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AC Brushless Servo Drive System Manual  Ver: 0002

ACa - 32 / 32

Preliminary

Overview of FAGOR
subsidiaries:

SPAIN

Headquarters:
FAGOR AUTOMATION S.COOP.
Bº San Andrés s/n, Apdo. 144
E-20500 ARRASATE-MONDRAGON
www.fagorautomation.mcc.es
[email protected]
Tel:

34-943-719200

Fax:

34-943-791712
34-943-771118 (Service Dept.)

Usurbil:
FAGOR AUTOMATION S.COOP.
Planta Usurbil
San Esteban s/n  Txoko-Alde
20170 USURBIL
Tel:

34-943-366332

Fax:

34-943-360527

[email protected]

Barcelona:
FAGOR AUTOMATION, Catalunya
Pg. Ferrocarrils Catalans,
                  117-119 1ª Pl. Local 12
CORNELLÀ DE LLOBREGAT
08940 BARCELONA
Tel.:

34-93-4744375

Fax:

34-93-4744327

[email protected]

FRANCE

AUTOMATION SYSTÈMES
Parc Technologique de La Pardieu
16 Rue Patrick Depailler
63000 CLERMONT FERRAND
Tel.:

33-473277916

Fax:

33-473150289

E-mail: [email protected]

GERMANY

FAGOR INDUSTRIECOMMERZ  GMBH
Postfach 604  D-73006 GÖPPINGEN
Nördliche Ringstrasse, 100
D-73033 GÖPPINGEN
Tel.:

49-716120040

Fax:

49-716113327

E-mail: [email protected]

ITALY

FAGOR ITALIA S.R.L.
Centro Direzionale Lombardo
Pal. CD3 P.T. - Via Roma, 108
20060 CASSINA DE PECCHI (MI)
Tel.:

39-0295301290

Fax:

39-0295301298

E-mail: [email protected]

UNITED KINGDOM

FAGOR AUTOMATION UK Ltd.
Unit T4, Dudley Court North
Waterfront East
Level Street, Brierley Hill
West Midlands DY5 2HU.
Tel:

44-1384 572550

Fax:

44-1384 572025

Cellular phone: 44-836 653 701
[email protected]

SWITZERLAND

FAGOR AUTOMATION SUISSE S.à r.l.
Rue B.- Vuilleumier 11
CH-2616 RENAN (BE)
Tel.:

41-329631863

Fax:

41-329631864

E-mail: [email protected]

PORTUGAL

FAGOR AUTOMATION LTDA.
Sucursal Portuguesa
Rua Gonçalves Zarco nº 1129-B-2º
Salas 210/212
4450 LEÇA DA PALMEIRA
Tel :

351 22 996 88 65

Fax:

351 22 996 07 19

[email protected]

USA

Chicago:
FAGOR AUTOMATION CORP.
2250 Estes Avenue
ELK GROVE VILLAGE, IL 60007
Tel:

1-847-9811500
1-847-9811595 (Service)

Fax:

1-847-9811311

[email protected]
Tlx:       285273

California:
FAGOR AUTOMATION West Coast
3176 Pullman Suite  110
Costa Mesa CA 92626
Tel:

1-714-9579885/9892

Fax:

1-714-9579891

[email protected]

New Jersey:
FAGOR AUTOMATION East Coast
Tel:

1-973-7733525

Fax:

1-973-7733526

[email protected]

CANADA

Ontario:
FAGOR AUTOMATION ONTARIO
Unit 3, 6380 Tomken Road
MISSISSAUGA L5T 1Y4
Tel:

1-905-6707448

Fax:

1-905-6707449

[email protected]
[email protected]

Montreal:
FAGOR AUTOMATION QUEBEC
Tel.:

1-450-2270588

Fax:

1-450-2276132

Cellular phone: 1-450-9517160
E-mail: [email protected]

BRAZIL

FAGOR AUTOMATION DO BRASIL
COM.IMP. E EXPORTAÇAO LTDA.
Rua Säo Sebastião 825
CEP 04708-001
SAO PAULO-SP
Tel.:

55-11-51841414

Fax:

55-11-51819898

[email protected]

CHINA, P.R.

Beijing:
Beijing FAGOR AUTOMATION Equipment
Co.,Ltd.
Room No. B-202,  Guo Men Building, Nº 1
ZuoJiaZhuang, Chaoyang District
BEIJING  100028
Tel:

86-10-6464 1951/1952/1953

Fax:

86-10-6464 1954

[email protected]

Shanghai:
Beijing FAGOR AUTOMATION Equipment
Ltd., Nanjing Office
Holiday Inn (Nanjing)
45 North Zhong Shan Road Nanjing
210008, Jiangsu Provence, P.R.China
Tel:

86-25-3328259

Fax:

86-25-3328260

[email protected]

Guangzhou:
Beijing FAGOR AUTOMATION Equipment
Co.Ltd., Guangzhou Rep.Office
No. 423, Plotio Plaza.
No. 18 Airport Road, Baiyun district
GUANGZHOU  510405
Tel:

86-20-86553124
86-20-86577228   Ext. 2423

Fax:

86-20-86553124

[email protected]

HONG KONG

FAGOR AUTOMATION (ASIA) LTD.
M4, Sunbeam Centre
27 Shing Yip St. Kwun Tong
KOWLOON, HONG KONG
Tel:

852-23891663

Fax:

852-23895086

[email protected]

KOREA,Republic of

FAGOR AUTOMATION KOREA, LTD.
304 Bomi Bldg., 661 Deungchon-Dong
Kangseo-Ku, Seoul 157-030, Korea
Tel:

82-2-36652923/4

Fax:

82-2-36652925

[email protected]

TAIWAN R.O.C.

