FAGOR AUTOMATION S. COOP. Brushless AC Servo drives · 2/72 - ACSD-S0 Digital Brushle ss AC servo...

FAGOR AUTOMATION S. COOP.

Brushless AC

Servo drives

~ ACSD-S0 series ~

Ref.1101

Title Brushless AC Servo Drives. ACSD-S0 series.

Type of documentation Description, installation and startup of motors anddigital drives.

Name MAN REGUL ACSD-S0 (IN)

Reference Ref.1101

Software Version 02.0x

Electronic document man_acsd-s0. pdf

Headquarters FAGOR AUTOMATION S.COOP.Bº San Andrés 19, Apdo. 144E- 20500 ARRASATE- MONDRAGÓ[email protected]

The information described in this manual may be subject to changesdue to technical modifications. FAGOR AUTOMATION, S. Coop.reserves the right to change the contents of this manual without priornotice.

The contents of this manual have been verified and matched with theproduct described here. Even so, it may contain involuntary errors thatmake it impossible to ensure an absolute match. However, the con-tents of this document are regularly checked and updated imple-menting the necessary corrections in a later edition.

All rights reserved. No part of this documentation may be copied,transmitted, transcribed, stored in a backup device or translated intoanother language without Fagor Automation’s permission.

34-943-719200

34-943-771118 (Technical Support )

2/72 - ACSD-S0 Digital Brushless AC servo drive system - Ref.1101

WARRANTYINITIAL WARRANTY

All products manufactured or marketed by FAGOR carry a 12-month warrantyfor the end user.

In order to prevent the possibility of having the time period from the time a productleaves our warehouse until the end user actually receives it run against this 12-monthwarranty, the OEM or distributor must communicate to FAGOR the destination,identification and installation date of the machine by filling out the Warranty Form thatcomes with each product.

The starting date of the warranty for the user will be the one appearing as theinstallation date of the machine on the Warranty Form.

This system ensures the 12-month warranty period for the user.

FAGOR offers a 12-month period for the OEM or distributor for selling and installingthe product. This means that the warranty starting date may be up to one year afterthe product has left our warehouse so long as the warranty control sheet has beensent back to us. This translates into the extension of warranty period to two years sincethe product left our warehouse. If this sheet has not been sent to us, the warranty periodends 15 months from when the product left our warehouse.

FAGOR is committed to repairing or replacing its products from the time when the firstsuch product was launched up to 8 years after such product has disappeared fromthe product catalog.

It is entirely up to FAGOR to determine whether a repair is to be considered underwarranty.

EXCLUDING CLAUSES

The repair will take place at our facilities. Therefore, all shipping expenses as well astravelling expenses incurred by technical personnel are NOT under warranty evenwhen the unit is under warranty.

The warranty will be applied so long as the equipment has been installed accordingto the instructions, it has not been mistreated or damaged by accident or negligenceand has been handled by personnel authorized by FAGOR.

If once the service call or repair has been completed, the cause of the failure is notto be blamed on the FAGOR product, the customer must cover all generated expensesaccording to current fees.

No other implicit or explicit warranty is covered and FAGOR AUTOMATION shall notbe held responsible, under any circumstances, of the damage which could beoriginated.

SERVICE CONTRACTS

Service and Maintenance Contracts are available for the customer within the warrantyperiod as well as outside of it.

Digital Brushless AC servo drive system - Ref.1101 ACSD-S0 - 3/72

DECLARATION OF CONFORMITY

Manufacturer: Fagor Automation, S. Coop.

Bº San Andrés 19, C.P. 20500, Mondragón -Guipúzcoa- (SPAIN)

We hereby declare, under our responsibility that the product:

Fagor AC Brushless Servo Drive System

Parameter setting for the drive modules.

ACSD-04H-S0, ACSD-08H-S0, ACSD-16H-S0

and feed axis servo motors:

FXM1, FXM3, FXM5, FXM7, FKM2, FKM4, FKM6

Note. Some additional characters may follow the model references indicated above. They allcomply with the directives listed here. However, compliance may be verified on the label of theunit itself.

mentioned on this declaration, meet the requirements on:

Safety

Electromagnetic Compatibility

In compliance with EC Directives 2006/95/EC on low voltage and 2004/108/CE onElectrical Compatibility.

In Mondragón July 1st 2009

INTRODUCTIONFagor offers you a wide range of servo drive systems (AC Brushless motor and DigitalDrive) for applications requiring between 1.2 and 33.6 Nm at speeds between 1200rpm and 4000 rpm for FXM motors and between 1.7 and 23.5 Nm at speeds between2000 rpm and 6000 rpm for FKM motors.

This manual describes the elements in detail and guides step by step through theinstallation and setup of the drive system.

When installed for the first time, read the whole document.

Should you have any doubts or questions, please do not hesitate to contact our tech-nicians at any of our subsidiaries worldwide.

Thank you for choosing Fagor.

EN 60204 -1:2006

Machinery safety. Electrical equipment of the machines.Part 1: General requirements.

EN 61800 -3:2004

EMC Directive on servo drive systems.


General index

BRUSHLESS AC MOTORS, FXM ..............................................................................7Introduction ..................................................................................................................7General characteristics ................................................................................................7Dimensions ................................................................................................................10Power connectors and encoder output ......................................................................12Brake characteristics..................................................................................................13Sales reference ..........................................................................................................14

BRUSHLESS AC MOTORS, FKM ............................................................................15Introduction ................................................................................................................15General characteristics ..............................................................................................15Dimensions ................................................................................................................17Power connectors and encoder output ......................................................................18Brake characteristics..................................................................................................19Sales reference ..........................................................................................................20

A.C. SERVODRIVE ...................................................................................................21Introduction ................................................................................................................21General characteristics ..............................................................................................21Dimensions ................................................................................................................21Technical data............................................................................................................22Connectors.................................................................................................................22Indicators....................................................................................................................24Push-buttons and switches ........................................................................................24Front panel and pinout of the connectors...................................................................25

INSTALLATION.........................................................................................................27General considerations ..............................................................................................27Electrical connections ................................................................................................28Connection with a PC. RS232 serial line ...................................................................39Diagram of the electrical cabinet ................................................................................40Initialization and adjustment.......................................................................................41

PARAMETERS, VARIABLES & COMMANDS .........................................................44Notation used .............................................................................................................44A group. Application ...................................................................................................46B group. Non-programmable inputs - outputs ............................................................46C group. Current ........................................................................................................46D group. Diagnosis.....................................................................................................48G group. General .......................................................................................................51H group. Hardware.....................................................................................................53I group. Inputs ............................................................................................................53K group. Monitoring....................................................................................................53M group. Motor...........................................................................................................55N group . Linear axis configuration ............................................................................55O group. Analog and digital outputs...........................................................................56


P group. Position loop ................................................................................................56Q group. Communication ...........................................................................................59R group. Rotor sensor................................................................................................60S group. Speed ..........................................................................................................60T group. Torque and power........................................................................................63

ERROR CODES ........................................................................................................65

LIST OF PARAMETERS, VARIABLES & COMMANDS. ID SERCOS.....................70


BRUSHLESS AC MOTORS, FXMIntroduction

General characteristics

T- 1. General characteristics of FXM motors.

Excitation Permanent rare earth magnets (SmCo)

Temperature sensor Thermistor PTC

Shaft end Cylindrical with keyway (optional with no keyway)

Mounting Face flange

Mounting method IM B5 - IM V1 - IM V3 (as recommended by IEC-34-3-72)

Mechanical tolerances Normal class (meets IEC-72/1971)

Balancing Class N (R optional) (DIN 45665) whole-key balancing

Roller bearings’ life 20000 hours

Noise DIN 45635

Vibration resistance Withstands 1g along the shaft and 3g sideways (take g=10 m/s2)

Electrical insulation Class F (150°C - 302°F)

Insulation resistance 500 V DC, 10 M or greater

Dielectric rigidity 1500 V AC, one minute

Protection degree General: IP 64 standard. Shaft: IP 64 standard, IP 65 with oil seal

Storage temperature From -20°C to +80°C (-4°F to 176°F)

Ambient temperature From - 0°C to +40°C (+32°F to +104°F)

Working ambient humidity From 20% to 80% (non condensing)

Brake Optional in all models. See the section "brake characteristics"

Feedback Encoder SinCos™ or SinCoder™

Meaning of the codes of the mounting method

FXM series synchronous servo motors are ACBrushless, with permanent magnets.

They are ideal for any application requiring greatpositioning accuracy. They have a uniform out-put torque, high reliability and low maintenance.

They are designed to meet the IP 64 protectionstandard and, therefore, they are immune to liq-uid and dirt.

FXM1 FXM3 FXM5 FXM7

IP 64 means that it is protected against dust and against water jets. They incorporatea temperature sensor for monitoring the internal temperature. They also carry an optionalelectromechanical brake. The F class isolation on the motor maintains the dielectricproperties as long as the work temperature stays below 150°C (302 °F).

IM B5 IM V3IM V1


T- 2

.C

hara

cter

istic

s ta

ble

of n

on-

vent

ilate

d F

XM

mot

ors

with

“A

” w

indi

ng (

400

V A

C).

Non

-ven

tila

ted

mo

tors

Stall torque

Stall peak torque

Rated speed

Stall current

Peak current

Power

Torque constant

Acceleration time

Inductance per phase

Resistance per phase

Inertia (1

Mass (2

Pea

k to

rqu

e

Mo

Mp

nNIo

Ima

xP

owK

tta

cL

RJ

MA

CS

D-0

4H

-S0

AC

SD

-08H

-S0

AC

SD

-16H

-S0

Nm

Nm

rpm

Arm

sA

rms

kWN

m/A

rms

ms

mH

kg

·cm

2kg

Nm

Nm

Nm

FX

M11

.20

A.

.

1.2

620

00

0.45

2.2

0.3

2.7

4.2

248

93

.51

.23

.36.

0

FX

M11

.30

A.

.

1.2

630

00

0.67

3.4

0.4

1.8

6.3

110

43

.01

.23

.36.

0

FX

M11

.40

A.

.

1.2

640

00

0.90

4.5

0.5

1.3

8.4

62

23

.51

.23

.35.

26.

0

FX

M12

.20

A.

.

2.3

1120

00

0.86

4.1

0.5

2.7

3.6

111

32

.01

.94

.31

0.7

11.0

FX

M12

.30

A.

.

2.3

1130

00

1.29

6.2

0.7

1.8

5.4

49

13

.01

.94

.37.

111

.0

FX

M12

.40

A.

.

2.3

1140

00

1.72

8.2

1.0

1.3

7.2

28

7.8

1.9

4.3

5.4

10

.711

.0

FX

M13

.20

A.

.

3.3

16

200

01.

236.

00.

72

.73.

47

11

6.0

2.6

6.4

10

.71

6.0

FX

M13

.30

A.

.

3.3

16

300

01.

859.

01.

01

.85.

13

27

.25

2.6

6.4

7.1

14

.216

.0

FX

M13

.40

A.

.

3.3

16

400

02.

501

2.0

1.4

1.3

6.8

18

4.0

52

.66

.41

0.6

16.0

FX

M14

.20

A.

.

4.1

20

200

01.

537.

50.

92

.73.

55

21

2.0

3.3

7.6

10

.72

0.0

FX

M14

.30

A.

.

4.1

20

300

02.

3011

.21.

31

.85.

22

34

.85

3.3

7.6

14

.220

.0

FX

M14

.40

A.

.

4.1

20

400

03.

101

5.0

1.7

1.3

6.9

13

2.9

53

.37

.61

0.6

20.0

FX

M31

.20

A.

.

2.6

13

200

00.

974.

80.

52

.75.

61

262

9.0

3.5

5.5

10

.71

3.0

FX

M31

.30

A.

.

2.6

13

300

01.

457.

30.

81

.88.

55

61

2.5

3.5

5.5

7.2

13

.0

FX

M31

.40

A.

.

2.6

13

400

01.

929.

61.

11

.411

.33

27

.25

3.5

5.5

5.4

10

.813

.0

FX

M32

.20

A.

.

5.1

25

200

01.

899.

21.

12

.75.

05

69

.55

6.0

7.5

10

.82

1.6

25.0

FX

M32

.30

A.

.

5.1

25

300

02.

801

4.0

1.6

1.8

7.5

25

4.0

56

.07

.51

4.6

25.0

FX

M32

.40

A.

.

5.1

25

400

03.

801

8.5

2.1

1.4

10

.11

42.

36

.07

.51

0.7

21.4

1/

Whe

n a

ddin

g t

he m

ech

anic

al b

rake

to

th

e m

otor

(op

tiona

l) al

so ta

ke in

to a

cco

unt

the

ine

rtia

va

lue

s g

ive

n in

th

e ta

ble

of

sect

ion

"b

rake

ch

ara

cte

ristic

s".

2/

Whe

n a

ddin

g t

he m

ech

anic

al b

rake

to

th

e m

otor

(op

tiona

l) al

so ta

ke in

to a

cco

unt

its

ma

ss g

iven

in th

e ta

ble

of s

ectio

n "

bra

ke c

hara

cter

istic

s".

No

te. T

he d

rive

reco

mm

end

ed t

o go

vern

eac

h m

oto

r m

ust

su

ppl

y th

e ra

ted

curr

en

t n

eed

ed t

o ob

tain

the

rat

ed t

orq

ue

fro

m t

he

mot

or.


T- 3

.C

hara

cter

istic

s ta

ble

of n

on-v

entil

ated

FX

M m

otor

s w

ith “

A”

win

ding

(40

0 V

AC

).

Non

-ven

tilat

ed

mo

tors

Stall torque

Stall peak torque

Rated speed

Stall current

Peak current

Power

Torque constant

Acceleration time



Inertia (1

Mass (2

Pea

k to

rque

Mo

Mp

nNIo

Imax

Pow

Kt

tac

LR

JM

AC

SD

-04

H-S

0A

CS

D-0

8H-S

0A

CS

D-1

6H

-S0

Nm

Nm

rpm

Arm

sA

rms

kWN

m/A

rms

ms

mH

kg

·cm

2kg

Nm

Nm

Nm

FX

M33

.20

A.

.

7.3

362

000

2.7

13

.41

.52.

74

.936

5.0

58

.59.

621

.63

6.0

FX

M33

.30

A.

.

7.3

363

000

4.1

20

.02

.31.

87

.416

2.2

08

.59.

614

.22

8.5

FX

M33

.40

A.

.

7.3

364

000

5.5

27

.03

.11.

39

.98.

61

.15

8.5

9.6

21.

3

FX

M34

.20

A.

.

9.3

462

000

3.4

17

.01

.92.

75

.026

3.4

511

.011

.521

.94

3.8

FX

M34

.30

A.

.

9.3

463

000

5.1

25

.02

.91.

87

.512

1.6

011

.011

.52

9.1

FX

M34

.40

A.

.

9.3

464

000

6.9

34

.03

.91.

41

0.0

6.6

0.8

511

.011

.52

1.6

FX

M53

.12

A.

.

11.9

591

200

2.8

14

.01

.54.

24

.761

5.8

522

.01

5.8

34.0

59.

0

FX

M53

.20

A.

.

11.9

592

000

4.7

23

.02

.52.

57

.822

2.1

522

.01

5.8

40.

5

FX

M53

.30

A.

.

11.9

593

000

7.1

35

.03

.71.

711

.79.

