque
■ Negative load
The servo amplifier cannot perform continuous operation with a negative load from the servo motor.
Please contact us when using the amplifier with a negative load.
Examples:
Motor drive downward (when there is no center weight).
Using like a generator, such as the wind-out spindle of a winder.
2-17
2. Specifications Operation pattern
* The above are calculation formulas within rated velocity with frictional force and gravity applied
to moving part ignored.
■ Loading precaution
There are separate limitations on repetitive operations for both the servo motor and servo amplifier, and
the conditions of both must be met simultaneously.
■ 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 FR.
Fa
Servo motor FL
Time
Force
Fb
ta ts tb
◆ If the operating cycle is considered as “t”, the usable range can be determined as follows:
Fa2 ta + FL2 ts + Fb2 tb
t >= [s]
FR 2
◆ When the cycle time (t) is predetermined Fa,Fb,ta,tb appropriate in the above formula are required.
* When actually determining the system drive mode, it is recommended to calculate the load margin
and suppress it to Frms < 0.9FR.
2-18
2. Specifications Operation pattern
Fp
Servo motor FL
Time
Force
-Fp
Servo motor V
velocity Time
■ 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:
Fp
FL
Servo motor Time
current -Fp
Servo motor V
velocity Time
1 FR2-FL2 [times/min]
n = 30 × ×
V (MC+ML) FP
FR:Rated force
■ Negative load
The servo amplifier cannot perform continuous operation with a negative load from the servo motor.
Please contact us when using the amplifier with a negative load.
Examples:
Motor drive downward (when there is no center weight).
Using like a generator, such as the wind-out spindle of a winder.
2-19
2. Specifications Specifications for Analog Monitor
* Monitor output is indefinite at the time of power ON/OFF and may output DC12V+/- around 10%.
* Horizontal unit when suing linear motor is changed from “min-1” to “mm/s.”
* Horizontal axis unit when using linear motor is change from "TR (rated torque)” to “FR (rated force).”
2-20
2. Specifications Specifications for Dynamic Brake
■ Operation intervals
In basic terms, operation of the dynamic brake in six (6) minute intervals is acceptable. If the brake is to be
operated more frequently, the motor speed must be reduced sufficiently.
Refer to the following expression to find a standard of operation:
6minutes
2) Instantaneous tolerance
The consumption of energy ERD by dynamic brake resistance in one dynamic brake operation is as
follows:
■ Rotary motor 2
2.5 1 2π
ERD = × (JM+JL) × N - I × TL [J]
RΦ+2.5 2 60
■ Linear motor
2.5 1 2
ERD = × M ・ V [J]
RΦ+2.5 2
2-21
2. Specifications Specifications for Dynamic Brake
■ Rotary motor
N
2πN×tD
Coasting distance = I1 + I2 = + (JM+JL) × (αN+βN3) I1
60
α・β:
2-22
2. Specifications Specifications for Dynamic Brake
* The values for α, β are reached based on an assumed resistance value of the power line being 0Ω.
Contact us when the combination with an amplifier is different than those shown above
(invariably values are different).
* For specifications on other motor, please contact us.
2-23
2. Specifications Specifications for 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.
α・β:
Servo amplifier Servo motor model
α β M(kg)
capacity number
DS030C1N2 6.88×10-3 1.59×10-3 2.8
DS050C1N2 3.05×10-3 1.27×10-3 3.8
RS2A03A DS045CC1AN 4.16×10-3 3.62×10-3 1.8
DT030CD1AN 2.85×10-3 1.06×10-3 2.4
DS075C1N2 1.75×10-3 1.03×10-3 5.2
DS030C2N2 5.42×10-3 5.04×10-4 5.4
DS050C2N2 2.27×10-3 4.26×10-4 7.4
DS075C2N2 1.23×10-3 3.64×10-4 10
RS2A05A
DS100C1N2 2.65×10-3 4.05×10-4 6.6
DS150C1N2 1.30×10-3 3.49×10-4 9.4
DD030C1Y4 3.98×10-3 1.08×10-3 8.3
DS030C3N2 4.46×10-3 6.83×10-5 7.8
DS050C3N2 1.75×10-3 6.17×10-5 10.9
DS075C3N2 8.91×10-4 5.59×10-5 14.8
RS2A10A
DS100C2N2 2.09×10-3 3.21×10-5 12.6
DS150C2N2 9.60×10-4 2.96×10-5 17.8
DD030C2Y4 2.21×10-3 1.22×10-4 15.0
2-24
2. Specifications Regeneration process
2-25
3
3. Installation
3.1 Servo Amplifier ················································································································································· 3-1
3) Installation···················································································································································· 3-5
7) Gear installation and Integration with the target machinery ···················································································· 3-7
3
3. Installation Servo Amplifier
■ 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.
Operate the device within the specified environmental conditions.
Do not drop the device or subject it to excessive shock.
Make sure no screws or other conductive or flammable materials get inside the servo amplifier.
Do not obstruct the air intake and exhaust vents.
The attachment direction should be observed strictly.
Please contact our office if the amplifier is to be stored for a period of 3 years or longer. The capacity of the
electrolytic capacitors decreases during long-term storage.
The thing that damage and mounting parts have damaged should fix by returning to our company
immediately.
■ If enclosed in a cabinet
The temperature inside the cabinet can exceed the external temperature depending on the power
consumption of the device and the size of the cabinet. Consider the cabinet size, cooling, and placement,
and make sure the temperature around the servo amplifier does not exceed 55°C.
For longevity and reliability purposes it is recommended to keep the temperature below 40°C.
3-1
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”.
■ Verify that there is no problem in the appearance of servo amplifier.
■ Verify that there are no loose screws on the servo amplifier.
2HA5
Model No.
Serial No
Web Address
3-2
3. Installation Servo Amplifier
3) Mounting direction and location
Rear-mounting
M4
M4
Ventilation
Servo amplifier
At least 50mm
At least 50mm Ventilation
At least 10mm At least 10mm At least 10mm
3-3
3. Installation Servo Amplifier
5) Cooling condition (for DC input type amplifier only)
Please force air cooling for heatsink of the amplifier certainly in case of load condition of the servo motor below.
Effective output current: Irms is calculated with Trms which is shown in "15.1 Rotary Motor Sizing ",
TR and IR which are shown in "16.4 Servo Motor Data Sheet ". See calculation formula below.
Trms
Irms IR [A]
TR
TR : Rated torque of servo motor (Catalog value) [N・m]
IR : Rated current of servo motor (Catalog value) [A]
Trms : Effective torque that calculated with operation pattern and load condition [N・m]
Irms : Effective output current calculated by formula above [A]
Please force air cooling for the amplifier in case of “Irms > 3.3 [A]” by calculation above.
Check surface temperature of heatsink center by heat run test at actual system.
Please force air cooling for the amplifier in case of “The temperature above > 65 ℃”.
3-4
3. Installation Rotary motor
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 is the same as ordered.
The model number is located on the main nameplate, following the word “MODEL”.
■ Verify that there is no problem in the appearance of servo motor.
■ Verify that there are no loose screws on the servo motor.
AC SERVO SYSTEMS R
MODEL
R2AA06020FCP00MA Model No.
60W AC200V 0.53A
3000min-1 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.
Do not use the device in locations where the oil seal lip is continuously exposed to oil, or where the
device is exposed to large quantities of water, oil drops, or cutting fluid. The motor is designed to
withstand only small amounts of moisture spray.
Ambient temperature: 0 to 40°C Good ventilation, no corrosive or explosive gases present.
Storage temperature: -20 to 65°C No dust or dirt accumulation in the environment.
Ambient humidity: 20 to 90% Easy access for inspection and cleaning.
3-5
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.
In some models, there is an oil-seal attached to the output shaft. If the shaft is facing upwards and the
seal lip is continuously exposed to oil, oil can enter inside the motor and cause damage, as a result of
wear and degradation of the oil seal. In such cases an oil seal should be used on the load-side as well.
Contact your distributor or sales office if the device is to be used in such conditions.
■ The motor connector and cable outlet should be installed facing downwards, as nearly vertical as
possible.
■ In vertical installation, create a cable trap to prevent oily water from getting into the motor.
Cable trap
Lead wire
■ The motor waterproofing is of IPX 7 class level, but still requires careful handling. If the motor is
continuously wet, due to the respiratory effect of the motor, liquid may penetrate inside the motor.
■ Install a protective cover to prevent corrosion of the coating and the sealing material, which can be
caused by certain types of coolants (especially water soluble types).
■ In the case of a canon plug type motor, use a waterproofed type plug.
3-6
3. Installation Rotary motor
■ 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.
■ Install the cover at an angle (for runoff), to prevent water or oil from collecting.
■ Make sure that the cable does not get soaked in water or oil.
■ Create a sag in the cable outside the cover, to make sure water or oil does not penetrate to the motor.
■ If it is not possible to install the connectors (lead outlets) facing downwards, create a sag in the cable to
prevent water or oil from entering the motor.
Cover
Sag
50°max 50°max
■ Create a hole to prevent pressure build-up inside the gear box, as pressure can cause water or oil to
penetrate the oil seal and enter inside the motor
■ If the motor is used with the shaft facing upwards, an oil seal should be used on the opposite side of the
mechanism as well. In addition, install a drain to expel the water or oil that may penetrate through
this oil seal.
Gear
Shaft outer
Servo motor
Oil level
3-7
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.
■ Do not subject the servo motor shaft to shock, as the precision encoder is directly connected to it.
If it is absolutely necessary to hit the motor for position adjustment or other reasons, use a rubber or
plastic hammer and hit the front flange area.
■ If mounting to a machine, create enough mounting holes for smooth coupling of the motor flange rabbet.
The mounting surface should be flat, otherwise damage to the shaft or the load may occur.
■ Use the screw at the end of the shaft for installing parts such as the gear, pulley, or coupling, to avoid
shock.
Bolt
■ Tapered servo motor shafts transmit the torque via the tapered surface. Make sure the key fits without
rattling. The tapered surface contact should be no less than 70%.
Taper
Removal tool
3-8
3. Installation Rotary motor
F1 direction
Radial load FR
Assembly Operation
Servo motor
Series Radial load (N) Thrust load (N) Radial load (N) Thrust load (N)
model number
FR F direction F1 direction FR F direction F1 direction
R1AA10100 980 290 290 690 290 290
R1AA10150 980 290 290 690 290 290
R1AA10200 980 290 290 690 290 290
R1AA10250 980 290 290 690 290 290
R1AA13300 2000 390 390 980 390 390
R1 R1AA13400 2000 390 390 980 390 390
R1AA13500 2000 390 390 1200 390 390
R1AA18550 3900 2000 2000 1800 590 590
R1AA18750 3900 2000 2000 1800 590 590
R1AA1811K 3900 2000 2000 1800 590 590
R1AA1815K 3900 2000 2000 2700 1500 1500
R2□A04003 98 78 78 49 29 29
R2□A04005 150 98 98 98 29 29
R2□A04008 150 98 98 98 29 29
R2AA04010 150 98 98 98 29 29
R2□A06010 150 98 98 98 29 29
R2□A06020 390 200 200 200 68 68
R2AA08020 390 200 200 200 98 98
R2AA06040 390 200 200 250 68 68
R2AA08040 390 200 200 250 98 98
R2AA08075 590 390 390 340 200 200
R2AAB8100 590 780 290 340 200 200
R2 R2AA10100 590 780 290 340 200 200
R2AA13050 980 1400 1400 640 490 490
R2AA13120 1700 1900 1900 640 490 490
R2AA13180 1700 1900 1900 640 490 490
R2AA13200 1700 1900 1900 640 490 490
R2AA18350 2300 1900 1900 1500 290 290
R2AA18450 2300 1900 1900 1500 290 290
R2AA18550 3900 2000 2000 1800 590 590
R2AA18750 3000 2000 2000 2000 1100 1100
R2AA22500 2300 1900 1900 1500 490 490
R2GAD102RM 10 5 5 10 5 5
R2□A02D20F 20 20 20 20 20 20
R2□A02D30F 20 20 20 20 20 20
R5AA06020 390 200 200 200 68 68
R5 R5AA06040 390 200 200 250 68 68
R5AA08075 590 390 390 340 200 200
3-9
3. Installation Rotary motor
Assembly Operation
Servo motor
Series Radial load (N) Thrust load (N) Radial load (N) Thrust load (N)
model number
FR F direction F1 direction FR F direction F1 direction
Q1AA07075 590 390 390 340 200 200
Q1AA10150 980 290 290 690 290 290
Q1AA10200 980 290 290 690 200 200
Q1AA10250 980 290 290 690 200 200
Q1AA12200 980 290 290 690 290 290
Q1 Q1AA12300 980 290 290 690 290 290
Q1AA13300 2000 390 390 980 390 390
Q1AA13400 2000 390 390 1200 390 390
Q1AA13500 2000 390 390 1200 390 390
Q1AA18450 2300 1900 1900 1500 490 490
Q1AA18750 3900 2000 2000 1800 590 590
Q2AA04006 150 98 98 98 29 29
Q2AA04010 150 98 98 98 29 29
Q2AA05020 250 200 150 200 78 78
Q2AA08075 590 780 290 340 200 200
Q2AA08100 590 780 290 340 200 200
Q2AA10100 980 290 290 690 200 200
Q2AA10150 980 290 290 690 290 290
Q2AA13050 980 1400 1400 640 490 490
Q2AA13150 1700 1900 1900 640 490 490
Q2AA13200 1700 1300 1300 690 290 290
Q2
Q2AA13300 1700 1900 1900 880 390 390
Q2AA18200 2300 1900 1900 1500 490 490
Q2AA18350 2300 1900 1900 1500 490 490
Q2AA18450 2300 1900 1900 1500 490 490
Q2AA18550 3900 2000 2000 1800 590 590
Q2AA18750 3000 2000 2000 2000 1100 1100
Q2AA22550 3900 2000 2000 1800 590 590
Q2AA22700 3900 2000 2000 2500 1100 1100
Q2AA2211K 3900 2000 2000 2700 1500 1500
Q2AA2215K 3900 2000 2000 2300 1500 1500
Q4AA1811KB 3900 2000 2000 1800 590 590
Q4
Q4AA1815KB 3900 2000 2000 2700 1500 1500
* For specifications on other motor, please contact us.
■ If the servo motor is installed in a moving location, make sure that no excessive stress is applied to the
cable, by allowing a large bending radius.
■ Avoid pulling the cable over sharp objects such as cutting scrap that can damage its exterior. Make sure
the cable is not touching any machinery, and that it is out of the path of people and machines.
■ Prevent bending or additional weight stress on the cable connection by clamping the cable to the
machinery.
In applications where the motor or the cable is moving using a cable bear, the bending radius should be
based on the required cable-life and the type of cable used.
■ Install the cables of moving parts in a manner that permits easy regular replacement.
Consult with your distributor or sales office for recommendations, if you use cables for moving parts.
3-10
3. Installation Linear Motor
Step Description
Strong magnet is set in the surface of the magnetic rail. High magnetic attraction force exists between
1 themselves and between the rails and the motor coil or tools made of iron. Take care not to have your
hands caught
Attraction force between the motor coil and the magnetic rail is more than 5 times as strong as the
2 maximum force, which is constant even when the motor power is off. Therefore, the system structure
must be rigid enough to support the magnetic attraction and maintain precision.
Do not start operation having any magnetic dust or metal, or dirt on the surface of the magnetic rails,
otherwise, those foreign materials may be caught in the mover and cause troubles. Depending on the
3
operation condition, bellows or sliding cover is needed to prevent foreign materials from attaching. Take
care to keep the surface of the magnetic rails clean.
4 All the pinholes of the magnetic rails must be facing the same direction.
When installing, the bottom of the magnetic rails (flat surface) must be the contact point. If the top surface
5 (uneven surface) comes near the base, high magnetic force is generated and may cause injury or
breakage.
Position pinholes of the magnetic rails (φ5.1) must be all on the same side. If not, polarity order of the
6 magnetic rails is inappropriate and there is a danger of runaway.
Install the magnetic rails one by one using all the installing screws. Tightening torque of the installing
screws M6 is 13.6N・m or more (recommended: screw strength class 10.9, and non-magnetic screws),
their engagement length is 9mm or longer and apply fixatives. If some magnetic rails are not fixed by
appropriate screws, magnetic attraction will be generated when other magnetic rails or magnetized metal
come near, resulting in injury or breakage.
Install the magnetic rails in order from end. When installing one magnetic rail next to the one already
fixed, do not place the former above the latter but place it from the side of the latter. Otherwise, magnetic
force will be generated and may cause injury or breakage.
3-11
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
1 (Scale tape)
Linear motor
Linear guide (Magnetic rail)
Place the coil on the base where there is no magnetic rail using a spacer. Use a spacer of appropriate
material which does not damage the base and the coil. Take care not to have your fingers caught in
between the coil and the base. Use a spacer which is a little thinner than the magnetic rails.
Stage
Linear sensor
(Lead head)
2 Linear motor
(Coil)
Spacer
Linear motor
(Magnetic rail)
All the M5 taps for installing the coil must be used. Tightening torque is 8.0N・m or more (screw strength
class 10.9 or more), engagement length is longer than 6mm and shorter than 8mm. Apply fixatives.
Insert a shim between the coil and the stage to adjust the gap between the magnetic rail and the coil. Its
appropriate length is or the one without magnet cover, for the one with magnet cover.
・Without magnet cover:0.8±0.25mm
・With magnet cover :0.6±0.25mm
Stage
3 Clearance
(Supported by linear guide or others.)
Without magnet :0.8±0.25mm
With magnet cover:0.6±0.25mm
Base
3-12
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.
Perform gap adjust between the motor coil and magnetic rail, and
then tighten mounting bolts.
Installation is complete when the motor has been installed. Then conduct wiring.
Shock absorber
Cable-veyor
Stage
Linear motor
(Coil)
6 Linear motor
(Magnetic rail)
Linear guide
3-13
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
1
spacer of 50mm or thicker. Non magnetic spacer must be of the material which would not be compressed
by the coil self weight.
Prepare through taps to horizontally raise or lower the stage by bolts. Tips of the through bolts must
contact the base so that the stage can be lifted. To avoid any damage between the through bolts and the
2
base, use spacers made of resin. Take the magnetic attraction force into account when choosing the
shape and number of the taps and spacers.
Install the stage on top of the coil and connect them together. Insert through bolts into through taps and
3 lift the stage and the coil together, then separate the coil and non-magnetic spacers and remove the
spacers.
Press more than two through screws down in order to lower the stage horizontally until the guide block can
4 support it. Then remove the through bolts. Adjust the stage where the space between the coil and the
magnet is wide and attraction force is small.
Through bolt
Through tap
Spacer
Start pressing down
beginning from 50mm
Coil or more.
Clearance
Base Without magnet:0.8±0.25mm
With magnet:0.6±0.25mm
10
1
Characteristics:
0.1
0.01
0. 1 10 100
Gap
3-14
3. Installation Linear Motor
3) Installation of twin-type linear motor with core
■ 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
1 between the magnets themselves and between the motor coil, tools or jigs made of iron when they are
placed near the magnetic rails. Take care not to have your hands caught.
Magnetic attraction force exists between the magnetic rails and the motor coil, which is constant even
2 when the motor power is turned off. Therefore, the system structure must be rigid enough to support the
magnetic attraction and maintain precision.
Do not start operation having any magnetic dust or metal, or dirt on the surface of the magnetic rails,
otherwise, those foreign materials may be caught in the mover and cause troubles. Depending on the
3
operation condition, bellows or sliding cover is needed to prevent foreign materials form attaching. Take
care to keep the surface of the magnetic rails clean.
When installing the magnetic rails, make sure to set the magnet surface (uneven surface) of the magnetic
rail on each side facing each other. For security reasons, place a non-magnetic spacer of 30 to 80mm in
width and 100mm or higher between the facing magnetic rails to avoid magnetic attraction between the
magnetic rails on both sides.
Non-magnetic spacer
4 (Aluminum, wood etc.)
Magnetic rail
When installing the magnetic rails, make sure that the counter sinking on the installation holes should be
5 facing up. If installed in wrong direction, the installing bolt head will interfere the motor coil and cause
breakage.
Install the magnetic rails one by one using all the installing bolts. Tightening torque of the installing bolts
M10 is 66 N・m or more (recommended: bolt strength class 12.9), their engagement length is 15mm or
longer and apply anti-loosening agent. If any magnetic rails are not fixed by appropriate bolts, magnetic
attraction will be generated when other magnetic rails or magnetized metal come near, resulting in injury or
breakage.
Magnetic rail:fixed
Non-magnetic spacer
Magnetic rail:fixed
Magnetic rail:not fixed Non-magnetic spacer
Magnetic rail:fixed
Magnetic rail:not fixed
3-15
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.
Magnetic rail:fixed
Non-magnetic spacer
7
■ Installation of coil
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
Install the magnetic rail except for the
Linear sensor
motor coil length.
(Scale tape)
Linear motor
1 (Magnetic rail)
Linear guide
Linear guide rail
Install a dummy magnetic rail on the stroke without magnetic rails and insert the motor coil onto the dummy
magnetic rail. Take care not to have your fingers caught in between the motor coil and the base. (See
“External View for the shape of dummy magnetic rail”.)
Stage
Linear sensor
(Lead head)
Linear motor (coil)
Linear motor
(Magnetic rail)
3-16
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. It is recommended that the difference of gaps at two points be
0.2mm maximum. After adjusting the gap, tighten the installing bolts for the motor coil and the stage. All
the M8 taps for installing the motor coil must be used. Tightening torque is 38N・m (bolt strength class
12.9), engagement length is 8mm to 12mm. Apply fixatives.
Stage
Linear motor
(Magnetic rail)
Linear motor
(Coil)
Stage
3-17
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. If the bolts
stress other point than the upper plate, the motor coil may break. See the recommended values in the
figure below for the location of taps of bolts. As tap diameter, M8 or M10 is recommended.
Insert the gap adjusting bolts into the taps on the side of the stage and turn them left and right to adjust the
gap. If the bolt is too short for its tip to reach the upper plate of the motor coil, put a spacer between the
tip of the bolt and upper plate. It is recommended that the difference of gaps at two points between the
dummy magnetic rail and the motor coil be 0.2mm maximum.
Gap-adjusting bolt
(Four bolts)
Spacer
L
Stage
Motor coil Dummy magnetic rail
6±0.5
Motor coil
Dummy magnetic rail
4 Slide the movable stage with the motor coil installed towards the magnetic rail side which was fixed with
screws. At this time, the motor coil is drawn towards the magnetic rail side by the force of approx. ±300N.
When the motor coil is completely inside the magnetic rail, the force no longer exists.
Remove the dummy magnetic rail and install the remaining magnetic rail.
3-18
3. Installation Linear Motor
When the motor has been installed, perform wiring.
Shock absorber
Cable-veyor
Stage b
Linear motor (coil)
Linear motor
(Magnetic rail)
6
Linear guide
3-19
4
4. Wiring
4.1 Control power supply, Regeneration resistance, and Wiring protective ground ······························································ 4-1
1) Name and its function ····································································································································· 4-1
2) Wire ···························································································································································· 4-1
3) Wire diameter - Permissible current ·················································································································· 4-2
4) Recommended Wire Diameter (Rotary motor) ····································································································· 4-2
5) Recommended wire diameter (Linear motor)······································································································· 4-5
6) Wiring of servo motor ····································································································································· 4-6
7) Wiring Example ············································································································································· 4-8
8) Electric wire crimping processing ····················································································································· 4-11
9) High voltage circuit terminal; tightening torque···································································································· 4-11
10) Wiring of the canon connector for servo motors ·································································································· 4-11
4.2 Wiring with Host Unit ······································································································································· 4-12
1) Control signal and pin number (wiring with host unit) ·························································································· 4-12
2) IN, OUT connector disposition························································································································ 4-13
3) CN1 connector disposition····························································································································· 4-15
4) CN2 General input-output connector layout ······································································································ 4-16
4.3 Wiring of Motor Encoder ··································································································································· 4-18
1) EN1, EN2 connector name and its function ······································································································· 4-18
2) Terminal number ········································································································································· 4-19
3) Connector model number for motor encoder ····································································································· 4-20
4) Canon connector plug and contact for motor encoder ························································································· 4-21
5) Recommended encoder cable specification ······································································································ 4-21
6) Encoder cable length···································································································································· 4-21
4.4 Peripherals ···················································································································································· 4-22
1) Power supply capacity and peripherals list (Rotary motor) ··················································································· 4-22
2) Power supply capacity and peripherals list (Linear motor) ···················································································· 4-24
3) Cooling fan connectors to connect motor·········································································································· 4-24
4
4. Wiring Control power supply, Regeneration resistance, and Wiring protective ground
2) Wire
The electric wire used for a servo amplifier main circuit power is shown below.
Wire type
Kinds of wires Conductor allowable
Code Name temperature [°C]
PVC Common vinyl electric wire -
IV 600V electric wire 60
HIV Special heat-resistant vinyl wire 75
* The information in this table is based on rated current flowing through three bundled lead wires in ambient
temperature of 40°C. Use the electric wire beyond proof-pressure 600V.
* When wires are bundled or put into a wire-duct, such as a hardening vinyl pipe or a metallic conduit, take the
allowable current reduction ratio into account.
* If ambient temperature is high, service life of the wires becomes shorter due to heat-related deterioration. In this case,
we recommend using heat-resistant vinyl wires.
4-1
4. Wiring Wire diameter – Permissible current/ Recommended Wire Diameter (Rotary motor)
4-2
4. Wiring Wire diameter – Permissible current/ Recommended Wire Diameter (Rotary motor)
4-3
4. Wiring Wire diameter – Permissible current/ Recommended Wire Diameter (Rotary motor)
4-4
4. Wiring Recommended wire diameter (Linear motor)
4-5
4. Wiring Wiring of servo motor
4-6
4. Wiring Wiring of servo motor
Plug model number for power and brake of Q-series servo motor
(Products of Japan Aviation Electronics Industry, Limited)
Plug for power (Cable clamp) Plug for brake (Cable clamp)
Servo motor
【Plug + clamp model number】 【Plug + clamp model number】 Remarks
model number
Straight Angle Straight Angle
Q1AA10200D N/MS3106B20-15S N/MS3108B20-15S JL04V-6A10SL-3SE-EB JL04V-8A10SL-3SE-EB
(N/MS3057-12A) (N/MS3057-12A) (JL04-1012CK (50)) (JL04-1012CK (50))
Q1AA10250D
【MS06B20-15S-12】 【MS08B20-15S-12】 【332706X1】 【332707X1】
Q1AA12200D JL04V-6A10SL-3SE-EB JL04V-8A10SL-3SE-EB
(JL04-1012CK (50)) (JL04-1012CK (50))
Q1AA12300D 【332706X1】 【332707X1】
N/MS3106B24-11S N/MS3108B24-11S
Q1AA13300D (N/MS3057-16A) (N/MS3057-16A)
Q1AA13400D 【MS06B24-11S-16】 【MS08B24-11S-16】
Note 1 Note 1
Q1AA13500D
Q1AA18450M
N/MS3106B32-17S N/MS3108B32-17S JL04V-6A10SL-3SE-EB JL04V-8A10SL-3SE-EB
Q1AA18750H (N/MS3057-20A) (N/MS3057-20A) (JL04-1012CK (50)) (JL04-1012CK (50))
【MS06B32-17S-20】 【MS08B32-17S-20】 【332706X1】 【332706X1】
Q2AA13200H
N/MS3106B24-11S N/MS3108B24-11S
Q2AA18200H
(N/MS3057-16A) (N/MS3057-16A) Note 1 Note 1
Q2AA18350H
【MS06B24-11S-16】 【MS08B24-11S-16】
Q2AA18450H
Q2AA18550R N/MS3106B32-17S N/MS3108B32-17S
Q2AA18550H (N/MS3057-20A) (N/MS3057-20A)
Q2AA18750L 【MS06B32-17S-20】 【MS08B32-17S-20】
JL04V-6A10SL-3SE-EB JL04V-8A10SL-3SE-EB
Q2AA22550B N/MS3106B24-11S N/MS3108B24-11S
(JL04-1012CK (50)) (JL04-1012CK (50))
(N/MS3057-16A) (N/MS3057-16A)
Q2AA22700S 【332706X1】 【332707X1】
【MS06B24-11S-16】 【MS08B24-11S-16】
Q2AA2211KV
N/MS3106B32-17S N/MS3108B32-17S
Q2AA2215KV
(N/MS3057-20A) (N/MS3057-20A)
Q4AA1811KB
【MS06B32-17S-20】 【MS08B32-17S-20】
Q4AA1815KB
Note 1) TÜV-compliant, DC24V with brake model needs separate plug for brake.
Plug for brake is used in common with for power line except for the above model.
4-7
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 5 minutes for the prevention from an electric shock. Completion of electric discharge turns off the
lamp of CHARGE. Please do connection check work after checking putting out lights.
Three phase
AC200 - 230V
50/60 Hz MC
R SERVO MOTOR
U
S
V
T
W
r
t
Operation ON
OFF
MC
Emergency
stop RB1
RB2
DC5V,DC12V - 24V +E
Alarm CN2
RY
OUT1+: 16
OUT2+: 18
OUT1-: 17
OUT2-: 19
COM
CN2
RY
COM OUT1+: 16
OUT2+: 18
OUT1-: 17
+E OUT2-: 19
DC5V,DC12V - 24V
* Use one of the CN2 - 16 - 19(OUT1, OUT2) outputs, and set either during ALM status output ON or during ALM
status output OFF with the selection setting of “Index: 0x20F9 General output function selection”.
* When relay or induction coil load connect to CN2 output, need to connect surge absorbing diode.
In order to avoid the failure of the amplifier, please make sure of polarity of the diode.
4-8
4. Wiring Wiring Example
Single phase
AC200 - 230V
50 / 60 Hz
or,
Single phase
AC100 - 115V
50 / 60 Hz MC
R U SERVO MOTOR
S V
T W
r
t
Operation
ON
OFF
MC
Emergency
stop RB1
RB2
+E
Alarm CN2
RY
DC5V, DC12V - 24V OUT1+:16
OUT2+:18
OUT1-:17
OUT2-:19
COM
CN2
RY
COM OUT1+:16
OUT2+:18
OUT1-:17
+E OUT2-:19
DC5V, DC12V - 24V
* Use one of the CN2-16-19 (OUT1, OUT2) outputs, and set either during ALM status output ON or during ALM status
output OFF with the selection setting of “Index: 0x20F9 General output function selection”.
* When relay or induction coil load connect to CN2 output, need to connect surge absorbing diode.
In order to avoid the failure of the amplifier, please make sure of polarity of the diode.
4-9
4. Wiring Wiring Example
DC48V, DC24V [Generic output]
SERVO MOTOR
AC/DC
AC power supply
AC/DC
Operation
ON OFF
Emergency
stop
Alarm
DC5V, DC12V - 24V
CN2
RY
COM OUT1+:16
OUT2+:18
OUT1-:17
+E OUT2-:19
DC5V, DC12V - 24V
* Use one of the CN2-16-19 (OUT1, OUT2) outputs, and set either during ALM status output ON or during ALM status
output OFF with the selection setting of “Index: 0x20F9 General output function selection”.
* When relay or induction coil load connect to CN2 output, need to connect surge absorbing diode.
In order to avoid the failure of the amplifier, please make sure of polarity of the diode.
* The aluminum capacitors between P-N and CP-CN are recommended to install to amplifier side when power cable is
long. In this case, power supply should be able to provide rush current to the capacitors at power on.
* The aluminum capacitor between P-N should be installed to protect the amplifier when battery is used to main power
supply. (Over 2,000 µF is recommended.)
4-10
4. Wiring Electric wire crimping processing/ High voltage circuit terminal; tightening torque
Wiring of the canon connector for servo motors
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.
Process 1 Process 3
Wire Process 2
Ferrule
Model number of recommended ferrules and crimping tools for various wire sizes
Model number
mm2 AWG
1Pcs / Pkt 1000Pcs / Pkt Taped components
0.75 mm2 18 AI0.75 - 8GY AI0.75 - 8GY - 1000 AI0.75-8GY-B (1000Pcs/Pkt)
1.0 mm2 18 AI1 - 8RD AI1 - 8RD - 1000 AI1-8RD-B (1000Pcs/Pkt)
1.5 mm2 16 AI1.5 - 8BK AI1.5 - 8BK - 1000 AI1.5-8BK-B (1000Pcs/Pkt)
2.5 mm2 14 AI2.5 - 8BU AI2.5 - 8BU - 1000 AI2.5-8BU-B (500Pcs/Pkt)
Terminal code
Servo amplifier size R S T RB4 RB1 RB2 U V W CNA
RS2#10# [1.18 N・m]
[0.5 - 6 N・m]
RS2#15# M4 (screw size)
Terminal code
Servo amplifier size R S T P U V W RB1 RB2 CNA
[3.73 N・m] [1.18 N・m]
RS2#30# [0.5 - 6 N・m]
M6 (screw size) M4 (screw size)
* Mark “#” shows optional number or alphabetical letter.
4-11
4. Wiring Wiring with Host Unit
Note1)
Pin 4-5 and 7-8 on IN/ OUT EtherCAT
TX+
1 communication connector are short-circuited
inside the amplifier.
4
8
RX- 6
7
Ω (Note1)
1 5 注1)
Ω
M
CN2: General I/ O EN1/2: Sensor
BAT+ 1 1
BAT- 2 2
CONT1+ Motor sensor
3 3
CONT1- 4 4
CONT2+ 5 5
CONT2- 6 6
CONT3+ 7 7
CONT3- 8 8
CONT4+ 9 9
CONT4- 10 10
CONT5+ 11
CONT5- 12
CONT6+ 14
CONT6- 15
OUT1+ 16
OUT1- 17
OUT2+ 18
OUT2- 19
20
Reserved
Reserved (Do not connect.)
21
RXD+ 22
(For the position synchronization
RXD- compensation)
23
Reserved 1 CN1: Safe-Torque-Off
TXD+ 24
(Do not connect.) 2
TXD- 25
4
HWGOFF1+
13
3
HWGOFF1-
26
6
HWGOFF2+
SG 5
HWGOFF2-
8 EDM+
7
EDM-
4-12
4. Wiring IN, OUT connector disposition
Pin assignment
Port IN/ OUT 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.
Connect IN Port 0) to the higher-level device and OUT to the next slave.
Use twisted-pair cables that satisfy at leas “Category 5e” to connect the cable.
When you make cables using exclusive tools, use STP (Shielded twisted pair cable) and RJ-45 modular plug with
shield.
Either straight or crossed cables can be used for the port connection because an automatic crossover function
(Automatic discriminating feature for MDI / MDI-X called Auto MDI / MDI-X) is installed.
Terminal Signal
IN(port0),OUT(port1) Description
number (Ethernet Connection)
1 TX+ Transmitting signals +
2 TX- Transmitting signals -
3 RX+ Receiving signals +
4 - 75Ω Connection
5 - 75Ω Connection
6 RX- Receiving signals -
7 - 75Ω Connection
8 - 75Ω Connection
* Refer to “Control signal and pin number (wiring with host unit)” on the previous page for electrical connection of IN
and OUT. Pins 4 and 5 and pins 7 and 8 are shorted inside the amplifier and connected with 150Ω to the midpoint of
the pulse transmission between pin 4/5 and 7/8.
Connection diagram
Host unit
✔ Connect Master (host) cable to the lower connector IN (Port0), and then connect cable of the upper connector OUT (Port1) to
the next Slave.
4-13
4. Wiring CN1 connector disposition
Wiring diagram
R-ADVANCED EtherCAT amplifier is twisted-pair cable and daisy-chain topology-compliant model, and port0(IN)/ 1
(OUT)are Ethernet connection.
Ethernet port-to-port connection can use both straight and cross cable as the model has auto crossover function for
slave amplifier. Connecting cable shall be Category 5e cable.
・ For the modular connector selection and modification, please confirm the standards dimension below (Standards: TIA-968-A).
・ Especially, when the connector (ready-made/ modified product) which has out-of-range dimension at C (from top end of
connector housing to lower side of terminal) is used, it gives excessive stress to mating connector and may cause a damage of
Standards dimension:
A: 11.58 to 11.78 mm
B: 6.49 to 6.70 mm
C: 5.89 to 6.15 mm
4-14
4. Wiring CN1 connector disposition
8 6 4 2
7 5 3 1
◆ Signal name and its function
Terminal
Signal name Description
number
1 Reserve Do not use.
2 Reserve Do not use.
3 HWGOFF1- Signal-input1 (-) for safety function
4 HWGOFF1+ Signal-input1 (+) for safety function
5 HWGOFF2- Signal-input2 (-) for safety function
6 HWGOFF2+ Signal-input2 (+) for safety function
7 EDM - Monitor (-) for safety function
8 EDM + Monitor (+) for safety function
◆ Signal names and functions
Terminal
Signal name Symbol Description
NO.
Reserved 1 Terminal for This is a connection terminal when the function is not used.
Reserved 2 maintenance Do not use this terminal.
This is an input signal to control Safe-Torque-Off state.
3 HWGOFF1- Connection circuit
Connected to a relay or open collector transistor circuit.
Safety input 1 Power supply voltage range: DC24V±10%
Internal impedance : 2.2kΩ
4 HWGOFF1+
Safety equipment Servo amplifier
HWGOFF1+ 4
5 HWGOFF2- HWGOFF1- 3
HWGOFF2+ 6
Safety input 2
HWGOFF2- 5
6 HWGOFF2+
EDM- 7
8 EDM+
Fuse
If you do not use this function, please connect the short-circuit plug for safety instrument that is attached to this product. If the short-circuit
plug for safety instrument is required, please order "AL-00849548-02", as our model number. Also, if you do not use this function by
connector "2013595-3", please make short-circuit within terminal No. group 1/3/5 and within terminal No. group 2/4/6.
4-15
4. Wiring CN2 General input-output connector layout
12 10 8 6 4 2
13 11 9 7 5 3 1
26 24 22 20 18 16 14
25 23 21 19 17 15
4-16
4. Wiring CN2 General input-output connector layout
Terminal
Symbol Name Description
NO.
■ When using a battery backup type absolute encoder, the backup battery can be
installed in the host unit, and then the battery can be connected via servo
amplifier. When installing a battery between servo amplifier and servo motor,
1 BAT+ Battery(+) you don’t need install the battery.
Host unit Servo amplifier
BAT+
1
Power
2 BAT- Battery(-)
supply 2
BAT-
Twisted-pair
3 CONT1+ General input 1 (+) ■ Connect the general-purpose input circuit to a relay or open collector transistor
circuit.
4 CONT1- General input 1 (-)
■ Power supply voltage range: DC5V±5%/DC12V to 24V±10%
5 CONT2+ General input 2 (+) Current capacity: 100mA or more (DC24V)
Host unit Servo amplifier
6 CONT2- General input 2 (-)
7 CONT3+ General input 3 (+) Power supply CONT1+ 2.2kΩ
3
8 CONT3- General input 3 (-) CONT1- 4.7kΩ
9 CONT4+ General input 4 (+) 4
CONT2+ 2.2kΩ
10 CONT4- General input 4 (-) 5
CONT2- 4.7kΩ
11 CONT5+ General input 5 (+) 6
12 CONT5- General input 5 (-)
14 CONT6+ General input 6 (+)
OUT1+
General-purpose 16
1
18 OUT2+
input2(+) OUT1-
17
2
OUT2+
18
3
OUT2-
General-purpose 19
4
19 OUT2-
input2(-)
4-17
4. Wiring Wiring of Motor Encoder
4-18
4. Wiring Terminal number
7 3
9 5 1
8 4
10 6 2
(Soldered side)
* Wirings vary depending on encoders to be connected, so please perform wiring with care.
Connector number (3M Japan Ltd.)
Model Number Application wire size Application cable diameter
Connector 36210-0100PL AWG30 - AWG18 -
Shell kit 36310-3200-008 - φ7 - φ9
4-19
4. Wiring Connector model number for motor encoder
3) Connector model number for motor encoder
4-20
4. Wiring Canon connector plug and contact for motor encoder/
Recommended encoder cable specification
Note 1) The conductor resistance value is recommended with the cable length actually used.
4-21
4. Wiring Peripherals
4.4 Peripherals
1) Power supply capacity and peripherals list (Rotary motor)
AC200V input
Main circuit
Input Servo amplifier Servo motor Surge
power supply Circuit breaker Noise filter Magnetic contact
voltage capacity model No. absorber
rating (KVA)
R2AA04003F 0.2
R2AA04005F 0.2
R2AA04010F 0.4
R2AA06010F 0.4
RS2#01A R2AA06020F 0.8
R2AA08020F 0.8
R5AA06020H 0.6
R5AA06020F 0.6
Model NF30 10A
R5AA06040H 1.0
MITSUBISHI
R2AA06040F 1.0 ELECTRIC
R2AA08040F 1.0 S-N10
R2AA08075F 1.7 MITSUBISHI
R2AA13050H 1.5 ELECTRIC
RS2#03A R2AA13050D 1.5
R2AA13120B 2.2
R5AA06040F 1.0
R5AA08075D 1.6
R5AA08075F 1.6
R2AAB8100F 2.5
R2AA13120D 2.8 Model NF30 15A
HF3030C-UQ
RS2#05A MITSUBISHI
R2AA13120L 2.7 A
ELECTRIC
SOSHIN
R2AA13200L 5.0
ELECTRIC
R2AA13200D 5.0 Co., Ltd.
Q1AA10200D 4.0
Q1AA10250D 4.2
Q1AA12200D 4.0 Model NF50 30A S-N18 LT-
RS2#10A MITSUBISHI MITSUBISHI C32G801WS
Q1AA12300D 5.0 ELECTRIC ELECTRIC
AC200V SOSHIN
Q1AA13300D 5.0 ELECTRIC
Q2AA13200H 5.0 Co., Ltd.
Q2AA18200H 5.0
Model NF100 75A S-N50
R2AA22500L 9.6 MITSUBISHI MITSUBISHI
ELECTRIC ELECTRIC
Q1AA13400D 6.7
Q1AA13500D 8.3
Q1AA18450M 7.4 Model NF50 50A S-N35
RS2#15A Q2AA18350H 6.9 MITSUBISHI MITSUBISHI
Q2AA18450H 7.4 ELECTRIC ELECTRIC
Q2AA18550R 8.4
Q2AA22550B 10.1
Model NF100 75A S-N50
HF3050C-UQ
Q2AA22700S 12.2 MITSUBISHI MITSUBISHI
A
ELECTRIC ELECTRIC
R1AA18550H 9.3
R1AA18750L 11.6
R1AA1811KR 16.0
R1AA1815KB 21.4 HF3080C-UQ
Q1AA18750H 12.6 Model NF100
A S-N65
100A
RS2#30A Q2AA18550H 10.1 SOSHIN MITSUBISHI
MITSUBISHI
Q2AA18750L 12.6 ELECTRIC ELECTRIC
ELECTRIC
Q2AA2211KV 15.7 Co., Ltd.
Q2AA2215KV 21.4
Q4AA1811KB 15.7
Q4AA1815KB 21.4
* Mark “#” is optional number or alphabetical letter.
* For Molded Case Circuit Breaker (MCCB)/Noise filter/Magnetic contact, the model required to single axis is shown.
4-22
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 0.2 HF3030C-
LT-C12G801WS
R2EA04005F 0.2 NF30 Type 10A UQA S-N10
RS2#01A
AC R2EA04008F 0.4
SOSHIN
100V R2EA06010F 0.5 MITSUBISHI SOSHIN MITSUBISHI
ELECTRIC
ELECTRIC ELECTRIC ELECTRIC
RS2#03A R2EA06020F 0.8 Co., Ltd.
Co., Ltd.
* Mark “#” is optional number or alphabetical letter.
* For Molded Case Circuit Breaker (MCCB)/Noise filter/Magnetic contact, the model required to single axis is shown.
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 1.4 Model NF30 10A
RS2#03A DS050C1N2 1.4 MITSUBISHI
DS075C1N2 1.5 ELECTRIC S-N10
DS030C2N2 2.7 MITSUBISHI
DS050C2N2 2.7 Model NF30 15A ELECTRIC
MITSUBISHI
DS075C2N2 3.0 ELECTRIC
RS2#05A
DS030C1Y4 2.7
DS100C1N2 3.2
DS150C1N2 3.2
DS030C3N2 3.5
DS050C3N2 3.5 HF3030C-U
QA
DS075C3N2 3.8 Model NF50 30A SOSHIN S-N18
DS100C2N2 5.5 MITSUBISHI ELECTRIC MITSUBISHI
ELECTRIC ELECTRIC LT-
DS150C2N2 5.5 Co., Ltd.
RS2#10A C32G801
DS030C2Y4 4.5 WS
AC200V
SOSHIN
DS050C1Y2 4.4 ELECTRI
DS075C1Y2 4.8 C Co., Ltd.
DS030C3Y4 6.8
DS100C3N2 8.2 Model NF50 50A S-N35
DS150C3N2 8.2 MITSUBISHI MITSUBISHI
RS2#15A ELECTRIC ELECTRIC
DS050C2Y2 8.8
DS075C2Y2 9.5
Model NF100 75A S-N50
HF3050C-U
DS050C3Y2 12.2 MITSUBISHI MITSUBISHI
QA
ELECTRIC ELECTRIC
DS075C3Y2 13.2 Model NF100 100A HF3080C-U
RS2#30A
MITSUBISHI QA S-N65
ELECTRIC SOSHIN MITSUBISHI
DS050C4Y2 8.2 ELECTRIC ELECTRIC
Co., Ltd.
* Mark “#” is optional number or alphabetical letter.
* For Molded Case Circuit Breaker (MCCB)/Noise filter/Magnetic contact, the model required to single axis is shown.
4-23
4. Wiring Power supply capacity and peripherals list (Linear motor)/
Cooling fan connectors to connect motor
4-24
No Text on This Page.
5
5. Interface
5.1 About EtherCAT ····························································································································5-1
1) Overview ································································································································· 5-1
2) EtherCAT Profile ······················································································································· 5-1
5.2 Model (Reference Model) ················································································································5-2
1) OSI Reference Model ················································································································· 5-2
2) Drive Architecture ······················································································································ 5-3
5.3 Settings ·······································································································································5-4
1) Node ID··································································································································· 5-4
2) Physical Communication Specifications·························································································· 5-4
5.4 Communication Specifications··········································································································5-5
1) Device Model ··························································································································· 5-5
2) Communication ························································································································· 5-6
3) EtherCAT Protocol ····················································································································· 5-7
4) Datagram Header ······················································································································ 5-7
5) Command Type ························································································································ 5-8
6) WKC (Working Counter) ············································································································· 5-9
7) Frame Processing ····················································································································· 5-9
5.5 Addressing Image ······················································································································· 5-10
1) Position Addressing (Auto-Increment Addressing) ··········································································· 5-10
2) Node Addressing (Fixed Addressing) ···························································································· 5-10
3) Logical Addressing ··················································································································· 5-11
4) FMMU(Fieldbus Memory Management Unit) ················································································· 5-11
5) SM (SyncManager) ··················································································································· 5-12
6) Buffer Mode (3 Buffer Mode) ······································································································· 5-12
7) Mailbox Mode ·························································································································· 5-14
5.6 Accessing to Object Dictionary ······································································································· 5-15
1) Service Data Object (SDO)········································································································· 5-15
2) Mailbox Protocol ······················································································································ 5-15
3) CANopen Header Protocol ········································································································· 5-16
4) SDO Message ························································································································· 5-17
5) Process Data Object(PDO)········································································································ 5-28
5.7 Distributed Clocks (DC) ················································································································ 5-30
1) Clock Synchronization ··············································································································· 5-30
2) System Time ··························································································································· 5-30
3) Clock Synchronization Process ··································································································· 5-31
4) Clock Synchronization Initialization Procedure (example)·································································· 5-32
5) SYNC0 / 1 Signal Output Initialization Procedure (example) ······························································ 5-32
5.8 Communication Timing ················································································································· 5-33
5.9 EtherCAT State Machine (ESM) ····································································································· 5-34
1) ESM ······································································································································ 5-34
2) State ······································································································································ 5-35
5.10 Bootstrap state ··························································································································· 5-36
1) Mailbox protocol of FoE (File access over EtherCAT) ······································································· 5-36
2) FoE Header protocol ················································································································· 5-37
3) FoE command ························································································································· 5-37
5
5.Interface About EtherCAT
http://www.ethercat.org/
■ Trademark
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
1) Overview
Ether CAT is an abbreviation of Ethernet for Control Automation Technology. Ether CAT is an open network
communication between master and slave units using the real time Ethernet developed at BECKHOFF
Automation and is controlled by ETG (Ether CAT Technology Group).
Twisted pair or fiber optic cables can be used for the Ether CAT connection and the Ether CAT also makes various
topological configurations possible, such as line, tree, daisy chain, drop line, etc.
Each slave node reads the output data transmitted from the master, while a telegram is forwarded to the next
device. Similarly, the input data is inserted while the telegram passes through. Standard Ethernet protocol in
accordance with IEEE802.3maintained as the communication protocol; therefore, a new sub-bus construction is
unnecessary for the EtherCAT connection.
This protocol allows transport of control data directly to each Ethernet frame. The frame may consist of multiple
sub-telegrams and realized Broadcast and Multicast communications with logical process images up to a possible
4 gigabytes in size.
A cable length of 100m maximum is possible between devices, and the size of the network is virtually unlimited
since up to 65535 slaves can be connected under the 100BASE-TX Ethernet.
In addition, a switch-based reciprocal connection with ordinary TCP / IP is also possible.
2) EtherCAT Profile
■ IEC61158 Section12
・IEC61158-2-12 (EtherCAT Physical Layer Specification and service definition)
・IEC61158-3-12 (EtherCAT Data-link service definition)
・IEC61158-5-12 (EtherCAT layer service definition)
・IEC61158-6-12 (EtherCAT layer protocol specification)
IEC61158 is the forms of the international fieldbus standards including Ethernet-based field buses with the
descriptions that define the basic communication structure of the networks.
EtherCAT protocol is added as "Type 12" that directs EtherCAT Communication Profiles such as EtherCAT State
Machine (ESM), Process Data Communication System using the features of the Fieldbus Memory Management
Unit (FMMU), CoE Service Channel mapps to the EtherCAT Mailbox, SyncManager (SM) and synchronization
structure using Distributed Clocks (DS).
IEC61800 in Part7, Power Drive System(PDS) profile,defines the functional operations of the servo drive systems.
Section1defines the generic interface and use of profiles for PDS.
Section200 defines the specifications of profile types. The object dictionary of data protocol, CiA402, state
transition FSA and operation mode functions are explained in Profile type1 (-201) and primarily SERCOS IDN and
phase are explained in Profile type4(-204) in detail.
Section300 defines mapping of network technologies. CANopen and CANopen over EtherCAT are explained in
the Mapping of profile type1 (-301) and the communication protocols such as SERCOS and Servo drive over
EtherCAT are explained in the Mapping of profile type4 (-304).
5-1
5.Interface Model (Reference Model)
5-2
5.Interface Model (Reference Model)
2) Drive Architecture
Ethernet Node
Device Control
State Machine
Motor
Communication architecture
5-3
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 8bit rotary switch (0x00 to 0xFF: bit 7 to 0) at the
front of the amplifier and with a set value of bit bit 15 to 8, previously written in the non-volatile memory (on
R2 setup) inside the amplifier.
The setting values will be written in the station alias setting register (0x0012) in an address space after the
control power has been turned ON.
When an axis address has changed under the control power ON status, re-input the power to enable the
change in axis address.
5-4
5.Interface Communication Specifications
The Object Dictionary has a role as an interface between communication and application.
The explanation of the device application of each data item in the Object Dictionary is called a “Device Profile”.
Servo
Motor
Servo control
Slave Information
(AL)
SDO, PDO PDO Mapping
Physical
Layer(PHY) Physical Layer
Ethernet Bus
5-5
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:
2) Communication
■ Ethernet Protocol
Since EtherCAT is adopting IEEE 802.3 as its standard Ethernet frame, a standard network controller can
be used.
Therefore, system construction is possible on the master side without designing specific hardware.
“0x88A4” is reserved for the Ether type of EtherCAT and is distinguished from the other Ethernet frames.
EtherCAT does not require IP protocol.
The frame defines EtherCAT datagrams and divides them into detailed accounts at the EtherCAT frame
header.
Only theType1 EtherCAT frame is processed by the slave in the EtherCAT header.
5-6
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.
16 bit 16 bit
More EtherCAT Datagrams
Position Offset Position Addressing
EtherCAT Datagrams
4) Datagram Header
A 10 Byte datagram header at the beginning of the datagram determines how to handle the following data:
5-7
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.
Addressing mode of EtherCAT datagrams 32bit Address is explained in the following table (1-7)
5-8
5.Interface Communication Specifications
7) Frame Processing
R-ADVANCED EtherCAT amplifier has two (2) parts and the frame processing order (processing) is according to
the logical port number.
The direction via the EtherCAT processing unit is called “Processing” and the direction that does not pass through
the processing unit is called “Forwarding”.
Port 0 Closed
Auto Loop back function
Forwarder
Port 0 Port 1
Auto
Forwarder
Port1Closed
Loop back function
5-9
5.Interface Addressing Image
Slave amplifier Slave amplifier Slave I/O Slave amplifier Slave amplifier
Master 1 2 3,4,5,6 7 8
0xFFFB
0xFFF9 0xFFFA 0x0FFC 0xFFFF 0x0000
0xFFFD
0xFFFE
Slave amplifier Slave amplifier Slave I/O Slave amplifier Slave amplifier
Master 1 2 3,4,5,6 7 8
0x07D0
0x03E9 0x03EA 0x07D1 0x03EB 0x03EC
0x07D2
0x07D3
5-10
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).
Each FMMU channel maps the logical address space that abuts the contiguous physical address space of one of
the slaves.
Logic space
4GByte(32bit)
Telegram Ethernet HDR HDR 1 AMP Data HDR 2 I/O Data HDR n Data n FCS
Structure
I/O
Data
Data n
AMP
Data
FMMU (Fieldbus Memory Management Unit) translates the ESC physical address and the 4GB (32bit channel)
master logical address.
Each FMMU channel can manage a logical address controlled in the master and physical address extending over
the respective slave in batch by allocating the contiguous logical address space of the master to the contiguous
physical address space of the slaves.
The types of access configurations supported by FMMU are “Read”,”Write” and ”Read / Write”.
5-11
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.
Definite SM enable and normal data reception are converted between the master and slave and generate change
notification interrupts to both sides.
SM is set in the master and uses a buffer set in the memory area for data conversion.
The communication direction is configured the same as the buffer and mailbox modes.
Access to this buffer is controlled by SM hardware, and it is necessary to access the Start address first. If not,
access will be refused.
The entire buffer will be accessible after the start address is accessed.
The buffer ends with access to the end address and the buffer status will change. An interrupt will also be
generated when the watchdog trigger pulse has been set.
The end address cannot be accessed twice in one frame.
Two (2) communication modes are supported in SM.
■ Buffer Mode
Buffer mode enables access to the communication buffer at any time on both the EtherCAT master and
slave side.
The reception side can always Read the latest buffer written on the transmission side. The transmission
side can always update the buffer value.
However, old data will be dropped when the Write buffer is faster than the Read.
Buffer mode is generally used for PDO communications of T x PDO・R x PDO.
■ Mailbox Mode
Data will not be lost in mailbox mode because of the handshaking mechanism associated with data
conversion.
Either the EtherCAT master or slave can access the buffer, but only when the other side has ended its
access.
To begin, the transmission side Writes on the buffer, and the next Write command is locked until Read by
the reception side.
Mailbox mode is generally used as an application layer protocol. The SM reception buffer will change in
the master only when FCS (Frame Check Sequence) is normal. Therefore, the buffer will respond
immediately after the frame ends.
The SM setting register is assigned from the address 0x0800.
Generally, one buffer among the three is for Write use, one for Read use and another is reserved for Write use.
5-12
5.Interface Addressing Image
Shows the definition and data conversion example under the setting of: Start address: 0x0100 Data length:
0x0100
SM status register reflects the current status and the latest Write buffer status is displayed as in interrupt status.
The latest Write buffer status shows “3” until the first Write of the SM buffer.
5-13
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.
When the initial data writing to the data is complete, write access will be blocked and the data can be read on the
reception side.
After the data has been read normally, writing access to the buffer is permitted again.
The time required for data Read/Write is not important in this mode.
Mailbox Empty
Failed Read
WKC=0
Read
Mailbox Empty
Successful Read
WKC=1 … Data
5-14
5.Interface Accessing to Object Dictionary
2) Mailbox Protocol
The mailbox functions as a communication direction of master to slave / slave to master and supports various DL
user protocols with an independent communication system differing from logical addressing.
Data transfer from slave to slave must be processed by the master.
The Mailbox Header has an address field in the master that enables re-direction service.
Mailbox uses two (2) SyncManager (SM) channels: one (1) in each direction.
(Example:SM0: Master -> Slave direction,SM1: Slave -> Master direction)
The physical addressing method, with no FMMU, is necessary in mailbox communication instead of logical
addressing because mailbox communication addresses a single slave intermittently.
Diagram for Mailbox - Interface and protocol configurations are shown below.
