AC Servo Amplifier SANMOTION R Series ADVANCED
New Products IntroductionAC Servo AmplifierSANMOTION R Series ADVANCED MODELwith Built-in EtherCAT InterfaceTsuyoshi KobayashiNaohiro ItohNoriaki KasugaDaisuke NaitohKeisuke IshizakiYasuo Nakamura1. Introduction(6) Development of master controller is easy relatively(I/F card with a built-in dedicated LSI not required)In the FA industry, there are many competing standardsIn 20 0 7, EtherCAT had been integrated into thethat were developed in order to improve the performance ofinternational fieldbus standards IEC 61158 Type 12 elementsthe manufacturing line. Among these standards, EtherCATas well as into the drive profile standard IEC 61800-7.is expected to spread as a next-generation high-speed motionnetwork, not just in Europe, but also in Asia and NorthAmerica. Therefore, we developed an AC servo amplifierwith built-in EtherCAT interface.3. Background of the DevelopmentAt Sanyo Denki, we have created an AC servo amplifierThis document introduces an overview of EtherCAT andproduct with built-in original serial communicationsan overview of the features of the AC servo amplifier withand open network. The current product lineup couldbuilt-in EtherCAT.not meet the recent demands for faster communicationperiod, increased real-time variable parameters, and more2. About EtherCATEtherCAT stands for Ethernet for Control AutomationTechnology . It was developed as a standard by theaccurate sync due to limitations on the communicationrate (max. 16 Mbps) and the transfer data length (max. 20bytes). An urgent need to develop new production and finda new communication method began.German company Beckhoff, and the development andIn order to meet these market needs, we adoptedgrowth is currently being promoted by ETG (EtherCATE t h e r C AT fo r i t s s u p e r i o r p e r fo r m a n c e , w h i c hTechnology Group).includes an Ethernet base, customizable mapping forThis standard was developed late as an industrialopen network, but it has been praised for its high speedand f lexibility, and an increasing number of devicereal-time parameters, accurate sync, and broadbandcommunications.Table 1 shows a list of the major communication standardsmanufacturers have adopted it. EtherCAT has thefollowing features.(1) H igh-speed open network interface (StandardEthernet system with an Ethernet physical layer andIEEE802.3 standard)(2) Wide variety of data protocols (uses profile compliantwith file transfer, CANopen, SERCOS)(3) Freely settable transfer data length and mapping(4) Broad band (the command and the status can udrateDatalengthGA1022Sanyo DenkiRS422/485 2.5MbpsoriginalGA1045Sanyo DenkiRS422/485original4Mbps10ByteGA1060Sanyo ped or separated, and empty band can be usedDeviceNet DeviceNeteffectively in asynchronous transfer)SERCOS(5) Various sync functions (in addition to sync with the39Table 1: List of major communication standardsadopted by our COS II IEC61491Optical16Mbps20Byteclock master-slave axis and sync with the receptionCANopenCiA 301ISO118981Mbps8Byteframe, it also supports teSANYO DENKI Technical Report No.28 Nov. 2009
AC Servo Amplifier SANMOTION R Series ADVANCED MODEL with Built-in EtherCAT InterfaceTable 2: Specificationsadopted by our products, while Fig. 1 shows the change incommunication rates for these products.Power voltageAmplifiercapacityApplicablemotor capacityApplicableencodersControlfunctions200 VAC (15 A and 30 A models canalso use 100 VAC)15 A, 30 A, 50 A30 W to 1.5 kW (R Series)2048 to 1048576 P/R (Serial)500 to 65535 4 P/R (A, B, Z pulse)Position, speed, torque control, modelfollowing control, full close controlControl method Sine wave PWM controlFig. 1: Changes in communication rates4. Product OverviewFig. 2 shows a photograph of the developed nfunctionsSame as R ADVANCED MODELType SI/O signalEtherCAT interface specificationsInput 2 ch., output 2 ch.Same as R ADVANCED MODELType SCommunication Same as R ADVANCED MODELPC I/FType SOperatingambienttemperature0 to 55 CTray typeStructureApplicablestandardsUL, CE, and RoHS directive4.2 Functions and performanceThe functions and performance are the same as theSANMOTION R series ADVANCED MODEL TypeS. Also, in order to advance maintainability, the RADVANCED MODEL setup software can be used. Inaddition, a safety function is included standard in orderFig. 