This document is an error correction list for the RS3 EtherCAT instruction manual (M0011696D), detailing corrections for specifications and cable outline drawings. It also includes a comprehensive table of contents and safety precautions for the SANMOTION R 3E Model AC servo system.
Device Description: SANMOTION R 3E Model AC Servo System
The SANMOTION R 3E Model AC servo system is designed for high-performance industrial applications, emphasizing "Evolved," "Eco-Efficient," and "Easy to use" concepts. This system includes servo amplifiers, power units, amplifier units, servo motors (rotary and linear), and various peripheral equipment.
Function Description:
The AC servo system provides precise control over servo motors, supporting various control modes such as speed, torque, and position control. It features advanced tuning functions for optimal performance and includes safety mechanisms like Safe Torque Off (STO).
Important Technical Specifications:
Servo Amplifier:
- Control Function: Speed control, torque control, position control (parameter changeover).
- Control System: IGBT: PWM control Sinusoidal drive.
- Main Circuit Power Input:
- 100/200 VAC models: Three-phase: 200 to 240 VAC +10,-15%, 50/60Hz±3Hz; Single-phase: 200 to 240 VAC +10,-15%, 50/60Hz±3Hz (for RS3□01/RS3□02/RS3□03/RS3□05); Single-phase: 100 to 120 VAC +10,-15%, 50/60Hz±3Hz (for RS3□01/RS3□02/RS3□03).
- 400 VAC models: Three-phase: 380 to 480V AC +10,-15%, 50/60Hz±3Hz.
- 400 VAC/800A (Power unit/Amplifier unit combination): Three-phase: 380 to 480 VAC +10,-15 %, 50/6 0Hz±3 Hz.
- Control Power Input:
- 100/200 VAC models: Single-phase: 200 to 240 VAC +10,-15%, 50/60Hz±3Hz; Single-phase: 100 to 120 VAC +10,-15%, 50/60Hz±3Hz.
- 400 VAC models: 24V DC ±10%.
- 400 VAC/800A (Power unit/Amplifier unit combination): 24 VDC±10 %.
- Environment: Ambient temperature 0 to 55℃, storage temperature -20 to +65℃, operation/storage humidity below 90%RH (no condensation), elevation below 1000m, vibration 4.9m/s², shock 19.6m/s².
- Structure: Built-in tray type power supply (for 100/200/400 VAC models), wall-mounted type, power supply part is separating (for 400 VAC/800A models).
- Speed Control Range: 1: 5000.
- Frequency Characteristics: 2200Hz (in high-velocity sampling mode).
- Allowable Load Inertia Moment: 10 times motor rotor inertia moment.
- Analog Monitor Output: DC±8V range, 1kΩ output resistance, load less than 2mA.
- Dynamic Brake: Built-in (for most 100/200/400 VAC models), not included (for 400 VAC/800A models). Allowable frequency: less than 10 times per hour and 30 times per day at maximum speed within allowable load inertia moment.
- Regeneration Process: Built-in (for most 100/200/400 VAC models), external type only (for RS3C15/30), attached external (for 400 VAC/800A models).
Servo Motor:
- Series Name: R1, R2, R5.
- Time Rating: Continuous.
- Insulation Classification: Type F.
- Voltage/Dielectric Strength: 1500V AC (2000V AC for 400V AC R2 motor), 1 minute.
- Insulation Resistance: 500V DC, greater than 10MΩ.
- Protection Method: Totally Enclosed, Non-Ventilated (IP65, 67 for flange size 100 or less; IP65 for flange size 130 or over). Totally Enclosed Air Over (IP55 for R2CA3255KB).
- Oil Sealing: No oil seal (optionally available for flange size 100 or less), with oil seal (for flange size 130 or over).
- Ambient Temperature: 0 to +40°C.
- Storage Temperature: -20 to +65°C.
- Ambient Humidity: 20 to 90% (without condensation).
- Vibration Classification: V15.
- Excitation Method: Permanent magnet type.
- Installation Method: Flange mount.
