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Fagor ACSD series, Original Instructions Manual

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Fagor ACSD series Original Instructions Manual Download Page 5

Digital Brushless 

AC S

ervo 

D

rive system - Ref.1609

ACSD-5/80

General index

BRUSHLESS AC MOTORS, FXM ..............................................................................7

Introduction ..................................................................................................................7
General characteristics ................................................................................................7
Dimensions ................................................................................................................11
Power connector ........................................................................................................13
Motor feedback connector..........................................................................................14
Holding brake .............................................................................................................15
Sales reference ..........................................................................................................16

BRUSHLESS AC MOTORS, FKM ............................................................................17

Introduction ................................................................................................................17
General characteristics ..............................................................................................17
Dimensions ................................................................................................................20
Power connector ........................................................................................................21
Motor feedback connector..........................................................................................22
Holding brake .............................................................................................................23
Sales reference ..........................................................................................................24

COMPACT SERVO DRIVE, ACSD ...........................................................................25

Introduction ................................................................................................................25
General characteristics ..............................................................................................25
Dimensions ................................................................................................................26
Technical data............................................................................................................26
Connectors.................................................................................................................27
Indicators....................................................................................................................28
Push-buttons and switches ........................................................................................29
Front panel and pinout of the connectors...................................................................30
Unit identification........................................................................................................32
Sales reference ..........................................................................................................32

INSTALLATION.........................................................................................................33

General considerations ..............................................................................................33
Electrical connections ................................................................................................34
Cables ........................................................................................................................40
CAN field bus connection...........................................................................................41
Codes of the FAGOR cables......................................................................................42
Connecting a drive to a PC. RS-232 serial line..........................................................43
Diagram of the electrical cabinet................................................................................44
Initialization and adjustment.......................................................................................45

PARAMETERS, VARIABLES & COMMANDS .........................................................49

Notation......................................................................................................................49
Groups .......................................................................................................................51

ERROR CODES ........................................................................................................71

PARAMETERS, VARIABLES & COMMANDS. IDs..................................................76

Summary of Contents for ACSD series

Page 1: ...FAGOR AUTOMATION S COOP Brushless AC Servo Drives ACSD series Ref 1609 Original instructions ...

Page 2: ...ents of this manual without prior notice The contents of this manual have been verified and matched with the productdescribedhere Evenso itmaycontaininvoluntaryerrorsthat make it impossible to ensure an absolute match However the contents of this document are regularly checked and updated implementing the necessary corrections in a later edition 34 943 719200 34 943 771118 Technical Support All ri...

Page 3: ...ion and diagnosis FAGOR AUTOMATION will only repair or replace the product part assessed to be defective FAGOR AUTOMATION is not liable for any other compensation FAGOR AUTOMATION at its sole discretion reserves the right either to repair or replace the affected product during warranty period This product warranty covers all costs of materials and labor to repair or correct the cause of defect The...

Page 4: ...nce with EC Directives 2014 35 UE on Low Voltage and 2014 30 UE on Electrical Compatibility In Mondragón September 1st 2016 INTRODUCTION FAGOR offers you a wide range of servo drive systems AC Brushless motor Digital Drive for applications requiring between 1 2 and 33 6 N m at speeds between 1200 rev min and 4000 rev min for FXM motors and between 1 7 and 23 5 N m at speeds between 2000 rev min an...

Page 5: ...COMPACT SERVO DRIVE ACSD 25 Introduction 25 General characteristics 25 Dimensions 26 Technical data 26 Connectors 27 Indicators 28 Push buttons and switches 29 Front panel and pinout of the connectors 30 Unit identification 32 Sales reference 32 INSTALLATION 33 General considerations 33 Electrical connections 34 Cables 40 CAN field bus connection 41 Codes of the FAGOR cables 42 Connecting a drive ...

Page 6: ...ACSD 6 80 Digital Brushless AC Servo Drive system Ref 1609 This page intentionally left blank ...

Page 7: ...il seal Storage temperature 20 C 80 C 4 F 176 F Ambient temperature 0 C 40 C 32 F 104 F Working ambient humidity From 20 to 80 non condensing Holding brake Optional See technical data holding brake Feedback I0 Incremental TTL encoder 2500 ppt E1 A1 Sincoder encoder SinCos multi turn abs encoder 1024 ppv Meaning of the codes of the mounting method FXM series synchronous servo motors are AC Brushles...