Ethernet Header ECT Header 1st ECT Datagrams 2nd ・・・ ・・・ nth ECT Datagrams FCS
16 Position 32 Offset example: SM0=Mailbox output : 0x1800 Setting time(Master => Slave)
-> CoE request time Offset = 0x1800
SM1=Mailbox input : 0x1C00 Setting time (Slave => Master)
-> CoE response time Offset = 0x1C00
6 Byte 2 Byte
16 bit 16 bit 6 bit 2 bit 4 bit 4 bit 9 bit 3 bit 4 bit Max. 1478 Byte
0 Length 16 Address 32 Channel 38 Prio 40 Type 44 Cntr Number Res Type Cmd specific data
Mailbox - Interface
5-15
5.Interface Accessing to Object Dictionary
5-16
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.
SDO message configuration is shown below.
8 Byte 2 Byte Max. 1478 Byte
■ SDO Command
Data Read / Write by the master begins by transmitting a command code “Index” and “Sub-index”.
The slave responds to the request by returning the request data.
The same “Index” and “Sub-Index (Sub-idx)” of the request are added to the SDO response.
The response data length is determined by the SDO Command (cmd).
The slave returns an error message when the message is not accepted (Refer to SDO error messages).
The explanation for each command will be shown starting on the next page.
5-17
5.Interface Accessing to Object Dictionary
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
0 Len 16Ad 32Ch 38Pr 40 Typ 44 Ct 0 Num 9 R 12 Type 0 SDO 8 Idx 24 Sub 32 Data
0x02:SDO Request
0x03:CoE
0x0A:CANopen H. + Cmd Spec Data
1 bit 1 bit 2 bit 1 bit 3 bit 2 Byte 1 Byte 1 Byte 1 Byte 1 Byte 1 Byte
0x00: Reserved
0x00: 4 Byte Data(Data1 - 4),0x02:2 Byte Data(Data1,2)
0x01: 3 Byte Data(Data1 - 3),0x03:1 Byte Data(Data1)
Master Slave
Mbx Header CANopen Header Command specific data
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
0 Len 16Ad 32Ch 38 Pr 40 Typ 44 Ct 0 Num 9 R 12 Type 0 SDO 8 Idx 24Sub 32 Reserved 63
0x03: CoE
0x00:Reserved
0x00: Zero-fixed
5-18
5.Interface Accessing to Object Dictionary
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
0x02:SDO Request
0x03:CoE
0x0A:CANopen H. + Cmd Spec Data
Master Slave
Mbx Header CANopen Header Command specific data
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
0x03:SDO Response
0x03:CoE
0x0A:CANopen H. + Cmd Spec Data
1 bit 1 bit 2 bit 1 bit 3 bit 2 Byte 1 Byte 1 Byte 1 Byte 1 Byte 1 Byte
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
0x02:SDO Request
0x03:CoE
n >= 0x0A:CANopen H. + Cmd Spec Data
1 bit 1 bit 2 bit 1 bit 3 bit 2 Byte 1 Byte 4 Byte n-10 Byte
n – 10:Data Length※
0x01: Download Request
0x00:Zero
0x00: Normal Transfer
0x01: Data Set Size Specification
5-20
5.Interface Accessing to Object Dictionary
Master Slave
Mbx Header CANopen Header Command specific data
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
0x03:SDO Response
0x03:CoE
N >= 0x0A:CANopen H. + Cmd Spec Data
1 bit 1 bit 2 bit 1 bit 3 bit 2 Byte 1 Byte 4 Byte n-10 Byte
0x00: Zero
0x00: Normal Transfer
0x01: Data Set Size Specification
5-21
5.Interface Accessing to Object Dictionary
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:
Master Slave
Mbx Header CANopen Header Command specific data
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
0 Len 16Ad 32Ch 38Pr 40Typ 44Ct 0Num 9R 12Type 0 SDO 8 Idx 24 Sub 32 Data
0x02:SDO Request
0x03:CoE
0x00: Zero
5-22
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.
Master Slave
Mbx Header CANopen Header Command specific data
2 Byte 2 Byte 6 bit 2 bit 4 bit 4 bit 9 bit 3 bit 4 bit 2 Byte 1 Byte 5 Byte
0 Len 16Ad 32Ch 38Pr 40Typ 44Ct 0 Num 9R 12 Type 0 Err Code 16 Err Reg 24 Data 64
0x01:Emergency
0x03:CoE
n >= 0x0A:CANopen H. + Cmd Spec Data
Data
Error Register
Error Code
Diagram 8:EMCY Emergency
5-23
5.Interface Accessing to Object Dictionary
■ SDO Information
◆ Object List Request
word word 6bit 2bit 4bit 4bit 9bit 3bit 4bit Byte Byte word word
0 Len 16Ad 32Ch 38 Pr 40 Typ 44 Ct 0 Num 9R 12 Type 0 SDO 8 Res 16 FGL 32 List T
0x00:Zero
0x01:Get Object Dictionary Request
Master Slave
Mbx Header CANopen Header Command specific data
word word 6bit 2bit 4bit 4bit 9bit 3bit 4bit byte byte word word (n-8)byte
0 Len 16 Ad 32Ch 38 Pr 40 Typ 44 Ct 0 Num 9R 12 Type 0 SDO 8 Res 16 FGL 32 List T 48 Idx List
5-24
5.Interface Accessing to Object Dictionary
word word 6bit 2bit 4bit 4bit 9bit 3bit 4bit byte byte word word
0 Len 16Ad 32Ch 38 Pr 40 Typ 44 Ct 0 Num 9R 12 Type 0 SDO 8 Res 16 FGL 32 Index
Master Slave
Mbx Header CANopen Header Command specific data
word word 6bit 2bit 4bit 4bit 9bit 3bit 4bit byte byte byte word word byte byte Char[n-10]
0 Len 16 Ad 32Ch 38 Pr 40 Typ 44 Ct 0 Num 9 R 12 Type 0SDO 8R. 16FGL 32 Idx 48Typ 64S-Idx 72 Ocde 80 Name
0Opcode 7Incomp 8R. 16Fragments Left 32 Index 48 Data Type 64 Max S-Idx 72 Object Code 80 Name
Object Name
Object Code
7:Variable
8:Array
9:Record
5-25
5.Interface Accessing to Object Dictionary
word word 6bit 2bit 4bit 4bit 9bit 3bit 4bit byte byte word word byte byte
0 Len 16Ad 32Ch 38 Pr 40 Typ 44 Ct 0 Num 9R 12 Type 0 SDO 8 Res 16 FGL 32 Index 48 S-Idx 56 VInfo
Master Slave
Mbx Header CANopen Header Command specific data
Byte
word word 6bit 2bit 4bit 4bit 9bit 3bit 4bit byte byte word word byte byte word word word [n-16]
0Len 16Ad 32Ch 38Pr 40Typ 44Ct 0Num 9R. 12Type 0 SDO 8 R. 16 FGL 32 Idx 48Sidx 56Inf 64typ 80Len 96Acc 112Dar
7bit 1 bit Byte Byte word byte byte word word word
0Opcode 7Incomp 8R. 16Fragments Left 32Index 48Sub-Idx 56ValueInfo 64Data Type 80 Bit Length 96Object Access 112Data
Master Slave
Mbx Header CANopen Header Command specific data
word word 6bit 2bit 4bit 4bit 9bit 3bit 4bit byte byte word Dword
0Len 16Ad 32Ch 38Pr 40Typ 44Ct 0Num 9R. 12Type 0 SDO 8 R. 16 FGL 32 Abort Code 63
0x08 :SDO Information
0x03 :CoE
0x0A :CANopen H. + Cmd Spec Data
7bit 1 bit Byte word Dword
5-27
5.Interface Accessing to Object Dictionary
■ 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.
PDO mapping of the R-Advanced EtherCAT CoE amplifier can assign necessary PDO numbers and PDO
objects to applicable entries of the Object Dictionary using SDO service at the device setting stage.
■ PDO Setting
The user can optimize the “Message area with PDO mapping” and “Reception/Transmission form
(transmission type) and Trigger conditions” by setting the PDO.
■ PDO Mapping
PDO mapping of the R-ADVANCED EtherCAT is changeable.
Specifically, the EtherCAT CoE Network Manager can change the PDO transfer data freely during
operation.
Use “Reception PDO mapping parameters (0x1600 - 0x1603,0x1700 - 0x1703)” to change R x PDO
mapping and “Transmission PDO mapping parameters (0x1A00 - 0x1A03,0x1B00 - 0x1B03)” to change T
x DO mapping.
Index, Sub-index and Data length have to be set to each PDO to be transferred.
The data length must match the data length inside the Object Dictionary.
Byte 0 1 2 3 4 5 6 7 8 9
5-28
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.
Object Dictionary
Sync Manager Assign Object
Index Sub-index Object contents
Mapping Object
0x1B00 PDO A
0x1B01 PDO B
0x1B02 PDO C
0x1B03 PDO D
0x1B04 PDO E
0x1B05 PDO F
0x1B06 PDO G
Only the settings of Sub-Index : x01 for R x PDO:0x1600 and T x PDO:0x1A00 are established CoE
specifications.
The other Sub-Indices and Indices are available for free mapping.
Default PDO Mapping is shown in the following table.
Besides Sub Index1 - 4 settings for, RxPDO Transmission Type:0x1400 – and TxPDO Transmission
Type:0x1800 – are required in CANopen. However, those will not be used in EtherCAT (Reserved).
5-29
5.Interface Distributed Clocks (DC)
1) Clock Synchronization
DC synchronization is performed as having the same EtherCAT System Time as all EtherCAT devices in the
master as well as the slaves.
Since the EtherCAT devices can synchronize one another, local applications will, consequently, be synchronized.
Concerning the system synchronization, all slaves will be synchronized to one reference clock.
Generally, the first slave within one (1) segment of the master holds the “System Time” and this “System Time” is
used as a reference clock to synchronize the other slaves’ DC local clocks “System Time” with the master.
2) System Time
The System Time(0x0910 - 0x0918)of R-Advanced EtherCAT amplifier is 8 Byte in length, 1ns/Lsb and will easily
cover time up to 500years. Data ”0x0” signifies 0:00Hour 0sec 000ms 000ns 000ns on January 1, 2000.
Following are explanations of the terms used in synchronization:
■ Reference clock
One EtherCAT device is used as a reference clock.
Generally, the reference clock is the first slave with DC function to synchronize between the master and all
slaves.
The reference clock supplies the System Time.
■ Local Clock
Each of the slaves works with a local clock independently from the reference clock in the beginning.
The difference between the local clock and the reference clock can be corrected as can clock drift.
Offset will be accomplished by adding a local clock velocity measurement and the adjusted clock drift to
the local clock value.
Each DC slave maintains reference clock copies calculated from the local clock and local offset.
■ Propagation Delay
The propagation delay between reference clock and slave clock must be acquired when System Time is
transferred to slaves.
■ Offset
There are two reasons for offset between the local clock and the reference clock.
This offset is corrected by each slave respectively according to the propagation delay from the reference
clock hold to the local clock device with the initial difference of local time caused by the power input time
difference.
The slave that holds the reference clock will fins the System Time from local time by adding the local
offset.
This offset signifies the difference between local time (beginning with power input) and the master time.
■ Drift
Reference clock and DC slave clock are not provided by the same clock source normally, so their clock
sources are affected by deviations between clocks. In line withi this, the sources of the clocks run faster
than the other clocks in no small measure, local clocks drift separately.
R-ADVANCED EtherCAT amplifier fully supports the Distributed Clock (DC) for the reception time stamp, the
System Time validity and synchronous signal generation.
5-30
5.Interface Distributed Clocks (DC)
Correction calculations in both cases, when the system is smaller or larger than the slaves’ local time, is
shown below.
Offset correction
TX
Drift correction
System Time
RX Offset correction
Propagati
Propagation delay
Local Time
System Time > Local Time
Please refer to Chapter 7: Distributed Clock (DC) for details of Clock Synchronization:
1) Propagation Delay Measurement 2) Reference Clock Offset Correction and 3) Reference Clock Drift Correction.
5-31
5.Interface Distributed Clocks (DC)
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. All slaves match local time with all ports and the ECAT processing unit.
3) The master waits until the broadcast Write frame returns.
4) The master, depending on the network configuration, reads receive time ports 0 / 1 and ECAT processing unit
receive time register (0x0918:0x091F) in all slaves.
5) The master calculates respective propagation delays and writes the values to the system time delay register in
the slaves.
6) The master sets the reference clock (the first slave) in the system time offset register so the reference clock will
be equivalent to the master time. By subtracting the receive time of the ECAT processing unit of the reference
clock (local time) from the master time, it becomes the offset value for the reference clock.
7) The master calculates the system time offset of all DC slaves and writes it in the system time offset register. By
subtracting the ECAT processing unit receive time of each DC slave from the receive time ECAT processing
unit of the reference clock; it becomes the offset value for each slave (from the 2nd axis onward).
8) For static drift correction, the master transmits the command “ARMW” or “FRMW” to all DC slaves at the
beginning and any number of times separately (example:15,000 frames)
9) For dynamic drift correction, the master transmits the command “ARMW” or “FRMW” to all DC slaves
periodically.
The command proportion for drift correction depends on an acceptable maximum deviation.
5-32
5.Interface Communication Timing
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. Also, the application
synchronizes with an SM3 event (Note) only when cycle input is transmitted.
Note) Synchronizing with an SM3 event is not supported in this amplifier.
3) SYNC Event Synchronous Mode
The slave application synchronizes with a SYNC 0 or SYNC 1 event.
The differences between the synchronous type modes can be identified by the Sub-index combination sin the CoE
Object Dictionary 0x1C32 and 0x1033.
An example of communication timing with DC is shown below.
I O Processing I O Processing
Frame Delay
Communication Jitter Fixed Shift by precalcurate
Master Master Shift
Frame D J M Frame D J M
Slave Shift
Slave 250μs Slave Processing
・・・ ・・・
S I O S I O
Output
Input
SYNC0 SYNC0
or or
SYNC1 SYNC1
5-33
5.Interface EtherCAT State Machine (ESM)
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). The slave confirms the result of the state change as either successful or failed and then responds to
the master with the local AL status.
If the requested state change fails, the slave responds with an error flag.
Init
Pre-Operational Bootstrap
Safe-Operational
Operational
ESM Diagram
5-34
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”
state.
■ Operational State
In “Operational” state slave applications transfer the actual input data and the master application transfers
the actual output data.
■ Bootstrap State
In the ”Bootstrap” state, slave applications can receive new firmware and servo amplifire parameter
downloaded by FoE (File access Over EtherCAT) protocol.
5-35
5.Interface EtherCAT State Machine (ESM)
The conditions consided firmware re-writing has no risks are shown below:
The following shows mailbox interface protocol and the structure when using FoE.
6 byte 2 byte
Mailbox interface
5-36
5.Interface EtherCAT State Machine (ESM)
“FoE Header” is 2-byte identifier, and comprised of 1-byte “OpCode” and 1-byte “Reserve” area.
The following shows “FoE Header” configuration.
3) FoE command
Download of the file is started by sending “Write request” from Master to compare password *1 with file name. Slave
returns “Ack request” to Master only when Slave received data normally and verified file name and password are
matched. Then Master sends “Data request” to send File data. Slave returns “Ack request” to Master only when the
request from Master normally recived. “Data request” and “Ack request” are repeatedly tramsmitted and received
until the firmware data sent from Master runs out.
When Slave does not judge the File data is valid, Slave returns “Error request,” an error meddage to Master. (Refer
to FoE error code.)
Master send Read Request to slave to confirm file name and password and then slave will start to file upload.
If slave was able to successfully receive correct file name and password and then slave will send Data Requet to
master.
If master was able to successfully receive file data and then master need to send Ask Request to slave.
Data Request and Ask Request repeats until there is no more file data in slave.
If slave does not have file data, slave will send error message to master by Error Request.
Note) Password *1: Password identification function for R-ADVANCED EtherCAT amplifier is disabled.
■ Read Request
word word 6bit 2bit 4bit 4bit 8bit 8bit 4 byte 1~500byte
5-37
5.Interface EtherCAT State Machine (ESM)
■ Write request
word word 6bit 2bit 4bit 4bit 8bit 8bit 4 byte 1~500byte
Write request
■ Data request
word word 6bit 2bit 4bit 4bit 8bit 8bit 4 byte 1 to 500byte
0 Len 16Ad 32Ch 38 Pr 40 Typ 44 Ct 0 OpCode 8 Reserved 0 Packet Number 32 File 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.
5-38
5.Interface EtherCAT State Machine (ESM)
・ Auto save 1: When back to INIT state , start to save to EEPROM all domain
(Parameter change alarm will occur)
・ Auto save 0: Not save the value (Because it is used as a formal parameter)
System parameter is not reflected.
・ Check Sum value obtained by inverting the inside of Value tag data’s sum saturation calculation.
This data is 32bit.
Example
<?xml version="1.0" encoding="utf-8"?>
<DriveConfig>
<Common>
<FirmwareVersion>8200.0.1234</FirmwareVersion>
<AutoSaveFlag>1</AutoSaveFlag>
<Checksum>12345678H</Checksum>
</Common>
<Parameters>
<AttributeN>
<Name>Name of objects</Name>
<Value>1234H</Value>
<Index>2005H</Index>
<Subindex>01H</Subindex>
<Size>2H</Size>
<Address>FFFF0000H</Address>
</AttributeN>
</Parameters>
</DriveConfig>
■ Ack request
Master Slave
Mbx Header FoE Header Command specific data
0x04:Ack request
0x04:FoE(File Access over EtherCAT)
0x0A:FoE.H + Cmd Spec Data
Ack request
5-40
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
Error request
5-41
6
6. Data Link Layer
6.1 Device Addressing·························································································································6-1
1) Address Space Overview ············································································································ 6-1
2) Shadow Buffer for Register Write Operations ·················································································· 6-1
3) EtherCAT Slave Controller Function Blocks ···················································································· 6-1
6.2 Address Space ·····························································································································6-2
1) ESC Information························································································································ 6-4
2) Station Address ························································································································· 6-5
3) Write Protection ························································································································ 6-5
4) ESC Data Link Layer·················································································································· 6-6
5) Application layer························································································································ 6-8
6) Process Data Interface (PDI) ······································································································ 6-11
7) Interrupts ································································································································ 6-12
8) Error Counter ·························································································································· 6-15
9) Watchdog ······························································································································· 6-16
10) ESI EEPROM Interface (Slave Information Interface) ······································································· 6-17
11) MII Management Interface·········································································································· 6-18
12) FMMU [7:0] (Fieldbus Memory Management Units) ········································································· 6-20
13) SyncManager (sm [7:0])············································································································· 6-22
14) Distributed Clocks (DC) ············································································································· 6-25
15) DC-Time Loop Control Unit ········································································································ 6-29
16) ESC specific registers ··············································································································· 6-36
17) User RAM ······························································································································· 6-37
18) Process Data RAM ··················································································································· 6-37
6.3 EEPROM Mapping ······················································································································ 6-38
1) Address Space Overview ··········································································································· 6-38
2) Address Space Definition ··········································································································· 6-38
3) Slave information Interface Categories·························································································· 6-43
6
6.Data Link Layer
Each ESC device of the RS2 EhterCAT slave amplifier has a 14 bit local address space.
The address range 0x0000:0x0FFF is dedicated to EtherCAT registers and address range 0x1000:0x2FFF is
used as process memory, which is addressed via a 16 bit Offset address field belonging to the EtherCAT datagram.
The process memory space is used communication applications such as PDO interface and SDO (mailbox) interface.
User and Process Memory do not have shadow buffers. Accesses to these areas are taking effect directly.
If a SyncManager is configured to User Memory or Process Memory, write data will be placed in
the memory, but the buffer will not change in case of an error.
The EtherCAT interfaces or ports connect the ESC to other EtherCAT slaves and the master.
The MAC layer is integral part of the ESC. The physical layer may be Ethernet or EBUS.
The physical layer for EBUS is fully integrated into the ASICs. For Ethernet ports,
external Ethernet PHYs connect to the MII/RMII ports of the ESC. Transmission speed for EtherCAT is
fixed to 100 Mbit/s with Full Duplex communication. Link state and communication status are reported
to the Monitoring device.
RS2 EtherCAT slave amplifier supports 2 ports and the logical ports are numbered 0 and 1.
The EtherCAT Processing Unit (EPU) receives, analyses and processes the EtherCAT data stream.
It is logically located between port 0 and port 1. The EtherCAT Processing Units contains the main
function blocks of EtherCAT slaves besides Auto-Forwarding, Loop-back function, and PDI.
6-1
6.Data Link Layer
* Address areas not listed here are reserved. They are not writable. A read access to reserved
addresses will typically return 0.
6-2
6.Data Link Layer
For Registers longer than one byte, the LSB has the lowest and MSB the highest address.
6-3
6.Data Link Layer
Register description
1) ESC Information
Type
Address bit Description Master Slave Length Rest Value
0x0000 7:0 Type of EtherCAT controller R/- R/- 1Byte 0x11
Revision
Address bit Description Master Slave Length Rest Value
0x0001 7:0 Revision of EtherCAT controller R/- R/- 1Byte 0x00
Build
Address bit Description Master Slave Length Rest Value
0x0002
- 15:0 Actual build of EtherCAT controller R/- R/- 2Byte 0x0000
0x0003
FMMUs supported
Address bit Description Master Slave Length Rest Value
Number of supported FMMU channels (or entities) of the
0x0004 7:0 R/- R/- 1Byte 0x08
EtherCAT Slave Controller
SyncManagers supported
Address bit Description Master Slave Length Rest Value
Number of supported SyncManager channels
0x0005 7:0 R/- R/- 1Byte 0x08
(or entities) of the EtherCAT Slave Controller
RAM Size
Address bit Description Master Slave Length Rest Value
7:0 Process Data RAM size supported by the EtherCAT Slave R/- R/- 1Byte 0x08
0x0006
Controller in KByte
Port Descriptor
Address bit Description Master Slave Length Rest Value
0x0007 1:0 Port 0 Port configuration: R/- R/- 1Byte 0x0F
3:2 Port 1 00:Not implemented,
7:4 Reserved 10:EBUS, 11:MII
6-4
6.Data Link Layer
2) Station Address
Configured Station Address
bit Description Rest
Address Master Slave Length
Value
0x0010 15:0 Address used for node addressing R/W R/- 2 0x0000
- (FPxx commands) Byte
0x0011 Sets node address.
3) Write Protection
ESC contained in this amplifier handles all ESC protection (or write protection register).
Registers used for write protection are described
With register write protection, only the register area (0x0000 to 0x0FFF) is write protected
(except for registers 0x0020 and 0x0030).
If register write protection is enabled (register 0x0021.0=1), the Register Write Enable bit (0x0020.0)
has to be set in the same frame before any register write operations. This is also true
for disabling the register write protection. Otherwise, write operation to registers are discarded.
NOTE: If both register write protection and ESC write protection are enabled (not recommended),
both enable bits have to be set before the write operations are allowed.
6-5
6.Data Link Layer
ESC loaded RS2 EtherCAT slave amplifier is capable of issuing a hardware reset from the EtherCAT master. A special
sequence of three independent and consecutive frames/commands has to be sent do the slave (Reset register ECAT
0x0040 or PDI 0x0041). Afterwards, the slave is reset.
It is likely that some transmitting sequence frames will not return to the master because the links will go down with the
reset after the normal reception of data.
ESC Reset
Rest
Address bit Description Master Slave Length
Value
0x0040 7:0 A reset is asserted after writing 0x52 (‘R’), 0x45 (‘E’) and R/W R/- 1 0x00
0x53 (‘S’) in this register with 3 consecutive frames. Byte
1:0 Progress of the reset procedure: 01: after writing 0x52 10:
after writing 0x45 (if 0x52 was written before) 00: else
6-6
6.Data Link Layer
ESC DL Control
Rest
Address bit Description Master Slave Length
Value
0x0100 0 Forwarding rule: R/W R/- 4 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
1 Temporary use of settings in Register 0x101:
0:permanent use
1:use for about 1 second, then revert to previous settings
7:2 Reserved, write 0 R/-
Loop Port 0: R/W R/-
00:Auto => closed at “link down”, opened with “link up”
01:Auto close => closed at “link down”, opened with writing 01 after “link
9:8
up”
10:Always open, regardless of link state
11:Always closed, regardless of link state
Loop Port 1: 0x00
00:Auto => closed at “link down”, opened with “link up”
01:Auto close => closed at “link down”, opened with writing 01 after “link
11:10
up”
10:Always open, regardless of link state
11:Always closed, regardless of link state
15:12 Reserved, write 0 R/-
RX FIFO Size: R/W R/-
(ESC delays start of forwarding until FIFO is at least half full).
RX FIFO Size/RX delay reduction
0: EBUS:-50ns , MII:-40ns
1: EBUS:-40ns , MII:-40ns
2: EBUS:-30ns , MII:-40ns
3: EBUS:-20ns , MII:-40ns
4: EBUS:-10ns , MII:No change
18:16
5: EBUS:No change , MII:No change
6: EBUS:No change , MII:No change
0x07
7: EBUS:defaul , MII:default
The possibility of RX FIFO Size reduction depends on the clock source
accuracy of the ESC and of every connected EtherCAT/Ethernet
devices (master, slave, etc.). RX FIFO Size of 7 is sufficient for
100ppm accuracy, FIFO Size 0 is possible with 25ppm accuracy (frame
size of 1518/1522 Byte).
EBUS Low Jitter:
19 0:Normal jitter
1:Reduced jitter
23:20 Reserved, write 0 R/-
24 Station alias: R/W R/-
0:Ignore Station Alias
1:Alias can be used for all configured address command types (FPRD, 0x00
FPWR, …)
31:25 Reserved, write 0 R/-
6-7
6.Data Link Layer
ESC DL Status
Rest
Address bit Description Master Slave Length
Value
0x0110 0 PDI operational/EEPROM loaded correctly: R/- R/- 2 -
- 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)
1 PDI Watchdog Status:
0:Watchdog expired 1:Watchdog reloaded
Enhanced Link detection: Note) EEPROM ADR0x0000.9
0:Deactivated for all ports 1:Activated for at least one port
2
NOTE: EEPROM value is only taken over at first EEPROM load after
power-on or reset
3 Reserved
Physical link on Port 0:
4
0: No link 1:Link detected
Physical link on Port 1:
5
0: No link 1: Link detected
7:6 Reserved
8 Loop Port 0: R/- R/-
0: Open 1: Closed
9 Communication on Port 0:
0: No stable communication 1: Communication established
10 Loop Port 1:
0: Open 1: Closed
11 Communication on Port 1:
0: No stable communication 1: Communication established
-
12 Reserved (Loop Port 2: )
1: Closed (Fixed)
13 Reserved (Communication on Port 2: )
0: No stable communication (Fixed)
14 Reserved (Loop Port 3: )
1: Closed (Fixed)
15 Reserved (Communication on Port 3: )
0: No stable communication (Fixed)
5) Application layer
■ EtherCAT State Machine (ESM) Registers
The state machine is controlled and monitored via registers within the ESC. The master requests state changes by writing
to the AL Control register. The slave indicates its state in the AL Status register and puts error codes into the AL Status
Code register.
6-8
6.Data Link Layer
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). The AL Control register is
directly copied into the AL Status register by the ESC. The master should not set the Error Indication Acknowledge bit for
such slaves at all, because setting this bit would result in setting the Error Indication bit – although no error occurred.
The device emulation is :0x0140.8=0 in the RS2 EtherCAT slave amplifier.
AL Control
Rest
Address bit Description Master Slave Length
Value
3:0 Initiate State 1: Request Init State R/(W) R/- 2 0x0001
Transition of the 2: Request Pre-Operational State Byte
Device State 3: Request Bootstrap State
0x0120
Machine: 4: Request Safe-Operational State
-
8: Request Operational State
0x0121
4 Error Ind Ack: 0: No Ack of Error Ind in AL status register
1: Ack of Error Ind in AL status register
15:5 Reserved, write 0
* AL Control register behaves like a mailbox if Device Emulation is off (0x0140.8=0): The PDI has to read the AL
Control register after ECAT has written it. Otherwise ECAT can not write again to the AL Control register.
* If Device Emulation is on (0x0140.8=1), the AL Control register can always be written, its content is copied to the
AL Status register.
AL Status
Rest
Address bit Description Master Slave Length
Value
0x0130 3:0 Actual State of 1:Init State R/- R/(W) 2 0x0001
- the Device 2:Pre-Operational State Byte
0x0131 State 3:Request Bootstrap State
Machine: 4:Safe-Operational State
8:Operational State
4 Error Ind: 0:Device is in State as requested or cleared by bit 4, an
error indicator Ack=1 of AL controller.
1:Device has not entered requested State or
changed State as result of a local action
15:5 Reserved, write 0
* AL Status register is only writable if Device Emulation is off (0x0140.8=0), otherwise AL Status register will reflect
AL Control register values.
The slave indicates errors during a state transition by setting the Error Indication flag (0x0130.4=1) and
writing an error description into the AL Status Code register (0x0134:0x0135).
The master acknowledges the Error Indication flag of the slave by setting the Error Ind Ack flag (0x0120.4).
AL status codes are listed below.
6-9
6.Data Link Layer
AL Status Code
Address bit Description Master Slave Length Rest Value
0x0134 15:0 AL Status Code: The slave indicates errors during a state R/- R/W 2 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). The master acknowledges the
Error Indication flag of the slave by setting the Error Ind Ack
flag (0x0120.4).
Code Overview Current ESM Resulting ESM
0x0000 No error Any ESM Current ESM
0x0001 Unspecified error Any ESM Any ESM
0x0002 NO MEMORY Any ESM Current ESM
0x0011 Invalid requested EMS change (O->B, S->B, P->B) I->S, I->O, P->O Current ESM + E
0x0012 Unknown requested state Any ESM Current ESM + E
0x0013 Bootstrap not supported I->B I+E
0x0014 No valid firmware I->P I+E
0x0015 Invalid mailbox configuration I->B I+E
0x0016 Invalid mailbox configuration I->P I+E
0x0017 Invalid sync manager configuration P->S, S->O Current ESM + E
0x0018 No valid inputs available O, S, P->S P+E
0x0019 No valid outputs O, S->O S+E
0x001A Synchronization error O, S->O S+E
0x001B Sync manager watchdog O S+E
0x001C Invalid Sync Manager Types O, S P->S S+EP+E
0x001D Invalid Output Configuration O, S P->S S+EP+E
0x001E Invalid Input Configuration O, S, P->S P+E
0x001F Invalid Watchdog Configuration O, S, P->S P+E
0x0020 Slave needs cold start Any ESM Current ESM + E
0x0021 Slave needs INIT B, P, S, O Current ESM + E
0x0022 Slave needs PREOP S, O S + E, O + E
0x0023 Slave needs SAFEOP O O+E
0x0024 Invalid Input Mapping P->S P+ E
0x0025 Invalid Output Mapping P->S P+ E
0x0026 Unmatched setting P->S P+ E
0x0027 Free-run mode unsupported P->S P+ E
0x0028 SYNC mode unsupported P->S P+ E
0x0029 Free-run mode, 3 Buffer mode not set P->S P+ E
0x002A BACK GROUND WATCH DOG P->S P+ E
0x002B NO VALID INPUTS SAND OUTPUTS P->S P+ E
0x002C FATAL SYNC ERROR P->S P+ E
0x002D NO SYNC ERROR S->O, O S+E
0x0030 Invalid DC SYNC Configuration O, S S+E
0x0031 Invalid DC Latch Configuration O, S S+E
0x0032 PLL Error O S+E
0x0033 Invalid DC IO Error O, S S+E
0x0034 Invalid DC Timeout Error O, S S+E
0x0035 DC Invalid SYNC CYCLE TIME P->S P+ E
0x0036 DC SYNC0 CYCLE TIME P->S P+ E
0x0037 DC SYNC1 CYCLE TIME P->S P+ E
0x0042 MBX_EOE B, P, S, O Current ESM + E
0x0043 MBX_COE B, P, S, O Current ESM + E
0x0044 MBX_FOE B, P, S, O Current ESM + E
0x0045 MBX_SOE B, P, S, O Current ESM + E
0x004F MBX_VOE B, P, S, O Current ESM + E
0x0050 EE NO ACCSESS B, P, S, O Current ESM + E
0x0050 EE ERROR B, P, S, O Current ESM + E
* “+E” in the resulting state column indicates setting of the Error Indication flag.
6-10
6.Data Link Layer
6-11
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.
AL Event Requests can be signaled to a microcontroller using the PDI Interrupt Request signal (IRQ/SPI_IRQ, etc.).
For IRQ generation, the AL Event Request register (0x0220:0x0223) is combined with the AL Event Mask register
(0x0204:0x0207) using a logical AND operation, then all resulting bits are combined (logical OR) into one interrupt
signal. The output driver characteristics of the IRQ signal are configurable using the SYNC/LATCH PDI configuration
register (0x0151). The AL Event Mask register allows for selecting the interrupts which are relevant for the
microcontroller and handled by the application.
ESC
AL control event 32bit wise AL Event
EEPROM Emulation Request
SM status0 Register
.
. 0x0220 32bit
. -
SM status7 0x0223 32bit μController
Etc… AND >=1 IRQ
AL Event (&) Select
Mask 32bit
8bit wise Register
SYNC / Latch
PDI Config 0x0204
Register bit7 - IRQ
AND bit2
0x0207
0x0151
(&)
bit3
AND bit3 SYNC
DC (&)
SYNC0 SYNC0 ESYNC
The DC Sync Signals can be used for interrupt generation in two ways:
• The DC SYNC signals are mapped into the AL Event Request Register (configured with SYNC/LATCH PDI
Configuration register 0x0151.3/7). In this case, all interrupts from the ESC to the µController are combined into one IRQ
signal, and the Distributed Clocks LATCH0/1 inputs can still be used. The IRQ signal has a jitter of ~40 ns.
• The DC Sync Signals are directly connected to microcontroller interrupt inputs. The µController can react on DC Sync
Signal interrupts faster (without reading AL Request register), but it needs more interrupt inputs. The jitter of the Sync
Signals is ~12 ns. The DC Latch functions are only available for one Latch input or not at all
(if both DC SYNC outputs are used).
6-12
6.Data Link Layer
ECAT event requests are used to inform the EtherCAT master of slave events. ECAT events make use of the IRQ
field inside EtherCAT datagrams. The ECAT Event Request register (0x0210:0x0211) is combined with the ECAT
Event Mask register (0x0200:0x0201) using a logical AND operation.
The resulting interrupt bits are combined with the incoming ECAT IRQ field using a logical OR operation, and written
into the outgoing ECAT IRQ field. The ECAT Event Mask register allows for selecting the interrupts which are
relevant for the EtherCAT master and handled by the master application.
NOTE: The master can not distinguish which slave (or even more than one) was the origin of an interrupt.
ECAT
Interrupt
Request 16 bit
Register
0x0210 - 0x0211
16 bit
AND
(&) 16 bit Transmitted
ECAT ECAT
Interrupt Received >=1
16 bit ECT 16 bit Interrupt
Mask
Register Interrupt
(from Another Slave)
0x0200 - 0x0201
6-13
6.Data Link Layer
ECAT Event Mask
Address bit Description Master Slave Length Rest Value
0x0200 15:0 ECAT Event masking of the ECAT Event Request Events for R/W R/- 2 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 bit Description Master Slave Length Rest Value
0x0204 31:0 AL Event masking of the AL Event Request register Events for R/- R/W 4 0x000000FF
- mapping to PDI IRQ signal: Bytes -
0x0207 0: Corresponding AL Event Request register bit is not mapped 0x0000FF0F
1: Corresponding AL Event Request register bit is mapped
AL Event Request
Address bit Description Master Slave Length Rest Value
0x0220 0 AL Control event:(Bit is cleared by reading AL Control register.) R/- R/- 4 0x00000000
- 0: No AL Control Register change Bytes
0x0223 1: AL Control Register has been written3
1 DC Latch event:(Bit is cleared by reading DC Latch event times.)
0: No change on DC Latch Inputs
1: At least one change on DC Latch Inputs
2 SYNC0 status when 0x0151.3=1
(Bit clear at SYNC0 status red)
3 SYNC1 status when 0x0151.7=1
(Bit clear at SYNC1 status red)
4 SyncManager activation register (Offset:0x0806 + y × 8)
0: SM0 - 7 No change
1: Some of SM0 - 7 has changed
(SM) (Bit clear by read of SM activation register)
7:5 Reserved
8 SM status mirror
0: No SyncManager 0 interrupt
1: SyncManager 0 interrupt pending
… …
15 SM status mirror
0: No SyncManager 7 interrupt
1: SyncManager 7 interrupt pending
31:16 Reserved
6-14
6.Data Link Layer
8) Error Counter
RX Error Counter
Errors are only counted if the corresponding port is enabled.
Address bit Description Master Slave Length Rest Value
0x0300 7:0 Invalid frame counter of Port 0 (counting is stopped when 0xFF is R/W R/- 8 0x00
- reached). Note) (clr) Bytes
0x0307 15:8 RX Error counter of Port 0 (counting is stopped when 0xFF is 0x00
reached). Note)
This is coupled directly to RX ERR of MII interface/EBUS interface.
23:16 Invalid frame counter of Port 1 (counting is stopped when 0xFF is 0x00
reached). Note)
31:24 RX Error counter of Port 1 (counting is stopped when 0xFF is 0x00
reached). Note)
This is coupled directly to RX ERR of MII interface/EBUS interface.
63:32 Reserved 0x00000000
* Cleared if one of the RX Error counters 0x0300-0x030B is written.
The invalid frame counters are incremented if there is an error in the frame format (Preamble, SFD – Start of Frame Delimiter,
FCS – Checksum, invalid length). If the FCS is invalid and an additional nibble is appended,
the FCS error is not counted. This is why EtherCAT forwards frames with errors with an invalid FCS and an
additional nibble.
RX Errors may appear either inside or outside frames. RX Errors inside frames will lead to invalid frames.
6-15
6.Data Link Layer
9) Watchdog
Watchdog Divider
Address bit Description Master Slave Length Rest Value
0x0400 15:0 Watchdog divider: Number of 25 MHz tics (minus 2) that represents R/W R/- 2 0x09C2
- the basic watchdog increment. (Default value is 100µs = 2,500-2 = Bytes
0x0401 2498)
The Watchdog Status for the PDI can be read in the DL Status register 0x0110.1.
6-16
6.Data Link Layer
EEPROM Configuration
Address bit Description Master Slave Length Rest Value
0x0500 0 EEPROM control is 0: EtherCAT (Master) R/W R/- 1 0x00
offered to PDI 1: PDI (Slave) Byte
1 Force ECAT access 0: Do not change Bit 501.0
1: Reset Bit 501.0 to 0
7:2 Reserved, write 0 R/- R/-
EEPROM Control/Status
Address bit Description Master Slave Length Rest Value
0x0502 0 ECAT write 0: Write requests are disabled R/(W) R/- 2 0xC0
- enable Note1) 1: Write requests are enabled Bytes
0x0503 This bit is always 1 if PDI has EEPROM control.
4:1 Reserved, write 0 R/- R/-
5 EEPROM 0: Normal operation (I²C interface used)
emulation 1: PDI emulates EEPROM (I²C not used)
6 Supported number of 0: 4Byte
EEPROM read bytes 1: 8Byte
7 Selected EEPROM 0: 1 address byte (1KBit – 16KBit EEPROMs)
Algorithm 1: 2 address bytes (32KBit – 4 MBit EEPROMs)
8 EEPROM Read Write: 0:No Action 1: Begin read access R/(W) R/(W) 0x00
Commands Read: 0:No read 1: Read processing
Note1)
9 EEPROM Write Write: 0:No Action 1: Begin write access
Commands Read: 0:No write 1: Write processing
Note1)
10 EEPROM Reload Write: 0:No Action 1: Begin reload
Commands Read: 0: No reload 1: Reloading
Note1)
11 Checksum Error at in 0: Checksum ok R/- R/-
ESC Configuration 1: Checksum error
Area
12 EEPROM loading 0: EEPROM loaded, device information ok
status 1: EEPROM not loaded, device information not
available
13 Error 0: No error
Acknowledge/ 1: Missing EEPROM acknowledge or invalid
Commands command
Note1)
14 Error Write 0: No error
Enable Note2) 1: Write Command without Write enable
15 Busy 0: EEPROM Interface is idle
1: EEPROM Interface is busy
* 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).
Note1) Write Enable bit 0 and Command bits [10:8] are self-clearing. Manually clearing the command register will also clear the
error bits [14:13]. Command bits [10:8] are ignored if Error Acknowledge/Command is pending (bit 13).
Note2) Error bits are cleared by writing “000” (or any valid command) to Command Register Bits [10:8].
6-17
6.Data Link Layer
EEPROM Address
Address bit Description Master Slave Length Rest Value
0x0504 15:0 EEPROM Address, to be read or written R/(W) R/(W) 4 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).
EEPROM Data
Address bit Description Master Slave Length Rest Value
0x0508 15:0 EEPROM Write data / Read data (lower bytes : 2Byte) R/(W) R/(W) 8 0x0000
- Bytes
0x050F 63:16 EEPROM Write data / Read data (higher bytes : 6Byte) R/- R/- 0x000000000000
* 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).
PHY Address
Address bit Description Master Slave Length Rest Value
0x0512 4:0 PHY Address R/(W) R/(W) 1 0x00
7:5 Reserved, write 0 R/- R/- Byte
R/(W): write access depends on assignment of MI (ECAT/PDI).
* Write access is generally blocked if Management interface is busy (0x0510.15=1).
6-18
6.Data Link Layer
PHY Register Address
Address bit Description Master Slave Length Rest Value
0x0513 4:0 Address of PHY Register that shall be read/written R/(W) R/(W) 1 0x00
7:5 Reserved, write 0 R/- R/- Byte
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 bit Description Master Slave Length Rest Value
0x0514 15:0 PHY Read/Write Data R/(W) R/(W) 2 0x0000
- Bytes
0x0515
R/(W): write access depends on assignment of MI (ECAT/PDI).
* Access is generally blocked if Management interface is busy (0x0510.15=1).
6-19
6.Data Link Layer
0 Glob.Start Addr. 32 Length 48 GSB 56 GEB 40 Phy.Start 80 LSB 88 Dir 96 Active 104 Reserved 127
3 bit 5 bit 3 bit 5 bit 3 bit 5 bit 1 bit 1 bit 6 bit 1 bit 7 bit 24 bits
FMMU Activate
0:FMMU Stop 1:FMMU Start
FMMU Type (Write Access)
0: Ignore mapping 1: Write Mapping to write access
FMMU Type (Read Access)
0: Ignore mapping 1: Write Mapping to write access
Physical starting bit Setting Range:0 - 7
Target Physical starting bit of Logical starting bit
* Each logical address byte can, at most, be mapped either by one FMMU (read) plus one FMMU (write) or by one FMMU
(read/write). If two or more FMMUs (with the same direction – read or write) are configured for the same logical byte, the
FMMU with the lower number (lower configuration address space) is used and the others are ignored.
* One or more FMMUs may point to the same physical memory-all are used. Collisions cannot occur.
* A read/write FMMU cannot be used together with SyncManagers since independent read and write SyncManagers cannot
be configured to use the same (or overlapping) physical address range.
* Bit-wise reading is supported with any address. Bits not mapped to logical addresses are not changed in the EtherCAT
datagram, (e.g., this allows mapping bits from several ESCs into the same logical byte).
* Reading an unconfigured logical address space will not change the data.
6-20
6.Data Link Layer
Logical Start address FMMU y
Address bit Description Master Slave Length Rest Value
0x06y0 31:0 Logical start address within the EtherCAT Address Space. R/W R/- 4 0x00000000
- Bytes
0x06y3
Length FMMU y
Address bit Description Master Slave Length Rest Value
0x06y4 15:0 Offset from the first logical FMMU Byte to the last FMMU R/W R/- 2 0x0000
- Byte + 1 (e.g., if two bytes are used then this parameter Bytes
0x06y5 shall contain 2)
Type FMMU y
Address bit Description Master Slave Length Rest Value
0x06yB 0 0:Ignore mapping for read accesses R/W R/- 1 0x00
1:Use mapping for read accesses Byte
1 0:Ignore mapping for write accesses
1:Use mapping for write accesses
7:2 Reserved, write 0 R/- R/-
Activate FMMU y
Address bit Description Master Slave Length Rest Value
0x06yC 0 0:FMMU deactivated R/W R/- 4 0x00000000
- 1:FMMU activated. FMMU checks logical addressed blocks Bytes
0x06yF to be mapped according to mapping configured
31:1 Reserved, write 0 R/- R/-
6-21
6.Data Link Layer
SM Length
Data length to be assigned in SM (Setting value>1)
SM Physical Start Address (SM0 - 7)
Start address of the process data RAM mapping to RAM SM(0x1000 - 0x3FFF)
2 bit 2 bit 1 bit 1 bit 1 bit 1 bit 1 bit 1 bit 1 bit 1 bit 2 bit 2 bit 8 bit 8 bit
0Buffer 2R/W 4IE 5IP 6WD 7R 0IW 1IR 2R 31P 43P 6R 48 Request Master 56 Request Slave 63
Repeat ACK
1: Acknowledge repeat request
Deactivate SM
Read => 0:SM Start 1:SM Stop
Write => 0:SM Start 1:SM Stop request
bit6Latch even master, bit7Latch even slave
RS2 EtherCAT slave amplifier Reserved
Repeat Request
1 Byte 1 Byte
0/1:Use only to read Mailbox (Reserved in other operations)
SyncManager Enable/Disable
0:Disable 1:Enable
6-22
6.Data Link Layer
Length SyncManager y
Rest
Address bit Description Master Slave Length
Value
0x0802+yx8 15:0 Number of bytes assigned to SyncManager (shall be greater 1, R/(W) R/- 2 0x0000
- otherwise SyncManager is not activated. If set to 1, only Bytes
0x0803+yx8 Watchdog Trigger is generated if configured)
R/(W): Register can only be written if SyncManager is disabled
(+0x6.0 = 0).
* Setting range is 0x0080(128Byte) - 0x0400(1024Byte) with even numbered settings.
* AL status code [0x0016: Invalid Mailbox Setting] will responded to at Pre-Operation request when value is written
out of setting range.
6-23
6.Data Link Layer
SM3
0x081D
Activate SyncManager y
Address bit Description Master Slave Length Rest Value
0x0806 0 SyncManager 0: Disable: Access to Memory without SyncManager R/W R/- 1 0x00
+yx8 Enable/ control Byte
Disable 1: Enable: SyncManager is active and controls
Memory area set in configuration
1 Repeat 0/1: A toggle of Repeat Request means that a
Request mailbox retry is needed (primarily used in conjunction
SM0 with ECAT Read Mailbox)
0x0806 5:2 Reserved, R/- R/-
write 0
SM1 6 Latch Event 0: No R/W R/-
0x080E ECAT 1: Generate Latch event if EtherCAT master issues a
buffer exchange
SM2 7 Latch Event 0: No
0x0816 PDI 1: Generate Latch events if PDI issues a buffer
exchange or if PDI accesses buffer start address
SM3
0x081E
6-24
6.Data Link Layer
1. For measuring the propagation delay, the master sends a broadcast write to register DC Receive Time Port 0 (at least first
byte).
2. Each slave device stores the time of its local clock when the first bit of the Ethernet preamble of the frame was received,
separately for each port (Receive Time Port 0-1 registers).
3. The master reads all time stamps and calculates the delay times with respect to the topology. The delay time between
Reference Clock and the individual slave is written to slave’s System Time Delay register (0x0928:0x092B).
The receive time registers are used to sample the receive time of a specific frame (a broadcast write to Receive Time Port 0
register).
The clocks must not be synchronized for the delay measurement, only local clock values are used.
Since the local clocks of the slaves are not synchronized, there is no relation between the Receive Times of different slaves.
So the propagation delay calculation has to be based on receive time differences between the ports of a slave.
tA1 tB1
Propagation Delay Calculation
6-25
6.Data Link Layer
assuming the processing delays are equal in slave bands B・C (tP = tPB = tPC)
tAB=tPA+tWAB, tBA=tFB+tWAB
Assuming that the processing delays of all slaves are identical (tP = tPA = tPB = tPC), and the difference between
forwarding and processing delay of (FoR/Warding Delay) these slaves is tDiff = tPB - tFB :
TAB = tP + tWAB, tBA = tAB - tDiff
The Receive Times of slave A (port 0 and 1) have the following relation:
tA1 = tA0 + tAB + tBC + tCB + tBA
6-26
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. The offset time is written to register System Time Offset to adjust the
local time for every individual device. Small offset errors are eliminated by the drift compensation after some time, but
this time might become extremely high for large offset errors.
Each slave calculates its local copy of the System time using its local time and the local offset value:
This time is used in synchronous signal output (SyncSignal) inside the slave amplifier.
The reference clock system time works as a master clock using and compensating for the calculated difference and
reference clock system time offset.
Registers for offset compensation are shown below.
■ Drift Compensation
After the delay time between the Reference Clock and the slave clocks has been measured, and the offset between
both clocks has been compensated, the natural drift of every local clock (emerging from quartz variations between
Reference Clock’s quarts and local quarts) is compensated by the time control loop which is integrated within each
ESC.
For drift compensation, the master distributes the System Time from the Reference Clock to all slave clocks
periodically. The ARMW or FRMW commands can be used for this purpose. The time control loop of each slave
takes the lower 32 bit of the System Time received from the Reference Clock and compares it to its local copy of the
System Time. For this difference, the propagation delay has to be taken into account:
If ∆t is positive, the local time is running faster than the System time, and has to be slowed down. If ∆t is negative, the
local time is running slower than the System time, and has to be sped up. The time control loop adjusts the speed of
the local clock.
For a fast compensation of the static deviations of the clock speeds, the master should initially send
many ARMW/FRMW commands (e.g. 15,000) for drift compensation in separate frames after
initialization of the propagation delays and offsets. The control loops compensate the static deviations
and the distributed clocks are synchronized. Afterwards, the drift compensation frames are send
periodically for compensation of dynamic clock drifts.
6-27
6.Data Link Layer
6-28
6.Data Link Layer
System Time
Address bit Description Master Slave Length Rest Value
0x0910 63:0 [ead access] R/(W) 8 0x0
- Local copy of the System (special Bytes
0x0917 Master : Latch at the first Ethernet SOF DMZ frame. function)
Slave : Latch at the last byte read of 0x0910
31:0 [Write access]
Written value will be compared with local copy of System
Time. The compensated result will be input to the time control
unit and denoted as System Time difference (0x092C).
Master : written value will be compared at the end of the frame
with the latched (SOF) local copy of the System time if at least
the first byte (0x0910) was written.
Note) Usable when 0x0140.10=1
Slave : Reserved
Written value will be compared at the end of the access with
Latch0 Time Positive Edge (0x09B0:0x09B3) if at least the last
byte (0x0913) was written.
Note) Usable when 0x0140.11=1(Reserved)
6-29
6.Data Link Layer
1. Synchronize Signal
RS2 EtherCAT amplifier supports Distribution Clock (DC) function and Synchronize Signal is used for the Interrupt signal
generation of process start timing inside the amplifier.
Synchronizing to either signal, SYNC0 orSYNC1, is decided by the setting of the CoE Object SM
Synchronization :0x1C32 - 0x1C33 in the amplifier.
Either ECAT (Master) or PDI (Slave side microcontroller) controls SyncSignals (SYNC0 / 1) output and can be set at the
Cycle unit control register (0x0980).
6-30
6.Data Link Layer
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). A value of
0 selects acknowledged modes.
SYNC Signals cannot be output if ESI EEPROM was loaded incorrectly at time of power up.
3. SyncSignal Generation
ESC has two synchronizing signals: SYNC0 and SYNC1 and supports four types of synchronous output: [Cyclic
generation], [Single shot], [Cyclic Acknowledge], [Single shot Acknowledge].
However, use [Cyclic generation] in the RS2 EtherCAT slave amplifier (the other synchronous outputs are unsupported).
The Sync Signal mode is selected by Pulse length and SYNC0 cycle time.
The cycle time of the SYNC0 signal is configured in the SYNC0 Cycle Time register (0x09A0:0x09A3), the start time is set
in the Start Time Cyclic Operation register (0x0990:0x0997). After the Sync Unit is activated and the output of the
SYNC0/1 signals is enabled (DC Activation register 0x0981), the Sync Unit waits until the start time is reached and
generates the first SYNC0 pulse.
Internally, the SyncSignals are generated with an update rate of 100 MHz (10 ns update cycle). The jitter of the internal
SyncSignal generation in comparison to the System Time is 12 ns.
6-31
6.Data Link Layer
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. The next SYNC1 pulse is generated when the next SYNC0 pulse was generated, plus the SYNC1
Cycle Time.
SYNC1 Generation
The second SyncSignal (SYNC1) depends on SYNC0, it can be generated with a predefined delay after SYNC0 pulses.
The delay is configured in the SYNC1 Cycle Time register (0x09A4:0x09A7).
The following shows the output waveform by setting SYNC1 cycle time.
Activation Start Time Pulse Length of Sync Signal SYNC0 Cycle Time
SYNC0
SYNC1
SYNC1
SYNC1
SYNC1 Cycle Time SYNC1 Cycle Time
SYNC1 Cycle Time > SYNC0 Cycle Time or, SYNC1 Cycle Time < 2 × SYNC0 Cycle Time
SYNC1
If the SYNC1 cycle time is greater than the SYNC0 cycle time, the SYNC1pulse will be output with the timing shown in the
lower of the two.
6-32
6.Data Link Layer
Cyclic Unit Control
Address bit Description Master Slave Length Rest Value
0x0980 0 SYNC out unit 0: Master controlled (ECAT) R/W R/- 1 0x00
control 1: Slave controlled (PDI) Byte
3:1 Reserved R/-
4 Latch In Unit0 Reserved (The Latch function is uncorrespondence.) R/W
(0:Master controlled 1:Slave controlled)
5 Latch In Unit1 Reserved (The Latch function is uncorrespondence.)
(0:Master controlled 1:Slave controlled)
7:6 Reserved R/-
* Usable when 0x0140.10=1 or 0x0140.11=1
SYNC0 Status
Address bit Description Master Slave Length Rest Value
0x098E 0 SYNC0 state for Acknowledge mode. R/- R/- 1 0x00
SYNC0 in Acknowledge mode is cleared by reading this register from Byte
PDI, use only in Acknowledge mode
Usable when 0x0140.10=1
7:1 Reserved
SYNC1 Status
Address bit Description Master Slave Length Rest Value
0x098F 0 SYNC1 state for Acknowledge mode. R/- R/- 1 0x00
SYNC1 in Acknowledge mode is cleared by reading this register from Byte
PDI, use only in Acknowledge mode
Usable when 0x0140.10=1
7:1 Reserved
6-33
6.Data Link Layer
SYNC0 Cycle Time
Address bit Description Master Slave Length Rest Value
0x09A0 31:0 Time between two consecutive SYNC0 pulses in ns. R/(W) R/(W) 4 0x0
- 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
Latch0 Control
Address bit Description Master Slave Length Rest Value
0x09A8 0 Latch 0 0: Continuous Latch active R/W R/- 1 0x00
positive edge 1: Single event (only first event active) Byte
1 Latch 0 0: Continuous Latch active
negative edge 1: Single event (only first event active)
7:2 Reserved, write 0 R/-
Note) Write access depends upon setting of 0x0980.4. Usable when 0x0140.11=1
Latch1 Control
Address bit Description Master Slave Length Rest Value
0x09A9 0 Latch 1 0: Continuous Latch active R/W R/- 1 0x00
positive edge 1: Single event (only first event active) Byte
1 Latch 1 0: Continuous Latch active
negative edge 1: Single event (only first event active)
7:2 Reserved R/-
* Write access depends upon setting of 0x0980.5. Usable when 0x0140.11=1
Latch0 Status
Address bit Description Master Slave Length Rest Value
0x09AE 0 Event Latch0 positive edge,”0” other than for single event R/W R/- 1 0x00
Flag is cleared by reading Latch0 time positive edge Byte
1 Event Latch0 negative edge,”0” other than for single event
Flag is cleared by reading Latch0 time negative edge
7:2 Reserved R/-
* Usable when 0x0140.11=1
Latch1 Status
Address bit Description Master Slave Length Rest Value
0x09AF 0 Event Latch1 positive edge,”0” other than for single event R/W R/- 1 0x00
Flag is cleared by reading Latch1 time positive edge Byte
1 Event Latch1 negative edge,”0” other than for single event
Flag is cleared by reading Latch1 time negative edge
7:2 Reserved R/-
* Usable when 0x0140.11=1
6-34
6.Data Link Layer
6-35
6.Data Link Layer
6-36
6.Data Link Layer
User-RAM
Address Byte Description Master Slave Length Rest Value
0x0FA1 0x1F Application specification information R/W R/W 31 Undefined
- Bytes
0x0FBF
6-37
6.Data Link Layer
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.
EEPROM layout is shown below.
Word 0 1 2 3 4 5 6 7
SYNC Pulse
0x000 PDI Control PDI Config.
