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Remote modules.  

CNC 8060
CNC 8065

7.

RCS-S-4F4

AO (SERCOS-II 

PROTOCOL).

Error codes and

 messa

ges on the Sercos co

unter.

·154·

(R

EF

: 1906)

 

E136 Broken wire, AL signal of E21A feedback.
E236 Broken wire, AL signal of E21B feedback.
E336 Broken wire, AL signal of E21C feedback.
E436 Broken wire, AL signal of E21D feedback.

For differential TTL feedback. The AL and/or /AL signal wire may be broken or disconnected. Check
the connection. Check the level of the signals provided by the feedback device.

E137 Received alarm signal at E21A feedback.
E237 Received alarm signal at E21B feedback.
E337 Received alarm signal at E21C feedback.
E437 Received alarm signal at E21D feedback.

The encoder has generated a signal alarm due to its poor performance. Check the encoder
documentation to determine the source of (reason for) the alarm. It could also be a false positive due
to poor connection. 

E138 Amplitude alarm at E21A feedback.
E238 Amplitude alarm at E21B feedback.
E338 Amplitude alarm at E21C feedback.
E438 Amplitude alarm at E21D feedback.

Excessive weakening or saturation of the A and/or B signals. There may be a problem with the wiring,
the feedback device or the feedback of the Sercos counter. Check the condition (shape) of the cable,
of the connection or of the feedback device. If the problem persists, contact Fagor Automation.

E140 Feedback frequency too high at E21A feedback.
E240 Feedback frequency too high at E21B feedback.
E340 Feedback frequency too high at E21C feedback.
E440 Feedback frequency too high at E21D feedback.

The axis moving speed exceeds the sampling capability of the Sercos counter hardware for this type
of encoder signal. Decrease the maximum axis moving speed.

E141 Wrong distance between I0s, E21A feedback.
E241 Wrong distance between I0s, E21B feedback.
E341 Wrong distance between I0s, E21C feedback.
E441 Wrong distance between I0s, E21D feedback.

Resettable error. Error indicating the lack of repeatability of the reference mark signal at each revolution
of the feedback device. Some pulses are being lost and/or the measurement provided by the feedback
device is wrong. Check that the connection and the wiring are correct. Check that the number of pulses
allowed as error margin is not too low. Check that the value of CNC parameter REFPULSE is correct.
If the error continues to repeat, the feedback device may be damaged; contact Fagor Automation.

E142 Over-current or short-circuit at E21Afeedback.
E242 Over-current or short-circuit at E21B feedback.
E342 Over-current or short-circuit at E21C feedback.
E442 Over-current or short-circuit at E21D feedback.

Either a short-circuit has occurred or the feedback device is over-supplied.
Check cables and connections.

E143 Communication error at E21A feedback. Wrong CRC.
E243 Communication error at E21B feedback. Wrong CRC.
E343 Communication error at E21C feedback. Wrong CRC.
E443 Communication error at E21D feedback. Wrong CRC.

Error reading absolute position value; wrong CRC.
Check the cable and connection with the encoder. Check that the parameters of the feedback device
have been set correctly. If the problem persists, contact Fagor Automation.

E144 Communication error at E21A feedback. Acknowledge not received.
E244 Communication error at E21B feedback. Acknowledge not received.
E344 Communication error at E21C feedback. Acknowledge not received.
E443 Communication error at E21D feedback. Acknowledge not received.

Error reading absolute position value; acknowledge not received.
Check the cable and connection of the feedback device. The error could be due to a problem at the
feedback device. If the problem persists, contact Fagor Automation.

Содержание 8025 M CNC

Страница 1: ...Ref 1906 8060 8065 CNC Remote modules...

Страница 2: ...to the user to keep the unit virus free in order to guarantee its proper operation Computer viruses at the CNC may cause it to malfunction FAGOR AUTOMATION shall not be held responsible for any perso...

Страница 3: ...CHAPTER 4 RIO5 REMOTE MODULES CANOPEN PROTOCOL 4 1 Dimensions and mounting of the modules 57 4 2 Power supply 58 4 2 1 Elements connectors 60 4 3 Digital inputs and digital outputs single module 64 4...