60

.91

22.0

15

.82

6.9

FX

M54

.12

A.

.

14.8

741

200

3.5

17.6

1.9

4.2

4.9

443.

7029

.017

.833

.86

7.7

FX

M54

.20

A.

.

14.8

742

000

5.9

30.0

3.1

2.5

8.2

161.

3529

.017

.84

0.2

FX

M54

.30

A.

.

14

.874

300

08.

74

4.0

4.7

1.7

12.

37.

30

.64

29.0

17

.82

7.2

FX

M55

.12

A.

.

17.3

861

200

4.1

20.0

2.2

4.2

5.3

362.

9536

.020

.033

.86

7.5

FX

M55

.20

A.

.

17.3

862

000

6.7

33.0

3.6

2.6

8.8

131.

0536

.020

.04

1.3

FX

M73

.12

A.

.

20

.81

04

120

04.

92

5.0

2.6

4.2

7.4

463

.05

61.0

29

.06

7.8

FX

M73

.20

A.

.

20

.81

04

200

08.

24

1.0

4.4

2.5

12.

317

1.1

061

.02

9.0

40.

6

FX

M74

.12

A.

.

27

.31

35

120

06.

63

2.0

3.4

4.2

7.4

331

.90

79.0

31

.66

6.2

FX

M75

.12

A.

.

33

.61

65

120

08.

03

9.0

4.2

4.2

7.4

271

.45

97.0

36

.06

7.2

1/

Wh

en

addi

ng

th

e m

ech

ani

cal b

rake

to

the

mo

tor

(opt

ion

al)

als

o ta

ke in

to a

cco

unt

the

iner

tia v

alu

es g

iven

in t

he ta

ble

of

sect

ion

"bra

ke c

hara

cter

istic

s".

2/

Wh

en

addi

ng

th

e m

ech

ani

cal b

rake

to

the

mo

tor

(opt

ion

al)

als

o ta

ke in

to a

ccou

nt it

s m

ass

give

n in

the

tab

le o

f se

ctio

n "

bra

ke c

hara

cter

istic

s".

No

te. T

he

driv

e r

eco

mm

en

ded

to

gov

ern

each

mot

or m

ust

sup

ply

the

rat

ed

cu

rre

nt n

ee

ded

to o

bta

in t

he

rate

d to

rque

fro

m t

he

mo

tor.


Dimensions

F- 1.

Dimensions of FXM1 series motors.

F- 2.


LB LC (encoder)Units mm in mm inFXM11 136 5.35 46 1.81FXM12 171 6.70 46 1.81FXM13 206 8.11 46 1.81FXM14 241 9.48 46 1.81

F GD R D GA ST

Units mm in mm in mm in mm in mm in mm

FXM1 5.0 0.19 5.0 0.19 20 0.78 14 j6 0.55 j6 16 0.62 M5x12.5DGA G

D

ST

F

LB LC (encoder)Units mm in mm inFXM31 152 5.98 46 1.81FXM32 187 7.36 46 1.81FXM33 222 8.74 46 1.81FXM34 257 10.12 46 1.81

F GD R D GA ST


FXM3 6.0 0.24 6.0 0.24 30 1.18 19 j6 0.75 j6 21.5 0.85 M6x16

DGA G

D

ST

F


F- 3.


F- 4.


LB LC (encoder)Units mm in mm inFXM53 237 9.33 46 1.81FXM54 272 10.71 46 1.81FXM55 307 12.09 46 1.81

F GD R D GA ST


FXM5 8.0 0.31 7.0 0.27 40 1.58 24 j6 0.94 j6 27 1.07 M8x19DGA G

D

ST

F

LB LC (encoder)Units mm in mm inFXM73 256 10.08 46 1.81FXM74 291 11.46 46 1.81FXM75 326 12.83 46 1.81FXM76 361 14.21 46 1.81FXM77 396 15.59 46 1.81FXM78 431 16.97 46 1.81

F GD R D GA ST


FXM7 8.0 0.31 7.0 0.27 40 1.58 24 j6 0.94 j6 27 1.07 M8x19

DGA G

D

ST

F

C1Units mm inMC-23 35 1.38MC-46 40 1.57


Power connectors and encoder output

The power connector includes the brake terminals (E, F). A voltage between 22 and 26V DC releases the shaft. When installing the motor, verify that the brake releases theshaft completely before turning it for the first time.

Connecting the motor windings in the order indicated on the connector (U, V, W), the shaftwill turn clockwise (CWR, clockwise rotation).

Pins I and J of the encoder connector correspond to the thermistor for monitoring motortemperature.

F- 5.

Power and feedback connector.

F- 6.

Pinout of the power connectors and feedback connectors (Ref. E1).

POWER CONNECTORS

Motor connector MC - straight plug

EG. MC - 23

AMC - angled plug

Current 23 Amperes

1

12

Note. Their connection bases are viewed from the outside of the motor.

2

Feedback connection base encoder Sin-Coder StegmannTM SNS50 (Ref. E1). Con-nector E0C 12.

Motor power connection base. MC 23 plug or AMC 23 plug.


Brake characteristics

FXM motors have an optional brake that applies friction to the shaft. Its purpose is toimmobilize a vertical axes when necessary, but it must never be used to brake a movingaxis because it may get damaged or even destroyed. Its main technical characteristicsare:

T- 4. Technical characteristics of the brake.

Motor

Holdingtorque

Power consumption

On/Offtime

Range ofreleasingvoltage

Inertia Mass

N·m (in·lbf) W (hp) ms V DC kg·cm2 kg (lbf)

FXM1 Motor Mo 12 (0.016) 19/29 22-26 0.38 0.3 (0.66)

FXM3 Motor Mo 16 (0,021) 20/29 22-26 1.06 0.6 (1.32)

FXM5 Motor Mo 18 (0.024) 25/50 22-26 3.60 1.1 (2.42)

FXM7 Motor Mo 35 (0.047) 53/97 22-26 31.80 4.1 (9.03)

Note. The maximum speed is 10000 rev/min, for all of them except for the brake thatmay be used on the FXM7 series that is 8000 rev/min.

NEVER use this brake to stop a moving axis !

The brake must never exceed its maximum turning speed.

A voltage between 22 and 26 V DC releases the shaft. Make sure thatno voltage over 26 V is applied that prevents the shaft from turning.

When installing the motor, make sure that the brake fully releases theshaft before making it turn for the first time.


Sales reference

F- 7.

Sales reference of FXM series axis feeding motors.

0 Without fan

12 1200 rev/min 30 3000 rev/min20 2000 rev/min 40 4000 rev/min

FXM . . . - XMOTOR SERIES

SIZE 1, 3, 5, 7

LENGTH 1, 2, 3, 4, 5

RATEDSPEED

WINDING

FEEDBACK TYPE

FLANGE &SHAFT

0 IEC Standard

BRAKEOPTION

0 Without brake

VENTILATION

A 400 V AC

1 With standard fan

1 With standard brake H (Neodimium)

1 Keyless shaft

9 With special fan

SPECIALCONFIGURATION

X

01 ZZSPECIFICATION

Only when it has a special configuration (X) !

8 NEMA Standard (USA)

9 Special

- absolute multi-turn -

StegmannTM SNS50 SinCoder encoder (1024 ppv)E1

A1 StegmannTM SRM50 SinCos encoder (1024 ppv)

9 With special brake


BRUSHLESS AC MOTORS, FKMIntroduction

General characteristics

T- 5. General characteristics of FKM motors.

Excitation Permanent rare earth magnets (Nd - Fe - B)

Temperature sensor Thermistor PTC KTY84-130Shaft end Cylindrical keyless (optional with keyway)

Mounting Face flange with through holesMounting method IM B5 - IM V1 - IM V3 (as recommended by IEC-34-3-72)Mechanical tolerances Normal class (meets IEC-72/1971)

Balancing Class N (R optional) (DIN 45665) half-key balancing

Roller bearings’ life 20000 hours

Noise DIN 45635

Vibration resistance Withstands 1g along the shaft and 3g sideways (take g=10 m/s2)

Electrical insulation Class F (150°C - 302°F)

Insulation resistance 500 V DC, 10 M or greater

Dielectric rigidity 1500 V AC, one minute

Protection degree General: IP 64 standard. Shaft: IP 64 standard, IP 65 with oil seal

Storage temperature: From - 20°C to +80°C (- 4°F to + 176°F)

Ambient temperature From - 0°C to +40°C (+32°F to +104°F)Working ambient humidity From 20% to 80% (non condensing)

Brake Optional in all models. See the section "brake characteristics"

Feedback SinCos™ encoder

Meaning of the codes of the mounting method.

FKM synchronous servo motors are AC brush-less with permanent magnets.

They are ideal for any application requiring greatpositioning accuracy. They have a uniform out-put torque, high reliability and low maintenance.

They are designed to meet the IP 64 protectionstandard and, therefore, they are immune to liq-uid and dirt.

FKM2 FKM4 FKM6

IP 64 means that is protected against dust and against water jets. They have a KTY84-130 sensor to monitor the internal temperature. They also carry an optional electrome-chanical brake. They have rotating power and feedback connectors. The F class iso-lation on the motor maintains the dielectric properties as long as the work temperaturestays below 150°C (302°F).

IM B5 IM V3IM V1


T- 6

.C

hara

cter

istic

s ta

ble

of n

on-v

entil

ated

FK

M m

otor

s w

ith “

A”

win

ding

( 4

00 V

AC

).

Non

-ven

tila

ted

mot

ors

Stall torque

Stall peak torque

Rated speed

Stall current

Peak current

Power

Torque constant

Acceleration time



Inertia (1

Mass (2

Pe

ak

torq

ue

Mo

Mp

nNIo

Ima

xP

owK

tta

cL

RJ

MA

CS

D-0

8H

-S0

AC

SD

-16H

-S0

Nm

Nm

rpm

Arm

sA

rms

kWN

m/A

rms

ms

mH

kg

·cm

2kg

Nm

Nm

FK

M21

.60A

.

.

1.7

76

000

2.8

111.

10

.614

.47

.72.

61.

64.

25

.07.

0

FK

M22

.30A

.

.

3.2

13

300

02.

41

01.

01

.37

.016

.03

.95

2.9

5.3

10.

21

3.0

FK

M22

.50A

.

.

3.2

13

500

04.

016

1.7

0.8

11.7

5.8

1.4

2.9

5.3

6.7

13

.0

FK

M22

.60A

.

.

3.2

13

600

04.

518

2.0

0.7

14.0

4.6

1.1

2.9

5.3

5.6

11.2

FK

M42

.30A

.

.

6.3

25

300

04.

61

92.

01

.410

.78

.61

.45

8.5

7.8

21

.9

FK

M42

.45A

.

.

6.3

25

450

06.

92

83.

00

.916

.03

.90

.67

8.5

7.8

14

.6

FK

M42

.60A

.

.

6.3

25

600

08.

53

43.

90

.721

.32

.60

.45

8.5

7.8

11.2

FK

M44

.30A

.

.

11.6

47

300

08.

23

33.

61

.411

.24

.20

.54

16.7

11.7

22

.6

FK

M44

.40A

.

.

11.6

4740

0010

.743

4.9

1.1

14.9

2.4

0.3

116

.711

.717

.3

FK

M62

.30A

.

.

8.9

35

300

07.

128

2.8

1.3

14.4

7.2

0.7

716

.011

.920

.0

FK

M62

.40A

.

.

8.9

35

400

09.

337

3.7

1.0

19.1

4.1

0.4

416

.011

.915

.4

FK

M64

.30A

.

.

16.5

6630

0012

.148

5.2

1.4

14.0

3.8

0.2

829

.517

.121

.8

FK

M66

.20A

.

.

23.5

9420

0010

.542

4.9

2.2

9.5

4.6

0.31

543

.022

.335

.2

1/ M

otor

iner

tia w

ithou

t bra

ke.

2/ M

otor

mas

s w

ithou

t br

ake.

No

te.

Th

e d

rive

rec

omm

end

ed t

o g

ove

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ach

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tor

mu

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ly t

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ated

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rent

nee

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ob

tain

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ate

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orq

ue f

rom

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e m

oto

r.


Dimensions

F- 8.

Dimensions of FKM2 series motors.

F- 9.


F GD R D GA ST


FKM2 6.0 0.23 6.0 0.23 30 1.18 19j6 0.74j6 21.5 0.84 M6x16

LB LUnits mm in mm inFKM21 114 4.48 208 8.2FKM22 138 5.43 232 9.1

40 (1.57)

Ø80 (

3.1

5)

j6

54 (2.12)LB

L

3 (0.11)

8 (0.31)

80 (3.15)

18 (0.70)

139.5

(5.4

9)

97 (3.81)

Ø100 (3.93)

Ø115 (4.52)

Ø7 (0.27)40 (1.57)

DGA G

D

ST

F

40 (1.57)

Ø80 (

3.1

5)

j6

54 (2.12)LB

L

3 (0.11)

8 (0.31)

80 (3.15)

18 (0.70)

139.5

(5.4

9)

97 (3.81)

Ø100 (3.93)

Ø115 (4.52)

Ø7 (0.27)40 (1.57)

FKM2 Series Units mm (inches)

F GD R D GA ST


FKM4 8.0 0.31 7.0 0.27 40 1.57 24j6 0.94j6 27.0 1.06 M8x19

LB LUnits mm in mm inFKM42 143 5.62 247 9.7FKM44 185 7.28 289 11.3

DGA G

D

ST

F

50 (1.96)

Ø110 (

4.3

3)

j6

10 (0.39)

3.5 [0.13]

L

54 (2.12)

18 (0.70)

80 (3.15)

Ø150 (5.90)

Ø130 (5.11)

Ø9 (0.35)

126 (4.96)

168.5

(6.6

3)

50 (1.96)

LB



Power connectors and encoder outputIt includes the connectors of the brake itself (pins 4 and 5). A voltage between 22 and26 V DC releases the shaft. When installing the motor, verify that the brake releases theshaft completely before turning it for the first time. Connecting the motor windings in theorder indicated on the connector (U, V, W), the shaft will turn clockwise (CWR, clockwiserotation).

F- 10.


F- 11.

Power connector pinout. Sales reference.

F GD R D GA ST


FKM6 10.0 0.39 8.0 0.31 50 1.96 32j6 1.26j6 35.0 1.37 M10x22

LB LUnits mm in mm inFKM62 148 5.82 260 10.2FKM64 184 7.24 296 11.6FKM66 220 8.66 332 13.0

DGA G

D

ST

F

58 (2.28)

Ø130 (

5.1

1)

j6

3.5 (0.13)

12 (0.47)

LLB 54 (2.12)

80 (3.15)

18 (0.70)

158 (6.22)

200.5

(7.8

9)

Ø12 (0.47)

Ø165 (6.49)

Ø190 (7.48)

58 (2.28)


MOTOR POWERCONNECTION BASE

97 [3.82]

80 [3.15]

2

1 PHASE U

PHASE V

PIN SIGNAL

6 PHASE W

3 GROUND

4 BRAKE (+)

5 BRAKE (-)Note. Connector viewed from the out-side of the motor.

1

1

Motor power connection base

POWER CONNECTOR

Power cableconnector

MC - 20/6

E.g. MC - 20/6

Current 20 Amperes


Pins 3 and 4 of the encoder connector correspond to the thermistor PTC KTY84-130 formonitoring motor temperature.