Length
Ex. PDI Config. Station Alias Reserved Reserved Checksum
0x020
0x028 Reserved
0x030
0x038 Reserved EEPROM Size Version
st st
1 Category 1 Category 1st Category DATA …
0x040 Type Word Size
・
…
・ nd nd
2 Category 2 Category 2nd Category DATA …
・ Type Word Size
・
0x7F8 …
EEPROM layout
6-38
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
bit Description Value Register
7:0 Process data interface 8:16 Bit asynchronous microcomputer interface 0x08 0x0140
8 Device emulation 0:AL status register has to be set by slave 0x0C 0x0141
(control of AL status) 1:AL status register will be set to value written to AL
control register
9 Enhanced Link detection all 0:disabled 1:enabled
ports "0" when MII port is used.
10 DC SYNC Out Unit 0:disabled (power saving) 1:enabled
11 DC Latch In Unit 0:disabled (power saving) 1:enabled
15:12 Reserved
PDI Configuration
Address Length
PDI Configuration Register (0x0150:0x0151) Initial value
0x0001 1 word
bit Description Value Register
1:0 BUSY output driver BUSY output polarity 0x00 0x0150
00:Push-Pull active low 01:Open Drain (active low)
10:Push-Pull active high 11:Open Source (active high)
3:2 IRQ output driver IRQ output polarity
00:Push-Pull active low 01:Open Drain (active low)
10:Push-Pull active high 11:Open Source (active high)
4 BHE polarity 0:Active low 1:Active high
6:5 Reserved
7 RD Polarity 0:Active low 1:Active high
9:8 SYNC0 output driver/polarity 0xCC 0x0151
00:Push-Pull active low 01:Open Drain (active low)
10:Push-Pull active high 11:Open Source (active high)
10 SYNC0/LATCH0 configuration
0:LATCH0 Input 1:SYNC0 Output
11 SYNC0 mapped to AL Event Request register 0x0220.2
0:Disabled 1:Enabled
13:12 SYNC1 output driver/polarity
00:Push-Pull active low 01:Open Drain (active low)
10:Push-Pull active high 11:Open Source (active high)
14 SYNC1/LATCH1 configuration
0:LATCH1 Input 1:SYNC1 Output
15 SYNC1 mapped to AL Event Request register 0x0220.3:
0:Disabled 1:Enabled
6-39
6.Data Link Layer
Configured Station Alias
Address Length
Alias Address used for node addressing
0x0004 1 word
bit Description Rest Value Register
15:0 0x0000 0x0012
The use of this alias is activated by Register
-
DL Control Bit 24 (0x0100.24)
0x0013
Checksum
Address For debug. Length
0x0007 Can be disabled by checking the checksum with a value of 0x88A4 1 word
bit Description Rest Value Register
15:0 low byte contains remainder of division of word 0 to word 6 as unsigned number 0x0000
-
divided by the polynomial x^8+x^2+x+1(initial value 0xFF)
Vender ID
Address Vendor ID for our EtherCAT products registered in ETG. Length
0x0008 CoE Object Index:0x1018 Sub index:0x01 2 word
bit 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 2 word
bit Description Value Register
31:0 Product code is “2” for EtherCAT amplifier. 0x00000002 -
Revision Number
Address Revision number for the servo amplifier: Length
0x000C CoE Object Index:0x1018 Sub index:0x03 2 word
bit Description Value Register
31:0 Unsupported Unsupported -
Serial Number
Address Serial number for servo amplifier: Length
0x000E CoE Object Index:0x1018 Sub index:0x04 2 word
bit Description Value Register
31:0 Unsupported Unsupported -
Execution Delay
Address Length
Correction factor for line Delay in 100ps to be added if this is the last station
0x0010 1 word
bit Description Rest Value Register
15:0 Unit: 100ps 0x0000 -
Port0 Delay
Address Length
Correction factor for line Delay in 100ps to be added if Master is behind Port 0
0x0011 1 word
bit Description Rest Value Register
15:0 Unit: 100ps / LSB, Integer 0x0000 -
Port1 Delay
Address Length
Correction factor for line Delay in 100ps to be added if Master is behind Port 1
0x0012 1 word
bit Description Rest Value Register
15:0 Unit: 100ps / LSB, Integer 0x0000 -
6-40
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
bit Description Rest Value Register
15:0 Use from register address 0x1800. 0x1800 -
Mailbox Protocol
Address Length
Mailbox Protocols Supported
0x001C 1 word
bit Description Rest Value Register
0 AoE: ADS over EtherCAT (available at www.beckhoff.com) 0x0004
1 EoE: Ethernet over EtherCAT (tunnelling of Data Link services)
2 CoE: CANopen over EtherCAT (access to SDO)
3 FoE: File Service over EtherCAT -
4 SoE: Servo Profile over EtherCAT
5 VoE: Vender specific protocol
15:6 Reserved
6-41
6.Data Link Layer
Port0 Tx Delay
Address Length
Correction factor for line delay of Port 0 transmission time.
0x0020 1 word
bit 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
bit Description Rest Value Register
15:0 Unit: 100ps / LSB, Unsigned16 0x0000 -
Port0 Rx Delay
Address Length
Correction factor for line delay of Port 0 receiving time
0x0024 1 word
bit Description Rest Value Register
15:0 Unit: 100ps/ LSB, Unsigned16 0x0000 -
Port1 Rx Delay
Address Length
Correction factor for line delay of Port 1 receiving time
0x0025 1 word
bit Description Rest Value Register
15:0 Unit: 100ps / LSB, Unsigned16 0x0000 -
EEPROM Size
Address Length
size of E2PROM in KBit-1
0x003E 1 word
bit Description Rest Value Register
15:0 The EEPROM capacity loaded on this amplifier is 32kbit [32kbit-1:0x1F] 0x001F -
Version
Address Length
Version
0x003F 1 word
bit Description Rest Value Register
15:0 This Version is 1 0x0001 -
6-42
6.Data Link Layer
1stCategory Data
Address Length
1st Category Data
0x0042: 1 word
bit Description Rest Value Register
15:0 Depends on
1st Category Data -
setting
The table below describes the description according to the category type of each category header.
6-43
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 (Vendor Specification) Device name information: Shown with character strings
Physical layer Port0 0x0004 Unsigned2 0:Ebus
Physical layer Port1 Unsigned2 1:100BASE-TX
Physical layer Port2 Unsigned2 2:100BASE-FX
Physical layer Port3 Unsigned2
CoE Details 0x0005 Unsigned8 bit0: Enable SDO bit3: Enable PDO Configuration
bit1: Enable PDO Information bit4: Enable Start upload
bit2: Enable PDO Assign bit5: Enable SDO Access complete
FoE Details 0x0006 Unsigned8 bit0: Enable FoE
EoE Details 0x0007 Unsigned8 bit0: Enable EoE
SoE Details 0x0008 Unsigned8 Reserved
DS402Channels 0x0009 Unsigned8 Reserved
SysmanClass 0x000A Unsigned8 Reserved
Flags 0x000B Unsigned8 bit0: Enable Safe-OP bit1: Enable without LR/W
CurrentOnEbus 0x000C Unsigned16 Ebus Actual current consumption (mA), Negative value is absorption
current
PAD_Byte 0x000B Byte [18] Reserved
6-44
No Text on This Page.
7
7. Object Dictionary
7.1 Object Dictionary ···························································································································7-1
1) Structure of Object Dictionary······································································································· 7-1
2) Object types ····························································································································· 7-1
3) Access types ···························································································································· 7-1
4) Data Type Area ························································································································· 7-2
7.2 CoE Communication Area ···············································································································7-3
1) Parameter Details of Object Group from 0x1000 ·············································································· 7-4
2) PDO Mapping ··························································································································· 7-6
3) Communication Timing ·············································································································· 7-12
4) Free Run Mode (Free Run:Asynchronous Operation)······································································· 7-13
5) DC Mode (SYNC0 Event Synchronization) ···················································································· 7-14
6) DC Mode (SYNC1 Event Synchronization) ···················································································· 7-15
7.3 PDS FSA ··································································································································· 7-16
1) Abstract·································································································································· 7-16
2) FSA (Finite States Automaton) ···································································································· 7-17
3) Control Word ··························································································································· 7-19
4) Status Word ···························································································································· 7-20
5) Manufacture specific area ·········································································································· 7-21
7.4 Profile Area ································································································································ 7-22
1) Error Code and Error Operation··································································································· 7-24
2) Operation Mode ······················································································································· 7-26
3) Function Group “Position” Mode ·································································································· 7-27
4) Profile Position Mode ················································································································ 7-30
5) Cycle Synchronization Position Mode ··························································································· 7-36
6) Interpolated Position Mode ········································································································· 7-38
7) Function Group “Velocity”, ”Homing mode” ···················································································· 7-43
8) Profile Velocity Mode················································································································· 7-43
9) Cyclic Synchronous Velocity Mode ······························································································· 7-43
10) Homing Mode ·························································································································· 7-46
11) Function Group “Torque (force)” ·································································································· 7-55
12) Profile torque (force) mode ········································································································· 7-55
13) Cyclic Synchronous torque (force) mode ······················································································· 7-55
14) Function Group “Touch Probe” ···································································································· 7-58
15) Operation Mode Parameter (Profile Area) ······················································································ 7-60
7.5 Manufacturer Specific Area ············································································································ 7-79
1) Object Group (0x2000-) ············································································································· 7-79
2) Control Command Parameter ····································································································· 7-84
3) Auto-Tuning Parameter ············································································································· 7-86
4) Basic Control Parameter ············································································································ 7-89
5) Feed Forward vibration suppressor control / Notch filter Parameter····················································· 7-95
6) High stabilized control settings ···································································································· 7-96
7) Observer Parameter ················································································································· 7-97
8) Model Following Control Settings Parameter ·················································································· 7-98
9) Amplifier Function Parameter ···································································································· 7-100
10) System Parameter ·················································································································· 7-119
11) Monitor Parameter ·················································································································· 7-135
7
7. Object Dictionary Object
2) Object types
Object code definition entries are organized as follows.
3) Access types
The Attribute column defines the access rights for a particular object.
Means of access are access to attribute data objects, and also direction of access is indicated from Master to Slave.
7-1
7. Object Dictionary Object
Also, the Enumerated data type areas are assigned to reserved Index 0x0800 - 0x0FFF.
Each of objects is defined as one of two types of data:
Designates number of bits reserved exclusively (BIT3 or UNSIGNED 16) and integer values (UNSIGNED 32), they are shown
strings.
7-2
7. Object Dictionary Object
* The index which does not appear in the list among 0x1000 to 0x1FFF is Reserved.
7-3
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 VAR
Sub-Idx Name Data Type Access PDO Value
0x00 Device Type [DEVICE] Unsigned32 RO Possible 0x00020192
Displays device type for EtherCAT servo drive.
MSB LSB
Mode Bit Type Number of Device Profile
31 24 23 16 15 0
0x0192 Device Profile(DS402d)
0x02 Servo Drive
0x00 Manufacture Definition
(Standard Specification)
0x1001:Error Resistor
Indicates error state of slave.
Index 0x1001 Object Code VAR
Refer to (Error Field Definition) for the details of error.
Sub-Idx Name/Description Data Type Access PDO Initial Value
0x00 Error Resistor [ERRREG] Unsigned8 RO Possible 0x00
0x1008:Device Name
Index 0x1008 Indicates product device name. Object Code VAR
Sub-Idx Name/Description Data Type Access PDO Value
0x00 Device Name [DEVICE] Visible String RO No Character String
Product Device Name (ASCII Code) (Unsigned32) (-)
RS2 A 0 1 A 2 H A 5
✔ Refer to secton 1.4, Servo amplifier model number, for model number structure details.
0x1009:Hardware Version
Index 0x1009 Indicates product hardware version. Object Code VAR
Sub-Idx Name/Description Data Type Access PDO Value
0x00 Hardware Version [HARDVER] Visible String RO No Character String
Hardware Version of Device (Unsigned32) (-)
0x100A:Software Version
Index 0x100A Indicates product software version. Object Code VAR
Sub-Idx Name/Description Data Type Access PDO Value
0x00 Software Version [SOFTVER] Visible String RO No Character String
Software Version of Device (Unsigned32) (-)
8 2 0 0 . 0 . 2 7 2 0
7-4
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 PDO Initial value
0x00 Number of Entry Unsigned8 RO No 0x01
0x01 Store all parameters [PARASAVE] Unsigned32 RO No 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”. The signature is “save”
&Write-access Sequence
1) Master writes ”0x65 76 61 73” (ASCII:s:73,a:61,v:76,e:65) in “Sub-index 01.”
2) Slave stores storable parameters in EEPROM* of CPU performing servo control when received correct signs.
* Slave information connected to ASIC is not the stored EEPROM.
3) Slave responds by SDO sending (download-initiating response) after normal storage completion.
If failed to store, slave responds via SDO abort transfer servis (abort code: 0606 0000h).
If incorrect sign was written, slave responds via SDO abort transfer servis (abort code: 0800 0020h).
&Read-access Sequence
Slave provides information on parameter storing function in the following formats.
Bit Value Description
31-2: Reserved 0 Reserved
1: Auto 0 Slave does not store parameters on an autonomous basis.
0: Cmd 1 Slave stores parameters when commanded via the above write -access.
✔ If NVRAM is Yes at each area of object list , paramaters will be store by this command.
0x10F0:Back up parameter
Index 0x10F0 Checksum value of XML parameter file Object Code RECORD
Sub-Idx Number of Entry Data Type Access PDO Value
0x00 Number of Entry Unsigned8 RO No 0x01
0x01 Check Sum [FoEChecksum] Unsigned32 RO No -
Indicate checksum value of XML parameter file.
When saved parameter or download XML parameter file by
FoE.
0x1018:Identity Object
Index 0x1018 Indicates information of salve device. Object Code RECORD
Sub-Idx Name/Description Data Type Access PDO Value
0x00 Number of Entry Unsigned8 RO No 0x04
0x01 Vender ID [VENDOR] Unsigned32 RO Possible 0x0000 01B9
Vender ID registered in ETG
0x02 Product Code [PRODUCT] Unsigned32 RO No 0x00000006
Product Code of Production
0x03 Revision No. [AMPREV] Unsigned32 RO No (-)
Revision Number of Product (Not used: fixed value 0)
0x04 Serial No. [SERIAL] Unsigned32 RO No (-)
Serial Number of Product (Not used: fixed value 3)
1) Synchronous Setup
The features of time and diagnostic function are described by object 0x1C32, 0x1C33, 0x1C02, 0x1400-0x15FF, and
0x1800-0x19FF in the supported synchronous mode.
The supported synchronous mode is described by the portion in OP mode of device description.
The PDO parameter includes the information on PDO and a PDO mapping object (0x1600-0x17FF and 0x1A00-0x1BFF) is related
with PDO parameter object (0x1400-0x15FF, 0x1800-0x19FF), respectively.
Sub-Index 1 to 5 of the PDO parameter object is reserved in order to maintain compatibility with CANopen.
0x1400-0x1403,1500-1503:RxPDO Parameter 1 to 4,257 - 260 (rxpdo)
0x1400-0x1403 The receiving PDO parameters 1 to 4, 257 to 260 show rxpdo
Index Object Code RECORD
0x1500-0x1503 setup and state of rxpdo 1 to 4, 257 to 260 corresponded.
Range
Sub-Idx Name/Description Data Type Access PDO
(Initial Value)
0x00 Number of Entry Unsigned8 Ro No 0x09
0x01 Not supported : COB-ID RxPDO1(-512) Unsigned32 RW No -
0x02 Not supported : Transmission Type Unsigned8 RW No -
0x03 Not supported : Inhibit Time Unsigned16 RW No -
0x04 Reserved Unsigned8 RO No -
0x05 Not supported : Event Timer Unsigned16 RW No -
0x06 Not supported : RxPDO Exclude PDO Octet-String RW No -
Includes the index of object mapping RxPDO which was not able to assign in this RxPDO.
0x07 Not supported : RxPDO State BOOLEAN RO Possible -
When output data of this RxPDO were not arranged to hardware, slave sets it to TRUE =1.
0x08 Not supported : RxPDO Control BOOLEAN RW Possible -
When output of this RxPDO does not have an effective value, master sets it to TRUE =1.
0x09 Not supported : RxPDO Toggle BOOLEAN RW Possible -
Toggles every update of supporting RxPDO to be written by master.
7-5
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).
For mapping, set Index of PDO, Sub-Index, and data length (bit length) to transmit.
Data length must agree with the one in the object dictionary.
■ Restrictions on PDO-mapping
・ BOOLEAN-type object is mappable from the 16-bit-boundary to the next 16-bit-data-field continuously.
・ Byte object (8-bit), Half-word object (16-bit), word object (32-bit) are mappable by starting from the
boundary of 8-bit, and also can be reached to either A-boundary or B-boundary
・ In the case shown below requires that address must start from boundary of 8-bit or 16-bit.
【The case of mapping for Byte object after BOOLEAN-type object】
Fill blank bits by using Padding object (OD:0x0000 SI:0) to reach boundary of 8-bit or 16-bit.
・ The number of objects which can be mapped, are 20 objects for RxPDO and TxPDO respectively.
If mapping is done exceeding the limit, a malfunction may occur.
0x1600 - 0x1603 and 0x1700 - 0x1703 are entry of the RxPDO mapping object dictionary.
0x1A00 - 0x1A03 and 0x1B00 - 0x1B03 are entry of the TxPDO mapping object dictionary.
7-6
7. Object Dictionary Object
0x1A00: TxPDO Mapping 1(TxPDO 1)
Index 0x1A00 Transmission PDO Mapping 1 Object Code RECORD
Range
Sub-Idx Name/Description Data Type Access PDO
(Initial Value)
0x00 Number of Entry : Number of TxPDO1 Object Unsigned8 RW No 0x00 - 0x1F
0x01 Entry 1 Unsigned32 RW No 0x60410010
Object Mapped in the 1st to TxPDO1
0x02 Entry 2 - Entry n Unsigned32 RW No 0x00000000
- Object Mapped in the 2nd to n of - TxPDO1 -
n * “n” is up to 0x1F in maximum. 0xFFFFFFFF
7-7
7. Object Dictionary Object
* Error is returned when the value is set except the value that can be set as above.
* Synchronizes with Interpolation time period (0x60C2)
by the setting of Special Function Selection (0x20F7).
0x03 Shift Time : Unit (ns) Unsigned32 RO No 0x0
Time between Hardware Output Effective Operation and Related Event
MSB LSB
Res. Dyna Res. Shift DC Sync Free
15 14 13 - 7 6 5 4 3 2 1 0
bit13-7 : Reserved
bit14 : Not supported : Dinamic Cycle Time
The time displayed on 0x1C32 is variable since it depends on the system structure. Therefore, in order to make a
precise measurement, to read the online value of 0x1C32 instead of the device description value measured by the
master will be more accurate than that. Therefore, the slave supports measuring Cycle time in OP state. Writing "1" in
0x1C32:08 makes Cycle time measuring start. At the time of setting this bit, the default value during the time
measured in "Minimum Cycle Time", "Calc and Copy Time" and "Delay Time" will be "0" . And also, the default value
is set in "INIT" and "Pre-OP" state.
bit15 : Reserved
7-8
7. Object Dictionary Object
7-9
7. Object Dictionary Object
MSB LSB
Res. Dyna Res. Shift DC Sync Free
15 14 13...7 6 5 4 3 2 1 0
Bit13-7 : Reserved
Bit14 : Dinamic Cycle Time(Refer to 0x1C32,0x08)
Bit15 : Reserved
7-10
7. Object Dictionary Object
7-11
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.
Outputs Valid
"Outputs Valid" in RS2-EtherCAT slave amplifier indicates the time, which added together the following three kinds of time.
1) Time until copies process data to local memory from SyncManager by trigger event
2) Time until servo loop operation process and the current command to ASIC for servo are written in
3) Hardware delay to current loop operation process within ASIC and IGBT gate output
Start Latch
"Start Latch" is start signal to input latch process.
Between "Start Latch" and "Input Latch", defines as 0x1C33 and 0x09:"Delay Time" in consideration of hardware delay time and
the software operating time mounted in slave.
Input Latch
"Input Latch" in RS2-EtherCAT slave amplifier indicates the real position acquisition timing of motor encoder.
However, when position cannot be received more correctly than encoder (serial encoder), data is not copied to SyncManager
area.
Shift Time
"Shift Time" defines time between the synchronous event such as SM2 event, SYNC0, and SYNC1, and also "Outputs Valid" and
"Input Latch". Possible to write if its specifications can shift "Outputs Valid" or "Input Latch".
7-12
7. Object Dictionary Object
7-13
7. Object Dictionary Object
Frame Frame
0x1C32,0x02:Cycle Time
Frame
Frame
7-14
7. Object Dictionary Object
Frame Frame
0x1C32,0x02:Cycle Time
7-15
7. Object Dictionary Object
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. It defines the slave's application operating. Slave
controls State Device, Mode, and State Change with Object "Control Word (0x6040)" sent via the network.
By "Status word (0x6041)" generated with slave device, the State returns the present state. Besides, PDS and FSA are
controlled also by Error Detection Signal.
The slave local and network shows you how to be driving.
PDS FSA
Device Control/Function Block Error Detection Signal
Status Word
(0x6041)
7-16
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.
0
Low Level power
Not ready to
A Switch on
Power or control unit enabled
High level power can be enabled
Switch on
B Disabled
H Fault
15
2 7
Ready to 10
C Switch on 14
9 12
3 6 High Level power
High level power enabled
8 D Switched on No Torque on the Motor
Fault reaction
G active
4 5
11
Operation Quick stop Error
E enabled active F 13 Occurs Torque
16 Torque on the Motor enabled
7-17
7. Object Dictionary Object
State Shift of FSA
No. [Before Shift]->[After] Event / Action
[Start]
Event : After control power supply ON or reset application, shifts automatically.
0
Action : Slave performs initialization and self-test.
[Not ready to Switch on]
[Not ready to Switch on]
Event : Shifts automatically.
1
Action : Communication is permitted.
[Switch on Disabled]
[Switch on Disabled]
Event : [Shut down] command (Bit2, 1, 0=1, 1, 0) is received from master.
2
Action : None
[Ready to Switch on]
[Ready to Switch on]
Event : [Switch On] command (Bit3, 2, 1, 0=0, 1, 1, 1) is received from master.
3
Action : Since in main circuit power supply permission state, provide main circuit power supply.
[Switch on]
[Switch on]
Event : [Enable operation] command (Bit3, 2, 1, 0=1, 1, 1, 1) is received from master.
4
Action : Slave is Servo-ON and all the internal preset values are cleared.
[Operation enabled]
[Operation enabled]
Event : [Disabled operation] command (Bit3, 2, 1, 0=0, 1, 1, 1) is received from master.
5
Action : Slave is Servo-ON.
[Switch on]
[Switch on]
Event : [Shut down] command (Bit2, 1, 0=1, 1, 0) is received from master.
6
Action : Master should intercept main circuit power supply.
[Ready to Switch on]
[Ready to Switch on] Event : [Quick Stop] command (Bit2, 1=0, 1) or
7 [Disable voltage] command (Bit1=0) is received from master.
[Switch on Disabled] Action : None
[Operation enabled]
Event : [Shut down] command (Bit2, 1, 0=1, 1, 0) is received from master.
8
Action : Slave is Servo-Off. Master should intercept main circuit power supply.
[Ready to Switch on]
[Operation enabled]
Event : [Disable voltage] command (Bit1=0) is received from master.
9
Action : Slave is Servo-Off. Master should intercept main circuit power supply.
[Switch on Disabled]
[Switch on] Event : [Quick Stop] command (Bit2, 1=0, 1) or
10 [Disable voltage] command (Bit1=0) is received from master.
[Switch on Disabled] Action : Master should intercept main circuit power supply.
[Operation enabled]
Event : [Quick Stop] command (Bit2, 1=0, 1) is received from master.
11
Action : Quick Stop function is performed.
[Quick stop active]
[Quick stop active] Event : Shifts automatically when Quick Stop operation is completed or when the "Disable voltage"
12 command (Bit1=0) is received at Quick Stop option code 1-3.
[Switch on Disabled] Action : Slave is Servo-Off. Master should intercept main circuit power supply.
Error occurs
Event : Fault (Alarm) occurs at slave.
13
Action : Set-up Fault operation function is performed.
[Fault reaction active]
[Fault reaction active]
Event : Shifts automatically.
14
Action : Slave is Servo-Off. Master should intercept main circuit power supply.
[Fault]
[Fault] Event : [Fault reset] command (Bit7=0 -> 1) is received from master.
15 Action : Without slave's Fault factor, Fault reset is performed.
[Switch on Disabled] Master should clear the "Fault reset" bit (Bit7=1->0) after normal state check.
[Quick stop active] Event : [Enable operation] command (Bit3, 2, 1, 0=1, 1, 1, 1) is received by Quick Stop option
16 code5 to 7.
[Operation enabled] Action : Slave function is permitted.
7-18
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.
Bit9, 6, 5,and 4 are Operation Mode Specification. Halt functional operation of Bit8 is also Operation Mode Specification.
Motion under command is interrupted when Bit8 =1. Slave is defined by Halt option code and operated.
Since Bit10 is Reserved, set to "0."
Bit15 to 11 are Manufacturer Specification.
*1) When Switch On and Enable operation are simultaneously received from master, after performing
the "Switch On" function, shifts to "Enable operation" automatically.
7-19
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.
Allotment for Bit of Status Word
Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8
Reserved Target Internal Reserved
Reserved Target
(Operation Mode Value Limit Remote (Maker
(Manufacture Specification) Reached
Specification) Ignored Active Specification)
Each state will be displayed in the status word bit pattern that indicates the current state.
0x6041:Status Word (Intersection)
Indicates status of FSA (State Machine) that PDS (Power Device System)
Index 0x6041 Object Code Variable
is controlled.
Sub-Idx Description Data Type Access PDO Initial Value
0x00 Status Word [STSWORD] Unsigned16 RO Possible 0x0000
Bit pattern (Bit 6, 5, 3, 2, 1, 0) of Status Word Display Range 0x0000 - 0xFFFF
The composition is as follows.
MSB LSB
Manufac Operation Internal Manufac Switch
Target Quick Voltage Operation Switch Ready to
-turer mode Limit Remote -turer Warning on Fault
reached stop Enabled enabled on switch on
Specific Specific Active Specific disabled
15,14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Bit4 :Voltage Enabled (Main Circuit Bit 14 : Voltage Enabled (Main Circuit Establishment Status)
Means that main circuit power supply is impressed at the time of "1."
Bit5 :Quick Stop (Quick Stop)
Shows that it is under operation by Quick Stop Request at the time of "0"
Bit7 :Warning(Warning Status)
It is set to "1" when warning is occurring in slave. This bit is not cleared even if warning factor is lost.
Bit9 :Remote(Control Word Remote)
Operation through EtherCAT communication enabled at the time of "1".
Operation through EtherCAT communication disabled at the time of "0" although setup software enabled.
Bit10:Target reached
It is set to "1" when an operation mode is changed.
It is set to "1" when Quick stop operation is finished and motor stops with Quick stop Option Code;-2,5 to7
Besides, when Bit10 (Target reached) of status word is "1", Indicates that the motor reached the preset value.
Then cleared to "0" when target position is changed. (Only Profile Position (pp):Reserved)
Bit11:Internal Limit Active
When target position is outside of range, and at invalid, soft limit, and forward/backward side limit, it is set to "1".
Setting range is based on specification.
Bit13, 12 and 8 are based on operation mode specifications, and Bit15 and 14 are maker specifications.
7-20
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.
Specific Specific
15 14,13 12 11 10 9 8 7 6・・・4 3 2 1 0
Shared parts with the entire operating mode in manufacture specific area for status words are described below.
7-21
7. Object Dictionary Object
7-22
7. Object Dictionary Object
Profile Area (No.2)
Index S-Idx FP FV FT FH Name Data Type Dir PDO_M Update NVRAM
0x6091 0x00 - - - - Gear Ratio Unsigned8 RO No - -
↑ 0x01 □ × × × Motor Shaft Resolution Unsigned32 RW Possible -
↑ 0x02 □ × × × Drive Shaft Resolution Unsigned32 RW Possible -
0x6092 0x00 - - - - Feed Constant Unsigned8 RO No - -
↑ 0x01 □ × × × Feed Unsigned32 RW Possible -
↑ 0x02 □ × × × Drive Shaft Resolution Unsigned32 RW Possible -
0x6098 0x00 × × × Homing Method Integer8 RW Possible # Yes
0x6099 0x00 - - - - Homing Speed Unsigned8 RO No - -
↑ 0x01 × × × Speed during search for switch Unsigned32 RW Possible # Yes
↑ 0x02 × × × Speed during search for Zero Unsigned32 RW Possible # Yes
0x609A 0x00 × × × Homing Acceleration Unsigned32 RW Possible # Yes
0x60A3 0x00 × × × Profile Jerk Use Unsigned 8 RW No - -
0x60A4 0x00 - - - - Profile Jerk Unsigned8 RO No - -
↑ 0x01 × × × Profile Jerk 1 Unsigned32 RW No # -
↑ 0x02 × × × Profile Jerk 2 Unsigned32 RW No # -
0x60B0 0x00 × × × Position Offset (Position Addition) Integer32 RW Possible # -
0x60B1 0x00 - × Speed Offset (Speed Addition) Integer32 RW Possible # -
0x60B2 0x00 Torque (force) Offset Possible
× Integer16 RW # -
(Torque (force) Addition)
0x60B8 0x00 × × × Touch probe mode Unsigned16 RW Possible # -
0x60B9 0x00 × × × Touch probe state Unsigned16 RO Possible # -
0x60BA 0x00 × × × Touch probe1 positive edge position stored Integer32 RO Possible # -
0x60BB 0x00 × × × Touch probe1 negative edge position stored Integer32 RO Possible # -
0x60BC 0x00 × × × Touch probe1 positive edge position stored Integer32 RO Possible # -
0x60BD 0x00 × × × Touch probe1 negative edge position stored Integer32 RO Possible # -
0x60C0 0x00 × × × Interpolation sub mode select Integer16 RW No Yes
0x60C1 0x00 - - - - Interpolation data record Unsigned8 RO No -
↑ 0x01 × × × Interpolation position target Integer32 RW Possible # -
↑ 0x02 × × × Interpolation time Unsigned8 RW Possible # -
0x60C2 0x00 - - - - Interpolation time period Unsigned8 RO No - -
↑ 0x01 Interpolation time period value Unsigned8 RW No # -
↑ 0x02 Interpolation time index Integer8 RW No # -
0x60C4 0x00 × × × × Interpolation data configuration Unsigned8 RO No - -
↑ 0x01 × × × Maximum buffer size Unsigned32 RO No - -
↑ 0x02 × × × Actual buffer size Unsigned32 RW Possible # Yes
↑ 0x03 × × × Buffer format Unsigned8 RW Possible # -
↑ 0x04 × × × Point of buffer Unsigned16 RW Possible # -
↑ 0x05 × × × Data size of interpolation data record Unsigned8 RO No - -
↑ 0x06 × × × Clear buffer Unsigned8 WO Possible # -
0x60C5 0x00 × × × Maximum Acceleration Unsigned32 RW Possible - Yes
0x60C6 0x00 × × × Maximum Deceleration Unsigned32 RW Possible - Yes
0x60E0 0x00 Forward Torque (force) Limit Value Unsigned16 RW Possible # Yes
0x60E1 0x00 Backward Torque (force) Limit Value Unsigned16 RW Possible # Yes
0x60E3 0x00 - - - - Support Homing Method Unsigned8 RO No - -
0x01
↑ - × × × Support Homing Method 1 - 37 Integer8 RO No - -
0x25
0x60F2 0x00 × × × Position Option Code Unsigned16 RW Possible # -
0x60F4 0x00 Actual Position Deviation Possible
× × × Integer32 RO - -
(Following Error Actual Value)
0x60F8 0x00 × × × × Maximum Deviation (Amount of Max. Gaps) - - - - -
0x60FA 0x00 × × × Control Effort Integer32 RO Possible - -
0x60FC 0x00 × × × Internal Position Command Value Integer32 RO Possible - -
0x60FD 0x00 Digital Input Unsigned32 RO Possible - -
0x60FE 0x00 - - - - Digital Output Unsigned8 RW Possible # -
↑ 0x01 Physical Output Unsigned32 RW Possible # -
↑ 0x02 Bitmask Unsigned32 RW Possible # -
0x60FF 0x00 × × × Target Velocity (Velocity Command) Integer32 RW Possible # -
0x6402 0x00 Motor Type Unsigned16 RW Possible - -
0x6403 0x00 Motor Catalog No. VisibleString RO No - -
0x6404 0x00 Motor Manufacture VisibleString RO No - -
0x6405 0x00 http Motor Catalog Address VisibleString RO No - -
0x6406 0x00 × × × × Motor Calibration date - - - - -
0x6407 0x00 × × × × Motor Service Period - - - - -
0x6502 0x00 Support Drive Mode Unsigned32 RO Possible - -
0x6503 0x00 Drive Catalog No. VisibleString RO No - -
0x6505 0x00 http Drive Catalog Address VisibleString RO No - -
7-23
7. Object Dictionary Object
1) Error Code and Error Operation
0x6007: Abort Connection Option Code
When an abnormality occurs in the communication system (Ex. communication
Index 0x6007 timeout, Link lost, Crc error etc..), This object indicates how the servo amplifier to Object Code Variable
behave.
Sub-Idx Description Data Type Access PDO Initial Value
0x00 Abort Connection Option Code Integer16 RW No 0x0001
Setting Range 0x0000-0x0003
0 : No Action
1 : Fault Signal
2 : Desable Voltage Command
3 : Even if it is the setting of the Quick Stop Active state, shifts to Switch On Disabled
after a stop by Quick Stop Command (quick stop setting (0x605A).
# Cyclic sync torque (force) mode (cst), Torque (force) profile mode (tq)
0 : Drive function is disabled (After a motor stops by dynamic brake operation, Switch On Disabled)
1, 2 : Switch On Disabled after Stops by 0x6087(Torque (force) Slope)
3 : To Switch On Disabled after stop by Current Zero
5, 6 : Quick Stop Active state after Stops by 0x6087(Torque (force) Slope)
7 : Quick Stop Active state after stop by Current Zero
*When Quick Stop Operation, not only Maximum torque (force) (0x6072), Clock wise side torque (force) limit (0x60E0),
Counter clockwise torque (force) limit (0x60E1), but also Sequence current limit value (0x201E) are limited.
When external EMR signal is input through I/O, it will be "Switch On Disable" even if "Quick Stop Active" is set.
# Profile position (pp), Cyclic sync position(csp), Interpolated Position (ip) mode
# Cyclic sync velocity mode (csv), Profile velocity (pv), Homing mode
0 : Disable Drive: Servo-Off(Switch OFF Drive Power Stage
1 : Slow down with slow down ramp; Disable of the drive function
# Cyclic sync torque (force) mode (cst), Torque (force) profile mode (tq)
0 : Disable Drive: Servo-Off(Switch OFF Drive Power Stage
1 : Stop at 0x6087 Torque (thrust force) slop
7-24
7. Object Dictionary Object
0x605C:Disable Operation Option Code
When shifts from Operation Enabled to the Switch On State,
Index 0x605C Object Code Variable
determined how it operates.
Sub-Idx Description Data Type Access PDO Initial Value
0x00 Disable Operation Option Code [DISOP] Integer16 RW No 0x0000
Setting Range 0x0000 - 0x0001
(0 to 1)
Set how to stop a motor at shifts from servo-on to servo-off.
# Profile position (pp), Cyclic sync position(csp), Interpolated Position (ip) mode
# Cyclic sync velocity mode (csv), Profile velocity (pv), Homing mode
0 : Disable Drive function Switch OFF srive power stage.
1 : Slow down with slow down ramp; disable of drive function
# Cyclic sync torque (force) mode (cst), Torque (force) profile mode (tq)
0 : Disable Drive (Servo brake stop)
1 : Stop at 0x6087 Torque (thrust force) slop
# Profile position (pp), Cyclic sync velocity mode (csv), Profile velocity (pv), Homing mode
1 : Operation enabled state after Stop at slowdown deceleration (0x6084).
2 : Operation enabled state after stop at quick stop deceleration (0x6085)
3 : To Switch On Disabled after stop by Current Limit
# Cyclic sync torque (force) mode (cst), Torque (force) profile mode (tq)
1, 2 : Operation enabled state after Stops by 0x6087(Torque (force) Slope)
3 : Operation enabled state after stop by Current Zero.
✔If servo-off is desired after stopping with the halt state, servo-off with set of halt bit of the control word is required.
# Profile Position (pp) Mode, Interpolated Position Mode (ip), Cycle Synchronous Position Mode (csp)
# Profile Velocity (pv) Mode, Homing Mode (hm), Cycle Synchronous Velocity Mode (csv)
0 : Drive function is Disabled. (Motor stop by dynamic brake operation)
1 : Stop at slowdown deceleration (0x6084)
2 : Stop at quick stop deceleration (0x6085)
3 : Stop by Current Limit
7-25
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."
hm Homing Mode
Selection and change of an operation mode use mode:0x6060 of operation, and mode display:0x6061 of operation is used for the
check of the operation mode under present operation.
7-26
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” , “Cyclic Synchronous Position Mode” and “Interpolated
Position Mode”are supported. 0x6060: Operate “Profile Position Mode” by setting “1” in operation mode, “Cyclic Synchronous
Position Mode” by setting “8” and “Interpolated Position Mode” by setting “7”.
Here is the main object list for the function group “Profile Position Mode”
generation
Trajectory
Maximum Profile 0x607F
Profile 0x6083 Velocity VCLM
Acceleration TVCACC
Profile 0x6084
Deceleration TVCDEC
Motion 0x6086
Profile Type MOTPRO
0x60A4-1
JERK1 0x60A3
Profile 0x60A4-2 JERKUSE
Jerk2 JERK2 Profile Jerk use
Position 0x60B0
Offset POSOFF 1
Position Command
Internal Value
generation
Interpolation + 7 0x6062
0x6040
Timing
0x60C1-0x1 PCValue
Position IPPOS +
Target 0x60FC
Bit4
PDemand
Interpolation 8
FIFO buffer: max. 256 Position Demandl
Ring buffer: max. 256 Enable Value
0x607B,2 0x607D,2
MAXPLIM SMAXLIM
Interpolation 0x60C2
time Interpolation
Interpolation
period time period sub mode select Position Software
Range Limit Position Limit
0x607B,2 0x607D,2
MAXPLIM SMAXLIM
+
Target 0x607A +
Position TAPOS
Block Diagram of each operation mode when the function group is in "Position" mode
7-27
Feed Foraword
(Position loop By-pass)
Feed Forward Gain Feed Forward Filter
0x2008-1 0x2008-2
FFGN FFFIL
0x607B-1
MINPLIM
Z Phase Standard
Actual Position 0x607B-2
MAXPLIM
0x2105
CCUNIT
Control Effort
i
0x60FA
VCMDPO
Block Diagram with Function Group [Position] Mode
7-28
Feed Foraword Current
(Position loop By-pass) Limitation
Feed Forward Gain Feed Forward Filter Using model following control
Feed Forward
Using model following vibration
Vibration Suppressor 0x2008-1 0x2008-2 Torque
Position suppressor control
FFGN FFFIL
0x2012 Command
Operation Mode Command
Smoothing SUPFRQ1 0x6072 Filter 0x200D
0x6060
OPMODE Polarity(Position) Constant 0x2000 MAXTRQ 0x2014,8 JRAT1
Vibration Suppressor + Model Model
Position command 0x607E 0x2003 Frequency Position 0x2017,1 + Velocity 0x60E0 TCFIL1 0x2019 Acceleration
Input Block CMDPOL TCSMT Command Operation Operation
0x202C + KM1 + TCLM-F 0x2014,9 ANRFRQ1
(refer to preceding bit10 Filter
SUPLV - - TCFIL_B
page) 0x2004 0x60E1 0x201A
Depth Selection Model Control Gain1
PCFIL TCFIL-R RESFRQ1
off Velocity
+ + +
- - -
Velocity
detection
Pulse Encoder
Actual Position Deviation Polarity(Position)
+ 4x
0x60F4 0x607E - multiplier
PMON CMDPOL
Cerial Sensor Motor Encoder
Block Diagram with Using model following control, Using model following vibration suppressor control
of Function Group [Position] mode
7-29
7. Object Dictionary
The following two different ways to apply to a servo amplifier supported by device profile.
There are two different ways as follows to set target positions to a servo amplifier supported by the device profile.
The master controller switches the two modes mentioned above by the timing of the following bits;
“New set-point(bit4)”, ”Change set immediately(bit5)”, ”Change of set-point(bit9)” in the Control Word (0x6040)and
“Set-point acknowledge(bit12)” in the Status Word (0x6041).
These bits allow to set up a request response mechanism in order to prepare the next set points
while a previous set point still is processed in the servo amplifier.
This minimizes reaction times within a control program on the master.
① ② ③ ④ ⑤
New set-point
(0x6040:bit4)
t
Set-point A B C D E
Bufferd set-point B C C
Processed set-point A A B B B E
Set-point acknowledge
(0x6041:bit12)
t
Target reached
(0x6041:bit10)
t
7-30
7. Object Dictionary
& Single set-point
(1) If the bit “Change set immediately (bit5)” is “1”, a single set point is executed by the servo amplifier.
(2) After a set point is applied to a servo amplifier, the master sets “new set-point (bit4)” in Control word to “1”
in order to notify completion of the set point to the slave(servo amplifier).
(3) A slave(servo amplifier) acknowledges a requested bit and buffers a new set-point, and in order to respond,
sets “Set-point acknowledge(bit12)” to “1”.
(4) After the master recognized the new valid data, “New set-point (bit4)” is released to “0”.
(5) Even if the set point that is received at the time point “t0” is being processed, a new set-point will be immediately valid.
(6) The servo amplifier validates the actual move to the new target position immediately when the second target position as
“New set-point” at the time point “t1” is received.
0x6083
Profile acceleration
v2 0x6084
Profile deceleration
v1
Velocity
t0 t1 t3 Time
New set-point
(0x6040:bit4)
Target position
(set-point)
Current
target position
processed
Set-point
acknowledge
(0x6041:bit12)
Target reached
(0x6041:bit10)
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7. Object Dictionary
(1) If the bit “Change set immediately (bit5)” is “0", the servo amplifier executes settings for the set-point.
(2) After a set point is applied to a servo amplifier, the master sets “new set-point (bit4)” in Control word to “1” in order to notify completion
of the set point to the slave(servo amplifier).
(3) A slave(servo amplifier) acknowledges a requested bit and buffers a new set-point, and in order to respond, sets “Set-point
acknowledge(bit12)” to “1”.
(4) After the master recognized the new valid data, “New set-point (bit4)” is released to “0”.
(5) A new set-point will be valid after completion of a Set-point processing received at the time point “t0”.
(6) The servo amplifier validates the actual move to the new target position ”t3” immediately as long as that receives the second target
position as “New set-point” before arriving to the first target position “t1”.
(7) When the bit Change of set-point (bit 9)" is set to “1”, the servo amplifier moves to the next set-point processing
without reducing the velocity once to Zero during set-point processing.
v2 0x6084
0x6083 Profile deceleration
Profile acceleration
Velocity
v1
t0 t1 t2 t3 Time
New set-point
(0x6040:bit4)
Target position
(set-point)
Current
target position
processed
Set-point
acknowledge
(0x6041:bit12)
Target reached
(0x6041:bit10)
Set of set points (Update to the next set point after completion of a set point)
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7. Object Dictionary
bit8:HALT [HALT]
0:Activate Profile Position Positioning process
1:Stop axle with halt option code(0x605D)
Bit9: Change of set point [Change of set point]
This bit9 is used for the slave (servo amplifier) that moves to
the next set-point processing without reducing the velocity once to
Zero during set operation of set point.
7-33
7. Object Dictionary
7-34
7. Object Dictionary
& Motion Profile
In this servo amplifier, S-shape acceleration/deceleration motion profile can be executed at the time of acceleration or deceleration.
(1) Motion profile type is selected by 0x6086.
(2) Combination of S-shape acceleration/deceleration time (A, B, C, D) is set by 0x60A3.
(3) S-shape acceleration/deceleration time A, B, C, D is set by 0x60A4.
B C
V
0x6084
0x6083 Profile deceleration
Velocity
Profile acceleration
A D Time
ta tb
ta’ tb’
7-35
7. Object Dictionary
F
Enable operation SOFF SON
(0x6040:bit3-1) X
1
Relative Position
(0x6040:bit6) 0
Motion with Relative Position
bit6:ABS/REL [ABS/REL]
0:Target position (0x607A) is an absolute value
1:Target position (0x607A) is a relative value
bit8:HALT [HALT]
0: Activate Cycle Synchronization Position Mode (Enable bit4)
1:Stop axle with halt option code(0x605D)
7-36
7. Object Dictionary
7-37
7. Object Dictionary
4
5
8 Ⅰ 11
Ⅱ
Interpolation
inactive
Ⅲ
Ⅳ
Interpolation
active
9 16
Operation enabled
7-38
7. Object Dictionary
&Interpolation sub mode select (0x60C0)
This servo amplifier corresponds to two kinds of interpolation methods. Select by using interpolation sub mode select (0x60C0).
P3
P2 Buffer
P1 Interpolation
Interpolation Time
Position Target
0x60C1-2
0x60C1-1
P0 -
P1 -
P0
P2 -
P3 -
Interpolation Interpolation Interpolation
time period time period time period
(0x60C2) (0x60C2) (0x60C2)
P3
Buffer
P2
Interpolation
Interpolation Time
Position Target
0x60C1-2
0x60C1-1
P1
P0 T0
P1 T1
P0
P2 T2
P3 T3
T1 T2 T3
7-39
7. Object Dictionary
&Usage when buffer format is set to FIFO
Interpolation
Position Target
Time
7-40
7. Object Dictionary
Write Pointer
Data
Buffer
Read Pointer
Interpolation
Position Target
Time
7-41
7. Object Dictionary
7-42
7. Object Dictionary
7) 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.
And also, when the bit is “6” in Homing mode, the slave performs Returning to the origin position in Velocity mode.
T0 Time
Operation Enabled Enabled
v1
Target Velocity
T0 Time
v1
Target Velocity
7-43
Block diagrams of Function Group “Velocity” “Homing” mode are indicated in the following pages.
Velocity Limit
0x2000
0x201C
VCMMAX
bit3
Motor
Pulse Encoder Encoder
4x
Velocity multiplier
Detaction
Serial Sensor
7-44
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), Profile Object code Variable
velocity mode (pv)
Sub-Idx Description Data Type Access PDO Initial value
0x00 Control word [CWORD] Unsigned16 RW Possible 0x0000
* See the bit patter command list for the detail on Bit 7, 3, Range 0x0000-0xFFFF
2, 1, 0
MSB LSB
Cseten - Eclr - Halt Fr* Reserved Reserved Reserved Hs* qs* ev* so*
15 14…13 12 11..9 8 7 6 5 4 3 2 1 0
bit8:HALT [HALT]
0: Acceptpt Velocity Command(Enable bit4)
1:Stop axle with halt option code(0x605D)
0x6041:Status Word (Cyclic Sync. Velocity Mode: csv, Profile Velocity Mode:pv)
This object indicates Operation mode specific bits and
Index 0x6041 Manufacturere specific bits in Cyclic Shunc. Mode (csv) and Object code Variable
Profile velocity (pv)mode.
Sub-Idx Description Data Type Access PDO Initial value
0x00 Status Word [STSWORD] Unsigned16 RO Possible 0x0000
* See the Status word bit patterns status lists for the details Range 0x0000-0xFFFF
on Bit 6, 5, 3, 2, 1, 0
MSB LSB
Speed or
Csetfi Internal
Csetpro Res Drive follows Tr Rm Res W Sod* Qs* Ve F* Oe* So* Rtso*
x Limit active
the command
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
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7. Object Dictionary
10) 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.
There is a further object home offset, which allows the user to displace zero in the user’s coordinate system from the home
position.
There is no output data except for those bits in the status word, which return the status or result of the homing process and the
demand to the position control loops.
There are two values for homing speed (0x6099): faster speed for home switch searching (Sub-Index1), and slower speed for
index pulse searching (Sub-Index2). For the homing speed, set larger value than the speed zero range (0x2020). Homing might
not perform correctly if smaller value than the speed zero range is set.
Digital Input
Home switch
Positive limit switch
Negative limit switch
By choosing a homing method, the following behavior is determined: the homing signal (positive limit switch, negative limit switch,
home switch and touch-probe 1), the direction of actuation and where appropriate, the position of index pulse.
The home position and the zero position are offset by the home offset. (0x607C: See the definition of home offset for how this
offset is used.) There are five sources of homing signal available: These are the negative and positive limit switches, the home
switch, touch-probe 1 and index pulse from an encoder.
The drive that reached to the limit switch shall move in the other direction to leave the position. In the diagrams of homing
sequences shown below, the encoder count increases as the axis position moves to the right. (The left is the minimum position
ad the right is the maximum position.)
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7. Object Dictionary
The below shows the Homing Methods list. No.-4 to -1 are manufacturer specific homing methods
Homing Method
Method Homing Mode Stop direction Function
-4 Homing on hard stop (Butt) and index pulse in negative direction positive Supported
-3 Homing on hard stop (Butt) and index pulse in positive direction negative Supported
-2 Homing on hard stop (Butt) in positive direction negative Supported
-1 Homing on hard stop (Butt) in negative direction positive Supported
0 Undefined homing methods - -
1 Homing on negative limit switch and index pulse positive Supported
2 Homing on positive limit switch and index pulse negative Supported
3 Homing on positive home switch and index pulse negative Supported
4 Homing on positive home switch and index pulse positive Supported
5 Homing on negative home switch and index pulse positive Supported
6 Homing on negative home switch and index pulse negative Supported
7 Homing on positive limit switch, homing on positive home switch and index pulse negative Supported
8 Homing on positive limit switch, homing on positive home switch and index pulse positive Supported
9 Homing on positive limit switch, homing on negative home switch and index pulse negative Supported
10 Homing on positive limit switch, homing on negative home switch and index pulse positive Supported
11 Homing on negative limit switch, homing on positive home switch and index pulse positive Supported
12 Homing on negative limit switch, homing on positive home switch and index pulse negative Supported
13 Homing on negative limit switch, homing on negative home switch and index pulse positive Supported
14 Homing on negative limit switch, homing on negative home switch and index pulse negative Supported
17 Homing on negative limit switch positive Supported
18 Homing on positive limit switch negative Supported
19 Homing on positive home switch positive Supported
20 Homing on positive home switch negative Supported
21 Homing on negative home switch positive Supported
22 Homing on negative home switch negative Supported
23 Homing on positive limit switch and Homing on positive home switch negative Not Supported
24 Homing on positive limit switch and Homing on positive home switch positive Not Supported
25 Homing on positive limit switch and Homing on negative home switch negative Not Supported
26 Homing on positive limit switch and Homing on negative home switch positive Not Supported
27 Homing on negative limit switch and Homing on positive home switch positive Not Supported
28 Homing on negative limit switch and Homing on positive home switch negative Not Supported
29 Homing on negative limit switch and Homing on negative home switch positive Not Supported
30 Homing on negative limit switch and Homing on negative home switch negative Not Supported
33 Homing on the index pulse negative Supported
34 Homing on the index pulse positive Supported
35 Homing on the current position - Supported
37 Homing on the current position - Supported
-128 to -5, 15, 16, 31, 32, 36, 38 to 127 Reserved - -
Home offset
(0x607C) Home offset
(0x607C)
Zero Position = Home Position +Home offset (0x607C) Actual Position(0x6064) = Home offset (0x607C)
The position actual value in the drive is not set to zero because of the homing.
The change of the operation mode to the honing mode and back in the object 0x6060 is included.
The following figures show sequences in the homing mode of Control word (0x6040), Operation mode (0x6060) and Operation
display (0x6061).
7-47
7. Object Dictionary
The following sequence shows homing modes corresponding to the Amplifier of Servo Amplifier
F
Enable operation SOFF SON
(0x6040:bit3-1) X
6
Operation Mode
(0x6060) X
6
Operation Display
(0x6061) X
1
Homing operation
start/stop(0x6040:bit4) 0
1
Calculation method
rel/abs (0x20F6-1) 0
1
Homing attained
(0x6041:bit12) 0
1
Target reached
(0x6041:bit10) 0
1
Homing error
(0x6041:bit13) 0
Homing sequence
6
Operation Mode
(0x6060) X
6
Operation Display
(0x6061) X Cancel homing
1
Homing operation
start/stop(0x6040:bit4) 0
1
Calculation method
rel/abs (0x20F6-1) 0
1
Homing attained
(0x6041:bit12) 0
1
Target reached
(0x6041:bit10) 0
1
Homing error
(0x6041:bit13) 0
7-48
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.
However, the limit switch that is in the direction of no use actuates the function that is set in 0x20F8.
2) The home switch in a homing mode is allocated an exclusive use connector CONT1 (Home Switch) automatically.
This is dual input both of general-purpose input and exclusive input. Therefore, when you use Home switch input, set all selection
of general-purpose input in 0x20F8 as other than "02:CONT1 ON" and "03:CONT1 OFF".
* If CONT1 is allocated to the other operation, a homing may not work normally.
The definition of home switch setting is fixed as follows:
・Home switch is on: Photocoupler of the amplifier is on, Home switch is off: Photocoupler of the amplifier is off
# Operation direction of homing method
Move/rotation direction (see from motor shaft end) in each homing drawing depends on 0x607E: Polarity.
Move direction in drawing and motor rotation are shown below.
Move to right/ Positive rotation Move to left/ Negative rotation
0x607E Polarity
(Actual position increased) (Actual position decreased)
0x00 (Position polarity Bit7=0) CW CCW
0xE0 (Position polarity Bit7=1) CCW CW
# Homing Method [1]: Homing on negative limit switch and index Pulse
# Homing Method [2]: Homing on positive limit switch and index Pulse
Using these method [1] and [2] as shown in the below figure. In the method [1], the initial direction of movement shall be leftward
(Negative rotation) if the negative limit switch is inactive. The home position shall be at the first index pulse to the right of the
position (Positive side) where the negative limit switch becomes active.
And using the method [2] , the initial direction of movement shall be rightward if the positive limit switch is inactive The position of
home shall be at the first index pulse to the left of the position (Negative side) where the positive limit switch becomes inactive.
1 2
[1]Homing on negative limit switch and index pulse [2] Homing on positive limit switch and index pulse
# 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. In the method [3] and [6], the home position shall be at the left position where the home switch changes state, and
in the method [4] and [5], the home position shall be at the initial index pulse to the right of the point where the home switch
changes state. If the initial position is situated so that the direction of movement shall reverse during homing, the point at which
the reversal takes place is anywhere after a change of state to the home switch.
5
3
4
6
4 6
[3] Homing on positive home switch and index pulse (Neg) [5] Homing on positive home switch and index pulse (Pos)
[4] Homing on positive home switch and index pulse (Pos) [6] Homing on positive home switch and index pulse (Neg)
7-49
7. Object Dictionary
# Homing Method [7][8][9][10]: Homing on positive home switch, home switch and index Pulse
10
8 9
7 10
8 9
8 9
10
[7] Homing on positive limit switch, homing on positive home switch and index pulse (Neg)
[8] Homing on positive limit switch, homing on positive home switch and index pulse (Pos)
[9] Homing on positive limit switch, homing on negative home switch and index pulse (Neg)
[10] Homing on positive limit switch, homing on negative home switch and index pulse(Pos)
# Homing Method [11][12][13][14]: Homing on negative home switch, home switch and index Pulse
14
13 12
11
14 11
13 12
11
13 12
14
[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)
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7. Object Dictionary
# Homing Method [17]: Homing on negative limit switch
# Homing Method [18]: Homing on positive limit switch
There methods are similar to methods [1] and [2]. Using these method [17] and [18] as shown in the below figure.
In the method [17], the initial direction of movement shall be leftward (Negative rotation) if the negative limit switch is inactive.
The home position shall be at the potision by the negative limit switch becomes active.
And using the method [18] , the initial direction of movement shall be rightward (positive rotation) if the positive limit switch is
inactive The position of home shall be at the position by the positive limit switch becomes inactive.
17 18
[17] Homing on negative limit switch [18] Homing on positive limit switch
# Homing Method [19][20]: Homing on positive home switch [21][22]: Homing on negative home switch
21
19
21
19
20 22
22
20
[19] Homing on positive home switch (Negative direction) [21] Homing on negative home switch (Positive direction)
[20] Homing on positive home switch (Positive direction) [22] Homing on negative home switch (Negative direction)
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7. Object Dictionary
In homing method [33][34], homing direction of [33] is left side (negative rotation), and of [34] is right side (positive rotation). The
home position shall be at the nearest index pulse that is found in the selected direction.
In homing method [35][37], the current position shall be taken to be the home position. This method does not require the drive
device to be in operation-enabled state (Servo-ON). Note)
However, the actual position calculation method is only absolute homing.