Страница 4: ...ns 132 7 5 3 Ground connection 132 7 6 Hardware functionality Connectors 133 7 6 1 Pinout and connector characteristics front 134 7 6 2 Pinout and connector characteristics lower end 137 7 6 3 Technic...

Страница 5: ...els 1 to 3 Type of servo system Analog Sercos Digital Communications RS485 RS422 RS232 Ethernet Integrated PLC PLC execution time Digital inputs Digital outputs Marks Registers Timers Counters Symbols...

Страница 6: ...e editor Allows for the part profiles to be edited graphically and to import dxf files SOFT 60 F3D GRAPHICS F3D graphics High definition solid 3D graphics for the execution and simulation of part prog...

Страница 7: ...his language allows for program functions to define lines and circles which define the points of intersection on a profile in addition to macros for the creation of solids defined by a flat profile an...

Страница 8: ...BLANK PAGE 8...

Страница 9: ...sic Pack 1 Basic Pack 1 Number of execution channels 1 1 to 2 1 to 2 1 to 4 Number of axes 3 to 5 5 to 7 5 to 12 8 to 28 Number of spindles 2 2 3 to 4 3 to 4 Maximum number of axes and spindles 7 9 16...

Страница 10: ...tion with the remote modules CANopen CANopen CANfagor CANopen Sercos Digital inputs per module 8 24 48 16 48 Digital outputs per module 8 16 32 16 32 Analog inputs per module 4 4 8 Analog outputs per...

Страница 11: ...installing other kinds of applications that could slow the system down and affect the machining operations SOFT DIGITAL SERCOS Sercos digital bus Sercos digital bus SOFT EDIT SIMUL EDISIMU mode editi...

Страница 12: ...day to day machine work SOFT HSSA II MACHINING SYSTEM HSSA II machining system This is the new version of algorithms for high speed machining HSC This new HSSA algorithm allows for high speed machini...

Страница 13: ...perations SOFT FFC Fagor Feed Control During the execution of a canned cycle of the editor the FFC function makes it possible to replace the feedrate and speed programmed in the cycle with the active...

Страница 14: ...BLANK PAGE 14...

Страница 15: ...rmity for the CNC is available in the downloads section of FAGOR S corporate website http www fagorautomation com Type of file Declaration of conformity WARRANTY TERMS The warranty conditions for the...

Страница 16: ...BLANK PAGE 16...

Страница 17: ...1408 Ref 1412 Ref 1505 Ref 1603 Ref 1709 Ref 1906 First version Corrected errors RIOR remote module Switch 1 of dipswitch S42 no longer has a function the CNC updates the software of the module RIOW...

Страница 18: ...BLANK PAGE 18...

Страница 19: ...1312 Ref 1405 Ref 1412 Ref 1505 Ref 1512 Ref 1603 Ref 1709 Ref 1906 First version Remote module RCS S Connector H53 Corrected errors RIOW remote modules Module RIOW CANOPEN ECO DISCONTINUED Corrected...

Страница 20: ...BLANK PAGE 20...

Страница 21: ...t handle the connectors with the unit connected to AC power Before handling these connectors I O feedback etc make sure that the unit is not powered Interconnection of modules Use the connection cable...

Страница 22: ...relay coils contactors motors etc uncoupled Use the proper power supply Use an external regulated 24 Vdc power supply for the keyboard operator panel and the remote modules Connecting the power suppl...

Страница 23: ...065 23 REF 1906 Symbols that the product may carry Ground symbol This symbol indicates that that point must be under voltage ESD components This symbol identifies the cards as ESD components sensitive...

Страница 24: ...BLANK PAGE 24...

Страница 25: ...0 Kg 375 lb 2 Attach a label to the device indicating the owner of the device along with contact information address telephone number email name of the person to contact type of device serial number e...

Страница 26: ...BLANK PAGE 26...

Страница 27: ...h pressure to clean the unit because it could cause the accumulation of electrostatic charges that could result in electrostatic shocks The plastics used on the front panel are resistant to grease and...

Страница 28: ...BLANK PAGE 28...

Страница 29: ...with the directives and regulations effective in the European Community Before start up verify that the machine that integrates this CNC meets the 89 392 CEE directive Safety conditions In order to av...

