Autonics AiCA-EC Series User manual

AiCA-EC Series
User Manual ÊÊÊ MMD-AiCA-ECU1-V2.0_EN

1. Product Overview
1.1. Features
AiCA-EC series is Ai-Servo with EtherCAT communication. This product supports stable compatibility
with various master / slave with open protocol communication EtherCAT and is advantageous for
control simultaneous multi-axis synchronized control through 100 Mbps baud rate.
In addition, as AC power system, the SMPS is not required for power connection and motor system can
maintain higher torque during high speed drive compared to DC type motor.
•Closed-loop system with real-time position control
•High speed & high torque drive without missing steps
•Supports 200 - 240 VAC AC power
•Multi-axis simultaneous control with EtherCAT communication
•Windows-based software (atMotion) for easy parameter setting and monitoring
•7-segment display for alarm / status reading
•Supports torque mode
•Supports Auto Current Down mode
•Built-in brake type motors available (AiCA-D-B-EC Series)
•Built-in geared/rotary actuator type motors available
1.1. Features 25

1.2. Components and Configuration Diagram
1.2.1. Components
(1) Driver
•Driver
•Instruction manual
•Power connector
•I/O connector
•Brake connector (AiCA-D-B Series)
(2) Motor
•Motor
•Instruction manual
Make sure all of the above components are included with your product package
before use.
If a component is missing or damaged, please contact Autonics or the product
distributor.
26 Autonics | AiCA-EC Series

1.2.2. Configuration
•The thickness of cable should be same or thicker than the below specifications
when connecting the cable for connector.
◦motor+encoder connector: AWG22
◦power connector: AWG18
◦I/O connector: AWG28
◦brake connector: AWG 22
•In case communication is unstable due to the noise generated by supplied power or
peripheral device, use ferrite core at communication line.
1.2. Components and Configuration Diagram 27

(1) Regenerative resistance
Connect the pin 1, 2 on the power connector.
Use in condition of the high inertia load or the short deceleration time.
Forced cooling is required in condition of high surface temperature of regenerative resistance.
•Model: IRC100
•Specifications
◦Resistance: 100 Ω ±5%,
◦Rated power: 60 W (standby), 100 W (heatsink attached)
•Manufacture: Rara Electronics Corp.
(2) Noise filter for power
Connect the power to suppress external noise.
The wires should be connected as short as possible and grounded.
•Model: RNS-2006
•Specifications
◦Rated voltage: 250 V
◦Rated current: 6 A
◦Max. leakage current: 1 mA
•Manufacture: Orient Electronics
(3) Surge protector
Protect the product from external noise and surge by connecting power.
•Model: LT-C12G801W
•Specifications
◦Nominal discharge current: 2500 A
◦Max. discharge current: 5000 A
◦Voltage protection level: 1.5 kV
•Manufacture: OTOWA Electric Co. Ltd
Be sure to disconnect the surge protector when testing internal pressure.
It may result in product damage.
28 Autonics | AiCA-EC Series

(4) Noise filter for signal line
Connect to wiring to suppress external noise.
Depending on frequency, filtered noise may different.
Type Model Manufacture
Motor line 28A5776-0A2 Lairdtech
Power line 28A5131-0A2
Communication
line
28A2025-0A2
1.2. Components and Configuration Diagram 29

1.3. Ordering Information
1.3.1. Driver
Ai C A - D - 60 L A - B - EC
① ② ③ ④ ⑤ ⑥ ⑦ ⑧ ⑨
Item Descriptions
① Series Ai Artificial intelligent
② Category C Controller
③ Power A AC power
④ Item D Driver
⑤ Frame size 20 □ 20 mm
28 □ 28 mm
35 □ 35 mm
42 □ 42 mm
56 □ 56 mm
60 □ 60 mm
⑥ Axial length S Short size
M Middle size
L Long size
⑦ Encoder resolution - □ 20 / 28 / 35 mm □ 42 / 56 / 60 mm
A 4,000 PPR
(1,000 PPR × 4)
10,000 PPR
(2,500 PPR × 4)
B 16,000 PPR
(4,000 PPR × 4)
-
⑧ Brake No mark Standard
B Built-in brake type
⑨ Comm. method EC EtherCAT communication
30 Autonics | AiCA-EC Series