Brake characteristics

FKM motors have an optional brake that applies friction to the shaft. Its purpose is toimmobilize a vertical axes when necessary, but it must never be used to brake a movingaxis because it may get damaged or even destroyed. Its main technical characteristicsare:

F- 12.

Pinout of the SinCosTM encoder connector (Ref. A3 and E3).

T- 7. Technical characteristics of the brake.

MotorHolding torque

Power consumption

On/Offtime

Range ofreleasing voltage

Inertia Mass

N·m (in·lbf) W (hp) ms V DC kg·cm2 kg (lbf)

FKM2 4.5 (39.8) 12 (0.016) 7/35 22-26 0.12 0.28 (0.62)

FKM4 9.0 (79.6) 18 (0.024) 7/40 22-26 0.54 0.46 (1.01)

FKM6 18.0 (159.3) 24 (0.032) 10/50 22-26 1.15 0.90 (1.98)

Note. Maximum speed for all of them is 10000 rev/min.

NEVER use this brake to stop a moving axis !

The brake must never exceed its maximum turning speed.

Voltage between 22 and 26 V DC releases the shaft. Make sure thatno voltage over 26 V is applied that prevents the shaft from turning.

When installing the motor, make sure that the brake fully releasesthe shaft before making it turn for the first time.

91 [3.58]

62[2.44]

Connection base ofa SinCos encoder.Ref. E3 & A3

9

8 COS

CHASSIS

7 -485

10 GND

11 N.C.

12 + 8 Vdc

2

1 REFCOS

+485

PIN SIGNAL

3 KTY 84 (-)

4 KTY 84 (+)

5 SIN

6 REFSIN

2

2

Note. Connectorviewed from the out-side of the motor


Sales reference

F- 13.

Sales reference of FKM series axis feeding motors.

0 Rotating angled connectors


FKM . . . MOTOR SERIES

SIZE 2, 4, 6

LENGTH 1, 2, 4

RATEDSPEED

WINDING A 400 V AC

FEEDBACK TYPE

FLANGE ANDSHAFT

0 With keyway (standard)

0 Without brake

CONNECTION

1 Cable exit without connectors

1 With standard brake (24 V DC)

1 Cilyndrical with no keyway

40 4000 rev/min

E3 SinCos StegmannTM encoder, taper shaft, (1024 ppt)

(multi-turn encoder)A3 SinCos StegmannTM SRM encoder, taper shaft, (1024 ppt)

KSPECIALCONFIGURATION

01ZZSPECIFICATIONonly if it has a special K configuration !

.K

9 Special

BRAKEOPTION


(half key balancing)

60 6000 rev/min

2 Shaft with key and seal

3 Keyless shaft with seal


A.C. SERVODRIVEIntroductionThe ACSD-H-S0 servodrives series belongs to the ACSD-S0 family. It is a compactvelocity drive series to be powered at 400 V AC and is designed to control synchronousAC Brushless motors.

The models belonging to this series according to their peak current are:

General characteristicsTheir main characteristics are:

Dimensions

ACSD-04H-S0ACSD-08H-S0ACSD-16H-S0with peak currents of 4, 8 and 16 Arms, respectively.

Three phase power supply. Dynamic braking in case of mains failure. PWM IGBTs. Feedback via sinusoidal Vpp encoder. SERCOS communications interface. Two logic inputs to control the motor: Speed Enable and Drive Enable. One programmable logic input. One programmable logic output. On-line parameter editing. Typical protections in velocity drives. RS-232 communication (only for uploading software). SERCOS communication protocol.

F- 14.

Dimensions of the ACSD-S0 drives.

67 mm (2.63") 245 mm (9.64")

28

0 m

m

(1

1.0

2")

33

0 m

m

(1

2.9

9")

30

0 m

m

(1

1.8

")

6 mm (0.23")

11 mm (0.43")

ACSD-S0


Technical data

Connectors

Power terminals

POWER INPUTS L1, L2, L3. Mains input terminals.

POWER OUTPUTS U, V, W. Output terminals for the voltage applied to the motor.Current control with PWM on a carrier frequency of 8 kHz. When connecting to themotor, watch the matching of phases U-U, V-V and W-W.

L+, Ri, Re. Terminals to configure and connect the external ballast resistor.

CONTROL POWER INPUTS L1, L2, GROUND (X3). Input terminals for the voltagesupply of the drive's control circuits from mains. The maximum cable section at thesepower terminals is 2.5 mm2. Total isolation between the power and the control circuits.

ACTIVATION OF THE INTERNAL FAN. The internal fan that cools the drive's powerelements starts when enabling the Drive Enable signal. The fan will stop when the heat-sink temperature is lower 70°C since the Drive Enable signal is turned off. This methoddecreases the fan's operating time, hence increasing its useful life.

T- 8. Technical data.

ACSD-H-S0

04 08 16

Rated output current (in Arms) 2 4 8

Peak current - 0.5 s - (in Arms) 4 8 16

Power supply 3 AC 400/460V ±10%, 50/60Hz ±10%

Consumption (in Arms) 4.4 8.9 16.7

Overvoltage protection (in V DC) 803 803 803

Internal ballast (in ) 132 132 66

Power of the internal ballast (in W ) 150 150 150

Ballast trigger (in V DC) 780 780 780

Thermal protection of the heatsink 90°C (194°F)

Operating temperature 5°C/45°C (41°F/113°F)

Storage temperature - 20°C/60°C (-4°F/140°F)

Protection degree IP20 *

Module dimensions 67x280x245 mm (2.48x11.8x9.05 inches)

Module mass 3.85 kg (8.5 lb)

* IP20 means that it is protected against objects of a diameter larger than 12.5 mm, but not againstwater splashes. Therefore, the unit must be mounted inside an electrical cabinet.


Control signals

20 mA OUT

Voltage ±12 V, (pins 1, 2, 3 of X1). Output of an internal power supply so the user caneasily generate a device enabling signal.

PROG. DIGIT. OUTPUT

Programmable digital output (pins 1 and 2 of X2). Opto-coupled open collector out-put. Maximum current (100 mA), maximum voltage (50 V).

ENABLES

Common, (pin 5 of X2). Reference point for the following:

Drive Enable, (pin 4 of X2). No current can flow through the motor winding at 0 V DC,i.e. without torque.

Speed Enable, (pin 3 of X2). At 0V DC, it forces an internal zero velocity command.

DRIVE OK.

Drive Ok. (pins 6 and 7 of X2). Relay contact that closes when the internal status ofthe drive control is OK. It must be included in the electrical maneuver.

PROG. DIGIT. INPUT

Programmable digital input, (pins 8 and 9 of X2). Programmable digital input.

MOTOR FEEDBACK INPUT

Input connector of the encoder signals installed on the motor for position + velocity feed-back and of the temperature sensor of the motor.

RS-232 COMMUNICATIONS

Connector for downloading the software version from a PC to the drive through theRS232 serial line.

SERCOS RING

Connector with two pins (IN and OUT) that may be used to connect the drive modulesof the system with the CNC that governs them. The connection is made through fiberoptic lines and it has a ring structure. It comes with two rotary switches and two status-indicating LED's (Light Emitting Diodes).

These control signals are activated with +24V DC.

The maximum cable section at these terminals is 0.5 mm2. See the chapter on instal-lation.


Indicators

Module Status & Network Status. Indicator lights on top of the SER-COS connector. It has several lighting sequences that indicate thestatus of both the SERCOS ring and the drive. For further detail, seesection: Initialization and setup of this manual.

+ 5 V. Indicator light located to the right of the BUS ACTIVITY indi-cator. When lit, it indicates that the internal +5V are being applied.

CROWBAR (ON). Indicator light on top of the RESET button. Whenlit, it indicates that the voltage of the internal bus has exceeded thepreset voltage values and the ballast resistor has been activated.

VBUS OK. Indicator light on top of the RESET button. When lit, it indi-cates that there is power voltage.

Push-buttons and switches

RESET. Push-button for resetting the system.

NODE SELECT. Consisting in two rotary switches used to determinethe node number assigned to the drive in the SERCOS ring and alsoselect the communication speed and the light power of the SERCOSLED's. For further detail, see section: Initialization and setup of thismanual.


Front panel and pinout of the connectors

F- 15.

Front plate ACSD-S0 drives. Connectors.

220 V

AC

SD

-S0

X2

CONTROL POWERINPUTS

L1

L2

X3

CO

MM

UN

ICA

TIO

NS

RS

42

2 / R

S 2

32

CR

OW

BA

R<

ON

>

VB

US

OK

RESET

CO

NT

RO

L S

IGN

AL

S

SPEED

MS

NODE SELECT

x10

NS

x1

OUT

IN

X1

EN

AB

LE

S

PR

OG

. D

IG.

OU

TP

UT

DRIVE

COMMON

DR

IVE

OK

PR

OG

. D

IG.

INP

UT

MO

TO

R F

EE

DB

AC

K IN

PU

T

-12V

+12V

B

A

C

E

D

400 V

X2

SPEEDE

NA

BL

ES

PR

OG

. D

IG.

OU

TP

UT

DRIVE

COMMON

DR

IVE

O

K

PR

OG

. D

IG.

INP

UT

L1

L2

X3

-12V

+12V

X1

FUENTE DE ALIMENTACIÓN ±12V

A

B

C

X1 CONNECTOR

X2 CONNECTOR

X3 CONNECTOR

± 12 V power supply

Supply voltage forthe control circuits


Pin Signal Function

1 A+ A + signal

2 B+ B + signal

3 Z+ Z + signal

4 U - Phase switching U -

5 W - Phase switching W -

6 V - Phase switching V -

7 N.C.Not connected8 N.C.

9 N.C.

10 A - A - signal

11 B - B - signal

12 Z - Z - signal

13 U+ Phase switching U +

14 W+ Phase switching W +

15 V+ Phase switching V +

16 N.C. Not connected

17 SELSEN1 Information of the installed sensor given to the drive via hardware18 SELSEN2

19 + 485 RS485 serial line for SinCos™ or SinCoder™ encoder20 - 485

21 KTY84 - Thermal sensor of the motor22 KTY84 +

23 +8VSinCos™ or SinCoder™ encoder voltage supply

24 +5V Supply voltage for the incremental encoder

25 GND 0 Volts

26 CHASSIS Pin

CHASSIS Screws

Pin Signal Function

1 N.C. Not connected

2 RxD RxD (232)

3 TxD TxD (232)

4 + 5V Voltage supply

5 GND GND

CHASSIS Screws

19

26

1

9

10

18

MOTOR FEEDBACK INPUT

D

RS422/RS232 communication connector

9

61

5

Input connector for motor feed-back and temperature sensor.

RS422/RS232COMMUNICATION

E


INSTALLATIONGeneral considerations

At the motor

Remove the anti-corrosion paint of the rotor and of the flange before installing the motoron the machine. The motor may be mounted as IM B5, IM V1 and IM V3.

Watch for the ambient conditions mentioned in the section on "technical data" and also:

Start the drive up (or do a reset) with the rotary switch in the "0" position.

Mount it somewhere that is dry, clean and accessible for maintenance.

It must be easily cooled.

Avoid corrosive or flammable environments.

Guard the motor with a cover if it is exposed to splashes.

Use flexible coupling for direct transmission.

Avoid radial and axial loads on the motor shaft.

At the Drive

The module must be installed in an electrical enclosure that is clean, dry free of dust,oil or other pollutants (remember that its degree of protection is IP 20). Never install itexposing it to flammable gases. Avoid excessive heat and humidity. The ambient tem-perature must never exceed 45°C (113°F).

Mount the modules vertically (as shown in the photos). Avoid vibrations. Leave at least30 cm of clearance above and below the module for better air flow.

About the connection

All the cables must be shielded, to reduce the interference on the control of the motordue to the commutation of the PWM.

The shield of the motor power cable must be connected to the chassis screw at the bottomof the module and it, in turn, taken to mains ground.

Note. Remember that the degree of protection is IP 64.

WARNING: DO NOT hit the shaft when installing transmission pulleys orgears !

Use some tool that is supported in the threadedhole on the shaft to insert the pulley or the gear.

Note. Keep the signal cables away from the power cables.


Electrical connections

Power connection. Mains - Drive

The drive supply voltage must be three-phase.

The table below shows the values recommended for the fuses shown in the previous fig-ure. They are slow general purpose fuses. If they are installed on the Mains input lines,their maximum currents will depend on the value of the Mains voltage.

Note. It is required to install a transformer.

F- 16.

Mains power connection of the drive.

T- 9. Fuses.

MODEL Peak current (Arms) Fuse (A)

ACSD-04H-S0 04 04

ACSD-08H-S0 08 08

ACSD-16H-S0 16 16

Note. A thermal switch may optionally replace the fuses.

Important. The secondary windings must have a star connection with its middle pointconnected to ground.

L1L2

X3

220 or 380 V ACR

S

T

N

380 V AC

CO

NT

RO

LP

OW

ER

IN

PU

TP

OW

ER

INP

UT

S

R

S

T

N

380 V AC

High FloatingVoltage

Autotransformer orthree -phase transformer

Autotransformer orthree -phase transformer

Warning. Never make this connection because there is a risk of destroying the module.

k1 power switch

fuses

3x2.5 mm2

L3

L1L2220 or 380 V AC

fuses

X3

CO

NT

RO

LP

OW

ER

IN

PU

T

L1L2220 or 380 V AC

L1L2

220 or 380 V AC

PO

WE

R IN

PU

TS

k1 power switch

3x2.5 mm2

L3

THREE PHASE


Types of mains

Depending on the diagram of the electric energy distribution circuit, there are three typesof mains: TN, TT and IT.

Depending on the type of mains, the cabling in the electrical cabinet will vary consider-ably.

We here describe their characteristics and sample diagrams for a proper installation.

TN diagram

Distribution diagram that has a point directly connected to ground and the conductiveparts of the installation are connected to this point through ground protection con-ductors. This type of mains admits loads between one or several phases and the neu-ter.

There are three types of TN systems depending on the protection neuter and groundcombination:

TN-S diagram where the neuter and the ground protection conductors are separatedthroughout the whole length of the system.

TN-C-S diagram where the neuter and the ground protection wire are combined ina single conductor somewhere in the system.

TN-C diagram where the neuter and the ground protection functions are combinedin a single conductor throughout the system.

Note. Note that the diagrams do not show the main contactor that must be connectedbetween the transformer or auto-transformer and the ACSD-S0 unit.

F- 17.

TN diagram.

ACSD

L1

L2L3

PEN

MAINS FILTER

DIFFERENTIAL BREAKER


MAINS FILTER

MAINS FILTER


FACTORY LINE TRANSFORMER

ACSD ACSDACSD-S0 ACSD-S0 ACSD-S0

TN type mains are the only ones to which the ACSD-S0 system can be con-nected either directly or through an auto-transformer.


TT diagram

Distribution diagram that has a point directly connected to ground and the conductiveparts of the installation are connected to this ground point independently from theground electrode of the power supply system.

IT diagram

Distribution diagram that does not depend on any direct connection to ground and theconductive parts of the installation are connected to ground.

F- 18.

TT diagram.

F- 19.

IT diagram.