FAGOR AUTOMATION (ASIA) LTD.,TWN
BRANCH (H.K.)
11F-2 No.61, SEC.2, KUNG YI ROAD
TAICHUNG, TAIWAN R.O.C.
Tel:

886-4-3271282

Fax:

886-4-3271283

[email protected]
[email protected]

SINGAPORE

FAGOR AUTOMATION (S) PTE.LTD.
240 MacPherson Road
03-01 Pines Industrial Building
SINGAPORE 348574
Tel:

65-8417345/8417346

Fax:

65-8417348

[email protected]

Summary of Contents for ACS Series

Page 1: ...AC Brushless Servo Drive System Manual Ver 0002 ACa 1 32 Preliminary Fagor Automation S Coop Ver 0002 Brushless AC Servodrives analog...

Page 2: ...CHARACTERISTICS 9 1 5 SALES REFERENCE 9 A C Servodrive 10 2 1 INTRODUCTION 10 2 2 GENERAL CHARACTERISTICS 11 2 3 CONNECTORS 11 2 4 STATUS DISPLAY 14 2 5 PLACA DE CARACTER STICAS Y REFERENCIA COMERCIAL...

Page 3: ...ocontactourtechniciansatany ofoursubsidiariesworldwide ThankyouforchoosingFagor Declaration of conformity Manufacturer Fagor Automation S Coop BarriodeSanAndr ss n C P 20500 Mondrag n Guip zcoa SPAIN...

Page 4: ...ke B5 V1 V3 Excitation Permanent rare earth magnets SmCo Temperature sensor Thermistor Shaft end Cylindrical with keyway Option with no keyway Mounting Face flange Mounting method B5 V1 V3 as recommen...

Page 5: ...0 4 3 6 0 7 6 6 2 2 6 13 0 4000 4 2 21 0 1 1 0 6 19 3 4 9 1 1 6 0 7 6 6 2 2 0 10 0 2000 1 6 8 0 0 4 1 3 9 4 48 0 8 5 4 5 5 5 6 3 2 0 10 0 4000 3 2 16 0 0 8 0 6 18 8 13 0 2 4 4 5 5 5 3 1 6 3 3 9 19 5...

Page 6: ...AC Brushless Servo Drive System Manual Ver 0002 ACa 6 32 Preliminary 1 2 MECHANICAL DIMENSIONS ACMOTORS...

Page 7: ...AC Brushless Servo Drive System Manual Ver 0002 ACa 7 32 Preliminary...

Page 8: ...setheshaft Wheninstallingthemotor verifythatthebrakereleasestheshaftcompletely before turning it for the first time Connecting the motor windings in the order indicated on the connector U V W the shaf...

Page 9: ...ut Keyway BRAKE OPTION 0 Without brake 1 With standard brake 24 Vdc VENTILATION 0 Without Fan 1 5 SALESREFERENCE 1 4 BRAKE CHARACTERISTICS Motor Type Torque Maximum RPM Power On Off Delay Unlocking vo...

Page 10: ...500ppt Programmableencoderoutput2 n n from2to16 VelocityorTorquecommand Velocitycommandfilteredwithramps Logicinputstocontrolthemotor SpeedandDriveEnable Galvanicisolationbetweenpowerandcontrol Analog...

Page 11: ...AuxiliarPowerSupplyterminals Themaximumcablesectionatthesepowerterminalsis 2 5mm2 Totalisolationbetweenpowerandcontrolcircuits Fagor A C S Drive ACS 05 ACS 10 ACS 20 ACS 30 Rated output current 2 5 Am...

Page 12: ...on Pin5ofX2 ReferencepointforthefollowingEnablesignals Drive Enable Pin 4 of X2 At 0Vdc disables current through the motor which loses its torque Speed Enable Pin 3 of X2 A 0Vdc forces a zero speed co...

Page 13: ...ay Status and Alarm messages from the Status Display X1 Connector for the encoder input signals Connector for encoder signal output to CNC Auxiliar Power Supply input terminals Connectors and front pa...

Page 14: ...ycycle Improveitscooling NoFeedback Solutions Checkthatthefeedbackcableandconnectorsareproperlyconnected Driveovertemperature Solutions Smooththedutycycle Improveitscooling Motoroverloadwarning fastbl...