1.3.2. Motor
Ai A - M - 60 L A - B
① ② ③ ④ ⑤ ⑥ ⑦
Item Descriptions
① Series Ai Artificial intelligent
② Power A AC power
③ Item M Motor
④ Motor frame size 60 □ 60 mm (60×60 mm)
86 □ 86 mm (86×86 mm)
⑤ Motor length M Middle size
□ 60 mm: 49 mm
□ 86 mm: 61 mm
LLong size
□ 60 mm: 70 mm
□ 86 mm: 75 mm
⑥ Encoder resolution A 10,000 PPR (2,500 PPR × 4)
⑦ Motor type No mark Standard type
B Built-in brake type
1.3. Ordering Information 31

1.4. Set table
1.4.1. Standard type
Motor
frame
Set Driver Motor
□ 60 mm AiCA-60MA-EC AiCA-D-60MA-EC AiA-M-60MA
AiCA-60LA-EC AiCA-D-60LA-EC AiA-M-60LA
□ 86 mm AiCA-86MA-EC AiCA-D-86MA-EC AiA-M-86MA
AiCA-86LA-EC AiCA-D-86LA-EC AiA-M-86LA
1.4.2. Built-in brake type
Motor
frame
Set Driver Motor
□ 60 mm AiCA-60MA-B-EC AiCA-D-60MA-B-EC AiA-M-60MA-B
AiCA-60LA-B-EC AiCA-D-60LA-B-EC AiA-M-60LA-B
□ 86 mm AiCA-86MA-B-EC AiCA-D-86MA-B-EC AiA-M-86MA-B
AiCA-86LA-B-EC AiCA-D-86LA-B-EC AiA-M-86LA-B
32 Autonics | AiCA-EC Series

Built-in geared motor and built-in rotary actuator motor are not provided as set.
Please purchase the motor and driver separately. Refer to each instruction manual for
more details.
Built-in Geared
Motor frame Set Driver Motor
□ 60 mm - AiCA-D-60LA-EC AiA-M-60LA-G5
AiA-M-60LA-G7.2
AiA-M-60LA-G10
□ 86 mm - AiCA-D-86LA-EC AiA-M-86LA-G5
AiA-M-86LA-G7.2
AiA-M-86LA-G10
Built-in Rotary Actuator
Motor frame Set Driver Motor
□ 60 mm - AiCA-D-60LA-EC AiA-M-60LA-R5
AiA-M-60LA-R7.2
AiA-M-60LA-R10
1.4. Set table 33

2. Specifications
2.1. Driver
Model AiCA-D-60MA-□-EC AiCA-D-60LA-□-EC AiCA-D-86MA-□-EC AiCA-D-86LA-□-EC
Max. RUN
power 01)
≤ 800 VA
Stop power
02)
≤ 60 VA ≤ 65 VA
AUX power
supply03)
24 VDC
AUX input
current
0.3 A 0.5 A
Max. RUN
current04)
2.0 A / Phase
Stop
current
20 to 100% of max. RUN current
Resolution 500, 1000, 1600, 2000, 3200, 3600, 5000, 6400, 7200, 10000 (default) PPR
01) When changing the load rapidly, instantaneous peak current may increase. The capacity of power
supply should be over 1.5 to 2 times of max. RUN power.
02) Based on ambient temp. 25 ℃, ambient humi. 55 %RH, stop current 20%
03) Auxiliary power is only available in built-in brake type and not available in standard type.
04) RUN current varies depending on the input RUN frequency and max. RUN current at the moment
varies also.
Run method 2-phase bipolar closed-loop control method
Speed filter Disable, 2, 4, 6, 8, 10, 20, 40, 60(factory default), 80, 100, 120, 140, 160, 180, 200 ms
Control Gain 0 (factory default) to 31, (31: Fine Gain)
Max. rotation
speed
3,000 rpm
In-Position Fast Response: 0 to 7 (factory default), Accurate Response: 0 to 7
Operation
mode
CSP, CSV, CST, PP, PV, HM
2.1. Driver 35