ACSD

L1

L2

L3

L1

L2

L3

ACSD



MAINS FILTER



MAINS FILTER

ACSD-S0 ACSD-S0

L1L2L3

ACSD

L1

L2

L3

ACSD



MAINS FILTER



MAINS FILTER

ACSD-S0 ACSD-S0


Power connection. External Ballast resistor

If the application requires a Ballast resistor with more than 150 W:

Remove the cable joining the terminals Ri and L+.

Install the external resistor between the terminals Re and L+.

Make sure that the resistance (Ohms) of the external ballast resistor is the same asthat of the internal resistor of that module. See the general characteristics table.

Use KV41 to indicate to the drive that an external ballast resistor has been connected.

Power connection. Drive - motor

F- 20.

Power connection for the external Ballast resistor.

F- 21.

Power connection between a motor (FXM or FKM) and an ACSD-S0 drive.

L+

Re

Ri

2.5 mm2

External Ballast

L+

Re

Ri

ACSD-S0 DRIVE

InternalBallast

ACSD-S0 DRIVE

ACSD- S0 DRIVE

MOTOROUTPUT CONNECTOR(located at the bottomof the module)

Fagor CablesMPC- 4x1.5+(2x1) ,MPC- 4x2.5+(2x1) ,

W

U

VM

3

Holding brake(Option)

24V Released0V Holding

ED A

C BF

MC- 23 base

W

U

V

MPC- 4x1.5MPC- 4x2.5

1 6

5

42

MC- 20/6 base

At the motor end

Terminals of the power connector for FKM synchronous motor

M3(6)

(1)

(2)

(5)

(4)

(3)W

U

VM

3(C)

(A)

(B)

(F)

(E)

(D)

W

U

V3

Terminals of the power connector for FXM synchronous motor

FKM FXM

Shield

Shield


Power cables

The code of the sales reference of Fagor power cables is:

Connection of the monitoring and control signals

Enable signals using ±12 V.

T- 10. Power cables.

For motors with brake For motors without brake

MPC-4x1.5 MPC-4x1.5+(2x1)

MPC-4x2.5 MPC-4x2.5+(2x1)

Note. The length of the MPC power cable must be specifically ordered (in meters).

F- 22.

Sales reference of FAGOR power cables.

F- 23.

Enable signals using ±12 V.

M O T O R P O W E R C A B L E

N r o f w ire s

M o to r P o w e r C a b le

E .g . M P C 4 x 0 .5

S e ct io n o f e a c h w ire (m m 2 )E .g . M P C 4 x 0 .5 + (2 x 1 )

N r o f w i re s

S e ct io n o f e a c h w ire (m m 2 )

N r o f w i re s x s e c tio n ( fo r th e b ra k e )

O n m o to rs w it h o u t b r a k e

O n m o to rs w ith b ra k e

pin 3pin 4

SPEEDDRIVE

X2

pin 5 COMMON

pin 1pin 2

-12 VGND

X1

pin 3 +12 V

X2

-12V

+12V

X1


Signal indicating that the Servodrive is running properly.

Enable signals.

Programmable digital outputs.

Programmable digital input.

F- 24.

Signal indicating that the Servodrive is running properly.

F- 25.

Enable signals.

F- 26.

Programmable digital outputs.

F- 27.

Programmable digital input.

X2

DR. OK

To

the

safe

tych

ain

0.6 A - 125 V AC

Drive OK

0.6 A - 110 V DC2.0 A - 30 V DC

pin 3pin 4

SPEEDDRIVE

X2

pin 5 COMMON

X2

24 V

0 V

Maximum currentMaximum voltage

X2

+24 V DC

X2

+24 V DC100 mA50 V+

-

+

-

X2


Encoder feedback connection

The signals generated by the encoder are taken to the motor feedback input of theACSD-S0 drive.

The encoder must be mounted on to the motor shaft and cannot be installed anywhereelse in the transmission chain.

The encoders that can be found on the motors depending on the series they belong to are:

Feedback cables

Fagor provides these full connections (cables + connectors): EEC, EEC-SP and SER-COS.

Sinusoidal encoder connecting cable, EEC

The EEC cable transfers the motor feedback signals from the sinusoidal encoder to thedrive. It has overall shield and twisted pairs.

T- 11. Encoders that can be found on Fagor motors depending on the series.

At FXM servo motorsE1 SinCoder™ encoder (1024 pulses)A1 SinCoder™ multi-turn encoder (1024 pulses)

At FKM servo motorsE3 SinCoder™ taper shaft encoder (1024 pulses)A3 SinCoder™ multi-turn encoder (1024 pulses)

F- 28.

EEC feedback cable for sinusoidal encoder.

9

1

26

19

(HD, Sub-D,M26)

Blue

Grey

Green

Purple

Pink

White

Red

Ready Made Cable EEC 1/3/5/7/10/15/20/25/30/35/40/45/50Length in meters; connectors included

10

26518

34

12

REFCOSSIN

REFSIN+485-485GND

TEMP or KTY84 -

+8 V

COS

72019112101

2122

26

2523

Yellow

Black

Cable 4 x 2 x 0.14 + 2 x 0.5Signal Pin Pin

CHASSIS

E0C 12

123

411

101278

65

9

Front view

Front view

to DRIVE

to MOTOR

Brown

TEMP or KTY84 +

Twisted pair. Overall shield.The shield must be connected to pin 26 of the chassis at the drive end and to the metallic housing and to pin 9 of the connector at the motor end.

9

(0.5 mm2)

(0.5 mm2)


Sinusoidal encoder connecting cable, EEC-SP

The EEC-SP cable transfers the motor feedback signals from the sinusoidal encoder tothe drive. It has overall shield and shielded twisted pairs.

This cable improves system immunity against disturbances and provides more flexibilitythat the previous EEC cable.

Note that type I and II of the EEC-SP extension cables are the same exceptthe color of some of their wires. The user must check which one matchesthe one being installed.

F- 29.

EEC-SP (type I) feedback cable for sinusoidal encoder.

F- 30.

EEC-SP (type II) feedback cable for sinusoidal encoder.

i(HD, Sub-D,M26)

Orange

Black

Green

Brown

Grey

Red

Blue

Brown-Red

Ready Made Cable EEC-SP 5/10/15/20/25/30/35/40/45/50Length in meters; connectors included

10

26518

34

12

REFCOSSIN

REFSIN+485-485GND+8 V

COS

72019112101

2122

26

2523

Yellow

9

Cable 3x2x0.14+4x0.14+2x0.5Signal Pin Pin

CHASSIS

E0C 12

12

34

11

101278

65

9

Front view

Front view

to MOTOR

(0.5 mm2)

(0.5 mm2)

Brown-Blue

9

1

26

19

Shielded by pairs of cables and overall shield.The shields of twister pairs must be connected to each other and only at the drive end joined to the common pin of the chassis (pin 26).The overall screen must be connected to the connector housing at the drive end and to the metallic housing and to pin 9 of the connector at the motor end. The housing of the 26-pin connector must be conductive (metallic).

TEMP or KTY84 -TEMP or KTY84 +

to DRIVE

TYPE I

TYPE II (HD, Sub-D,M26)

Blue

Black

Green

Brown

Grey

Purple

White

Red

Ready Made Cable EEC-SP 5/10/15/20/25/30/35/40/45/50Length in meters; connectors included

10

26518

34

12

REFCOSSIN

REFSIN+485-485GND+8 V

COS

72019112101

26

2523

Yellow

9

Cable 3x2x0.14+4x0.14+2x0.5Signal Pin Pin

CHASSIS

E0C 12

123

411

101278

65

9

Front view

Front view

to MOTOR

(0.5 mm2)

(0.5 mm2)

Shielded by pairs of cables and overall shield.The shields of twister pairs must be connected to each other and only at the drive end joined to the common pin of the chassis (pin 26).The overall screen must be connected to the connector housing at the drive end and to the metallic housing and to pin 9 of the connector at the motor end. The housing of the 26-pin connector must be conductive (metallic).

Black

9

1

26

19

to DRIVE

TEMP or KTY84 - 2122TEMP or KTY84 +


SERCOS ring connection

The SERCOS interface is an international standard for digital communications betweenCNC's and servo drives of CNC machines. This ring structure integrates different func-tions:

It carries the velocity command from the CNC to the drive in digital format with greateraccuracy and immunity against outside disturbances because the transmission takesplace through a fiber optic cable.

It transmits the feedback signal from the drive to the CNC.

It communicates the errors and manages the basic control signals of the drive(enables).

It allows setting, monitoring and diagnosis of the parameters from the CNC using sim-ple standard procedures.

All this helps drastically reduce the amount of hardware required at the drive, hence mak-ing the system more reliable.

The different ACSD-S0 drive modules and the CNC are connected through the SERCOSconnector X6 of each module (see their front panel) through the specific SERCOS fiberoptic cable supplied by FAGOR.

Particular

Each ACSD-S0 has a NODE SELECT; in other words, their front panel has two 10-posi-tion (0-9) rotary switches for assigning a node number to each drive, an address that iden-tifies and differentiates it within the SERCOS ring from the rest of the drives connectedto it. This way, it is possible to assign values from 1 through 97 (both included) as iden-tifiers (node number).

Values 98 and 99 can also be assigned; not as identifier, but as described next:

NODE SELECT=98 may be used to define the SERCOS power, i.e. the light powertransmitted through the optical fiber.

NODE SELECT = 99 may be used to set the transmission speed through the SERCOSring.

For further detail, see section “Initialization and adjustment”.

Note. In order to make effective any changes on the NODE-SELECT rotary switchesof the drive, the module must be RESET afterwards.

Note that parameter DRIBUSID of the parameter table of each drive at theCNC must match the node number assigned to the drive using its two NODE-SELECT rotary switches.

i


Interconnection

Each drive to be governed by the CNC must be connected to the SERCOS ring throughthe SFO (Fiber optic) cable using the following procedure:

Connect the OUT terminal of the first drive with the IN terminal of the next drive (adja-cent to it).

Repeat this procedure with the second drive, then with the third and so on up to thelast drive.

Now connect the OUT terminal of the last drive with the IN terminal of the CNC.

Finally connect the OUT terminal of the CNC with the IN terminal of the first drive.

When all these connections have been made, the ring will be closed. See figure.

Cabling

F- 31.

SERCOS ring connection.

F- 32.

SERCOS fiber optic cable.

WARNING. The bending radius of the fiber optic cables with polymer core(SFO-X and SFO-FLEX-X) must always be greater than 30 mm and that offiber glass (SFO-V-FLEX-X) greater than 60 mm.

4

0FE

DCBA

98

7 6 5 32

1

OUT

IN

4

01

FEDCBA

98

7 6 5 32

Node = 0

CNC

OUT

IN

OUT

IN

OUT

IN

X AXIS Y AXIS Z AXIS

The FAGOR 8070 CNC isconnected to ACSD-S0drives via SERCOS throughthe X2 connector located onthe right side of the module.

X4

X3

X2

X1

8070

CN

C

SERCOS fiber optic cable. See the sales referencesof these FAGOR cables later on.


Fagor supplies the fiber optic cable with its terminals protected with a hood. Remove theterminal protecting hood before connecting the cable.Either to remove the terminal pro-tecting hood or to connect and disconnect the cable, the cable must always be held bythe terminal, never pull at the cable because it could get damaged. See figure.

Codes of the sales references of Fagor cables

F- 33.

Minimum fiber optic cable bending radius (maximum bending).

F- 34.

Sales references of FAGOR feedback cables.

Note. If the feedback cable to connect a SinCosTM or SinCoderTM encoder with thedrive is going to be moving, always use the EEC-SP-xx cable instead of the EEC-XX.Use the EEC-xx cable in static conditions (when resting). The useful life of the EEC-xx cable is not guaranteed when installed for dynamic operating conditions.

SinCos or SinCoder encoder

E.g. EEC - 20

Length (m) 1A, 3, 5, 7, 10, 15, 20, 25, 30, 35, 40, 45, 50

Note. The EEC-1A cable is 1.25 meters long

SUB-DHD M26 EOC-12

SUB-DHD M26 EOC-12

FEEDBACK CABLES

SinCos or SinCoder encoder

E.g. EEC-SP - 20

Lenght (m) 5, 10, 15, 20, 25, 30, 35, 40, 45, 50

Note. The EEC-SP-XX cable is more flexible than the EEC-XX cable


Connection with a PC. RS232 serial line

The ACSD-S0 drive will only use this RS-232 line connection for updating the firmware.

The connection cable is:

F- 35.

Sales references of FAGOR SERCOS fiber optic cables.

Note. If the SERCOS fiber optic cable to connect the CNC and the drives accordingto a ring structure (with cable lengths under 40 m) is going to be moving, use the SFO-FLEX-xx cable instead of the SFO-xx. Use the SFO-xx cable in static conditions (whenresting). The useful life of the SFO-xx cable is not guaranteed when installed for dy-namic operating conditions. For cable lengths over 40 m, always use cables whosereference is SFO-V-FLEX-xx.

Note. The system variables can neither be set nor monitored through the RS232 serialline.

F- 36.

RS232 serial line connection cable between an ACSD-S0 and a PC.

SERCOS SFO-V-FLEX-XX CABLE

E.g. SFO-V-FLEX - 60

Lenght (m) 40, 50, 60, 75, 100

(Glass core)

SERCOS SFO-FLEX-XX CABLE

E.g. SFO-FLEX - 40

Lenght (m) 10, 15, 20, 25, 30, 35, 40

(Polymer core)

FIBER OPTIC CABLES

SERCOS SFO-XX CABLE

E.g. SFO - 5

Lenght (m) 1, 2, 3, 5, 7, 10, 12, 15, 20, 25

(Polymer core)

32

5

Pin

Overall shield.Metallic shield connected to CHASSIS pin - at the Drive end and at the PC end -

32

5

Pin

TxDRxD

GND

Signal

CHASSIS

1

5

(Sub-D, F9)

Front View

6

9

to DRIVE

TxDRxD

GND

Signal

1

5

(Sub-D, F9)

Front View

6

9

to PC COMMUNICATIONS RS232 CONNECTOR


Diagram of the electrical cabinet

Here is an example of a connection diagram for the electrical cabinet that may be modifieddepending on the needs of each application. It includes a simple circuit for the voltagesupply of the brake of the servo motors.

Mains connection and maneuver diagram

The delayed disconnection of D3 contacts is useful so:

The Drive Enable stays active while the motor brakes at maximum torque.

The brake holds the motor after it has stopped.

Warning. When installing a transformer, the secondary must have a star connectionand its middle point must be connected to ground.

WARNING: The use of fuses is a must.

F- 37.

Diagram of the maneuver.

DelayOffI1 PLC

CNC

EMERG.STOP

EMERG.

O1 PLC

D1

D3

K1

+24V DC

DRIVEENABLES

LINE

CONTROLBRAKE

Z+

Z-

RedGreen

D3

D3

EMERGENCY

BRK

OKDR.X

XENABLE

CNC

D4

OFFON

ON OFF

X+

X-K1

Gnd

K1ON

OFF

K1

D1

ENABLESPEED


Initialization and adjustmentThe system can only be initialized and adjusted using the SERCOS ring (only meansof communication offered by the ACSD-S0 drive). This process is carried out from themaster device (CNC).

Initially, bear in mind the elements that make up each drive in order to configure the com-munication with the master device. These elements are:

NODE SELECTION. <NODE SELECT>Two rotary switches identified on the face plate of the ACSD-S0 with the labels (x1, x10)used to set the node number assigned to the drive in the SERCOS ring. The node numbermust be selected before starting up the drive, otherwise it will only be valid after restartingand resetting the drive again. Node numbers 1 through 97 (both included) are valid asaddress identifiers. Node 0 must always be assigned to the master device.