Page 15: ...Internalcontrolerror ortheRITvalueiswrong Phase droped Any of the main phases has droped or a mains microcut has been longer than 100ms Note Allthealarmsarelatched theunit controlandpowersupply mustb...

Page 16: ...n 6 X2 Pin 7 X2 WARNING OUTPUT DRIVE SPEED Pin 3 X2 Offset RTV1 RIT RAPT J4 a b c A Pin 5 X2 Pin 4 X2 Control de PWM COMMON COMMON RAD1 CAD1 RAP1 CAI1 RAJFV VEL VELOCITY Pin 8 X1 Pin 5 X2 B3 B0 RTV1 P...

Page 17: ...AC Brushless Servo Drive System Manual Ver 0002 ACa 17 32 Preliminary User notes...

Page 18: ...softheencoderpulsesandtheequivalent voltageintheinternaldrivecircuits RAPT ItdeterminesiftheBallastisaninternalorexternalresistor IfanexternalBallastis installedRAPTshouldbeequalto 10 Ohms AnopenRAPTm...

Page 19: ...x0 IM 3140F 05 IM 3140F 10 220K 6 2K FXM32 20F I0 xx0 IM 3220F 05 IM 3220F 10 220K 12K FXM32 40F I0 xx0 IM 3240F 10 IM 3240F 20 68K 6 2K FXM33 20F I0 xx0 IM 3320F 10 IM 3320F 20 100K 12K FXM33 40F I0...

Page 20: ...h correspondstothemaximumvalueofthecurrentcommand Thisadjustmentmaybeusedto decrease 100 thevalueofthatcurrentlimit Turningthispotclockwiseallowsmorecurrenttoflowthroughthemotor PIGain Foradjustingthe...

Page 21: ...AC Brushless Servo Drive System Manual Ver 0002 ACa 21 32 Preliminary User notes...

Page 22: ...pollutants rememberthatitsdegreeofprotectionisIP20 Neverinstallitexposingittoflammable gases Avoidexcessiveheatandhumidity Theambienttemperaturemustneverexceed45 C 113 F Mountthemodulesvertically assh...

Page 23: ...ledontheMains inputlines theirmaximumcurrentswilldependonthevalueoftheMainsvoltage Athermalswitchmayoptionallyreplacethefuses Important Thesecondarywindingsmusthaveastarconnectionwithitsmiddlepointcon...

Page 24: ...40F I0 xx0 3 1 FXM14 20F I0 xx0 2 1 FXM14 40F I0 xx0 4 2 FXM31 20F I0 xx0 1 6 FXM31 40F I0 xx0 3 2 FXM32 20F I0 xx0 3 2 FXM32 40F I0 xx0 6 3 FXM33 20F I0 xx0 4 7 FXM33 40F I0 xx0 9 4 FXM34 20F I0 xx0...

Page 25: ...125Vac 0 6A 110Vdc 2A 30Vdc Enable signals using 10V voltage X1 SPEED DRIVE COMMON 2 1 3 10 V 10 V X2 X2 4 5 X2 X1 3 Connectionofthemonitoringandcontrolsignals Monitoring Thedriveoffers 10Vdcatits ve...

Page 26: ...1 3 5 10 15 20 1 2 3 4 5 6 7 8 11 Sub D M15 8 1 15 9 Sub D M15 4x2x0 14 2x0 5 Cable A A B B Z Z 5 Vdc W Tp V 1 2 3 4 5 6 7 8 11 10 15 12 13 14 9 GND Tp U U V W 14 15 16 9 4 3 11 10 9 8 6 12 13 14 15...

Page 27: ...input 5 4 6 VEL VEL Inverted velocity command input Uref 0V 5 4 6 Uninverted velocity command input Uref 0V 4 7 CURR Current command Current command input Uref 0V Generation of the inverted velocity...

Page 28: ...s a simple circuit to power the brake of the FXM Warning When using an autotransformer thesecondarymust haveastarconnectionwithits middlepointconnectedtoground FusesareMANDATORY Thedelaywhendisconnect...

Page 29: ...tiometertoadjustthemaximumpeakcurrent maximummotor torque To monitor the peak current the motor may be turned back and forth at full torque and withoutgeneratingramps AdjustthegainofthevelocityPIwitht...

Page 30: ...10 IM 7512F 30 FXM33 40F I0 xx0 IM 3220F 10 FXM34 20F I0 xx0 IM 3240F 10 FXM34 40F I0 xx0 IM 3320F 10 FXM53 20F I0 xx0 IM 3420F 10 FXM53 40F I0 xx0 IM 3240F 20 FXM54 20F I0 xx0 IM 3320F 20 FXM54 30F...

Page 31: ...s sheet has not been sent to us the warranty period ends 15 months from when the product left our warehouse FAGOR is committed to repairing or replacing its products from the time when the first such...

Page 32: ...5273 California FAGOR AUTOMATION West Coast 3176 Pullman Suite 110 Costa Mesa CA 92626 Tel 1 714 9579885 9892 Fax 1 714 9579891 caservice fagor automation com New Jersey FAGOR AUTOMATION East Coast Te...

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