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Ethernet-Based Servo Interface:
Low Cost, High Performance Control of 32 Axes
with 0.5 ms – 1 ms Cycle Time
Overview
 The
Panasonic Realtime Express™ (RTEX) interface system is an all-digital,
minimal-hardware control architecture that works with low-cost Ethernet
cables and with Panasonic MINAS A4N servo drive systems from Matsushita
Electric Industrial Co., Ltd. This system provides high speed, high
resolution, simple wiring and precise synchronization.
MINAS A4N servo drives are based on the high performance
MINAS A4, and use the original Realtime Express servo network. RTEX
allows high resolution and the command of fast motion that is impossible
in conventional pulse interfaces, and its very short transmit time
maximizes servo performance. Motion commands are reflected in all
axes at the same time, so it's particularly well suited for Continuous
Path motion as well as point-to-point motion. RTEX allows information
such as parameter settings and data monitoring to be exchanged in
addition to motion commands, yet wiring is drastically reduced compared
to conventional interfaces. The affordable shielded twisted pair
cable lowers system costs, while the high noise immunity (in compliance
with IEC61000-4-4) provides excellent servo performance.
Soft Servo Systems, a distributor of Panasonic motors,
offers Panasonic MINAS A4N servo drives and motors bundled with
our ServoWorks CNC and SMP general motion control products for the
RTEX platform.
RTEX Ethernet Servo Network Features and Specifications
- Control of up to 32 servo axes with a 0.5 ms – 1 ms cycle
time
- High-speed communications: 100 Mbps (100BASE-TX) full duplex
Ethernet communications servo network with ring topology (IEEE
802.3u)
- Precise synchronization allowing interpolation
- Low-cost commercially available Ethernet LAN servo cables (shielded
twisted pair cable, TIA/EIA-568B CAT5e compliant or more)
- 2.5 kV over, IEC61000-4-4 compliant noise immunity
- Daisy-chainable servo drives offer distributed control and multiple
nodes with a total servo network length of up to 200 meters (and
an inter-node maximum cable length of 60 m), allowing distance
between PC, machine and peripherals
- All-digital network eliminates digital to analog conversions,
saving money and simplifying system setup and maintenance
- Simple wiring (a single, shielded twisted pair interface cable)
and only one interface card (PCI)
Hardware Connections in the
Realtime Express (RTEX) Interface System
Features of the MINAS A4 Series of Servo Drives
and Motors
- Easy-to-use servo gain-tuning with "Real-time auto tuning"
- 1,000 Hz speed-loop bandwidth improves productivity
- Vibration suspension filter minimizes vibrations
- Slim design (from 150 mm high x 40 mm wide x 130 mm deep)
- Full closed control of position and speed loops using a linear
scale signal (standard) enables high accuracy positioning
- Motor output ranges from 50 W to 5 kW (geared motors are also
available for a wide variety of applications)
- Available with 2500 pulse per revolution incremental encoders
or 17-bit absolute encoders
- Suitable for applications where large-scale, complicated tasks
are required, such as part mounting machines and multi-joint robots
- the motor exhibits excellent capabilities specifically in production
sites using semiconductor manufacturing equipment, packing/wrapping
machines, winding machines, machine tools, fabricating machines,
and more
I/O in the RTEX Interface System
There are three types of I/O for the RTEX interface system:
- 4 uncommitted inputs and 2 uncommitted outputs for each A4N
servo drive (for up to 16 servo drives)
- Optional I/O with a VersioBus II fiber-optic I/O network connected to the dual-link FPA-200 adapter board, daisy-chaining one to four IM-305 I/O modules (for between 64 and 256 general digital I/O points).
- Optional I/O via an AnyWireBus Gateway included in the RTEX
Ethernet servo network. Up to 320 I/O points (digital, analog
or pulse I/O) can be connected to the AnyWireBus Gateway with
the AnyWire DB protocol.
The maximum number of I/O points available for an RTEX interface system is 672: 352 inputs and 320 outputs.
Hardware in the Realtime Express Interface System
 FPA-200
RTEX PCI adapter board for insertion in a host PC
PCI slot. Provides two RJ45 Ethernet connectors (TX and RX) for
the A4N Ethernet servo network (with ring topology). Also provides
fiber-optic transceivers for an optional VersioBus II I/O network
of IM-305s.
IM-305 Optional I/O Modules
The IM-305 is an optional 64-point general I/O module
with built-in wire-entry screw terminals and LEDs. Up to four IM-305s
can be daisy-chained together for distributed control and multiple
nodes with VersioBus II fiber optics, to provide as many as 256
additional I/O points.
 VersioBus
II Fiber-Optic Cable
Fiber-optic cable required for connecting the hardware components
of the optional VersioBus II I/O network.
 AnyWireBus
Gateway
This optional AnyWireBus Gateway would be included in the RTEX
Ethernet servo network and provide the start of a daisy-chain for
connecting AnyWire I/O modules.
RTEX
servo platform brochure (4 pages, 244 KB)
Panasonic
MINAS A4N Servo System data sheet (1 page, 432 KB)
Last revision 04/14/09
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© Soft Servo Systems, Inc.,
2009 - All Rights Reserved. 
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