Nodes 98 and 99 must be used to define the light power transmitted through the fiberoptic cable (SERCOS power) and to set the transmission speed in the ring, respectively.

COMMUNICATION SPEED SELECTION

The transmission speeds shown in the following table may be selected when using SER-COS interface:

Note. Remember that the RS232 serial line can only be used to transfer the softwareto the drive.

Important. To update the software version of the ACSD-S0 drive, the CNCmust be disconnected. If this condition is not met, the user must reset it witha <SHIFT+RESET> once the software has been loaded.

T- 12. Transmission speeds with SERCOS interface.

Node Select "x1" Transmission speed (rate)1 2 MBd

2 4 MBd

3 8 MBd

4 16 MBd

i

How is the SERCOS ring transmission speed selected?

The transmission speed selecting mode is activated when startingup any unit and whenever both rotary switches x1 and x10 of theNODE SELECT are set to 9 (selecting node 99). From this state,now, to:


Verify the selected transmission speed.To know the communication speed at the ring at that very instant, turn the rotaryselector "x1" of the NODE SELECT to the "0" position. The NS indicator LED willblink red and it will then turn off for about 1 second. It will repeat this sequence indef-initely. The number of blinks between the off intervals indicates the communicationspeed according to the table T- 12. Hence, for example, 3 blinks between two OFFintervals of the NS LED will mean that the communication speed is 8 MBd at thatvery instant.

Select a new baudrate.To select the communication speed of the unit, turn the rotary selector switch "x1"of the NODE SELECT to position 1, 2, 3 or 4 depending on the associated transmis-sion speed according to the table T- 12. the NS indicator LED will blink green show-ing the speed that has been selected.

Once the transmission speed is selected, it must be CONFIRMED. Turn the "x10"rotary switch to position zero. The MS indicator LED will turn red and the selectedspeed will be saved in the "non-volatile" memory of the unit.

From this moment on, after the unit is turned on, it will assume as the transmission speedthe last one confirmed before turning it on.

SELECTING THE LIGHT POWER TRANSMITTED THROUGH OPTICAL FIBERIt will set the light power to be transmitted through the optical fiber depending on cablelength.

From this state, now, to:

Verify the selected light power and/or select a new one, use the same procedure fol-lowed in the previous section for selecting the transmission speed. Note that for thiscase, the possible number of blinks between off intervals of the NS LED is 8. See tableT- 13. to interpret the equivalence between the number of blinks and the light powertransmitted depending on the length of the cable being used.

Note. When selecting a value higher than 4 at the "x1" selector, it will assume avalue of 4.

T- 13. Transmission speeds with SERCOS interface.

Node Select "x1" Cable length L (in meters)

1, 2, 3, 4 L 155

15 L 306

7 30 L 40

8 L 40

How is the SERCOS ring transmission light power selected?

The transmission light power selecting mode is activated when start-ing up any unit and whenever the x1 rotary switch of the NODESELECT is set to 9 and the x10 is set to 9 (selecting node 98).


MS INDICATOR LED. <MODULE STATUS>This indicator light informs about the unit status as such. The states that may be currentlyreached are:

NS INDICATOR LED. <NETWORK STATUS>This light indicator informs about the phase the SERCOS ring is in and whether thereare distortions or not. The phase will be indicated by the number of LED blinks and thedistortions by the LED color. The states that may be currently reached are:

T- 14. Indicator Led Module Status.

MS LED status Meaning

Steady green LED The drive is error and warning free

Blinking green LED The drive is in a warning state

Blinking red LED The drive is in an error state

T- 15. Indicator Led Network Status. Phases.

NS LED status Meaning

Steady LED Drive in phase 0. No activity in the SERCOS ring or the masterdevice has not been able to close the communication ring.

One blink Drive in phase 1. The master device is locating and identifyingeach and every drive connected to the SERCOS ring.

Two blinksThe service channel is on. Here are defined the communi-cations parameters for the following stages and the data to betransmitted through the cyclic channel.

Three blinks Drive in phase 3. State prior to normal operation. Definingmore parameters required for the drive to operate.

Four blinks Drive in phase 4. Normal operation.

T- 16. Indicator Led Network Status. Distortions.

NS LED color Meaning

Green Lack of distortions.

Red

Lack of distortions. The counter that counts distortion errorsindicating the number of times that a distortion error has comeup in phase 4 of SERCOS communication has exceeded thevalue of 100.


PARAMETERS, VARIABLES & COMMANDSThe parameters, variables and commands of the drive that are shown next may be usedwith any device that works as master. Besides all these, there are others that may beused to communicate the drive with the CNC.

Notation used

where:

GROUP. Identifying character of the logic group to which the parameter or variablebelongs. There are the following groups of parameters:

TYPE. Character identifying de type of data which the information corresponds to. May be:

Parameter (P) defining the system operation.

Variable (V) that can be read and modified dynamically.

Command (C) that carries out a specific action.

INDEX. Number identifying the parameter or the variable within the group to which itbelongs.

GROUP TYPE INDEX

T- 17. Groups of parameters, variables and commands.

Nr Function Group Letter

1 Operating mode Application A

2 Control signals Terminal box B

2 Current control loop Current C

3 Error diagnosis Diagnosis D

4 General of the system General G

5 System hardware Hardware H

6 Analog and digital inputs Inputs I

7 Temperatures and voltages Monitoring K

8 Motor properties Motor M

9 Linear configuration Linear axis N

10 Analog and digital outputs Outputs O

11 Position control loop Position P

12 System communication SERCOS communication Q

13 Rotor sensor properties Rotor R

14 Velocity control loop Speed S

15 Torque and power parameters Even T


Definition examples:

ACCESS LEVEL. The access level is defined by the number following the ID SERCOS.Hence:

Fagor level (1)

User level (2)

Basic level (3)

Examples of access levels

MODIFIABLE VARIABLE. Any modifiable variable, in other words, that can be read andwritten, will carry the (RW) label to identify it as such next to its access level. The (RO)label means that the variable is Read Only.

Example of a modifiable variable

PARAMETER THAT CANNOT BE MODIFIED WITH TORQUE. Any parameter thatfor any reason cannot be modified while the unit has torque will have an asterisk (*)identifying it as such next to its access level.

Example of a parameter that cannot be modified with torque

Mnemonic Group Type Index

SP10 S (P) Parameter Nr 10

CV11 C (V) Variable Nr 11

GC1 G (C) Command Nr 1

Group Type Index Access Type of variable

SP10 BASIC S (P) Parameter Nr 10 Basic ----

CV11 FAGOR,RO C (V) Variable Nr 11 Fagor (RO) Read Only

Note. All the parameters have the (RW); i.e. they can be read and written.

Group Type Index Access Type of variable

DV32 FAGOR,RW D (V) Variable Nr 32 Fagor (RW) Read-Write

Group Type Index Access *RW

MP1 BASIC,*RW M (P) Parameter Nr 1 Basic Example of read andwrite, but cannot bemodified with torque.


A group. Application

Function. It sets how it works in terms of system configuration.

Valid values. 2. Velocity command (without position loop).

B group. Non-programmable inputs - outputs

Function. Indicates the logic values of the electrical signals of the drive's con-trol. 24 V at the electrical input mean a logic 1 at the bits of this vari-able.

C group. Current

Function. Value of the proportional action of the current PI

Valid values. 0, ..., 999.

Default value. Depends on the motor-drive combination.

Function. Value of the integral action of the current PI.



Function. limit of the current command that reaches the system's currentloop.

Valid values. 0, ..., 50.00 Arms. CP20 must never exceed the smallest valuegiven by the peak current of the motor (5 x MP3) and of the drive.

Default value. CP20 takes the lowest value of the ones given by the motor anddrive peak currents.

AP1 USER, RW S00032 PrimaryOperationMode

BV14 FAGOR, RO F00204 NotProgrammableIOs

Bit Function

3 Programmable input

2 "Drive OK" output

1 "Speed Enable" input

0 "Drive Enable" input

CP1 *FAGOR, RW S00106 CurrentProportionalGain

CP2 *FAGOR, RW S00107 CurrentIntegralTime

CP20 *BASIC, RW F00307 CurrentLimit


Function. Parameter in charge of enabling / disabling the current filter.

Valid values. 0/1. Enable / Disable the current filter.

Default value. 0. Current filter enabled.

Function. Sets the natural frequency in Hz of a notch filter that acts upon thecurrent command.

Valid values. 0, ..., 4000 Hz.

Default value. 0.

Function. Sets the bandwidth in Hz of a notch filter that acts upon the currentcommand.

Valid values: 0, ..., 1000 Hz.

Default value: 0.

Function. Display the value of the feedback of the current going throughphase V.

Valid values. - 50.00, ..., 50.00 A (instant values).

Function. Display the value of the feedback of the current going throughphase W.

Valid values. - 50.00, ..., 50.00 A (instant values).

CP30 FAGOR, RW F00308 CurrentCommandFilter1Type

CP31 FAGOR, RW F00312 CurrentCommandFilter1Damping

CP32 FAGOR, RW F00313 CurrentCommandFilter1Damping

CV1 USER, RO F00309 Current1Feedback

CV2 USER, RO F00310 Current2Feedback


Function. Display the rms current circulating through the motor.

Valid values. - 50.00, ..., 50.00 A (rms values).

Function. Value of the automatic compensation of the current feedback offsetof phase V.

Valid values. - 2000, ..., 2000 A (depends on the connected drive).

Function. Value of the automatic compensation of the current feedback offsetof phase W.

Valid values. - 2000, ..., 2000 A (depends on the connected drive).

D group. Diagnosis

Function: Variable that contains a numerical data coded into 16 binary bitsand represents the error status as shown by the attached table.

CV3 USER, RO F00311 CurrentFeedback

CV10 FAGOR, RO F00305 Current1Offset

CV11 FAGOR, RO F00306 Current2Offset

DV1 BASIC, RO S00011 Class1Diagnostics ( Errors )

Bit Name Error

0 OverloadShutdown E201, E202, E203

1

2 MotorOvertempShutdown E108

3 CoolingErrorShutdown E106

4

5 FeedbackError E605, E801, E802, E803

6

7 OverCurrentError E214

8 OverVoltageError E304

9 UnderVoltageError E307

10 PowerSupplyPhaseError E003

11

_cos

_sin

CV1

CV2

AD

CV10

CV11

IV

IWCurrentreading


Function. Variable that contains a numerical data coded into 16 binary bitsand represents the warning status as shown by the attached table.

Function. Stores the last 5 errors that came up at the drive. It consists in a5-word register that stores the code of each one of them.

Valid values. All the codes of the list of possible errors of the software versioncurrently loaded. Code 0 means no error.

Function. Variable that may be used to display the code of an error that comesup at the drive. If no errors come up, its value will be zero.

Function. Variable that may be used to display the code of a warning thatcomes up at the drive. If no warnings come up, its value will be zero.

Function. Variable that contains a numerical data coded into 16 binary bitsand represents the system status in certain aspects as shown bythe attached table. This variable communicates with the CNCthrough the SERCOS interface.

Bit Name Error

12

13

14

15 ManufacturerSpecificError Rest.

DV9 BASIC, RO S00012 Class2Diagnostics (Warnings)

Bit Name Warning

0 OverloadShutdown A000 caused by:

201 Motor overload

202 Drive overload

314 Ballast overload

DV17 USER, RO F00410 HistoricOfErrors

DV18 BASIC, RO F02105 DisplayError

DV19 BASIC, RO F02106 DisplayWarning

DV31 FAGOR, RO S00135 DriverStatusWord

Bits Meaning

15, 14 Power & Torque Status(0,0) DoingInternalTest (DRVSTS_INITIALIZATING)(0,1) ReadyForPower (DRVSTS_LBUS)(1,0) PowerOn (DRSTS_POWER_ON)(1,1) TorqueOn (DRSTS_TORQUE_ON)

13 Error bit.

12 Warning bit

11 0

10, 9, 8 = 0, PrimaryOperationMode


Function. Variable that contains a numerical data that in 16-bit binary coderepresents the control signals that the CNC sends to the drivethrough the SERCOS interface. See attached table. This variablecommunicates with the CNC through the SERCOS interface.

Function. Reset of the unit's errors. When an error occurs, this com-mand may be used to reset it and restart the unit by first updat-ing the error bit of DV31, DriveStatusWord, and then setting thedrive in the ReadyForPower state. Note its difference with theunit's reset because the action carried out by this commandkeeps the RAM memory intact and therefore the parametersettings of the unit.

Function. Reset of the "DV17 (F00410) HistoricOfErrors (array)" variable.This command sets it to 0.

Bits Meaning

7 Real time status bit

6 Real time status bit

5, 4, 3, 2, 1, 0 Reserved

DV32 FAGOR, RW S00134 MasterControlWord

Bits Name

15 Speed Enable (SPENA)

14 Drive Enable (DRENA)

13 Halt

12, 11, 10 Reserved

9, 8, 7, 6, 5 Reserved

4, 3, 2, 1, 0 Reserved

DC1 USER, RW S00099 ResetClassDiagnostics

DC2 USER, RW F00402 ClearHistoricOfErrorsCommand


G group. General

Function. It returns the switching frequency of the transistors.

Valid values. 0, ..., 8000 Hz

Default value. 8000 Hz

Function. Motor feedback type.

Valid values. 0. Stegmann sinusoidal encoder

2. Square-wave TTL encoder

Function. After deactivating the Speed Enable and after the GP3 time haselapsed, if the motor has not stopped, it cancels the torque auto-matically and issues error E.004. If the motor stops within the GP3time, it also cancels the torque but does not issue an error. To makethis time infinite (never generating error E.004), set this parameterto "0".

Valid values: 1 ... 9999 ms, 0 (infinite).

Default value: 500 ms.

Function. Number of sets of useful parameters.

Valid values. 0/1.

Default value. Always 1. A single set.

Function. This parameter represents the version of the parameter table thathas been loaded at the drive.

Valid values. 0,..., 9999.

Function. Number of useful gear ratios.

Valid values. 0, ..., 8

Default value. Always 1. A single gear ratio.

Function. After the motor has stopped because the Speed Enable functionhas been disabled, the cancellation of the Drive Enable function(that implies PWM-OFF) is delayed by a time period indicated byGP9. It is useful on axes not compensated with a holding brake.

To make this time period infinite, set it to 0 and to remove it, setit to 1.

Valid values. 1 ... 9999 ms, 0 (infinite).

Default value. 50 ms.

GP1 BASIC, RW F00700 PwmFrequency

GP2 BASIC, RW F00701 Feedback1TypeSercos

GP3 BASIC, RW F00702 StoppingTimeout

GP4 BASIC, RO F00703 SetNumber

GP5 BASIC, RO F00704 ParameterVersion

GP6 BASIC, RW F00717 GearRatioNumber

GP9 BASIC, RW S00207 DriveOffDelayTime


Function. When having a SinCos encoder or SinCoder, it enables readingMP1 directly from the sensor and consequently loading certaindrive parameter automatically. If GP15=0, it does not check the for-mat of MP1.

Valid values. 0/1. Disabled / enabled.

Default value. 1. Enabled.

Function. Displays the software version in use.


