Fagor BCSD Series User Manual Download

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SYSTEM

BCSD

User manual

Ref. 1809

Summary of Contents for BCSD Series

Page 1: ...SYSTEM BCSD User manual Ref 1809...

Page 2: ...ot guarantee the validity of those applications Therefore except under the express permission from Fagor Automation any CNC application that is not described in the documentation must be considered as...

Page 3: ...FAGOR AUTOMATION S COOP Brushless AC Servo Drives BCSD series Ref 1809...

Page 4: ...Communication protocols Ratings and characteristics Intended Audience Those designing BCSD series servodrive systems Those installing or wiring BCSD series servodrives Those performing trial operation...

Page 5: ...tion vibration and shock Perform noise reduction and grounding properly Please comply with the following instructions strictly to avoid the noisy generated by signal lines 1 Separate high voltage cabl...

Page 6: ...10ADB 2 Change BSC CS XX and BSC CA XX cables to BSC CS XX 01 and BSC CA XX 01 2015 03 1 Dimension of FBS and FBM motors 2015 06 1 All motors use absolute encoder 2 Add alarm A25 A26 A27 2016 01 1 Rem...

Page 7: ...uit Wiring Examples 37 3 2 I O Signals 39 3 2 1 Example of I O Signal Connections 39 3 2 2 I O Signal Names and Functions 40 3 2 3 I O Signal Connector CN1 Terminal Layout 41 3 2 4 Interface Circuit 4...

Page 8: ...11 78 5 Panel Operator 79 5 1 Basic Operation 79 5 1 1 Functions on Panel Operator 79 5 1 2 Resetting Servo Alarms 79 5 1 3 Basic Mode Selection 80 5 1 4 Status Display Mode 80 5 1 5 Operation in Para...

Page 9: ...ts Check Items Comments Are the delivered products the ones that were ordered Check the model numbers marked on the nameplate on the servomotor and servodrive Is there any damage Check the overall app...

Page 10: ...Model 4 Encoder 7 Option Code Model Code Encoder Code Option FBS Small type D Absolute encoder 131072P R 2 Without brake 4 With brake DC 24 V 2 Rated Output 5 Designing Sequence Code Rated Output Cod...

Page 11: ...7 16 9 55 Rated current Arms 4 0 5 3 Instantaneous Max current Arms 12 0 15 9 Rated speed r min 3000 Max speed r min 4500 Rotor moment of inertia x10 4 Kg m2 1 35 1 47 1 74 1 87 Brake rated voltage D...

Page 12: ...Drive system Ref 1809 Dimension of FBS motors Unit mm Model FBS L LL Flange Side S Tap x Depth Key LR LE LF LC LA LB LZ QK QL W T U 08ADB 2 186 151 35 3 9 80 90 70 7 19 M6x15L 22 4 6 6 3 5 08ADB 4 22...

Page 13: ...connector specification Pin No Signal Color 1 U Red 2 V Blue 3 W White 4 FG Green yellow Encoder connector specification Pin No Signal Color 1 S Blue 2 S Blue Black 3 BAT Brown 4 BAT Brown Black 5 PG5...

Page 14: ...uence 50 5 0 kW A Designing sequence A B Designing sequence B Servo Motor Model FBM 10DDB FBM 15DDB FBM 20DDB FBM 30DDA FBM 50DDA Rated Output Power kW 1 0 1 5 2 0 3 0 5 0 Rated Torque N m 4 78 7 16 9...

Page 15: ...Digital Brushless AC Servo Drive system Ref 1809 BCSD 15 116 Torque Speed Feature of FBM motors FBM 10D FBM 15D FBM 20D FBM 30D FBM 50D A Continuous Working Area B Repeatedly Working Area...

Page 16: ...L1 KL2 10 DDB 203 245 5 148 190 5 80 103 2 131 5 174 117 60 5 15 DDB 225 267 5 170 212 5 102 125 2 153 5 196 117 60 5 20 DDB 247 289 5 192 234 5 124 147 2 175 5 218 117 60 5 Model FBM Dimension S Tap...

Page 17: ...pecification of FBM 10 15 20DDB motors Motor connector specification Pin No Signal A B U C FG D FG E F W G B1 There are no B1 B2 signals in motor without brake H B2 I V Encoder connector specification...