2: External view of the servo amplifier withbuilt-in EtherCAT interfaceto improve the safety of the applicable machinery. Table 3shows the main control functions.Table 3: Built-in functions4.1 SpecificationsThe developed product is a model that inherited theproperties of the SANMOTION R series ADVANCEDMODEL, but replaced the analog/pulse interface withHigh responseHigh precisionan EtherCAT interface. Applicable motors includeHigh-power torque control, modelfollowing controlPosition command movement averagefilter, friction compensation functionDampingcontrolModel following damping control(compatible with feed-forward dampingcontrol)stop synchronization serial encoders, and they can beImprovedusabilityoperated with either absolute or incremental systems.Setup software (multiple windows,operation trace, system analysis, etc.),motor auto-identification functionSafetySANMOTION R series, SANMOTION Q seriesmotors, and SANMOTION P series rotary motors, aswell as linear motors. Applicable encoders include start-Table 2 outlines specifications of the product.Hardware gate-off functionAlarm state display, alarm history timeMaintainabilitystamp, multiple alarm monitor4.3 Exterior and structureThe servo amplifier's control circuit and EtherCATinterface circuit are collected on a single board and all ofthe software processes can be handled by a single controlSANYO DENKI Technical Report No.28 Nov. 200940
CPU, which helps the product achieve small size and lowThis product complies with IEC6180 0 -7 for powercost. Fig. 3 shows a comparison of the size for our servodrive systems (PDS), while the device profile uses CoEamplifiers with built-in networks.(CANopen over EtherCAT), the same as CiA402.The control mode has a positioning function (Profile141%85%133%100%Position Mode) and homing function (Homing Mode)in addition to the synchronous mode recommended byETG so that it can easily replace a CANopen system.Furthermore, all of the control modes can be switched100%95%127%120%100%100%90%Fig. 3: Servo amplifier volume ratioFurthermore, this product has the same size as theanalog/pulse interface model, making the mountingduring motor excitation. Table 5 shows the applicableoperation modes.Table 5: Operation modesSymbolOperation modePpProfile Position ModePvProfile Velocity ModeTqTorque Profile ModeHmHoming ModeCspCycle Sync Position ModeCsvCycle Sync Velocity ModeCstCycle Sync Torque Modecompatible.4.4 EtherCAT interface specificationsTable 4 shows EtherCAT interface specifications.5. Features5.1 Expansion of homing modeTable 4: EtherCAT interface specificationsData link layerIEC61158-2IEEE802.3u (100BASE-TX)IEC61158-3, -4 Type12Application layerIEC61158-5, -6 Type12switch , and HOME switch and one rotation absoluteDevice profileIEC61800-7 Profile type 1 (CiA 402) CoE (CANopen over EtherCAT) FoE (File access over EtherCAT)Physical layerCommunicationportBaud rateto meet high user needs. With this function, we hope toTwisted-pair CAT5e (straight or cross)Processing on the fly Synchronous withSYNC0 Event (DC Mode)PDO Transmission Synchronous withSYNC1 Event (DC Mode)mode Synchronous with SM2 Event Asynchronous FreeRun ModeLED indicatordata zero .2 100 Mbaud (full duplex)Data processingPDO lengthsupports Homing Mode with current position , HOME5.2 Touch probe functionCableCommunicationobjectso Homing Mode could not be performed. This productRJ45 connector (2 ports)Max. No. of nodes 65535 slavesTransmissionMax. 100 m (between nodes)distanceFrame dataMax. 1484 bytes41Until recently, there was no Z pulse output in theincremental system using a one rotation absolute sensor, SDO (Service Data Object) PDO (Process Data tal: Max. 128 Bytes)Port 0/1 link display, RUN display, errordisplaySANYO DENKI Technical Report No.28 Nov. 2009Two channels of the Touch Probe Function were includedstrengthen sales for measurement instrument applications.Furthermore, one of these channels can perform probingon the current position by using the index pulse.5.3 Improvement of sync accuracyWith the Distributed Clocks method, all of the slavescan be synchronized to the sync timing of the servoamplifier on the lead node with jitters of 1 µs or less. Withthis method, this product achieves a synchronizationaccuracy that is 1/8 or less compared to the conventionalmodel (GA10 60). Fig. 4 shows the sync signal jitterwaveform for GA1060 and EtherCAT.
