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ALPHA7S | Servo Amplifier Specifications

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Servo Amplifier Specifications

Specifications
Outline of System Configuration / Interface Specifications

Specifications

Amplifier type RYT□□□S7-V△S2			101	201	401	751	851	132	182	292	442
Outer frame number			Frame 1			Frame 2a	Frame 2b		Frame 3		Frame 4
Mass [kg]			0.8	0.8	0.8	1.8	1.5	1.5	2.5	2.5	3.8
Protective construction/cooling			Open/natural cooling				Open/mechanical 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 264VAC, Single-phase: 190 to 264VAC
	Control Power supply	Number of phases	None
		Voltage/frequency
		Allowable voltage fluctuation
Control system			Fully-digital sinusoidal PWM drive
Control system			Fully-digital sinusoidal PWM drive
Overload capacity			Overload capability varies from motor to motor
Regenerative resisto Max voltage [W]		Built-in resistor	-	-	-	20	20	20	30	30	60
Regenerative resisto Max voltage [W]		External resistor (Note 1)	17	17	17	50	50	50	260	260	300
Dynamic brake			Built-in
Feedback			Absolute 24-bit/17-bit serial encoder, incremental 24-bit/17-bit serial encoder
Speed fluctuation ratio(Note 2)		Load fluctuation	Within ± 0.01% (load fluctuation 0 to 100% at rated operation speed)
		Power supply fluctuation	0% (power supply fluctuation -10% to +10% at rated operation speed)
		Temperature fluctuation	Within ± 0.2% (25°C ± 10%°C at rated operation speed when an analog voltage command is issued)
Performance		Speed control	Closed-loop control, acceleration time setting, manual feed speed/maximum rotation speed adjustment, speed command zero clamping, etc. by using a speed regulator
		Number of position data points	50points (position, speed, acceleration time, deceleration time, stop timer, M code output, and various statuses)
		Position control	Closed-loop control, electronic gear, output pulse setting, feed forward, homing, interrupt positioning, auto start, etc. by using a position regulator
		Torque control	Closed-loop control (proportional open-loop control for current and torque), torque limiting, speed limiting during torque control, etc. by using a current regulator
		Ancillary features	Easy tuning, pattern run, sequence test mode, auto tuning, auto notch filter, vibration suppression control online learning, etc.
Protective functions (Alarm display)			Over Current (oc1, oc2), Over Speed (oS), Overvoltage (Hv), Encoder Trouble (Et1, Et2), Control Circuit Error (ct), Memory Error (dE), Motor Combination Error (cE), Encoder Communication Error (Ec), CONT (Control signal) Error (ctE), Over Load (oL1, oL2, oL3), Main Power Low Voltage (LvP), Braking Resistor Overheat (rH1, rH2), Braking Transistor Error (rH3), Inrush Current Suppression Circuit Trouble (rH4), Deviation Overflow (oF), Amplifier Overheat (AH), Encoder Overheat (EH), Absolute Data Lost (dL1, dL2, dL3), Multi-turn Data Over Flow (AF), Initial Error (iE), Command Pulse Frequency Error (HF)
Operation and display section of main body			5-digit alphanumeric display with 7-segment LED 4 operation switches (MODE, UP, DOWN, and SET)
Use Environment		Installation place	Indoors at altitude ≤ 1000 m, free from dust, corrosive gases and direct sunlight In case of compliance with UL/CE marking: Pollution Degree = 2 Over Voltage Category = III
		Temperature/ humidity/ Atmospheric pressure	0 to 55°C/10 to 90%RH (without condensation)/70 to 106 kPa
		Vibration resistance	3 mm: < 2 to 9 Hz 9.8 m/s²: < 9 to 20 Hz 2 m/s²: < 20 to 55 Hz 1 m/s²: < 55 to 200 Hz
		Shock resistance	19.6 m/s²
Standards			UL standard: UL61800-5-1 CE marking Low voltage directive:EN61800-5-1 EMC directive:EN61800-3 KC
Control function		Frequency response	3,200 Hz
		Tuning features	Auto tuning, semi-auto tuning, interpolation control mode, trace operation mode, high-tact operation mode, custom tuning mode, manual tuning
		Automatic adjustment features	Tuningless features, easy tuning, fine tuning
		Notch filter	5-step
		Damping control	Uses only one point: Switchable at 4points; uses 2points simultaneously: Fixed at PA1_78 and PA1_80 (not switchable)
		Compensation features	Friction compensation, interference detection, cogging torque compensation

Note 1: This value assumes that the external resistor dedicated to each amplifier is connected.