Page 18: ...servo motors with holding brakes Model FBM L LL KB1 KB2 KL1 KL2 30 DDA 307 378 228 299 143 203 274 140 79 50 DDA 357 428 278 349 183 253 324 140 79 Model FBM Flange Side S Tap x Depth Key LR LE LF LC...

Page 19: ...n of FBM 30 50DDA motors Motor connector specification Pin No Signal A U B V C W D FG Encoder connector specification Pin No Signal Color K S Blue L S Blue Black T BAT Brown S BAT Brown Black H PG5V R...

Page 20: ...ushless AC Servo Drive system Ref 1809 1 1 3 FBS FBM motor appearance and part name Appearance and Nameplate Part names of servo motor Servomotor model Ratings Serial number Mounting hole Output shaft...

Page 21: ...2 3 4 5 6 1 Model 3 Voltage Code Model Code Voltage BCSD BCSD A 220 V AC Only valid for BCSD 08 10AMA D 400 V AC Only valid for BCSD 10 15 20 30 50DMA 2 Rated Output 4 Control Mode Code Rated Output C...

Page 22: ...22 116 Digital Brushless AC Servo Drive system Ref 1809 Appearance Nameplate BCSD 08A 10A BCSD 10D 15D 20D BCSD 30D 50D Servodrive model Applicable power supply Applicable servomotor capacity Serial n...

Page 23: ...Control power supply terminals Used for control power supply input Regenerative resistor connecting terminals Used to connect external regenerative resistors Servomotor terminals Connects to the servo...

Page 24: ...r Control power supply terminals Used for control power supply input Regenerative resistor connecting terminals Used to connect external regenerative resistors Servomotor terminals Connects to the ser...

Page 25: ...Control power supply terminals Used for control power supply input Regenerative resistor connecting terminals Used to connect external regenerative resistors Servomotor terminals Connects to the servo...

Page 26: ...thod SVPWM Control Feedback Serial Absolute Encoder 131072P R Operating Conditions Ambient Storage Temperature Ambient temperature 20 55 C Storage temperature 25 55 C Ambient Storage Humidity 5 95 RH...

Page 27: ...rd current limit P CL reverse current limit N CL Digital Output Number 4 Function Signal allocations and positive negative logic modifications Positioning completion COIN speed coincidence V CMP servo...

Page 28: ...BCSD 28 116 Digital Brushless AC Servo Drive system Ref 1809 1 2 3 BCSD drive Dimensional Drawings BCSD 08A 10A unit mm BCSD 10D 15D 20D unit mm...

Page 29: ...Digital Brushless AC Servo Drive system Ref 1809 BCSD 29 116 BCSD 30D 50D unit mm...

Page 30: ...0D FBM 50D MPC FBM 12 XX Servomotor Servodrive Power cable Power connector Encoder cable FBS 08ADB BCSD 08AMA 01 MPC FBS 18 XX MC FBS 08 10 EEC FBS A XX FBS 10ADB BCSD 10AMA 01 MPC FBS 18 XX MC FBS 08...

Page 31: ...ble between CNC drive and SCD drive XX 5 10 15 m BSC CA XX 02 CAN Cable between CNC drive and BCSD drive XX 5 10 15 m BSC SA CAN Cable between SCD drive and BCSD drive 300 mm BSC AA CAN Cable between...

Page 32: ...n 20 C and 60 C with the power cable disconnected 2 1 2 Installation Sites The servomotor is designed for indoor use Install the servomotor in an environment which meets the following conditions Free...

Page 33: ...rbidden otherwise it may result in damage to the encoder of the servomotor 2 1 4 Installation Orientation Servomotor can be installed either horizontally or vertically 2 1 5 Handling Oil and Water If...

Page 34: ...Situation Notes on installation When installed in a control panel Design the control panel size unit layout and cooling method so that the temperature around the periphery of the servodrive does not...

Page 35: ...cooling by natural convection or fans Installing side by side When installing servodrives side by side provide at least 10 mm space between them and at least 50 mm space above and below them as shown...

Page 36: ...Circuit Voltage V Drive type BCSD Functions L1 L2 L3 Main circuit power supply input terminal 220 08A 10A Three phase 200 230 V AC 10 15 50 60 Hz 400 10D 50D Three phase 380 480 V AC 10 15 50 60 Hz U...

