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
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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