Page 8: ... 0 2 9 0 44 6 0 7 5 12 0 18 0 FXM33 20F 7 3 36 2000 6 3 31 1 1 5 1 2 4 9 6 7 0 90 8 5 9 6 24 0 36 0 FXM33 40F 7 3 36 4000 12 0 59 2 3 1 0 6 9 9 1 8 0 25 8 5 9 6 18 0 FXM34 20F 9 3 46 2000 7 6 37 6 1 9 1 2 5 0 5 3 0 65 11 0 11 5 24 0 36 0 FXM34 40F 9 3 46 4000 15 0 74 2 3 9 0 6 10 0 1 3 0 17 11 0 11 5 18 0 FXM53 20F 11 9 59 2000 9 9 49 1 2 5 1 2 7 8 5 0 0 45 22 0 15 8 24 0 36 0 FXM53 30F 11 9 59 30...

Page 9: ... 9 0 1 0 1 8 5 1 32 7 25 2 6 6 4 7 1 14 2 16 0 FXM13 40A 3 3 16 4000 2 50 12 0 1 4 1 3 6 8 18 4 05 2 6 6 4 10 6 16 0 FXM14 20A 4 1 20 2000 1 53 7 5 0 9 2 7 3 5 52 12 0 3 3 7 6 10 7 20 0 FXM14 30A 4 1 20 3000 2 30 11 2 1 3 1 8 5 2 23 4 85 3 3 7 6 14 2 20 0 FXM14 40A 4 1 20 4000 3 10 15 0 1 7 1 3 6 9 13 2 95 3 3 7 6 10 6 20 0 FXM31 20A 2 6 13 2000 0 97 4 8 0 5 2 7 5 6 126 29 0 3 5 5 5 10 7 13 0 FXM3...

Page 10: ...9 2000 4 7 23 0 2 5 2 5 7 8 22 2 15 22 0 15 8 40 5 FXM53 30A 11 9 59 3000 7 1 35 0 3 7 1 7 11 7 9 6 0 91 22 0 15 8 26 9 FXM54 12A 14 8 74 1200 3 5 17 6 1 9 4 2 4 9 44 3 70 29 0 17 8 33 8 67 7 FXM54 20A 14 8 74 2000 5 9 30 0 3 1 2 5 8 2 16 1 35 29 0 17 8 40 2 FXM54 30A 14 8 74 3000 8 7 44 0 4 7 1 7 12 3 7 3 0 64 29 0 17 8 27 2 FXM55 12A 17 3 86 1200 4 1 20 0 2 2 4 2 5 3 36 2 95 36 0 20 0 33 8 67 5 ...

Page 11: ...4 241 9 48 Dimension F GD R GA ST Units mm in mm in mm in mm in mm FXM1 5 0 19 5 0 19 20 0 78 16 0 62 M5x12 5 FXM1 series Dimensions in mm 1 in 25 4 mm GA GD F ST 0 2 0 1 30 10 158 10 114 Ø115 Ø154 Ø 1 4 0 Ø95j6 Ø19j6 30 40 0 1 0 3 0 1 LB WITH BRAKE LB 23 46 40 105 Dimension F GD R GA ST Units mm in mm in mm in mm in mm FXM3 6 0 24 6 0 24 30 1 18 21 5 0 85 M6x16 FXM3 series Dimension LB Units mm i...

Page 12: ...M53 237 9 33 FXM54 272 10 71 FXM55 307 12 09 Dimensions in mm 1 in 25 4 mm C1 C2 C3 Ø 2 1 5 Ø 2 4 5 15 Ø180j6 Ø32 k6 15 LB WITH BRAKE LB 41 46 50 58 0 25 0 4 0 1 185 GA GD F ST 0 2 0 5 Dimension C1 C2 C3 Units mm in mm in mm in Io 23 A MC 23 40 1 57 35 1 37 229 9 01 23 A Io 46 A MC 46 50 1 96 40 1 57 236 9 29 FXM7 series Dimensions in mm 1 in 25 4 mm Dimension F GD R GA ST Units mm in mm in mm in ...

Page 13: ... in the order indicated on the connector U V W the shaft will turn clockwise CWR Clock Wise Rotation F 5 MC 23 or AMC 23 power connector Sales reference Pinout and dimensions IP 67 PIN SIGNAL A B C D E F U PHASE V PHASE W PHASE GND BRAKE BRAKE AMC 23 MC 23 60 2 36 40 1 57 MOTOR POWER BASE CONNECTOR E A F D C B 125 4 92 110 4 33 105 4 13 Viewer from outside the motor MC 23 POWER AIR CONNECTOR STRAI...

Page 14: ...nd di mensions F 7 Feedback connector EOC 12 SinCos encoder ref A1 and SinCoder encoder ref E1 Pinout and dimensions 62 2 44 91 3 58 IO INCREMENTAL TTL ENCODER TAMAWAGA OIH48 IOC 17 MOTOR CONNECTOR VIEWED FROM OUTSIDE THE MOTOR A B C D E F G H I K J P L M N O Q IOC 17 PIN SIGNAL A B C D E F A A 5 VDC GND B B G H I J K L Z Z PTC THERMISTOR PTC THERMISTOR U U M V N V O W P W Q SHIELD CHASSIS 68 2 67...