Home search Homing on the negative limit switch and index pulse
Homing on the positive limit switch and index pulse
Homing on the home switch and index pulse (Positive)
Homing on the home switch and index pulse (Negative)
Homing without an index pulse (negative limit switch)
Homing without an index pulse (positive limit switch)
Homing without an index pulse (Positive and Home sensor ON)
Homing without an index pulse (Negative and Home sensor ON)
Homing on the index pulse (Negative)
Homing on the index pulse (Positive)
Set the Origin with Home offset
Set the Origin and Reset Current Position
Torque Homing Search- with Home offset
Torque Homing Search+ with Home offset
Input Exclusive input: 7, General input: 5
Output Exclusive output: 2 General output: 4
External power
supply
VEX (Default: 24 VDC), GEX (GND)
Input
resistance
4.7 kΩ (Anode Pull-Up)
Insulation
resistance
≥ 200 MΩ (500 VDC megger)
Dielectric
strength
1,500 VAC 60 Hz for 1 minute
Vibration 1.5 mm double amplitude at frequency 10 to 55 Hz (for 1 minute) in each X, Y, Z
direction for 2 hours
Shock 300 m/s2(≈ 30 G) in each X, Y, Z direction for 3 times
Ambient temp. 0 to 50℃, storage: -10 to 60℃ (no freezing or condensation)
Ambient humi. 35 to 85%RH, storage: 10 to 90%RH (no freezing or condensation)
Protection
rating
IP20 (IEC standard)
Approval CE, KC, ROHS
Unit weight
(packaged)
≈ 770 g (≈ 1,040 g)
36 Autonics | AiCA-EC Series

2.1.1. Factory Default
Function Factory default
Resolution 10,000 PPR
Speed Filter 60 ms
Motor GAIN 0
In-Position Fast Response 7
2.1.2. EtherCAT Communication Interface
Comm. specifications EtherCAT
Association approval 01)
Support protocol CoE (support CiA402 profile), support FoE
Physical layer 100BASE-TX (IEEE802.3)
Connection cable CAT5e class or over (Shield type: SF/FTP, S/FTP, SF/UTP)
Max. comm. distance Within 100 m distance between nodes
Baud rate 10 / 100 Mbps
Distributed clock DC cycle: 250 us, 500 us, 1 ms, 2 ms, 4 ms, 8 ms
Node ID setting ECAT ID switch setting: 1 to 99
Physical address setting at Master: 1 to 65535
Topology Star, Line, Tree
01) EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation
GmbH, Germany.
2.1. Driver 37

2.2. Motor
Model AiA-M-60MA-□AiA-M-60LA-□
Max. stop torque 1.1 N m 2.2 N m
Rotor inertia moment 240×10-7 kg · m2490×10-7 kg · m2
Rated current 2.0 A / Phase
Basic step angle 1.8° / 0.9° (Full / Half step)
Resistance 1.5 Ω / Phase ±10% 2.4 Ω / Phase ±10%
Inductance 3.9 mH / Phase ±20% 8.5 mH / Phase ±20%
Unit weight for standard type
(packaged)
≈ 0.75 kg (≈ 0.95 kg) ≈ 1.15 kg (≈ 1.35 kg)
Unit weight for built-in brake
type (packaged)
≈ 1.35 kg (≈ 1.53 kg) ≈ 1.75 kg (≈ 1.90 kg)
Model AiA-M-86MA-□AiA-M-86LA-□
Max. stop torque 2.8 N m 4.0 N m
Rotor inertia moment 1,100×10-7 kg · m21,800×10-7 kg · m2
Rated current 2.0 A / Phase
Basic step angle 1.8° / 0.9° (Full / Half step)
Resistance 2.3 Ω / Phase ±10% 1.9 Ω / Phase ±10%
Inductance 11.5 mH / Phase ±20% 16.2 mH / Phase ±20%
Unit weight for standard type
(packaged)
≈ 1.70 kg (≈ 2.00 kg) ≈ 2.30 kg (≈ 2.60 kg)
Unit weight for built-in brake
type (packaged)
≈ 2.50 kg (≈ 2.76 kg) ≈ 3.10 kg (≈ 3.36 kg)
38 Autonics | AiCA-EC Series

