FALDIC Alpha Catalog
FALDIC Alpha Catalog
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In high tact operation of mechanisms with low rigidity, such as the tips of robot arms, suppression of arm tip vibration is
a major factor in shortening tact time. In the FALDIC- series, Fuji's original "Vibration Suppressing Control Function" is
standard equipment. It reduces vibration in machines with low rigidity and realizes high machine tact.
5 5
2mm/div 2mm/div
Arm Arm
vibration vibration
500r/min/div 500r/min/div
Actual Actual
speed speed
3 +4 ,
In order to utilize the "Vibration Suppressing Control Function" and "Notch Filter,"
etc. effectively, it is necessary to analyze the "resonance frequencies" that are
inherent in each machine. If the "Servo Analysis Function" offered in the optional (Data acquisition example. The notch filter
personal computer loader is used, it can analyze the data for the machine system setup values and vibration suppressing
simply, eliminating the needs for complicated calculations and adjustments which control setup values can be easily
determined.)
are dependent on intuition.
5
+ 1 ,
& . Positional deviation
Through the newly developed feed forward control which compensates for servo delay, operation Command
even during acceleration and deceleration can be done with positional deviation almost zero. A speed
positioning completed signal can be output virtually simultaneously with the end of the command
pulse (within 1 ms) . 1 ms or less
#//01 ON
Positioning completed signal
OFF ON
Frequency response 600Hz has been achieved. As a high-performance servo system, high-tact
operation and high-frequency acceleration/deceleration can be realized.
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By achieving high resolution, the series reduce motor instability and realize smooth machine operations.
10r/min 10r/min
10ms 10ms
By introducing FALDIC- series,
Control panel
Conventionally, spaces were required between
servo amplifiers to counteract the heat
generated by them. The FALDIC- series allow
2
closely fitted installation, which reduces the
space required for the installation on the .//
control panel.
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FUJI SERVO SYSTEM
#- ( #
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500 50 10 0 =0.05kW Blank 3-phase 200V
201 20 10 1 =0.2kW 6 Single phase 100V
;3 <
S 16-bit ABS/INC
C 16-bit INC
#-(# % &
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GYM Medium capacity type Blank Not provided
G06 1/6 (Option)
; < G11 1/11 (Option)
292 29 10 2 =2.9kW G21 1/21 (Option)
113 11 10 3 =11kW G29 1/29 (Option)
;3 <
K 16-bit INC [coupling]
A 16-bit ABS [coupling] (Option)
Specifications of Servo Amplifier
Basic specifications
Applicable motor rated speed 3000r/min 3000r/min 1500r/min (low base) 1500r/min (medium capacity type )
Applicable motor output [kW] 0.05 0.1 0.2 0.375 0.05 0.1 0.2 0.4 0.75 1.0 1.5 2.0 3.0 4.0 5.0 0.5 1.5 2.5 2.9 4.0 5.5 7.5 11 15
Amplifier RYS***S3- 500 101 201 371 500 101 201 401 751 102 152 202 302 402 502
type RYS***A3-VVX or VVS 501 152 252
*1 RYS***M3- 292 402 552 752 113 153
Mass [kg] 0.9 1.2 1.5 0.9 1.2 1.5 2.0 4.6 4.7 5.2 1.5 2.0 4.7 5.2 8.5 25
Input Phase Single-phase 3-phase (Single-phase input allowed for 200W or less only)
Voltage AC100 to 115V, -15 to +10% 200 to 230V, -15 to +10% 200 to 230V*2, -15 to +10%
Frequency 50/60Hz
Control input voltage Single-phase:100 to 115V AC, -15 to +10% Single-phase:200 to 230V AC, -15 to +10%
Output Control method IGBT sinusoidal PWM drive
Overload 3[s] 300% 300% 242% 250% 236%
resistance 1.5[s] * 3 450%
Control method Regenerative braking for DC link circuit
Feedback 16-bit serial encoder (ABS/INC)
Max speed 5000r/min 2500r/min 3000r/min 2000r/min
Speed control range *4 1:5000 1:3000
Frequency response *5 600Hz 300Hz
Within 1[r/min] :load fluctuation (0 to 100%), power fluctuation (-10% to +10%)
Speed fluctuation ratio
Within 0.2% :temperature fluctuation (25°C 10°C at rated rotation speed and analog input operation)
Resolution 216 (=65536)/1 rotation
V type control function
VVS/VSS/VVK/ Home setup Home position LS and Z phase, position presetting, homing (4 patterns)
VSK unique
function Accessory functions Override, brake timing, speed command auxiliary input, etc.
