Supported EtherCAT Slave Device

Fuji Electric
Alpha7 series
EtherCAT Servo Drive

Country of Origin

Japan

Node Type

Servo Drives

Input Voltage

100 – 240 VAC

Manufacturers

Fuji Electric

System Configuration

Specification

Amplifier type RYT□□□F7-VC2 500 101 201 401 751 102 152 202 302 402 502
Outer frame number Frame 1 Frame 2 Frame 3 Frame 4
Mass [kg] 0.9 0.9 0.9 0.9 1.5 1.5 1.5 2.5 2.5 3.8 3.8
Protective structure, cooling Open, self-cooled Open, forced air cooling
Power supply Main power supply Number of phases Single-phase, 3-phase 3-phase
Voltage, frequency 200 to 240VAC 50/60Hz
Allowable voltage fluctuation 3-phase: 170 to 264 VAC, Single-phase: 190 to 264 VAC
Control power supply Number of phases Single-phase
Voltage, frequency 200 to 240VAC 50/60Hz
Allowable voltage fluctuation 170 to 264VAC
Control system Fully-digital sinusoidal PWM drive
Carrier frequency 10[kHz] 5[kHz]
Overload capability Overload capability depends on the motor
Max. voltage for regenerative resistance [W] Built-in resistor 8 20 20 20 30 30 60 60
External resistor*1 17 17 17 17 50 50 50 260 260 300 300
Dynamic brake Built-in*2
Feedback Absolute 24-bit serial encoder, incremental 24-bit serial encoder
Speed fluctuation ratio*3 Load fluctuation ±0.01% or less (Load fluctuation, 0 to 100% at rated speed)
Power supply fluctuation 0% (Power fluctuation, −10% to +10% at rated speed)
Temperature fluctuation ±0.2% or less (25°C ±10°C, at rated speed with analog voltage command)
Capability and functions Speed control functions Closed loop control with speed adjuster, acceleration/deceleration time setting, manual feed rate/max. rotation speed, etc.
Position control functions Closed loop control with position adjuster, electronic gear, output pulse setting, feed forward, homing, interrupt positioning, etc.
Torque control functions Closed loop control with current adjuster (proportional open loop control of current and torque), torque limit, speed limit at torque control, etc.
Accessory functions Easy tuning, profile operation, sequence test mode, auto-tuning, auto-notch filter, vibration suppressing online learning, etc.
Protective functions (alarm display) Overvoltage (OC01, OC02), Over Speed (OS), Low Control Voltage (LvCn), Overvoltage (Hv), Encoder Trouble (Et01, Et02), Memory Error (dE), Motor Combination Error (CE), Encoder Communication Error (EC), CONT (Control signal) Error, Over Load (OL01, OL02, OL03), Power Low Voltage (LvPo), Regenerative Resistor Overheat (rH01, rH02), Regenerative Transistor Error (rH03), Inrush Current Suppressing Circuit Error (rH04), Deviation Overflow (oF), Amplifier Overheat (AH), Encoder Overheat (EH), Absolute Data Lost (dL01, dL02, dL03), Multi-turn Data Over Flow (AF), Initial Error (IE),Command Pulse Frequency Error (HF), Functional Safety Error (SFty), EtherCAT Communication Error (CY)
* If the message is four-digit, two digits of the message alternately appear at a time on the 7-segment LED.
Main unit operation, display section 2-digit alphanumeric display with 7-segment LED, rotary switch
Working conditions Installation place Indoors; altitude 1000 m or less; free from dust, corrosive gases, and direct sunlight (for CE marking compatible type, pollution degree = 2, overvoltage category = III)
Temperature, humidity, atmospheric pressure −10 to 55°C, 10 to 90% RH (non-condensing), 70 to 106 kPa
Vibration, shock resistance 4.9m/s2/19.6m/s2
Compliance with standards UL Standard (UL61800-5-1)
CE marking: Low Voltage Directive (EN61800-5-1), EMC Directive (EN61800-3), Machinery Directive (EN ISO13849-1, EN61508 (SIL3), EN61800-5-2 (SIL3), (STO), EN62061 (SIL CL3))
Control functions Frequency response 3,200Hz
Tuning functions Auto tuning, semi-auto tuning, interpolation control mode, manual tuning
Automatic adjustment functions Tuning-less function, easy tuning, fine tuning
Notch filter 5 steps
Vibration suppression control 2 steps (simultaneously settable number of steps)
Compensation functions Friction compensation, interference detection function, cogging torque compensation
  • *1 The figure is data determined when the amplifier is connected with an external resistor dedicated for each model.
  • *2 We will accept custom orders for models without dynamic brake.
  • *3 Figure indicates the average of speed fluctuations caused by static load fluctuations, power supply fluctuations, and temperature fluctuations as a percentage of the rated speed.

Interface Specifications

Interface type Specifications
Command interface Position control EtherCAT CiA402 drive profile
Speed control
Torque control
Communication interface EtherCAT (for command interface, parameter editing, and monitoring)
Can application over EtherCAT
100Mbps

Interface Specifications

Item Specifications
Physical layer 100Base-TX[IEEE802.3]
Baud rate 100Mbps(Full duplex)
Topology Line
Communication cable Twist pair cable CAT5e
Communication distance Node-to-node distance: Max. 100 m
Number of slaves 65535 * The number of slaves that can be controlled with PDO is limited depending on the communication cycle and data length.
Communication port 2 ports (RJ45 connectors)
Station alias Setting range: 0-65535
Device profile CAN application over EtherCAT
Cia402 drive profile pp: Profile position mode
pv: Profile velocity mode
hm: Homing mode
csp: Cyclic synchronous position mode
csv: Cyclic synchronous velocity mode
cst: Cyclic synchronous torque mode
Touch probe Supported (two inputs)
Synchronization method Synchronous mode DC: Distribute clock
SM2: Cyclic PDO communication
Asynchronous mode Free RUN
Communication cycle 125[μs], 250[μs], 500[μs], 1000[μs], 2000[μs], 4000[μs]
Communication form SDO, PDO
SDO message Normal Request, Normal Response
Free PDO Mapping Supported *Only the objects defined to be supportable in our specifications
Maximum PDO data count 4×16 [Entry/PDO] (RxPDO) + 4×16 [Entry/PDO] (TxPDO)
Maximum PDO data length 128 [bytes] (Rx PDO) + 128 [bytes] (Tx PDO)
Terminal name Symbol Specifications
Analog monitor voltage output MON1
MON2
0V to ±10VDC
Resolution: 14 bits / ± full scale
The output data depends on the internal parameter
M5 Reference potential (0V)
Common for sequence
I/O
COMIN Common for sequence input signal
COMOUT Common for sequence output signal
Sequence input signal CONT1 to CONT6 ON upon short circuit across contacts, OFF upon open circuit
12VDC-10% to 24VDC+10%
Current consumption 8mA (per contact; used at circuit voltage 24VDC)
Function of each signal depends on parameter setting
Compatible with both sink and source input methods
Sequence output signal OUT1 to OUT2 Short circuit upon ON, open circuit upon OFF
30VDC / 50mA (max.)
Function of each signal depends on parameter setting
Compatible with both sink and source output methods

Connection Diagram

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