Page 15: ... 19 29 22 26 0 38 0 3 0 66 FXM3 Mo motor 16 0 021 20 29 22 26 1 06 0 6 1 32 FXM5 Mo motor 18 0 024 25 50 22 26 3 60 1 1 2 42 FXM7 Mo motor 35 0 047 53 97 22 26 31 80 4 1 9 03 Nota The maximum speed is 10000 rev min for all of them except for the brake that may be used on the FXM7 series that is 8000 rev min WARNING NEVER use this holding brake to stop a moving axis WARNING The holding brake must n...

Page 16: ...bsolute multi turn SinCoder encoder 1024 ppt E1 SinCoder encoder 1024 ppt FLANGE SHAFT 0 IEC Standard BRAKE OPTION 0 Without brake FAN F 220 V AC A 1 With Standard fan 1 With standard brake 24 V DC 1 Keyless shaft 8 NEMA standard USA 9 Special 9 With special fan SPECIAL CONFIGURATION X SPECIFICATION 01 ZZ Only when it has a special configuration X 400 V AC Notes Encoders with reference I0 only ava...

Page 17: ... 64 IP 65 with oil seal Storage temperature 20 C 80 C 4 F 176 F Ambient temperature 0 C 40 C 32 F 104 F Working ambient From 20 to 80 non condensing Holding brake Optional See technical data holding brake Feedback I0 Incremental TTL encoder 2500 ppt E3 A3 Sinusoidal encoder Multi turn abs encoder 1024 ppt Meaning of the codes of the mounting method FKM synchronous servo motors are AC brushless wit...

Page 18: ...4 21 3 2 60 0 450 8 5 7 8 11 8 FKM43 20A 9 0 36 2000 3 9 15 7 1 88 2 30 9 7 14 5 1 720 16 7 11 7 18 4 36 0 FKM43 30A 9 0 36 3000 6 2 25 2 82 1 45 14 5 6 2 0 755 16 7 11 7 23 2 FKM43 40A 9 0 36 4000 9 4 38 3 77 0 95 19 4 2 4 0 315 16 7 11 7 15 2 FKM44 20A 11 6 47 2000 4 6 19 2 4 2 52 7 4 14 51 1 720 16 7 11 7 40 3 FKM44 30A 11 6 47 3000 8 2 33 3 6 1 41 11 2 4 20 0 540 16 7 11 7 22 5 FKM44 30A 2 11 ...

Page 19: ... 8 5 34 2 0 0 74 10 7 2 6 0 450 8 5 7 8 14 8 22 2 FKM42 45F 6 3 25 4500 12 4 50 3 0 0 51 16 0 1 2 0 210 8 5 7 8 18 2 25 0 FKM43 30F 9 0 36 3000 13 8 55 4 2 8 0 65 14 5 1 2 0 150 16 7 11 7 19 5 FKM44 30F 11 6 47 3000 15 6 62 3 6 0 74 11 2 1 2 0 150 16 7 11 7 22 2 FKM62 30F 8 9 35 3000 13 1 52 2 8 0 68 14 4 2 1 0 225 16 0 11 9 20 4 FKM62 40F 8 9 35 4000 16 4 66 3 7 0 54 19 1 1 3 0 180 16 0 11 9 16 2...

Page 20: ...30 5 11 232 9 13 Dimension F GD R GA ST Units mm in mm in mm in mm in mm FKM2 6 0 23 6 0 23 30 1 18 21 5 0 84 M6x16 Dimension ØD j6 Unidades mm in FKM2 19 0 74 80 18 50 0 1 0 3 5 0 1 Ø24j6 Ø110j6 40 10 54 LB L 126 168 5 9 Ø130 Ø150 Dimensions in mm 1 in 25 4 mm FKM4 series Dimension LB L Units mm in mm in FKM42 133 5 23 247 9 72 FKM43 175 6 88 289 11 38 FKM44 175 6 88 289 11 38 Dimension F GD R GA...

Page 21: ...tor MC 20 6 Sales reference pinout and dimensions 200 5 12 0 3 5 0 1 50 Ø32k6 Ø165 Ø190 12 54 LB L 158 18 58 0 25 Dimension LB L Units mm in mm in FKM62 136 5 35 260 10 24 FKM63 172 6 77 296 11 65 FKM64 172 6 77 296 11 65 FKM66 208 8 18 332 13 07 Dimensions in mm 1 in 25 4 mm FKM6 series Dimension F GD R GA ST Units mm in mm in mm in mm in mm FKM6 10 0 39 8 0 31 50 1 96 35 1 37 M10x22 Dimension ØD...