Function. It registers the checksum value of the software version loaded atthe drive.

Valid values. - 32768 ... 32767 (although the range goes up to 65535 becauseit is a 16-bit variable).

Function. It informs on the checksum of the parameters contained in RAMmemory.

Valid values. 0,..., 65535.

Function. It informs about the current access level of the user.

Valid values. 1. Basic

2. OEM

3. Fagor

Function. This variable informs of the drive's sales reference.

Function. Variable that resets the unit by software.

Valid values. 0/1 (with 1, it resets the unit).

Function. Version of the motor table.

Function. It determines which will be the active gear ratio (software) whenthe change is carried out via SERCOS.

Valid values: Always 0. Gear ratio 0.

Function. Command to execute the parameter transfer from RAM toE2PROM.

GP15 FAGOR, RW F00725 AutomaticInitialization

GV2 BASIC, RO S00030 ManufacturerVersion

GV5 BASIC, RO F00706 CodeChecksum

GV6 BASIC, RO F00723 RamParameterChecksum

GV8 FAGOR, RW F00707 AccessLevel

GV9 BASIC, RO S00140 DriveType

GV11 BASIC, RW F00708 SoftReset

GV16 BASIC, RO F00716 MotorTableVersion

GV26 BASIC, RW S00218 GearRatioPreselection

GC1 BASIC, RW S00264 BackupWorkingMemoryCommand


Function: Command to initialize parameters. This command loads thedefault drive parameters for a motor that has been previouslyselected with parameter MP1.

H group. Hardware

Function. Peak rms current of the drive.

Function. Software version installed in the unit's PLD's

I group. Inputs

Function. Sets the polarity (inverted or not inverted) of the digital input (pins8 and 9 of X2).

Valid values. 0/1. Not inverted / inverted.

Default value. 0. Not inverted.

Function: This variable reflects the status of the digital input at pins 8 - 9 ofconnector X2. The status of this variable is affected by IP6.

Valid values: 0/1.

K group. Monitoring

Function. Contains the value of power of the external ballast resistor.

Valid values: 200, ..., 2000 W.

Default value: 200 W.

Function. Contains the value of the energy pulse that can be dissipated bythe external ballast resistor.

Valid values. 200, ..., 2000 J.

Default value. 200 J.

GC10 BASIC, RW S00262 LoadDefaultsCommand

HV1 BASIC, RO S00110 DrivePeakCurrentSercos

HV5 BASIC, RO F00295 PLDVersion

IP6 USER, RW F00910 DigitalInputPolarity

IV10 USER, RO F00907 DigitalInputs

KP3 USER, RW F01114 ExtBallastPower

KP4 USER, RW F01116 ExtBallastEnergyPulse

X2.9

X2.8

PROG_DIGIT_INPUT IP6IV10

0

1


Function. Motor temperature in degrees centigrade (for the time being, it isnow only valid for the FKM family).

Valid values. 0, ..., 200 °C.

Function. It displays the temperature of the heatsink of the power stage.

Valid values. 0, ..., 200 °C.

Function. Variable internally useful to the system. It measures the internalload level of the calculation of the i2t at the drive in percentage usedover the maximum.

Valid values. 0, ..., 100 %.

Function. Variable internally useful to the system. It measures the internalload level of the calculation of the i2t at the motor in percentageused over the maximum.

Valid values. 0, ..., 100 %.

Function. Shows the load percentage on the ballast resistor in a drive. Usefulfor the i2t protection of the resistor. A value greater than 100 % inthis variable causes error E.314.

Valid values. 0, ..., 100%.

Function. Selector that determines whether the ballast resistor is external orinternal.

Valid values: 0/1, External / internal (by default).

KV6 BASIC, RO S00383 MotorTemperature

KV10 USER, RO F01102 CoolingTemperature

KV32 USER, RO F01109 I2tDrive

KV36 USER, RO F01111 I2tMotor

KV40 USER, RO F01115 I2tCrowbar

KV41 USER, RW F01117 BallastSelect


M group. Motor

Function. Motor identification. The limits of certain parameters depend on thevalue of MP1 (e.g.: The upper limit of SP10 is 110% of the motorrated speed) like its default parameter initialization through GC10.See command GC10.

Function. Contains the torque constant of the synchronous motor, (motortorque according to the rms current)

Valid values. 0, ..., 10.00 Nm/Arms.

Function. Contains the motor rated current. Manipulating MP3 may affectparameter CP20 directly. See parameter CP20.

Valid values. 0.00, ..., 50.00 Arms. Depends on the motor connected.

Function. Motor inertia

Valid values. 0.1 , ..., 1000.0 kg·cm2.

Default value. With GP15=1 it is set to its default value when turning the unit on.

N group . Linear axis configuration

Function. Parameter that shows the relationship between the load inertia andthat of the motor rotor. To calculate this ratio, bear in mind themechanical transmission ratio between the load movement andthe motor rotation. This parameter is a required for internally mana-ging the acceleration feed-forward in the position loop.

Valid values. 0.00 , ..., 1000.00 %.

Default value. 0.00 %.

Function. Parameter that cannot be modified by the user that "tells" the CNCthe number of pulses of the motor feedback.

Valid values. 1, ..., 131072 pulses.

Function. They define the gear ratio between the motor shaft and the finalaxis moved by the machine. For example, if 5 turns of the motorshaft mean 3 turns of the machine leadscrew, the value of theseparameters is NP121=5 and NP122=3.

MP1 BASIC, RW S00141 MotorType

MP2 FAGOR, RW F01200 MotorTorqueConstant

MP3 FAGOR, RW S00111 MotorContinuousStallCurrent

MP24 FAGOR, RW S33988 MotorMomentumOfInertia

NP1 USUARIO, RW S34968 LoadMomentumOfInertiaPercentage

NP116 FAGOR, RO S00116 ResolutionOfFeedback1

NP121 FAGOR, RW S00121 InputRevolutions

NP122 FAGOR, RW S00122 OutputRevolutions


Valid values. 1, ..., 32767 turns

Default value. 1 turn in both parameters (direct coupling).

O group. Analog and digital outputs

Function. Sets the polarity (inverted or not inverted) of the digital output (pins1 and 2 of X2).

Valid values. 0/1, Not inverted (by default) / inverted.

Function. The OV10 variable contains the value of the status of the pro-grammable output.

Valid values. 0/1.

P group. Position loop

Function. With motor feedback, this parameter describes the distancebetween the machine reference zero and the machine referencepoint.

Valid values. -2 147 483 648, ..., 2 147 483 647 counts.

Default value. 0.

Function. 16-bit register that may be used to invert the sign of the variousposition data.

Function. 16-bit register that configures the measuring scale for the posi-tioning.

OP6 USER, RW F01416 DigitalOutputPolarity

OV10 USER, RO F01410 DigitalOutputs

PP52 FAGOR, RW S00052 ReferenceDistance1

PP55 FAGOR, RW S00055 PositionPolarityParameters

Bit Function

2 Sign of the value of the motor feedback.=0, not inverted=1, inverted (by default)

PP76 FAGOR, RW S00076 PositionDataScalingType

OP6OV10

0

1X2.1

X2.2

PROG_DIGIT_OUTPUT


Function. Module value. If bit 7 of PP76 selects the module format, thisparameter defines the range of the position data being used.

Valid values. 1, ..., 2 147 483 648 counts.

Default value. 360. Normally used on rotary axes.

Function. Parameter that gives the position of the machine reference pointwith respect to the reference mark (I0), depending on motor feed-back.

Valid values. - 2 147 483 648, ..., 2 147 483 647 counts.

Default value. 0.

Function. For motors with absolute encoder, this parameter indicates the dis-tance between the zero coordinate of the drive and the theoreticalzero coordinate according to the absolute encoder feedback.


Default value. 0.

Function. It sets the how much acceleration feed-forward is applied in posi-tion control and in velocity control.

Valid values. 0.0, ..., 120.0 %.

Default value. 0.0 %. The feed-forward effect is not applied.

Function. Motor feedback position that is transferred to the CNC.

Valid values. - 2 147 483 648,..., 2 147 483 647 counts.

Bit Function

15 (MSB), 14, 13, 12, 11, 10, 9, 8 (reserved) = 0

7 Format:=0, absolute=1, module. See parameter PP103.Note. Verify that the CNC defines the axis thesame way (module or linear format).

6 The position command refers to:= 1, The position of the load. ALWAYS !

5, 4, 3, 2 Reserved

1, 0 (LSB) Position command scaling method.=01, Linear scaling (by default)=10, rotary scaling

PP103 FAGOR, RW S00103 ModuleValue

PP150 BASIC, RW S00150 ReferenceOffset1

PP177 BASIC, RW S00177 AbsoluteDistance1

PP217 FAGOR, RW S00348 AccelerationFeedForwardPercentage

PV51 FAGOR, RO S00051 PositionFeedback1


Function. In the home searching process, when the drive detects the I0 sig-nal, it saves the value of the PositionFeedback1 (not yet homed)in this variable.


Function. Offset of the coordinate system after the home search carried outby the drive (with motor feedback).


Function. The drive activates this binary variable to inform that it interpretsthe position feedback as being referred to the machine referencezero point.

The variable is canceled when executing the home search com-mand and is activated when the execution ends successfully.

Valid values. 0. Position data referred to any point.

1. Position data referred to machine zero.

Function. Variable internally useful to the system. It indicates whether theposition command is referred to machine reference zero or not.

Valid values. 0. Not referred to machine reference zero.

1. Referred to machine zero.

Function. Enabling of the Homing function.

Valid values. 0/1. Home search disabled / Home search enabled

Function. Homing function controlled by CNC.

PV173 FAGOR, RO S00173 MarkerPositionA

PV175 BASIC, RW S00175 DisplacementParameter1

PV203 BASIC, RW S00403 PositionFeedbackStatus

PV204 BASIC, RW S00404 PositionCommandStatus

PV207 BASIC, RW S00407 HomingEnable

PC146 FAGOR, RW S00146 NCControlledHoming


Q group. Communication

Function. Read parameter that indicates every how long the drives close theloop. Therefore, it defines the loop time.

Valid values. 4000, ..., 8000 µs.

Default value. 4000 µs.

Function. It sets the transmission speed through the SERCOS ring. TheCNC has a similar parameter with SERCOS interface.

Both speeds (at the CNC and at the drive) must be the same inorder to establish communication.

Valid values. 2, 4, 8 and 16 Mbd.

Default value. 4 Mbd.

Function. It defines the SERCOS power, i.e. the light power transmittedthrough the optical fiber.


Default value. 2.

Function: This variable may be used to diagnose SERCOS problems. It isa counter that counts distortion errors indicating the number oftimes that a distortion error has come up in phase 4 of SERCOScommunication.

Valid values. 0, ..., 65 535.

QP1 FAGOR, RW S00001 ControlUnitCycleTime

QP11 BASIC, RW F02000 SercosMbaud

QP12 BASIC, RW F02002 SercosTransmisiónPower

Value Cable length L (in meters)

1,2,3,4 L 155,6 15 L 307 30 L 408 L 40

QV30 FAGOR, RO F00727 FiberDistErrCounter


R group. Rotor sensor

Function. Compensation (proportional gain mode) of the amplitude of thesine/cosine signal that goes from the motor feedback to the drive.Entering 4096 is the same as multiplying by 1. To assign a gain of1.5 to the sine signal, set RP1 to 6144 (= 4096 x 1.5).

Valid values. 0 0% ... 8192 200%.

Default value. 4096 100%.

Function. Compensation (offset mode) of the sine/cosine signal that goesfrom the motor feedback to the drive.

Valid values: - 2 000, ..., 2 000.

Function: Sine and cosine of the feedback that goes from the motor to thedrive as internal system variables.

Valid values: - 512, ..., 511.

Function: Corrects the phase shift between the encoder shaft and the motorshaft. The motors are factory set and the value of this variable isstored in the encoder memory.

Valid values: 0,..., 65 535.

Function. The encoder of the motors stores in its memory the motor identi-fying reference. This variable reflects in the drive's memory thesales reference saved in the encoder.

S group. Speed

Function. Value of the proportional / integral action of the velocity PI.

Valid values. SP1: 0, ..., 999.9 mArms/rpm.

SP2: 0.1, ..., 999.9 ms.

RP1 FAGOR, RW F01500 FeedbackSineGain

RP2 FAGOR, RW F01501 FeedbackCosineGain

RP3 FAGOR, RW F01502 FeedbackSineOffset

RP4 FAGOR, RW F01503 FeedbackCosineOffset

RV1 USER, RO F01506 FeedbackSine

RV2 USER, RO F01507 FeedbackCosine

RV3 FAGOR, RO F01508 FeedbackRhoCorrection

RV7 BASIC, RO F01511 StegmannMotorType

SP1 BASIC, RW S00100 VelocityProportionalGain

SP2 BASIC, RW S00101 VelocityIntegralTime



Function. Maximum velocity limit for SV7 (VelocityCommandFinal).

Valid values. 0, ..., 110% motor rated speed in rev/min.

Default value. 1 000 rev/min.

Function. Determines the value of the velocity window around zero that willbe considered to be zero speed.

Valid values. 0, ..., motor rated speed in rev/min.

Default value. 20 rev/min.

Function. This parameter is used to change the sign of the velocity commandin specific applications. It cannot be used to solve a positive feed-back problem (axis runaway).

Valid values. 0/1. Not inverted (default value) / inverted.

SP10 BASIC, RW S00091 VelocityLimit

SP42 USER, RW S00124 StandStillWindow

SP43 BASIC, RW S00043 VelocityPolarityParameters

SP1SP2

SP1

SP2

SV10

1

SP10SP43

SP60, SP66

SP60SP66

SV6* (-1)

SV10

1

SP10SP43

SP60, SP66

SP60SP66

SV6* (-1)


Function. This parameter sets the cuttof frequency of the first order low-pas-sing filter inserted in the velocity feedback.

Valid values. 0 (no filter applied), ..., 4000 Hz.Default value. 800 Hz. When changing the motor type.

Function: Determines the value of the acceleration ramp applied to thevelocity command. Setting this parameter with a zero value meansthat no ramps will be applied.

Valid values. 0.0 (default value), ...,400.0 (rev/min)/ms.

Function. In emergency stop. If the bus voltage drops or there is a power out-age for the unit in the acceleration, deceleration or constant powermode, the drive will get into the dynamic braking sequence.

It stops with the emergency ramp until its speed is zero as long asthe mechanical energy stored in the motor allows it. Therefore, itlimits the command acceleration for stopping the motor.

If anytime during the sequence, the Drive Enable is interrupted, themotor will turn by inertia. SP65=0 cancels this limiting effect.

Valid values. 0.0, ..., 400.0 (rev/min)/ms.

Default value. 0.

Function. Determines the value of the deceleration ramp applied to the veloc-ity command. Setting this parameter with a zero value means thatno ramps will be applied.

SP50 BASIC, RW F02014 VelocityFeedbackFilterFrequency

SP60 BASIC, RW S00138 AccelerationLimit

SP65 BASIC, RW F01609 EmergencyAcceleration

SP66 BASIC, RW F01618 VelocityDecelerationTime

SV10

1

SP10SP43

SP60, SP66

SP60SP66

SV6* (-1)

Motor free

Power Off

Drive Enable

Power Off

Speed Enable

Motor Speed

Drive Enable

Speed Enable

Motor Speed


Valid values. 0.0 (default value), ... 400.0 (rev/min)/ms.