33 35
34 37
Homing operation
Index Pulse 0x6040:bit4 0 1
[33] Homing on negative Index Pulse in negative direction
[34] Homing on positive Index Pulse in positive direction [35][37]Homing on Current position Note)
Note) Homing method [35]: Homing on current position is void at CiA402 Work Draft CANopen Drive and motion control device profile
part2 Version:3.0.1.13 (26 April 2012)
-2 -1
-3 -4
Index Pulse
[-1] Homing on hard stop in positive direction [-3] Homing on hard stop and index pulse in negative direction
[-2] Homing on hard stop in negative direction [-4] Homing on hard stop and index pulse in positive direction
7-52
7. Object Dictionary
# Home position retention function when using absolute system
Execution result of “OD: 0x6098 Homing method 35,37 (Homing to present position)“will be stored automatically after a homing
completion. "OD: 0x6064: Actual position” can retain the origin coordinates even when re-turning on the power next time.
In this regard, however if any encoder clear or battery errors occur, correct origin coordinate shall not be presented, so
re-homing is required. Absolute system homing “origin coordinate retention procedure” is shown below:
✔ Automatic save is not valid except the homing method of absolute system: 35(0x23) and 37(0x25).
✔ To update the stored origin coordinate, perform a homing of absolute system again.
✔ To clear stored “origin coordinate after homing completed,” perform encoder clear, and then re-perform
parameter retension procedure (0x1010).
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7. Object Dictionary
7-54
7. Object Dictionary
11) 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. The below list indicates the main Objects as for function group “Torque (force)”.
t1
0x6087
Torque Torque slope
T0 Time
t1
Target Torque
t1
Torque
T0 Time
7-55
Block diagrams of Function Group “Torque” mode are indicated in the following pages.
Actual Torque
Polarity (Torque)
0x6077 0x607E
ACTMON CMDPOL
Pulse Encoder
4x multiplier
Serial Sensor
Motor Encoder
7-56
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 (force) Object code Variable
mode (cst) and Profile torque (force) mode (tq)
Sub-Idx Description Data Type Access PDO Initial value
0x00 Control word [CWORD] Unsigned16 RW Possible 0x0000
* See the Command table for “Control word bit pattern Range 0x0000-0xFFFF
(Bit 7, 3, 2,1, 0,) command
MSB LSB
Csete
- Eclr - Halt Fr※ Reserved Reserved Reserved Hs* qs* ev* so*
n
15 14..13 12 11..9 8 7 6 5 4 3 2 1 0
bit8:HALT [HALT]
0:Accept Torque Command(Enable bit4)
1:Stop axis according to halt option code (0x605D)
0x6041:Status word (Cycle synchronous torque (force) mode: cst, Profile torque (force) mode: tq)
This object indicates Operation modes specific and Manufacturer
Index 0x6041 specific bits of Cycle synchronous torque (force) mode: cst, Object code Variable
Profile torque (force) mode: tq
Sub-Idx Description Data Type Access PDO Initial value
0x00 Status word [STSWORD] Unsigned16 RO Possible 0x0000
* See the Pattern Status table for “Status word bit Range 0x0000-0xFFFF
pattern (Bit 6,5, 3,2,1,0,)
MSB LSB
Drive follows Internal
Csetfix Csetpro Res Tr Rm Res W Sod* Qs* Ve F* Oe* So* Rtso*
the command Limit active
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
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7. Object Dictionary
Touch prove 1 (CONT1) signal can be triggered with “touch prove 1 input or position encoder index pulse Note 1” by “0x60B8, bit
2: Trigger selection.”
Touch prove 2 (CONT2) signal can be triggered with “touch prove 2 input or position encoder index pulse Note 1” by “0x60B8, bit
10: Trigger selection.”
Note1) When setting trigger with position encoder index pulse, if you use incremental encoder Z-phase is used, if you
use absolute encoder, “the position that absolute data within single turn is zero” is used as index.
The sequence of Touch Probe Function is indicated as follows.
The position feedback value latched at Touch Probe 1/2 The position feedback value latched at Touch Probe 1 with Index Pulse.
Index Pulse
Touch Probe 1/2 (zero-phase pulse or zero
position within one-turns)
Touch Probe status Touch Probe status
(0x60B9,bit1 or 2=1) (0x60B9,bit1or2=1)
(0x60B9,bit9or10=1) (0x60B9,bit9or10=1)
The position value of positive edge latched at Touch Probe 1 (position encoder index pulse) is stored in 0x60BA
The position value of negative edge latched at Touch Probe 1 (position encoder index pulse) is stored in 0x60BB
The position value of positive edge latched at Touch Probe 2 (position encoder index pulse) is stored in 0x60BC
The position value of negative edge latched at Touch Probe 2 (position encoder index pulse) is stored in 0x60BD
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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. Examples of homing using tuch probe function are shown below:
②
Touch probe signal
AXIS (Zero-phase signal) ⑤
A) Machine position/ velocity
①
③
⑦ ⑥ ④
Position
B) Position
Time
① ② ③ ④ ⑤ ⑥ ⑦
Velocity
C) Velocity Time
①
Motor acceleration
②
No
Home switch reversed? (Limit switch attained) 0x60FD:Digital-input monitor
③ Yes
Stop motor and reverse the rotational direction
No
Accelerate motor in reversed direction. Limit switch released?
④ Yes ④
No
0x60B8:Touch prove-enabled (bit0 = 1) 0x60B8:Touch prove enabled?
Yes
⑤
No ⑤
0x60B9,bit2-1: Touch probe position stored? No
Any events of touch prove?
⑥ Yes
Yes
Decelerate motor
⑦
0x60B9, bit2-1:Touch probe position stored
Touch probe position aquired, calculate reference and actual position.
0x60BA, 0x60BB:Touch probe position aquired.
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7. Object Dictionary
0x6060:Operation Mode
Index 0x6060 Indicates requested operation mode. Object Code Variable
Sub-Idx Description Data Type Access PDO Initial Value
0x00 Operation Mode [OPMODE] Integer8 RW Possible 0x00
Setting Range 0x00 - 0x0A
0 :No Mode/Mode is not assigned. (0 to 10)
1 :(pp) Profile Position Mode
2 : Reserved
3 :(pv) Profile Velocity Mode
4 :(tp) Torque (force) Profile Mode
5 :(ip) Interpolated Position Mode
6 :(hm) Homing Mode
7 :(ip) Interpolated position mode
8 :(csp) Cycle Sync. Position Mode
9 :(csv) Cycle Sync. Velocity Mode
10 :(cst) Cycle Sync. Torque (force) Mode
Operation modes changed at the time of motor rotation will be valid after the motor stops completely.
Velocity
0x6060
Operation Mode
0x6061
Operation Mode Display
1
0x6041 Status Word
Bit10: Target Reached
0
7-60
7. Object Dictionary
7-61
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 Window, Object Code Variable
means arriving at target position.
Sub-Idx Description Data Type Access PDO Initial Value
0x00 Position Window [INP] Unsigned32 RW No 0x64
When position deviation counter value is below this preset value, (100Pulse)
outputs IN-Position signal (INP). Setting Range 0x00000000 - 0x7FFFFFFF
When |Position Actual Value Deviation|<= Set Value, outputs (0 to 2147483647 Pulse)
Position Window Monitor (INP monitor). Unit pulse
*In the case of incremental encoder, 4 times of the number of encoder pulses are standard.
*In the case of absolute encoder (except for incremental output), absolute value is standard.
INP 1 0 1
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7. Object Dictionary
0x606D: Velocity Window (Velocity Matching: Rotation Speed Setup)
Sets the range regarded as Velocity matching range by
the unit [min-1].
Index 0x606D Object Code Variable
Use this setting when “Velocity Matching Unit Selection” is
“0x00_min-1”.
Sub-Idx Description Data Type Access PDO Initial Value
0x00 Velocity Window Unsigned16 RW No 0x32
When the actual velocity remains within the range of the (50 min-1)
target velocity during the time period set in velocity window Display Range 0x0000 to 0xFFFF
time shown in 0x605E, the status word “TargetReached” is (0 to 65535min-1)
set. Unit min-1
This is enabled in profile velocity mode.
Velocity
Velocity
Command
✔The velocity matching output is switched by the setting of rotation speed (min-1) and ratio (%)
at Velocity matching unit output selection (0x20F0.4).
At selection of rotation speed setup, the condition under this setting value can be monitored with
the status word (0x6040) bit 10: Target matching monitor.
7-63
7. Object Dictionary
0x607A:Target Position
Command position of drive moved by setup of motion control
Index 0x607A parameters, such as velocity, acceleration, deceleration, and motion Object Code Variable
profile type.
Sub-Idx Description Data Type Access PDO Initial Value
0x00 Target Position [TAPOS] Integer32 RW Possible 0
Sets up absolute position command for every communication Display Range (-2147483648 to 2147483647)
cycle. Unit pulse
7-64
7. Object Dictionary
0x607B:Position range Limit (Modulo value)
At position command type motion mode, set the range of position coordinates
able to be set (able to be assigned). Object Code
Index 0x607B
Both controller (position command) and driver (actual position) communicate Array
position data within the range of position coordinates set here.
Sub-Idx Name/Description Data Type Access PDO Initial Value
0x00 Number of Entry - RO No 0x2
0x01 Min position range limit [MINPLIM] Unsigned8 RW Possible 0x80000000
Setting value 0x80000000 to 0x7FFFFFFF
0x02 Max position range limit [MAXPLIM] Integer32 RW Possible 0x7FFFFFFF
Setting value 0x80000000 to 0x7FFFFFFF
Refer to the next page for details.
In this case, the current position information always indicates modulo calculated value by 360°.
- In modulo mode, the parameter to set rotation direction in the profile position mode is 0x60F2 bit7, 6.
Modulo coordinate image, in the case that minimum position range limit = 0, and maximum position range limit = 359 is set, is shown
below.
360=0 360=0 360=0 360=0
330 50 330 50 330 50 330 50
Home offset
(0x607C) Home offset
(0x607C)
Zero Position = Home Position +Home offset (0x607C) Actual Position(0x6064) = Home offset (0x607C)
✔If not Homing Method 35 or 37 and ZeroPosition=Home Offset Homing need to sets 0x20F6-1 = 1.
7-66
7. Object Dictionary
Bit7 : Position Polarity “0”: Command is multiplied by +1. “1”: Multiplied by -1. (only csp,ip, pp enable)
・ Valid only in Cyclic sync. position mode (csp), Interpolated position mode (ip), Profile position mode (pp), 0x607A
Target position and 0x60B0 Position offset input value are multiplied by -1 with ”1”, and then command polarity is
reversed.
Bit6 : Velocity Polarity “0”: Command is multiplied by +1. “1”: Multiplied by -1.
・ In Cycle sync. position mode (csp), Interpolated position mode (ip), ”1” 0x60B0 Velocity offset input value as velocity
compensation is multiplied by -1 with ”1”, and then compensation polarity is reversed.
In Cycle sync. position mode (csv), 0x60FF Target velocity and 0x60B1 Velocity offset input value are multiplied by -1
with ”1”, and then command polarity is reversed.
Bit5 : Torque (force) Polarity “0”: Command is multiplied by +1. “1”: Multiplied by -1.
・In Cycle sync. position mode (csp) , Interpolated position mode (ip) and Cycle sync. velocity mode(csv),0x60B2
Torque (force) offset input value as torque (force) compensation is multiplied by -1 with ”1”, and then compensation
command polarity is reversed.
In Cycle sync. torque (force) mode(cst), 0x6071 Target torque and 0x6082 Torque offset input value are multiplied by
-1 with ”1”, and then command polarity is reversed.
Bit4 - 0: Reserved
*Direction with positive (+) polarity command supply according to the setting value is shown below.
*When command input polarity is standard set value "Bit7=0, Bit6=0, Bit5=0",
rotates to positive direction (CCW)by command polarity + / to negative direction (CW) by -.
*When command input polarity is standard set value "Bit7=1, Bit6=1, Bit5=1",
rotates to negative direction (CW) by command polarity + / to positive direction (CCW) by -.
7-67
7. Object Dictionary
0x6081: Profile Velocity
This object shall indicate the configured velocity normally attained at
Index 0x6081 the end of the acceleration ramp during a profile position mode Object code Variable
motion.
Sub-Idx Description Data Type Access PDO Initial value
0x00 Profile velocity [PROVEL] Unsigned32 RW Possible 0xFFFFFFFF
The value is effective for both of CW and CCW. Display range 0x00000000 to 0xFFFFFFFF
(0 to 4294967295 pps)
unit Pulse/sec
CCW
or
CW
0 pps
1sec
CCW
or
CW
0 pps
1sec
Note) At the pv mode, upper limit value will be kept at 16,000msec if the value exceeding 16,000msec is set with conversion
per 1,000min-1.
7-68
7. Object Dictionary
0x6085: Quick Stop Deceleration
Slowdown parameter used for motor stop when quick stop function is active and "2" or "6" is set to quick
Index Object Code
stop code object (0x605A). Used also when Fault reaction code object (0x605E) and the Halt option
0x6085 Variable
code object (0x605D) are "2."
Sub-Idx Description Data Type Access PDO Initial Value
0x00 Quick Stop Deceleration [QSDEC] Unsigned32 RW Possible 0xFFFFFFFF
Value serves as the same unit as a Profile acceleration object Setting Range 0x00000000 to 0xFFFFFFFF
(0x6083). (0 to 4294967295 pps2)
Unit Pulse/sec2
Note) If value is set to “0”, the amplifier proceeds it as "1."
7-69
7. Object Dictionary
0x6098: Homing method
Index 0x6098 This object shall set the homing method that shall be used. Object code Variable
Sub-Idx Description Data Type Access PDO Initial value
0x00 Homing method [HOMETYP] Integer8 RW Possible 0x23
Configured homing method (Origin return method) (35)
Setting range 0xFC to 0x25 (-4 to 37)
-4 (0xFC) : Homing on positive hard stop and index pulse
-3 (0xFD) : Homing on negative hard stop and index pulse
-2 (0xFE) : Homing on negative hard stop
-1 (0xFF) : Homing on positive hard stop
0 (0x00) : No Homing method
1 (0x01) : Homing on negative limit and index pulse
2 (0x02) : Homing on positive limit and index pulse
3 (0x03) : Homing on positive home switch and index pulse
4 (0x04) : Homing on positive home switch and index pulse
5 (0x05) : Homing on negative home switch and index pulse
6 (0x06) : Homing on negative home switch and index pulse
7 (0x07) : Homing on positive limit switch, homing on positive home switch and index pulse
8 (0x08) : Homing on positive limit switch, homing on positive home switch and index pulse
9 (0x09) : Homing on positive limit switch, homing on negative home switch and index pulse
10 (0x0A) : Homing on positive limit switch, homing on negative home switch and index pulse
11 (0x0B) : Homing on negative limit switch, homing on positive home switch and index pulse
12 (0x0C) : Homing on negative limit switch, homing on positive home switch and index pulse
13 (0x0D) : Homing on negative limit switch, homing on negative home switch and index pulse
14 (0x0E) : Homing on negative limit switch, homing on negative home switch and index pulse
17 (0x11) : Homing on negative limit switch
18 (0x12) : Homing on positive limit switch
19 (0x13) : Homing on positive home switch
20 (0x14) : Homing on positive home switch
21 (0x15) : Homing on negative home switch
22 (0x16) : Homing on negative home switch
33 (0x21) : Homing on negative index pulse
34 (0x22) : Homing on positive index pulse
35 (0x23) : Homing on the current position
37 (0x25) : Homing on the current position
-5 to -128(0xFB to 0x80), 15(0x0F), 16(0x10)23 to 32(0x17 to 0x20), 36(0x24), 38 to 127(0x26 to 0x7F): Reserved
0 pps2
1sec 1sec
Note) If value is set “0”, the amplifier proceeds it as "1."
* At the hm mode, upper limit value will be kept at 16,000msec if the value exceeding 16,000msec is set with
conversion per 1,000min-1.
7-70
7. Object Dictionary
0x60B0: Position Offset
Index 0x60B0 Provides Target position with Offset. Object Code Variable
Sub-Idx Description Data Type Access PDO Initial Value
0x00 Position Offset [POSOFF] Integer32 RW Possible 0x00000000
Offset value is added to Target position. (0 pulse)
If this value is not zero, Target position and Actual position shift for the Display 0x80000000 - 0x7FFFFFFF
amount of position offset value when motor stop. Range
Unit 1pulse/lsb
※1: When "Continuous" is selected, latched position will be cleared by reverse edge of a latching edge.
※2: When using absolute encoder, index pulse is position data at 0 within single-turn.
When using “Modulo coordination”, be sure to set bit2 and bit10 to “0: Trigger with touch probe input”.
7-71
7. Object Dictionary
Unit 1 Pulse
Unit 1 Pulse
Unit 1 Pulse
7-72
7. Object Dictionary
0x60C1: Interpolation data record
Interpolation position target in interpolation algorithm. It is
Index 0x60C1 Object code ARRAY
buffered with format in 0x60C4.
Sub-Idx Description Data Type Access PDO Initial Value
0x00 Number of entry Unsigned8 RO No 0x02
0x01 Interpolation position target [IPPOS] Integer32 RW Possible 0x00000000
Setting 0x80000000 - 0x7FFFFFFF
Range (-2147483648 - 214783647Pulse)
Unit Pulse
0x02 Interpolation time [IPTIME] Unsigned8 RW Possible 0x00
Setting 0x00 - 0xFF
Range (0 - 255ms)
Unit ms
It will be synchronized with SM2 cycle time (0x1C32.2) by the setting of special function selection (0x20F7).
Setting Example:
Interpolation Interpolation In the case of synchronizing SM2 cycle time (0x1C32.2)
Interpolation time period value time index
Cycle Time
time period (Index 0x60C2, (Index 0x60C2, Dir
(Index 0x1C32,Sub-Index 02)
Sub-Index 01) Sub-Index 02)
125us 125(0x7D) -6(0xFA) 0x0001E848 (125us)
250(0xFA) -6(0xFA)
250us 0x0003D090 (250us)
25(0x19) -5(0xFB)
50(0x32) -5(0xFB)
500us 0x0007A120 (500us)
5(0x05) -4(0xFC)
1(0x01) -3(0xFD)
1ms 10(0x0A) -4(0xFD) 0x000F4240 (1ms)
100(0x64) -5(0xFD)
2(0x02) -3(0xFD)
2ms 20(0x14) -4(0xFD) 0x001E8480 (2ms)
200(0xC8) -5(0xFD)
4(0x04) -3(0xFD)
4ms 0x003D0900 (4ms)
40(0x28) -4(0xFC)
8(0x08) -3(0xFD)
8ms 0x007A01200 (8ms)
80(0x50) -4(0xFC)
16(0x10) -3(0xFD)
16ms 0x00F42400 (16ms)
160(0xA0) -4(0xFC)
7-73
7. Object Dictionary
0x60C4: Interpolation data configuration
Index 0x60C4 The format of interpolation data. Object code RECORD
Sub-Idx Description Data Type Access PDO Initial Value
0x00 Number of entry Unsigned8 RO No 0x06
0x01 Maximum buffer size [MAXSIZE] Unsigned32 RO No 0x00000100
Show the size of allowable buffer. Value 0x00000100
0x60C5:Maximum acceleration
Index 0x60C5 Sets the limit value of acceleration Object Code Variable
Sub-Idx Description Data Type Access PDO Initial Value
0x00 Acceleration limit value Unsigned32 RW Possible 0xFFFFFFFF
Limits the acceleration set value by this parameter if Setting Range 0x00000000 to 0xFFFFFFFF
the acceleration setting of 0x6083 exceeds this value. (0 to 4294967295 pps2)
Invalid when the set value is 0. Unit Pulse/sec2
✔Valid for PV mode only.
0x60C6:Maximum deceleration
Index 0x60C6 Sets the limit value of deceleration Object Code Variable
Sub-Idx Description Data Type Access PDO Initial Value
0x00 Deceleration limit value Unsigned32 RW Possible 0xFFFFFFFF
Limits the deceleration set value by this parameter if Setting Range 0x00000000 to 0xFFFFFFFF
the deceleration setting of 0x6084 exceeds this value. (0 to 4294967295 pps2)
Invalid when the set value is 0. Unit Pulse/sec2
✔Valid for PV mode only.
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7. Object Dictionary
7-75
7. Object Dictionary
0x60F2: Positioning option code
Index 0x60F2 Set the behavior of positioning. Object Code Variable
Sub-Idx Description Data Type Access PDO Initial Value
0x00 Positioning option code [POSOP] Unsigned16 RW Possible 0x0000
See table below for definition of bit 7 and 6. Setting Range 0x0000 to 0xFFFF
Set 0 except bit 7 and 6.
MSB LSB
Reserved Rotary axis direction option Reserved
15・・・8 7 6 5・・・0
Modulo coordinate image at minimum position range limit=0, maximum position range limit = 359
7-76
7. Object Dictionary
0x60FD: Digital inputs
This object shall monitor the status of general-purpose input,
Index 0x60FD Object code Record
output and hardware gate off.
Sub-Idx Description Data Type Access PDO Initial value
0x00 Digital input monitor [DINPUT] Unsigned32 RO Possible -
Monitor general-purpose input: CONT1 to 6 and HWGOFF1. Display range 0x00000000-0xFFFFFFFF
1: Photocoupler is on.
* Digital input has about 4msec delay for reflecting
hardware input.
MSB LSB
Res HWGOFF2 HWGOFF1 CONT6 CONT5 CONT4 CONT3 CONT2 CONT1 Res EMR Home Positive Negative
(*CONT8) (*CONT7) limit limit
Note1) Note1)
31・・24 23 22 21 20 19 18 17 16 15・・4 3 2 1 0
Note 1)*It can be seen only amplifier with safety function.
Bit17-16: Enables control output OUT1 and OUT2 when it is set 0x42 through 0x45 for “Controls by EtherCAT
communication”.
* For hardware detection, digital output has about 4msec delay.
MSB LSB
Reserved FOUT2 FOUT1 Reserved Set brake
31 - 18 17 16 15...3 0
0x02 Bit mask Unsigned32 RW Possible 0x00000000
bit0: Disabled Setting Range 0x000000 to 0xFFFFFFFF
bit17-16 mask the bits corresponding to physical
output
When the setting of General Purpose Output setting is set by any of “Controls by EtherCAT communication”, if the mask of
the setting bit is set, output of OUT1.2 will be disabled.
When the bit mask is set to “1”, it is Enable OUTPUT and the bit mask is set to “0”, it is Disable OUTPUT.
R2 A A 04 03 F ✔ Please refer to chapter 1.4 "Motor type number" for the detail of motor type number.
※ Only the Sanyo Denki R series are supported. Non supported motors are indicated as Not Supported.
0x6404:Motor Manufacture
Index 0x6403 Indicates manufacturer of setting motor. Object Code VAR
Sub-Idx Name/Description Data Type Access PDO Value
0x00 Manufacturer Visible String RO No Character String
Manufacturer of setting motor (ASCII code) (-)
※ It is indicated as SANYO DENKI Co., LTD because Sanyo Denki motors are recommended.
7-77
7. Object Dictionary
0x6405: Motor Catalog Address of our Home Page
Index 0x6405 Indicates catalog address of selected motor. Object Code VAR
Sub-Idx Name/Description Data Type Access PDO Value
0x00 Home Page Address Visible String RO No Character String
Home Page Address of setting motor (-)
(ASCIICode)
※ SANYO DENKI's home page address is indicated because Sanyo Denki motors are recommended.
7-78
7. Object Dictionary
FP: Function Group “Position” FV: Function Group “ Velocity “ FT: Function Group ” Torque (force) ”
FH: Function Group ”Homing mode”
7-79
7. Object Dictionary
Manufacturer Specific Area (No.2)
PDO
Index S-Idx FP FV FT FH Name Data Type Dir Update NVRAM
Mapping
0x2016 0x00 - - - - Observer Parameter Unsigned8 RO No - -
0x01 × Observer Characteristic Unsigned8 RW No # Yes
0x02 × Observer Compensation Gain Unsigned16 RW No # Yes
0x03 × Observer Output Filter Unsigned16 RW No # Yes
0x04 × Observer Notch Filter Unsigned16 RW No # Yes
0x05 × Observer Load Inertia Ratio Unsigned16 RW No # Yes
0x06 × Observer Loop Proportional Gain Unsigned16 RW No # Yes
0x07 × Observer Load Torque (force) Filter Unsigned16 RW No # Yes
0x2017 0x00 - - - - Model Control Gain Unsigned8 RO No - -
0x01 × × × Model Control Gain 1 Unsigned16 RW Possible # Yes
0x02-0x04 × × × Model Control Gain 2 - 4 Unsigned16 RW No # Yes
0x2018 0x00 × × × Overshoot Suppressor Filter Unsigned16 RW No # Yes
0x2019 0x00 - - - - Model Control Antiresonance Frequency Unsigned8 RO No - -
0x01 × × × Model Control Antiresonance Frequency 1 Unsigned16 RW Possible # Yes
0x02-0x04 × × × Model Control Antiresonance Frequency 2 - 4 Unsigned16 RW No # Yes
0x201A 0x00 - - - - Model Control Resonance Frequency Unsigned8 RO No - -
0x01 × × × Model Control Resonance Frequency 1 Unsigned16 RW Possible # Yes
0x02-0x04 × × × Model Control Resonance Frequency 2 - 4 Unsigned16 RW No # Yes
0x201B 0x00 × Gain Switching Filter Unsigned16 RW No # Yes
0x201C 0x00 × Internal Velocity Command limit Unsigned16 RW No # Yes
0x201D 0x00 × × × Position Command error 1 level Unsigned32 RW No # Yes
Sequence Operation Torque (force) Limit
0x201E 0x00 × Unsigned16 RW No # Yes
Value
0x201F 0x00 × × × Near Range Unsigned32 RW No # Yes
0x2020 0x00 × Speed Zero Range Unsigned16 RW No # Yes
0x2021 0x00 × Low Speed Range Unsigned16 RW No # Yes
Speed Attainment Setting
0x2022 0x00 × Unsigned16 RW No # Yes
(high-speed setting)
0x2023 0x00 - - - - Analog Monitor Select Output Unsigned8 RO No - -
0x01,0x02 Analog Monitor Select Output 1 ,2 Unsigned8 RW No # Yes
0x03 Analog Monitor Output Polarity Unsigned8 RW No # Yes
Delay Time of Engaging Holding Brake
0x2024 0x00 Unsigned16 RW Possible # Yes
(Holding Brake Holding Delay Time)
Delay Time of Releasing Holding Brake
0x2025 0x00 Unsigned16 RW No # Yes
(Holding Brake Release Delay Time)
0x2026 0x00 Brake Operation Beginning Time Unsigned16 RW Possible # Yes
0x2027 0x00 Power Failure Detection Delay Time Unsigned16 RW No # Yes
0x2028 0x00 × × × Excessive Deviation Warning Level Unsigned32 RW No # Yes
0x2029 0x00 Overload Warning Level Unsigned16 RW No # Yes
0x202A 0x00 Speed Matching Width Unsigned16 RW No # Yes
0x202B 0x00 Torque (force)Command Filter Characteristic Unsigned8 RW No # Yes
0x202C 0x00 × × × Feed Forward Filter, Depth Selection Unsigned8 RW No # Yes
0x202E 0x00 Torque attainement setting Unsigned16 RW No # Yes
0x202F 0x00 Brake Activation Speed Unsigned16 RW Possible # Yes
0x2030 0x00 × Position Loop Integral Gain Limit Unsigned16 RW Possible # Yes
0x2031 0x00 × × Velocity Control Integral Gain Limit Unsigned16 RW Possible # Yes
0x2032 0x00 × × × Torque (force) Control Proportional Gain Unsigned8 RW Possible # Yes
0x2034 0x00 - - - - Command Filter off Speed Unsigned8 RO No #
Position / Velocity Command Filter off Speed Unsigned8 Possible #
0x01 RW Yes
selection
0x02 Position / Velocity Command Filter off Speed Unsigned16 RW Possible # Yes
Position Synchronization Correction Function Unsigned8 No
0x2035 0x00 - - - - RO
Parameter
0x01 - - - Correction Proportional Gain Unsigned16 RW No Yes
0x02 - - - Correction Integral Time Constant Unsigned16 RW No Yes
0x03 - - - Correction Low-pass Filter Unsigned16 RW No Yes
Excessive Position Synchronization Deviation Unsigned32 No
0x04 - - - RW Yes
Level
Position Synchronization Deviation Warning Unsigned32 No
0x05 - - - RW Yes
Level
0x06 - - - Position Deviation Polarity Selection Unsigned8 RW No Yes
0x2036 0x00 - - - - Position Differential Gain setting Unsigned8 RO No - -
0x01 ○ × × × Position differential time constant Unsigned16 RW Possible # Yes
0x02 ○ × × × Position differential filter Unsigned16 RW Possible # Yes
0x2037 0x00 ○ × × × Position integral drain rate Unsigned32 RW Possible # Yes
0x2038 0x00 ○ × × × Velocity Control Bypass Setting Unsigned8 RW Possible # Yes
0x2039 0x00 ○ ○ × × Velocity differential drain rate Unsigned16 RW Possible # Yes
0x203A 0x00 ○ ○ ○ ○ Torque (force) Control Integral Gain Setting Unsigned8 RW Possible # Yes
Torque (force) Control Integral Gain Limit Unsigned8 Possible #
0x203B 0x00 ○ ○ ○ ○ RW Yes
Setting
0x203C 0x00 × × × Software Deceleration Limit Unsigned32 RW No # Yes
0x203D 0x00 - - - - Amplifier temperature warning level Unsigned8 RO No -
Amplifier temperature warning Integer16 No
↑ 0x01 ○ ○ ○ ○ RW # Yes
high level setting
↑ 0x02 ○ ○ ○ ○ Amplifier temperature warning low level setting Integer16 RW No # Yes
: Supported, ×: Not supported
7-80
7. Object Dictionary
Manufacturer Specific Area (No.3)
PDO
Index S-Idx FP FV FT FH Name Data Type Dir Update NVRAM
Mapping
0x2040 0x00 - - - - Command Filter Setting Unsigned8 RO No - -
↑ 0x01 ○ ○ × ○ Velocity Command Filter Unsigned8 RW Possible # Yes
↑ 0x02 ○ ○ ○ ○ Torque(force)Command Filter Unsigned8 RW Possible # Yes
0x2041 Velocity Command Filter Setting
0x2042- 0x00 - - - - Torque(force)Command Filter1 – 4 Setting Unsigned8 - - - Yes
0x2045
↑ 0x01 ○ ○ × ○ Filter ON/OFF Integer8 RW Possible # Yes
↑ 0x02 ○ ○ × ○ Filter Type Integer8 RW Possible # Yes
↑ 0x03 ○ ○ × ○ Low Pass Filter Cutoff frequency Unsigned16 RW Possible # Yes
↑ 0x04 ○ ○ × ○ High Pass Filter Cutoff frequency Unsigned16 RW Possible # Yes
↑ 0x05 ○ ○ × ○ Band PassFilter Cutoff frequency Unsigned16 RW Possible # Yes
↑ 0x06 ○ ○ × ○ Band width of Band Pass Filter Unsigned16 RW Possible # Yes
↑ 0x07 ○ ○ × ○ Center frequency of Notch Filter Unsigned16 RW Possible # Yes
↑ 0x08 ○ ○ × ○ Band width of Notch Filter Unsigned16 RW Possible # Yes
↑ 0x09 ○ ○ × ○ Bi-quad Filter a1 Float32 RW Possible # Yes
↑ 0x0A ○ ○ × ○ Bi-quad Filter a2 Float32 RW Possible # Yes
↑ 0x0B ○ ○ × ○ Bi-quad Filter b0 Float32 RW Possible # Yes
↑ 0x0C ○ ○ × ○ Bi-quad Filter b1 Float32 RW Possible # Yes
↑ 0x0D ○ ○ × ○ Bi-quad Filter b2 Float32 RW Possible # Yes
0x2046 0x00 - - - - Multi Stage Notch Tuning Setting Unsigned8 RO No - -
↑ 0x01 ○ ○ ○ ○ Auto-Notch Tuning Mode Unsigned8 RW No - -
↑ 0x02 ○ ○ ○ ○ Resonant Frequency Monitor Unsigned16 RO No - -
0x2050 0x00 - - - - Quadrant Glitch Compensation function Unsigned8 RO No - -
↑ 0x01 ○ ○ ○ ○ Effective condition selection Unsigned8 RW Possible # Yes
↑ 0x02 ○ ○ ○ ○ Effective velocity Unsigned16 RW Possible # Yes
↑ 0x03 ○ ○ ○ ○ Keeping time Unsigned16 RW Possible # Yes
↑ 0x04 ○ ○ ○ ○ Velocity Loop Integral Time Constant Unsigned16 RW Possible # Yes
0x2051 0x00 ○ ○ ○ ○ Micro Vibration Suppression function Unsigned8 RW Possible # Yes
0x2080 0x00 - - - - Gain Switching Condition Unsigned8 RO No # Yes
↑ 0x01 ○ ○ ○ ○ Gain Switching Condition 1 Unsigned8 RW No # Yes
↑ 0x02 ○ ○ ○ ○ Gain Switching Condition 2 Unsigned8 RW No # Yes
0x5080 0x00 - - - Correction Table Control Unsigned8 RW No # Yes
0x5081 0x00 - - - Correction Table Interpolation Method Unsigned8 RW No # Yes
0x5082 0x00 - - - Correction Table Extrapolation Method Unsigned8 RW No # Yes
0x5083 0x00 - - - - Correction Table, Number of Entry Unsigned8 RW No & Yes
0x01-0x40 - - - Correction Position Unsigned32 RW No # Yes
0x5084 0x00 - - - - Correction Table, Number of Entry Unsigned8 RW No & Yes
0x01-0x40 - - - Offset Integer32 RW No # Yes
0x5085 0x00 × × × Correction Table Function Selection Unsigned8 RW No & Yes
0x5090 0x00 × × × Selection of Backlash Correction Function Unsigned8 RW No # Yes
0x5091 0x00 × × × Correction amount of Backlash Unsigned32 RW No # Yes
0x5092 0x00 × × × Correction direction of Backlash Unsigned8 RW No # Yes
: Supported, ×: Not supported
7-81
7. Object Dictionary
Manufacturer Specific Area (No.4)
PDO
Index S-Idx FP FV FT FH Name Data Type Dir Update NVRAM
Mapping
0x20F0 0x00 - - - - Amplifier Function Selection Unsigned8 RO No - -
0x01 Limit behavior Unsigned8 RW No # Yes
0x02 × × × Positioning Method Unsigned8 RW No & Yes
0x03 × × × In position / Position deviation monitor Unsigned8 RW No # Yes
0x04 Velocity Window Unit Output Unsigned8 RW No # Yes
0x05 × × × Deviation Clear Unsigned8 RW No # Yes
0x06 Torque (force) attainment function selection Unsigned8 RW No # Yes
0x20F1 0x00 - - - - Encoder Function Selection Unsigned8 RO No - -
0x01 Serial Encoder Clear Function Unsigned8 RW No # Yes
0x02 Incremental Encoder, Digital Filter Unsigned8 RW No # Yes
0x03 × × × External Pulse Encoder, Digital Filter Unsigned8 RW No # Yes
0x04 × × × External Pulse Encoder Polarity Unsigned8 RW No & Yes
0x05 CS offset onlinear encoder Unsigned16 RW No & Yes
CS normalization offset of phase Z &
0x06 Unsigned16 RW No Yes
on linear encoder
0x07 Polarity selection on linear encoder Unsigned8 RW No & Yes
0x08 Magnetic pole position detecting frequency Unsigned16 RW No & Yes
Magnetic Pole Position Estimation Mode &
0x09 ○ ○ ○ ○ Unsigned8 RW No Yes
Selection
0x0A Encoder clear 2 Unsigned8 RW No # -
0x20F2 0x00 - - - - Amplifier Alarm Detect Selection Unsigned8 RO No - -
0x01 Main Circuit Under-voltage Detection Unsigned8 RW No # Yes
0x02 Velocity Control Alarm Detection Unsigned8 RW No # Yes
0x03 Velocity Feedback Alarm Detection Unsigned8 RW No # Yes
0x04 Communication Frame Error Detection Unsigned8 RW No # Yes
0x05 Communication Timeout Detection Unsigned8 RW No # Yes
0x06 Alarm History Clearing Command Unsigned32 RW No - -
0x07 Alarm History Clearing Operation Monitor Unsigned8 RO No - -
0x20F3 0x00 - - - - Position Control Selection Unsigned8 RO No - -
0x01 × × × Model Control Characteristic Unsigned8 RW No & Yes
0x02 × × × Position Loop Encoder Selection Unsigned8 RW No & Yes
0x20F4 0x00 Servo Loop Delay Time Unsigned8 RW No & Yes
Torque (force) Limit at Power Supply
0x20F5 0x00 Unsigned8 RW No # Yes
Shortage
0x20F6 0x00 - - - - Manufacturer Homing Function Selection Unsigned8 RO No - -
↑ 0x01 × × × ○ Actual Position Calculation Method Unsigned8 RW No # Yes
↑ 0x02 × × × ○ Hard Stop Torque Limit Unsigned16 RW No # Yes
↑ 0x03 × × × ○ Hard Stop Detection Time Unsigned16 RW No # Yes
0x20F7 0x00 ○ ○ ○ ○ Amplifier special setting Unsigned16 RW No # Yes
0x20F8 0x00 - - - - General Purpose Input Setting Unsigned8 RO No - -
Positive Limit Switch Function
0x01 Unsigned8 RW No # Yes
(Positive Over-Travel)
Negative Limit Switch Function
0x02 Unsigned8 RW No # Yes
(Negative Over-Travel)
0x03 External Error Input Function Unsigned8 RW No # Yes
0x04 Main Power Discharge Function Unsigned8 RW No # Yes
0x05 Emergency Sop Function Unsigned8 RW No # Yes
Detecton function of magnetic pole
0x06 Unsigned8 RW No # Yes
position
0x20F9 0x00 - - - - General Purpose Output Setting Unsigned8 RO No - -
0x01 0x02 General Purpose Output 1 - 2 Unsigned8 RW No # Yes
0x20FA 0x00 - - - - Extend Station Alias Unsigned8 RO No - -
0x01 Extended Alias Number Unsigned8 RW No # Yes
0x02 Station Alias Selection Unsigned8 RW No # Yes
0x20FC 0x00 Modulo initialization warning detection setting Unsigned16 RW No & Yes
0x20FB 0x00 × × × Torque addition at S-ON Integer32 RW No # Yes
0x20FD 0x00 - - - - Amplifier System Selection Unsigned8 RO No - -
0x01 Main power input type Unsigned8 RW No & Yes
0x02 Regenerative Resistor Selection Unsigned8 RW No & Yes
0x03 Setup Communication Baud Rate Unsigned8 RW No & Yes
0x20FE 0x00 Combination Motor Code Unsigned16 RW No & Yes
0x20FF 0x00 Combination Encoder Selection Unsigned8 RO No - -
0x01 Encoder Resolution Setting Unsigned16 RW No & Yes
0x02 Encoder Type Unsigned16 RW No & Yes
0x03 × × × External Encoder Resolution Unsigned32 RW No & Yes
: Supported, ×: Not supported
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7. Object Dictionary
Manufacturer Specific Area (No.5)
PDO
Index S-Idx FP FV FT FH Name Data Type Dir Update NVRAM
Mapping
0x2100 0x00 Status Word 1 Unsigned16 RO Possible - -
0x2101 0x00 - - - - Amplifier error field Unsigned8 RO No - -
0x01-0x04 Alarm actual 1 – 4 Unsigned8 RO Possible - -
0x2102 0x00 - - - - Description of Alarm Trace Unsigned8 RO No - -
0x01 Now Status Unsigned32 RO Possible - -
0x02-0x08 1st - 7th Latest Alarm Unsigned16 RO Possible - -
0x2103 0x00 - - - - Warning Status Unsigned8 RO No - -
0x01 Warning Monitor Unsigned16 RO Possible - -
0x02 Warning mask Selection Unsigned16 RW No # Yes
0x2104 0x00 - - - - Actual Gain Value Monitor Unsigned8 RO No - -
0x01 - - - Actual Position Loop Proportional Gain Unsigned16 RO Possible - -
0x02 - - - Actual Position Integral Time Constant Unsigned16 RO Possible - -
0x03 Actual Velocity Loop Proportional Gain Unsigned16 RO Possible - -
Actual Velocity Loop Integral Time
0x04 - Unsigned16 RO Possible - -
Constant 1
0x05 - Actual Load Inertia Moment Ratio Unsigned16 RO Possible - -
0x06 Actual Torque (force) Command Filter Unsigned16 RO Possible - -
0x07 - - - - Actual Model Control Gain Unsigned16 RO Possible - -
0x2105 0x00 Z-phase Signal Base Actual Position Unsigned32 RO Possible - -
0x2106 0x00 × Internal Velocity Command Monitor Integer32 RO Possible - -
0x2107 0x00 Internal Torque (force) Command Monitor Integer16 RO Possible - -
0x2108 0x00 - - - - Effective Torque (force) Monitor Unsigned8 RO No - -
0x01 Effective Torque (force) Estimated Value Unsigned16 RO Possible - -
0x02 Fast Effective Torque (force) Estimate Value Unsigned16 RO Possible - -
0x2109 0x00 Temperature inside the servo amplifier Integer16 RO Possible - -
Regenerative Resistor Operation
0x210A 0x00 Unsigned16 RO Possible - -
Percentage Monitor
0x210B 0x00 Encoder Temperature Monitor Integer16 RO Possible - -
0x210C 0x00 Home Index Position Detection Value Integer32 RO Possible - -
0x210D 0x00 - - - Position Synchronization Deviation Monitor Integer32 RO Possible - -
0x2110 0x00 - - - - Internal Control Cycle Position Actual Value Unsigned8 RO No - -
Internal Control Cycle Actual Position 1 –7
0x01-0x07 Integer32 RO Possible - -
(125us Latest)
0x2111 0x00 - - - - Internal Control Cycle Actual Velocity Unsigned8 RO No - -
Internal Control Cycle Actual Velocity 1 – 7
0x01-0x07 Integer32 RO Possible - -
(125us Latest)
0x2112 0x00 - - - - Internal Control Cycle Actual Torque (force) Unsigned8 RO No - -
Internal Control Cycle Actual Torque (force) 1 – 7
0x01-0x07 Integer16 RO Possible - -
(125us Latest)
0x2116 0x00 Actual Velocity Value (Velocity Monitor) 2 Integer32 RO Possible - -
0x2117 0x00 Actual Position Value (Position Monitor) 2 Integer32 RO Possible - -
0x2118 0x00 - - - - Encoder monitor Unsigned8 RO -
0x01 Motor encoder monitor Integer32 RO Possible
0x02 External encoder monitor Integer32 RO Possible
0x211F 0x00 Digital input (Short) Unsigned16 RO Possible
0x2120 0x00 - - - - Amplifier Parameter Unsigned8 RO - - -
↑ 0x01 Alarm Mask monitor Unsigned32 RO Possible - -
↑ 0x02 Amplifier Control Status Unsigned8 RW - # -
↑ 0x03 Amplifier Operation Time Unsigned32 RO - - -
↑ 0x04 External Regenerative Resistor Value Unsigned32 RW Possible # -
0x2121 0x00 Production number VisibleString RO No ‐ -
0x5010 0x00 - - - - Motor Data Unsigned8 RO No ‐ -
↑ 0x01 Number of motor pole Unsigned8 RO Possible ‐ -
↑ 0x02 Phase resistance Unsigned16 RO Possible ‐ -
↑ 0x03 Phase inductance Unsigned16 RO Possible ‐ -
↑ 0x04 Moment of inertia Unsigned32 RO Possible ‐ -
↑ 0x05 Voltage constant for each phase Unsigned32 RO Possible ‐ -
↑ 0x06 Rated torque Unsigned16 RO Possible ‐ -
0x5040 Position Unit System
0x5041 0x00 - - - - Velocity Unit System Unsigned8 RO No ‐ -
0x5042 Acceleration Unit System
↑ 0x01 100% Full-scale Software Resolution Unsigned8 RO Possible ‐ -
↑ 0x02 Full-scale Unit Unsigned16 RO Possible ‐ -
↑ 0x03 Full-scale Data Type Unsigned16 RO Possible ‐ -
↑ 0x04 Full-scale Value Unsigned32 RO Possible ‐ -
: Supported, ×: Not supported
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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 PDO Initial value
0x00 Control Woad1 [CWORD1] Unsigned16 RW Possible -
Enables various functions.
0:disabled 1:enabled
MSB LSB
discen intpodi vcmpen icmpen vcmlim pcon ppcon pclr
7 6 5 4 3 2 1 0
bit0:clearance of location deviation enabled [PCLR]
Clear the location deviation.
MSB LSB
psce pscme ETMPDIS loscon obscon vibcon htrv htrp
15 14 13 12 11 10 9 8
bit8:highly compliant position compensation enabled [HTRP]
Highly compliant position compensation is performed at “1.”
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7. Object Dictionary
bit7-6:
Reserved
*1 Model control gains 1-4 are switched by bit5-4: gain switching selection, and bit1-0 is a parameter to switch model control
anti-resonance frequency 1-4 and model control resonance frequency 1-4.
*2 The parameter of switching by the Gain change selection is below.
Position loop proportional gain (0x2005), Position integral time constant (0x2006), Velocity loop proportional gain (0x200B),
Velocity loop integral time constant (0x200C), Load inertia moment ratio (0x200D), Command filter (0x2011)
Also, for use of this function, please enable Torque low pass filter setting at the Special Function Selection Setting.
MSB LSB
Orgtc Res Res Res
15 14 13 12 11 10 9 8
bit15-9:
Reserved
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7. Object Dictionary
3) Auto-Tuning Parameter
0x2002: Auto-tuning
Index 0x2002 Auto-tuning settings Object Code Array
Sub-Idx Description Data Type Access PDO Initial value
0x00 Number of entry Unsigned8 RO No 0x06
0x01 Auto-tuning Mode [TUNEMODE] Unsigned8 RW No 0x02
Set the validity, invalidity of Auto-tuning, and Load inertia moment Setting range 0x00-0x02
rate estimation.
*Under the following operating conditions, Load inertia rate is not estimated properly: operation at low velocity, at low
acceleration and at low acceleration/deceleration torque (force).
*Load intertia moment ratio of machines applied large disturbance torque (force), machine with majour
backlash, and machine whose moving part vibrate partially can not correctly estimetd.
*If you use model following vibration suppressor control, set “02: Manual tuning.”
*If 00:_AutoTun is selected, vibration suppressor control will be disabled though state feedback model
following vibration suppressor control (base vibration suppressor) is selected.
*When “Tuning mode” is set at “02 manual tuning,” the set value will not be reflected.
*According to the characteristics selected, parameters will be set automatically.
Position Loop Proportional Control Switch Function, Proportional Control Switch Function, Low Speed Setting, Higher
Tracking Velocity Compensation Gain, Feed Forward Gain, as well as Higher Tracking Position, Acceleration
Feedback, and Gain Parameter (regardless of selected conditions) are regarded as 0[%] internally.
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7. Object Dictionary
0x04 Save Notch/FF Vibration Suppression frequency/ Auto-Tuning data Unsigned8 RW No 0x00
◆Result of above tuning data can save by EtherCAT communication Setting range 0x00 to 0x05
network. (0 to 5)
◆Selects thecommand
0x00: Disable tuning
0x01: Execute Auto- Notch Filter tuning
0x02: Execute Auto FF Vibration Suppression tuning
0x03: Save result of Auto-tuning
0x04: Stop Auto Notch Filter tuning / Auto FF Vibration Suppression tuning
0x05: Stop save result of Auto-tuning
◆When execute Auto-tuning result save, save parameter will follow selected sub index (0x06).
。There are 6 kind of save parameter.、Each save parameter has 5 sub index(0x06)
≫Load inertia 1(0x200D.1)
≫Position Loop Proportional Gain 1(0x2005.1)
≫Velocity Loop Proportional Gain 1(0x200B.1)
≫Velocity Loop Integral Time Constant 1(0x200C.1)
≫Torque Command Filter 1(0x2011.1)
Don`t change 0x20F7 bit1.
≫ModelFollowing Control Gain 1(0x2017.1)
◆Result of Auto Notch filter tuning and Auto FF Vibration Suppression tuning can not save at the same time.
0x05 Notch /FF Vibration Suppression frequency/ Monitor of save tuning Unsigned8 RO No 0x01
result. Setting range 0x00 to 0x02
◆Indicate state of Notch Filter,FF Vibration Suppression frequency (0 to 2)
and tuning result.
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7. Object Dictionary
0x08 Auto-FF Vibration Suppression Frequency Tuning Torque Command Unsigned16 RW No 0x01F4
[ASUPTC] Display 0x0064-0x03E8
◆Sets torque command value in auto-FF vibration suppression range (10.0 to 100.0)
frequency tuning. Unit 0.1%
✔ Larger value makes the tuning more accurate; however, note that it also makes the movement of the machine greater.
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7. Object Dictionary
Position command
pulse
63.2% 36.8%
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7. Object Dictionary
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7. Object Dictionary
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7. Object Dictionary
0x200A: Velocity Feedback Filter
Parameter to switch on the primary low-pass filter in response to
Index 0x200A Object Code Variable
velocity feedback.
Sub-Idx Description Data Type Access PDO Initial value
0x00 Velocity Feedback Filter [VDFIL] Unsigned16 RW No 0x05DC
First low-pass filter to eliminate ripples caused by encoder pulse (1500 Hz)
included in the velocity control system feedback. Sets the cutoff
frequency.
Setting value: the filter will be disabled at Setting range 0x0001-0x0FA0
2000Hz(0x07D0) or greater. (1-4000 Hz)
Unit 1 Hz
*When the encoder resolution is low, lowering the setting value and suppressor the ripples can suppress motor drive noise.
In addition, when the encoder resolution is high, raising the setting value may improve the response of the velocity control
system. For general use, set at the Standard value.
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7. Object Dictionary
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7. Object Dictionary
6) High stabilized control settings
0x2015: High stabilized control settings
Parameter setting to implement high settling control by adding
Index 0x2015 position deviation to Acceleration and Deceleration Object Code Array
Compensation Values.
Sub-Idx Description Data Type Access PDO Initial value
0x00 Number of entry Unsigned8 RO No 0x04
0x01 Acceleration Compensation [ACCC0] Indeger16 RW No 0x0
Sets the Acceleration Compensation Value using (0 Pulse)
high-stabilized control.
Setting range 0xD8F1-0x270F
* Set with the Position Deviation Pulse unit
(-9999-+9999×50 Pulse)
(in case of the pulse encoder, with the quadruple encoder
resolution unit.) Unit ×50 Pulse
*Compensation is provided in response to position deviation.
*Greater setting values result in increased compensation.
*Greater accelerations converted from the Position Command Pulse result in increased compensation.
*Greater Load inertia result in increased compensation.
*High Stabilized Control results in Position Deviation.
*In case of model following control or model following anti-resonance control, this setting value is not reflected.
0x02 Deceleration Compensation [DECC0] Indeger16 RW No 0x0
Sets the Deceleration Compensation Value with High Stabilized (0 Pulse)
Control.
Setting range 0xD8F1-0x270F
✔Setting is in unit of position deviation pulse (for pulse encoder,
(-9999-+9999×50 Pulse)
unit of 4-multiplied encoder resolution).
✔Compensation shall be performed for position deviation. Unit ×50 Pulse
✔The higher the set value, the more the compensation increases.
✔The higer the acceleration converterted from position command pulse, the more the compensation increases.
✔The higher the load inertia value, the more the compensation increases.
✔Position deviation decreases by high-stabilized control.
*In case of model following control or model following anti-resonance control, this setting value is not reflected.
0x03 Command Velocity Low-pass Filter [CVFIL] Unsigned16 RW No 0x03E8
Sets the cutoff frequency of the primary low-pass filter to eliminate (1000Hz)
high-frequency component (ripples etc.,) included in the Velocity
Setting range 0x001-0x0FA0
(Command Velocity) calculated from the position command inside
(1-4000Hz)
the high settling control.
Unit Hz
* When the encoder resolution is low, lower the cutoff frequency.
* The filter is disabled by setting value 2000Hz or more.
0x04 Command Velocity Threshold [CVTH] Unsigned16 RW No 0x0014
Sets the Velocity Threshold to validate the Acceleration and (20 min-1)
Deceleration Compensation Values in the high settling control. [20mm/s]
Setting range 0x0000-0xFFFF
* When the velocity (command velocity) converted from
(0-65536)
the Position Command is higher than this velocity,
implement the Acceleration or Deceleration Unit Rotary : min-1
Compensations. [Linear : mm/s]
✍The rotary motor differs from linear motor in unit.
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7. Object Dictionary
7) Observer Parameter
0x2016: Observer Parameter
Sets various parameters in the disturbance suppression observer.
Index 0x2016 Observer compensation operates with control word 1 (0x2000) bit 11: Object Code Record
disturbance Observer compensation enable [OBCON]=“1”
Sub-Idx Description Data Type Access PDO Initial value
0x00 Number of entry Unsigned8 RO No 0x07
0x01 Observer Characteristic [OBCHA] Unsigned8 RW No 0x00
Setting range 0x00-0x02
0x00: Low For Low Frequency 0x01: Middle For Middle Frequency
0x02: High For High Frequency 0x03-0xFF: Reserved
*Select “00 Low, Low Frequency Disturbance Observer Suppressor” for Load torque (force) monitor (estimate value).
*Select 02 High, High Frequency Disturbance Observer Suppressor, when the encoder resolution is over 1048576P/R (20bit).
0x02 Compensation gain for Disturbance Observer.[OBG] Unsigned16 RW No 0x0000
Observer Compensation gain in response to the Torque (0 %)
(force)command.
Setting range 0x0000-0x0064
*The larger the value, the higher the suppression
(0-100 %)
performance. By making this too large to oscillate, the
disturbance suppression characteristics improve. Unit 1%
0x03 Observer Output Filter [OBLPF] Unsigned16 RW No 0x032
First low-pass filter to eliminate high frequency elements included (50 Hz)
in the observer compensation.
Setting range 0x0001-0x0FA0
Sets the cutoff frequency.
(1-4000 Hz)
*Filter is invalid at the setting value more than 2000Hz.
Unit Hz
*The larger the value is, the faster the response of disturbance observer suppression. However, it may cause a louder driving
sound depending on the ripple components included in disturbance observer output.
*Filter is invalid when observer characteristic is set to [01 Middle, For Middle Frequency], or [02 High, For High Frequency].
0x04 Observer Notch Filter [OBNFIL] Unsigned16 RW No 0x0FA0
Notch filter to eliminate arbitrarily selected frequency from observer (4000 Hz)
compensation. Set the center frequency of the filter.
Setting range 0x0064-0x0FA0
*When resonance appears in disturbance observer output, such as
(100-4000 Hz)
sympathetic vibration with the mechanical system, this notch filter
sometimes suppresses the vibration. Unit Hz
*Setting value can be input by 1Hz; inside the servo amplifier,
the units listed below are applied.
Setting value Gain [dB]
Unit value inside servo amplifier
100-1999Hz -3[dB]
Valid by 10Hz and drop less than 10
2000-4000Hz
Filter invalid
Frequency [Hz]
0.62×fn 1.62×fn
Resonant frequency fn
0x05 Observer Load Inertia Ratio [OBJLJM] Unsigned16 RW No 0x0064
Sets the Inertia moment (Load Inertia) of the loading device for the (100%)
motor inertia moment at the disturbance suppression observer.
Setting range 0x0000-0x1388
Setting value=JL/JM×100%
(0-5000%)
Unit %
(JL: Load inertia, JM: Motor rotor inertia)
* Selection of disturbance suppression observer characteristics: JRAT 1-4 are used when frequency setting is made.
0x06 Observer Loop Proportional Gain [OBPGIN] Unsigned16 RW No 0x012C
Proportional gain of the observer control. (300Hz)
Setting range 0x0001-0x07D0
(1-2000Hz)
Unit Hz
0x07 Load Torque (force) Filter [TESLPF] Unsigned16 RW No 0x0032
After the disturbance suppression observer output low-pass filter, (50 Hz)
set the cutoff frequency of the primary low-pass filter against the
Setting range 0x0001-0x07D0
Load torque (force) estimate.
(1-2000Hz)
Sets the cutoff frequency.
Setting value: the filter will be disabled at 2000Hz(0x07D0) or Unit Hz
greater.
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7. Object Dictionary
8) Model Following Control Settings Parameter
Depends on the setting value of Position control selection Setting range 0x0001-0x0BB8
(0x20F3:01), the range is different. (1-3000 /s)
01: Model Following Control
0x0001-0x0BB8 (1-3000 /s) Unit 1/s
02: Condition Feedback Model Following Vibration
Suppress Control
0x000F-0x013B (15-315 /s)
* In case of operating at Model following anti-resonance control, use in the range of 15 - 315/s.
* Change value while the servo motor is OFF.
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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
Index 0x2019 value of the mechanical system by using System Analysis function of the Object Code Array
Software Setup.
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7. Object Dictionary
* The weight treated inside the amplifier is set by the servo control cycle 125μs steps; therefore, please set it according to
the following equation indicating the resulting value:
Internal Unit [LSB] = 480000÷1 rotary resolution [Pulse/sec]
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7. Object Dictionary
0x2020: Speed Zero Range
Setting value for detecting Zero-speed status (motor stop).
Index 0x2020 Object Code Variable
Sets the allowable range at Zero-speed.