Страница 30: ...Remote modules CNC 8060 CNC 8065 1 PREVIOUS INFORMATION 30 REF 1906...

Страница 31: ...fagor protocol Digital inputs and outputs General purpose analog inputs and outputs Feedback inputs The RIO70 series remote modules are not available for the 8060 CNC RIOR modules CANopen protocol Dig...

Страница 32: ...Remote modules CNC 8060 CNC 8065 2 HARDWARE STRUCTURE 32 REF 1906...

Страница 33: ...CAN bus that can have up to 32 nodes including the central unit and the keyboards The following elements may be available with RIO70 series modules Fagor remote modules RIO70 series available for CAN...

Страница 34: ...bus Feedback inputs Each module has 4 feedback inputs Digital inputs Half size Each module has 16 digital inputs Digital outputs Half size Each module has 16 digital outputs Analog inputs Half size Ea...

Страница 35: ...e modules besides maintaining the right gap between the profiles The mounting order to be followed from left to right is Power Supply Counters Analog outputs Half size Analog inputs Half size Digital...

Страница 36: ...6 REF 1906 Each group is connected to the system CPU Keyboard etc through the CAN bus as described later on DO NOT make any connection or connect any module to the power supply while the latter is tur...

Страница 37: ...n of the CPU CAN must only be added once The total consumption of the group must not exceed the following maximums If any of them is exceeded double the group Use two power supplies and distribute the...

Страница 38: ...L SHIELD SHIELD CAN H X3 GND CAN L SHIELD SHIELD CAN H X2 POWER SUPPLY 4 0 1 F E D C B A 9 8 7 6 5 3 2 ADD MSB LINE TERM 1 0 1 2 ADDRESS RESET POWER SYSTEM READY 5 ERROR 5 OVER CURRENT OVER VOLTAGE 5...

Страница 39: ...he power supply the LED turns back on call the Technical Service Department SYSTEM READY LED Module under power OVER CURRENT LED Over current at the power supply ERROR LED Error at the power supply PO...

Страница 40: ...of the elements 0 CAN bus CAN connector Connector X2 X3 5 pin male Phoenix minicombicon contact 3 5 mm pitch Each one of the elements integrated into the CAN bus is identified by the 16 position rotar...

Страница 41: ...outputs DIGITAL OUTPUT X1 X2 GND O8 O1 24V O2 O3 O4 O5 O6 O7 GND O16 O9 24V O10 O11 O12 O13 O14 O15 DIGITAL INPUT X1 X2 GND I8 I1 N C I2 I3 I4 I5 I6 I7 GND I16 I9 N C I10 I11 I12 I13 I14 I15 Connecto...

Страница 42: ...Both connectors must be powered with 24 V DC and GND Status indicator LED The green LED located in the middle of the digital output module turns on when the module is powered with 24 Vdc and the insi...

Страница 43: ...uts 43 REF 1906 3 5 Analog inputs and outputs ANALOG OUTPUT X1 O1 O1 SHIELD O2 O2 SHIELD O3 O3 SHIELD O4 O4 SHIELD ANALOG INPUT X1 X2 I4 I4 I1 I1 SHIELD I2 I2 I3 I3 SHIELD I8 I8 I5 I5 SHIELD I6 I6 I7...

Страница 44: ...nding shield pin Connector X1 Analaog outputs 4 outputs in each connector 12 pin male Phoenix minicombicon contact 3 5 mm pitch Each analog output has three pins O O SH Use shielded cables connecting...

Страница 45: ...uts counter COUNTER X1 X2 X3 X4 X5 Connector X1 2 probe inputs Connector X2 Feedback input differential TTL and sinusoidal 1 Vpp X3 connector Feedback input differential TTL and sinusoidal 1 Vpp Conne...

Страница 46: ...pp 4 15 pin female SUB D HD type connectors To connect feedback devices with differential TTL or 1 Vpp sinusoidal signals See 3 8 Feedback inputs Technical characteristics and connection on page 48 Pi...

Страница 47: ...ts Use shielded cables connecting their meshes to the corresponding shield pin All the analog inputs 8 per module have the following characteristics Analog outputs Use shielded cables connecting their...

