Fuji Electric
Alpha7 series
EtherCAT Servo Drive
| Country of Origin | Japan |
|---|---|
| Node Type | Servo Drives |
| Input Voltage | 100 – 240 VAC |
| Manufacturers | Fuji Electric |
EtherCAT
Servo Drive for demanding tasks with axis and NC synchronization.
Features
- EtherCAT Max. 100Mbps transfer rate
- 2-axis closed-loop stepper drive
- K221 : Current 1.8A / axis
- Bi-polar current driving system
- Resolution : 500~50,000 pulse / revolution
- Encoder feedback
- DIP switch for address setting
- Dimensions : L-75 x W-140 x H-47 mm
Specifications
| Serial Interface | Fast Ethernet, Full-Duplex |
| Distributed clock | 0.5 / 1 / 2 / 4 ms |
| Cable type | CAT5 UTP / STP Ethernet cable |
| Surge protection | 10KV |
| Transmission speed | 100 Mbps |
| CiA402 device profile | CSP, PP, Home |
| Incremental encoder input | ±EA x2, ±EB x2 |
| Encoder index signal input | ±EZ x2 |
| MI/O input signal | PEL x2, MEL x2, ORG x2, and EMG x2 |
| User I/O signal | 4DI, 2DO |
| Position control | Incremental / Absolute mode Data range: 32 bits |
| Homing mode | ORG, EZ, Limit & totally 31 types |
Drive
| Input voltage | 24VDC |
| Drive model | 2-phase, bi-polar current driving system |
| Resolution | 500 ~ 50,000 pulse / revolution configured by software |
| Current setting | 1.8A / axis. |
| LED indicator | PWR, RUN, ERR, PEL, MEL, ORG, EMG |
| Power consumption | 3.1W typical (130mA / 24VDC) no load |
| Ambient temperature | In use: 0~50℃ In storage: -20~70℃ |
| Humidity | In use: 35~85% (Noncondensing) In storage: 10~90% (Noncondensing) |
| Vib. resist | 0.5G |
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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