Page 37: ...Digital Brushless AC Servo Drive system Ref 1809 BCSD 37 116 3 1 2 Typical Main Circuit Wiring Examples Three phase 220V BCSD 08A 10A...

Page 38: ...BCSD 38 116 Digital Brushless AC Servo Drive system Ref 1809 Three phase 400V BCSD 10D 50D...

Page 39: ...Digital Brushless AC Servo Drive system Ref 1809 BCSD 39 116 3 2 I O Signals 3 2 1 Example of I O Signal Connections...

Page 40: ...de the 24 V DC power supply VREF 1 Speed reference input 10 V VREF 2 Control Mode Signal Name Pin No Function Speed ALM 7 Servo alarm Turns off when an error is detected ALM 8 S RDY 9 Servo ready ON i...

Page 41: ...6 TGON 31 PULS 7 ALM Servo alarm 32 SIGN Reference sign input 8 ALM 33 SIGN 9 S RDY Servo ready 34 PPI Open collector reference power supply 10 S RDY 35 Reserved 11 COIN Positioning completion 36 Res...

Page 42: ...rcuit The amount of two phase phase A and phase B pulse output signals PAO PAO PBO PBO and zero point pulse signals PCO PCO are output via line driver output circuits Normally the servodrive uses this...

Page 43: ...or the connector wiring differ depending on the servomotors 3 3 2 Encoder Connector CN2 Terminal Layout 17 Bit Absolute Encoder Terminal No Name Function Terminal No Name Function 7 PS PG serial signa...

Page 44: ...Terminal No Name Function 1 Reserved 2 3 485 RS 485 communication terminal 4 ISO_GND Isolated ground 5 ISO_GND 6 485 RS 485 communication terminal 7 CANH CAN communication terminal 8 CANL CAN communi...

Page 45: ...Drive system Ref 1809 BCSD 45 116 3 5 Wiring Examples 3 5 1 CAN Control Mode Note The following wiring is for BCSD 10AMA as an example the control voltage is 220 V AC For BCSD 10D 15D 20D 30D 50D the...

Page 46: ...motor wiring Encoder wiring Rotation direction and speed of servomotor Please refer to step 1 4 2 Trial operation for servomotor with host reference Refer to 4 1 2 Purpose The servomotor is operated w...

Page 47: ...ct input signals Connect the input signals CN1 necessary for trial operation to the servodrive 6 Check input signals Use the internal monitor function to check the input signals Turn the power ON and...

Page 48: ...g operation Do not connect the servomotor shaft to the machine The servomotor may tip over during rotation 2 Check the power supply circuit servomotor and encoder wiring With the I O signal connector...

Page 49: ...ation method of the panel operator refer to Chapter 5 Panel Operator The servomotor speed can be changed using the Pn305 JOG Speed The factory setting for JOG speed is 500rpm Step Display after operat...

Page 50: ...eference or I O signals are correctly set from the host controller to the servodrive Also check the wiring and polarity between the host controller and servodrive and the servodrive operation setting...

Page 51: ...V rated rotation speed 4 Checkthespeedreferenceinputtothe servodrive Un001 rpm Refer to 5 1 6 Operation in Monitor Mode 5 Check the Un000 motor speed rpm Refer to 5 1 6 Operation in Monitor Mode 6 Che...

Page 52: ...ffset to keep the servomotor from moving 11 Send the command for the number of servomotor rotation easy to check for example one servomotor revolution from the host controller in advance and check the...

Page 53: ...ng for Holding Brakes 2 Set the necessary parameters for control mode used Refer to 4 4 Operating Using Speed Control with Analog Reference for control mode used 3 Connect the servomotor to the machin...

Page 54: ...ervomotor separated from the machine If both operations are correct connect the servomotor with the machine and perform trial operation Refer to 4 3 4 Setting for Holding Brakes for wiring on a servom...

Page 55: ...bed below Parameter Control Mode Reference section Pn005 H 0 Speed Control Can bus or Analog voltage reference Controls servomotor speed using analog voltage speed reference Use in the following insta...

Page 56: ...operated OFF high level Servomotor power OFF Servomotor cannot be operated Important Always input the servo ON signal before inputting the input reference to start or stop the servomotor Do not input...