Page 22: ...ck connector IOC 17 TTL incremental encoder ref I0 Pinout and dimensions F 13 Feedback connector EOC 12 SinCos encoder refs E3 A3 Pinout and dimensions 62 2 44 91 3 58 IOC 17 SEALING IP 65 STANDARD U U 13 V 14 V 15 W 16 W 17 SHIELD CHASSIS PIN SIGNAL 1 2 3 4 5 6 A A 5 VDC GND B B 7 8 9 10 11 12 Z Z TEMP TEMP 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 IO INCREMENTAL TTL ENCODER TAMAWAGA OIH 48 IOC 1...

Page 23: ... approx Units N m lbf ft W hp ms V DC kg cm kg lbf FKM2 4 5 3 32 12 0 016 7 35 22 26 0 18 0 30 0 66 FKM4 9 0 6 64 18 0 024 7 40 22 26 0 54 0 48 1 06 FKM6 18 0 13 28 24 0 032 10 50 22 26 1 66 0 87 1 92 Note Maximum speed for all ot them is 10000 rev min WARNING NEVER use this holding brake to stop a moving axis WARNING The holding brake must never exceed its maximum turning speed Voltage between 22...

Page 24: ... With extra brake 24 V DC FAN AND INERTIA OPTION F 220 V AC 1 Cylindrical with no keyway 40 4000 rev min 60 6000 rev min 01 99 SPECIFICATION Only when it has a special configuration K 2 Shaft with keyway and seal 3 Keyless shaft with seal 9 Special configuration K None Standard 2 Optimized for ACSD 16H 3 Small size WINDING OPTION 0 none PTC KTY84 1 TEMPERATURE SENSOR EXTRAS None K Special configur...

Page 25: ...nd 30 A General characteristics Their main characteristics are Three phase power supply Dynamic braking in case of mains failure PWM IGBTs 2500 line incremental TTL encoder feedback or 1Vpp sinusoidal encoder CAN field bus communication 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 ...

Page 26: ...ernal Ballast 112 56 28 18 132 132 66 Power of the internal Ballast 150 W Ballast trigger 416 V DC 780 V DC 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 IP 20 Dimensions 67 x 280 x 245 mm 2 48 x 11 8 x 9 05 in Mass 3 85 kg 8 5 lb IP 20 means that it is protected against objects of a diameter larger...

Page 27: ...L FAN The internal fan that cools the drive s power elements starts when enabling the Drive_Enable signal The fan will stop when the heatsink tempera ture is lower than 70 ºC since the Drive_Enable signal is turned off This method decreases the fan s operating time hence increasing its useful life Control signals 20 mA OUT Voltage 12 V pins 1 2 3 of X1 Output of an internal power supply so the use...

Page 28: ...e version from a PC to the drive through the RS 232 serial line CAN BUS CANopen bus card meets DS 301 standard regarding communications Indicators BUS ACTIVITY Indicator light on top of the CAN bus connector X4 It has several lighting sequences that indicate the status of both the CAN and of the drive For further detail see section Ini tialization and adjustment of this manual 5 V Indicator light ...

Page 29: ... drive on the CAN bus For further detail see sec tion Initialization and adjustment of this manual SPEED SELECT Switch that allows selecting the communication speed of the CAN bus For further detail see section Initialization and adjustment of this manual TERMINAL RESISTOR Selector that when in the ON position connects the line terminating resistor between CANL and CANH of the bus Always activate ...

Page 30: ...L POWER INPUTS L1 L2 X3 COMMUNICATIONS RS 422 RS 232 CAN BUS X4 GNDa CANL SHIELD CANH SHIELD SPEED SELECT TERMINAL RESISTOR 5 V ON 1 2 CROWBAR ON VBUS OK RESET CONTROL SIGNALS SPEED ENABLES PROG DIGIT OUTPUT DRIVE COMMON DRIVE OK PROG DIGIT INPUT M OTOR FEEDBACK INPUT 12V B C D E A F 12 V Power Supply PROG DIG OUTPUT ENABLES DRIVE OK PROG DIG INPUT Auxiliary power supply input terminals D Connecto...

Page 31: ...nsor given to the drive via hardware 18 SELSEN2 19 485 RS 485 serial line for sinusoidal encoder refs E1 A1 E3 A3 20 485 21 TEMP Thermal sensor of the motor PTC KTY 84 or PTC Pt1000 22 TEMP 23 8VDC Supply voltage for the sinusoidal encoder refs E1 A1 E3 A3 24 5VDC Supply voltage for the incre mental encoder ref I0 25 GND 0 Volts 26 CHASSIS Pin CHASSIS Screws Pin Signal Function 1 N C Not connected...

Page 32: ...esign versions that are useful for technical consultations and repairs Sales reference Codes of the sales reference of FAGOR ACSD drives F 16 A Version label B Characteristics label A B F 17 Sales reference ACSD DIGITAL DRIVE Model Current A Supply Voltage 220 V AC ACSD Rated Peak 0 5 s EX ACSD 05 L 05 10 20 30 2 5 5 0 10 0 15 0 5 0 10 0 20 0 30 0 ACSD DIGITAL DRIVE Model Current A Supply Voltage ...