Sub-Idx Description Data Type Access PDO Initial value
0x00 Speed Zero Range [ZV] Unsigned16 RW No 0x0032
(50min-1)
|Actual Velocity| <= Setting value [50mm/s]
When the Actual Velocity condition below the Setting value Setting range 0x0005 - 0x01F4
is continuously detected for 1ms or more, zero velocity monitor (5 - 500min-1)
(ZV) is output. [5 - 500mm/s]
✍The rotary motor differs from linear motor in unit. Unit Rotary : min-1
[Linear : mm/s]
speed
“Low speed Range” setting value
LTGDAT 1 0 1
If Auto Tuning Mode setting is 0x01 and Auto Tuning Characteristics setting is 0x02, 50min-1 will be set automatically.
✍The rotary motor differs from linear motor in unit.
VA 0 1 0
While operating with torque (force) control mode, simple velocity control is exercised
by this parameter.
*when Motor speed exceeds this setting value, as the velocity sets at zero, control of unstable velocity
cannot be exercised. Avoid the use of such status to continue.
✍The rotary motor differs from linear motor in unit.
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7. Object Dictionary
0x2023: Analog Monitor Select Output
Selects the output selection and the polarization character of Analog
Index 0x2023 Object Code Record
Monitor 1, 2.
Sub-Idx Description Data Type Access PDO Initial value
0x00 Number of entry Unsigned8 RO No 0x03
0x01 Analog Monitor Select Output 1 [MON1] Unsigned8 RW No 0x05
Select data to output from Analog Monitor 1. Setting range 0x01-0x24
& Rotary motor & Linear motor
0x00: Reserved (For maintenance by manufacturer) 0x00: Reserved (For maintenance by manufacturer)
0x01: Torque(force) monitor 2V/ratedTorque(force) 0x01: Torque(force)monitor 2V/ratedTorque(force)
0x02: Torque(force) command monitor 2V/ratedTorque(force) 0x02: Torque(force)monitor 2V/ratedTorque(force)
0x03: Velocity monitor 0.2mV/min-1 0x03: Velocity monitor 0.2mV/mm/sec
0x04: Velocity monitor 1mV/min-1 0x04: Velocity monitor 1mV/mm /sec
0x05: Velocity monitor 2mV/min-1 0x05: Velocity monitor 2mV/mm /sec
0x06: Velocity monitor 3mV/min-1 0x06: Velocity monitor 3mV/mm /sec
0x07: Velocity command monitor 0.2mV/min-1 0x07: Velocity command monitor 0.2mV/mm/sec
0x08: Velocity command monitor 1mV/min-1 0x08: Velocity command monitor 1mV/mm/sec
0x09: Velocity command monitor 2mV/min-1 0x09: Velocity command monitor 2mV/mm/sec
0x0A: Velocity command monitor 3mV/min-1 0x0A: Velocity command monitor 3mV/mm/sec
0x0B: Position deviation monitor 0.01mV/Pulse 0x0B: Position deviation monitor 0.01mV/Pulse
0x0C: Position deviation monitor 0.1mV/Pulse 0x0C: Position deviation monitor 0.1mV/Pulse
0x0D: Position deviation monitor 1mV/Pulse 0x0D: Position deviation monitor 1mV/Pulse
0x0E: Position deviation monitor 10mV/Pulse 0x0E: Position deviation monitor 10mV/Pulse
0x0F: Position deviation monitor 20mV/Pulse 0x0F: Position deviation monitor 20mV/Pulse
0x10: Position deviation monitor 50mV/Pulse 0x10: Position deviation monitor 50mV/Pulse
0x11: Position command monitor1 2mV/kPulse/sec 0x11: Position command monitor1 2mV/kPulse/sec
0x12: Position command monitor1 10mV/kPulse/s 0x12: Position command monitor1 10mV/kPulse/s
0x13: Position command monitor2 0.05mV/kPulse/s 0x13: Position command monitor2 0.05mV/kPulse/s
0x14: Position command monitor2 0.5mV/kPulse/s 0x14: Position command monitor2 0.5mV/kPulse/s
0x15: Position command monitor2 2mV/kPulse/s 0x15: Position command monitor2 2mV/kPulse/s
0x16: Position command monitor2 10mV/kPulse/s 0x16: Position command monitor2 10mV/kPulse/s
0x17: Load Torque(force)monitor 2V/ratedTorque(force) 0x17: Load Torque(force)monitor 2V/ratedTorque(force)
0x18: Phase U electrical angle monitor 8Vpeak 0x18: Phase U electrical angle monitor 8Vpeak
0x19: Position command monitor1 0.05mV/kPulse/sec 0x19: Position command monitor1 0.05mV/kPulse/sec
0x1A: Position command monitor1 0.5mV/kPulse/sec 0x1A: Position command monitor1 0.5mV/kPulse/sec
0x1B: Acceleration monitor 0.01mV/rad/sec2 0x1B: Acceleration monitor 0.01mV/mm/sec2
0x1C: Acceleration monitor 0.1mV/rad/sec2 0x1C: Acceleration monitor 0.1mV/mm/sec2
0x1D: Acceleration monitor 1mV/rad/sec2 0x1D: Acceleration monitor 1mV/mm/sec2
0x1E: Acceleration monitor 10mV/rad/sec2 0x1E: Acceleration monitor 10mV/mm/sec2
0x1F to 0xFF:reserved 0x1F to 0xFF:reserved
0x1F: Position Synchronization Deviation Monitor 0.01mV/Pulse 0x1F: Position Synchronization Deviation Monitor 0.01mV/Pulse
0x20: Position Synchronization Deviation Monitor 0.1mV/Pulse 0x20: Position Synchronization Deviation Monitor 0.1mV/Pulse
0x21: Position Synchronization Deviation Monitor 1mV/Pulse 0x21: Position Synchronization Deviation Monitor 1mV/Pulse
0x22: Position Synchronization Deviation Monitor 10mV/Pulse 0x22: Position Synchronization Deviation Monitor 10mV/Pulse
0x23: Position Synchronization Deviation Monitor 20mV/Pulse 0x23: Position Synchronization Deviation Monitor 20mV/Pulse
0x24: Position Synchronization Deviation Monitor 50mV/Pulse 0x24: Position Synchronization Deviation Monitor 50mV/Pulse
0x25 to 0xFF: Reserved 0x25 to 0xFF: Reserved
◆Position command monitor1 monitors position command pulse before position somoothing passing.
◆Position command monitor2 monitors position command pulse after position somoothing passing.
✔Position command pulse frequency monitor1 and 2 are output in the form of pulse
when command pulsefrequency is 10kHz or less.
Average the frequency when convering to position command frequency.
◆Torque(force)monitor, velocity monitor, and load torque monitor are placed the following low-path filters.
Torque(force)monitor 250Hz, Velocity monitor 250Hz, Load torque monitor 20Hz
0x02 Analog Monitor Select Output 2 [MON2] Unsigned8 RW No 0x02
Selects the data to output from Analog Monitor 2. Setting range 0x01 to 0x24 (Rotary)
The setting value is the same as in Analog Monitor 0x01 to 0x1E (Linear)
output selection 1.
0x03 Analog Monitor Output Polarity Selection [MONPOL] Unsigned8 RW No 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
0x02:AMON1/AMON2 at positive rotation+voltage output/at positive rotation-output
0x03:AMON1/AMON2 at positive rotation-voltage output/at positive rotation-output
0x04:AMON1/AMON2 at positive/reverse rotations+voltage output(absolute value)/at positive rotation+output
0x05:AMON1/AMON2 at positive/reverse rotations+voltage output (absolute value)/at positive rotation-output
0x06:AMON1/AMON2 at positive rotation+output/at positive/reverse rotations+voltage output (absolute value)
0x07:AMON1/AMON2 at positive rotation-output/at positive/reverse rotations+voltage output (absolute value)
0x08:AMON1/AMON2 at positive/reverse rotations+voltage output (absolute value/at positive/reverse
rotations+voltage output (absolute value)
0x09-0xFF:Reserved
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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 parts falling off from
its position when main circuit power is OFF, or servo OFF. Holding brake ->
Holding brake is to support the movable parts against gravity and other external force
when at rest. Do not use it to stop a moving machine.
BOFFDLY BONDLY
0x2025: Delay Time of Releasing Holding Brake (Holding Brake Releasing Delay time)
Sets holding-brake-release delay time from when power distribution to
Index 0x2025 Object Code Variable
holding brake started till when holding torque disappeared.
Sub-Idx Description Data Type Access PDO Initial value
0x00 Delay Time of Releasing Holding Brake [BOFFDLY] Unsigned16 RW No 0x01C2
* While shifting from servo OFF to servo ON, during the setting (300ms)
time, Excitation command 0 is given to servo motor.
Setting range 0x0000-0x03E8
(0-1000ms)
Unit ms
(Even when servo is turned ON, command is not accepted until the setting time is complete.)
* Therefore, until Holding brake is released, servo motor does not operate.
* When the setting value is 0ms, after servo ON, command is invalid (command 0) for approximately 4ms.
* Because the setting unit is valid in 4ms steps, the remainder, divided by 4, is cut off inside the amplifier.
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7. Object Dictionary
0x2027: Power Failure Detection Delay Time
Sets the delay time from Control power OFF to Control power error
Index 0x2027 Object Code Variable
detection.
Sub-Idx Description Data Type Access PDO Initial value
0x00 Power Failure Detection Delay Time [PFDDLY] Unsigned16 RW No 0x0020
* By making the setting value greater, delay in alarm (32ms)
detection time is possible. However, this does not guarantee
Setting range 0x0014-0x03E8
the retention of Control power until the setting time.
(20-1000ms)
Unit ms
* When power source of the control logic expires, it operates the same as when Control power is interrupted. When the
Main circuit power reaches a lower point than Control power, other alarms may occur.
* In case of power failure of Internal logic circuit, operation is same as when Control power is turned ON again. In case of
energy shortage of Main circuit power, other errors such as Main circuit power loss may be detected.
* In this setting, actual detection delay time varies by -12ms - +6ms.
Positioning completion range -> See Position Window (0x6065 of the function group “position”.)
Velocity
Velocity
command
Output ETGDAT=1 during the setting width of the Velocity matching range.
*The Velocity matching output is switched by the setting of rotation speed (min-1) and ratio (%) at Velocity matching unit
output selection (0x20F0.4). At ratio selection, the condition under this setting value can be monitored with the status
word 1(0x2100) bit 10: Velocity matching monitor.
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7. Object Dictionary
0x202B: Torque (force) Command Filter Characteristic
Index 0x202B The filter order is set at Torque (force)command filter Object Code Variable
Sub-Idx Description Data Type Access PDO Initial value
0x00 Torque (force) Command Filter Characteristic [TCFILOR] Unsigned8 RW No 0x02
If the cutoff frequency of the torque (force) order filter is switched Setting range 0x01-0x03
with the gain switch, the order is fixed at this setting value.
0x202C:Feed Forward Filter, Depth Selection (FF Vibration Suppressor Level Selection)
Sets the characteristics of 0x2012 Feed Forward vibration suppressor
Index 0x202C Object Code Variable
frequency in operation.
Sub-Idx Description Data Type Access PDO Initial value
0x00 Feed Forward Filter, Depth Selection [SUPLV] Unsigned8 RW No 0x00
Parameter to set the magnitude of the vibration suppressor Setting 0x00-0x03
frequency effect. range
* Change while servo motor is OFF.
* The smaller the value, the greater the effect will be.
* FF vibration suppressor frequency switching function does not affect this.
0x00: -∞
0x01: -30dB
0x02: -20dB
0x03: -10dB
0x04-0xFF: Reserved
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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 Data Type Access PDO Initial value
0x00 Torque (force) attainment setting [TA] Unsigned16 RW No 0x03E8
Sets the ratio of torque (force) attainment. (100%)
Data subjected to the ratio set by this paramenter vary depending Setting 0x0000 - 0x1388
on torque (force) attainment function selection (0x20F4.6). range (0.0 - 500.0%)
Sets flag TA (bit11 of 0x2100) in the following case: Unit 0.1 %
|Torque (force) command| >= Set value
✔ Torque (force) attainment output switches between maximum motor torque ratio and limited torque ratio depending
on function selection of torque (force) attainment (0x20F0.6).
Output at
torque (force) 1 0 1
attainment
(0x2100.11)
◆ Function selection of torque (force) attainment (0x20F0.6): In the case of 0x01
Sets the ratio of torque (force) attainment level by using the ratio to limited torque (force) value.
“100.0% = rated torque (force)”
Torque (force) attainment level is also independently calculated for both forward and reverse direction respectively in
amplifier, as limited torque (force) value is independent in both directions respectively.
Forward torque (force) attainment level = Limited forward torque (force) value X set value /100.0 [%]
Reverse torque (force) attainment level = Limited reverse torque (force) value X set value /100.0 [%]
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7. Object Dictionary
0x202F: Brake activation speed
Set the brake activation speed when decelerating motor.
Index 0x202F Object Code Variable
It works while running servo-brake.
Sub-Idx Description Data Type Access PDO Initial value
0x00 Brake activation speed [ZVDAT] Unsigned16 RW Possible 0x32
Motor brake works at lower rotation speed than (50min-1)
set value with condition below. Setting 0x000A to 0x01F4
Quick Stop, Alarm, Emergency Stop. range (10 to 500min-1)
Unit min-1
Motor stop will detect when relation below continued
1 msec or more.
Absolute value of actual speed ≦Set value
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7. Object Dictionary
0x2034: Low Pass Filter OFF Velocity for Position loop / Velocity loop command.
Index 0x2034 Set the Low Pass Filter OFF Velocity. Object Code Array
Sub-Idx Description Data Type Access PDO Initial value
0x00 Number of entry Unsigned8 RO No 0x02
0x01 Switch ON / OFF of the object. Unsigned8 RW Possible 0x00
This object become active by setting 1 to Sub-Idx :0x01. Setting range 0x00 to 0x01
✔Regarding command polarity and motor installation angle, set 0:Without Position Deviation
position deviation polarity selection in order to have the same Polarity Reversal
output deviation polarity. 1:With Position Deviation
✍It will be valid with control-power-source re-input. Polarity Reversal
✔ If this function is used in PP mode, set the communication cycle setting as DC sync (SYNC0 or SYNC1).
✔ This function sets the operation mode by but 14,15 of the control word 1 (0x2000).
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7. Object Dictionary
0x2036: Position Differential Gain
Index 0x2036 Sets the differential time constant of the position controller. Object Code Variable
Sub-Idx Description Data Type Access PDO Initial value
0x00 Number of entry Unsigned8 RO No 0x02
0x01 Position Controller Differential Time Constant Unsigned16 RW Possible 0x0000
The position control characteristic is improved by multiplying the (0 )
difference of the position differential by the gain equivalent to the Setting Range 0x0000 to 0x2710
derivation time constant. (0.0 to 1000.0)
This function will be disabled during auto-tuning. Unit 0.1ms
0x02 Position Controller Derivative Compensation LPF Unsigned16 RW Possible 0x0FA0
LPF to be applied to the command value after setting the position (4000)
differential time constant. Setting Range 0x0001 to 0x0FA0
Improves the position differential command value. (1 to 4000)
This function will be disabled during auto-tuning. Unit Hz
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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 PDO Initial value
0x01 Amplifier temperature warning high level setting Signed16 RW No 0x4B(75℃)
[DEGWHL] Display range 0x038 to 0x005F (56 to 95℃)
Sets high level of the amplifier temperature warning detection. Unit ℃
When this set value is more than the object 0x2109 "Temperature inside the servo amplifier", sets Bit0 (tpw)=1
"Temperature warning bit" to the object 0x2103. And, when Bit0=1 is set to the object 0x2103-02 "Warning mask
selection", also Bit7 "Warning status" of the object 0x6041 "Status word" is set.
0x203D-01 “Amplifier temperature warning high level setting” ≦ 0x2109 “Temperature inside the servo amplifier”
✔Temperature warning will be set even if internal temperature value is less than this set value, when condition of
0x203D-02 is satisfied.
✔When this parameter sets to 95℃, amplifier temperature warning will issue at same timing of amplifier temperature
error.
0x02 Amplifier temperature warning low level setting Signed16 RW No 0xFFF6(-10℃)
[DEGWLL] Display range 0xFFFF to 0xFFF1(-1 to -15℃)
Sets low level of the amplifier temperature warning detection. Unit ℃
When this set value is less than the object 0x2109 "Temperature inside the servo amplifier", sets Bit0 (tpw)=1
"Temperature warning bit" to the object 0x2103. And, when Bit0=1 is set to the object 0x2103-02 "Warning mask
selection", also Bit7 "Warning status" of the object 0x6041 "Status word" is set.
0x203D-01 “Amplifier temperature warning low level setting” ≧ 0x2109 “Temperature inside the servo amplifier”
✔Temperature warning will be set even if internal temperature value is more than this set value, when condition of
0x203D-01 is satisfied.
✔When this parameter sets to -15℃, amplifier temperature warning will issue at same timing of amplifier temperature
error.
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7. Object Dictionary
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7. Object Dictionary
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7. Object Dictionary
0x2050 Stick Motion compensation
Setting of Stick Motion compensation
Index 0x2050 Object Code Variable
Sub-Idx Description Data Type Initial
Access PDO
Value
0x00 Number of entry Unsigned8 RO No 0x04
0x01 Set the validity of Stick Motion compensation [STC] Unsigned8 RW Possible 0x00
Setting range 0x00 to 0x27
0x02 Valid speed of Stick Motion compensation [STV] Unsigned16 RW Possible 10.0
Setting range 0.1 to 128.0
Unit min-1
◆Stick Motion compensation will work when setting value is less than internal velocity command.
0x04 Set the integral constant of Stick Motion compensation [STTVI] Unsigned16 RW Possible 0.3
Setting range 0.3 to 1000.0
Unit Ms
◆Vaild velocity loop integral constant when Stick Motion compensation is activating.
◆Velocity loop integral constant of Stick Motion compensation should set lower than normal setting.
If set higher than normal value, efficiency will low.
◆Stick Motion compensation will disable when velocity loop is proportional control.
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7. Object Dictionary
■Function valid condition list
Item Set value Item Set value
Always invalid the function. 00: Always_Disable Always valid the function. 01: Always_Enable
Valid the function when CONT1 is ON. 02: CONT1_ON Valid the function when CONT1 is OFF. 03: CONT1_OFF
Valid the function when CONT2 is ON. 04: CONT2_ON Valid the function when CONT2 is OFF. 05: CONT1_OFF
Valid the function when CONT3 is ON. 06: CONT3_ON Valid the function when CONT3 is OFF. 07: CONT1_OFF
Valid the function when CONT4 is ON. 08: CONT4_ON Valid the function when CONT4 is OFF. 09: CONT1_OFF
Valid the function when CONT5 is ON. 0A: CONT5_ON Valid the function when CONT5 is OFF. 0B: CONT1_OFF
Valid the function when CONT6 is ON. 0C: CONT6_ON Valid the function when CONT6 is OFF. 0D: CONT1_OFF
Valid the function during low velocity Valid the function except low velocity
condition (velocity is lower than set value of 12: LOWV_IN condition (velocity is lower than set value 13: LOWV_OUT
LOWV). of LOWV).
Valid the function during state of velocity Valid the function except state of velocity
14: VA_IN 15: VA_OUT
reaching (velocity is VA set value or more). reaching (velocity is VA set value or more).
Valid the function during state of velocity Valid the function except state of velocity
16: VCMP_IN 17: VCMP_OUT
match (within the speed matching width). match (within the speed matching width).
Valid the function during state of velocity Valid the function except state of velocity
18: ZV_IN 19: ZV_OUT
zero (velocity is ZV set value or less). zero (velocity is ZV set value or less).
Valid the function during state of positioning Valid the function except state of
completion (position deviation is INP set 1A: INP_IN positioning completion (position deviation 1B: INP_OUT
value or less). is INP set value or less).
Valid the function during state of torque limit Valid the function except state of torque
1C: TLC_IN 1D: TLC_OUT
operation. limit operation.
Valid the function during state of velocity Valid the function except state of velocity
1F: VLC_IN 1F: VLC_OUT
limit operation. limit operation.
Valid the function during state of the near Valid the function except state of the near
20: NEAR_IN 21: NEAR_OUT
range. range.
Valid the function during state of positive Valid the function except state of positive
22: VMON > +LV 23: VMON <= +LV
rotation direction (VMON > +LOWV). rotation direction (VMON ≤ +LOWV).
Valid the function during state of negative Valid the function except state of negative
24: VMON > -LV 25: VMON <= -LV
rotation direction (VMON < -LOWV). rotation direction (VMON ≥ -LOWV).
Valid the function during state of position
Valid the function during state of position
command zero and positioning
command zero and positioning completion 26: INPZ_IN 27: INPZ_OUT
incompletion (position deviation is larger
(position deviation is INP set value or less).
than INP set value).
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7. Object Dictionary
0x20B0: Gain Switching Condition
4 種類のゲインを切替えて使用することができます。
Index 0x20B0 ゲイン切替条件を有効にする条件を割りあてます。GC1 と GC2 の組合せに Object Code Record
より,GAIN1~4 を切替えます。
Sub-Idx Description Data Type Access PDO Initial value
0x00 Number of entry Unsigned8 RO No 0x02
0x01 Gain Switching Condition 1 [GC1] Unsigned8 RW No 0x00
Sets the Gain Switching Condition 1. Setting range 0x00-0x29
Selection Contents
00 Always_Disable Function is always invalid.
01 Always_Enable Function is always valid.
02 CONT1_ON Function is valid when general input CONT1 is ON.
03 CONT1_OFF Function is valid when general input CONT1 is OFF.
04 CONT2_ON Function is valid when general input CONT2 is ON.
05 CONT2_OFF Function is valid when general input CONT2 is OFF.
06 CONT3_ON Function is valid when general input CONT3 is ON.
07 CONT3_OFF Function is valid when general input CONT3 is OFF.
08 CONT4_ON Function is valid when general input CONT4 is ON.
09 CONT4_OFF Function is valid when general input CONT4 is OFF.
0A CONT5_ON Function is valid when general input CONT5 is ON.
0B CONT5_OFF Function is valid when general input CONT5 is OFF.
0C CONT6_ON Function is valid when general input CONT6 is ON.
0D CONT6_OFF Function is valid when general input CONT6 is OFF.
0E CONT7_ON (HWGOFF1) ※Function is valid when general input CONT7 is ON.
0F CONT7_OFF (HWGOFF1) ※Function is valid when general input CONT7 is OFF.
10 CONT8_ON (HWGOFF2) ※Function is valid when general input CONT8 is ON.
11 CONT8_OFF (HWGOFF2) ※Function is valid when general input CONT8 is OFF.
12 LOWV_IN Function is valid while in low speed status (speed is lower than LOWV set value).
13 LOWV_OUT Function is valid while not in low speed status (speed is lower than LOWV set value).
14 VA_IN Function is valid while in speed attainment status (speed is higher than VA set value).
15 VA_OUT Function is valid while not in speed attainment status (speed is higher than VA set value).
16 VCMP_IN Function is valid while in speed matching status (within speed matching range).
17 VCMP_OUT Function is valid while not in speed matching status (within speed matching range).
18 ZV_IN Function is valid while in zero speed status (speed is lower than ZV set value).
19 ZV_OUT Function is valid while not in zero speed status (speed is lower than ZV set value).
1A INP_IN Function is valid while in In-Position status (position deviation < INP)
1B INP_OUT Function is valid while not in In-Position status (position deviation < INP)
1C TLC_IN Function is valid while in torque limit status
1D TLC_OUT Function is valid while not in torque limit status
1E VLC_IN Function is valid while in velocity limit status
1F VLC_OUT Function is valid while not in velocity limit status
20 NEAR_IN Function is valid while in Near range status
21 NEAR_OUT Function is valid while not in Near range status
22 VMON_>_+LV Function is valid while rotation direction is forward (VMON > +LOWV)
23 VMON_<=_+LV Function is valid while rotation direction is not forward (VMON ≤ +LOWV)
24 VMON_<_-LV Function is valid while rotation direction is reverse (VMON < -LOWV)
25 VMON_>=_-LV Function is valid while rotation direction is not reverse (VMON ≥ -LOWV)
Function is valid while in Position command 0 and In-Position status (position
26 INPZ_IN
deviation < INP)
Function is valid while not in Position command 0 and In-Position status (position
27 INPZ_OUT
deviation < INP)
28 ACK_IN Function is valid while in command reception allowable condition
29 ACK_OUT Function is valid while not in command reception allowable condition
※ CONT7 and 8 are dedicated to input of the hardware gate off function.
Assigns valid condition of the gain switching condition. GAIN1 to 4 are switched by GC1/GC2 combination.
This function becomes valid by setting of "0x20F7 bit9 = 1".
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7. Object Dictionary
0x5080: Correction Table Control
Index 0x5080 Enables/disables the correction table function. Object Code Variable
Sub-Idx Description Data Type Access PDO Initial value
0x00 Correction Table Control [COTBLEN] Unsigned8 RW No 0x00
Enables/disables the correction table function. Setting range 0x00 to 0x01
0x00: Disabled
0x01: Enabled
0x02 - 0xFF: Reserved
0x00: Linear
0x01: Polynomial
0x02: Spline
0x03 - 0xFF: Reserved
0x00: Linear
0x01: Polynomial
0x02: Spline
0x03 - 0xFF: Reserved
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7. Object Dictionary
0x5084: Correction Table Offset
Index 0x5084 Correction Table Offset Object Code Record
Sub-Idx Description Data Type Access PDO Initial value
0x00 Number of entry Unsigned8 RW No 0x00
Setting range 0x00 to 0x40
✔This becomes valid by re-closing the control source.
0x01 Entry 1 Integer32 RW No 0x00000000
Offset 1 Setting range 0x80000000 to 0x7FFFFFFF
Unit Pulse
✔ If correction posotion over the coordinate axes (-1⇔0),0x5083 correction position 1 and 0x5084
No1 offset value need to set 0.
Caution, if not 0, the machine may oscillate at the correction posotion over the coordinate axes.
Correction value
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7. Object Dictionary
0x5090: Backlash correction function selection
Index 0x5090 Set the Backlash correction function on / off. Object Code Variable
Sub-Idx Description Data Type Access PDO Initial value
0x00 Backlash correction function [BLCEN] Unsigned8 RW No 0x00
Set the Backlash correction function on / off. Setting range 0x00 to 0x01
0x00: Disabled
0x01: Enabled
0x02 - 0xFF: Reserved
✔Please contact our sales if this function is used with DC power input type.
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7. Object Dictionary
10) System Parameter
0x20F0: Amplifier Function Selection
Index 0x20F0 Set the Sequence function. Object Code Record
Sub-Idx Description Data Type Access PDO Initial value
0x00 Number of entry Unsigned8 RO No 0x06
0x01 Limit behavior Selection [ACTOT] Unsigned8 RW No 0x06
Selects the operation when the positive direction limit switch (normal Setting range 0x00-0x08
rotation over travel) or the negative direction limit switch (reverse
rotation over travel) is on.
* Profile Position (PP), Profile Velocity (PV), Cycle synchronous position (CSP), Interpolated position(ip),
Cycle synchronous velocity (CSV)
0x00, 0x02: Command entry disabled, after the motor stops with the servo brake, servo ON
0x01: Command entry disabled, after the motor stops with the dynamic brake, servo ON
0x02: Command entry disabled, after the motor stops with free run, servo ON
0x00: Command entry disabled, after the motor stops with the servo brake, servo OFF
0x01: Command entry disabled, after the motor stops with the dynamic brake, servo OFF
0x02: Command entry disabled, after the motor stops with free run, servo OFF
0x06: Command entry enabled, after servo motor stops without internal velocity limit command, servo ON
0x07: Reserved
0x08: Command entry disabled, after the motor stops with the servo brake, servo ON
(For the torque (force) limit value of servo motor stopping, the sequence torque (force) limit is used.)
0x09-0xFF: Reserved
Note1) The sequence operation torque (force) limit value (0x201E) becomes valid to power running direction.
Note2) When the Torque (force) Command is smaller than sequence operational torque limit value, it is limited by the
Target Torque (force).
Note3) Setting of the quick stop option code shall be "motor stop by dynamic brake operation".
0x02 Positioning Methods selection [EDGEPOS] Unsigned8 RW No 0x00
Select the Encoder pulse positioning. Setting range 0x00-0x01
Positioning accuracy is improved by selecting Edge positioning when the encoder resolution is coarse. However, this may
cause the driving sound of the mechanical system to increase as this edge is always the center of vibration.
Select standard value for usual operation.
*The function becomes valid through control source re-closing.
Phase A
Phase B
Edge positioning
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7. Object Dictionary
+
-
Position FF vibration Position Position
Model
command suppressor command + control
smoothing control filter
-
Position loop
encoder
Selection Contents
0x00 Type1 When Servo OFF -> Clear Deviation During servo OFF, Deviation clear is always executed.
Deviation Clear Input =Level Detection While Deviation clear input is ON, Deviation clear is always
executed.
0x01 Type2 When Servo OFF -> Clear Deviation At the edge of OFF->ON of Deviation clear input, Deviation clear is
Deviation Clear Input =Edge Detection executed.
0x02 Type3 When Servo OFF During servo OFF, Deviation clear is not executed.
-> NOT Clear Deviation (After servo ON, the motor may operate suddenly.)
Deviation Clear Input =Level Detection
0x03 Type4 When Servo OFF During servo OFF, Deviation clear is not executed.
-> NOT Clear Deviation (After servo ON, the motor may operate suddenly.)
Deviation Clear Input =Edge Detection
* Used, for example, to force the position variation counter inside the servo amplifier to zero from higher-level devices.
0x06 Torque (force) attainment function selection [TASEL] Unsigned8 RW No 0x00
Sets detection method of torque (force) attainment setting Setting range 0x00 - 0x01
(0X202E).
Selection Contents
00 TA/TZR Sets by using the ratio of rated torque (force) of the motor.
(100%= rated torque (force))
01 TA/TCOM Sets by using the ratio of limit value of torque(force).
(100%=limit value of torque (force))
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7. Object Dictionary
0x20F1: Encoder Function Selection
Index 0x20F1 Sets the Encoder Function. Object Code Record
Sub-Idx Description Data Type Access PDO Initial value
0x00 Number of entry Unsigned8 RO No 0x09
0x01 Serial encoder Clear Function Selection [ECLRFUNC] Unsigned8 RW No 0x00
Selects the encoder clear method. Setting range 0x00-0x01
* Use to clear Serial encoder warning when the warning is not automatically restored.
* Valid when using with Battery Backup Method Absolute Encoder and Battery-less Absolute Encoder.
* When used with Absolute Encoder for Incremental System, even 01:_Status_MultiTurn is selected; it works as the
selection, Clear only encoder status.
0x00: Clear Encoder Status (Alarm and Warning) and Multi Turn Data
0x01: Clear Only Encoder Status (Alarm and Warning)
* This parameter can be set when amplifier hardware supports Pulse encoder.
Pulse width
Pulse width
Phase A
Phase B
Phase difference
Pulse width
Phase Z
*This parameter can be set when amplifier hardware supports Full-closed option.
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7. Object Dictionary
0x00:Type1 EX-Z Not Reversed / EX-B Not Reversed / EX-A Not Reversed
[Full Close]
0x01:Type2 EX-Z Not Reversed / EX-B Not Reversed / EX-A Reversed
[Linear]
0x02:Type3 EX-Z Not Reversed / EX-B Reversed / EX-A Not Reversed
0x03:Type4 EX-Z Not Reversed / EX-B Reversed / EX-A Reversed
0x04:Type5 EX-Z Reversed / EX-B Not Reversed / EX-A Not Reversed
0x05:Type6 EX-Z Reversed / EX-B Not Reversed / EX-A Reversed
0x06:Type7 EX-Z Reversed / EX-B Reversed / EX-A Not Reversed
0x07:Type8 EX-Z Reversed / EX-B Reversed / EX-A Reversed
0x08-0xFF:Reserved
*The function becomes valid through control source re-closing.
0x05 CS offset [CSOF] Unsigned16 RW No 0x0000
Sets electrical degree of the motor. (0deg)
For rotary motor use Setting 0x0000 - 0x0167
Must set it 0 degree. range (0 - 359deg)
[Linear] For linear motor and Direct Drive Motor use
In case with hall effect sensor, sets an offset value with electrical angle conversion between 0 degree of U phase
electrical angle and hall sensor output signal edge of U phase.
✔ This parameter is settable only under condition that amplifier hardware can support hall effect sensor input option.
✍ This function becomes effective after re-turning the control power supply on.
0x06 CS normalization offset of phase Z [ZPHOF] Unsigned16 RW No 0x0000
Sets offset of phase Z signal to electrical degree of the (0deg)
motor. Setting 0x0000 - 0x0167
For rotary motor use range (0 - 359deg)
[Linear] Must set it 0 degree.
For linear motor and Direct Drive Motor use
This function is valid when performing CS normalization with use of phase Z signal.
Sets an offset value with electrical angle conversion between 0 degree of U phase electrical angle and Z phase
signal output position.
✍ This function becomes effective after re-turning the control power supply on.
0x07 Polarity selection on linear encoder [ENCDIR] Unsigned8 RW No 0x00
Select linear encoder signal polarity EN1. Setting range 0x00 - 0x01
You can select phase A and B signal polarity.
Phase U and V signal polarity shall not be changed in case
[Linear] of omitted wiring incremental encoder.)
✍ This function becomes effective after re-turning the control power supply on.
0x08 Magnetic pole position estimation frequency [EMPFREQ] Unsigned16 RW No 0x0032
Sets frequency for torque (force) command that is applied to estimate (50Hz)
magnetic pole position. Setting 0x05 - 0x0064
✔ Change excitation frequency if amplifier hardware magnetic pole range (5 - 100Hz)
[Linear] position estiation cannot be normally completed due to resonance of
equipment.
✍This function becomes effective after re-turning the control power supply on.
0x09 Magnetic pole position estimation selection [CSETMD] Unsigned8 RW No 0x00
Select the Magnetic pole position estimationmode. Setting range 0x00 to 0x01
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0x20F2: Amplifier Alarm Detect Selection
Index 0x20F2 Sets the Sequence function. Object Code Record
Sub-Idx Description Data Type Access PDO Initial value
0x00 Number of entry Unsigned8 RO No 0x05
0x01 Main Circuit Under-voltage (ALM_62) Detection Unsigned8 RW No 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.
0x00: Do not detect the Main Circuit Under-voltage Alarm.
0x01: Detect the Main Circuit Under-voltage Alarm.
0x02 Velocity Control Alarm (ALM_C2) Detection [VCALM] Unsigned8 RW No 0x00
Setting range 0x00-0x01
Select valid / invalid from the velocity control trouble detection.
Trouble can be detected in operation patterns where the motor results in overshooting in response to commands; in
these systems, please set as “invalid.”
0x00: invalid
0x01: valid
0x03 Velocity Feedback Alarm (ALM_C3) Detection [FBKEEN] Unsigned8 RW No 0x01
0x00:invalid Setting range 0x00-0x01
0x01:valid
Select valid / invalid for the velocity feedback trouble detection.
0x04 Communication Frame Error (ALM_10-15) Detection Unsigned8 RW No 0x00
[CRCSET] Setting range 0x00-0x08
0x00-0x02:invalid
0x03: valid (error detected three times in row)
0x04: valid (error detected four times in row) ... 0x08: valid (error detected eight times in row)
Monitor the following communication error registers at each communication cycle and set as valid / invalid for each
alarm and for the detection filter.
Reg:0x300 Port 0 Rx invalid frame error (AL_10) Reg:0x301 Port0 RxCRC error (AL_12)
Reg:0x302 Port 1 Rx invalid frame error (AL_11) Reg:0x302 Port1 RxCRC error (AL_13)
Reg:0x308 Port0 Tx error (AL_14) Reg:0x309 Port1 Tx error (AL_15)
0x05 Communication Timeout (ALM_1A) Detection [COTOUT] Unsigned8 RW No 0x00
0x00, 0x01: invalid Setting range 0x00-0xFF
0x02: valid (not received twice in row)
0x03: valid (not received three times in row) ... 0xFF: valid (not received 255 times in row)
Monitor SM2 event (command receipt) at each communication cycle and set as valid / invalid for AL_1A and
the detection filter.
0x06 Alarm History Clearing Command [ALMCLR] Unsigned32 RW No 0x00
Clears alarm history. Setting range 0x00000000-0xFFFFFFFF
To avoid clearing wrongly, it is performed just when specified sign is inputted. Sign "AHCL".
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7. Object Dictionary
0x20F4: Servo Loop Delay Time
In SM2 SYNC, set the delay time from IRQ interruption to the beginning of
Index 0x20F4 Object Code Variable
the computation of the servo amplifier control loop.
Sub-Idx Description Data Type Access PDO Initial value
0x00 Servo Loop Delay Time [SLPDLY] Unsigned8 RW No 0xEF
In SM2 event SYNC, each axis reaches misalignment because of (120μs)
cable impedance and processing delay caused by the occurrence of
Setting range 0x00-0xEF
IRQ signals in frame transmission.
(0.5-120μs)
This parameter can adjust the time from the IRQ signal occurrence Unit 0.5μs
to the beginning of the amplifier location loop computation.
Delay Time (usec) = (Setting value + 1) / 2
”Example : 62.5us = 62.5 * 2 – 1 = 124 =Setting value:0x7C”
*Adjust to the last slave axis.
For torque (force) limit upon detection of Power Supply Shortage, Setting range 0x00-0x01
select whether the sequence operation torque (force) Limit
(0x201E) should be included in addition to the maximum torque
(0x6072), positive direction Torque limit (0x60E0), and negative
direction Torque limit (0x60E1).
0x00: Limit to minimum value of 0x6072, 0x60E0, 0x60E1(By normal torque limit method)
0x01: 0x201E:Limit to minimum value of the Sequence Torque Operation Torque limit and
the minimum value of 0x6072, 0x60E0, and 0x60E1.
*For the operation sequence, see chapter 8, “SEMI F47 support function.”
Home offset
(0x607C) Home offset
(0x607C)
Except for homing method 35,37. Except for homing method 35,37.
Zero Position = Home Position +Home offset (0x606C) Zero Position = Home offset (0x606C)
Homing Method 35,37
Actual Position(0x6064) = Home offset (0x606C)
✔ When homing method 35 or 37 and 0x20F6-1=0 ,calculation is calculation method 2.
0x02 Hard stop torque (force) limit [HSTRQ] Unsigned16 RW No 0x03E8
In the Hard stop homing (0x6098:from -4 to -1), this value is (100.0%)
torque (force) limitation when reaching hard stop. Setting range 0x0000 to 0x1388
(0 to 500.0%)
Hard stop is detected with this value. Unit 0.1 %
0x03 Hard stop detection time [HSTIM] Unsigned16 RW No 0x000A
In the Hard stop homing (0x6098:from -4 to -1), hard stop is (10ms)
detected after spending this time with torque value beyond Setting range 0x000A to 0xFFFF
above. (10 to 65535ms)
After hard stop detection, state will change by homing method Unit ms
as below.
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7. Object Dictionary
0x20F7: Special Function Selection Setting
Sets whether or not the special function of the servo amplifier is
Index 0x20F7 Object Code Variable
usable.
Sub-Idx Description Data Type Access PDO Initial value
0x00 Bit0: Independent setting of SM2 sync and interpolated sync Unsigned16 RW No 0x0000
Sets whether or not the synchronized time in the interpolation Setting Range 0x0000-0xFFFF
mode is synchronized.
The interpolation synchronized time is synchronized to SM2 synchronization at the setting value 0.
The interpolation synchronized time is independently set from SM2 synchronization at the setting value 1.
✔ When using the SANMotionC, please make sure to use it under the conditions synchronizing to SM2 synchronization.
Bit1: Torque low pass filter setting Bit2:Modulo initial processing selection Note 1)
Sets torque command filter (0x2011). Sets modulo initial processing at power-on.
0: Torque command filter(0x2011) disable. 0: Normal process.
1: Torque command filter(0x2011) enable. (Modulo coordinate can divide encoder coordinate w/o remainder.)
1: Special process.
(Remainder is there in calculation above.)
Bit3: Command direction saving function selection Note 1)
Selects whether save or not the command direction to internal memory when control power is shut off.
Stored command direction is used as initial command direction of calculation of the actual position 2.
0: Does not save. 1: Save.
Bit4: Reserved
Bit5: Torque monitor calculation method selection
Selects calculation method of the Motor utilization monitor (Effective torque (force) estimate value) (0x2108).
0: Existing method 1: Accuracy improved method
Bit6 to 15: Reserved
Note 1) Please contact our sales if this function is used with DC power input type.
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7. Object Dictionary
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7. Object Dictionary
0x20FA: Extend Station Alias
Sets the rotary switch for Station of Alias to use more than 0 to 256
Index 0x20FA Object Code Variable
points rotary switch.
Sub-Idx Description Data Type Access PDO Initial Value
0x00 Number of entry Unsigned8 RO No 0x02
0x01 Extended Alias Number [EXALIAS] Unsigned8 RW No 0x00
Sets the Inherent Slave address ( Station Alias Reg : Setting range 0x00 to 0xFF
0x0012,0x0013) to bit15-8
bit7-0 Rotary switch of amplifier front panel ,bit15-8 This setting value at initialization
If 0x20FA.02=0x00 then logical add will write to station alias Reg:0x0012,0x0013
*The function becomes valid through control source re-closing.
0x02 Station Alias Selection [ALIASEL] Unsigned8 RW No 0x00
Sets the station alias Reg:0x0012,0x0013 Setting range 0x00 to 0x01
0x00:Use value of rotary switch of amplifier front panel(bit7-0) and extended alias number(bit15-8)
0x01:Use value of EEPROM address 0x04
*The function becomes valid through control source re-closing.
[Pulse number threshold] = [Pulse number of modulo coordinate] x [The setting value of 0x20FC]
Pulse number threshold will be hold to 0x3FFFFFFF when the value became bigger than 0x3FFFFFFF.
✔Detection is enabled at condition of 0x20F7 Bit2=1.
✔ Detection occur only at 0x3FFFFFFF when the setting value is zero.
✔ Contact our sales for use of this function with DC input type.
*The function becomes valid through control source re-closing.
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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 PDO Initial value
0x00 Number of entry Unsigned8 RO No 0x03
0x01 Main power input type [MPWRIN] Unsigned8 RW No 0x00
Selects the main circuit mode to actually be wired. Setting range 0x00-0x02
0x00:3φAC(three-phase AC input)
0x01:1φAC(single phase AC input)
0x02:DC (DC power source input) supplied from the power supply unit
0x03 - 0xFF:Reserved
*The function becomes valid through control source re-closing.
0x02 Regenerative Resistor Selection [RGKIND] Unsigned8 RW No 0x01
Selects the presence/absence of regenerative resistance and the Setting range 0x00-0x02
connection forms.
0x00:regenerative resistance disconnected
0x01:embedded regenerative resistance used
(used as discharge resistance in the power regenerating unit)
0x02:external regenerative resistance used
(used as discharge resistance in the power regenerating unit)
0x03 - 0xFF:Reserved
*The function becomes valid through control source re-closing.
0x03 Setup Communication Baud Rate [COMBAUD] Unsigned8 RW No 0x05
Selects the baud rate when PC communication is Setting range 0x03-0x06
performed by the setup software
0x03 :_9600bps
0x04 :_19200bps
0x05 :_38400bps
0x06 :_57600bps
0x00-0x02,0x07-0xFF:Reserved
*The function becomes valid through control source re-closing.
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7. Object Dictionary
0x20FE: Motor code
Index 0x20FE Sets the code of the drive motor. Object Code Variable
Sub-Idx Description Data Type Access PDO Initial value
0x00 Combination Motor code [MOCODE] Unsigned16 RW No 0xFFFF
Sets the combination motor code. Setting range 0x0000-0xFFFF
The motor code list can be set via communication.
✔ If there is no Servo motor in the list, please contact our sales.
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7. Object Dictionary
Rotary motor (200V)
Servo motor Amplifier
Series Motor code Input type Flange size Output Maximum speed
model number capacity
0x0515 R1AA10100H AC200V 30A □100mm 1.0kW 3,000 min-1
0x0512 R1AA10150H AC200V 30A □100mm 1.5kW 3,000 min-1
0x0516 R1AA10100F AC200V 50A □100mm 1.0kW 6,000 min-1
0x04FA R1AA10150F AC200V 50A □100mm 1.5kW 6,000 min-1
0x0513 R1AA10200H AC200V 50A □100mm 2.0kW 3,000 min-1
0x0517 R1AA10250H AC200V 50A □100mm 2.5kW 3,000 min-1
0x050F R1AA10200F AC200V 100A □100mm 2.0kW 6,000 min-1
0x0518 R1AA10250F AC200V 100A □100mm 2.5kW 6,000 min-1
R1 0x0511 R1AA13300H AC200V 100A □130mm 3.0kW 3,000 min-1
Series 0x0508 R1AA13300F AC200V 100A □130mm 3.0kW 6,000 min-1
0x0519 R1AA13400H AC200V 100A □130mm 4.0kW 3,000 min-1
0x050E R1AA13500H AC200V 100A □130mm 5.0kW 3,000 min-1
0x051A R1AA13400F AC200V 150A □130mm 4.0kW 6,000 min-1
0x051B R1AA13500F AC200V 150A □130mm 5.0kW 6,000 min-1
0x0109 R1AA18550H AC200V 300A 180mm sq. 5.5kW 3,000 min-1
0x010D R1AA1811KR AC200V 300A 180mm sq. 11kW 2,500 min-1
0x010E R1AA1815KB AC200V 300A 180mm sq. 15kW 2,000 min-1
0x010F R1AA18750L AC200V 300A 180mm sq. 7.5kW 3,000 min-1
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7. Object Dictionary
Linear motor (200V)
Servo motor Amplifier
Series Motor code Input type Magnet width Output Maximum speed
model number capacity
0x0343 DS030C1N2E AC200V 30A 30mm 160N 5.5 m/s
0x0344 DS030C2N2E AC200V 50A 30mm 320N 5.5 m/s
0x0346 DS030C3N2E AC200V 100A 30mm 480N 5.5 m/s
0x0347 DS050C1N2E AC200V 30A 50mm 260N 3.5 m/s
0x0348 DS050C2N2E AC200V 50A 50mm 520N 3.5 m/s
0x034A DS050C3N2E AC200V 100A 50mm 780N 3.5 m/s
0x034C DS075C1N2E AC200V 30A 75mm 400N 2.4 m/s
DS
Series 0x034F DS075C2N2E AC200V 50A 75mm 800N 2.4 m/s
0x0349 DS075C3N2E AC200V 100A 75mm 1200N 2.4 m/s
0x0350 DS100C1N2E AC200V 50A 100mm 540N 4.0 m/s
0x0351 DS100C2N2E AC200V 100A 100mm 1080N 4.0 m/s
0x0352 DS100C3N2E AC200V 150A 100mm 1620N 4.0 m/s
0x0353 DS150C1N2E AC200V 50A 150mm 800N 2.6 m/s
0x0354 DS150C2N2E AC200V 100A 150mm 1600N 2.6 m/s
0x034D DS150C3N2E AC200V 150A 150mm 2400N 2.6 m/s
0x03D2 DD030C1Y4E AC200V 50A 30mm 430N 3.0 m/s
0x03D3 DD030C2Y4E AC200V 100A 30mm 860N 3.0 m/s
0x03D4 DD030C3Y4E AC200V 100A 30mm 1290N 3.0 m/s
0x03D5 DD050C1Y2E AC200V 100A 50mm 700N 3.0 m/s
0x03D6 DD050C2Y2E AC200V 150A 50mm 1400N 3.0 m/s
DD
0x03D9 DD050C3Y2E AC200V 300A 50mm 2100N 3.0 m/s
Series
0x03DA DD075C1Y2E AC200V 100A 75mm 1050N 3.0 m/s
0x04D4 DD035CC2AN AC200V 100A 35mm 1400N 3.0 m/s
0x03DB DD075C2Y2E AC200V 150A 75mm 2100N 3.0 m/s
0x03DC DD075C3Y2E AC200V 300A 75mm 3100N 3.0 m/s
0x03DD DD075C4Y2E AC200V 300A 75mm 4150N 3.0 m/s
DT
0x04D3 DT030CD1AN AC200V 30A 30mm 650N 3.0 m/s
Series
Specific setting
Motor code Contents
- 0x8000 Auto setting of motor parameter (When connected to applicable motor)
0xFFFF R ADVANCED – Based on motor setting (EEPROM setting value)set by setup software.
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7. Object Dictionary
0x20FF: Combination Encoder Selection
Selects the motor encoder specifications and functions
driven by combination.
Index 0x20FF * Reactivate the control power after changing the setting this Object Code Record
will reset the setting.
When the incremental When the absolute when linear scale encoder is used.
encoder is used encoder is used
0x0000 : 500P/R 0x0000 : 2,048FMT 0x0000 : 5μm [200P/mm]
0x0001 : 512P/R 0x0001 : 4,096FMT 0x0001 : 2.5μm [400P/mm]
0x0002 : 1,000P/R 0x0002 : 8,192FMT 0x0002 : 2μm [500P/mm]
0x0003 : 1,024P/R 0x0003 : 16,384FMT 0x0003 : 1.25μm [800P/mm]
0x0004 : 1,500P/R 0x0004 : 32,768FMT 0x0004 : 1μm [1,000P/mm]
0x0005 : 2,000P/R 0x0005 : 65,536FMT 0x0005 : 0.5μm [2,000P/mm]
0x0006 : 2,048P/R 0x0006 : 131,072FMT 0x0006 : 0.25μm [4,000P/mm]
0x0007 : 2,500P/R 0x0007 : 262,144FMT 0x0007 : 0.125μm [8,000P/mm]
0x0008 : 3,000P/R 0x0008 : 524,288FMT 0x0008 : 0.1μm [10,000P/mm]
0x0009 : 4,000P/R 0x0009 : 1,048,576FMT 0x0009 : 0.05μm [20,000P/mm]
0x000A : 4,096P/R
0x000B : 5,000P/R
0x000C : 6,000P/R
0x000D : 8,192P/R
0x000E : 16,384P/R
0x000F : 32,768P/R
0x0010 : 10,000P/R
0x8000: Auto setting of motor parameter (When connected to applicable motor.)
0xFFFF: R ADVANCED - by division number setting (EEPROM setting value) of the Setup software.
# Initialized by the encoder resolution number set in EEPROM at the turn-on state.
When the encoder resolution number set parameter is different from the EEPROM value set, the function will be enabled by
control source re-closing. After the new value is set in EEPROM, alarm ”DE: parameter change completed” occurs, then
re-close control source.
✍ Automatic setting of motor parameter is performed when re-turning on the power supply after 0x8000 is set to any of
motor code (0x20FE: 0x00), encoder division number code (0x20FF: 0x01), or encoder type code (0x20FF: 0x02). After
that the three values are updated automatically.
In the following cases, automatic setting of motor parameter function is not available.
✔ When alarm activated, in servo-on state, when encode-clear being performed.
✔ Connected to the motor which is not supported by automatic setting.
✔ Connected to the motor which is improper combination with the amplifier (motor size, encoder baud rate).
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7. Object Dictionary
✍ Initialized by the encoder variety code set in EEPROM at the turn-on state.
When the encoder variety set parameter is different from the EEPROM value set, the function will be enabled by control
source re-closing. After the new value is set in EEPROM, alarm ”DE: parameter change
completed” occurs, then re-close control source.
✍ Automatic setting of motor parameter is performed when re-turning on the power supply after 0x8000 is set to any of
motor code (0x20FE: 0x00), encoder division number code (0x20FF: 0x01), or encoder type code (0x20FF: 0x02). After that
the three values are updated automatically.
0x03 External Encoder Resolution [EXPENRES] Unsigned32 RW No 0x000007D0
Sets the external pulse encoder resolution used for full (2,000P/R)
close control.
Setting range 0x000001F4-0x0001869F
Unit Pulse
[Full Close]
Sets the (1 fold) pulse converted to one turn of the motor axis.
The position command is the division number of the 4-fold one turn pulse.
* The external encoder does not correspond to the absolute encoder.
# Initialized by the encoder resolution number set in EEPROM at the turn-on state.
When the encoder resolution number set parameter is different from the EEPROM value set, the function will be enabled by
control source re-closing. After the new value is set in EEPROM, alarm ”DE: parameter change completed” occurs, then
re-close control source.
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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 PDO Initial value
0x00 Status Word 1 Unsigned16 RO Possible -
Indicates various internal statuses of the amplifier.
MSB LSB
zv sact eact bcnt eclrm ecsm near inps
7 6 5 4 3 2 1 0
bit0:In-Position Monitor [INPS]
Set to “1” when the actual position is within the position
window (0x6067) (indefinite except for csp and ip.)
bit1:Near Range Monitor [NEAR]
Set to “1” when the actual position is within the near range
(0x201F) (Indefinite except for csp and ip.)
bit2: encoder C phase monitor [ECSM]
Set to “1” when the C signal(Z) of the incremental encoder is
input. (indefinite except for INC-E.)
bit3:Encoder Clear Monitor [ECLRM]
Set to “1” during encoder clearance.
bit4: Brake Control [BCNT]
This is a holding brake release timing output.
Set to “1” while the brake is released.
bit5: Actual position effective monitor [EACT]
Set to “1” when encoder signal can be read.
bit6: Command reception-enable monitor [SACT]
Set to”1” when command reception enabled.
bit7:Speed Zero Monitor [ZV]
Set to “1” when the actual velocity is within zero velocity
range (0x2020) for 1ms or more.
MSB LSB
pse psr Gests Ta vcmp vp ltg
15 14 13-12 11 10 9 8
bit8:Low Speed Monitor [LTG]
When the actual velocity is in the low velocity range or less
(0x2021), set at “1.”
bit9:Speed Attainment Monitor [VA]
When the actual velocity is in the speed attainment range or
greater (0x2002), set at “1.”
bit10:Speed Matching Monitor [VCMP]
When the actual velocity is within the set rotation set by 0x20F0.3 velocity
window (velocity consistent) unit output selection, set at “1.”
*When the velocity window (0x606D) selected: compare with the rotation
number setting (min-1).
* When the velocity window (0x606D) selected: compare with the proportion
setting (%).
Bit11: Torque (force) attainment monitor [TA]
Set to “1” when internal velocity command is over Torque (force)
attainment (0x202E).
bit13,12:PP trajectory generation status monitor [GESTS]
The status of trajectory generator is shown.
Bit13,12 = 0,0 : Stop
Bit13,12 = 0,1 : In acceleration
Bit13,12 = 1,0 : In constant velocity
Bit13,12 = 1,1 : In deceleration
bit15-14: Position sync compensation status monitor [PSE,PSR]
Monitors the status of position sync compensation.
Bit14 = 1 : In position sync compensation
Bit15 = 1 : In position deviation data receiving
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7. Object Dictionary
0x2101: Amplifier Error Field
Indicates the alarm occurring in the servo amplifier. Sub-Index 0x00 indicates the number of alarms that
Index Object Code
are currently occurring, and Sub-Index 0x01-0x04 indicates the contents of alarms and Amplifier Status
0x2101 Array
when the alarms occur up to four. Resets the alarm by setting Alarm reset in Control Word (0x6040.7).
Sub-Idx Name Description Data Type Access PDO Initial value
0x00 Number of entry Unsigned8 RO No 0x04
0x01 Error 1 : Alarm 1 [ALMACT1] Unsigned8 RO Possible 0x00
0x02 Error 2 : Alarm 2 [ALMACT2] Unsigned8 RO Possible 0x00
0x03 Error 3 : Alarm 3 [ALMACT3] Unsigned8 RO Possible 0x00
0x04 Error 4 : Alarm 4 [ALMACT4] Unsigned8 RO Possible 0x00
MSB LSB
ALMCODE
7 6 5 4 3 2 1 0
bit7-0:Alarm Code defined by this servo amplifier
See the Alarm Code list.
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7. Object Dictionary
bit0:Temperature Warning
MSB LSB
cpew btw maxw minw hlw llw - pow
15 14 13 12 11 10 9 8
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7. Object Dictionary
0x2104: Actual Gain Monitor
Indicates the actual setting value of the gain parameter to switch to real
Index 0x2104 time various gain parameters through auto-tuning or gain switching Object Code Array
selection.
Sub-Idx Description Data Type Access PDO Initial value
0x00 Number of entry Unsigned8 RO No 0x07
0x01 Actual Position Loop Proportional Gain [KPMON] Unsigned16 RO Possible 0x001E
Outputs the value of the position loop gain (0x2005) that is (30 /s)
switched in auto-tuning mode (0x2002) or the gain switching
Setting 0x0001-0x0BB8
selection (0x2001, bit 5-4), and is currently used for the servo
range (1-3000 /s)
control.
Unit 1/s
0x02 Actual Position Integral Time Constant [TPIMON] Unsigned16 RO Possible 0x2710
Outputs the value of the position integral time constant (1000ms)
(0x2006) that is switched in auto-tuning mode (0x2002) or the proportional
gain switching selection (0x2001, bit 5-4), and is currently used control
for the servo control. Setting 0x0003-0x2710
range (0.3-1000 ms)
Unit 0.1ms
0x03 Actual Velocity Loop Proportional Gain [KVPMON] Unsigned16 RO Possible 0x0032
Outputs the value of the velocity loop proportional gain (50Hz)
(0x200B) that is switched in auto-tuning mode (0x2002) or the
Setting 0x0001-0x07D0
gain switching selection (0x2001, bit 5-4), and is currently used
range (1-2000 Hz)
for the servo control.