Страница 48: ...xis Work levels for differential TTL signal Work levels for sinusoidal 1 Vpp signal Maximum frequency 1000 kHz Maximum gap between flanks 460 ns Phase shift 90 20 Maximum voltage in common mode 7 V Ma...

Страница 49: ...on the type of feedback device used Refer to our catalog The shield of the cable being used must be connected to the connector housing at both ends The unshielded portion of the wires of an unshielde...

Страница 50: ...les Group 1 Group 2 Group 3 48 digital inputs 16 digital inputs 32 digital inputs 32 digital outputs 16 digital outputs 16 digital outputs Example 1 Group 1 address 1 Group 2 address 2 Group 3 address...

Страница 51: ...ntial When inserting a new module the first modules will be assigned the numbering of the table and the last one will be assigned the next valid base index after the highest one assigned until then Ex...

Страница 52: ...the feedback inputs The CNC numbers the modules automatically according to the order of the remote groups ADDRESS selector of the power supply module Within each group they are ordered from top to bo...

Страница 53: ...normally open contact Connection to 24 V The connection acts upon the up flank positive pulse of the probe signal Probe whose output has a normally closed contact Connection to 24 V The connection act...

Страница 54: ...CANFAGOR PROTOCOL Probe connection 54 REF 1906 Interface with a PUSH PULL output Connection to 24 V Depending on the interface being used the connection acts upon the up flank or down flank of the pr...

Страница 55: ...consist of up to two of these modules A Power supply with 24 digital inputs and 16 digital outputs B Power supply with 4 analog inputs 4 analog outputs and 2 inputs for temperature sensors C Digital I...

Страница 56: ...uts for temperature sensors two inputs per module In Fagor modules of analog inputs the CNC considers the inputs for the temperature sensor connector X5 as analog inputs Therefore when numbering the i...

Страница 57: ...s Dimensions of the modules Always leave a 140 mm gap under the modules for ventilation and later handling Connection of the modules The modules of the group are connected as follows A For ground conn...

Страница 58: ...digital inputs and digital outputs GND L SH SH H X3 GND L SH SH H X2 CAN POWER 24I 16O ERR RUN X4 X5 X6 X7 I13 I24 I1 I12 GND O16 O9 24V GND O8 O1 24V X1 CHS GND 24V 4 0 1 F E D C B A 9 8 7 6 5 3 2 AD...

Страница 59: ...SH 12 GND Connector X1 Power supply Power supply with analog inputs and outputs CAN bus SPEED selector CAN bus transmission speed CAN bus ADDRESS selector Address node of the element within the CAN b...

Страница 60: ...address while the modules and the CNC are off The Address switch also sets the priority of the group within the bus the lower the number the higher the priority We recommend the keyboard and jog pane...

Страница 61: ...terminating resistor The LT switch identifies which are the elements that occupy the ends of the CAN bus i e the first and last physical element in the connection Type of blinking Meaning LED off The...

Страница 62: ...ting their meshes to the corresponding shield pin Connectors for the temperature sensors PT100 Connector X5 Inputs for temperature sensors PT100 2 inputs 10 pin male Phoenix minicombicon contact 3 5 m...

Страница 63: ...REMOTE MODULES CANOPEN PROTOCOL 4 Power supply 63 REF 1906 Each input has 5 pins RL R R RF SH Use shielded cables connecting their meshes to the corresponding shield pin 4 wires R1 R1 RL1 RF1 R1 R1 R...

Страница 64: ...module This module is used to expand the digital inputs and outputs remote I O Each module has 24 digital inputs and 16 digital outputs DIGITAL IN OUT X1 X2 X3 X4 I13 I24 I1 I12 GND O16 O9 24V GND O8...

Страница 65: ...tors must be powered with 24 V DC and GND Connector X3 X4 Digital inputs 12 inputs in each connector 12 pin male Phoenix minicombicon contact 3 5 mm pitch Signal Function 24 V Power supply O1 O8 Digit...

Страница 66: ...gital inputs and 32 digital outputs DIGITAL IN OUT X12 X13 X14 X15 I61 I72 I49 I60 GND O48 O41 24V GND O40 O33 24V X8 X9 X10 X11 I37 I48 I25 I36 GND O32 O25 24V GND O24 O17 24V Digital inputs and digi...