Page 33: ...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 cabinet that is clean dry free of dust oil and other pollutants Never install it exposing it to flammable gases Avoid excessive heat and humidity The ambient temperature must never exceed 45 C 113 F Install the m...

Page 34: ...20 V AC except in modules ACSD 05L and ACSD 10L that can also be single phase if parameter GP16 has been properly set ACSD xxH units must always be powered with three phase 400 V AC Parameter GP16 is ignored for these models F 18 Installation of ACSD modules NOTE Keep the signal cables away from the power cables INFORMATION IfACSD 20LandACSD 30L 220VAC unitswerepowered with single phase voltage th...

Page 35: ...loating voltage Autotransformer or three phase transformer Autotransformer or three phase transformer Warning Never make this connection because there is a risk of destroying the module KM1 power switch fuses 3x2 5 mm L3 L1 L2 fuses X3 CONTROL POWER INPUT L1 L2 L1 L2 POWER INPUTS KM1 power switch 3x2 5 mm L3 THREE PHASE 220 or 380 V AC 220 or 380 V AC 220 or 380 V AC 380 V AC Note When installing ...

Page 36: ...he neuter and the ground protection conductors are separated throughout the whole length of the system TN C S diagram where the neuter and the ground protection wire are combined in a single conductor somewhere in the system TN C diagram where the neuter and the ground protection functions are combined in a single conductor throughout the system NOTE A thermal switch may optionally replace the fus...

Page 37: ...tem IT diagram Distribution diagram that does not depend on any direct connection to ground and the conductive parts of the installation are connected to ground F 22 TT diagram F 23 IT diagram MAINS FILTER DIFFERENTIAL BREAKER ACSD ACSD MAINS FILTER DIFFERENTIAL BREAKER FACTORY LINE TRANSFORMER FACTORY LINE TRANSFORMER L1 L2 L3 L1 L2 L3 FACTORY LINE TRANSFORMER FACTORY LINE TRANSFORMER DIFFERENTIA...

Page 38: ... that an external ballast resistor has been connected Power connection Drive motor F 24 Ballast resistor connection diagram F 25 Motor drive power connection diagram L Re Ri 2 5 mm2 External Ballast L Re Ri ACSD Drive Internal Ballast ACSD Drive ACSD DRIVE MOTOR OUTPUT CONNECTOR located at the bottom of the module FAGOR cables MPC 4x1 5 2x1 MPC 4x2 5 2x1 W U V M 3 Holding brake option 24V Released...

Page 39: ...toring and control signals MOTOR POWER CABLE Nr of wires Motor Power Cable Ex MPC 4 x 0 5 Section of each wire mm2 Ex MPC 4 x 0 5 2x1 Nr of wires Section of each wire mm2 Nr of wires x section for the brake On motors without brake On motors with brake Enable signals Enable signals using 12 V voltage X1 SPEED DRIVE COMMON 1 12 V 12 V X2 2 3 3 4 5 X2 SPEED DRIVE COMMON 3 4 5 24 V 0 V Drive ok switch...

Page 40: ... At FKM servo motors I0 Incremental encoder 2500 ppt I0 Incremental encoder 2500 ppt E1 SinCoder encoder 1024 ppt E3 SinCos taper shaft encoder 1024 ppt A1 SinCos multi turn encoder 1024 ppt A3 SinCos multi turn encoder 1024 ppt F 28 Diagram of the IECD cable to connect the differential TTL encoder ref I0 INFORMATION Note that type I and II of the EEC SP extension cables shown next are the same ex...

Page 41: ...0 5 mm2 Shielded by pairs 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...

Page 42: ...SISTOR 0 OFF TERMINAL RESISTOR 1 ON TERMINAL RESISTOR 1 ON CAN BUS CONNECTOR CAN BUS CONNECTOR CAN BUS CONNECTOR ADDRESS 0 exclusively reserved to the master device Pin Signal Serigraphy Description Wire color 1 GNDa GND Not connected 2 CANL CL CAN L bus line Brown 3 SHIELD SH Overall shield 4 CANH CH CAN H bus line White 5 SHIELD SH Not connected White Brown 2 3 4 Cable 1x2x0 25 Signal Pin FAGOR ...

Page 43: ...CABLE 5M CAN CABLE LENGTH m 5M 10M 15M 20M 25M 30M 35M 40M 45M 50M 75M 100M 150M F 35 Sales reference of the CAN cable NOTE It is not possible to set parameters monitor variables of the system or adjust it through the RS 232 serial line F 36 RS 232 serial line connection diagram SUB D HD M26 EOC 12 OPEN STYLE CONNECTOR CAN CABLE xxxxxxxx xxxxxxxx 3 2 5 Pin Overall shield Metallic shield connected ...