Unit Hz
0x04 Actual Velocity Loop Integral Time Constant [TVIMON] Unsigned16 RO Possible 0x00C8
Outputs the value of the velocity loop integral time constant (20ms)
(0x200C) that is switched in auto-tuning mode (0x2002) or the Setting 0x0003-0x2710
gain switching selection (0x2001, bit 5-4), and is currently used range (0.3-1000 ms)
for the servo control. Unit 0.1ms
0x05 Actual Load Inertia Moment Ratio [JRATMON] Unsigned16 RO Possible 0x0064
Outputs the value of the load inertia moment ratio (0x200D) (100%)
that is switched in auto-tuning mode (0x2002) or the gain Setting 0x0000-0x3A98
switching selection (0x2001, bit 5-4), and is currently used for the range (0-15000%)
servo control. Unit %
0x06 Actual Torque (force) Command Filter [TCFILMON] Unsigned16 RO Possible 0x0258
Outputs the value of the torque command filter (0x2011) that is (600Hz)
switched in auto-tuning mode (0x2002) or the gain switching Setting 0x0001-0x07D0
selection (0x2001, bit 5-4), and is currently used for the servo range (1-2000 Hz)
control.
Unit Hz
0x07 Actual Model Control Gain [MKPMON] Unsigned16 RO Possible 0x001E
Outputs the value of the model control gain (0x2017) that is (30 /s)
switched in auto-tuning mode (0x2002) or the gain switching Setting 0x0001-0x0BB8 (1-3000 /s)
selection (0x2001, bit 5-4), and is currently used for the servo range
control. Unit 1/s
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7. Object Dictionary
0x2108: Motor utilization monitor (Effective torque (force) estimate value)
Index 0x2108 Indicates the estimation value of the Effective Motor Torque (force). Object Code Variable
Sub-Idx Description Data Type Access PDO Initial value
0x00 Number of entry Unsigned8 RO No 0x02
0x01 Effective Torque (force) Estimated Value [TRMS] Unsigned16 RO Possible -
Indicates the Effective Motor Torque (force) against the Setting 0x0000-0xFFFF
motor rated torque (force). range (0-65535 %)
* The exact value is indicated, but in some operation
patterns, it may take several hours to stabilize the figure. Unit %
0x02 Fast Effective Torque (force) Estimate Value [ETRMS] Unsigned16 RO Possible -
Setting 0x0000-0xFFFF
Indicates the Effective Motor Torque (force) of time constant range (0-65535 %)
(1/16) against TRMS.
* Quick estimation is possible in applications where Unit %
short-cycle operation patterns are repeated.
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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 encoder used.
Sub-Idx Description Data Type Access PDO Initial value
0x00 Number of entry Unsigned8 RO No 0x07
0x01 Internal Control Cycle Actual Position 1 Integer32 RO Possible -
Actual position of 0x6064, 125μs ago.
0x02 Internal Control Cycle Actual Position 2 Integer32 RO Possible -
Actual position of 0x6064, 250μs ago.
0x03 Internal Control Cycle Actual Position 3 Integer32 RO Possible -
Actual position of 0x6064, 375μs ago.
0x04 Internal Control Cycle Actual Position 4 Integer32 RO Possible -
Actual position of 0x6064, 500μs ago.
0x05 Internal Control Cycle Actual Position 5 Integer32 RO Possible -
Actual position of 0x6064, 625μs ago.
0x06 Internal Control Cycle Actual Position 6 Integer32 RO Possible -
Actual position of 0x6064, 750μs ago.
0x07 Internal Control Cycle Actual Position 7 Integer32 RO Possible -
Actual position of 0x6064, 875μs ago.
Setting range 0x80000000-0x7FFFFFFF
(-2147483648-2147483647 Pulse)
Unit Pulse
Unit Pulse/sec
7-140
7. Object Dictionary
0x2116: Actual Velocity 2
Has actual velocity value caluculated from position encoder.
Index 0x2116 Object Code Variable
Value shall be given in the velocity unit of user definition.
Sub-Idx Description Data Type Access PDO Initial value
0x00 Actual Velocity [ACVMON2] Integer32 RO Possible -
Setting range 0x80000000 to 0x7FFFFFFF
✔Filter is processed data, and cutoff frequency is (-2147483648 to 2147483647 pps)
20Hz Unit Pulse/sec
7-141
7. Object Dictionary
7-142
7. Object Dictionary
0x5010:Motor data
Index 0x5010 Indicate selected motor data. Object Code Array
Sub-Idx Description Data Type Access PDO Initial value
0x00 Number of entry Unsigned8 RO No 0x07
0x01 Unsigned8 RO Possible 0x00
Number of motor pole
Unit Pole
0x02 Unsigned16 RO Possible 0x0000
Phase resistance
Unit mΩ
0x03 Unsigned16 RO Possible 0x0000
Phaseinductance
Unit μH
0x04 Unsigned16 RO Possible 0x0000
Moment of inertia
Unit gmm^2
0x05 Unsigned32 RO Possible 0x0000
Voltage constant for each phase
Unit μVrms/min-1
0x06 Unsigned16 RO Possible 0x0000
Rated torque
Unit mN・m/Arms
Support R series motor only.
Disabled to Q series or previous motor.
7-143
8
8. Operations
8.1 Standard Setting Value upon Shipment ······························································································8-1
8.2 Test opeartion ·······························································································································8-2
1) Installation and Wiring ·················································································································8-2
2) Safe Torque OFF Function ···········································································································8-2
3) Movement Confirmation ···············································································································8-3
4) Machine Movement Check ···········································································································8-4
8.3 ESC Power ON Sequence ··············································································································8-5
8.4 EtherCAT Initialization Process·········································································································8-6
1) INIT State ·································································································································8-6
2) Pre-Operational State ··················································································································8-8
3) Safe-Operational State ················································································································8-9
4) Operational State ·······················································································································8-9
5) Boot Strap state ······················································································································· 8-10
6) Boot Strap State (upload) ··········································································································· 8-12
8.5 Operation Sequence ···················································································································· 8-13
1) Operation Sequence from Power ON to Power OFF ········································································ 8-13
2) Alarm Occurrence Stop Sequence ······························································································· 8-17
3) Alarm Reset Sequence ·············································································································· 8-20
8.6 SEMI F47 Support Functions ········································································································· 8-21
8
8. Operations System Parameters Setting Value upon Shipment
* Please confirm with separate volume M0010842 for operation methods of Setup Software
8-1
8. Operation Servo Amplifier Status Display
■ Input power supply: Confirm no alarm code is displayed on the display screen on
2 the upper front of the amplifier. When alarm code is displayed, take appropriate
measures based on “Troubleshooting (Chapter 11)”.
■ When 7 segment LED does not light “≡” through main circuit power input, take
appropriate measures based on “Troubleshooting (Chapter 11)”.
8-2
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 (CN2)
Select Input signals to be used from General parameter Group9 and assign in CONT1,
and CONT2.
Factory Shipment Setting Value
Input Signal CN2 Pin No. Setting Value
CONT1 3,4 00:Always_Disable
1
CONT2 5,6 00:Always_Disable
CONT3 7,8 00:Always_Disable
CONT4 9,10 00:Always_Disable
CONT5 11,12 00:Always_Disable
CONT6 14,15 00:Always_Disable
* The factory default gives no assignment function to the general signal.
Output signal check: Generic Output signals (CN3)
■ Select Output signals to be used from General parameter Group9 and assign in
OUT1,and OUT2.
2 Factory Shipment Setting Value
Output Signal CN2 Pin No Setting Value Object: Index,Sub-index
OUT1 16,17 42:FOUT1_ON 0x20F9,0x01 (OUT1)
OUT2 18,19 44:FOUT2_ON 0x20F9,0x01 (OUT2)
Input/Output Signal Check
■ Check that the set Input/Output signals are functioning normally with the monitor.
Refer to “Monitor Functions (chapter 10)” for monitor explanation.
8-3
8. Operation Servo Amplifier Status Display
・ Servo-on state
“8” is indicated continuously.
The following display indicates forward/ reverse rotation limit state.
Forward rotation side limit state. Forward rotation side over travel
state in position and velocity control form.
Inverse rotation side limit state. Inverse rotation side overt ravel state
in position and velocity control form.
■ Setting for the limit switch function can be changed in general parameter Group9
ID00,ID01.
1
■ Input low velocity command and check that movements such as movement
direction, travel distance, emergency stop and forward/inverse direction limit,
switch, etc. are normal.
Operation
■ Input commands of actual operation patterns and operate machine.
2 ■ Real time auto-tuning (Automatic tuning for servo gain, filter, etc.) is enabled at the
time of factory shipment. Manual tuning is not necessary if there are no problems
with movement and/or characteristics.
Refer to “Adjustments (Chapter 6)” for servo tuning methods.
3 Power OFF Turn OFF power after turning OFF Servo ON signal.
8-4
8. Operation Servo Amplifier Status Display
Shows RS2 EtherCAT slave amplifier power ON sequence at input of control power supply.
3 Reset Cancel: Starts ESC operation. Prohibits memory access until SII EEPROM is loaded .
Access enabled for μ controller after reset cancellation.
8-5
8. Operation Servo Amplifier Status Display
No
Executed multiple times?
(For an average value acquisition: approx. 16 times)
Yes
Initialization Procedure Example "INIT State" - 1
8-6
8. Operation Servo Amplifier Status Display
Write Calculated System Time Offset Value W 0x0920(8byte) : System Time Offset
Write System Time Delay W 0x0928(4byte) : System Time Delay
No
Executed ARMW or FRMW 15,000 times?
Yes
SII EEPROM Data Read
Allows SII (EEPROM) access rights to master W 0x0500 : EEPROM Setting (0x00)
Allows SII (EEPROM) access rights to slaves W 0x0500 : EEPROM Setting (0x01)
8-7
8. Operation Servo Amplifier Status Display
2) Pre-Operational State
EtherCAT Master (Host) EtherCAT Slave (Subordinate)
・ FMMU0 Setting (RxPDO) L:0x10000 -> P:0x1100 W 0x0990:0x0997 : Start Operation (0x7A120)
・ FMMU1 Setting (TxPDO) L:0x10000 <- P:0x1140 W 0x0980:0x0981 : Cycle Unit Enabled(0x3D090)
Go to Safe-Operational State
Initialization Procedure Example (Pre-Operational State)
8-8
8. Operation Servo Amplifier Status Display
3) Safe-Operational State
EtherCAT Master (Host) EtherCAT Slave (Subordinate)
No
Yes
Go to Operational State
4) Operational State
8-9
8. Operation Operation Sequence (Power ON)
(SUCCESS)
Ack-request
Receive Ack-request ・Packet Number :0x0
Data-request
・Packet Number Receive Data-request
・File Data
Is Checksum of Intel Hexformat correct?
No Yes
(Error)
Error-request
Receive Error-request
・Error Code:0x8000
・Error Text:DATA CHECK SUM ERROR
(SUCCESS)
Ack-request
Receive Ack-request ・Packet Number:The Packet Number of Data-request to be sent the nexttime
(SUCCESS)
Ack -request
Receive Ack-request ・Packet Number: The Packet Number of Data-request to be sent the nexttime
8-10
8. Operation Operation Sequence (Power ON)
Re-set software
Precaution:
Alarm 85 “Abnormal on encoder
initial process” is output when
connected to incremental sensor. So
Re-turn on the control power.
・ESM=「Init」State
8-11
8. Operation Operation Sequence (Power ON)
(Error) No
Yes
Error request
Receive Error Request
・Error Code:0x0009
(SUCCESS)
(Repetition processing)
8-12
8. Operation Operation Sequence (Power ON)
Power ON
0msec(min)
Enabling Signal
Power ON signal
1:Servo ON
Enable operation 0:Servo OFF
(0x6040.3)
Motor Velocity
Voltage Enable 1
(0x6041.4) 0
The frequency of powering the servo amplifier ON/OFF must be less than 5 times/H and 30 times/day. In
addition, the intervals between Power ON/OFF must be longer than 10 minutes.
Inrush current suppression times of each servo amplifier size are as follows:
Servo amplifier size Inrush current suppression time
RS2A01# 400[ms]
RS2A03# 400[ms]
RS2A05# 900[ms]
RS2A10# 1400[ms]
RS2A15# 1400[ms]
RS2A30# 1900[ms]
RS2K/J 100[ms]
8-13
8. Operation Operation Sequence (Power OFF)
Sequence in case of Servo OFF during motor rotation depends on Disable Option Code (0x605C)
setting.
Control Power
Supply (r, t) Control power
Control Power ON Simultaneous Shut down:0msec(min) supply OFF
Main Circuit Power
Supply (R, S, T) Main circuit ON Main circuit OFF
Enable operation
(0x6040.3) 1:Servo ON 0:Servo OFF
Motor Velocity Holding brake engage
delay time
BONDLY:0x2024
Motor stoppage detection:
Holding brake control l less than 50min-1
(0x2100.4) Holding brake released Holding brake engaged
(HBON)
Dynamic brake signal DB Released DB engaged
(DBON)
Operation Enabled
(0x6041.2) Motor excitation Motor excitation released
(Motor excitation signal)
Voltage Enable 1 0
(0x6041.4)
8-14
8. Operation Operation Sequence (Power OFF)
1. 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) 1 0: Emergency STOP
Operation Enabled
(0x6041.2)
(Motor excitation signal) Motor excitation Motor excitation released
In the quick stop, "Drive follows the command value (Command updates enable)" becomes command invalid by release of
the quick stop signal.
8-15
8. Operation Operation Sequence (Power OFF)
2. 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) 1 0: Emergency Stop
In the quick stop, "Drive follows the command value (Command updates enable)" becomes command invalid by release of
the quick stop signal.
8-16
8. Operation Operation Sequence (at Alarm Occurrence)
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. (SB: Servo brake Stop, DB: Dynamic brake Stop)
The stop method can be selected with Quick Stop option code (0x605A) for alarms that can be
stopped with the servo brake. Please refer to “Alarm Display List (11-3)” for details.
Motor velocity
8-17
8. Operation Operation Sequence (at Alarm Occurrence)
■ Stop Sequence with Servo Stop (Fault Reaction code) at Alarm Occurrence
1. When a motor does not stop with the setting value of holding brake engage start time
8-18
8. Operation Operation Sequence (at Alarm Occurrence)
■ Stop Sequence with Servo Stop (Quick Stop option code) at Alarm Occurrence
2. When a motor has stopped with the setting value of holding brake engage start time
8-19
8. Operation Operation Sequence (at Alarm Reset)
Power ON signal
(0x6041.4)
* Power reset (Turn off power once and re-input) or encoder clear is required for the alarm reset depending on
alarm type. Refer to “Alarm Display List (11-3)” for details.
8-20
8. Operation Operation Sequence (at Alarm Reset)
1. Parameters to be set
Index Symbol Name Unit Setting range
0x20F5 CPETLSEL Torque limit selection at the time of power drop - 00 - 01
- TLMREST Torque limit recovery value at the time of power return. % 0.0~500.0
2. Operation sequence
Shows the sequence from the control power drop warning detection until the power return.
Momentary Interruption
Bus Voltage
3. Remarks
Torque limit value at the time of control power drop warning must be less than the value in normal
operation. Torque will be limited by selected value at the time of the power drop even if the torque limit
value is larger than the value under normal operation.
Returns to torque limit value in normal operation immediately after power returns.
Momentary Interruption
Bus Voltage
8-21
9
9. Adjustments
9.1 Servo Tuning Functions and Basic Adjustment Procedure ······································································9-1
1) Servo tuning functions ·················································································································9-1
2) Tuning method selection procedure ································································································9-2
9.2 Automatic Tuning ··························································································································9-3
1) Use the following parameters for Automatic tuning” ···········································································9-3
2) Automatically adjusted parameters in auto-tuning··············································································9-6
3) Adjustable parameters during auto-tuning ························································································9-6
4) Unstable functions during auto-tuning ·····························································································9-8
5) Adjustment method for auto-tuning·································································································9-8
6) Auto-Tuning Characteristic selection flowchart ··················································································9-9
7) Monitoring servo gain adjustment parameters ················································································ 9-10
8) Manual tuning method using auto-tuning results ············································································· 9-10
9.3 Automatic tuning of notch filter ······································································································· 9-11
1) Operation method····················································································································· 9-11
2) Setting parameters ··················································································································· 9-11
9.4 Automatic tuning of FF Vibration Suppression Frequency ···································································· 9-12
1) Operation method····················································································································· 9-12
2) Setting parameters ··················································································································· 9-12
9.5 Using Manual Tuning ··················································································································· 9-13
1) Servo system structure and servo adjustment parameters ································································ 9-13
2) Basic manual tuning method for velocity control ·············································································· 9-14
3) Basic manual tuning method for position control ············································································· 9-14
9.6 Model Following Control ··············································································································· 9-15
1) Automatic tuning method for Model following control ········································································ 9-15
2) Manual tuning method for Model following control ··········································································· 9-16
9.7 Tuning to Suppress Vibration ········································································································· 9-17
1) FF vibration suppressor control ··································································································· 9-17
2) Model tracking vibration suppressor control ··················································································· 9-17
3) Tuning methods ······················································································································· 9-19
9.8 Using the Disturbance Observer Function························································································· 9-20
9
9. Adjustments Selection of Tuning Method
◆ Automatic Tuning
The servo amplifier estimates the Load inertia moment ratio, during real time operations, and the
amplifier automatically tunes the servo gain and filter frequency. This is the most basic tuning
method.
◆ Manual Tuning
Set all parameters, such as Load inertia moment ratio, servo gain, filter frequency, etc. manually.
This method is used when characteristics during auto-tuning are insufficient.
Model following control is a control method that ensures a higher detection response by composing a
model control system including the mechanical system in a servo amplifier to operate the actual servo
motor in order to follow the model control system.
9-1
9. Adjustments Selection of Tuning Method
Start tuning
* Depending on the combination of these functions, use of more than two (2) methods jointly will
invalidate the procedure.
9-2
9. Adjustments Automatic Tuning
Selection Meaning
00 AutoTun Automatic Tuning
◆ Servo amplifier estimates Load inertia moment ratio of the machine or equipment
during real time and automatically tunes the servo gain.
◆ Parameters for the servo amplifier to automatically tune vary depending on selected
auto-tuning characteristics.
◆ Servo amplifier estimates the Load inertia moment ratio at the time of
acceleration/deceleration. Therefore, for operations only with excessively long
acceleration/deceleration time constants or with only low torque (force) in low
velocity, this mode cannot be used.
Also, for operations with high disturbance torque (force) or with major mechanical
clearance, this mode cannot be used.
00 0x2002, 0x01 [01:_AutoTun_JRAT-Fix Automatic Tuning [JRAT Manual Setting]
Selection Meaning
01 AutoTun_JRAT-Fix Automatic Tuning [JRAT manual setting]
◆ Based on the Load inertia moment ratio (JRAT1) [Group1 ID14], which has to be
set, the servo amplifier automatically tunes to the best servo gain.
◆ Parameters for the servo amplifier to automatically tune will vary depending on the
selected auto-tuning characteristics.
Selection Meaning
02 ManualTun Manual Tuning
◆ This mode is used in order to adjust the servo gain to the machine or equipment to
ensure maximum response as well as when characteristics in auto-tuning are
insufficient.
9-3
9. Adjustments Automatic Tuning
CoE
ID 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.
■ [Positioning control (Positioning)]
Positioning control is a control method used to reach the servo motor quickly to target a
position from the present position by disregarding the trajectory between the positions.
Select this mode when positioning point by point is necessary.
Selection Meaning
00 Positioning1 Positioning Control 1(General)
01 0x2002, 0x02 ◆ Select for general positioning purposes.
◆ Parameters shown in table 2 cannot be adjusted manually.
Selection Meaning
01 Positioning2 Positioning Control 2(High Response)
◆ Select for high response positioning.
◆ Parameters shown in table 2 cannot be adjusted manually.
Selection Meaning
Positioning control 3(High Response, FFGN
02 Positioning3
Manual Setting)
◆ Select this mode to adjust FFGN manually.
◆ The following parameter adjustment is made manually:
General parameters GROUP1 [Basic control parameter settings]
ID Symbol Name
05 FFGN Feed Forward Gain
9-4
9. Adjustments Automatic Tuning
CoE
ID Contents
Object ID
Auto-Tuning Characteristic [ATCHA]
Selection Meaning
Positioning control 4
03 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”.
◆ Parameters shown in table 2 cannot be adjusted manually.
Selection Meaning
Positioning control 5
04 Positioning5 (for high response, horizontal axis only,
FFGN manual setting)
◆ Select this mode when the machine movement is on a horizontal axis and
receives no disturbing influence from external sources or when you want to
adjust FFGN manually.
◆ Positioning time may be shortened compared to “Positioning control 2”.
◆ The following parameter adjustment is done manually.
General parameters GROUP1 [Basic Control Parameter Settings]
01 0x2002, 0x02 ID Symbol Name
05 FFGN Feed Forward Gain
Selection Meaning
05 Trajectory1 Trajectory Control 1
◆ Select this mode for single axis use. The response of each axis can be different.
◆ Parameters shown in table 2 cannot be adjusted manually.
Selection Meaning
Trajectory Control 2
06 Trajectory2
(KP, FFGN Manual Setting)
◆ Select this mode when you need equal responses from multiple axes,respectively.
Adjust KP, FFGN.
◆ The following parameter adjustment is done manually.
General parameters GROUP1 [Basic control parameter settings]
ID Symbol Name
02 KP1 Position Loop Proportional Gain 1
05 FFGN Feed Forward Gain
9-5
9. Adjustments Automatic Tuning
9-6
9. Adjustments Automatic Tuning
■ General parameters Group2 [FF vibration suppressor control/ Notch filter/ Disturbance observer settings]
ID CoE Object ID Symbol Name
00 0x2012,0x01 SUPFRQ1 FF Vibration Suppressor Frequency 1
01 0x202C,0x00 SUPLV FF Vibration Suppressor Level Selection
02 0x2040,0x01 VCFIL_SET Velocity Command Filter Setting
03 0x2041,0x01 VCGFIL_SET Velocity Command Filter Setting
04 0x2041,0x02 VCGFIL_TYP Type of Velocity Filter
05 0x2041,0x03 VCGFIL_LPF Velocity Low Pass Filter cutoff frequency *
06 0x2041,0x04 VCGFIL_HPF Cutoff frequency of Velocity Bypass Filter *
07 0x2041,0x05 VCGFIL_BPFC Center frequency of Velocity Band Pass Filter *
08 0x2041,0x06 VCGFIL_BPFW Band width of Velocity Band Pass Filter
09 0x2041,0x07 VCGFIL_NCFC Center frequency of Velocity Notch Filter *
0A 0x2041,0x08 VCGFIL_NCFW Band width of Velocity Notch Filter *
10 0x2040,0x02 TCFIL_SET Torque Command Filter Setting
0x204n,0x01 TCGFILn_SET General Torque Command Filter Setting n **
0x204n,0x02 TCGFILn_TYP Type of Torque Filter
11 0x204n,0x03 TCGFILn_LPF Cutoff frequency of Torque Low Pass Filter n **
~ 0x204n,0x04 TCGFILn_HPF Cutoff frequency of Torque High Pass Filter n **
30
0x204n,0x05 TCGFILn_BPFC Cutoff frequency of Torque Band Pass Filter n **
** 0x204n,0x06 TCGFILn_BPFW Band width of Torque Band Pass Filter n **
0x204n,0x07 TCGFILn_NCFC Center frequency of Torque Notch Filter n **
0x204n,0x08 TCGFILn_NCFW Band width of Torque Notch Filter n **
31 0x2016,0x01 OBCHA Observer Characteristic
32 0x2016,0x02 OBG Observer Compensation Gain
33 0x2016,0x03 OBLPF Observer Output Low-pass Filter
34 0x2016,0x04 OBNFIL Observer Output Notch Filter
35 0x2034,0x01 PVLPFset (Position/Velocity) command Low Pass Filter On/Off
36 Off velocity of (Position/Velocity) command Low Pass
0x2034,0x02 LPF_OFF_V
Filter
* Setting value is valid when filter on, setting type and values are correct.
** General torque filter has 1 to 4.
■ General parameters Group4 [Gain switching control/Vibration suppressor frequency switching settings]
ID CoE Object ID Symbol Name
40 0x2012,0x02 SUPFRQ2 FF Vibration Suppressor Frequency 2
41 0x2013,0x03 SUPFRQ3 FF Vibration Suppressor Frequency 3
42 0x2013,0x04 SUPFRQ4 FF Vibration Suppressor Frequency 4
9-7
9. Adjustments Automatic Tuning
■ Estimate the load inertia ratio with the servo amplifier in real time and adjust the servo gain
automatically >> [Tuning Mode] to 00:_AutoTun Automatic Tuning]
Procedure 1
When automatically tuned, the best servo gain based on the previous manual setting load
inertia ratio (JRAT1) >> Set [Tuning Mode] to
01:_AutoTun_JRAT-Fix Automatic Tuning [JRAT Manual Setting].
Procedure 2 ■ After setting [Tuning Mode] select [Auto-Tuning Characteristic] for the machine or equipment.
■ Next, boot the servo motor and adjust [Auto-Tuning Response] according to equipment rigidity.
◆ Set [Auto-Tuning Response] at a low value initially and allow the machine to work about 10
times or more by commanding higher-rank equipment.
◆ When response is low and the positioning setting time is slow, after machine movement, try to
improve the response and positioning times by increasing [Auto-tuning] gradually.
◆ If increasing the response has caused the machine to develop vibration, lower the value of the
[Auto-Tuning Response] slightly.
Procedure 3
* If the machine has not developed vibration, enable the Vibration suppressor by setting the
Notch filter and /or FF Vibration suppressor frequency. Set the filter frequency to suppress
mechanical vibration by using [Automatic tuning of notch filter ] and/or [Automatic tuning of FF
Vibration Suppression Frequency].
9-8
9. Adjustments Automatic Tuning
Start tuning
No
Can Automatic estimate JRAT?
Set JRAT1
No
Yes
Are there any problems with
Ye
response or setting time?
No
Tuning complete
9-9
9. Adjustments Automatic Tuning
■ Saving parameters
◆ General parameters Group1 [Basic control parameter settings]
ID CoE Object ID Symbol Name Unit
02 0x2005, 0x01 KP1 Position Loop Proportional Gain 1 1/s
12 0x200B, 0x01 KVP1 Velocity Loop Proportional Gain 1 Hz
13 0x200C, 0x01 TVI1 Velocity Loop Integral Time Constant 1 ms
14 0x200D, 0x01 JRAT1 Load Inertia Moment Ratio 1 %
1A 0x2011, 0x01 TCFIL1 Torque (force) Command Filter 1 Hz
9-10
9. Adjustments Automatic tuning of notch filter
1) Operation method
■ Operate from Auto-tuning mode in Software Setup.
■ The tuning results are saved automatically in [Group2 ID17: Center frequency of Torque (force) Notch
Filter1.
* Torque (force) command notch filter function can be used together with Auto-tuning.
* Holding torque (force) falls while auto notch filter is running. Do not use as a gravity axis.
■ When resonance of the device does not stop even after using Automatic tuning of notch filter, there may
be two or more resonance points.
In this case, inquire about the resonance frequency using the system analysis function and insert Notch
filter 2, 3, 4 (Manual setting) to suppress each resonance. If resonance is still not suppressed, there is a
possibility that auto-tuning response or gain control is too high. Lower the Auto-Tuning Response or
control gain.
2) Setting parameters
■ Torque (force) command value for notch filter tuning
Setting the Torque (force) command value to the motor at the time of Automatic tuning of notch filter:
9-11
9. Adjustments Automatic tuning of FF Vibration Suppression Frequency
1) Operation method
■ Operate from Auto-tuning mode in Software Setup.
■ The tuning result is automatically saved in Group2 ID00: FF Vibration suppressor frequency 1
[SUPFREQ1].
■ FF vibration suppressor frequency is obtained by executing auto-tuning of vibration suppressor frequency
or by calculating vibration frequency from the mechanical vibration period at the time of positioning.
* When vibration does not stop with FF vibration suppressor frequency, there is a possibility that the gain
for control system may be too high. In this case, lower the control system gain.
* When used together with Higher Tracking Control Velocity Compensation Gain, vibration- suppressor
effect may be improved.
* FF vibration suppressor control function can be used with auto-tuning.
* Holding torque (force) falls while Automatic tuning of FF Vibration Suppression Frequency is executing.
Do not use as gravity axis.
2) Setting parameters
■ Torque (force) command value of Auto-FF vibration suppressor frequency
Sets torque (force) command value to servo motor at the time of Automatic tuning of FF Vibration
Suppression Frequency execution.
■ Friction torque (force) compensation amount during Automatic tuning of FF Vibration Suppression
Frequency.
Sets additional frictional torque (force) compensation amount when Automatic tuning of FF Vibration
Suppression Frequency is executed.
By setting the value close to the actual friction torque (force), the accuracy of Automatic tuning of FF
Vibration Suppression Frequency can be improved.
9-12
9. Adjustments Manual Tuning
KVP/TVI M
KP
+ + + JRAT +
- + - -
* When Higher Tracking Control Position Compensation Gain is set to other than 0%, this parameter is
automatically set.
9-13
9. Adjustments Manual Tuning
■ Set Velocity Loop Integral Time Constant (0x200C, 0x01) (TV1) to: TVI [ms]=1000/(KVP[Hz])
* When you cannot increase the gain because of mechanical resonance, etc., and the response is
insufficient (after using the Torque notch filter and/or FF vibration suppressor frequency to suppress
resonance) try the procedure again.
9-14
9. Adjustments Model Following Control
* Model following control cannot be used when in velocity control mode or torque (force) control mode.
* Model following control can be used with auto-tuning.
* Model following control can be used with full-closed control.
* Parameters automatically adjusted by the servo amplifier vary according to selected Auto-Tuning
Characteristic.
9-15
9. Adjustments Model Following Control
9-16
9. Adjustments FF Vibration Suppressor Control/
Model Tracking Vibration Suppressor Control
■ Adjust this gain by using the same basic tuning procedures from Position control.
■ When vibration rises on the machine tip during operation, use [Auto-FF vibration suppressor frequency
tuning] or calculate the vibration frequency from the vibration period and set the vibration frequency to
[FF vibration suppressor frequency (SUPFRQ1)].
* If the machine tip vibration does not stop after taking the above steps, there is a possibility the gain for
the control system could be too high. In this case, lower the Control system gain.
* Do not change the Setting value when the motor is running.
■ When you use Model following vibration suppressor control, select Position control at Control Mode
Selection and Model following vibration suppressor control at Position Control Selection at System
parameters.
You can run the servo motor under the condition that the machine stand vibration is suppressed using
Model control system.
9-17
9. Adjustments Model Tracking Vibration Suppressor Control
9-18
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.
■ When servo gain tuning is completed, please change tuning mode to manual tuning after performing an
auto tuning result storing function.
■ After completing servo gain tuning, set the Resonance frequency and Anti-resonance frequency of the
mechanical device using [02:_ Model following vibration suppressor control] in [Position Control Selection
(0x20F3, 0x01)(ID07)] at System parameters.
When anti-resonance and resonance frequencies are already known, set the values. When these values
are unknown, these frequencies can be measured using System analysis.
* Refer to Software Setup Instruction manual M0010842 for instructions on using System analysis.
* When you measure the anti-resonance and resonance frequencies using System analysis, set the
[Frequency range selection] in the low range.
If you set the range in a high range, the ant-resonance and resonance frequencies in suppressible
ranges created by the Model following vibration suppressor control may not be measured.
1 - 125Hz for [Frequency range selection] is recommended.
* When the mass of the drive motor is smaller than the machine stand mass, the anti-resonance and
resonance frequencies may not be measured in system analysis. In this case, obtain the vibration
frequency (Model anti-resonance frequency) by calculating the machine vibration period of the vibrating
point at positioning and its reciprocal and set the model resonance frequency 1.05 - 1.2 times the
anti-resonance frequency.
■ Set the Velocity Loop Proportional Gain (0x200B,0x01)(KVP1) as high as possible within stable range
without causing vibration or oscillation. If vibration increases, lower the value.
■ Set the Velocity Loop Integral Time Constant (0x200C, 0x01)(TVI1) to: TVI[ms]=1000/(KVP[Hz]).
■ Set the Position Loop Proportional Gain (0x2005, 0x01)(KP1) to: KP[1/S]=KVP[Hz]/4・2π.
■ Set the Model Control Gain (0x2017, 0x01)(KM1) to: KM≒KP. If vibration increases, lower the value.
■ Set the Model Control Gain (0x2017, 0x01)(KM1) value to: 1.1 - 1.2times when the response is low.
■ Depending on the mechanical system, there may be two or more frequency vibrations aside from
anti-resonance and resonance frequencies that have already been set.
In this case, the vibration can be suppressed using FF vibration suppressor controls together. Set the
vibration frequency to: [Group02 ID00 : FF vibration suppressor frequency 1(0x2012, 0x01)(SUPFRQ1)]
by calculating the frequency from the vibration period.
■ In case you cannot increase the gain because of mechanical resonance, etc., and response is insufficient,
use Torque (force) command notch filter and FF vibration suppressor frequency to suppress the
resonance, and then try again.
9-19
9. Adjustments Disturbance Observer
Provides three observer characteristics: “00_Low for low frequency disturbance suppression”
“01_Middle for middle frequency disturbance suppression” and “02_High for high frequency
disturbance suppression” depending on the disturbance frequency to be suppressed.
10 - 40[Hz] [00_Low for low frequency disturbance suppression]
40 - 80[Hz] [01_Middle for middle frequency disturbance suppression]
80 - 200[Hz] [02_High for high frequency disturbance suppression]
◆ Increase the Observer Compensation Gain gradually. (Do not set the value at the beginning.)
The higher the Observer Compensation Gain becomes, the more disturbance suppressing
characteristics will improve. However, if the gain is excessively high, oscillation may result. Use this
within a range that will not cause oscillation.
9-20
No Text on This Page.
10
10. Digital Operator
10.1 EtherCAT Indicator ······················································································································ 10-1
1) IN/OUT Link / Activity Indicator Code: IN L/A, OUT L/A ····································································· 10-1
2) RUN Indicator Code:RUN········································································································ 10-2
3) Error Indicator Code:ERR········································································································ 10-3
10.2 Servo Amplifier Indicator ··············································································································· 10-4
1) Main Circuit Power Supply Indicator Code:CHARGE ······································································· 10-4
2) Control Power Supply Establish Indicator ······················································································ 10-4
10.3 Digital Operator Indicator ·············································································································· 10-5
1) Digital Operator Names and Functions·························································································· 10-5
2) Mode changes ························································································································· 10-5
10.4 Digital Operator Display Form ········································································································ 10-6
10.5 Status Display Mode ···················································································································· 10-7
1) Servo Amplifier Status Display····································································································· 10-7
2) Forward/Inverse Limit, Emergency Stop Display ············································································· 10-7
3) Display of linear motor magnetic pole position detecting status ·························································· 10-8
4) Status Display of Battery Warning, Regenerative Overload Warning, and Overload Warning ·················· 10-8
5) Alarm Display ·························································································································· 10-9
6) How to Reset Alarm When Alarm Occurring ··················································································· 10-9
10.6 Trial Run Mode ························································································································· 10-10
1) Velocity-controlled JOG Operation ····························································································· 10-10
2) Encoder Clear ······················································································································· 10-11
3) Automatic Tuning Result Writing ································································································ 10-11
10.7 Alarm History Mode ··················································································································· 10-12
1) Alarm History Display Mode······································································································ 10-12
2) Clear Alarm History ················································································································· 10-12
10.8 Monitor Display Mode················································································································· 10-13
1) Monitor function ····················································································································· 10-13
2) Monitor Details ······················································································································· 10-14
10.9 Analog monitor ························································································································· 10-18
10.10 Fixed Monitor Display ················································································································· 10-18
10
10. Digital Operator EtherCAT Indicator
■ Names
OUT Link / Act LED
(GREEN)
10-1
10. Digital Operator EtherCAT Indicator
Please refer to ERR / RUN LED display state and flickering cycle for details of the flickering cycle.
on
Off
(INIT)
off
on
200ms 200ms
Blinking
(PRE-OP)
off
on
200ms 200ms 1000ms 200ms
Single flash
(SAFE-OP)
off
on
On
(OP)
off
50ms
on
Flickering
(BOOT)
off
50ms
10-2
10. Digital Operator EtherCAT Indicator
Display of “Blinking”,“Single flash” and “Flickering” and display method of flickering cycle, RUN Indicator
“RUN” and Error Indicator “ERR” is shown below.
off
50ms
on
200ms 200ms
Blinking
off
on
200ms 1000ms
Single flash
off
on
200ms 200ms 200ms 1000ms
Double flash
off
10-3
10. Digital Operator Servo Amplifier Indicator
10-4
10. Digital Operator Digital Operator Indicator
2) Mode changes
MODE Change is performed by “MODE” operation of the Push Button Switch
10-5
10. Digital Operator Digital Operator Display 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 10 - 99
Plus Position of 100 display 100 - 999
■ Data of 0 to +41999999999
Symbol Digital operator display Range of a digit display
■ Hexadecimal data
Data Size Digital operator display Range of a digit display
1 byte FF to 00
10-6
10. Digital Operator Status Display Mode
10-7
10. Digital Operator Status Display Mode
・Magnetic pole position not detected state (CS-position setting being performed)
Shows magnetic pole position not detected during CS-position setting.
・Magnetic pole position detection completed state (CS-position setting being performed)
Shows the state magnetic pole position detection completed during CS-position setting.
10-8
10. Digital Operator Alarm Display
5) Alarm Display
Alarm number can be confirmed at the time of alarm occurrence.
Displayed
MODE Key
Process character, How to operate
Operation
number, code
Twice ON
1 Make the state(Status Display) where the alarm No. is displayed.
[WR]
Twice ON Changes to the left display.
2
[WR] Alarm will be cleared by pushing “WR” twice again.
10-9
10. Digital Operator Trial Run Mode
10-10
10. Digital Operator Trial Run Mode
2) Encoder Clear
Displayed
MODE Key
Process character, How to operate
Operation
number, code
Once ON Push MODE key until it shows display the left.
1
[MODE] Display changes and right end LED blinks.
More than 1sec
2 ON Push MODE key more than 1 sec to display "Ad 01" on left.
[INC]
Twice ON
3 Displays “EnCLr” mode by pushing WR key.
[WR]
Twice ON Display changes to that on the left and executes Encoder
4
[WR] Clear by pushing WR key.
5 Displays image on left “EnCLr” after normal completion
Once ON
6 Returns to Process 2 by pushing MODE key.
[MODE]
Once ON
7 Displays Alarm History mode by pushing MODE key.
[MODE]
10-11
10. Digital Operator Alarm History Mode
10-12
10. Digital Operator Monitor Display Mode
1) Monitor function
ID Symbol Name Unit
00 STATUS Servo amplifier status monitor -
01 WARNING1 Warning status 1 monitor -
02 WARNING2 Warning status 2 monitor -
General CONT8 - 1 monitor
03 CONT8-1 -
(Bit without input allocation is indefinite.)
General OUT8 - 1 monitor
04 OUT8-1 -
(Bit without input allocation is indefinite.)
05 INC-E MON Pulse encoder signal monitor -
06 VMON Velocity monitor (CCW: +, CW: -Display) min-1
07 VCMON Velocity command monitor (CCW: +, CW: -Display) min-1
08 TMON Torque monitor (Thrust monitor) %
09 TCMON Torque command monitor (Thrust command monitor) %
0A PMON Position deviation monitor Pulse
0D APMON Actual position monitor lower data (0 at time of power input) Pulse
0F EX-APMON_H External actual Monitor lower data (0 at time of power input) Pulse
11 CPMON_L Command position monitor lower data Pulse
13 FMON1 Position command pulse frequency monitor Pulse
14 CSU U-phase electric angle monitor deg
17 ABSPS_L Serial encoder PS data lower data Pulse
1A RegP Regenerative resistor operation percentage monitor %
1B TRMS Effective torque monitor (Effective thrust monitor) %
ETRMS Effective torque monitor: Estimated value
1C %
(Effective thrust monitor):Estimated value)
1D JRAT MON Load Inertia Moment Ratio monitor(Load to weight ratio monitor) %
1E KP MON Position Loop Proportional Gain monitor 1/s
1F TPI MON Position Loop Integral Time Constant monitor ms
20 KVP MON Velocity Loop Proportional Gain monitor Hz
21 TVI MON Velocity Loop Integral Time Constant monitor ms
22 TCFIL MON Torque (force) Command Filter monitor Hz
23 MKP MON Model Control Gain 1 1/s
Load Torque monitor: Estimate value
24 MTLMON -EST %
(Load thrust monitor: Estimate value)
25 OPE-TIM Amplifier operation time ×2 hour
26 ACC MON Acceleration Monitor rad/s2
0B,0C,0E,10,12,15,16,18,19,
Reserved -
27 to 30
10-13
10. Digital Operator Monitor Display Mode
2) Monitor Details
ID Contents
■ Servo amplifier status code [STATUS]
Code Status
00 Power OFF status (P-OFF)
02 Power ON status (P-ON)
04 Servo ready status (S-RDY)
08 Servo ON status (S-ON)
00
0A Emergency stop status (EMR)
10 Alarm status and power OFF (ALARM_P-OFF)
12 Alarm status and power ON (ALARM_P-ON)
1A Alarm status and emergency stop status (ALARM_EMR)
22 Gate off and power-on state (GATE OFF_P-ON)
Bit 3 2 1 0
03
Function CONT4 CONT3 CONT2 CONT1
Bit 7 6 5 4
Function SAFETOFF2 SAFETOFF1 CONT6 CONT5
10-14
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:
ID Contents
■ Velocity monitor [VMON]
Displays the rotation speed of the servo motor.
06 Display range Unit
- 9999 - 9999 min-1
10-15
10. Digital Operator Monitor Display Mode
ID 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
11 displayed.
Data range Display range Unit
Bit31 - Bit0 H.FFFF - L.0000 Pulse
10-16
10. Digital Operator Monitor Display Mode
ID Contents
■ Velocity Loop Proportional Gain monitor [KVP MON]
20 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]
21 Displays actual Velocity Loop Integral Time Constant.
Value can be confirmed when changing gain and at Auto-tuning function.
■ Torque Command Filter monitor [TCFIL MON]
22 Displays actual Torque Command Filter.
Value can be confirmed when changing gain and at Auto-tuning function.
■ Model Control Gain 1 monitor [KM1 MON]
23 Displays actual Model Control Gain.
Value can be confirmed when changing gain and at Auto-tuning function.
■ Load Torque(Thrust) monitor (Estimate value) [MTLMON-EST]
Displays estimated value of load torque.
24 Display range Unit
-499.9 - 499.9 %
10-17
10. Digital Operator Analog Monitor Display, Fixed Monitor Display
“Monitor” to be displayed is the same as parameter ID in monitor display mode, but in the setting value “00
STATUS servo amplifier status monitor”, the display will be different from the code display in the monitor mode and
will show the amplifier status in the status display mode (- or =).
In the state of alarm occurring, requiring safety function input, requiring motor magnetic pole detection or detecting
the poles, the monitor display prioritize these status over the fixed display.
In case of setting “Group9 ID20: Monitor Display Selection [MONDISP]” from SETUP software with the digital
operator in “Status mode”, either reboot the hardware or push “MODE” button on the digital operator to show
“Status mode” again.
10-18
No Text on This Page.
11
11. Maintenance
11.1 Trouble shooting ························································································································· 11-1
11.2 Warning and Alarm List ················································································································· 11-3
1) Warning Overview ···················································································································· 11-3
2) Warning List ···························································································································· 11-3
11.3 Alarm Display ····························································································································· 11-3
1) Alarm Display Overview ············································································································· 11-3
2) Alarm display list ······················································································································ 11-4
11.4 Trouble shooting When Alarm Occurs ······························································································ 11-6
11.5 Encoder Clear and Alarm Reset Methods ······················································································· 11-23
11.6 Inspection ································································································································ 11-24
11.7 Maintenance Parts····················································································································· 11-25
1) Inspection Parts ····················································································································· 11-25
2) How to Replace the Battery for Motor Encoder ············································································· 11-26
11
11. Maintenance Trouble shooting
■ “≡” does not blink in 7-segment LED even if main power is ON.
Investigation Assumed causes and corrective actions
■ If voltage is low, check the power supply.
Check the voltage at the power input terminal.
■ Check that wires and screws are fastened properly.
■ Internal power circuit of servo amplifier is defective,
Red "CHARGE" LED goes out.
so replace the servo amplifier.
■ Stop the input of Over-travel.
Over-travel status.
■ Stop the input of Emergency Stop.
Emergency Stop status.
■ Check of “Functions enabling condition settings”
Safe Torque (force) Off working status. ■ Turn on /HWGOFF1 and /HWGOFF2 inputs
■ 7-segment LED displays a rotating character “8” (Servo ON status), but motor does not rotate.
Investigation Assumed causes and corrective actions
Check the command is inputted or not by a
digital operator's monitor.
Page07: Velocity command monitor(VCMON)
Page09: Torque (force) command ■ If the value of a monitor is zero, input a command.
monitor(TCMON)
Page13: Position command pulse
frequency monitor (FMON1)
■ Check that the power line of a servo motor is
Check the servo motor is locked or not.
connected.
■ Since torque (force) restrictions are inputted, a
servo motor cannot output the torque (force) beyond the
Check if torque (force) limit is input.
load torque (force).
■ Check of “Functions enabling condition settings”
Enter deviation clear to check if process is ■ Stop the input of deviation clear.
continued. ■ Check of “Functions enabling condition settings”
Enter encoder clear to check if process is ■ Stop the input of encoder clear.
continued. ■ Check of “Functions enabling condition settings”
* When performing the work for correction processing, be sure to intercept power supply.
■ Rotations of servo motor are unstable and less than the specified velocity command.
Investigation Assumed causes and corrective actions
■ Stop the input of proportional control.
Check if proportional control is entered.
■ Check of “Functions enabling condition settings”
■ Stop the input of torque (force) limit.
Check if torque (force) limit is input.
■ Check of “Functions enabling condition settings”
11-1
11. Maintenance Trouble shooting
* When performing the work for correction processing, be sure to intercept power supply.
11-2
11. Maintenance Warning and Alarm List
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; however, an alarm may result if operation is
continued.
Examine operational conditions prior to alarm occurrence.
Warning detected status will not be locked. It will be automatically cancelled when warning status returns to
normal.
The overload detection process is estimated as 75% of rated load at control power input (Hot Start). Therefore, in
case the setting value of the overload warning is below 75%, an overload warning may be detected at the time of
control power input.
2) Warning List
Warning Table
Affiliate Index, Sub-Index, Bit Warning Title Warning Contents
*The effective torque (force) is
0x2103, 0x01, Bit2 Overload Warning
exceeding the set torque
*In case of overload of regenerative
0x2103, 0x01, Bit3 Regenerated Overload Warning
Load system resistance
*The ambient temperature of the
0x2103, 0x01, Bit0 Amplifier Overheating Warning amplifier is greater than the range
of the preset temperature
*Voltage of main circuit is above DC
Power 0x2103, 0x01, Bit8 Main circuit is charging
105 V
supply
*Detecting decrease in control power
system 0x2103, 0x01, Bit15 Detecting power failure
voltage
Sensor
0x2103, 0x01, Bit14 Serial encoder Battery warning *Battery voltage is below 3.0 V
system
*While restricting the torque
0x2103, 0x01, Bit4 Restricting torque (force) command command by torque (force)
restriction value.
*While restricting the speed command
Control 0x2103, 0x01, Bit5 Restricting speed command
by speed value.
system
*When position deviation warning
0x2103, 0x01, Bit7 Excessive position deviation setup value is outside the
proscribed limits
0x2103, 0x01, Bit10 Restricting position command *Exceeding position command range
Displays a 2-digit alarm code on alarm occurrence as defined by this servo amplifier.
Alarms shall be diplayed with Error Register (0x1001), Error code (0x603F) read via EtherCAT communication
when alarm activated, and servo amplifier definition (0x2001, 0x2002) code list is shown in 2).
Operation at detecting: "DB" performs the slowdown stop of the servo motor in dynamic brake operation when the
alarm generating
Operation at detecting: "SB" performs the slowdown stop of the servo motor with sequence current limiting value.
When dynamic brake is selected by Emergency Stop Operation selection, the servo motor is decelerating stopped
for the dynamic brake operation regardless of the operation when detecting it.
Operation at detecting:“-” means an alarm is detected only in initial processing after control power input.
Alarm reset:“No” means an alarm that cannot be cancelled unless control power is shut off and re-input.
Bit7: Maker definition error Bit6: Reserved Bit5: Device profile definition error Bit4: Communication error
Bit3: Temperature error Bit2: Voltage error Bit1: Current error Bit0: General error
11-3
11. Maintenance Alarm display list
Note 1) When the main power voltage increases or decreases gradually or is suspended, main circuit low voltage or main
power failed phase may be detected.
Note 2) Control power supply under-voltage or servo ready OFF is detected during instantaneous break of 1.5 to 2 cycles.
Detection of control power supply under-voltage and servo ready OFF can be delayed by setting larger value of
PFDDLY (GroupB ID16).
Note3) When moment cutting of a control power source is long, it regards in power supply interception and re-input, and
does not leave detected control power supply under-voltage to an alarm history.
(If cutting exceeds 1 second at the moment, it will be certainly judged as power supply interception.)
11-4
11. Maintenance Alarm display list
Alarm code list 2/2
0x1001 0x603F 0x2001
Detection Alarm
Error Error 0x2002 Alarm name Alarm contents
Code Operations Reset
Resister Code
* Absolute encoder rotation overflow
0xA0 Serial Encoder Internal Error 0 DB No
* Frequent rotation counter overflow
0x7300
* Multi-turn error
0xA1 Serial Encoder Internal Error 1 DB Yes
* Battery low voltage
0x7310 0xA2 Serial Encoder Internal Error 2 * Accelerate error DB Note 5
0x7310 0xA3 Serial Encoder Internal Error 3 * Over-speed error DB Note 5
0xA4 Serial Encoder Internal Error 4 * Access error of Encoder internal EEPROM DB Note 5
0xA5 Serial Encoder Internal Error 5 * Detection of single rotation coefficient incorrect DB Note 5
Bit0 0x7300
0xA6 Serial Encoder Internal Error 6 * Detection of multiple rotation coefficient incorrect DB Note 5
0xA9 Serial Encoder Internal Error 9 * Overheating of encoder with built-in servo motor DB Note 5
0x7320 0xAA Serial Encoder Internal Error 10 * Incremental error(Position data error) DB Note 5
0xAB Serial Encoder Internal Error 11 * Encoder error DB Note 5
0x7300 0xAC Serial Encoder Internal Error 12 * Multi-rotation error generation DB Note 5
0xAD Serial Encoder Internal Error 13 * Encoder built-in EEPROM data is not set DB Note 5
0x7303 0xAE Serial Encoder Internal Error 14 * Resolver output abnormality DB Note 5
0x7304 0xAF Serial Encoder Internal Error 15 * Resolver disconnection DB Note 5
* Motor rotation speed is 120 % more than the
0xC1 Over-speed DB Yes
highest speed limit
0x8400
* Nonconformity of electrical current command
0xC2 Velocity Control Error DB Yes
Bit0 and acceleration signs
0x7122 0xC3 Velocity Feedback Error * Servo motor power disconnection Note 6 DB Yes
Model tracking vibration * Machine cycle time is not mach with model
0x8500 0xC5 DB Yes
suppression control error tracking vibration suppression control.
0x8611 0xD1 Excessive Position Deviation * Position Deviation exceeds setup value. DB Yes
Position Command Error 1 * Position command exceeded setting range
0xD2 SB Yes
0x201D
0x8500
Position Command Error 2 * Position command input exceeded processing
0xD3 SB Yes
range
Bit0
Excessive Position ・Position Synchronization Deviation
0x8611 0xD4 DB Yes
Synchronization Deviation exceeds setup value
Parameter change completion * Parameter change of motor and sensor codes is
0xFF01 0xDE - No
Note7 complete
0xFF00 0xDF Test Run Close Note 7 * Detection in ‘Test mode end’ status DB Yes
0x5530 0xE1 EEPROM Error * Abnormality of amplifier with built-in EEPROM DB No
* Access error in CPU built in RAM EPROM
0x6310 0xE2 EEPROM Check Sum Error - No
(entire area)
0x5510 0xE3 Memory Error 1 * Access error in CPU built in RAM - No
Note7 0xE4 Memory Error 2 Note7 * Error in check sum of Flash memory - No
0xE5 System Parameter Error 1 * System parameter is outside a setting range. - No
* Combination of a system parameter is abnormal.
0x6320 0xE6 System Parameter Error 2 - No
* System parameter and amplifier mismatch
Bit7
0xE7 Motor Parameter Error * Check sum of a motor parameter is abnormal. - No
0xE8 CPU Circumference Circuit Error * Abnormal access to CPU and peripheral devices - No
0x5220
0xE9 System Code Error * Control board code and sensor setting mismatch - No
0xEA Motor code setting Error * Motor code is outside a setting range. - No
0xEB Sensor code setting Error * Sensor code is outside a setting range. - No
0x6320 0xEE Motor parameter automatic setting error 1 * Motor parameter automatic setting disabled. - No
* The result of motor parameter automatic setting
0xEF Motor parameter automatic setting error 2 - No
has an abonormality.
0x8700 0xF1 Task Process Error * Error in interruption process of CPU DB No
Bit7 * Initial process does not end within initial
0x6010 0xF2 Initial Process Time-Out - No
process time
- - * Self-flash re-writing procedure is completed
0xFF Self flash timeout Note7 - No
Note9 Note8 within the sepecifed time.
Note 4) It can not reset, depens on the kinds of encorder.
Note 5) Detecting only Synchronization encoder.
Due to abnormality in encoder main body, encoder clear may sometimes be needed. “An encoder clear and the
alarm reset method" change with motor encoders in use. Please refer to "11.5 Encoder clear and the alarm reset
method."
Note 6) When there is a rapid motor slow down simultaneous with servo ON, there is a possibility that a break in the
motor’s power line cannot be detected.
Note 7) Alarm activated at test mode completeion, motor code, sensor code, alarm when changing, memory error 2, and
self-flashtimeout are not stored in alarm-record.
Note 8) “Memory Error 2” shall not be set to object dictionary “0x603F.”
Note 9) Self-flash timeout shall not be set to object dictionary “0x1001.”
11-5
11. Maintenance Trouble shooting When Alarm Occurs
11-6
11. Maintenance Trouble shooting
11-7
11. Maintenance Trouble shooting
11-8
11. Maintenance Trouble shooting
11-9
11. Maintenance Trouble shooting
Corrective action
Cause Investigation and corrective actions
■ Magnetic pole position detection frequency and
■ Change magnetic pole position detection frequency.
1 mechanical resonance point are matched.
■ Secure the distance to the stroke end.
■ Motor hit the stroke end.
2 ■ Control circuit fault of servo amplifier. ■ Replace servo amplifier.
11-10
11. Maintenance Trouble shooting
11-11
11. Maintenance Trouble shooting
11-12
11. Maintenance Trouble shooting
11-13
11. Maintenance Trouble shooting
■ Alarm Code 81 (Encoder Connector Disconnection 1)
■ Alarm Code 83 (Encoder Connector Disconnection 2)
■ Alarm Code 87 (CS Signal Disconnection)
Cause
Status at the time of alarm
1 2 3 4 5
Issued when power supply control is turned ON. V V V V V
Issued during operation. V V V
Corrective actions
Cause Investigation and corrective actions
■ For motor encoder wiring:
◆ Improper wiring.
■ Check wiring and replace if necessary.
◆ Connector is removed.
1 ■ Confirm that the encoder power supply voltage of the motor is
◆ Loose connection.
above 4.75 V; increase it if below 4.75 V.
◆ Encoder cable is too long.
◆ Encoder cable is too thin.
11-14
11. Maintenance Trouble shooting
11-15
11. Maintenance Trouble shooting
11-16
11. Maintenance Trouble shooting
11-17
11. Maintenance Trouble shooting
11-18
11. Maintenance Trouble shooting
11-19
11. Maintenance Trouble shooting
11-20
11. Maintenance Trouble shooting
11-21
11. Maintenance Trouble shooting
11-22
11. Maintenance Encoder Clear and Alarm Reset Methods
* When performed encoder clearing, multi turn part of encoder position data is cleared.
Operate after matching an encoder position data and mechanical coordinate.
11-23
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
During While Solution if abnormal
location Time Items Methods
operation stopping
Check for
Daily V Vibration excessive
vibration.
Check if there is
Contact dealer/sales office.
no abnormal
Daily V Sound sound as
compared to
normal sound.
Servo motor Check for dirt Clean with cloth or air.
Periodic V Cleanliness
and dust. Note 1)
Measure
value of
Yearly V
insulation
resistance Contact dealer or sales office.
5000
Replaceme
hours V
nt of oil seal
Note 2)
Check for dust
Clean with air.