Страница 67: ...2 inputs in each connector 12 pin male Phoenix minicombicon contact 3 5 mm pitch Signal Function 24 V Power supply O17 O48 Digital outputs GND Power supply X8 O17 24V GND O24 O18 O19 O20 O21 O22 O23 X...

Страница 68: ...heir meshes to the corresponding shield pin All the analog outputs have the following characteristics Inputs for the temperature sensors PT100 Use shielded cables connecting their meshes to the corres...

Страница 69: ...1 24V X4 GN D O8 POWER 24I 16O X1 CHS GN D 24V SPEED 1 0 ADDRESS ERR RUN CAN 0 1 LT GN D L SH H SH GN D L SH H SH X2 X3 X7 I24 I13 X6 I12 I1 X5 GN D O16 O9 24V O1 24V X4 GN D O8 DIGITAL IN OUT X4 I24...

Страница 70: ...e index after the highest one assigned until then Power supply Base index Numbering Digital inputs 1 I1 of X6 1 24 Digital outputs 1 I1 of X4 1 16 Examples for numbering the different modules For each...

Страница 71: ...nputs The CNC machine parameters must be set to indicate the number of PT100 inputs and to which analog inputs they are connected A PT100 input is active if it has one of these temperature sensors con...

Страница 72: ...Remote modules CNC 8060 CNC 8065 4 RIO5 REMOTE MODULES CANOPEN PROTOCOL Numbering of the analog inputs and outputs and of the temperature sensor inputs 72 REF 1906...

Страница 73: ...of input output Amount Digital inputs 1024 Digital outputs 1024 General purpose analog inputs 40 Analog outputs 40 Analog inputs for temperature sensors 10 Module Description RIOW CANOPEN STAND This...

Страница 74: ...OTOCOL Dimensions of the modules 74 REF 1906 5 1 Dimensions of the modules A2 E2 C 4 8 1 5 2 6 3 7 C A D B A3 D 4 8 1 5 2 6 3 7 C A D B 5 6 7 8 1 2 3 4 ON STOP RUN TX RX Overflow I O E2 C D E1 mm inch...

Страница 75: ...tibility Regulations valid for all RIOW modules Immunity against disturbances regulation EN 50082 2 1996 Meets the EN 61000 4 2 regulation Meets the EN 61000 4 3 regulation Meets the EN 61000 4 4 regu...

Страница 76: ...facturer must comply with the EN 60204 1 IEC 204 1 regulation regarding electrical shocks in case of defective input output pins with external power supply when not plugging the connector before turni...

Страница 77: ...e is an overload or a short circuit to ground at any of the outputs Use shielded cables connecting their meshes to the corresponding shield pin Maximum cable length unshielded 75 mm Technical characte...

Страница 78: ...The inputs are protected by opto couplers Use shielded cables connecting their meshes to the corresponding shield pin Maximum cable length unshielded 75 mm Technical characteristics Number of inputs...

Страница 79: ...the rest of the modules If when configuring the remote group the consumption at the bus exceeds the maximum value that the leading module can supply duplicate the group Module Width Maximum quantity...

Страница 80: ...e mixed inside the same message For example a node with a RIOW 2AI PT100 2 x 16 bits module and two RIOW 8DI 2 x 8 bits modules would use two messages even if both have free bits available This means...

Страница 81: ...e The ground connection is extended to the adjacent modules through the side jumpers of the module Shield connection Proper shielding of the signal and data cables reduces interference and improves si...

Страница 82: ...side of the module To free the module and be able to remove it from the rail push on the bottom groove of the locking disk To help remove a module from the rail pull the unlocking tab located on the...

Страница 83: ...jumpers Cable connection Each connector only admits one cable To insert several cables into one connector join the cables at a terminal and insert the terminal into the connector The cables are secure...

Страница 84: ...roup the consumption of the I O modules is higher additional RIOW PS24 modules must be added Power the module with an external 24V DC between 15 and 20 regulated power supply Using the wrong voltage m...

Страница 85: ...ch may be used to select the address of the node and the transmission speed See 5 5 3 Node configuration on page 88 When using the CANopen protocol the transmission speed at the bus is defined in each...