Note 2: This value represents the average value of the speed fluctuation that is generated from static load fluctuation, power supply fluctuation, and temperature fluctuation as the percentage to the rated rotation speed.

Outline of System Configuration / Interface Specifications

Interface Specifications

Interface type		Specifications
Command interface	Positioning function	RS-485 (Modbus-RTU), Di/Do
	Position control	Pulse train input
	Speed control	Analog voltage input
	Torque control	Analog voltage input
Communication interface		Dual RS-485 ports (for parameter editing and monitoring)
		Our original protocol, Modbus-RTU
		9600/19200/38400/115200 bps, connection of max. 31 axes

Terminal name	Symbol	Specifications
Pulse train input Also used for CONT signal	CA, CA CB, CB	Differential input:Max. input frequency ≦ 4.0MHz Open collector input: Max. input frequency ≦ 200kHz (In case of signals at 90˚ phase difference, the above relationship is true for the four-fold frequency.) Pulse train format{Command pulse/Command direction, Pulse train format Forward/Reverse pulse, Two signals at 90° phase difference} Select with parameters from here
		Pulse train format	Command pulse/Command direction Forward/Reverse pulse Two signals at 90˚ phase difference	Select with parameters from here
		CA,CA:CONT CA signal, CB,CB:CONT CB signal, compatible with both sink input and source input
	PPI	Pull-up power input at open collector input (24VDC ± 10%)
Pulse train output Also used for OUT signal	FFA, FFA FFB, FFB	Differential output: Max. output frequency ≦ 1.0MHz Two signals at 90° phase difference Pulse output count setting (n pulses/rev): 16 ≦ n ≦ 4194304
	FFZ, *FFZ	Differential output: 1 pulse/rev
	FA, FB	AB phase output (Open collector output) Maximum voltage: 30VDC, Maximum current: 50mA FA · FB:OUT FA · FB signal
	FZ	Z phase (Open collector output) 1 pulse/rev, FZ:OUT FZ signal
	M5	Reference potential (0V)
Analog monitor Voltage output	MON1 MON2	0V to ±10VDC Resolution: 14bits / ± full scale The output data depends on the internal parameter
Analog monitor Voltage output	M5	Reference potential (0V)
Common for sequence input/output signal	COMIN	Common for sequence input signal
Common for sequence input/output signal	COMOUT	Common for sequence output signal
Sequence input signal	CONT1 to CONT8	ON upon short circuit across contacts, OFF upon open circuit 12VDC-10% to 24VDC+10% Current consumption 12mA (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 OUT4	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
Analog voltage input	VREF	Speed command input when performing speed control Valid input range: -10V to 0 to +10V, input impedance: 20kΩ Resolution: 16bits / ± full scale
	TREF	Torque command input when performing torque control Valid input range: -10V to 0 to +10V, input impedance: 20kΩ Resolution: 16bits / ± full scale
	M5	Reference potential (0V)