Periodic V Cleaning accumulated in
Servo Note 1)
the accessories.
amplifier
Loose Check for loose
Yearly V Fasten the screws properly.
screws connections.
Confirm that
Battery for Regularly Battery battery voltage
V Replace the Battery.
serial encoder Note 3) voltage is more than
DC3.6V.
Ambient Set the ambient
Measure temperature temperature within the
Temperature Periodic V
temperature Motor frame specified range.
temperature Check the load condition.
Note 1) While cleaning with air, confirm that there is no oil content and/or moisture in the air.
Note 2) This inspection and replacement period is when water- or oil-proof functions are required.
Note 3) The life expectancy of the battery is approximately 2 years, when its power is OFF throughout
the year. For replacement, a lithium battery (ER3VLY: 3.6V, 1000mAh) manufactured by
TOSHIBA LIFESTYLE PRODUCTS & SERVICES CORPORATION is recommended.
11-24
11. Maintenance Maintenance Parts
■ 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.
11-25
11. Maintenance Maintenance Parts
Process Description
1 Turn ON the servo amplifier control power supply.
2 Prepare the replacement lithium battery. [Our model number: AL-00697958-01]
3 Open the battery case.
4 Remove the battery connector.
5 Take out the used lithium battery and put in the new replacement one.
6 Attach the connector in the right direction.
7 Close the battery case.
Battery connector
Battery case
* If the battery is replaced while the control power is OFF, multiple rotation counter (position data) of the
motor encoder may be instable. When the amplifier control power is turned ON in this status, an alarm
(Serial Encoder Error) may be issued. For this, execute encoder clear and alarm reset to release the
alarm status. Also, absolute encoder position data may be instable. Check and adjust the relations
between position data and machine coordinate system.
11-26
No Text on This Page.
12
12. Fully-closed control
12.1 System configuration···················································································································· 12-1
12.2 Internal Block Diagram ················································································································· 12-5
1) Block Diagram with Model Following Control ·················································································· 12-5
2) Block Diagram at no use of Model Following Control ······································································· 12-6
12.3 Wiring ······································································································································· 12-7
1) Connector name and function ····································································································· 12-7
2) Terminal number ······················································································································ 12-7
12.4 Fully-closed control related parameters ···························································································· 12-8
1) System parameters settings ······································································································· 12-8
2) Rotation direction setting for the servo motor·················································································· 12-9
3) Setting for external encoder resolution ························································································ 12-10
4) Digital filter setting ·················································································································· 12-10
12.5 Remarks·································································································································· 12-11
1) Input power timing for the external pulse encoder ········································································· 12-11
2) Workings of the external pulse encoder ······················································································ 12-11
12
12. Fully-closed control System configuration
EMG switch
Motor power
Safe-torque-off I/O
External Motor encoder
Motor encoder
Servo Motor
12-1
12. Fully-closed control System configuration
■ RS2□10/RS2□15
Setup software
Parameter setting
and monitoring can be
T S R SANMOTION R ADVANCED MODEL pefromed via
communication with PC.
Wiring breaker (MCCB) With EtherCAT Interface
Used to protect power line.
Power off when overcurrent runs.
Noise filter
Connection for
EMG Switch additional amplifier
Motor power
Servo motor
Linear sensor etc.
12-2
12. Fully-closed control System configuration
■ RS2□30
T S R SANMOTION R ADVANCED MODEL
With EtherCAT Interface
Molded case circuit breaker (MCCB)
Connection for
additional amplifier
Safe-torque-off I/O
External Motor
encoder
Motor power
Motor encoder
Servo motor
Linear sensor etc.
12-3
12. Fully-closed control System configuration
■ RS2□##A (DC48V/24V)
DC power supply
DC48V/24V
DC power supply
DC24V
Connection for
additional amplifier
External regenerative resistor
Host Unit
Motor encoder
Servo motor
12-4
12. Full-Closed Block Diagram With Model Following Control
+ + +
- - -
Velocity
detection
Motor Encoder
Pulse Encoder
4x
multiplier
12-5
12. Full-Closed Block Diagram Without Model Following Control
12-6
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).
2) Terminal number
7 3
9 5 1
8 4
10 6 2
(Soldered side)
12-7
12. Full-Closed System Parameter
12-8
12. Full-Closed Rotation direction of servo motor
A0 PC-_VC+_TC-
C0 PC-_VC-_TC+
E0 PC-_VC-_TC-
”APMON” Current position monitor value Current position monitor value
increase decrease
12-9
12. Full-Closed External Encoder resolution, Digital filter
[Example]
◆ The minimum resolution of the External pulse encoder to be used:1.0μm
◆ Work moving distance of 1 rotation of the motor axis:10mm
System 0x20FF, 0x03 External pulse encoder minimum resolution: 1.0μm >> converted pulse number
ID09 ENPENRES per 1mm > >1000P/mm.
Converted pulse number per 1mm from the External pulse encoder’s minimum
resolution:
1mm becomes 1000P/mm.
10mm/1R×1000P/mm = 10000P/R (4x multiplier), since the moving distance of work for 1
motor axis is 10 mm.
Set: 10000/4 = 2500P/R (setting value is 1x multiplier) Round off decimals.
A phase
B phase
Phase difference
Pulse width
Z phase
12-10
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.
* Change External Pulse Encoder Polarity Selection and set it to the same count direction
(increase/decrease)
◆ When the workings of the External pulse encoder are cut off:
* Use them under the condition where the external pulse encoder is mechanically connected.
12-11
13
13. Linear motor
13.1 System configuration diagram ··························································································································· 13-1
1) When you use SANYO DENKI servo amplifier with other manufacturer linear motor combined. ································· 13-12
13
13. Linear motor System configuration diagram
Noise filter
External regenerative
resistor
Connected to other
amplifier
Linear motor
Safety unit, such as
safety PLC
13-1
13. Linear motor System configuration diagram
■RS2□10A / RS2□15A
TSR
Performs parameter setting and
monitoring by connected with PC.
Molded case circuit breaker SANMOTION R ADVANCED MODEL
(MCCB)
With EtherCAT Interface Setup software
Used to protect
power line.
Turns off the power
supply if overcurrent runs.
Noise filter
Placed to prevent
incoming noise from
power line.
Connected to
other amplifier
External regenerative
resistor
【Built-in regenerative
resistor】
Short-circuit RB4-RB1.
Linear motor
power line
Hall sensor
Safety unit, such as
safety PLC
Linear encoder
13-2
13. Linear motor System configuration diagram
■RS2□30A
SANMOTION R ADVANCED MODEL
T S R
With EtherCAT Interface
Molded case circuit breaker
(MCCB)
Used to protect power line. Turns off the Performs parameter setting and
power supply if overcurrent runs. monitoring by connected with PC.
Turns on/off.
Place safeguard circuit.
Hall sensor
Linear encoder
13-3
13. Linear motor Wiring
■RS2□##A (DC48V/24V)
Power supply
SANMOTION R ADVANCED MODEL Setup software
With EtherCAT Interface
Parameter setting and
monitoring can be performed
by communicating with PC.
DC power supply
DC power supply DC48V/24V
DC24V
General input/output
connector for homing,
probing and general signals.
External
regenerative resistor Connected to other amplifier
Hall sensor
Motor encoder
Linear motor
Safety device
Safety PLC etc.
Linear encoder
13-4
13. Linear motor Wiring
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
Sq. (mm2): 0.15 to 0.75
Note1) Shows conductor resistance value for the conductor length to be actually used.
7 3
9 5 1
8 4
10 6 2
Solder connection
* Please make sure to check wiring as wiring varies depending on encoder types to be connected.
■ Connector model number (Product of 3M Japan Ltd.)
Model number Applicable wire size Applicable cable outer
diameter
Connector 36210-0100PL AWG30 to AWG18 -
Shellkit 36310-3200-008 - φ7 to φ9
13-5
13. Linear motor Wiring
13-6
13. Linear motor Parameter
Operational mode
■ Set operational mode for the servo amplifier you use.
Set as follows.
Value to select Contents
System 0x6060, 0x00
01 PP Profile position mode
ID06 OPMODE
・・・ ・・・ ・・・
0A CST Cycle synchronization torque mode
13-7
13. Linear motor Parameter
Group CoE
Contents
ID Object ID
Encoder digital filter selection (EN1)
■ Set digital filter for motor pulse encoder pulse signal, which is contained in pulse output
encoder. Digital filter value of incremental pulse from the linear scale sensor you use can be
set. When noises superimposed on incremental encoder, pulse under the set value shall be
eliminated as noise. Set the value in consideration of encoder resolution and operational
maximum velocity of servo motor you use. Use the value under a quarter of encoder pulse
width at maximum rotational velocity as a guide.
Value to select Contents
GroupC 0x20F1, 0x02 00:_110nsec Minimum pulse width =110ns(Minimum phase difference37.5ns)
ID01 ENFIL 01:_220nsec Minimum pulse width =220ns(Minimum phase difference75ns)
02:_440nsec Minimum pulse width =440ns(Minimum phase difference150ns)
03:_880nsec Minimum pulse width =880ns(Minimum phase difference300ns)
04:_ 75nsec Minimum pulse width = 75ns(Minimum phase difference37.5ns)
05:_150nsec Minimum pulse width =150ns(Minimum phase difference75ns)
06:_300nsec Minimum pulse width =300ns(Minimum phase difference150ns)
07:_600nsec Minimum pulse width =600ns(Minimum phase difference300ns)
13-8
13. Linear motor Parameter
Group CoE
Contents
ID Object ID
Hall sensor digital filter selection (External encoder digital filter selection)
■ Set digital filter of hall sensor input signal.
When noises are superimposed on hall sensor signal, pulse under the set value shall be
removed as noise.
Value to select Contents
00:_110nsec Minimum pulse width =110ns(Minimum phase difference 37.5ns)
01:_220nsec Minimum pulse width =220ns(Minimum phase difference 75ns)
GroupC 0x20F1, 0x03 02:_440nsec Minimum pulse width =440ns(Minimum phase difference 150ns)
ID02 EX-ENFIL
03:_880nsec Minimum pulse width =880ns(Minimum phase difference 300ns)
04:_ 75nsec Minimum pulse width = 75ns(Minimum phase difference 37.5ns)
05:_150nsec Minimum pulse width =150ns(Minimum phase difference 75ns)
06:_300nsec Minimum pulse width =300ns(Minimum phase difference 150ns)
07:_600nsec Minimum pulse width =600ns(Minimum phase difference 300ns)
CS-offset
■ Set electrical angle of motor. For motor with hall sensor, offset from phase U electrical angle 0
degree to phase U hall sensor output edge shall be set in electrical angle.
Setting range :0 to 359deg
System 0x20F1, 0x05
Initial value :330deg
ID16 CSOF
✔Encoder type code: 0x20FF, 02=0x0800, 0x0810, 0x0820, 0x0830, 0x0840, 0x0850 and 0x0860
need to be set.
✍ Function enabled on re-turning control power on.
13-9
13. Linear motor Parameter
Group CoE
Contents
ID 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
Initial value :50Hz
ID0C EMPFREQ
✔ Change excitation frequency when detection cannot be normally completed due to resonance
point of machine, at amplifier hardware magnetic pole position estimation.
✍ Function enabled on re-power on.
Magnetic pole position estimation mode selection
■ Set the magnetic pole position estimation run mode.
Value to Contents
select
00 Follow the setting of the valid condition of magnetic pole position pointing
0x20F1, 0x09
- function.
CSETMD
01 Magnetic pole position estimation will run one time automatically only after
turning on the main power.
✔ Encoder Classification Cord:0x20FF,Function will be enabled by setting 02=0x0850.
✍ Function enabled on re-power on.
13-10
13. Linear motor Parameter
Group CoE
Contents
ID Object ID
Polarity
■ Select position command polarity from the following contents.
Servo motor moving direction can be reversed without changing command wiring.
Moving direction is set as follows when command increased.
Moving direction of linear motor shall be changed as follows depending on selected values
and position command directions.
Value to select Position command “plus”
00 PC+_VC+_TC+
20 PC+_VC+_TC-
40 PC+_VC-_TC+
Movement in
60 PC+_VC-_TC- forward direction
“APMON” The value on present position monitor decreases.
00 PC+_VC+_TC+
20 PC+_VC+_TC-
40 PC+_VC-_TC+
Movement in reverse
Group8 0x607E, 0x00 direction
60 PC+_VC-_TC-
ID00 CMDPOL
“APMON” The value on present position monitor increases.
80 PC-_VC+_TC+
A0 PC-_VC+_TC-
C0 PC-_VC-_TC+
Movement in reverse
E0 PC-_VC-_TC- direction
”APMON” The value on present position monitor increases.
80 PC-_VC+_TC+
A0 PC-_VC+_TC-
C0 PC-_VC-_TC+
Movement in forward
E0 PC-_VC-_TC- direction
”APMON” The value on present position monitor decreases.
13-11
13. Linear motor 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 to 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. In addition, we assume no responsibility
whatsoever for any failures caused by the linear motor.
Vu Vv Vw
Vu V
U Neutral
point-based
0 180 360
W
Vv V
Vw
Hall sensor signal
Pulled out S1
S2
S3
Hall Note) Hall sensor-mounting position: When the position for phase U electrical angle
Moves in the direction of lead
is 0-degree
Linear encoder signal
Phase A
Phase B
Phase B rises in first.
■ “Linear encoder resolution” is set to 1μm (multiplier ratio 1:4) 1000P/mm at factory setting. So select and set the linear
encoder resolution you use from " System ID03” or “OD:0x20FF, 0x01 ENCODE.”
■ When using “motor thermal,” connect motor thermal wire to any of CONT1 through CONT6, and then setting condition
“Group 9, ID02 or 0x20F8, 0x03 EXT-E” of the connected “CONT*” to “external trip function.”
■ When using hall sensor, set the mounting position of hall sensor to phase U electrical angle to System ID16 or “CS
offset of0x20F1, 0x05 CSOF.”
13-12
No Text on This Page.
14
14 Safe Torque Off (STO) Function
14.1 System configuration ······································································································································· 14-1
3) Safety input-off shot pulse for safety device self-diagnosis ·················································································· 14-10
1) Specifications············································································································································· 14-16
14
14. Safe Torque Off Function System configuration
Noise filter
Motor power
Motor encoder
Servo motor
14-1
14. Safe Torque Off Function Safe Torque Off Function
Software Setup
Parameter setting and
TSR monitoring can be performed
by communicating with PC.
Molded case circuit breaker (MCCB) SANMOTION R ADVANCED MODEL
With EtherCAT Interface
Noise filter
Installed to prevent
incoming noise from power
line.
General I/O connector to connect
for homing, probing and general
signals.
Connected to
other amplifier
Electromagnetic contactor
Turns on/off the power.
Place safety circuit.
External
regenerative resistor
Host Unit
【Built-in
regenerative resistor】
Shot-circuits RB4-RB1.
Motor encoder
【External regenerative resistor】
Remove short bar RB4-RB1,
Connect the register to RB1-RB2.
Motor power
Servo motor
14-2
14. Safe Torque Off Function Safe Torque Off Function
■ RS2□30 (Rotary motor)
Electromagnetic contactor
Safety device
Safety PLC, etc.
Power for brake
Connect I/O signals of
Used for servo motor with safe-torque-off function
brake. to safety devices such as
safety PLC.
Servo motor
14-3
14. Safe Torque Off Function Safe Torque Off Function
Noise filter
Installed to prevent
incoming noise from
power line.
External regenerative
【Built-in】 resistor
Short circuit between
RB4-RB1.
【External】
Remove short bar
between RB4-RB1,
and connect resistors
between RB1-RB2.
Safety device
Safety PLC etc.
Linear
Motor power
Hall sensor
Linear sensor
14-4
14. Safe Torque Off Function Safe Torque Off Function
■RS2□##A (DC48V/24V)
DC power supply
DC power supply DC48V/24V
DC24V
General input/output
connector for homing,
probing and general
signals.
External regenerative
resistor Connected to
other amplifier
Host unit
Motor power
Motor Encoder
Safety device
Used for servo motor Safety PLC etc.
with brake.
Servo motor
14-5
14. Safe Torque Off Function Safe Torque Off Function
1) Overview
One of the circuits connected to the 2-channel safety input signal paths (HWGOFF1, HWGOFF2) suspends current control
signals for the servo motor generated by the control circuit and shut down current from the power device to the servo motor.
Servo amplifier
Control Circuit Block
DC5~24V CN1
4 Delay
HWGOFF1 Shut
Circuit
3 Down
6 Delay
HWGOFF2 Shut
Circuit Down
5
8
EDM
7
CNA CNB
Power Device
R + U
S V
T W Servo motor
2) Standards Conformity
The Safe Torque Off function is applicable to the following safety function, functional safety standards and safety-related
parameters.
Item Standard
Safety Function ■ IEC61800-5-2, Safe Torque Off/ EN61800-5-2
■ IEC60204, Stop Category 0/ EN60204
Safety Standard ■ IEC61508, SIL2, HFT=1 , Type B / EN60204
■ IEC62061, SILCL2, type B / EN62061
■ ISO13849-1:2006, Cat3, PL = d (In case of detecting failure by using EDM)
/ EN ISO 13849-1 / AC: 2009
■ ISO13849-1, PL = c (In case of detecting failure)
/ EN ISO 13849-1 / AC2009
* PFH (Probability of a dangerous Failure per Hour) of this function (Safe Torque Off circuit) achieves less than 2% of
required level of SIL2.
* To suffice ISO13849-1: 2006, Cat3, PL=d, you need to design machine safety system so as to detect failure of STO
circuit by surely using Error Detection Monitor (EDM).
* Refer chapter 16, for the other standards conformity except Safety Function and Safety Standard.
14-6
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. Perform risk assessments to ensure safety in
cases that may involve exposure to such hazards.
■ When this function is activated while servo motor running, the power supply to the motor is shut
down, however, the motor continues to run a while because of inertia. Make sure to design
safety system to prevent any danger until the motor stops completely.
■ When in vertical axes and the like, the motor rotates because of gravity loads. Take measures
to hold the motor shaft such as mechanical brake. Incidentally, servo brake circuit, dynamic
brake circuit of servo amplifier, holding brake excitation signal or holding brake of servo motor
are not safety related devices.
■ If the power device malfunctions and causes inter-phase shorting, the servo motor may move
within a range of up to 180 degrees in electrical angle and remain in the excited state. For your
information, the travel distance of R motor in this occasion is as follows;
R-motor travel distance: 1/10 turns (rotation angle at the motor shaft).
■ Be sure to check if this function works properly when the machine is operated for the first time or
servo amplifier is replaced.
If the servo amplifier is incorrectly used due to wrong wiring of input / output signals, this function
will not work properly, which may incur danger.
■ Even when this function is working, power supply to servo amplifier is not shut down. Be sure to
shut down power supply before you perform maintenance or checkup of servo amplifier, in which
you may be exposed to electric shock.
5) Delay Circuit
With this product, two kinds of hardware are provided, with or without delay circuit between safety input 1 (HGWOFF1),
safety input 2 (HWGOFF2) signal input circuit and servo motor current control signal blocking circuit (optional). In vertical
axis and the like, by choosing the hardware with delay circuit, you can prevent falling of the load by holding motor shaft with
holding brake when the safe torque off function is activated.
Delay Circuit
Servo amplifier model number
(Max. delay time)
With
RS2#######5
(Max.500ms)
* Even the hardware without delay circuit, there are still max. 20ms of delay until the safe torque off function works due to
the delay in the input circuit.
* Holding brake excitation signal and servo motor holding brake are not safety related parts.
14-7
14. Safe Torque Off Function Wiring
14.3 Wiring
1) CN1 connector disposition
■ 2013595-3 (*The figure below is viewed from connector’s soldered side.)
8 6 4 2
7 5 3 1
Terminal
Signal name Symbol Description
number
Reserved 1 This is a connecting terminal when function is not used.
Terminal for
Reserved maintenance Do not use this terminal.
2
Input signal to control Safe-Torque-Off state.
4
HWGOFF1+
5 HWGOFF2- 3
HWGOFF1-
6
HWGOFF2+
Safety input 2
5
HWGOFF2-
6 HWGOFF2+
Connection circuit
Connected to a photo coupler or relay circuit.
Power supply voltage range (Uext) : DC24V±10%
7 EDM- Maximum current value : 50mA
Output voltage : Uext-0.5 to Uext
EDM- 7
8 EDM+
Fuse
If you do not use this function, please connect the short-circuit plug for safety instrument that is attached to this product. If the short-circuit
plug for safety instrument is required, please order "AL-00849548-02", as our model number. Also, if you do not use this function by
connector "2013595-3", please make short-circuit within terminal No. group 1/3/5 and within terminal No. group 2/4/6.
14-8
14. Safe Torque Off Function Safe Torque Off Operations
2) Example of wiring
Example of wiring to safety switch (1-axis used) (In case of Performance Level: PL=C)
0V EDM+ 8
EDM- 7
Example of wiring to safety unit (multiple axes used) (In case of Performance Level: PL=D)
Safety unit CN1 Servo amplifier
HWGOFF1+ 2.2kΩ
4
HWGOFF1-
Emergency Output 3
Stop button HWGOFF2+ 2.2kΩ
6
HWGOFF2-
5
EDM+
Feedback 8
input EDM-
7
0V HWGOFF1+ 2.2kΩ
4
HWGOFF1-
3
HWGOFF2+ 2.2kΩ
6
HWGOFF2-
5
EDM+
8
EDM-
7
HWGOFF1+ 2.2kΩ
4
HWGOFF1-
3
HWGOFF2+ 2.2kΩ
6
HWGOFF2-
5
EDM+
8
EDM-
7
14-9
14. Safe Torque Off function Wiring
Within 1ms
500ms or less
Safe-torque-off state
Servo amplifier status
safety input 1
On Off
safety input 2
Servo Amplifier state Servo On state SRDY state Safe Torque Off state
14-10
14. Safe Torque Off Function Reset from STO Active State
500ms±10%
Output for servo SRDY OFF SRDY ON
ready completion
Servo amplifier state Safe Torque Off state SRDY state Servo On state
While servo-on signal is input, it will transited to SRDY state if safety input 1 or safety input 2 signal is turned on. To re-start
the operation, input the servo-off signal, and then input the servo-on signal again.
Safety input 1
Off ON
Safety input 2
500ms±10%
Operation Preparation SRDY OFF SRDY ON
Completion output
Servo Amplifier state Safe Torque Off state SRDY state Servo On state
* Group9 ID06: Setting the Servo-ON Function parameter to "01: Always On" disables resets from the safe torque off state.
Avoid this setting when using the safe torque off function.
14-11
14. Safe Torque Off Function Safe Torque Off while Servo Motor Running
■ In case the setting value is either 3 or 7(motor stops with servo brake when servo off)
If either safety input 1or safety input 2 input is off, motor stops with servo brake.
Release Operation
Holding brake excitation signal
Servo brake
Speed monitor BONDLY
Max.500ms
Power On state
* When set value of BONDLY (holding brake activation delay time: Group B ID13) is more than safe-torque-off delay time
(500ms max.), the states comes to be motor-free after period of safe-torque-off delay time. Please note that
recommended set value for BONDLY is less than 500ms.
* Servo brake circuit, dynamic brake circuit, and holding brake excitation signal are not safety-related sections.
14-12
14. Safe Torque Off Function Safe Torque Off while Servo Motor Running
When either safety input 1 or safety input 2 is off, the current to servo motor is shut down, then the motor stops by dynamic brake
after moving to safe-torque-off state. After turning off safety input and elapsing delay time (Max.500ms), the state moves to
safe-torque-off state.
Dynamic brake is activated on turning off safety input.
Max.500ms
Servo Amplifier state Servo On state Power On state Safe Torque Off state
* Dynamic brake circuit and holding brake excitation signal are not safety-related sections.
14-13
14. Safe Torque Off Function Safe Torque Off during Servo Motor Stoppage
* Set below 500ms in BONDLY (Delay Time of Engaging Holding Brake OD:0x2024)
14-14
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). If the Servo On signal is input once again before this alarm is issued,
the servo motor will continue to operate according to cumulative positional deviations. To keep this from happening, stop
issuing positioning commands as soon as the safe torque off function is activated and clear any positional deviations.
(If the Deviation Clear Selection parameter (0x20F0,0x05[CLR]) is set to Type 1 or Type 2 (clear deviation when Servo On), any
positional deviation is automatically cleared when the Servo Off signal is transmitted.
14-15
14. Safe Torque Off Function Error Detection Monitor (EDM)
2) Connection example
The following is a connection example. This example uses a safety unit and activates the Safe Torque Off function when the
operator presses the Emergency Stop button.
HWGOFF1+ 2.2kΩ
4
HWGOFF1-
Emergency Stop Outputs 3
button HWGOFF2+ 2.2kΩ
6
HWGOFF2-
5
EDM+
Feedback 8
input EDM-
Feedback
input 7
Connect safety unit output signal to safety input1 (HWGOFF1) and safety input 2 (HWGOFF2) respectively, and then connect
error detection monitor (EDM) from servo amplifier to feedback input of safety unit.
Under normal conditions, pressing emergency stop button turns off both of safety inputs and on EDM output.
Once the emergency stop button is cancelled, as EDM output is on, the feedback circuit of safety unit is reset, and both safety
inputs are turned on, which resumes the operation.
* In case such a malfunction occurs that EDM will not be turned on despite both the safety input being off, even if the
emergency stop button is cancelled, the operation will not resume as the feedback circuit has not been reset yet. (The
amplifier keeps Safety Torque Off state).
* In case you need to meet requirements of ISO13849-1, PL=d, make sure to perform testing of failure detection by using
EDM output once a month or more frequently.
* For discussions on connecting and operating the safety unit, please refer to the manual provided with your safety unit.
* The EDM signal is not safety output. Do not use EDM signal for any purpose other than malfunction monitoring.
14-16
14. Safe Torque Off Function Confirmation Test
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.
For a discussion of installation, wiring, and test operations, see "3. Installation", "4. Wiring” and ”8. Operation".
2) Confirmation procedure
Follow the procedure described below to run an STO function confirmation test:
Procedure 1. Supply control power and main circuit power.
Procedure 2. Turn On both safety input 1and 2 input signals.
Procedure 3. Input the Servo On signal to excite the servo motor.
Procedure 4. Turn Off both the safety input 1and 2 input signals.
3) Acceptance criteria
Confirmation procedure 2 to 4, confirm the states listed below.
Procedure 2, make sure that the EDM output and LED indication are as follows:
Confirmation item State
EDM output Off
LED indication
LED indication
Procedure 4, confirm that the EDM output and LED indication are as follows:
Also, confirm that servo motor excitation has been cancelled.
Confirmation item State
EDM output On
LED indication
14-17
14. Safe Torque Off Function Safety Precautions
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.
Ensure performing Risk assessment when designing safety system using this function.
When STO function is activated while servo motor running, the power supply to the motor is shut down,
however, the motor continues to run a while through inertia. Make sure to design safety system to prevent
any danger until the motor stops completely.
When in vertical axes and the like, the motor rotates because of gravity loads. Take measures to hold the
motor shaft with mechanical brake etc. Incidentally, dynamic brake of servo amplifier, holding brake
excitation signal or holding brake of servo motor are not safety related parts.
The motor may rotate within the electric angle of 180 degrees keeping motor excitation in case of servo
motor between phases short-circuit due to the power device failure, etc. Use the function only in the
applications where you can judge the above behavior will not lead to dangerous condition.
Be sure to check if this function works properly when the machine is operated for the first time or servo
amplifier is replaced. If the servo amplifier is incorrectly used due to faulty wiring of input / output signals,
this function will not work properly, which may incur danger.
For the time of Safe Torque Off function working and the cause concerning information, recommended that
recording as error log at user device.
At inspection and maintenance for servo amplifier, strongly recommended that recording and storing a detail
of inspection and maintenance.
14-18
No Text on This Page.
15
15. Selection
15.1 Rotary Motor Sizing ····················································································································· 15-1
1) Flowchart of Servo Motor Sizing ·································································································· 15-1
2) Make an operation pattern·········································································································· 15-2
3) Calculate motor axis conversion load inertia (JL) ············································································· 15-2
4) Calculate motor shaft conversion load torque (TL) ··········································································· 15-3
5) Calculate acceleration torque (Ta) ································································································ 15-4
6) Calculate deceleration torque (Tb) ································································································ 15-4
7) Calculate effective torque (Trms) ································································································· 15-4
8) Judgment condition ·················································································································· 15-4
15.2 Linear motor sizing ······················································································································ 15-5
1) Linear motor sizing flow chart ····································································································· 15-5
2) Required maximum force and effective force ·················································································· 15-6
3) Selection of magnet rail ············································································································· 15-7
4) Precautions on load conditions ···································································································· 15-7
15.3 Capacity Selection of Regenerative Resistor ····················································································· 15-8
1) How to find "regeneration effective power (PM)" of the horizontal axis drive by a formula (Rotary motor) ···· 15-8
2) How to find "regeneration effective power (PM)" of the vertical axis drive by a formula (Rotary motor) ········ 15-9
3) How to find "regeneration effective power (PM)" of the vertical axis drive by a formula (Linear motor) ······ 15-10
4) Capacity Selection of Regenerative Resistor ················································································ 15-11
5) Capacity Selection of External Regenerative Resistor ···································································· 15-11
6) Selection of external regenerative resistor instantaneous tolerance··················································· 15-12
7) Capacity of External Regenerative Resistor and Resistor Model Name ·············································· 15-12
8) Connection of Regenerative Resistance ······················································································ 15-13
9) Thermostat Connection of External Regenerative Resistor ······························································ 15-14
10) Protection Function of Regenerative Resistance ··········································································· 15-14
11) Confirmation method of regeneration effective power PM in actual operation ······································ 15-15
12) Installation ···························································································································· 15-15
15
15. Selection Servo Motor Sizing
No
7 Judgment
9
Yes Review of servo motor sizing
Regenerative power
8
is calculated.
End
Note1) The operational pattern shall be created so that average motor rotational velocity does not
exceed maximum rotational velocity.
15-1
15. Selection Servo Motor Sizing
Velocity min-1
N2
Time[s]
N1 ta tr tb
tc ts
t
π×ρ×D4×L
JL = ( 1 ) ×
2
[kg・m2]
G 32
G: Reduction ratio
ρ: Moving part specific gravity [kg/m3]
D: Moving part diameter [m]
L: Moving part length [m]
1 2
P 2
JL= ( ) × W × ( ) [kg・m2]
G 2π
G: Reduction ratio
W: Moving part mass [kg]
P: In the case of a ball screw, is the lead of a ball screw. [m]
In the case of a belt pulley, is an outside diameter of a pulley. [m]
(P=πD)
15-2
15. Selection Servo Motor Sizing
(F+μW) P 1
TL= × × × 9.8 [N・m]
η 2π G
(F+(μ+1)W) D 1
TL= × × × 9.8 [N・m]
η 2 G
(F+(μ-1)W) D 1
TL= × × × 9.8 [N・m]
η 2 G
F D 1
TL= × × × 9.8 [N・m]
η 2 G
15-3
15. Selection Servo Motor Sizing
2π(N2-N1) ×(JL+JM)
Ta= + TL [N・m]
60×ta
2π(N2-N1) ×(JL+JM)
Tb= - TL [N・m]
60×tb
Trms=
(Ta2×ta)+ (TL2×tr) + (Tb2×tb)
[N・m]
t
8) Judgment condition
■ We consider the followings as the standard of the judgment.
In addition, the rise in heat of motor can be suppressed by taking the large degree of margin at torque load
ratio. Moreover, when rotating a table mechanism slowly depending on inertia moment ratio, it may be able
to control 10 or more times. We recommend you the check by the real machine.
15-4
15. Selection Servo Motor Sizing
③ Effective force
③ Calculate effective force Verify that continuous rated force of the
provisionally selected motor is more than the
required effective force. More than
10%-margin is recommended in consideration
④ Select magnet rail of load change.
15-5
15. Selection Servo Motor Sizing
■ Calculate required maximum force: Fmax, and then verify that “maximum motor force: Fp > required
maximum force: Fmax.”
F1 F2
F
F3 F4 t
t1 t2 t3 t4
15-6
15. Selection Servo Motor Sizing
Servo amplifier cannot operate with minus load such that motor drive continuously for more than several
seconds.
[e.g.]
・Downward motor drive (No counter-weight)
・Use the amplifier as generator, such as winding-off axis of winder.
When applying the amplifier with minus load, please contact us.
When using under the condition that load mass is relatively large to coil mass (moving element), main circuit
power overvoltage or abnormal regeneration may be detected when decelerating.
In this case, the following measures are needed. Please contact us for the details.
① Reduce current limit.
② Extend acceleration/ deceleration time. (Slow-down)
③ Reduce maximum velocity you use.
④ Install external regenerative resistor.
15-7
15. Selection Capacity Selection of Regenerative Resistor
1) How to find "regeneration effective power (PM)" of the horizontal axis drive by a
formula (Rotary motor)
■ Calculate regeneration energy.
2
1 Tb Tb
EM = Ehb = × N × 3・Keφ× × tb - × 3・Rφ×tb
2 KT KT
EM
PM
to
15-8
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.
* When the calculation result of either of EVUb, EVD, or EVDb is negative, calculate EM by considering
the value of those variabkes as 0.
EM
PM
to
PM: Effective regeneration power[W]
EM: Regeneration energy during deceleration[J]
to: Cycle time[s]
15-9
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.
2
1 v 3・Rφ・tb M・V - Ff・tb
PM = ・M ・ V2 - ・Ff・tb - × [J/s]=[W]
2・t 2・t t Kf・tb
V
t
F
t
Fb
tb Fb=M・V/tb-Ff
t
15-10
15. Selection Capacity of External Regenerative Resistor and Model Name
Servo amplifier 10W or 30W or 55W 60W 110W Less than 220W or
[PM]
model number less less or less or less or less 220W more
Resistor Please
B×1 D×1 F×1 C×2 E×2 F×4
RS2#01A#HL# Sign contact us.
RS2#03A#HL# Connection
Ⅲ Ⅲ Ⅲ Ⅴ Ⅴ Ⅵ
Number
15-11
15. Selection Servo Motor Sizing
Servo amplifier
[PM] 250W or less Less than 500 500W or more
model number
Resistor Sign L×1 L×2 Please contact us
RS2#30A#HL# Connection
Ⅲ Ⅴ
Number
* The resistor sign of an external regeneration resistor and the connection number correspond with the
following page.
* The permissible effective power of external regenerative resistor is maximum 25% of the rated power
under natural air cooling.
* A regeneration resistance usage rate can be raised about a maximum of 50% by carrying out
an air cooling with blower using a cooling fan.
When regenerative energy exceeds the instantaneous tolerance of resistor you use, select the resistor with large
instantaneous tolerance.
* Abnormal regeneration may occurred when vertial axis continously driven, even if the value is under
allowable regenerative reistor power ” PR0” and allowable instantaneous torelenace “JI “of usable
external regenerative resistor.
15-12
15. Selection Connection of Regenerative Resistance
CN1 CN1
3,5,7, 3,5,7,
9,11,14 9,11,14
4,6,8, 4,6,8,
10,11,15 10,11,15
Twist Twist
Connect a thermostat and thermal to the general Connect a thermostat and thermal to the general
input of CN2. input of CN2.
Connection Number 5 Connection Number 6
■ Parallel connection about two resistances. ■ Series/parallel connection about four
CNA resistances. CNA
Twist
RB1 RB1
RB2 RB2
Twist
CN3 CN3
3,5,7, 3,5,7,
9,11,14 9,11,14
4,6,8, 4,6,8,
10,11,15 10,11,15
Twist Twist
Connect a thermostat and thermal to the general Connect a thermostat and thermal to the general
input of CN2. input of CN2.
* Please make sure to install the external regenerative resistor with twisted wires and use as a short wire
that is up to 5 meters long as possible.
* Use nonflammable electric wire or perform non-combustible processing (silicon tube, etc.) for
connecting cable and wired, and install wiring so as to not come in contact with the built-in unit.
* Please make sure to change the set-up of “System Parameter” and “Regenerative Resistor Selection” in
line with the kind of regenerative resistor you connect.
15-13
15. Selection Thermostat Connection
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]]. Alarm (ALM-55) will be output from the servo amplifier when the thermostat
of a generative resistor trips (the contact point comes off) because of heating. Refer to [Wiring with host unit for the
wiring method (4)].
◆ Protection when allowable power absorption is exceeded for long time (using built-in regenerative
resistance):
An error is detected when the power absorption of the built-in regenerative resistance exceeds the
allowable power absorption over a long time period (from a few seconds to a few minutes).
An ’Internal Overheat’ alarm (“ALM_54”) is issued when this error is detected.
When the internal regenerative register is being used, be sure to set it as a setup
[01:_Built-in_R] of "system-parameter ID01(0X20FD,0X02)" Regeneration resistor Selection.
15-14
15. Selection Confirmation method of regeneration power in actual operation
■ The actual regeneration effective power PM can be calculated from this monitor value by following
equation.
◆ Input Supply Voltage: In case of AC200V specification
Regeneration circuit
400(V)×400(V) operating rate (%)
Regeneration effective power PM (W)= ×
Regeneration 100(%)
resistance (Ω)
■ Calculation Example
Input Supply Voltage: [AC200V Specification]
Regeneration resistance value: 50Ω[Built-in Regenerative Resistor]
Monitor Value (RegP): 0.12%
* The regeneration effective power calculated from this monitor value continues to be the target until the
end of operations. Regeneration power varys with the voltage fluctuation of the input power supply and
changes across the ages of the servo amplifier and the loading device.
* Be sure to opt for selection of regeneration resistance based on the regeneration effective power "PM"
found from calculation of a pattern of operation and regeneration power.
* Install the external regeneration resistor on equipment, and measure the temperature of the external
regeneration resistor by the operating condition that the regeneration effective power PM becomes the
maximum. Then do sufficient mounting check of alarm not being generated. In addition, it takes 1 to 2
hours until the temperature of the external regeneration resistor is saturated.
12) Installation
■ The place where corrosive gas has occurred, and when there is much dust, insulated degradation,
corrosion, etc., may arise. There fore be careful of an attachment place.
■ Arrangement of the external regeneration resistor should open an interval so that it is not influenced by
generation of heat from other parts.
15-15
16
16 Appendixes
16.1 Standards Conformity ................................................................................................................. 16-1
1) Standards conformity ········································································································· 16-1
2) Over-voltage Category, Protection Grade, Pollution Level ·························································· 16-2
3) Connection and installation·································································································· 16-2
4) UL File Number ················································································································· 16-2
16.2 Compliance with EN Directives ................................................................................................... 16-3
1) Conformity verification test ·································································································· 16-3
2) EMC Installation Requirements ···························································································· 16-4
16.3 Servo Motor Dimension .............................................................................................................. 16-5
1) R2 motor, Flange Size 40mm,60mm,80mm, 86mm and 100mm ··············································· 16-5
2) R2 motor, Flange Size 130mm and 220mm ············································································ 16-6
3) R2 motor, Flange Size130mm, 2kW ······················································································ 16-6
4) R2 motor, Flange Size180mm, 3.5 to 7.5kW ··········································································· 16-7
5) R2 motor, Flange Size 180mm, 11kW ··················································································· 16-7
6) R2 motor, Flange Size 220mm, 3.5 to 5kW ············································································ 16-8
7) Flange Size 14mm (48V DC) ······························································································· 16-8
8) R2 motor, Flange Size 20mm ······························································································· 16-9
9) R5 motor, Flange Size 60mm, 80mm ···················································································· 16-10
10) DS Linear motor with core, flat-type······················································································ 16-11
11) DD Linear motor with core, twin-type ···················································································· 16-13
12) Small cylinder type linear motor DE0AC001A03MX00 (48VDC) ················································· 16-14
16.4 Servo Motor Data Sheet ........................................................................................................... 16-17
1) Characteristics table ········································································································· 16-17
2) Velocity-Torque characteristics ···························································································· 16-28
3) Velocity-force characteristics······························································································· 16-36
4) Velocity-force characteristic of DE0AC001A03MX00 ································································ 16-39
5) Overload characteristic ······································································································ 16-40
16.5 Servo Amplifier Dimensions ...................................................................................................................... 16-52
16.6 Optional Parts ........................................................................................................................................... 16-56
1) Connector of Servo Amplifier ······························································································ 16-56
2) Connector Model Number ·································································································· 16-60
3) Battery-backup absolute encoder battery related parts ····························································· 16-62
4) Junction cable for servo motor ···························································································· 16-65
5) Fixing bracket ·················································································································· 16-66
6) Setup software and serial communication-related parts ···························································· 16-67
7) Dedicated cable, exclusive to monitor box for analog monitor ···················································· 16-67
16.7 Outline dimension of regenerative resistor ............................................................................................... 16-68
16.8 Explanation of EtherCAT Terms and Abbreviations .................................................................................. 16-71
16
16. Appendixes Standards Conformity
1) Standards conformity
■ The following overseas standard examinations are implemented.
Applicable laws and Regulations
Product model No. Standard code Certificate authorities
Classification Detailed Classification
UL
(Underwriters Laboratories inc.)
UL/c-UL
RS2####### # --- UL508C
standard
TÜV
(TÜV SÜD Japan, Ltd.)
Electrical
RS2####### 0 IEC61800-5-1:2007/
Low Voltage Directive: LVD
EN61800-5-1:2007
safety
(Safe Torque Off
function equipped
model)
■ The servo motor implements the attestation examination to the following standards.
Standard Standard code Certificate authorities
UL1004 UL
UL standard
UL1446 (Underwriters Laboratories inc.)
IEC-34-1 TÜV
EN standard
IEC34-5 (TÜV SÜD Japan, Ltd.)
For products conforming to conformity standards, some specifications may differ from the
standard product due to prerequisites necessary for obtaining approval. Contact the
manufacturer for more details.
16-1
16. Appendixes Standards Conformity
2) Over-voltage Category, Protection Grade, Pollution Level
■ The "over-voltage category" of servo amplifier is "III" (EN61800-5-1). For the control power (of DC input
type) or DC power of interface, use SELV 24V DC power supply. Each DC power supply must have
reinforced insulation between input and outputs.
■ Make sure to install the servo amplifier in your control panel in an environment where the pollution level
specified in EN61800-5-1 and IEC664 is no less than 2 ( polution level 1, 2). The protection grade of
servo amplifier is IP1X. The control panel installation configuration (under IP54) must exclude exposure
to water, oil, carbon, dust, etc.
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; never connect jointly with multiple wires or terminals.
When connecting the leakage stopper, make sure to connect the protective earth terminal to
the power supply earth.
Connect earthing wire by using a crimping terminal with insulated tube, so that the connected
wire will not touch the neighboring terminals.
For wire relays, use a fixed terminal block to connect wires; never connect wires directly.
Connect an EMC filter to the input power supply of the unit.
Use an EN/ IEC-standard compatible no-fuse Circuit breaker and electromagnetic contactor.
DC input type servo amplifier is getting certification with equipping fuse below to power input
port.
Installation site Model number Manufacturer Current Voltage Spec.
Main circuit
0324020.MXP Littelfuse 20A 250Vac / 125Vdc UL certified
power input
4) UL File Number
The UL file number of servo amplifier and servo motor is as follows. Can check from the website of UL.
http://www.ul.com/database/
■ The UL file number of servo amplifier: E179775
■ The UL file number of servo motor: E179832
16-2
16. Appendixes Standards Conformity
EMC Directive
Conducted disturbance immunity EN61000-4-6
(Servo amplifier /
servo motor)
Immunity Surge immunity EN61000-4-5
Note 1) Note1) Standards applicable only to Safe Torque Off function equipped models.
16-3
16. Appendixes Standards Conformity
2) 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. Customers are instructed to perform the final conformity tests for all
instruments and devices in use.
ⅲ
A
ⅰ
3phase/single
phase
AC 200V
ⅴ C
Use metallic materials for the door and main body of control panel.
Use EMI gasket so that there is zero clearance between the door and control panel. Install
EMI gasket uniformly to the contact points between door and main body of control panel to
confirm their conductivity.
Please close cabinet door which has this product, in use.
Ground noise filter frame to control panel.
Use shield cables for motor power line and encoder cable. Clamp grounding of shield at the
frame of control panel and equipment.
Use conducting metal P-clip or U-clip to ground and clamp shielded wire, and fix it directly
with metal screws. Do not ground by soldering electric wire to shielded wire.
Wire servo amplifier at a short distance from the secondary side of noise filter, and wire the
primary side and secondary side of noise filter separately.
16-4
16. Appendixes Outline dimensional drawing of servo motor [R2 □40-□100]
Oil seal
(Option) QE Tap
Note1 Depth LT
Q
QA QK
(φL A
H) LA
φ
φS
φLB
N.P. N.P.
A
M
(KL3)
(KL1)
Oil Seal QE
(7)
W
LT Depth
(KL2)
2-LZ2
U JN2AS10ML2-R
T (KB1) (KB2) (Sensor)
Section A-A
(Key Attached) JL04V-2E24-11PE-B-R
(Motor,Ground)
Q
QA QK
LA A
φ
φLB
N.P.
φS
N.P.
(φ
LH
(KL3)
) N.P.
A
M
(KL1)
(7)
U (KB1) (KB2)
T
JL04V-2E24-11PE-B
(Motor,Ground)
16-6
16. Appendixes Outline dimensional drawing of servo motor [R2□180]
4) R2 motor, Flange Size180mm, 3.5 to 7.5kW
0.08 M
LR LL
0.02
□LC LE (LG)
0.08 M
4-φLZ1 (IL2) 2-M8
LA
φ
φS
φLB
(φ
(KL3)
LH)
(KL1)
(IE)
(7)
Oil seal QE (IL1) (IL2)
LT Depth
(KL2)
2-LZ2
(KB3)
JN2AS10ML2-R (IF) Eyebolts
(KB1) (KB2) (Sensor) 2-M8
JL04V-2E32-17PE-B-R
(Motor,Ground) JL04V-2E10SL-3PE-B-R
(Brake)
Q
φS
N.P.
φLB
M
(101)
(KL1)
(KL3)
(IE)
4-?LZ1
(7)
MS3102A10SL-4P
LT Depth
(Fan motor)
S Type (KB3)
Oil Seal
(KL2)
LL
0.08 M
□LC LR
0.02
4-φLZ2 LE (LG) (IF) 2-M8
0.08 M
Q
φ
LA
QA QK
A
N.P.
N.P.
(φ
(KL3)
LH
φLB
N.P.
φS
) A
M
(KL1)
(7)
(IE)
JN2AS10ML2-R
(Sensor)
Section A-A
(Key Attached)
(KL2)
Oil Seal QE W
(IL1) (IL2)
LT Depth
4-LZ2 (IF)
U
(KB1) (KB2)
T
JL04V-2E24-11PE-B-R
(Motor,Ground)
Effective depth: 5
Motor cable
16-8
16. Appendixes Outline dimensional drawing of servo motor [R2□20]
0.04 M
0.02 20±0.8 LL±1
0.06 M 2±0.3
□20
φ17 -0.018
φ5-0.008
0
φ22
±0.2
(16)
(7.1)
250±30
(6.2) (10)
(19.2)
250±30
(φ1.5) (φ4.8)
R2□A02D30△□◇ 108
16-9
16. Appendixes Outline dimensional drawing of servo motor [R5□60, 80]
MODEL S Q QE LT D1 D2 D3
R5AA06040△□◇
014-0.011 25
R5AA08040△□◇
M5 12 6 5 5
0
R5AA08075△□◇ 35
16-0.011
If an oil seal is needed, the motor whole length differs.
For the one without brake, there is no brake connector (or cable) attached.
For specifications on other motor, please contact us.
16-10
16. Appendixes Linear motor with core, flat-type [DS]
10) DS Linear motor with core, flat-type
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
N1-M5 Depth7
Clearance
(The number of taps par 1line : N2)
Hall sensor
Dimension
Coil model no.
W1(mm) W2(mm) W3(mm) N1 N2 T(mm)
C1N2 6
DS030 C2N2 65 25 15 12 2 58
C3N2 18
C1N2 6
DS050 C2N2 85 25 35 12 2 58
C3N2 18
C1N2 9
DS075 C2N2 110 25 30 18 3 58
C3N2 27
C1N2 9
DS100 C2N2 135 32.5 35 18 3 58
C3N2 27
C1N2 15
DS150 C2N2 185 32.5 30 30 5 60
C3N2 45
16-11
16. Appendixes Linear motor with core, flat-type [DS]
DS□□□M□□□B00
Dimension
Magnet rail model no. W W4 W5 L1 L2 T2 T3 d
N3
mm mm mm mm mm mm mm mm
M064B00 63.3 2
M128B00 127.3 4
DS030 30 60 45 31.65 14.25 10 6
M256B00 255.3 8
M512B00 511.3 16
M064B00 63.3 2
M128B00 127.3 4
DS050 50 80 65 31.65 14.25 10 5
M256B00 255.3 8
M512B00 511.3 16
M064B00 63.3 2
M128B00 127.3 4
DS075 75 105 90 31.65 14.25 10 5
M256B00 255.3 8
M512B00 511.3 16
M064B00 64 2
M128B00 128 4
DS100 100 130 115 32 14.25 10 5
M256B00 256 8
M512B00 512 16
M064B00 64 2
M128B00 128 4
DS150 150 180 165 32 16.25 12 6
M256B00 256 8
M512B00 512 16
16-12
16. Appendixes Linear motor with core, twin-type [DD]
11) DD Linear motor with core, twin-type
● Outline dimensional drawing of coil with core, twin-type
DD□□□C□
N1-M8 Depth12
Dimension
Coil model no.
W1(mm) L1(mm) L2(mm) L3(mm) N1 H1(mm) H2(mm)
C1Y4 226 40.5 50.5 8
DD030 C2Y4 130 402 38.5 48.5 16 82 78
C3Y4 578 36.5 46.5 24
C1Y2 226 40.5 50.5 8
DD050 C2Y2 140 402 38.5 48.5 16 102 98
C3Y2 578 36.5 46.5 24
C1Y2 226 40.5 50.5 8
C2Y2 402 38.5 48.5 16
DD075 150 127 123
C3Y2 578 36.5 46.5 24
C4Y2 754 34.5 44.5 32
Dimension
Magnet rail model no. W1 W2 W3 W4 H3 L4 D1 D2 d
N1
(mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm)
M064B02 64 2
M128B02 128 4
DD030 130 115 15 7.5 60 7 11 7
M256B02 256 8
M512B02 512 16
M064B02 64 2
M128B02 128 4
DD050 140 120 20 10 80 9 14 9
M256B02 256 8
M512B02 512 16
M064B02 64 2
M128B02 128 4
DD075 150 125 25 12.5 105 11 17 11
M256B02 256 8
M512B02 512 16
16-13
16. Appendixes Small cylinder type linear motor [DE]
210 (Maximum)
180 (Minimum)
Hexagon
Phase Z output
30 (Stroke 30)
117 (Minimum)
To d-sub 9pin
16-14
16. Appendixes Outline dimensional drawing of linear motor [DT]
145±0.5
(17) 111±0.2 17±0.2
(37) 74±0.2 L1±0.5
(5)
(37) 37±0.2
(13)
(Mounting screw hole)
U (Red)
(1) 135 9
V (White)
76±0.2
0.1 C
W (Black)
+0.04
(33)
(9)
2-φ5+0.01 Through hole Ground (Green/Yellow)
(13)
(5)
(Lead wire length)
+50
0.1CZ
(Coil main body dimension)
N.P
+0
52.5 -1
(45.5)
16-15
16. Appendixes Outline dimensional drawing of linear motor [DT]
+0
L1 -0.2
L2 ±0.15 (16)
0.15 A 16±0.15 16±0.15 (Same pitch)
0.15 7-φ4.5 Through hole
L4
(L5±0.1) (L5±0.1)
(0.5)
42.5 -0.3
(33)
+0
A
↑NP
0.05
(9)
+0.035
(7.2)
(4+0.010)
+0.035
φ4+0.010 Effective depth 5 or more
L1(mm) L2(mm) L3(mm) L4(mm) L5(mm)
DT030 M128A00 128 96 79.75
M256A00 256 224 207.75 +0.1
14.8 -0.22 3.8
M288A00 288 256 239.75
M512A00 512 480 463.75
24±0.05 L3±0.1 0.5±0.1
M128B00 128 96 79.75
M256B00 256 224 207.75
15±0.15 3.9
M288B00 288 256 239.75
M512B00 512 480 463.75
16-16
16. Appendixes Servo motor data sheet
1) Characteristics table
Constant in the table above is the value when motor is installed on heat releasing aluminum
plate, indicates “thickness” x “length of a side of square.
Items marked with * and Velocity-Torque Characteristics indicate values after temperature
rise saturation. The others indicate values at 20C.
Each value indicates TYP.
For specifications on other motor, please contact us.
16-17
16. Appendixes Servo motor data sheet
Constant in the table above is the value when motor is installed on heat releasing aluminum
plate, indicates “thickness” x “length of a side of square.
Items marked with * and Velocity-Torque Characteristics indicate values after temperature
rise saturation. The others indicate values at 20C.
Each value indicates TYP.
For specifications on other motor, please contact us.
16-18
16. Appendixes Servo motor data sheet
Servo motor model number R2AA 06040F 08040F 08075F B8075F B8100H B8100F 10075F
Amplifier size combined RS2A03 RS2A03 RS2A03 RS2A05 R2SA03 RS2A05 RS2A03
*Rated output PR kW 0.4 0.4 0.75 0.75 1.0 1.0 0.75
*Rated velocity NR min-1 3000 3000 3000 3000 3000 3000 3000
*Maximum velocity Nmax min-1 6000 6000 6000 6000 3000 6000 6000
*Rated torque TR N・m 1.27 1.27 2.39 2.38 3.18 3.18 2.39
*Continuous Torque at stall TS N・m 1.37 1.37 2.55 2.94 3.92 3.92 2.55
8.5
*Peak Torque at stall TP N・m 4.8 4.4 11.0 11.6 14.3 8.6
Note 2)
*Rated armature current IR Arms 2.8 2.6 4.6 4.7 4.6 6.0 4.4
*Armature current at stall IS Arms 2.8 2.6 4.6 5.5 4.7 6.8 4.6
15.5
*Peak armature current at stall IP Arms 10.8 8.9 23.7 15.5 25.7 15.5
Note 2)
*Torque constant KT N・m/Arms 0.524 0.559 0.559 0.547 0.825 0.582 0.582
Voltage constant for each phase KEΦ mV/min-1 18.3 19.5 19.5 19.1 28.8 20.3 20.3
Phase resistance RΦ Ω 1.36 0.93 0.4 0.62 0.85 0.44 0.69
*Rated power rate QR kW/s 39 16 31 35 42 42 29
Rotor inertia kg・m2(GD2/4) 0.415 1.043 1.823 1.643 2.383 2.383 2.003
JM
Note1) x10-4
Mass Note1) WE Kg 1.4 1.7 2.7 2.9 3.6 3.6 3.3
Brake mass W kg 0.39 0.89 0.89 0.84 0.84 0.84 0.9
Aluminum plate mm t6×250 t6×250 t6×250 t12×305 t12×305 t12×305 t12×305
Note1) Contains battery backup method absolute encoder.
Note2) Peak armature current at stall 8.5[N・m] is the value when using 3-phase 200V. The value when using
single-phase 200V is 7[N・m]. Peak armature current 15.5 [Arms] is the value when using 3-phase
200V. The value when using single-phase 200V is 13.1[Arms].
Constant in the table above is the value when motor is installed on heat releasing aluminum
plate, indicates “thickness” x “length of a side of square”.
Items marked with * and Velocity-Torque Characteristics indicate values after temperature
rise saturation. The others indicate values at 20C.
Each value indicates TYP.
For specifications on other motor, please contact us.