Страница 86: ...ES CANOPEN PROTOCOL RIOW CANOPEN STAND module Leading first module 86 REF 1906 Power supply status indicator LED s Led Color Function A Green The LED turns on when the module is under power B Green Th...

Страница 87: ...5 5 2 Voltage supply for the module Power for the module and for the rest of the modules must be separated in order to ensure the operations in the bus in case of a short circuit on the side of the a...

Страница 88: ...After saving the configuration the corresponding LED s turn on to indicate the module speed For 1 MHz all four LED s turn on Oncethe speedhasbeenselected turn the moduleoff by removingpower and setdi...

Страница 89: ...at occupy the ends of the bus i e the first and last physical element in the connection For the central unit the terminating resistor is factory installed because the CNC is always at one end of the b...

Страница 90: ...he module detects any problem in the initializing stage it changes to the stop stage the I O LED blinks red and the STOP LED turns on The blinking rate of the I O LED indicates the detected error Pre...

Страница 91: ...educethenumber ofI Omodulesandapplypowertothenodeagain If the error persists replace the leading first module 2 Wrong I O module at the node Replace wrong module If the error persists update the firmw...

Страница 92: ...2 Timeout error when writing EEPROM data Remove power from the node replace the leading module and apply power to the node again 13 Reserved 14 Reserved Type Description Solution Type Description Solu...

Страница 93: ...nd apply power to the node again If the error persists remove power from the node again place the end module in the middle of the first half of the node and apply power to the node again If there are...

Страница 94: ...s with 24 V 10A If when configuring the remote group the consumption of the I O modules is higher additional RIOW PS24 modules must be added Power the module with an external 24V DC regulated power su...

Страница 95: ...W PS24 module 95 REF 1906 5 6 1 Elements connectors Power supply Status indicator LED s The LED is green The LED turns on if the side jumpers have 24 V Signal Function 24 V Power supply 0 V 0 V refere...

Страница 96: ...or power supply module through the side power supplying jumpers Likewise this module can also power the next module through the same jumpers This module by itself does not generate any voltage it jus...

Страница 97: ...1 Elements connectors Digital inputs 8 inputs Status indicator LED s Green LED s All digital inputs have a status indicating LED that turns on when the input is active DI1 DI3 DI5 DI7 DI2 DI4 DI6 DI8...

Страница 98: ...er supply module through the side power supplying jumpers Likewise this module can also power the next module through the same jumpers This module by itself does not generate any voltage it just recei...

Страница 99: ...Elements connectors Digital outputs 8 outputs Status indicator LED s Green LED s All digital outputs have a status indicating LED that turns on when the output is active DO1 DO3 DO5 DO7 DO2 DO4 DO6 DO...

Страница 100: ...puts module or power supply module through the side power supplying jumpers Likewise this module can also power the next module through the same jumpers This module by itself does not generate any vol...

Страница 101: ...V Signal Function AI1 AI4 Analog inputs Common GND Common ground connection 0 V Power supply 24 V Power supply Connectors 2 and 6 are joined together internally Connectors 4 and 8 are joined together...

Страница 102: ...outputs module or power supply module through the side power supplying jumpers Likewise this module can also power the next module through the same jumpers This module by itself does not generate any...

Страница 103: ...O2 GND AO4 GND 24 V 0 V Signal Function AO1 AO4 Analog outputs GND Ground connection 0 V Power supply 24 V Power supply All GND connectors are joined together internally Always connect the shield of t...

Страница 104: ...as an LED indicating the status of the bus an LED indicating a measuring error of the sensor 4 8 1 5 2 6 3 7 C A D B RL signal of the sensor 1 R signal of the sensor 1 Shield connection R signal of th...

Страница 105: ...the outputs 3 wires 2 wires Green LED s Both inputs have an LED that turns on when transmission at the bus is OK Red LED s Both inputs have an LED that turns on when there is an input reading error re...

Страница 106: ...5 12 RIOW END module Last module of the group The RIOW END module must be present in all the groups and must be the last module of the group This module is used to end the internal bus of the group a...

Страница 107: ...numbered after it The values of the base index must be comply with the formula 8n 1 i e 1 9 17 25 etc The rest of the inputs or outputs are numbered sequentially The base indexes may follow any order...