Page 44: ...tion of KA3 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 NOTE When installing a transformer the secondary must have a star connection and its middle point must be connected to ground NOTE The use of fuses is a must F 37 Illustrative connection diagram of the electrical cabinet EMERG STOP DR X OK I1 PLC C...

Page 45: ...it turned OFF See figure of section CAN field bus connection NODE SELECT Node selector Rotary selector that together with the SPEED SELECT switch is used to determine the node number assigned to the drive in the CAN bus The node number must be selected before starting up the drive otherwise it will only be valid after restarting and resetting the drive again The protocol does not accept the 0 node...

Page 46: ...y The LED stops blinking and stays on and the drive stays in the non operative state indefinitely Now select the node number attending to the status SPEED SELECT selector and reset the unit to start it up properly How to select the node number The node number is set with the combination of the NODE SELECT NS switch and the SPEED SELECT SS switch accord ing to the following formula NOTE Do not forg...

Page 47: ...e SS switch must be in the ON position and the rotary selector NS in the 4 position which results from the formula the node value Node 4 16x1 20 The following diagrams shows the mentioned situations All of the possibilities for displaying and modifying parameters vari ables and commands can only be accessed from the master device and their availability depends on a particular access level Examples...

Page 48: ...p Drive without errors ON Running The bus is working with all its features and al lows enabling the unit Slow blinking 200 ms ON 200 ms OFF Pre running The bus is in the parameter setting stage asynchronous and does not allow to enable the drive Fast blinking 50 ms ON 50 ms OFF Error The drive is in an error state Double flash 50 ms ON OFF 1 s OFF Speed selection The drive has started up with the ...

Page 49: ...an be read and modified dynamically Command C that carries out a specific action Index Character identifying the parameter or the variable within the group to which it belongs Definition examples SP10 S group P Parameter Nr 10 CV11 C group V Variable Nr 11 GC1 G group C Commando Nr 1 Nr Function Group Letter 1 Control signals Terminal box B 2 Current control loop Current C 3 Error diagnosis Diagno...

Page 50: ...label to identify it as such next to its access level The RO label means that the variable is Read Only Note that all the parameters have the RW i e they can be read and written Example of a modifiable variable DV32 Fagor RW D Group V Variable Nr 32 Fagor Access level RW modifiable Parameter that cannot be modified with torque Any parameter that for any reason cannot be modified while the unit has...

Page 51: ...tion Function Limit of the current command that reaches the system s current loop Valid values 0 00 50 00 Arms CP20 must never exceed the smallest value given 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 and drive peak currents BV14 FAGOR RO S32972 NotProgrammableIOs Bit Nr Function 15 4 Reserved 3 Programmable i...

Page 52: ...otch filter that acts upon the current command Valid values 0 1000 Hz Default value 0 Function Display the value of the feedback of the current going through phase V Valid values 50 00 50 00 A instant values Function Display the value of the feedback of the current going through phase W Valid values 50 00 50 00 A instant values CP30 FAGOR RW S33076 CurrentCommandFilter1Type CP31 FAGOR RW S33080 Cu...

Page 53: ...the numbers of the last 5 errors originated at the drive Valid values All the numbers of the possible errors of the software version loaded Code 0 means no error Function This variable contains a numerical data coded into 16 binary bits and represents the system status as shown by the attached table Bits from the most to the least significant CV3 USER RO S33079 CurrentFeedback CV10 FAGOR RO S33073...

Page 54: ...e the action carried out by this command keeps the RAM memory intact and therefore the parameter settings of the unit Function Reset of the DV17 variable HistoricOfErrors array This command sets it to 0 12 Warning 11 OperationStatusChangeBit 10 WarningMainsLine 9 7 Reserved 6 ReferenceMarkerPulseRegistered 5 ChangeCommandsBit 4 1 Reserved 0 DriveStatusWordToggleBit DV32 FAGOR RW S00134 MasterContr...

Page 55: ...rake To make this time period infinite set it to 0 and to remove it set it to 1 Valid values 1 9999 ms 0 infinite Default value 50 ms Function When having a SinCos or SinCoder encoder it enables reading MP1 directly from the sensor and consequently loading certain drive parameter automatically If GP15 0 it does not check the format of MP1 Valid values 0 1 Disabled enabled by default Function It en...

Page 56: ...software Valid values 0 and 1 with 1 it resets the unit Function Version of the motor table Function List of the error numbers active in the unit Valid values 32 768 32 767 Function Command to execute the parameter transfer from RAM to E PROM Function Command that lets activate the Autophasing sequence Procedure to follow Connect the drive to the motor with the SinCos or SinCoder installed power a...