- Cooling Fan (for R2CA3255KB): Power supply 200 VAC±10%, 50/60 Hz, 3-phase, 150/195 W, 0.9/0.9 A.
Linear Motor:
- Series Name: DS, DD, DT.
- Time Rating: Continuous.
- Insulation Classification: Type F.
- Voltage/Dielectric Strength: 1500V AC, 1 minute.
- Insulation Resistance: 500V DC, greater than 10MΩ.
- Protection Method: Self-cooling type or Water cooling type (IP00).
- Ambient Temperature: 0 to +40°C.
- Storage Temperature: -20 to +65°C.
- Ambient Humidity: 20 to 90% (without condensation).
- Excitation Method: Permanent magnet type.
- Elevation: Less than 1000m.
Motor Encoder:
- Absolute Encoder (Standard): Single-turn (131072 (17bit), 1048576 (20bit)) and multi-turn (65536 (16bit)) types. Transfer method: Half-duplex asynchronous 2.5Mbps / 4Mbps.
- Incremental Encoder (Standard): Wire-saving incremental encoder (8000 (2000P/R)).
- Battery Specification: Model ER3VLY, 3.6V.
Linear Encoder:
- Incremental Encoder: RS422-compliant, 90 degree phase shift pulse train. Resolution: 0.1 to 5μm (Renishaw RGH22), 0.05 to 1μm (Heidenhain LIDA400), 0.5 to 5μm (Heidenhain LIDA200).
- Absolute Encoder: EnDAT2.2 interface only. Resolution: 0.01μm to 0.001μm. Maximum speed: 3m/s to 6m/s.
Usage Features:
- EtherCAT Interface: Supports high-speed communication with host units and other amplifiers in a daisy-chain topology.
- Digital Operator: 5-digit, 7-segment LED display for status, alarm codes, and parameter input. Includes MODE, WR, INC, DEC keys for navigation and setting.
- Setup Software: "SANMOTION MOTOR SETUP SOFTWARE" for parameter setup, monitoring, and advanced tuning.
- Auto-Tuning Function: Automatically adjusts servo gain and filter frequency based on load inertia moment ratio. Includes various auto-tuning characteristics for different machine/load conditions.
- Manual Tuning Function: Allows manual adjustment of all parameters for fine-tuning.
- Servo Gain Enhancement: Functions like velocity loop phase lead compensation, position loop phase lead compensation, and torque feed forward compensation to improve response.
- Vibration Suppression: Model-following vibration suppression, Auto FF Vibration Suppression Frequency Tuning, CP vibration suppression, and minor vibration suppression.
- Disturbance Impact Suppression: High order integral control and disturbance observer function.
- Stick-Slip Behavior Compensation: Function to suppress stick-slip behavior caused by machine system friction.
- Full-Closed System: Supports external encoder feedback for high-accuracy position control.
- Tandem Operation: Operates two axes with position error checking and compensation through local communication.
Maintenance Features:
- Troubleshooting: Detailed lists of warning and alarm codes with assumed causes and corrective actions.
- Encoder Clear and Alarm Reset: Procedures for clearing encoder data and resetting alarms.
- Inspection: Daily and periodic inspection guidelines for servo motors and amplifiers, including checks for vibration, sound, cooling fan behavior, cleanliness, insulation resistance, and battery voltage.
- Service Parts: Information on parts requiring inspection and replacement periods (e.g., electrolytic capacitors, cooling fans, lithium batteries, fuses, relays).
- Battery Replacement: Instructions for replacing the lithium battery for motor encoders, with diagrams for battery box locations.
- Monitor Display Mode: Comprehensive monitor list (ID 00-77) for various parameters like actual position, velocity, torque, load inertia, and error rates.
- Analog Monitor: Dedicated analog monitor connector (CN5) for measuring analog signals such as velocity or current.
- Fixed Monitor Display: Displays monitoring values after initialization completion, prioritizing alarm states.
This manual provides essential information for the safe and correct installation, operation, and maintenance of the SANMOTION R 3E Model AC servo system.
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