Страница 108: ...g Base index Numbering module 1 1 1 8 81 81 88 module 2 33 33 40 Remote group 2 Digital inputs Digital inputs Base index Numbering Base index Numbering module 1 113 113 120 49 49 56 4 8 1 5 2 6 3 7 C...

Страница 109: ...PT100 input is active if it has one of these temperature sensors connected to it Refer to the installation manual for further detail 4 8 1 5 2 6 3 7 C A D B 5 6 7 8 1 2 3 4 ON STOP RUN TX RX Overflow...

Страница 110: ...Remote modules CNC 8060 CNC 8065 5 RIOW REMOTE MODULES CANOPEN PROTOCOL Numbering of the analog inputs and outputs and of the temperature sensor inputs 110 REF 1906...

Страница 111: ...odules for CANopen bus Each RIOR module constitutes a node inside the CAN bus which may have up to 32 nodes including the central unit and the keyboards RIOR modules can communicate at 1 MHz up to 20...

Страница 112: ...bus groups nodes formed by the RIO5 RIOW and RIOR series modules modules of different series cannot be combined in the same group The maximum number of inputs and outputs available at the CANopen bus...

Страница 113: ...power supply while the latter is turned on Before making any connection turn the power supply off by unplugging the power cable The RIOR module meeting the standard EN 60529 corresponds to the IP00 c...

Страница 114: ...tions parallel to the cabinet with 4 mounting points or perpendicular to it with two mounting points Use M6 bolts to secure the modules Connection of the modules Join the ground terminal of the module...

Страница 115: ...inst voltage peaks The power supply must be connected to the ground shield of the module for functionality or electromagnetic compatibility for electromagnetic compatibility this connection must only...

Страница 116: ...acteristics Analog outputs Use shielded cables connecting the shields to the ground plate of the module itself All the analog outputs have the following characteristics Nominal voltage 24 V DC between...

Страница 117: ...uts for the temperature sensors PT100 Use shielded cables connecting the shields to the ground plate of the module itself The electrical characteristics of the inputs are Type of sensor PT100 Temperat...

Страница 118: ...ansmission status indicator I44A I44B Digital inputs and outputs I48 Analog inputs and outputs only in RIOR 48I32O ANALOG Analog inputs for temperature sensors only in RIOR 48I32O ANALOG S41 CAN bus A...

Страница 119: ...n Minimum maximum tightening torque 0 22 0 25 Nm Minimum maximum section 0 14 1 5 mm Rated current In 8 A Cable data Length to be stripped 7 mm See 6 5 CAN bus connection on page 123 Plug in part 3 po...

Страница 120: ...reached the alarm level Double blinking There is no communication with the cpu On Error The CAN controller is in Bus Off state D46 D45 50 pin male IDC connector with a latch Use a female connector fo...

Страница 121: ...nection technique Spring connection Minimum maximum section 0 2 1 5 mm Rated current In 8 A Cable data Length to be stripped 7 mm See 6 7 Connection of the analog inputs outputs and the PT100 inputs o...

Страница 122: ...ortion In order for any change of speed to be assumed the corresponding module must be reset however we recommend to change the speed while the modules and the CNC are off S43 CAN bus Line terminating...

Страница 123: ...tor General characteristics Type Shielded Twisted pair 1 x 2 x 0 22 mm with a characteristic impedance of 120 AWG 24 gage Flexibility Extremely flexible Minimum bending radius static 50 mm and dynamic...

Страница 124: ...cable Maximum height of the connector 14 5 mm Connector I44A Connector I44B Pin Signal Description 1 GND 0 V reference signal 2 24V_OUT 24 V output for digital inputs 3 26 I1 I24 Digital inputs 27 30...

Страница 125: ...on 3 5 mm pitch Rated current 8 A Pin Signal Function 1 GND_AO1 Reference signal Analog output 1 2 GND_AO2 Reference signal Analog output 2 3 AO1 Analog output 1 4 AO2 Analog output 2 5 GND_AO3 Refere...

Страница 126: ...Remote modules CNC 8060 CNC 8065 6 RIOR REMOTE MODULES CANOPEN PROTOCOL Connection of the analog inputs outputs and the PT100 inputs 126 REF 1906...