Page 57: ... default for a motor that has been previously selected with parameter MP1 H Hardware Function Software version installed in the unit s PLD s I Inputs Function Sets the polarity inverted or not inverted of the digital input pins 8 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 of connector X...

Page 58: ...tion of the i t at the drive in percentage used over the maximum Valid values 0 100 Function Variable internally useful to the system It measures the internal load level of the calculation of the i t at the motor in percentage used over the maximum Valid values 0 100 Function Shows the load percentage on the ballast resistor in a drive Useful for the i t protection of the resistor A value greater ...

Page 59: ...d values 0 00 10 00 N m Arms Default value 10 00 N m Arms Function Contains the motor rated current Manipulating MP3 may affect parameter CP20 directly See parameter CP20 Valid values 0 00 50 00 Arms Depends on the motor connected Default value 10 00 Arms Function Motor inertia Valid values 0 1 1 000 0 kg cm Default value It depends on the motor connected MP1 BASIC RW S00141 MotorType MP2 FAGOR RW...

Page 60: ...r shaft and the final axis moved by the machine For example if 5 turns of the motor shaft mean 3 turns of the machine leadscrew the value of these parameters is NP121 5 NP122 3 Valid values 1 65 535 turns Default value 1 turn in both parameters direct coupling Function It defines the gear ratio between the linear movement of the machine and the axis moving it For example if every turn of the leads...

Page 61: ...control It is similar to parameter ACFGAIN P26 of the axes of the 8055 55i CNC Valid values 0 0 120 0 Default value 0 0 The feed forward effect is not applied Function Counter of the motor feedback pulses in 24 8 format that helps the CNC control the position feedback Valid values 2 147 483 647 2 147 483 647 Function Zero coordinate latched captured and maintained by the drive Function Zero positi...

Page 62: ...RW S00001 ControlUnitCycleTime NOTE Any modification of this parameter becomes effective after RESETTING the unit QP11 FAGOR RW S34768 CanBusSpeed NOTE Any modification of this parameter becomes effec tive after RESETTING the unit 0 1 MBd 4 125 kBd 8 10 kBd 1 800 kBd 5 100 kBd others 1 MBd 2 500 kBd 6 50 kBd 3 250 kBd 7 20 kBd QP17 BASIC RW S34788 CanOpenBorder QP17 0 ACTIVATE the control with FAG...

Page 63: ...lation of the synchronism messages with respect to the internal time base clock of the drive in clock tick 25 ns Valid values 1 000 1 000 R Rotor sensor Function Compensation proportional gain mode of the amplitude of the sine cosine signal that goes from the motor feedback to the drive Entering 4 096 is the same as multiplying by 1 To assign a gain of 1 5 to the sine signal set RP1 to 6 144 4 096...

Page 64: ...e encoder shaft and the motor shaft The motors are factory set and the value of this variable is stored in the encoder memory Valid values 0 6 553 Function Command that could be used to store the content of MP1 and RV3 in the E PROM of the SinCos or SinCoder encoder S Speed Function Value of the proportional integral action of the velocity PI Valid values SP1 0 0 999 9 mArms rpm RP3 FAGOR RW S3427...

Page 65: ...ue of the velocity window around zero that will be considered to be zero speed Valid values 0 motor rated speed in rpm Default value 20 rpm Function This parameter is used to change the sign of the velocity command in specific applications It cannot be used to solve a positive feedback problem axis runaway Valid values 0 1 Not inverted inverted Default value 0 Not inverted SP10 BASIC RW S00091 Vel...

Page 66: ...is a power outage for the unit in the acceleration deceleration or constant power mode The drive will always issue an E 003 or E 307 error and will enter into a dynamic braking sequence without warning the CNC DV32 13 0 or sending the warning WarningMainsLine DV31 10 to the CNC two seconds before DV32 13 1 It stops with the emergency ramp until its speed is zero as long as the mechanical energy st...

Page 67: ...y command after the SP45 selector Valid values 6 000 0000 6 000 0000 rpm Function Velocity feedback Valid values 6 000 0000 6 000 0000 rpm Function Velocity command after applying limits ramps etc Valid values 6 000 0000 6 000 0000 rpm Function Final velocity command applied to the loop Valid values 6 000 0000 6 000 0000 rpm SP66 BASIC RW S34386 VelocityDecelerationTime SV1 BASIC RW S00036 Velocit...

Page 68: ...e speed equal to SP10 It is directly proportional to other positive reference speeds See the figure further below Valid values 0 0 by default 100 0 N m Function Dynamic friction compensation in the negative direction of the velocity It is the value of the compensation with the reference speed equal to SP10 It is directly proportional to other negative reference speeds It is set as an absolute valu...