L type Position control Automatic start (address designation, sequential start, immediate start), manual operation (analog voltage, multi-stage 7-speed, interrupt positioning), pulse train (pulse train magnification 1, pulse train magnification 2), homing (4 patterns)
control Position INC/ABS selectable. When ABS is selected, a battery is mounted on the amplifier.
function management INC: Current position lost when power is turned off. No rotation limitation ABS: Current position regenerated upon power recovery. Rotation limitation provided (rotation range: 32767 rotations)
Home setup Home position LS and Z phase, position presetting
Position data count 99 points (position, speed, timer, M code, and various statuses)
Max position setup 79,999,999 ( Unit value)
Positioning method Absolute/incremental
Accessory function Override, brake timing, etc.
R type Position control Automatic start (station designation), manual operation (analog voltage, multi-stage 3-speed, manual indexing), pulse train (pulse train magnification 1, pulse train magnification 2), homing
control Position INC/ABS selectable. When ABS is selected, a battery is mounted on the amplifier.
function management INC: Current position lost when power is tunred off. No rotation limitation ABS: Current position regenerated upon power recovery. No rotation limitation.
Home setup Home position LS and Z phase, position presetting
Max division count 7999 (BCD setup)/30000 (Binary setup)
Deceleration ratio 1/9999 to 1/1
Positioning method Shortcut/forward rotation/reverse rotation, absolute/incremental
Accessory functions Override, brake timing, second home position, etc.
Protective function Overcurrent (OC), Overspeed (OS), Undervoltage (Lv), Overvoltage (Hv), Encoder error (Et), Control power error (Ct), Memory error (dE), Combination error (CE),
(Alarm indication) Regenerative transistor overheat (rH2), Encoder communication error (EC), CONT overlapping (CtE), Overload (OL), Regenerative resistor overheat (rH),
Deviation overflow (OF), Amplifier overheat (AH), Encoder overheat (EH), Multi-rotation data loss (AL), Multi-rotation overflow (AF)
Note: "Combination error (CE)" and "Regenerative resistor overheat (rH)" are not supported with the medium capacity type FALDIC- (model of 1500r/min, 2.9kW or above).
Note: "Encoder overheat (EH)" is not supported with the medium capacity type FALDIC- (model of 1500r/min, 2.9kW or above) during incremental drive of the motor.
Applicable environment
Indoors (free from direct sunshine), altitude 1000m, free from corrosive and flammable gases, oil mist and dust
Installation place In case of compliance with CE marking
Models compliant with EU directive: pollution degree 2, over voltage category
Temperature/humidity -10 to 55°C/10 to 90%RH (without condensation)
Vibration/shock resistance 4.9m/s2/19.6m/s2
Standards UL/cUL (UL508c), CE marking (low voltage directive EN50178)
*1) represents an alphabet depending on the amplifier type (VVX,VVS,VSS,VVK,VSK,LPS,LSS,LTS,LRS,LPK,LSK,RPS,RSS,RTS)
represents "6" or "no mark" depending on the input power type ("6" = single-phase 100V input, "no mark" = 3-phase 200V input)
*2) The specifications of 220 to 230V/50Hz with motor output 5.5 to 15kW are available as option.
*3) The following types can only support 1.5 [s] overload rating (450%): "VVS" "VSS" "LPS" "LSS" "LTS" "LRS" "RPS" "RSS" "RTS"
*4) The minimum rotation speed is the speed that does not result in stop at the rated load.
*5) Motor shaft converted load inertia moment (JL) = Motor inertia moment (JM): 100% load
Interface specifications
Terminal name Pin Symbol Specifications
Pulse train input CA , *CA , CB , *CB Differential input:max. input frequency 500kHz, (1) Command pulse/command code, (2) Forward rotation pulse/reverse rotation pulse, (3) two signals at 90-degree phase difference
Divided output *6 FA , *FA , FB , *FB , FZ ,*FZ Differential output:max. output frequency 500kHz, two signals at 90-degree phase difference, 16 to 16384 [pulses/rev]
Power output for analog input P10 +10V 0.4V (maximum output current 30mA)
Speed command input NREF 10V (Input impedance 20k )
Torque command input (V type only) TREF 10V (Input impedance 20k )
Monitor output 1, monitor output 2 *7 MON1 , MON2 Output for analog meter (both-side amplitude/single-side amplitude), (1) Speed command, (2) Speed return, (3) Torque command, (4) Position deviation
Power input for sequence signals P24 , M24 External power supply of 24V DC/300mA required.
V type :CONT1 to CONT8 24V DC/10mA (1-point)
Sequence input signal
L/R type :CONT1 to CONT21 Can be assigned to each function through parameter setup.
V type :OUT1 to OUT5 30V DC/50mA (1-point)
Sequence output signal
R type :OUT1 to OUT10 Can be assigned to each function through parameter setup.
External backup BAT + , BAT - Input pin for supplying backup power externally.