2.2.1. Common Specifications
Motor phase 2-phase
Run method Bipolar
Insulation class B type (130℃)
Insulation resistance Between motor coil and case: ≥ 100 MΩ (500 VDC megger)
Dielectric strength Between motor coil and case: 1,000 VAC 50 / 60 Hz for 1
minute
Vibration 1.5 mm double amplitude at frequency 10 to 55 Hz (for 1
minute) in each X, Y, Z direction for 2 hours
Shock ≲ 50 G
Ambient temp. 0 to 50℃, storage: -20 to 70℃ (no freezing or condensation)
Ambient humi. 20 to 85%RH, storage: 15 to 90%RH (no freezing or
condensation)
Protection rating IP30 (IEC34-5 standard)
Approval CE, EAC
Stop angle error ± 0.09° (Full step, no load)
Shaft vibration 0.03 mm T.I.R.
Radial movement 01) ≤ 0.025 mm T.I.R.
Axial movement 02) ≤ 0.01 mm T.I.R.
Shaft concentricity 0.05 mm T.I.R.
Shaft perpendicularity 0.075 mm T.I.R.
01) Amount of radial shaft displacement when applying radial load (25 N) to the end of the shaft.
02) Amount of axial shaft displacement when applying axial load (50 N) to the shaft.
2.2. Motor 39

2.2.2. Encoder
Encoder type Incremental Rotary Encoder
Power supply 5 VDC ± 5% (ripple P-P: ≤ 5%)
Current consumption ≤ 50 mA (No load)
Resolution 10,000 PPR (2,500 PPR × 4)
Control output Line driver Output
Output phase A, /A, B, /B, Z, /Z
Output waveform Output Duty rate: T/2 ± T/4, A-B phase difference: T/4 ± T/8
(T = 1 cycle of A)
Inflow current ≤ 20 mA
Residual voltage ≤ 0.5 VDC
Outflow current ≤ -20 mA
Output voltage ≥ 2.5 VDC
Response speed ≤ 0.5 ㎲ (Cable length: 2 m, I sink = 20 mA)
Max. response freq. 300 kHz
2.2.3. Brake
Frame size □ 60 mm □ 86 mm
Rated excitation voltage 24 VDC±10%
Rated excitation current 0.275 A 0.479 A
Static friction torque 0.75 N m 2.6 N m
Rotation part inertia moment 1.9×10-6 kg · m212×10-6 kg · m2
Insulation class B type (130℃)
B type brake Brake is released when power ON, brake is locked when power OFF
Operating time 30 ms 40 ms
Releasing time 10 ms 25 ms
40 Autonics | AiCA-EC Series

3. Dimensions
3.1. Driver
•Unit: mm, For the detailed drawings, follow the Autonics website.
3.1. Driver 41

3.2. Motor
3.2.1. Standard Type
(1) AiA-M-60□A
Axial length M L
A 49 mm 70 mm
(2) AiA-M-86□A
Axial length M L
A 61 mm 75 mm
42 Autonics | AiCA-EC Series

3.2.2. Built-in Brake type
(1) AiA-M-60□A-B
Axial length M L
A 49 mm 70 mm
(2) AiA-M-86□A-B
Axial length M L
A 61 mm 75 mm
3.2. Motor 43