Page 69: ...r modeling the behavior of friction Valid values 0 0 by default 2 000 0 ms TP14 USER RW S34676 TorqueCompensationTimeConstant NOTE With TP14 0 all the friction compensations are canceled TP14 TP10 2 TP14 3 TP14 0 TP11 Compensation torque Nm t ms 63 TP14 TP10 2 TP14 3 TP14 0 TP11 Compensation torque Nm 63 t ms Torque compensation when going from a positive speed value to a negative speed value Torq...

Page 70: ...e friction torque When compensating for friction the value of this variable must be reduced to near zero Valid values 1 000 0 1 000 0 N m TP15 USER RW S34677 TorqueCompensationSpeedHysteresis NOTE With TP15 0 the drive internally sets a fixed Hysteresis amplitude of about SP10 rpm 10 000 to compensate the friction torque Remember that SP10 is the maximum speed of the application therefore it will ...

Page 71: ...etermines when the motor is considered to be stopped SP42 Minimum 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 Solutions The load that must stop the motor is too large to stop it in the time frame set by GP3 and the value given to this parameter must be increased The threshold or v...

Page 72: ... 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 The motor speed has exceeded the value of SP10 in a 12 Bad cabling of the position sensor or of the motor power The velocity loop is adjusted wrong Decrease the speed overshoot in the system response E 201...

Page 73: ... alarm has been detected is The hardware of the drive module detects that the voltage at the power bus is too high When using an external Ballast it is not connected properly The Ballast resistor is burned Disconnect the power supply and check the proper connection of the Ballast circuit The mains voltage is too low Disconnect the power supply and check the proper condition of the lines E 214 Shor...

Page 74: ...ue of the QV30 variable The handshake bit included in the master s control word and in the drive s status word does not follow the indicated sequence Parameter incompatibility Example Let us assume a drive that controls a 4000 rpm motor with its parameters set e g speed limit SP10 4400 If now a 2000 rpm motor is connected the speed limit will be beyond the value allowed for this new motor The RAM ...

Page 75: ...ion The drive has not detected the rotor sensor Match the selected sensor with the feedback installed Contact Fagor Automation Communication error when using a SinCos or SinCoder encoder Incoherent U V W signals when using an incremental I0 encoder Contact Fagor Automation Contact Fagor Automation E 510 Incoherent combination of motor and feedback E 605 Excessive damping of the analog signals of t...

Page 76: ... RW 0 9999 500 ms 55 GP5 ParameterVersion Basic 33472 RO 55 GP9 DriveOffDelayTime Basic 00207 RW 0 9999 50 ms 55 GP15 AutomaticInitialization Fagor 33493 RW 0 1 1 55 GP16 MonoPhaseSelector Basic 33495 RW 0 1 0 55 GV2 ManufacturerVersion Basic 00030 RO 56 GV5 CodeChecksum Basic 33474 RO 56 GV7 Password Basic 00267 RW 0 9999 0 56 GV9 DriveType Basic 00140 RO 56 GV11 SoftReset Basic 33476 RW 0 16 0 5...

Page 77: ...RO 512 511 64 RV3 FeedbackRhoCorrection Fagor 34276 RO 0 65535 64 SP1 VelocityProportionalGain Basic 00100 RW 0 0 999 9 mA rpm 64 SP2 VelocityIntegralTime Basic 00101 RW 0 1 999 9 ms 64 SP10 VelocityLimit Basic 00091 RW 0 9999 1000 rpm 65 SP42 StandStillWindow User 00124 RW 0 9999 20 rpm 65 SP43 VelocityPolarityParameters Basic 00043 RW 0 1 0 65 SP50 VelocityFeedbackFilterFrequency Basic 34782 RW ...

Page 78: ...ACSD 78 80 Digital Brushless AC Servo Drive system Ref 1609 User notes ...

Page 79: ...Digital Brushless AC Servo Drive system Ref 1609 ACSD 79 80 User notes ...

Page 80: ...AC Servo Drive system Ref 1609 Fagor Automation S Coop B º San Andrés 19 Apdo 144 E 20500 Arrasate Mondragón Gipuzkoa Spain Tel 34 943 719 200 34 943 039 800 Fax 34 943 791 712 E mail info fagorautomation es www fagorautomation com ...

Page 81: ...OPTION 0 Without brake VENTILATION A 400 V AC 1 With standard fan 1 With standard brake 24 V DC 1 Keyless shaft 9 With special fan SPECIAL CONFIGURATION X 01 ZZ SPECIFICATION 8 NEMA Standard USA 9 Special I0 Incremental encoder 2500 ppt A1 Absolute multi turn SinCos encoder 1024 ppt E1 SinCoder encoder 1024 ppt Only when it has a special configuration X 0 Standard 1 Electro ventilated 8 Low inerti...

Page 82: ...CURRENT f Drive rated current time KV36 f MP3 E 201 TV2 MP 3 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 Power Supply Function E 003 Power Supp...

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