*6) The RS-485 and T-link types are output via open collector, and maximum output frequency is 200kHz.
*7) MON2 only for RS-485 and T-link types.
10
FUJI SERVO SYSTEM
Series
Note:1
Amplifier supporting SX bus (VSS,LSS,RSS) Amplifier supporting T-link and RS-485 (LTS,LRS,RTS)
See the
diagram
below for
CN3.
11
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5 Note : Use the motor with key when the gear head is being combined with any model
(0.05kW to 0.375kW) of the 100V type or the 0.05kW or 0.1kW model of the 200V type.
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0 8; 0.05 0.1 0.2 0.375 0.05 0.1 0.2 0.4 0.75
0 0.159 0.318 0.637 1.19 0.159 0.318 0.637 1.27 2.39
0 3000
1 5000
1 0.478 0.955 1.91 3.58 0.478 0.955 1.91 3.82 7.17
2 84 0.0192 0.0371 0.135 0.246 0.0192 0.0371 0.135 0.246 0.853
x10 -4 x10 -4 x10 -4 x10 -4 x10 -4 x10 -4 x10 -4 x10 -4 x10 -4
0 0.85 1.5 2.7 4.8 0.85 0.85 1.5 2.7 4.8
1 2.55 4.5 8.1 14.4 2.55 2.55 4.5 8.1 14.4
2 Class B
3 Continuous
4 5 Fully closed, self-cooling (IP55) (excluding the shaft sealing and connectors)
6 + - Cable 0.3m (with connector)
6 +- Cable 0.3m (with connector)
39% Not provided (detected on the servo amplifier)
2 % By securing flange IMB5 (L51), IMV1 (L52), IMV3 (L53)
%5 1 Straight shaft, no key Straight shaft with a key
6 N1.5
< 16-bit serial encoder (both ABS and INC, INC only)
&7 9 V5 or below
2 Indoors (free from direct sunshine), altitude ≤ 1000m, free from corrosive and flammable gases, oil mist and dust
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-10 to +40 C, 90 % RH (without condensation)
&7 49
84 0.45 0.55 1.2 1.8 0.45 0.55 1.2 1.8 3.4
+ - 78! (0.62) (0.72) (1.7) (2.3) (0.62) (0.72) (1.7) (2.3) (4.2)
UL/cUL (UL1004), CE marking (EN60034-1, EN60034-5), RoHS Directive
*1)The motor with the rated output of 0.05kW is used for both 100V type and 200V type.
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2 0.0577x10 -4 0.213x10 -4 0.408x10 -4 1.21x10 -4 3.19x10 -4 4.44x10 -4 5.69x10 -4
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2 Class B Class F
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" 4 Fully closed, self-cooling (IP55) (excluding the shaft sealing and connectors)
5 6 7 Cable 0.3m (with connector) Canon connector
5 67 Cable 0.3m (with connector) Canon connector
39 Not provided (detected on the servo amplifier)
2 By securing flange IMB5 (L51), IMV1 (L52), IMV3 (L53)
4 1 Straight shaft with a key
5 N1.5
: 16-bit serial encoder (both ABS and INC, INC only) 16-bit serial encoder (both ABS and INC)
;8 9 V5 or below Rated speed or below : V10 or below, 3001r/min or higher: V15 or below
2 Indoors (free from direct sunshine), altitude ≤ 1000m, free from corrosive and flammable gases, oil mist and dust
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8 / -10 to +40 C, 90 % RH (without condensation)
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UL/cUL (UL1004), CE marking (EN60034-1, EN60034-5), RoHS Directive
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5 6 7 Canon connector
5 67 Canon connector
39 Not provided (detected on the servo amplifier)
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4 1 Straight shaft with a key Straight shaft with a key, tapped
5 N1.5
: 16-bit serial encoder Standard : 16-bit serial encoder (INC)
(both ABS and INC) Option : 16-bit serial encoder (ABS)
;8 9 Rated speed or below: V10 or below, 3001r/min or higher: V15 or below V5 or below
8 9 Indoors (free from direct sunshine), altitude ≤ 1000m, free from corrosive and flammable gases, oil mist and dust
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FUJI SERVO SYSTEM
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32
FUJI SERVO SYSTEM
Series
" #
0.05kW RYS1051 RYS500S3-VVX 0.05kW RYS500S3-LTS
0.05kW
0.1kW
RYS3013
RYS3014
RYS500S3-VSS
RYS101S3-VSS
0.2kW RYS3015 RYS201S3-VSS
0.4kW RYS3016 RYS401S3-VSS 0.05kW RYS3049 RYS500S3-RPS
0.05kW
RYS3071 RYS502S3-RSS
RYS500S3-RTS
0.1kW RYS101S3-RTS
33
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