Specifications
Outline of System Configuration / Interface Specifications

Specifications

Amplifier type RYT□□□S7-V△S2			101	201	401	751	851	132	182	292	442
Outer frame number			Frame 1			Frame 2a	Frame 2b		Frame 3		Frame 4
Mass [kg]			0.8	0.8	0.8	1.8	1.5	1.5	2.5	2.5	3.8
Protective construction/cooling			Open/natural cooling				Open/mechanical 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 264VAC, Single-phase:190 to 264VAC
	Control Power supply	Number of phases	None
		Voltage/frequency
		Allowable voltage fluctuation
Control system			Fully-digital sinusoidal PWM drive
Control system			Fully-digital sinusoidal PWM drive
Overload capacity			Overload capability varies from motor to motor
Regenerative resisto Max voltage [W]		Built-in resistor	-	-	-	20	20	20	30	30	60
Regenerative resisto Max voltage [W]		External resistor (Note 1)	17	17	17	50	50	50	260	260	300
Dynamic brake			Built-in
Feedback			Absolute 24-bit/17-bit serial encoder, incremental 24-bit/17-bit serial encoder
Speed fluctuation ratio(Note 2)		Load fluctuation	Within ± 0.01% (load fluctuation 0 to 100% at rated operation speed)
		Power supply fluctuation	0% (power supply fluctuation -10% to +10% at rated operation speed)
		Temperature fluctuation	Within ± 0.2% (25°C ± 10%°C at rated operation speed when an analog voltage command is issued)
Performance		Speed control	Closed-loop control, acceleration/deceleration time setting, manual feed speed/maximum rotation speed adjustment, etc. by using a speed regulator
		Position control	Closed-loop control, electronic gear, output pulse setting, feed forward, homing, interrupt positioning, etc. by using a position regulator
		Torque control	Closed-loop control (proportional open-loop control for current and torque), torque limiting, speed limiting during torque control, etc. by using a current regulator
		Ancillary features	Easy tuning, pattern run, sequence test mode, auto tuning, auto notch filter, vibration suppression control online learning, etc.
Protective functions (Alarm display)			Over Current (oc01, oc02), Over Speed (oS), Overvoltage (Hv), Encoder Trouble (Et01, Et02), Control Circuit Error (ct), Memory Error (dE), Motor Combination Error (cE), Encoder Communication Error (Ec), CONT (Control signal) Error (cont), Over Load (oL01, oL02, oL03), Main Power Low Voltage (LvPE), Braking Resistor Overheat (rH01, rH02), Braking Transistor Error (rH03), Inrush Current Suppression Circuit Trouble (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),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.
Operation and display section of main body			2-digit alphanumeric display with 7-segment LED Rotary switch
Use Environment		Installation place	Indoors at altitude ≦ 1000 m, free from dust, corrosive gases and direct sunlight In case of compliance with UL/CE marking: Pollution Degree = 2 Over Voltage Category = III
		Temperature/ humidity/ Atmospheric pressure	0 to 55°C/10 to 90%RH (without condensation)/70 to 106kPa
		Vibration resistance	3mm:< 2 to 9Hz 9.8m/s²: < 9 to 20Hz 2m/s²: < 20 to 55 Hz 1m/s²: < 55 to 200Hz
		Shock resistance	19.6m/s²
Standards			UL standard:UL61800-5-1 CE marking Low voltage directive:EN61800-5-1 EMC directive:EN61800-3 KC
Control function		Frequency response	3,200 Hz
		Tuning features	Auto tuning, semi-auto tuning, interpolation control mode, trace operation mode, high-tact operation mode, custom tuning mode, manual tuning
		Automatic adjustment features	Tuningless features, easy tuning, fine tuning
		Notch filter	5-step
		Damping control	Uses only one point: Switchable at 4points; uses 2points simultaneously: Fixed at PA1_78 and PA1_80 (not switchable)
		Compensation features	Friction compensation, interference detection, cogging torque compensation

Note 1: This value assumes that the external resistor dedicated to each amplifier is connected.

Note 2: This value represents the average value of the speed fluctuation that is generated from static load fluctuation, power supply fluctuation, and temperature fluctuation as the percentage to the rated rotation speed.

Outline of System Configuration / Interface Specifications

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

EtherCAT Communication Specifications

Item		Specifications
Physical layer		100Base-TX [IEEE802.3]
Baud rate		100 Mbps (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 (Station alias)		Setting range: 0 to 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
		tq: Torque profile mode
		ip: Interpolated position 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		4x16 [Entry/PDO] (RxPDO) + 4x16 [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	0 V to ±10VDC Resolution: 14bits / ± full scale The output data depends on the internal parameter
Analog monitor voltage output	M5	Reference potential (0V)
Common for sequence input/ output signal Sequence input signal	COMIN	Common for sequence input signal
	COMOUT	Common for sequence output signal (OUT1 · OUT2)
	COMOUT13	Common for sequence output signal (OUT13)
Sequence input signal	CONT1 to CONT6	ON upon short circuit across contacts, OFF upon open circuit 12VDC-10% to 24VDC+10% Current consumption 12mA (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 2 / OUT13	Short circuit upon ON, open circuit upon OFF 30VDC / 50mA (max.) Function of each signal depends on parameter setting OUT1 · OUT2 : Compatible with both sink and source output methods OUT13 : Compatible with sink output methods