EtherCAT drives are generally fairly easy to integrate. Look for drives that conform to the CAN in Automation (CiA) 402 profile. The RMC200 supports the CiA 402 modes Cyclic Synchronous Position (CSP), Cyclic Synchronous Velocity (CSV), and Cyclic Synchronous Torque (CST) modes with pre-defined configurations. These configurations will have the Process Data Objects (PDOs) necessary to initialize them on the EtherCAT network.
Delta Motion has specifically tested the following drives with the RMC200 ECAT module, and notes about their usage are included. Other CiA 402 drives will likely work well with the RMC200 also.
Unless otherwise noted, the drive EDS file is available for download from the manufacturer’s website.
Automation Direct
LS Electric “X motion” series: We tested the iX7NHA004UD, configured for single-phase 120 V. Initially we had to work with Automation Direct’s support a bit to get the correct firmware, but once we got that set up it worked just fine. This drive and a 400 W motor are currently on one of our lab systems.
Advanced Motion Controls
DigiFlex Performance series: tested the DPEANIU drive, and it works well.
Copley Controls
Xenus Plus series: tested the XEC-023-15, and it works well.
Faulhaber
MCS 3242 BX4 ET: this is a small motor with an integrated electronics package. The ESI file must be downloaded through the Motion Manager software.
- In CSP mode, the Faulhaber drive does not include an internal velocity feed forward. For best and easiest control, use CSV mode and tune the position in the RMC. Another, more complex, option is to keep the drive in CSP mode and use the Velocity Offset object to send the axis’ Target Velocity to the drive to create a feed forward. This requires mapping the Velocity Offset in the PDO configuration, adding it to the RMC’s EtherCAT I/O Map, and creating a continuously running user program that converts the Target Velocity to the units of the drive and writes it to the location in the EtherCAT I/O Map.
Lenze
Cabinet Servo Inverter line: tested the i950 with EtherCAT communication; there are several different communications protocols available. Worked well.
Moog
Muti Axis Servo Drive (MSD) System: we tested the G394, an EtherCAT Sub-Device. The MSD line also offers EtherCAT Main Devices, but we haven’t tested any of these. The G394 worked well in our testing.
Omron
R88D-KN01H-ECT: this is a single-phase/three-phase drive, but Omron offers a complete range of drives in a wide variety of input and output power combinations. It works well.
Parker
Compact Servo Drive line: we tested the PD08, and it worked well.
Yaskawa
SGD7S-R70FA0A: be aware that there is a feedback internal electronic gearing ratio that can be confusing; refer to Yaskawa’s documentation for setting this value correctly. In CSP mode, a specific tuning method must be used in the Yaskawa drive for the internal velocity feed forward to be applied, for good control. It works quite well after this tuning has been performed.