Page 57: ...output signal polarity such as encoder pulse output and analog monitor signal from the servodrive does not change The standard setting for forward rotation is counterclockwise as viewed from the servo...

Page 58: ...high level Forward rotation prohibited Forward overtravel Input N OT CN1 17 factory setting ON low level Reverse rotation Normal operation status OFF high level Reverse rotation prohibited Reverse ove...

Page 59: ...places it into coast power OFF mode H 2 S OFF Overtravel Stops the servomotor by dynamic braking DB when servo OFF stops the servomotor by plug braking when overtravel and then places it into coast po...

Page 60: ...n for Servomotor with Brakes 1 The brake built into the servomotor with brakes is a deenergization brake which is used to hold and cannot be used for braking Use the holding brake only to hold a stopp...

Page 61: ...11 It does not need to be connected for servomotor without a brake Parameter Connector Pin Number Meaning Terminal Terminal Pn511 H 4 CN1 11 CN1 12 The BKsignalisoutputfromoutputterminalCN1 11 12 Pn51...

Page 62: ...ion 2000 2000 ms 0 Immediately Pn506 Basic waiting flow Setting Range Setting Unit Factory Setting Setting Validation 0 500 10 ms 0 Immediately When using the servomotor to control a vertical axis the...

Page 63: ...ing Unit Factory Setting Setting Validation 10 100 1 rpm 100 Immediately Pn508 Brake Waiting Time Speed Setting Range Setting Unit Factory Setting Setting Validation 10 100 10 ms 50 Immediately BK Sig...

Page 64: ...0 Control mode selection Speed control analog reference factory setting Pn300 Speed Reference Input Gain Speed Setting Range Setting Unit Factory Setting Setting Validation 0 3000 rpm v 150 Immediate...

Page 65: ...erences Pn306 Soft Start Acceleration Time Speed Setting Range Setting Unit Factory Setting Setting Validation 0 10000 1 ms 0 Immediately Pn307 Soft Start Deceleration Time Speed Setting Range Setting...

Page 66: ...etting Range Setting Unit Factory Setting Setting Validation 0 10000 1 ms 0 Immediately This smoothens the speed reference by applying a 1st order delay filter to the analog speed reference V REF inpu...

Page 67: ...o the pulse density Pn200 based on the pulse data of the encoder installed on the servomotor and outputs it The setting unit is the number of pulses revolution Type Signal Name Connector Pin Number Na...

Page 68: ...of pulses for PG output signals PAO PAO PBO PBO externally from the servodrive Feedback pulses from the encoder per revolution are divided inside the servodrive by the number set in Pn200 before bein...

Page 69: ...ON position to reset alarm status Normally the external circuit can switch off power supply of servo drive when alarm occurs When servo drive is re switched on it removes alarm automatically so normal...

Page 70: ...n Number Setting Meaning Output S RDY CN1 9 CN1 10 factory setting ON low level Servo is ready OFF high level Servo is not ready This signal indicates that the servodrive received the servo ON signal...

Page 71: ...uning may not be effective in the following cases The motor high speed is lower than 100 rpm The motor acceleration or deceleration is lower than 5000 rpm s Load rigidity is low and mechanical vibrati...

Page 72: ...6 2 Online Autotuning Procedure WARNING Do not perform extreme adjustment or setting changes causing unstable servo operation Failure to observe this warning may result in injury and damages to the ma...

Page 73: ...nvalidation Pn100 Online autotuning setting 0 Manual gain adjustment 1 2 3 Normal mode 4 5 6 Vertical load 1 4 Load inertia without variation 2 5 Load inertia with little variation 3 6 Load inertia wi...

Page 74: ...767 is exceeded in the forward direction the multiturn data is 32768 When the lower limit 32768 is exceeded in the reverse direction the multiturn data is 32767 Parameter Meaning Pn002 b 0 Use the abs...

Page 75: ...ta when the power is turned OFF the data must be backedup by a battery Please purchase the special cable and battery case made by Fagor if an absolute encoder is used 1 Install the battery to the serv...

Page 76: ...drops below about 3 1 V If an absolute encoder battery alarm A 47 occurred it represents that the battery voltage drops below about 2 5 V and the multiturn data is lost Please reset the absolute enco...