AC Servo Amplifier SANMOTION R Series ADVANCED MODEL with Built-in EtherCAT Interface6. ConclusionThis document introduced an overview of the AC servoApprox.500 nsamplifier with built-in EtherCAT interface.T h is product i n her its the sa me f u nctions a ndper for ma nc e as theSA N MOT ION RseriesADVANCED MODEL Type S while achieving the samesize. Therefore, the forming die and molded plastic canbe shared. Furthermore, by eliminating the dedicatedCPU for communication processing to master controller,this model realizes the same cost performance as modelswith built-in GA1060 network. Therefore, we feel thatGA1060 sync signal (4 axis)we developed a very competitive product, whether it iscompared to other network products developed by SanyoDenki, or compared to competing products from withinJapan or around the world.Approx.60 nsIn the future, we will expand on the EtherCAT interfaceinto all types of power specifications, multiple axes, andstepping systems in order to support customer needs.Tsuyoshi KobayashiJoined Sanyo Denki in 1991.Servo Systems Division, 2nd Design Dept.Worked on the development and design of servoamplifiers.Jitters due to EtherCAT DC sync (4 axis)Fig. 4: Jitter waveform for the sync signal5.4 Online firmware overwriteUntil recently, firmware updates required a flash writer,dedicated writing tool, and the dedicated applicationsoftware. EtherCAT comes with FoE (File access overEtherCAT) that transfers data in ASCII code. With thisNaohiro ItohJoined Sanyo Denki in 1992.Servo Systems Division, 2nd Design Dept.Worked on the development and design of servoamplifiers.Noriaki KasugaJoined Sanyo Denki in 2007.Servo Systems Division, 2nd Design Dept.Worked on the development and design of servoamplifiers.function, the firmware can be updated from the EtherCATDaisuke Naitohmaster device. This product can quickly support additionalJoined Sanyo Denki in 2007.Servo Systems Division, 2nd Design Dept.Worked on the design of servo amplifiers.specification demands.5.5 Built-in safety functionThis product is compliant with a safety function. Thisfunction is defined by IEC61800-5-2: Safe torque offand IEC60204-1: Stop category 0 . Furthermore, thisproduct has obtained certification in the safety standards"IEC61508/IEC62061, SILCL2" and "ISO13849-1:Cat3,Keisuke IshizakiJoined Sanyo Denki in 2008.Servo Systems Division, 2nd Design Dept.Worke d on t he st r uc t u ra l de sig n of ser voamplifiers.PL d". With this function, we hope to strengthen sales inYasuo NakamuraEurope.Joined Sanyo Denki in 2009.Servo Systems Division, 2nd Design Dept.Worked on the design of servo amplifiers.SANYO DENKI Technical Report No.28 Nov. 200942
Memo43SANYO DENKI Technical Report No.28 Nov. 2009
international fieldbus standards IEC 61158 Type 12 elements as well as into the drive profile standard IEC 61800-7. 3. Backgr ou nd f th eD v l pm At Sanyo Denki, we have created an AC servo amplifier product with built-in original serial communic
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Oct 06, 2010 · Servo - Preferably Spektrum . Choose correct servo horn adapter using servo horn chart and press onto servo. 3. After servo is centered, install servo horn on servo using the screw provided with your servo so that in the centered position the servo
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Raspberry Pi Hook up the Raspberry Pi to the servo controller, and the servos to the servo controller. Follow this servo controller tutorial (https://adafru.it/cFP) if you are unsure of the exact steps. You will want to hook up the top servo (up/down movement) to channel 0, and the bottom servo (left/right movement) to channel 1 of the servo .