Function. Velocity command.

Valid values. - 6 000.0000, ..., 6 000.0000 rev/min.

Function. Velocity feedback.


Function. Velocity command after applying limits, ramps, etc.


Function. Final velocity command applied to the loop.


T group. Torque and power

Function. Constant friction compensation in the positive direction of thevelocity. It is a constant value for all the positive reference speeds.

Valid values. 0.0 (default value), ..., 100.0 Nm.

Function. Constant friction compensation in the negative direction of thevelocity. It is a constant value for all the negative reference speeds.It is set in absolute values.


Function. Compensation of the dynamic friction in the positive direction of thevelocity. It is the value of the compensation with the referencespeed equal to SP10. It is directly proportional to other positivereference speeds.


SV1 BASIC, RW S00036 VelocityCommand

SV2 BASIC, RO S00040 VelocityFeedback

SV6 BASIC, RO F01622 VelocityCommandAfterFilters

SV7 BASIC, RO F01612 VelocityCommandFinal

TP10 USER, RW F01902 ConstantPositiveTorqueCompensation

TP11 USER, RW F01903 ConstantNegativeTorqueCompensation

TP12 USER, RW F01904 DynamicPositiveTorqueCompensation

SV10

1

SP10SP43

SP60, SP66

SP60SP66

SV6* (-1)


Function. Compensation of the dynamic friction in the negative direction ofthe velocity. It is the value of the compensation with the referencespeed equal to - SP10. It is directly proportional to other negativereference speeds. It is set as an absolute value, i.e. in positive,although the compensation has a negative value.


Function. Time constant of the torque compensation. Before applying thetorque compensation, it goes through a low-passing filter. This filterbetter represents the friction behavior in velocity directionchanges. The constant friction suddenly changes when changingthe sign of the reference speed. When it goes through the filter, itsmoothens the compensation torque without jerking the systemand improving friction behavior. A 0 value cancels the friction com-pensations.

Valid values. 0.0 (default value), ..., 2000.0 ms.

Function. Amplitude of the hysteresis in friction torque compensation.

Valid values. 0.2000 (default value), ..., 1000.0000 rev/min.

Function: Displays the values of the command and torque feedback.

Valid values: - 999.9, ..., 999.9 N·m.

Function: Output of the velocity PI integrator. When the acceleration is notextremely high, it is the same as the friction torque. When com-pensating for friction, the value of this variable must be reduced tonear zero.

Valid values: - 1 000.0, ..., 1 000.0 Nm.

TP13 USER, RW F01905 DynamicNegativeTorqueCompensation

TP14 USER, RW F01908 TorqueCompensationTimeConstant

TP15 USER, RW F01909 TorqueCompensationSpeedHysteresis

TV1 USER, RO S00080 TorqueCommand

TV2 USER, RO S00084 TorqueFeedback

TV4 USER, RO F01912 SpeedIntegralAction

TV1

TV2

_D_rel


ERROR CODES

Contact Fagor Automation.

Solutions

The load that must stop the motor is too large to stop it in the time frame set by GP3 andthe value given to this parameter must be increased.

The threshold or velocity window considered zero (SP42) is too small; hence, increasethe value of this parameter.

The module is performing poorly and is unable to stop the motor. The module may bedefective.

E.001 Internal

E.003 With torque, the power bus drops

E.004 Emergency stop exceeding time limit GP3

Probably one of the three-phase lines has dropped or adrive has failed.

Solution

Verify that the lines and thedrives are in good conditionand restart the system.

E.003

Power Supply

SV14.0

Drive Enable

Speed Enable

BV14.1

Time

1, 2 or 3 lines lost 1 line lost

Time

An attempt has been made to stopthe motor by canceling SpeedEnable.

Time

IF t1<GP3 THE AFTER GP9 MOTOR TORQUE ON=0; ELSE [MOTOR TORQUE ON=0 AND E.004]

SV2t1 GP9

SP42

The system has tried to stop the motor at full torque, but it has not been able to stop itin the time frame set by parameter GP3 (StoppingTimeout=maximum time allowed forbraking, before considering the error for being unable to stop it in the set time) or theparameter that deterrmines when the motor is considered to be stopped (SP42) Mini-mum velocity threshold, is too small. Bear in mind that zero speed (total lack of velocity)does not exist, there is always a minimum amount of speed noise due to feedback.


The drive is carrying out a task that overheats the power devices.

Solution

Stop the system for several minutes and decrease the effort demanded from the drive.

The motor has overheated. The motor temperature measuring cables (position sensorcable) or the temperature sensor itself are defective. The application may be demandinghigh current peaks.

Solution

Stop the system for several minutes and decrease the effort demanded from the drive.Cool the motor.

E.106 Extreme temperature at the heatsink of the IGBT's

E.108 Motor overheated

E.200 overspeed

E.201 Motor overload

E.202 Drive overload

The motor speed has exceeded thevalue of SP10 in a 12%.

Bad cabling of the position sensor orof the motor power or the velocity loopis adjusted wrong.

SolutionDecrease the speed overshoot in thesystem response.

E.200

1.12 x Rated Motor Speed

Time

Speed

Rated MotorSpeed

SV2

E.201

Time

KV36

TV2

MP3

f(MP3)

E.202

Time

KV32

CV3

Drive Nominal Current

f(drive nominal current)


The I2t protection of the drive went off. The duty cycle is greater than the system canprovide.

Solution

Decrease the speed overshoot in the system response.

There is short-circuit at the drive module.

Solution

Reset the error.

If it persists, may be because:

An erroneous sequence when connecting the power cables or a short-circuit betweenthem.

The parameters may be wrong or there is a fault at the drive.

Solution


After displaying E.214, one of the codes of the following table will be displayed. The drivewhere the alarm has been detected is:

The hardware of the drive module has detected that the voltage at the power bus is toohigh.

When using an external Ballast, it is not connected properly. The Ballast resistor isburned.

Solution

Disconnect the power supply and check the proper connection of the Ballast circuit.

The mains voltage is lower than the required minimum voltage.

Solution

Disconnect the power supply and check the proper condition of the lines.

E.214 Short-circuit

1L The 1st one of the bottom 3L The 3rd one of the bottom1H The 1st one of the top 3H The 3rd one of the top2L The 2nd one of the bottom CR That of the Ballast2H The 2nd one of the top

E.304 Drive's power bus voltage too high

E.307 Power bus voltage too low


Due to the duty cycle, the Ballast resistor is overloaded.

Solution

Resize the Ballast resistor.

Decrease the duty cycle.

Smooth the duty cycle by applying acceleration ramps.

The errors of the 400 series refer to various communication problems through the fiberoptic ring. Check the ring connections and the identification of each module.

Noise entering the drive and causing the RESET of the SERCON but not of the drive.

The master device (CNC) sends a synchronism message in every cycle (usually every4 ms) that synchronizes the drives. If they cannot be synchronized or lose their syn-chronism, it causes this error. Maybe the CNC has not sent this message or if it has, itdid it at the wrong time.

Check the transmission cable or verify that the transmission is not noisy.

Parameter incompatibility.

Example.Let us assume a drive that controls a 4000 rev/min motor with its parameters set (e.g.:speed limit SP10=4400). If now, a 2000 rev/min motor is connected, the speed limit willbe beyond the value allowed for this new motor. The RAM memory will then be readjustedand error E.502 will be issued indicating the wrong parameters in the QV22 variable.

If the unit is reset without having saved the parameters, the error will come up again. Itwill disappear when the parameters (readjusted in RAM memory by the drive) are savedinto E2PROM memory by executing the GC1 command.

E.314 Ballast overload

E.403 MSTfault

E.404 MDTfault

E.405 Err_InvalidPhase

E.406 Err_PhaseUpshift

E.407 Err_PhaseDownshift

E.410 Err_RuidoEntraAlSerconReset

E.411 Error indicating that a telegram has been received.Is wrong

E.412 SERCOS synchronization error

E.502 Incompatible parameters



Motor not accepted by the drive. Motor's power voltage is different from that of the drive(e.g.: motor FXM34.40F.E1.000 with ACSD-20H-S0 drive).

The drive has not detected the rotor sensor.

Solution

Match the selected sensor with the feedback installed.


Communication error when using a SinCosTM or SinCoderTM encoder.

Solution



E.506 Motor table missing

E.510 Incoherent combination of motor and feedback

E.605 Excessive damping of the analog signals of themotor feedback.

E.801 Encoder not detected

E.802 Defective encoder

E.803 Encoder not initialized

Some of the sine or cosine signals of the encoderhas reached a peak level lower than 150 mV.

Solution


+ 0.15 V

- 0.15 V


LIST OF PARAMETERS, VARIABLES &COMMANDS. ID SERCOSMnem. Name Level IDSER Acc. Min. Max. Def. Units Page