Page 77: ...nual Parameter No Name Unit Setting Range Factory Setting Setting Invalidation Pn206 Constant Positive Torque Compensation 0 1 of rated torque 1000 1000 0 Immediately Pn207 Constant Negative Torque Co...

Page 78: ...2 at the point A B C D For horizontal axis Pn206 7 X TV2 A Pn207 7 X TV2 C For vertical axis Pn206 10 X TV2 A TV2 C 2 7 X TV2 A TV2 C 2 Pn207 10 X TV2 A TV2 C 2 7 X TV2 A TV2 C 2 For horizontal and ve...

Page 79: ...ervo Alarms Servo alarms can be reset by pressing the ENTER key when the panel operator in display mode Servo alarms can also be reset the CN1 39 ALM RST input signal There is no need to clear the ser...

Page 80: ...ode in the sequence is selected Select a basic mode to display the operation status set parameters and operation references The basic mode is selected in the following order 5 1 4 Status Display Mode...

Page 81: ...lit if input speed reference is below preset value Preset value Pn503 factory setting is 20 rpm 5 Torque reference input Lit if input torque reference exceeds preset value Not lit if input torque ref...

Page 82: ...elect parameter number 3 Press ENTER key to display the current data of Pn102 4 PresstheINCorDECkeytochangethedatatothedesirednumber00085 Holdthekeytoaccelerate the changing of value When the maximum...

Page 83: ...he monitor number to display 3 Press the ENTER key to display the data for the monitor number selected at step 2 4 Press the ENTER key once more to return to the monitor number display Monitor Number...

Page 84: ...4 1 PCON CN1 15 2 P OT CN1 16 3 N OT CN1 17 4 ALM RST CN1 39 5 CLR CN1 40 6 PCL CN1 41 7 NCL CN1 42 Monitor Number Display LED Number Content Un006 0 Not used 1 Not used 2 Not used 3 Phase C 4 Phase B...

Page 85: ...n Fn000 Alarm traceback data display Fn001 Parameter setting initialization Fn002 JOG mode operation Fn003 Automatic adjustment of speed reference offset Fn004 Manual adjustment of speed reference off...

Page 86: ...to execute the parameter settings initialization 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the function number of alarm trace back data display 3 P...

Page 87: ...Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the function number of JOG mode operation 3 Press the ENTER key to enter into JOG operation mode 4 Press the...

Page 88: ...d in the servodrive The amount of offset can be checked in the speed reference offset manual adjustment mode Fn004 Refer to 5 2 5 Manual Adjustment of the Speed Reference Offset The automatic adjustme...

Page 89: ...ustment mode of the speed torque reference offset This mode operates in the same way as the automatic adjustment mode except that the amount of offset is directly input during the adjustment The offse...

Page 90: ...anual adjustment is executed carelessly it may worsen the characteristics Automatic Offset adjustment of Servomotor Current Detection Signal Adjust the servomotor current detection signal automaticall...

Page 91: ...n signal is completed 1 Press the MODE key to select the utility function mode 2 Press the INC or DEC key to select the utility function number Fn006 3 Press the ENTER key to enter into the manual adj...

Page 92: ...ftware version the highest bit displays d or E or F or 0 4 Press the MODE key to display the FGPA CPLD software version the highest bit displays P 5 Press the MODE key to return to DSP software versio...

Page 93: ...e utility function mode 2 Press the INC or DEC key to select the utility function number Fn010 3 Press the ENTER key the display will be shown as below 4 Press the MODE key to reset the absolute encod...

Page 94: ...r No Description Setting Validation Control Mode Meaning Pn703 CAN communication speed After restart ALL Pn703 0 CAN communication baud rate 0 3 Reserved 4 500Kbps only when the CAN cable length is mo...

Page 95: ...out of the box Main Functions Parameter editing and help displays appropriate for each parameter Display and release of generated alarms help displays appropriate to the cause and resolution method Di...

Page 96: ...rved Pn002 1 Reserved Pn002 2 Absolute encoder selection Pn002 3 Reserved 0 0111 0010 After restart Pn003 Binary Pn003 0 Reserved Pn003 1 Reserved Pn003 2 Low speed compensation Pn003 3 Overload enhan...