16-19
16. Appendixes 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 PR kW 1.0 0.55 0.55 1.2 1.2 1.2 1.8
*Rated velocity NR min-1 3000 2000 2000 2000 2000 2000 2000
*Maximum velocity Nmax min-1 6000 3500 5000 2000 5000 3000 3500
*Rated torque TR N・m 3.18 2.6 2.6 5.7 5.7 5.7 8.6
*Continuous Torque at stall TS N・m 3.92 3.0 2.6 6.0 6.0 6.0 10.0
*Peak Torque at stall TP N・m 14.3 9.0 7.0 16.0 16.0 20.0 22.0
*Rated armature current IR Arms 5.7 4.2 5.2 5.2 9.1 7.6 11.0
*Armature current at stall IS Arms 6.8 4.6 5.2 5.2 9.3 8.4 11.8
*Peak armature current at stall IP Arms 25.7 15.5 15.5 15.5 25.4 26.5 26.5
*Torque constant KT N・m/Arms 0.584 0.67 0.53 1.09 0.65 0.77 0.89
Voltage constant for each phase KEΦ mV/min-1 20.4 23.5 18.5 37.8 22.7 27.0 31.1
Phase resistance RΦ Ω 0.35 0.65 0.39 0.64 0.23 0.35 0.23
*Rated power rate QR kW/s 29 22 22 54 54 54 82
Rotor inertia kg・m2(GD2/4)
JM 3.5 3.1 3.1 6.0 6.0 6.0 9.0
Note1) x10-4
Mass Note1) WE Kg 4.1 4.5 4.5 6.1 6.1 6.1 7.7
Brake mass W kg 0.9 1.3 1.3 1.5 1.5 1.5 1.5
Aluminum plate mm t12×305 t20×305 t20×305 t20×400 t20×400 t20×400 t20×470
Servo motor model number R2AA 13180D 13200L 13200D 18350L 18350D 18450H 18550R
Amplifier size combined RS2A10 RS2A05 RS2A10 RS2A10 RS2A15 RS2A15 RS2A15
*Rated output PR kW 1.8 2.0 2.0 3.5 3.5 4.5 5.5
*Rated velocity NR min-1 2000 2000 2000 2000 2000 2000 1500
*Maximum velocity Nmax min-1 5000 3000 5000 3000 4000 3500 2500
*Rated torque TR N・m 8.6 9.5 9.5 17.0 17.0 21.5 35.0
*Continuous Torque at stall TS N・m 10.0 12.0 12.0 22.0 22.0 30.0 37.3
*Peak Torque at stall TP N・m 25.0 24.0 30.0 49.0 60.0 75.0 90.0
*Rated armature current IR Arms 15.6 11.0 14.3 19.1 21.7 23.7 31.6
*Armature current at stall IS Arms 17.3 12.0 17.5 23.7 27.0 31.7 32.9
*Peak armature current at stall IP Arms 43.0 26.5 45.5 55.0 83.0 83.0 83.0
*Torque constant KT N・m/Arms 0.63 0.97 0.7 1.0 0.88 1.02 1.23
Voltage constant for each phase KEΦ mV/min-1 21.8 33.7 24.3 34.8 30.6 35.6 42.8
Phase resistance RΦ Ω 0.13 0.22 0.11 0.085 0.075 0.065 0.059
*Rated power rate QR kW/s 82 74 74 72 72 92 180
Rotor inertia kg・m2(GD2/4) 9.0 12.2 12.2 40 40 50 68
JM
Note1) x10-4
Mass Note1) WE Kg 7.7 10.0 10.0 15.5 15.5 19.5 27.7
Brake mass W kg 1.5 1.5 1.5 2.4 2.4 2.8 2.8
Aluminum plate mm t20×470 t20×470 t20×470 t20×470 t20×470 t20×470 t20×540
Note 3) Contains battery backup method absolute encoder.
Constant in the table above is the value when motor is installed on heat releasing aluminum
plate, indicates “thickness” x “length of a side of square.
Items marked with * and Velocity-Torque Characteristics indicate values after temperature
rise saturation. The others indicate values at 20C.
Each value indicates TYP.
For specifications on other motor, please contact us.
16-20
16. Appendixes Servo motor data sheet
Servo motor model number R2AA 18550H 18750H 1811KR 22350L 22500L
Amplifier size combined RS2A30 RS2A30 RS2A30 RS2A10 RS2A15
*Rated output PR kW 5.5 7.5 11 3.5 5.0
*Rated velocity NR min-1 1500 1500 1500 2000 2000
*Maximum velocity Nmax min-1 3000 3000 2500 4000 4000
*Rated torque TR N・m 35.0 48.0 70.0 17.0 24.0
*Continuous Torque at stall TS N・m 37.5 54.9 80.0 22.0 32.0
*Peak Torque at stall TP N・m 107.0 140.0 170.0 50.0 75.0
*Rated armature current IR Arms 46.2 51.2 61.9 18.0 22.0
*Armature current at stall IS Arms 48.0 56.8 66.0 22.0 34.0
*Peak armature current at stall IP Arms 155.0 155.0 155.0 55.0 83.0
*Torque constant KT N・m/Arms 0.84 1.04 1.25 1.04 1.0
Voltage constant for each phase KEΦ mV/min-1 29.3 36.6 43.8 36.2 34.9
Phase resistance RΦ Ω 0.03 0.03 0.035 0.094 0.047
*Rated power rate QR kW/s 180 235 445 69 105
Rotor inertia kg・m2(GD2/4)
JM 68 98 110 42 55
Note1) x10-4
Mass Note1) WE Kg 27.7 35.7 40 18 22.5
Brake mass W kg 2.8 6 5.5 4.5 5.5
Aluminum plate mm t20×540 t20×540 T30×610 t20×470 t20×540
Constant in the table above is the value when motor is installed on heat releasing aluminum
plate, indicates “thickness” x “length of a side of square”.
Items marked with * and Velocity-Torque Characteristics indicate values after temperature
rise saturation. The others indicate values at 20C.
Each value indicates TYP.
For specifications on other motor, please contact us.
16-21
16. Appendixes Servo motor data sheet
Constant in the table above is the value when motor is installed on heat releasing aluminum
plate, indicates “thickness” x “length of a side of square”.
Items marked with * and Velocity-Torque Characteristics indicate values after temperature
rise saturation. The others indicate values at 20C.
Each value indicates TYP.
Constant in the table above is the value when motor is installed on heat releasing aluminum
plate, indicates “thickness” x “length of a side of square”.
Items marked with * and Velocity-Torque Characteristics indicate values after temperature
rise saturation. The others indicate values at 20C.
Each value indicates TYP.
16-22
16. Appendixes Servo motor data sheet
Constant in the table above is the value when motor is installed on heat releasing aluminum
plate, indicates “thickness” x “length of a side of square”.
Items marked with * and Velocity-Torque Characteristics indicate values after temperature
rise saturation. The others indicate values at 20C. Each value indicates TYP.
16-23
16. Appendixes Servo motor data sheet
16-24
16. Appendixes Servo motor data sheet
■ Flat-type with core (AC200V-specification)
Mark “*” shows the value after the temperature is raised. Other values are the value at 25
degrees C. Each value is typical.
Magnetic attractive force is the reference value when assembling accuracy of coil and
magnet rail is ±0.1mm.
Each figure and characteristic is the values when the steel stage or equivalents (t30 x coil
length x 400mm) is mounted.
Velocity-force characteristic shows the value when amplifier power voltage is AC200V, 3φ.
When the power supply voltage is under AC200V, instantaneous zone decreases.
16-25
16. Appendixes Velocity-torque characteristic
Twin-type with core (DD), AC200V
Linear motor model DD 030C1Y4 030C2Y4 030C3Y4 050C1Y2 050C3Y2 050C2Y2
Amplifier capacity of the servo amplifier to
RS2A05L RS2A10L RS2A10L RS2A10L RS2A30L RS2A15L
combine
*Rated output Pr kW 0.95 1.89 2.84 2.10 4.20 6.30
*Continuous rated force Fr N 430 860 1290 700 1400 2100
* Maximum force Fp N 630 1260 1890 1050 2100 3150
Continuous current Ir Arms 7.8 15.6 23.4 16 32 48
Maximum current Ip Arms 13.1 26.2 39.3 27.4 54.8 82.2
Rated speed vr m/s 2.2 2.2 2.2 3.0 3.0 3.0
Maximum speed vp m/s 3.5 3.5 3.5 4.5 4.5 4.5
Coil mass Mc kg 8.3 15.0 21.6 11.2 21.2 29.0
Magnetic rail mass Mw kg/m 15.5 15.5 15.5 26.5 26.5 26.5
Pole core pitch (N-N) 2τp mm 32 32 32 32 32 32
Phase resistance Rφ Ω 1.82 0.91 0.61 0.6 0.3 0.20
Phase inductance Lφ mH 14.1 7.05 4.70 5 2.5 1.67
Force constant Kf N/Arms 68 68 68 53.5 53.5 53.5
Phase induction voltage
constant Keφ Vrms/(m/s) 22.7 22.7 22.7 17.8 17.8 17.8
(Y connection conversion)
* Motor constant Km N/√W 20.0 28.3 34.5 27.6 39.0 47.7
Magnetic rail model
- - DD030M064,128,256,512 DD050M064,128,256,512
number
16-26
16. Appendixes Velocity-torque characteristic
Signal cycle P μm 4
Resolution S μm 1.0
Maximum move speed V m/s 2.0
Power voltage - DC V 5±5%
Output circuit type - - EIA RS422 differential driver
Operating temperature - ℃ 0 to 70
Z-phase channel signal
ZW μm 20
width
75
Forced excitation CSU - ° (Electric angle at the position of mover
outing maximum)
16-27
16. Appendixes Velocity-torque characteristic
2) Velocity-Torque characteristics
R1AA motor velocity-torque characteristics charts show the values when AC200V 3-phase and single-phase are used as input power
supply. When power supply voltage is less than 200V, instantaneous zone decreases.
15 15
Torque (N・m)
Torque (N・m)
3φ
Torque (N・m)
1φ 3φ
10 3φ 10
Instantaneous Instantaneous
Instantaneous 1φ
1φ
5 5
Continuous
Continuous
Continuous
0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000
3φ
Torque (N・m)
Torque (N・m)
Instantaneous 3φ
Torque (N・m)
3φ
1φ
1φ Instantaneous
Instantaneous
1φ
Continuous Continuous
Continuous
Instantaneous
Instantaneous Instantaneous
Torque (N・m)
Torque (N・m)
Torque (N・m)
Instantaneous
Instantaneous
Torque (N・m)
Torque (N・m)
Torque (N・m)
Instantaneous
Note1) When you use motor (R1AA10250F, R1AA13500F, R1AA1811KR) whose maximum rotational velocity Nmax and maximum
rotational velocity in the continuous zone are different, use the motor so that the motor average rotational velocity does not exceed
maximum rotational velocity in the continuous zone.
16-28
16. Appendixes Velocity-torque characteristic
R2AA motor velocity-torque characteristics charts show the values when AC200V 3-phase and single-phase are used as input power
supply. When power supply voltage is less than 200V, instantaneous zone decreases.
Torque (N・m)
0 .5
Torque (N・m)
Instantaneous
0 .3 3Φ
0 .4
1 Instantaneous
0 .2 0 .3
1Φ
0 .2
0 .5
0 .1
Continuous 0 .1
Continuous
Continuous
0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
1.5 3 6
Torque (N・m)
Torque (N・m)
Torque (N・m)
3Φ
3Φ 3Φ
1 Instantaneous 2
Instantaneous 4
Instantaneous
1Φ
1Φ 1Φ
0.5 1 2
6
3 6
Torque (N・m)
Torque (N・m)
Torque (N・m)
3Φ 3Φ
4 Instantaneous 3Φ
2 4
1Φ Instantaneous
Instantaneous
1Φ
1Φ
2 3Φ 1 2
10
8 3Φ 3Φ
Instantaneous 3Φ
Torque (N・m)
Torque (N・m)
8
Torque (N・m)
10
6
Instantaneous
6 1Φ Instantaneous
4 1Φ 1Φ
4 5
3Φ 3Φ
2
2 Continuous
Continuous Continuous
1Φ 1Φ
0 0
0
0 1000 2000 3000 4000 5000 6000 7000 0 500 1000 1500 2000 2500 3000
0 1000 2000 3000 4000 5000 6000
Velocity (min-1) -1 Velocity (min-1)
Velocity (min )
16-29
16. Appendixes Velocity-torque characteristic
8
3Φ
15 3Φ Instantaneous
10
Torque (N・m)
Torque (N・m)
3Φ
Torque (N・m)
6
10
1Φ
Instantaneous
4 Instantaneous
1Φ 1Φ 5
5
2
Continuous Continuous
Continuous
0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
-1
Velocity (min ) Velocity (min-1) Velocity (min-1)
Note1)
Velocity-torque characteristic Velocity-torque characteristic Velocity-torque characteristic
R2AA13050H ( (550W)
) R2AA13050D (550W) R2AA13120B (1.2kW)
10 20
8
3Φ
8
6 3Φ 15 3Φ
Torque (N・m)
Torque (N・m)
Torque (N・m)
6 Instantaneous Instantaneous
Instantaneous 10
1Φ 4 1Φ
4
1Φ
5
2
Continuous
2
Continuous
Continuous
0
0
0 0 1000 2000 3000
0 1000 2000 3000 4000
0 1000 2000 3000 4000 5000 6000
Velocity (min-1)
Velocity (min-1) Velocity (min-1)
Velocity-torque characteristic
Note)1 Velocity-torque characteristic R2AA13180H (1.8kW)
Velocity-torque characteristic R2AA13120L (1.2kW) 25
R2AA13120D (1.2kW) 30
20
20
3Φ
25
3Φ Instantaneous
15
Torque (N・m)
Torque (N・m)
20 3Φ 15
Torque (N・m)
Instantaneous 1Φ
Instantaneous
1Φ 15
10
1Φ 10
10
Continuous
5 3Φ
5
Continuous 5
Continuous 1Φ
0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 0 500 1000 1500 2000 2500 3000 3500 4000
-1
Velocity (min-1) Velocity (min )
Velocity (min-1)
35
25 25
3Φ 30
20 20 Instantaneous
Torque (N・m)
Torque (N・m)
Instantaneous 25 Instantaneous
Torque (N・m)
15
1Φ 20
15
15
10 10
10
Continuous
Continuous 5
5
5 Continuous
0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 0 1000 2000 3000 4000 5000
Note1) When you use motor (R2AA13050D, R2AA13120D, R2AA13180D, R2AA13200D, R2AA18450H, R2AA1811KR, or R2AA22500L)
whose maximum rotational velocity Nmax and maximum rotational velocity in the continuous zone are different, use the motor so
that the motor average rotational velocity does not exceed maximum rotational velocity in the continuous zone.
16-30
16. Appendixes Velocity-torque characteristic
70
60
50
60
50
Torque (N・m)
Torque (N・m)
40 Instantaneous Instantaneous
50
Torque (N・m)
Instantaneous
40
30 40
30
30
20
20
20
Continuous Continuous
10 10 Continuous 10
0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
Velocity (min-1) Velocity (min-1) Velocity (min-1)
Torque (N・m)
80
100
Torque (N・m)
Torque (N・m)
60
60 80
40 60
40
Continuous 40
20 Continuous
20 Continuous 20
0 0
0
0 1000 2000 3000 4000 0 1000 2000 3000 4000
0 500 1000 1500 2000 2500 3000
Velocity (min ) -1
Velocity (min ) -1 Velocity (min-1)
180
160 80
Torque (N・m)
140
Instantaneous
Torque (N・m)
60
120
100 Instantaneous
40
80
60
Continuous
20
40 Continuous
20
0
0
0 1000 2000 3000 4000
0 500 1000 1500 2000 2500 3000 1
Velocity (min-1)
Velocity (min-1)
Note1) When you use motor (R2AA13050D, R2AA13120D, R2AA13180D, R2AA13200D, R2AA18450H, R2AA1811KR, or R2AA22500L)
whose maximum rotational velocity Nmax and maximum rotational velocity in the continuous zone are different, use the motor so
that the motor average rotational velocity does not exceed maximum rotational velocity in the continuous zone.
16-31
16. Appendixes 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.
Torque (N・m)
Instantaneous zone
Torque (N・m)
0.5
0.6
N・m)
トルク((N・m)
0.4 0.4
0.2 0.2
0.2 Continuous zone
0.1 Continuous zone
Continuous zone
0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
-1 -1
Velocity
速度( min (min) ) Velocity (min ) -1 Velocity (min-1)
1
Instantaneous zone
Instantaneous zone 2
Torque (N・m)
Torque (N・m)
0.8
1.5
0.6
1
0.4
0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
For servo motor with oil-seal and/or brake, the following decrease-rating ratios have to be
applied to the torque characteristic in the continuous velocity zone.
Oil seal
Without oil seal With oil seal
Brake
Without brake - Degree of decrease rating 2
With brake Degree of decrease rating 1 Degree of decrease rating 2
16-32
16. Appendixes Velocity-torque characteristic
R5AA Motor Velocity-Torque Characteristics indicate the values when amplifier power supply is AC200V.
Instant domain decreases when amplifier power supply is below 200V.
Torque (N・m)
Torque (N・m)
1φ
Torque (N・m)
1.5 1.5 1φ 3
1 1 2
0 0 0
0 1000 2000 3000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000
1φ 3φ
3φ
Torque (N・m)
Torque (N・m)
3 Instantaneous zone
Torque (N・m)
6 6
1φ 1φ
2
4 Instantaneous zone 4
1 Continuous zone 2 2
Continuous zone Continuous zone
0
0 0
0 1000 2000 3000 4000 5000 6000
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
Velocity (min-1) -1 Velocity (min-1)
Velocity (min )
For servo motor with oil-seal and/or brake, 90% decrease-rating ratios have to be applied to the torque characteristic in the continuous
zone.
16-33
16. Appendixes Velocity-torque characteristic
R2GA Motor Velocity-Torque Characteristics indicate the values when amplifier power supply is 48V DC.
Instant domain of higher rotation area decreases, when amplifier power supply voltage drops, power line has high impedance or cable
length between amplifier and motor is long etc. So, please have margin for servo motor selection.
0.8
0.6 Instantaneous zone
Instantaneous zone
0.2
Instantaneous zone 0.6
Torque (N・m)
Torque (N・m)
Torque (N・m)
0.4
0.4
0.1
Continuous zone 0.2
0.2
Continuous zone
Continuous zone
0 0 0
0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000
Velocity (min-1) Velocity (min-1) Velocity (min-1)
R2GA06010D R2GA06020D
1 2
0.8
1.5
Instantaneous zone
Torque (N・m)
Torque (N・m)
0.6
1 Instantaneous zone
0.4
0 0
0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000
R2GAD102RM
R2GAD102RM Rated torque – Ambient
0.1 temperature characteristic
120
Rated torque ratio (%)
0.08 100
Momentary range
Torque (N・m)
80
0.06
Momentary range
60
0.04
40
0.02
Continuous range 20
0
0
0 500 1000 1500 2000 0 10 20 30 40 50
Velocity (min ) -1
Ambient temperature (℃)
R2GA02D20F R2GA02D30F
0.25 0.5
0.2 0.4
Momentary range
Torque (N・m)
Torque (N・m)
Momentary range
0.15 0.3
0.1 0.2
0.05 0.1
Continuous range Continuous range
0 0
0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000
16-34
16. Appendixes Velocity-torque characteristic
R2FA Motor Velocity-Torque Characteristics indicate the values when amplifier power supply is 24V DC.
Instant domain of higher rotation area decreases, when amplifier power supply voltage drops, power line has high impedance or cable
length between amplifier and motor is long etc. So, please have margin for servo motor selection.
Instantaneous
Torque (N・m)
Torque (N・m)
Torque (N・m)
Instantaneous
Instantaneous
Continuous
Continuous Continuous
Torque (N・m)
Instantaneous
Instantaneous
Continuous
Continuous
Torque (N・m)
Instantaneous
Instantaneous
Continuous Continuous
Velocity (min-1)
Velocity (min-1)
16-35
16. Appendixes Velocity-torque characteristic
3) Velocity-force characteristics
DS linear motor Velocity-force characteristics indicate the values when amplifier power supply is 3-phase AC200V.
Instant domain decreases when amplifier power supply is below 200V.
800
Force F [N]
Force F [N]
250 500
200 400 600
150 300
Continuous Continuous 400 Continuous
100 200
50 100 200
0
0 2 4 6 0 0
0 2 4 6 0 2 4 6
Velocity v [m/s] Velocity v [m/s]
Velocity v [m/s]
Force F [N]
400 800 1200
300 1000
600
800
200 Continuous Continuous Continuous
400 600
100 200 400
200
0 0
0 1 2 3 4 0 1 2 3 4
0
0 1 2 3 4
Velocity v [m/s] Velocity v [m/s]
Velocity v [m/s]
600
Force F [N]
1200 2000
Force F [N]
500 1000
400 1500
Continuous 800
300 Continuous
600 1000 Continuous
200
400
100 500
200
0
0 1 2 3 0 0
0 1 2 3 0 1 2 3
Velocity v [m/s]
Velocity v [m/s] Velocity v [m/s]
16-36
16. Appendixes Velocity-torque characteristic
Force F [N]
1000 3000
Force F [N]
Force F [N]
800 1500 2500
2000
600 1000
Continuous 1500
Continuous Continuous
400
500 1000
200 500
0 0 0
0 2 4 6 0 2 4 6 0 2 4 6
Velocity v [m/s] Velocity v [m/s]
Velocity v [m/s]
Force F [N]
Force F [N]
1000
2000 3000
800
Continuous 1500
600 Continuous 2000 Continuous
400 1000
500 1000
200
0 0 0
0 1 2 3 0 1 2 3 0 1 2 3
Velocity v [m/s] Velocity v [m/s] Velocity v [m/s]
16-37
16. Appendixes Velocity-torque characteristic
DD linear motor Velocity-force characteristics indicate the values when amplifier power supply is 3-phase AC200V.
Instant domain decreases when amplifier power supply is below 200V.
Force F [N]
Force F [N]
Force F [N]
800 Continuous
400 Continuous Continuous
1000
300 600
800 2500
Force F [N]
Force F [N]
1500
Force F [N]
Continuous 2000 Continuous
600 Continuous
1000 1500
400
1000
200 500
500
0 0 0
0 2 4 0 2 4 0 2 4
Velocity v [m/s] Velocity v [m/s]
Velocity v [m/s]
Force F [N]
Force F [N]
1200 4000
1000 2000
Continuous Continuous 3000
800 1500 Continuous
600 2000
1000
400
500 1000
200
0 0 0
0 1 2 3 4 0 1 2 3 4 0 2 4
Velocity v [m/s] Velocity v [m/s]
Velocity v [m/s]
Velocity-force characteristic
DD075C1Y2
7000
6000 Instantaneous
5000
Force F [N]
4000
Continuous
3000
2000
1000
0
0 1 2 3 4
Velocity v [m/s]
16-38
16. Appendixes Velocity-torque characteristic
Center magnet type Velocity-force characteristics indicate the values when amplifier power supply is 3-phase AC200V.
Instant domain decreases when amplifier power supply is below 200V.
Velocity-force characteristic
DT030CD1AN
Instantaneous
Force F [N]
Continuous
Velocity v [m/s]
DE linear motor Velocity-force characteristics indicate the values when amplifier power supply is DC48V.
Instant domain decreases when amplifier power supply is below 48V.
Velocity-force characteristic
DE0AC001A03MX00
Maximum force
Force F (N)
Continuous force
Velocity v (m/s)
16-39
16. Appendixes Overload characteristics
5)Overload characteristic
The following show overload characteristics of R1AA motors.
time (Sec)
time (Sec)
time (Sec)
While rotating
At stoppage
Output current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR)
time (Sec)
time (Sec)
Output current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR)
time (Sec)
time (Sec)
Output current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR)
Output current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR)
16- 40
16. Appendixes Overload characteristics
time (Sec)
time (Sec)
time (Sec)
time (Sec)
100 100 10 0
10 10 10
1 1 1
0 0 .5 1 1 .5 2 2 .5 3 3 .5 4 0 0 .5 1 1 .5 2 2 .5 3 3 .5 0 0 .5 1 1 .5 2 2 .5 3
Output current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR)
1 1
1
Overload characteristic
R1AA1815KB (15kW)
10000
1000
time (Sec)
100
10
1
0 0.5 1 1.5 2 2.5 3
16- 41
16. Appendixes Overload characteristics
The following show overload characteristics of R2AA motors.
time (Sec)
time (Sec)
time (Sec)
100 100 100
When
回転時rotating
10 10 10
At stoppage
停止時
1 1 1
0 1 2 3 4 5 0 1 2 3 4 5 0 1 2 3 4 5
Output current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR)
Overload characteristic
Overload characteristic Overload characteristic
R2AA06040F (400W)
R2AA06010F (100W) R2AA06020F (200W) 10000
10000
10000
1000
1000
1000
time (Sec)
time (Sec)
time (Sec))
100 100
(
100
10 10 10
1 1
0 1 2 3 4 5 0 1 2 3 4 1
0 1 2 3 4 5
Output current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR)
1000 1000
1000
time (Sec)
time (Sec)
time (Sec)
時 間 (Sec)
100
100 100
10 10
10
1
1
0 1 2 3 4
1 0 1 2 3 4
0 1 2 3 4 5
Output current ratio (I/IR) Output current ratio (I/IR)
Output current ratio (I/IR)
Overload characteristic
R2AA08075F (750W) Overload characteristic Overload characteristic
10000 R2AAB8075F (750W)
R2AAB807 5F(750W) R2AAB8100H (1kW)
10000
10000
1000
1000
1000
time (Sec)
time (Sec)
time (Sec)
時 間 (Sec)
100
100 100
10 10 10
1 1 1
0 1 2 3 4 5 6 0 1 2 3 4
0 1 2 3 4
Output current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR)
16- 42
16. Appendixes Overload characteristics
10 00 1000
1000
time (Sec)
time (Sec)
time (Sec)
時 間 (Sec)
1 00
100
100
While rotating
10
10 10
At stoppage
1
0 1 2 3 4 5 1 1
time (Sec)
time (Sec)
10 10 10
1 1 1
0 1 2 3 4 0 1 2 3 4 0 1 2 3 4
Output current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR)
1000
1000 1000
time (Sec)
time (Sec)
time (Sec)
→
時 間 (Sec)
Time (sec )
100 100
100
10 10
10
1 1
1
0 0.5 1 1.5 2 2.5 3
0 0.5 1 1.5 2 2.5 3 0 1 2 3 4
Output current ratio (I/IR)
Output current ratio (I / I R) →
Output current ratio (I/IR) Output current ratio (I/IR)
1000 1000
1000
time (Sec)
(Sec)
time (Sec)
→
時 間 (Sec)
Time (sec )
10 10 10
1 1 1
0 0.5 1 1.5 2 2.5 3 3.5
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3 Output current ratio (I / I R) →
Output current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR)
16- 43
16. Appendixes Overload characteristics
10 0 0 1000 1000
(Sec)
time (Sec)
(Sec)
時 間 (Sec)
時間 (Sec)
100 100 100
time
time
10 10 10
1 1
1
0 0 .5 1 1 .5 2 2. 5 3 3 .5 0 1 2 3 4
0 1 2 3 4 5
(Sec)
time (Sec)
時 間 (Sec)
時間 (Sec)
時 間 (Sec)
time
10 10 10
1 1 1
0 0.5 1 1.5 2 2.5 3 0 1 2 3 4 0 0.5 1 1.5 2 2.5 3 3.5
Output current ratio (I/IR) Output current ratio (I/IR) Output出力電流比
current(ratio
) (I/IR)
1000 1000
time (Sec)
time (Sec)
時間 (Sec)
100 100
10 10
1
1
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3 3.5 4
Output current ratio (I/IR) Output current ratio (I/IR)
16- 44
16. Appendixes Overload characteristics
The following show overload characteristic of R2EA motor.
1000 1000
1000
time (Sec)
time (Sec)
time (Sec)
100 100
100
When rotating
10 10
10
At stoppage
1 1
1
0 1 2 3 4 5 0 1 2 3 4 5 0 1 2 3 4
1000 1000
time (Sec)
time (Sec)
100 100
10 10
1 1
0 1 2 3 4 0 1 2 3 4 5
1000 1000
1000
(Sec)
時 間 (Sec)
time (Sec)
(Sec)
時 間 (Sec)
時 間 (Sec)
100 100
time
100
time
10 10
10
1 1
1
0 1 2 3 4 5 0 1 2 3 4 0 1 2 3 4 5
Output 出力 電 流比 (I/IR)
current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR)
1 1 1
1000 1000
1000
time (Sec)
(Sec)
(Sec)
時 間 (Sec)
時 間 (Sec)
時 間 (Sec)
100 100
100
time
time
10 10 10
1 1 1
0 1 2 3 4 5 0 1 2 3 4
0 1 2 3 4
16- 45
16. Appendixes Overload characteristics
The following show overload characteristics of R2GA motors.
Maximum rotational
1000 1000 velocity At stoppage
1000
Time (sec)
Time (sec)
Time (sec)
100
100
100
10
10 10
1
1 1
1000
1000
Time (sec)
Time (sec)
100
100
10
10
1
1
0 0.5 1 1.5 2 2.5
1000 1000
1000
Time (sec)
Time (sec)
Time (sec)
10 10 10
1 1
1
0 1 2 3 4 0 1 2 3 4
0 0.5 1 1.5 2 2.5 3
Output current ratio (I/IR) Output current ratio (I/IR)
Output current ratio (I/IR)
16- 46
16. Appendixes Overload characteristics
Time (sec)
Time (sec)
Time (sec)
Output current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR)
Time (sec)
16- 47
16. Appendixes Overload characteristics
1000
100 1000
0
100
100 100
Time (sec)
Time (sec)
Time (sec)
10
10 10
1
1 1
0 0.5 1 1.5 2 2.5 3
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
Output current ratio (I/IR)
Output current ratio (I/IR) Output current ratio (I/IR)
Overload characteristic
DS050C1N2 (0.624 kW) Overload characteristic Overload characteristic
( ) DS050C2N2 (1.248 kW) DS050C3N2 (1.872 kW)
10000
10000 10000
1000
1000 1000
Time (Sec)
Time (Sec)
Time (Sec)
100 100
100
10 10
10
1 1
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3 1
Output current ratio(I/IR) Output current ratio(I/IR) 0 0.5 1 1.5 2 2.5 3
Output current ratio(I/IR)
Output current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR)
Time (sec)
Time (sec)
10 10 10
1 1 1
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
Output current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR)
16- 48
16. Appendixes Overload characteristics
1000 1000
1000
Time (sec)
Time (sec)
100 100 100
Time (sec)
10 10 10
1 1
1
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
1000 1000
1000
Time (sec)
100 100
Time (sec)
Time (sec)
100
10 10
10
1 1
1 0 0.5 1 1.5 2 2.5 3
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
Output current ratio (I/IR) Output current ratio (I/IR)
Output current ratio (I/IR)
16- 49
16. Appendixes Overload characteristics
Time (sec)
Time (sec)
Time (sec)
100 100 100
10 10 10
1 1
1
0 0.5 1 1.5 2 0 0.5 1 1.5 2
0 0.5 1 1.5 2
Output current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR)
Time (sec)
Time (sec)
100 100 100
10
10 10
1
0 0.5 1 1.5 2 1 1
0 0.5 1 1.5 2 0 0.5 1 1.5 2
Output current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR)
1000
1000
1000
Time (sec)
Time (sec)
100
100
Time (sec)
100
10
10
10
1 1
0 0.5 1 1.5 2 0 0.5 1 1.5 2 1
0 0.5 1 1.5 2
Output current ratio (I/IR) Output current ratio (I/IR) Output current ratio (I/IR)
Overload characteristic
DD075C4Y2 ( 8.4 kW )
10000
1000
Time (sec)
100
10
1
0 0.5 1 1.5 2
16- 50
Output current ratio (I/IR)
16. Appendixes Overload characteristics
Overload characteristic
DT030CD1AN (0.67kW)
Time (sec)
16- 51
16. Appendixes Servo Amplifier Dimension
Terminal Layout 4
CNA CNB
R U
S V
T W
N.P.
r
t
-
RB1
RB2
(20)
5
φ5
Direction of
installation
N.P.
160
152
4 5
(3)
RS2□03A□HL□
4
Terminal Layout
CNA CNB
R U
S V
T W
r
N.P.
t
-
RB1
RB2
φ5
N.P.
160
152
Direction of
installation
Cooling Fan
Inlet
4 5
(3)
16- 52
16. Appendixes Servo Amplifier Dimension
RS2□05A□HL□
Terminal Layout
CNA CNB
R U
S V
T W
N.P.
r
t
-
RB1
RB2
(20)
φ5
5
Cooling Fan
Direction of
Installation
160
152
Inlet
5 4
(3)
RS2□10A□HA□
100 G
220
50
2 6
5
15
Direction of
installation
N.P.
205
235
225
(6) FAN
(75)
Wind direction
16- 53
RS2□15A□HA□
Terminal Layout (Top view) (19) 201
2
R
S
T CNA
- r
RB4 t
N.P.
RB1
RB2
U
V DETAIL G
W
120 G
220 100
75
2 6
15
5 Direction of
installation
235
225
205
N.P.
(6) FAN
(50) Wind direction
RS2□30A□HL□
Mounting direction
Up
16-54
16. Appendixes Servo Amplifier Dimension
RS2K□A□H□□/ RS2J□A□H□□
16-55
16. Appendixes Operational Parts
CNA (for input power supply and CN2 (for general I/O signal)
regenerative resistance connection)
EN2
(for external pulse encoder or linear
motor hall sensor connection)
16- 56
16. Appendixes Operational Parts
■RS2#10, RS2#15
EN2
(for external pulse encoder or linear
motor hall sensor connection)
16-57
16. Appendixes Operational Parts
■RS2#30
EN2
(for external pulse encoder or linear
motor hall sensor connection)
16-58
16. Appendixes Operational Parts
■RS2□##A(DC48V/24V)
CNB (for servo motor connection) CN1 ( for safety device connection)
Safe Torque-Off function equipped model
EN2
(for external pulse encoder or linear
motor hall sensor connection)
16-59
16. Appendixes Operational Parts
■ PN of connector
Connector
Item Our model No. Manufacturer’s model No. Qty. Manufacturer
No.
Ethernet
Not provided by our company.
IN,OUT For host unit
Please use shielded type modular plug (RJ-45) corresponding to the CAT5e standard.
connection
For encoder 36210-0100PL and
EN1,EN2 AL-00632607 1 3M Japan Ltd.
Connection 36310-3200-008
For input power
supply, and
Phoenix Contact
CN A regenerative AL-00686902-01 MSTBT2.5/8-STF-5.08LUB 1
Co. Ltd.
resistance
connection
For servo motor Phoenix Contact
CNB AL-Y0004079-01 MSTBT2.5/3-STF-5.08 1
connection Co. Ltd.
Tyco Electronics Japan
CN1 For STO AL-00718252-01 2013595-3 1
G.K.
Tyco Electronics Japan
CN1 For STO cancellation AL-00849548-02 1971153-2 1
G.K.
For general I/O HDR-E26MSG1+ and Honda Tsushin Kogyo
CN2 AL-00842383 1
signal HDR-E26LPH Co. Ltd.
■ PN of connector
Connector
Item Our model No. Manufacturer’s model No. Qty. Manufacturer
No.
Ethernet
Not provided by our company.
IN,OUT For host unit
Please use shielded type modular plug (RJ-45) corresponding to the CAT5e standard.
connection
For encoder 36210-0100PL and
EN1,EN2 AL-00632607 1 3M Japan Ltd.
Connection 36310-3200-008
For input power
supply, and
Phoenix Contact
CN A regenerative AL-00686902-01 MSTBT2.5/8-STF-5.08LUB 1
Co. Ltd.
resistance
connection
Tyco Electronics Japan
CN1 For STO AL-00718252-01 2013595-3 1
G.K.
Tyco Electronics Japan
CN1 For STO cancellation AL-00849548-02 1971153-2 1
G.K.
For general I/O HDR-E26MSG1+ and Honda Tsushin Kogyo
CN2 AL-00842383 1
signal HDR-E26LPH Co. Ltd.
RS2□##A(DC48V/24V)
■ PN of connector
Connector
Item Our model No. Manufacturer’s model No. Qty. Manufacturer
No.
Ethernet
Not provided by our company.
IN,OUT For host unit
Please use shielded type modular plug (RJ-45) corresponding to the CAT5e standard.
connection
For encoder 36210-0100PL and
EN1,EN2 AL-00632607 1 3M Japan Ltd.
Connection 36310-3200-008
For input power
supply, and
Phoenix Contact
CN A regenerative AL-Y0010913-01 MSTBT2.5/6-STF-5.08 1
Co. Ltd.
resistance
connection
For servo motor Phoenix Contact
CNB AL-Y0004079-01 MSTBT2.5/3-STF-5.08 1
connection Co. Ltd.
Tyco Electronics Japan
CN1 For STO AL-00718252-01 2013595-3 1
G.K.
Tyco Electronics Japan
CN1 For STO cancellation AL-00849548-02 1971153-2 1
G.K.
For general I/O HDR-E26MSG1+ and Honda Tsushin Kogyo
CN2 AL-00842383 1
signal HDR-E26LPH Co. Ltd.
16- 60
16. Appendixes Operational Parts
■ PN of connector set
Amplifier model
Set connector Description Our model No.
number
EN1, CN1,CN2, With regenerative resistor, Semi-closed amplifier, For DC
AL-00887322
CNB input, For AC200V 15A to 50A input
RS2K or J
EN1, EN2,CN1,CN2, With regenerative resistor, Full-closed amplifier, For DC
RS2#01 to 05 AL-00887326
CNB input, For AC200V 15A to 50A input
EN1, CN1, CN2, Without regenerative resistor, Semi-closed amplifier,
AL-00887323
CNA(for DC input), CNB For DC input
RS2K or J
EN1, EN2, CN1, CN2, Without regenerative resistor, Full-closed amplifier,
AL-00887327
CNA(for DC input), CNB For DC input
EN1, CN1, CN2,
Without regenerative resistor, Semi-closed amplifier,
CNA(for small capacity), AL-00887324
For AC200V 15A to 50A input
CNB
RS2#01 to 05
EN1, EN2, CN1, CN2,
Without regenerative resistor, Full-closed amplifier,
CNA(for small capacity), AL-00887328
For AC200V 15A to 50A input
CNB
EN1, CN1,CN2,
Semi-closed amplifier, For AC200V 100A to 300A input AL-00887325
CNA(for large capacity)
RS2#10 to 30
EN1, EN2,CN1,CN2,
Full-closed amplifier, For AC200V 100A to 300A input AL-00887329
CNA(for large capacity)
16- 61
16. Appendixes Operational Parts
60±5
(24.5)
(φ14.5)
17MAX.
Battery
Connector
1 Red
2 1
2 Black
2. Wiring diagram
Battery
Connector
Red
1 BAT+
2 BAT-
Black
16- 62
16. Appendixes Operational Parts
MODEL AL-00697960- – –
Model number L [m]
AL-00697960-01 3
MADE IN JAPAN 00157312A
Length of cable:L(m)
AL-00697960-02 5
(40) AL-00697960-03 10
AL-00697960-04 15
AL-00697960-05 20
AL-00697960-06 25
1. Specification: Relay cable for encoder with the connector in one end and the battery unit
For moving part at mid-low speed
*This shall not be designed for moving part at high speed.
2. Specification for wiring:
Connectors on
servo amplifier side
16- 63
16. Appendixes Operational Parts
(382)
(40) 300±10 (42)
1. Specification: Relay cable for encoder with the connector at both ends and the battery unit
Shield
Terminal Signal
No Name
1 BAT+
2 BAT-
16- 64
16. Appendixes Operational Parts
Green/Yellow
Red PHOENIX CONTACT GmbH & Co. KG product,
MSTBT2.5/3-STF-5.08
White
1 Red Black
L
2 White
3 Black
4 Green/Yellow
1 White
L RS-CM4-03-R RS-CB3-03-R RS-CA4-03-R 3
2 Black
RS-CM4-05-R RS-CB3-05-R RS-CA4-05-R 5
Encoder cable RS-CM4-10-R RS-CB3-10-R RS-CA4-10-R 10
AMP INC. product, Sumitomo 3M Limited, product
Connector housing: 172161-1 Receptacle: 36210-0100PL
Contact: 170359-3 Shell kit:36310-3200-008
36310
3M
1 Black 0V 1 Red 5V
2 Red +5V 2 Black 0V
3 Brown ES+ 7 Blown ES+
4 Blue ES- 8 Blue ES-
5 Green EBAT+ 9 Green EBAT+
6 Purple EBAT- 10 Purple EBAT-
9 Earth
(R
0.4
)
N.P.
20)
(ƒÓ
200±30
Cable for Power cable (For securing) Shielded cable for encoder (For securing)
Power, earth 0.75mm 2 AWG26, 3-pair
16-65
16. Appendixes Operational Parts
5) Fixing bracket
Fixing brackets are supplied with servo amplifier, RS2□01, RS2□03, RS2□05 and RS2□30.
AL-00736863-01 AL-00736864-01
2-M4用皿穴
2-Countersink for M4 10 33 2-M4用皿穴
15.5 10 2-Countersink for M4
2-C5
2-C5
24
8 8
10 8
24
5
φ
2-φ 17.5 50 2
R2
2-
5 R2 下 下
2- 以 . 2- 以
R1 max R1 ax.
1 m
R 1 R
15
15
10
10
40 85
85
30 32.5
5
10
R1 R1
15
10
m 以下 R1 R1以
15
ax 2- ma 下
5 .
R2 5 2-R R2 x.
2- 22.5 2 1
17.5 50 2
下側/Bottom 下側/Bottom
2-M4用皿穴
2-Countersink for M4 32.5 2-M4用皿穴
2-Countersink for M4
8 10
5
24
5
88
5.5 10 2-C5
24
2-C5
10 33
AL-00828413-01
25
Upper
220
R3 7 3-C3 2
. 5
30
20
4
φ1
12
100 100 10
25
Bottom
+0
220 -0.5
100 100 10
7 3-C3 2
15
10
.5
R3
16-66
16. Appendixes Operational Parts
Outline dimensional drawing of cable for communication with PC (Model number: AL-00689703-01)
+40
2850- 0
NO.8 NO.1
9 5
Cable
ケーブル
6 1
20
CN-L CN-R
29
44 LEFT RIGHT
M1 M2 DM GND GND DM M2 M1
65
2000±50
20±5 20±5 20±5 20±5
1B 1A 1 2
2B 2A 3 4
Monitor box is supplied with two dedicated cables (model number: AL-00690525-01 in the above 2), exclusive to monitor box (model
number: Q-MON-3).
16-67
16. Appendixes Outline dimension of regenerative resistor
+20
132 300 0
+15
122±0.4 270 0
100 6±1
φ4.3 6±1
44±0.4
26
2
Silicon rubber glass braided wire 0.5mm White
+0.3
0
(Thermo start)
4.3
2
Silicon rubber glass braided wire 0.75mm Black
20
1
REGIST-120W
+20
182 3000
+15
172±0.4 270 0
150 6±1
φ4.3 6±1
42±0.4
23.5
2
4.3 +0.3
(Thermo start)
2
Silicon rubber glass braided wire 0.75mm Black
20
1.2
16-68
16. Appendixes Outline dimension of regenerative resistor
REGIST-220W
+20
230 300 0
+15
220±0.4 270 0
200 6±1
φ4.3 6±1
60±0.4
42.7
2
Silicon rubber glass braided wire 0.5mm White
+0.3
0
(Thermo start)
4.3
2
Silicon rubber glass braided wire 0.75mm Black
20
1.2
REGIST-500CW
2-φ4.5
250 ±0.8
+0.4
234 -1.2 8 ±0.3
4.5
60 ±0.3
80 ±0.7
Thermostat
REGIST-500CW20B
00683398-01
MICRON
Crimping terminal M5
2
Lead, 2mm, White
16- 69
16. Appendixes Outline dimension of regenerative resistor
REGIST-1000W
16- 70
16. Appendixes EtherCAT Term
【-A-】
ADR Address
ADS Automation Device Specification (Beckhoff)
AL Application Layer
APRD Auto Increment Physical Read
APWR Auto Increment Physical Write
APRW Auto Increment Physical ReadWrite
ARMW Auto Increment Physical Read Multiple Write
AoE Automation Device Specification over EtherCAT
ASIC Application Specific Integrated Chip
Auto Crossover Automatic detection of whether or not the send and receive lines are crossed.
Auto Negotiation Automatic negotiation of transmission speeds between two stations.
Avalon On-chip bus for Altera FPGAs
【-B-】
Big Endian Data format (also Motorola format). The more significant byte is transferred first when a word is transferred.
However, for EtherCAT the least significant bit is the first on the wire.
BOOT BOOT state of EtherCAT state machine
Boundary Clock A station that is synchronized by another station and then passes this information on.
Bridge A term for switches used in standards. Bridges are devices that pass on messages based on address
information.
Broadcast An unacknowledged transmission to an unspecified number of receivers.
BRD Broadcast Read
BWR Broadcast Write
BRW Broadcast ReadWrite
【-C-】
Cat Category - classification for cables that is also used in Ethernet. Cat 5 is the minimum required category for
EtherCAT. However, Cat 6 and Cat 7 cables are available.
CoE CANopen over EtherCAT
Communication Stack A communication software package that is generally divided into successive layers, which is why it is referred
to as a stack.
Confirmed Means that the initiator of a service receives a response.
CRC Cyclic Redundancy Check, used for FCS
Cut Through Procedure for cutting directly through an Ethernet frame by a switch before the complete message is received.
Cycle Cycle in which data is to be exchanged in a system operating on a periodical basis.
CiA CAN in Automation
COB Communication Object
Csp Cyclic Synchronous Profile mode
Cst Cyclic Synchronous Torque mode
Csv Cyclic Synchronous Velocity mode
【-D-】
DC Distributed Clocks Mechanism to synchronize EtherCAT slaves and master
Delay Delays can be caused by run-times during transfer or internal delays of a network component.
Dest Addr Destination address of a message (the destination can be an individual network station or a group (multicast).
DHCP Dynamic Host Configuration Protocol, used to assign IP addresses (and other important startup parameter in
the Internet context).
DL Data Link Layer, also known as Layer 2. EtherCAT uses the Data Link Layer of Ethernet, which is
standardized as IEEE 802.3.
DNS Domain Name Service, a protocol for domain name to IP addresses resolution.
Distributed Clocks (DC) Synchronizing method for slaves’ global time base.
DC makes an accurate synchronization possible between output signals and input cycles and then transfers the
entire process to the EtherCAT network.
【-E-】
EBUS Based on LVDS (Low Voltage Differential Signaling) standard specified in
ANSI/TIA/EIA-644-1995
ECAT EtherCAT
EEPROM Electrically Erasable Programmable Read Only Memory. Non-volatile memory used to store ESC configuration
and device description. Connected to the SII.
EMC Electromagnetic Compatibility, describes the robustness of a device with regard to electrical interference from
the environment.
EMI Electromagnetic Interference
Engineering Here: All applications required to configure and program a machine.
EoE Ethernet over EtherCAT
16- 71
16. Appendixes EtherCAT Term
EOF End of Frame
ERR Error indicator for AL state
Err(x) Physical Layer RX Error LED for debugging purposes
ESC EtherCAT Slave Controller
ESM EtherCAT State Machine
ETG 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.
EPU EtherCAT Processing Unit. The logic core of an ESC containing e.g. registers, memory, and processing
elements.
【-F-】
Fast Ethernet Ethernet with a transmission speed of 100 Mbit/s.
FMMU Fieldbus Memory Management Unit
FSA Finite State Automaton
Labeled directed graph with start and stop node.
FSoE Safety over EtherCAT
FCC Federal Communications Commission
FCS Frame Check Sequence
FIFO First In, First Out
Firewall Routers or other network component that acts as a gateway to the Internet and enables protection from
unauthorized access.
FMMU Fieldbus Memory Management Unit
FoE File access over EtherCAT
Follow Up Message that follows Sync and indicates when the Sync frame was sent from the last node (defined in IEEE
1588).
FPGA Field Programmable Gate Array
FPRD Configured Address Physical Read
FPWR Configured Address Physical Write
FPRW Configured Address Physical ReadWrite
FRMW Configured Address Physical Read Multiple Write
Frame See PDU
FTP File Transfer Protocol
【-G-】
Get Access method used by a client to read data from a device.
GND Ground
GPI General Purpose Input
GPO General Purpose Output
【-H-】
HW Hardware
HDR Header
HNI Human Machine Interface
【-I-】
I/O Input/Output
I2C Inter-Integrated Circuit, serial bus used for EEPROM connection to the ESC
ICMP Internet Control Message Protocol: Mechanisms for signaling IP errors.
IEC International Electro technical Commission
IEEE Institute of Electrical and Electronics Engineers
INIT INIT state of EtherCAT state machine
Interval Time span
IP Internet Protocol: Ensures transfer of data on the Internet from end node to end node.
Intellectual Property
IRQ Interrupt Request
ISO International Standard Organization
ISO/OSI Model ISO Open Systems Interconnection Basic Reference Model (ISO 7498): describes the division of
communication into 7 layers.
IT Information Technology: Devices and methods required for computer-aided information processing.
【-L-】
LED Light Emitting Diode, used as an indicator
Link/Act Link/Activity Indicator (LED)
Little Endian Data format (also Intel format). The less significant byte is transferred first when a word is transferred. With
EtherCAT, the least significant bit is the first on the wire.
LLDP Lower Layer Discovery Protocol - provides the basis for topology discovery and configuration definition (see
IEEE802.1ab)
LRD Logical Read
LWR Logical Write
LRW Logical ReadWrite
16- 72
16. Appendixes EtherCAT Term
LVDS Low Voltage Differential Signaling
【-M-】
MAC Media Access Control: Specifies station access to a communication medium. With full duplex Ethernet, any
station can send data at any time; the orders of access and the response to overload are defined at the network
component level (switches).
M12 Connector used for industrial Ethernet
MAC 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. These must be implemented by every station.
MBX Mailbox
MDI Media Dependant Interface: Use of connector Pins and Signaling (PC side)
MDI-X Media Dependant Interface (crossed): Use of connector Pins and Signaling with crossed lines (Switch/hub side)
Memory The RS2 EtherCAT slave amplifier can have an address space of up to 12Kbyte. The first block of 4 Kbytes
(0x0000-0x0FFF) is used for registers and user memory. The memory space of 8 Kbytes (0x1000-0x2FFF) of
the remainder is used as the process memory. The ESC address range is directly addressable by the EtherCAT
master and slave's µController.
MI (PHY) Management Interface
MII Media Independent Interface: Standardized interface between the Ethernet MAC and PHY.
Multicast Transmission to multiple destination stations with a frame - generally uses a special address.
【-N-】
Node Single DL-entity as it appears on one local link
NMT Network-Management:One of the service elements in application layers defined in the CAN reference model.
Manages CAN network settings, initialization and errors.
Node-ID Node identification number to be assigned to respective NMT slaves.
NOP No Operation
NVRAM Non-volatile random access memory,
e.g. EEPROM or Flash.
【-O-】
Octet Term from IEC 61158 - one octet comprises exactly 8 bits.
OP Operational state of EtherCAT state machine
OPB On-Chip Peripheral Bus
Optional Service Optional services can be fulfilled by a PROFINET station in addition to the mandatory services.
OSI Open System Interconnect
OUI Organizationally Unique Identifier - are the first 3 Bytes of a Ethernet-Address, That will be assign to
companies or organizations and can be used for protocol identifiers as well (e.g. LLDP)
【-P-】
PDS Power Drive Systems
Process data Process for the purpose of processing data objects, including the application object that is designed to
transmit periodically or non-periodically.
PDI Process Data Interface or Physical Device Interface: an interface that allows access to ESC from the process
side.
PDO Process Data Object
PDU Protocol Data Unit: Contains protocol information (Src Addr, Dest Addr, Checksum and service parameter
information) transferred from a protocol instance of transparent data to a subordinate level (the lower level
contains the information being transferred).
PE Protection Earth
PHY Physical layer device that converts data from the Ethernet controller to electric or optical signals.
PHY Management PHY Management Unit: Communicates with Ethernet PHY through MII Management Interface and is used in
either master or slave. MII is used in ESC itself to restart auto-negotiation after reception error of enhanced link
detection mechanism.
Ping Frame that verifies whether the partner device is still available.
PLL Phase Locked Loop
PREOP Pre-Operational state of EtherCAT state machine
Preamble Preamble: In Ethernet data communication, a 64bit data field that contains a synchronization pattern
consisting of alternating 1s and 0s ending with two consecutive 1s is sent from the source node to the
destination node to pre-notify frame transmission to the other nodes and is called the Preamble. The
destination node finds the beginning of the frame with these last two consecutive 1s.
Protocol Rules for sequences - here, also the sequences (defined in state machines) and frame structures (described
in encoding) of communication processes.
Provider Device that sends data to other consumers in the form of a broadcast message.
PTP Precision Time Protocol in accordance with IEEE 1588: Precise time synchronization
procedures.
PTP Master Indicates time in a segment.
PTP Slave Station synchronized by a PTP master.
【-Q-】
16- 73
16. Appendixes EtherCAT Term
Quad Cable Cable types in which the two cable pairs are twisted together. This strengthens the electromagnetic resistance.
【-R-】
RAM Random Access Memory. ESC have User RAM and Process Data RAM.
Read Service enabling read access to an I/O device.
Real-Time Real-time capability of a system to perform a task within a specific time.
Request Call of a service in the sender/client.
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.
RSTP Rapid Spanning Tree Protocol: Prevents packet from looping infinitely between switches; RSTP is specified in
IEEE 802.1 D (Edition 2004)
RT Real-time. Name for a real-time protocol that can be run in Ethernet controllers without special support.
RTC Real-time Clock chip of PCs
RT Frames EtherCAT Messages with EtherType 0x88A4.
RX Receive
RXPDO Receive PDO, i.e. Process Data that will be received by ESC10/20
【-S-】
SDO Service-Data-Object:One-to-One communication access between object dictionary and device.
SAFEOP Safe-Operational state of EtherCAT state machine
Safety Safety function, implemented by an electric, electronic programmable fail-safe system that maintains the
equipment in a safe state, even during certain critical external events.
Schedule Determines what should be transferred and when.
Services Interaction between two components to fulfill a specific task.
Set Access method used by a client to write data to a server.
SII Slave Information Interface
SII EEPROM NVRAM (I2C EEPROM) is generally required for ESC configuration and device description. Status block
provides ESC and application information.
SIL Safety Integrity Level
SM (SyncManager) SM coordinates mailbox communication and data exchange compatibility between EtherCAT master and
slaves. Communication direction can be set respective in respective SM.
SNMP Simple Network Management Protocol: SNMP is the standard Internet protocol for management and
diagnostics of network components (see also RFC 1157 and RFC 1156 at www.ietf.org).
SoE Servo Profile over EtherCAT
SOF Start of Frame: Ethernet SOF delimiter at the end of the preamble of Ethernet frames
SPI Serial Peripheral Interface
Src Addr Source Address: Source address of a message.
Store and Forward Currently the common operating mode in switches. Frames are first received in their entirety, the addresses
are evaluated, and then they are forwarded. This result in considerable delays, but guarantees that
defective frames are not forwarded, causing an unnecessary increase in the bus load.
STP Shielded Twisted Pair: Shielded cable with at least 2 core pairs to be used as the standard EtherCAT cable.
Subnet Mask Divides the IP address into two parts: a subnet address (in an area separated from the rest by routers) and a
network address.
Switch Also known as Bridge. Active network component to connect different EtherCAT participants with each other. A
switch only forwards the frames to the addressed participants.
SyncManager ESC unit for coordinated data exchange between master and slave uController
SyncSignal Signal generated by the Distributed Clocks unit
【-T-】
TCP Transmission Control Protocol: Higher-level IP protocol that ensures secure data exchange and flow control.
TX Transmit
TXPDO Transmit PDO, i.e. Process Data that will be transmitted by ESC10/20
【-U-】
UDP User Datagram Protocol: Non-secure multicast/broadcast frame.
UTP Unshielded Twisted Pair: Unshielded cable with at least 2 core pairs are not recommended for industrial
purpose but are commonly used in areas with low electro-magnetic interference.
【-V-】
VLAN Virtual LAN
VoE Vendor specific profile over EtherCAT
【-W-】
WD Watchdog
WKC Working Counter
16- 74
16. Appendixes EtherCAT Term
【-X-】
XML Extensible Markup Language: Standardized definition language that can be interpreted by nearly all parsers.
XML Parser Program for checking XML schemas.
【Other】
μC Microcontroller
Auto Forwarder receives Ethernet frames. Checks frames and transfers to Loopback function. Time stamp of received frame is
created by Auto Forwarder.
Loopback Function Transfers Ethernet frames to the next port when the port has no link, port is invalid and/or loop is closed at
that port. Loopback function at Port 0 transfers frames to EtherCAT processing unit. Loop setting can be
controlled in EtherCAT master.
Monitoring Unit Equipped with Error counter and Watchdog. Watchdog monitors communication and returns safe state upon
error occurrence. Error counter detects and analyzes errors.
16- 75
Release
Revision A Nov. 2013
Revision B OCT. 2014
Revision C Apr. 2015
Revision D Apr. 2016
Revision E Sep. 2017
■ECO PRODUCTS
Sanyo Denki's ECO PRODUCTS are designed with the concept of lessening impact on the environment in the process from product
development to waste. The product units and packaging materials are designed for reduced environmental impact.
We have established our own assessment criteria on the environmental impacts applicable to all processes, ranging from design to
manufacture.
Cautions
Read the accompanying Instruction Manual carefully prior to using the product.
If applying to medical devices and other equipment affecting people’s lives please contact us beforehand
and take appropriate safety measures.
■Precautions For Adoption
If applying to equipment that can have significant effects on society and the general public, please contact
us beforehand.
Failure to follow the precautions on the right may
cause moderate injury and property damage, or in Do not use this product in an environment where vibration is present, such as in a moving vehicle or
shipping vessel.
some circumstances, could lead to a serious
accident. Do not perform any retrofitting, re-engineering, or modification to this equipment.
Always follow all listed precautions. The Products presented in this Instruction Manual are meant to be used for general industrial
applications. If using for special applications related to aviation and space, nuclear power, electric power,
submarine repeaters, etc., please contact us beforehand.
* For any question or inquiry regarding the above, contact our Sales Department.
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The names of companies and/or their products specified in this manual are the trade names, and/or trademarks and/or registered trademarks of such respective companies.
*Specifications are subject to change without notice.
Translated version of the original instructions