AP1 PrimaryOperationMode fagor S00032 RW 1 13 ----- ----- 46

BV14 NotProgrammableIOs fagor S32972 RO 0 65535 ----- ----- 46

CP1 CurrentProportionalGain fagor S00106 RW 0 999 ----- ----- 46

CP2 CurrentIntegralTime fagor S00107 RW 0 999 ----- ----- 46

CP20 CurrentLimit basic S33075 RW 0 50 0 A 46

CP30 CurrentCommandFilter1Type fagor S33076 RW 0 1 0 ----- 47

CP31 CurrentCommandFilter1Frequency fagor S33080 RW 0 4000 0 Hz 47

CP32 CurrentCommandFilter1Damping fagor S33081 RW 0 1000 0 Hz 47

CV1 Current1Feedback user S33077 RO - 50.00 50.00 ----- A 47

CV2 Current2Feedback user S33078 RO - 50.00 50.00 ----- A 47

CV3 CurrentFeedback user S33079 RO - 50.00 50.00 ----- A 48

CV10 Current1Offset fagor S33073 RO - 2000 2000 ----- A 48

CV11 Current2Offset fagor S33074 RO - 2000 2000 ----- A 48

DC1 ResetClass1Diagnostics user S00099 RW 0 15 0 ----- 50

DC2 ClearHistoricOfErrorsCommand user S33170 RW 0 15 0 ----- 50

DV1 Class1Diagnostics ( Errors ) basic S00011 RO 0 65535 ----- ----- 48

DV9 Class2Diagnostics (Warnings) basic S00012 RO 0 65535 ----- ----- 49

DV17 HistoricOfErrors user S33178 RO 0 999 ----- ----- 49

DV18 DisplayError basic S34873 RO 0 65535 ----- ----- 49

DV19 DisplayWarning basic S34874 RO 0 65535 ----- ----- 49

DV31 DriverStatusWord fagor S00135 RO 0 65535 ----- ----- 49

DV32 MasterControlWord fagor S00134 RW 0 65535 ----- ----- 50

GC1 BackupWorkingMemoryCommand basic S00264 RW 0 15 0 ----- 52

GC10 LoadDefaultsCommand basic S00262 RW 0 15 0 ----- 53

GP1 PwmFrequency basic S33468 RO 0 8000 8000 ----- 51

GP2 Feedback1TypeSercos basic S33469 RO 0 2 ----- ----- 51

GP3 StoppingTimeout basic S33470 RW 0 9999 500 ms 51

GP4 SetNumber basic S33471 RO 0 1 1 ----- 51

GP5 ParameterVersion basic S33468 RO 0 9999 ----- ----- 51

GP6 GearRatioNumber basic S33485 RW 0 8 1 ----- 51

GP9 DriveOffDelayTime basic S00207 RW 0 9999 50 ms 51

GP15 AutomaticInitialization fagor S33494 RW 0 1 1 ----- 52

GV2 ManufacturerVersion basic S00030 RO 0 9999 ----- ----- 52

GV5 CodeChecksum basic S33474 RO - 32768 32767 ----- ----- 52

GV6 RamParameterChecksum basic S33491 RO 0 65535 ----- ----- 52

GV8 AccessLevel fagor S33075 RW 1 3 ----- ----- 52

GV9 DriveType basic S00140 RO - 32768 32767 ----- ----- 52

GV11 SoftReset basic S33476 RW 0 16 ----- ----- 52

GV16 MotorTableVersion basic S33484 RO 0 32767 ----- ----- 52

GV26 GearRatioPreselection basic S00218 RW 0 7 ----- ----- 52

HV1 DrivePeakCurrentSercos basic S00110 RO 0 50.00 ----- A 53

HV5 PLDVersion basic S33063 RO 0 65535 ----- ----- 53

IP6 DigitalInputPolarity user S33678 RW 0 1 ----- ----- 53

IV10 DigitalInputs user S33675 RO 0 1 ----- ----- 53

KP3 ExtBallastPower user S33882 RW 200 2000 200 W 53

KP4 ExtBallastEnergyPulse user S33884 RW 200 2000 2000 J 53

KV6 MotorTemperature basic S00383 RO 0 200 ----- °C 54

KV10 CoolingTemperature user S33870 RO 0 200 ----- °C 54

KV32 I2tDrive ser S33877 RO 0 100 ----- % 54

KV36 I2tMotor user S33879 RO 0 100 ----- % 54

KV40 I2tCrowbar user S33883 RO 0 100 ----- % 54

KV41 BallastSelect user S33485 RW 0 1 1 ----- 54

MP1 MotorType basic S00141 RW - 32768 32767 0 ----- 55

MP2 MotorTorqueConstant fagor S33968 RW 0 10.00 ----- Nm/A 55

MP3 MotorContinuousStallCurrent fagor S00111 RW 0 50.00 ----- A 55

MP24 MotorMomentumOfInertia fagor S33988 RW 0.1 1000.0 ----- kgcm2 55


Mnem. Name Level IDSER Acc. Min. Max. Def. Units Page

NP1 LoadMomentumOfInertiaPercentage usuario S34968 RW 0.00 1000.00 0,00 % 55

NP116 ResolutionOfFeedback1 fagor S00116 RO 1 131072 ----- ----- 55

NP121 InputRevolutions fagor S00121 RW 1 32767 1 ----- 55

NP122 OutputRevolutions fagor S00122 RW 1 32767 1 ----- 55

OP6 DigitalOutputPolarity user S34184 RW 0 1 ----- ----- 56

OV10 DigitalOutputs user S34178 RO 0 1 ----- ----- 56

PC146 NCControlledHoming fagor S00146 RW 0 3 ----- ----- 58

PP52 ReferenceDistance1 fagor S00052 RW - 2147483648 2147483647 ----- counts 56

PP55 PositionPolarityParameters fagor S00055 RW 0 65535 ----- ----- 56

PP76 PositionDataScalingType fagor S00076 RW 1 65535 ----- ----- 56

PP103 ModuleValue fagor S00103 RW 1 2147483647 36x105 counts 57

PP150 ReferenceOffset1 basic S00150 RW - 2147483648 2147483647 0 counts 57

PP177 AbsoluteDistance1 basic S00177 RW - 2147483648 2147483647 0 counts 57

PP217 AccelerationFeedForwardPercentage fagor S00348 RW 0.0 120.0 0.0 % 57

PV51 PositionFeedback1 fagor S00051 RO - 2147483648 2147483647 ----- counts 57

PV173 MarkerPositionA fagor S00173 RO - 2147483648 2147483647 0 counts 58

PV175 DisplacementParameter1 basic S00175 RW - 2147483648 2147483647 0 counts 58

PV203 PositionFeedbackStatus basic S00403 RW 0 1 0 ----- 58

PV204 PositionCommandStatus basic S00404 RW 0 1 0 ----- 58

PV207 HomingEnable basic S00407 RW 0 1 0 ----- 58

QP1 ControlUnitCycleTime fagor S00001 RW 4000 8000 4000 ms 59

QP11 SercosMbaud basic S34768 RW 0 16 4 Mbd 59

QP12 SercosTransmisionPower basic S34770 RW 1 8 2 ----- 59

QV30 FiberDistErrCounter fagor S33495 RO 0 65535 ----- ----- 59

RP1 FeedbackSineGain fagor S34268 RW 0 8192 4096 ----- 60

RP2 FeedbackCosineGain fagor S34269 RW 0 8192 4096 ----- 60

RP3 FeedbackSineOffset fagor S34270 RW - 2000 2000 ----- ----- 60

RP4 FeedbackCosineOffset fagor S34271 RW - 2000 2000 ----- ----- 60

RV1 FeedbackSine user S34274 RO - 512 511 ----- ----- 60

RV2 FeedbackCosine user S34275 RO - 512 511 ----- ----- 60

RV3 FeedbackRhoCorrection fagor S34276 RO 0 65535 ----- ----- 60

RV7 StegmannMotorType basic S34279 RO 0 0 ----- ----- 60

SP1 VelocityProportionalGain basic S00100 RW 0 999.9 ----- mArms/rpm 60

SP2 VelocityIntegralTime basic S00101 RW 0 999.9 ----- ms 60

SP10 VelocityLimit basic S00091 RW 0 9999 1000 rev/min 61

SP42 StandStillWindow user S00124 RW 0 9999 20 rev/min 61

SP43 VelocityPolarityParameters basic S00043 RW 0 1 0 ----- 61

SP50 VelocityFeedbackFilterFrequency basic S34782 RW 0 4000 800 Hz 62

SP60 AccelerationLimit basic S00138 RW 0 400.0 0 rpm/ms 62

SP65 EmergencyAcceleration basic S34377 RW 0 400.0 0 rpm/ms 62

SP66 VelocityDecelerationTime basic S34386 RW 0 400.0 0 rpm/ms 62

SV1 VelocityCommand basic S00036 RW - 6000.0000 6000.0000 0 rev/min 63

SV2 VelocityFeedback basic S00040 RO - 6000.0000 6000.0000 ----- rev/min 63

SV6 VelocityCommandAfterFilters basic S34390 RO - 6000.0000 6000.0000 ----- rev/min 63

SV7 VelocityCommandFinal basic S34380 RO - 6000.0000 6000.0000 ----- rev/min 63

TP10 ConstantPositiveTorqueCompensation user S34670 RW 0.0 100.0 0.0 Nm 63

TP11 ConstantNegativeTorqueCompensation user S34671 RW 0.0 100.0 0.0 Nm 63

TP12 DynamicPositiveTorqueCompensation user S34672 RW 0.0 100.0 0.0 Nm 63

TP13 DynamicNegativeTorqueCompensation user S34673 RW 0.0 100.0 0.0 Nm 64

TP14 TorqueCompensationTimeConstant user S34676 RW 0.0 2000.0 0.0 ms 64

TP15 TorqueCompensationSpeedHysteresis user S34677 RW 0.2000 1000.0000 0.2000 rev/min 64

TV1 TorqueCommand user S00080 RO - 999.9 999.9 0.0 Nm 64

TV2 TorqueFeedback user S00084 RO - 999.9 999.9 ----- Nm 64

TV4 SpeedIntegralAction user S34380 RO - 1000.0 1000.0 ----- Nm 64



FAGOR subsidiaries:

SPAIN

Headquarters:FAGOR AUTOMATION S. COOP.

Bº San Andrés 19, Apdo. 144E-20500 ARRASATE-MONDRAGONwww.fagorautomation.comE-mail: [email protected]: 34-943-719200 / 34-943-039800Fax: 34-943-791712 34-943-771118 (Service Dept.)

Usurbil:FAGOR AUTOMATION S.COOP.Planta de UsurbilSan Esteban s/n Txoko-AldeE-20170 USURBILTel: 34-943-000690Fax: 34-943-360527E-mail: [email protected]

Eskoriatza:FAGOR AUTOMATION S.COOP.Planta de EskoriatzaTorrebaso Pasealekua, 4, Apdo. 50E-20540 ESKORIATZATel: 34-943-719200Fax: 34-943-039783

Barcelona:FAGOR AUTOMATION, CatalunyaParc Tecnològic del Vallès,Tecnoparc IIEdificio I Módulo AbC/Argenters, 508290 Cerdanyola del VallèsTel.: 34-93-4744375Fax: 34-93-4744327E-mail: [email protected]

FRANCEFAGOR AUTOMATION FRANCE SàrlParc Technologique de La Pardieu16 Rue Patrick Depailler63000 CLERMONT FERRANDTel.: 33-473277916Fax: [email protected]

GERMANYFAGOR AUTOMATION GmbHPostfach 604 D-73006 GÖPPINGENNördliche Ringstrasse, 100Tel.: 49-7161 15685-0Fax: 49-7161 1568579E-mail: [email protected]

ITALYFAGOR ITALIA S.R.L.Pal. CD3 P.T. - Via Roma, 10820060 CASSINA DE PECCHI (MI)Tel.: 39-0295301290Fax: 39-0295301298E-mail: [email protected]

UNITED KINGDOMFAGOR AUTOMATION UK Ltd.2 A Brunel CloseDrayton Field Industrial EstateDaventry NorthamptonshireNN11 8RBTel: 44-1327 300067Fax: 44-1327 300880E-mail: [email protected]

PORTUGAL

FAGOR AUTOMATION LTDA.Sucursal PortuguesaRua Gonçalves Zarco nº 1129-B-2ºSalas 210/2124450 LEÇA DA PALMEIRATel: 351 22 996 88 65Fax: 351 22 996 07 19E-mail: [email protected]

USAChicago:FAGOR AUTOMATION CORP.2250 Estes AvenueELK GROVE VILLAGE, IL 60007Tel: 1-847-9811500

1-847-9811595 (Service)Fax:1-847-9811311E-mail: [email protected]

California:FAGOR AUTOMATION West Coast3176 Pullman Ave., Unit 110COSTA MESA, CA 92626Tel: 1-714-9579885Fax: 1-714-9579891E-mail: [email protected]

New Jersey:FAGOR AUTOMATION East CoastTel: 1-973-7733525Fax: 1-973-7733526E-mail: [email protected]

South East:FAGOR AUTOMATION SOUTH EAST4234 Amber Ridge Ln- VALRICO, FL 33594Tel: 813 654 4599E-mail: [email protected]

Ohio:FAGOR AUTOMATION OHIO BRANCHWesterville OH 43081Tel: 1 614-855-5720Fax: 1 614-855-5928E-mail: [email protected]

CANADAOntario:FAGOR AUTOMATION ONTARIOUnit 3, 6380 Tomken RoadMISSISSAUGA L5T 1Y4Tel: 1-905-6707448Fax: 1-905-6707449 E-mail: [email protected]

Montreal:FAGOR AUTOMATION QUEBECTel.: 1-450-2270588Fax: 1-450-2276132E-mail: [email protected]

Windsor:FAGOR AUTOMATION WINDSORTel.: 1-519 944-5674Fax: 1-519 944-2369

BRAZILFAGOR AUTOMATION DO BRASILCOM.IMP. E EXPORTAÇAO LTDA.Rua Homero Baz do Amaral, 331CEP 04774-030 SAO PAULO-SPTel.: 55-11-56940822Fax: 55-11-56816271E-mail: [email protected]

CHINABeijing:BEIJIN FAGOR AUTOMATION EQUIPMENT Co.,LTD.C-1 Yandong Building, No.2 Wanhong Xijie, XibajianfangChaoyang DistrictBEIJING, Zip Code: 100015Tel: 86-10-84505858Fax: 86-10-84505860E-mail: [email protected]

Nanjing:

FAGOR AUTOMATION EQUIPMENT LTD. NANJING OFFICERoom 803, Holiday Inn (Nanjing) 45 Zhongshan Beilu, 210008 NANJING, P.R. CHINATel: 86-25-83328259Fax: 86-25-83328260E-mail: [email protected]

Guangzhou:

Beijin FAGOR AUTOMATION Equipment Ltd. Guangzhou OfficeRoom 915 Lihao Plaza No. 18 Jichanglu Baiyun District510405 GUANGZHOU, P.R CHINA.Tel: 86-20-86553124Fax: 86-20-86553125E-mail: [email protected]

Shanghai:

Beijing FAGOR AUTOMATION equipment Ltd. SHANGHAI BRANCHRoom No.547 Tianmu Xilu20070 SHANGHAI, P.R CHINA.Tel: 86-21-63539007/63538919Fax: 86-21-63538840E-mail: [email protected]

Chengdu:

Beijing FAGOR AUTOMATION equipment Ltd. Chengdu OfficeRoom 912, No. 16 Dayelu610100 CHENGDU, P.R CHINA.Tel: 86-28-66132081Fax: 86-28-66132082E-mail: [email protected]

HONG KONGFAGOR AUTOMATION (ASIA) LTD.Room 628. Tower II, Grand Central Plaza138 Shatin Rural Committee RoadShatin, HONG KONGTel: 852-23891663Fax: 852-23895086 E-mail: [email protected]

KOREA, Republic ofFAGOR AUTOMATION KOREA, LTD.Room No. 707 Byucksan Digital Valley 2nd

481-10 Gasan-dong. Geumcheon-guSeoul 153-803, KoreaTel: 82 2 2113 0341Fax: 82 2 2113 0343E-mail: [email protected]

TAIWAN, R.C.O.FAGOR AUTOMATION TAIWAN CO., LTD.Nº 24 Ta-Kuang St. Nan-Tun Dist. 408Taichung, TAIWAN R.O.C.Tel: 886-4-2 3271282Fax: 886-4-2 3271283

SINGAPOREFAGOR AUTOMATION (S) PTE.LTD.240 MacPherson Road06-05 Pines Industrial BuildingSINGAPORE 348574Tel: 65-68417345 / 68417346Fax: 65-86417348E-mail: [email protected]

MALAYSIAFAGOR AUTOMATION (M) SDN.BHD. (638038-H)No.39, Jalan Utama 1/7Taman Perindustrian Puchong Utama47100 Puchong, Selangor Darul EhsanTel: +60 3 8062 2858Fax: +60 3 8062 3858E-mail: [email protected]

Digital Brushless AC servo drive system - Ref.1101 ACSD-S0 - APPENDIX 1/2

MOTOR SENSOR INPUT

+12 V

-12 V

COMMON

SPEED_ENABLE

X2.4DRIVE_ENABLE

X ( -1 )

SV1

SpeedEnable & Halt

Functions

SV7

SV2

TV1SV6

PULSES

DR. OK

-12 V

Motor torque ON X2.3

X2.5

X1.1

X1.2

X1.3+12 V

X2.6 X2.7

1VppENCODER

VELOCITY CONTROL BLOCK DIAGRAM

E1 SinCoder encoder (1024 ppt)FEEDBACK TYPE

E3 SinCos encoder (1024 ppt)

A1 Multi-turn SinCoder encoder (1024 ppt)

A3 Multi-turn SinCos encoder (1024 ppt)

Code Checksum

Drive type

Store parameters

Reset

Default parameters

Password

Software versionGV2

General parameters

GV7

GC10

GC11

GC1

GV9

GV5

Motor overtemp

Drive overtemp

Stop time > GP3

Power supply fault

Watch dogE.001

DESCRIPTION

E.003

E.004

ERR0R

E.106

E.108

OverspeedE.200

I2t motorE.201

I2t reguladorE.202

Short-circuitE.214

Bus overvoltageE.304

Bus low voltageE.307

I2t BallastE.314

Incompatible parametersE.502

Motor table missingE.506

Incoherent combination of motor and feedbackE.510

Encoder not detectedE.801

Defective encoderE.802

Encoder not initializedE.803

Feedback signals excessively damped E.605

Synchronism message missingE.403

Synchronism message oscillationE.412

Wrong HandshakeE.413

Rated current

Torque constant

Motor typeMP1

Motor parameters

MP2

MP3

MP1

SP10

SP60, SP66 SP1, SP2

CP20SP43

Motor inertiaMP24

SP50=0

SP50>0

0

1

Low-pass filter

fcutoff =SP50

SP2

SP1SP60SP66

0 Rotating angled connectors


FKM . . . MOTOR SERIES

SIZE 2, 4, 6

LENGTH 1, 2, 4

RATEDSPEED

WINDING A 400 V AC

FEEDBACK TYPE

FLANGE &SHAFT

0 With keyway (standard)

0 Without brake

CONNECTION 1 Cable exit without connectors

1 With standard brake (24 V DC)

1 Cylindrical (with no keyway)

40 4000 rev/min

E3 SinCos StegmannTM SRS50 (tape, sheet metal) (1024 ppv)

(multi-turn, with taper shaft)A3 SinCos StegmannTM SRM encóder (1024 ppv)

KSPECIALCONFIGURATION

01ZZSPECIFICATION

Only when it has a special configuration (K) !

.K

9 Special

BRAKEOPTION


Half-key balancing

60 6000 rev/min

2 Shaft with key and seal

3 Keyless shaft with seal

0 Without fan


FXM . . . - XMOTOR SERIES

SIZE 1, 3, 5, 7

LENGTH 1, 2, 3, 4, 5

RATEDSPEED

WINDING

FEEDBACK TYPE

FLANGE & SHAFT

0 IEC Standard

BRAKEOPTION

0 Whitout brake

VENTILATION

A 400 V AC

1 With standard fan

1 With standard brake "H type" (Neodymium)

1 Keyless shaft

9 With special fan

SPECIALCONFIGURATION

X

01 ZZSPECIFICATION

Only when it has a special configuration (X) !

8 NEMA Standard (USA)

9 Special

(absolute multi-turn)

SinCoder StegmannTM SNS 50 encoder (1024 ppt)E1

A1 SinCos StegmannTM SRM 50 encoder (1024 ppt)


- 3

Ga

in (

dB)

f (Hz )

19

26

1

9

10

18

Digital Brushless AC servo drive system - Ref.1101 ACSD-S0 - APPENDIX 2/2

time time

Drive Enable

Speed Enable

"E.003"

1, 2 or 3 lines lost 1 line lost

time

SV2

1.12 x Rated motor speed

"E.200"

time

KV32

"E.202"

CV3

DRIVE RATED CURRENT

f (Drive rated current)

time

KV36

f (MP3)

"E.201"

TV2

MP3

KV40

"E.314"

f (KP3 & KP4)

Function "E.200" Overspeed

Function "E.201" Motor Overload Function "E.202" Drive Overload Function "E.314" Ballast Overload

time

KV2

"E.106"

Function "E.106" Drive overtemp

f(GV9)

KV41 1 Internal Ballast resistor

KV41 0 External Ballast resistor

105 ºC Rated motor speed

time

ERROR FUNCTIONS

PowerSupply

Function "E.003" Power Supply fault

speed

Date post:	08-Jan-2019
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FAGOR AUTOMATION S. COOP. Brushless AC Servo drives · 2/72 - ACSD-S0 Digital Brushle ss AC servo...

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