Page 97: ...n108 2nd speed loop integral time constant 0 1 ms 0 4096 200 Immediately Pn109 Reserved Pn110 2nd torque reference filter time constant 0 1 ms 0 250 4 Immediately Pn111 Reserved Pn112 Reserved Pn113 R...

Page 98: ...ation After restart Pn149 Power delay function for brake ms 0 After restart Pn200 PG divided ratio Pulse 16 16384 16384 After restart Pn201 Reserved Pn202 Reserved Pn203 Reserved Pn204 Reserved Pn205...

Page 99: ...y Pn411 Low frequency jitter frequency 0 1 Hz 50 500 100 Immediately Pn412 Low frequency jitter damp 0 200 25 Immediately Pn500 Reserved Pn501 Coincidence difference rpm 0 100 10 Immediately Pn502 Zer...

Page 100: ...ally regenerative resistor relay on internal capacitance 0 1 1 Immediately Pn522 Reserved Pn523 Reserved Pn700 Hex Pn700 0 MODBUS communication baud rate Pn700 1 MODBUS protocol selection Pn700 2 Comm...

Page 101: ...rs of servo gain Pn100 Pn129 Speed gain rigidity etc Friction compensation parameters Pn200 Pn211 PG divided ratio friction compensation etc Speed control related parameters Pn300 Pn311 Speed referenc...

Page 102: ...for one period with no alarm output 1 Instantaneous power loss for one period without alarm output Pn001 Binary After restart Pn001 0 CCW CW selection 0 Sets CCW as forward direction 1 Sets CW as forw...

Page 103: ...3 Servomotor model selection 0 FBS 1 FBM Pn006 Hex After restart Pn006 0 Bus type selection 0 No bus 3 CAN Pn006 1 Reserved Pn006 2 Low frequency vibration suppression switch 0 Low frequency vibratio...

Page 104: ...tion Unit 0 1 ms Pn106 Load inertia percentage Immediately Setting value load inertia motor rotor inertia 100 Unit Pn107 2nd speed loop gain Immediately The meanings of these parameters are the same a...

Page 105: ...6 Hysteresis switching Immediately Thisparameterisusedto set the operation hysteresisofgain switching Pn127 Low speed detection filter Immediately This parameter is used to filter in low speed detecti...

Page 106: ...Dynamic Negative Torque Compensation Immediately Compensation of the dynamic friction in the negative direction of the velocity It is the value of the compensation with the reference speed equal to ra...

Page 107: ...frequency 1 Insomeconditions vibration will be picked up and response will be lagged after notch filter is set 2 When notch filter frequency issetto5000 thenotchfilter is invalid Pn408 Notch filter 1...

Page 108: ...r But it can be eliminated by using parameters which are only enabled when the servomotor is stop or at low speed L Brake waiting speed BKsignalisoutputwhentheservomotorspeedisdecreased to the below o...

Page 109: ...enabled Immediately Pn514 Input port filter Immediately It is used to set input port filter time The signal will be lagged if the parameter setting is too high Pn515 Reserved Pn516 Input port signal i...

Page 110: ...DBUS SCI communication Pn700 3 Reserved Pn701 MODBUS Axis address After restart Axis address of MODBUS protocol communication Pn702 Reserved Pn703 CAN communication speed After restart Pn703 0 CAN com...

Page 111: ...ld drive in order to keep original axis response Pn008 0 should be set with 0 Drive Motor Pn840 Pn008 0 Pn146 Pn147 Pn148 BCSD 08AMA 01 FBS 08ADB 0X0203 1 0 or 4 128 6000 800 BCSD 10AMA 01 FBS 10ADB 0...

Page 112: ...reak off At least one of Incremental Encoder PA PB PC is break off A 12 X Overcurrent An overcurrent flowed through the IPM A 13 X Overvoltage Main circuit voltage for servomotor rotation is excessive...

Page 113: ...error Encoder signal is disturbed or the encoder decoding circuit is faulty A 55 X Serialencodercommunication data checking error Encoder signal is disturbed or the encoder decoding circuit is faulty...

Page 114: ...BCSD 114 116 Digital Brushless AC Servo Drive system Ref 1809...

Page 115: ...Digital Brushless AC Servo Drive system Ref 1809 BCSD 115 116 User notes...

Page 116: ...BCSD 116 116 Digital Brushless AC Servo Drive system Ref 1809 User notes...

Page 117: ......

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