Страница 127: ...es are connected to the central unit via Sercos II bus and they are just another bus within the bus Module Description RCS S 4F4AO 4 Feedback inputs Incremental TTL differential TTL and Vpp signal SSI...

Страница 128: ...z at 150 Hz 1 g of constant acceleration Degree of protection IP2X Power supply Supply voltage 24 V DC 10 0 4 A Consumption 10 W maximum The module is protected against reverse voltage at the 24V inpu...

Страница 129: ...Remote modules CNC 8060 CNC 8065 RCS S 4F4AO SERCOS II PROTOCOL 7 Dimensions 129 REF 1906 7 3 Dimensions c d a b e mm inch d 134 5 27 e 210 8 26 mm inch a 43 1 69 b 200 7 87 c 125 4 92...

Страница 130: ...dules in a vertical position Place the modules on 2 profiles in accordance with EN 50022 DIN 46277 3 TS 35 66mm 2 60 apart Attach the modules using two fastening caps one on each side of the module to...

Страница 131: ...ption 10 W maximum DO NOT make any connection or connect any module to the power supply while the latter is turned on Before making any connection turn the power supply off by unplugging the power cab...

Страница 132: ...ctions Protection against reverse voltage The module is protected against reverse voltage at the 24V input 7 5 3 Ground connection Join the ground terminal of the module to the cabinet chassis The gro...

Страница 133: ...t button Connector E21B Feedback input Connector B32 Sercos bus connection Connector E21C Feedback input Selector S38 Address node of the element within the Sercos bus Switch S39 Switch for Sercos set...

Страница 134: ...on page 131 Plug in part 3 pole Phoenix contact combicon connector 7 62 mm pitch Rated current 12 A Pin Signal Function 1 2 11 0 V reference signal 3 24 V Power supply Boot Button to update the softw...

Страница 135: ...itches 1 and 2 indicate the Sercos transmission speed baudrate Switches 3 and 4 set the Sercos power or the intensity of the light going through the optic fiber The optical power value depends on the...

Страница 136: ...K Clock line 8 CLOCK 9 5 V Voltage supply for the feedback system 10 5_SENSE 11 11 Reference signal 12 GND_SENSE 13 14 15 1 5 6 10 11 15 Communication protocols FeeDat Pin Signal Function 1 2 3 4 5 DA...

Страница 137: ...Connection technique Spring connection Minimum maximum section 0 2 1 5 mm Rated current In 8 A Cable data Length to be stripped 10 mm Plug in part 2 identical connectors 2 pole Phoenix contact minicom...

Страница 138: ...evels for TTL signals Work levels for differential TTL signals Characteristic Value 5 V power consumption 1 A 250 mA per connector Characteristic Value Maximum frequency 100 kHz Phase difference 90 20...

Страница 139: ...teristic Value Maximum frequency 500 kHz A and B signals Amplitude 0 6 1 2 Vpp A and B signals Centered V1 V2 2 Vpp 6 5 A and B signals Ratio VApp VBpp 0 8 1 25 A and B signals Phase shift 90 10 I0 si...

Страница 140: ...al characteristics of the analog outputs Use shielded cables connecting their meshes to the ground screw of the module All the analog outputs have the following characteristics Characteristics Value C...

Страница 141: ...ential TTL See Work levels for differential TTL signals on page 138 Incremental signal 1 Vpp See Work levels for sinusoidal 1 Vpp signals on page 139 SSI protocol See Work levels for SSI protocol sign...

Страница 142: ...mm We recommend to run the feedback cables as far away as possible from the power cables of the machine Fagor Automation offers a wide range of cables and extension cables to connect the feedback sys...

Страница 143: ...d out in a ring using fiber optic cable by joining an OUT terminal with an IN terminal To remove the terminal protecting cap or to connect or disconnect the cable hold the cable by its terminal never...

Страница 144: ...Node_Select and for the RCS S modules also with parameter SERCOUUNTID This switch selects the address occupied by each of the elements integrated into the Sercos connection The CNC does not have the...

Страница 145: ...ecause there could be voltage differences in long lengths between the two ends of the cable Characteristic Description Type Shielded Twisted pair with a minimum wire section of 0 14 mm Capacitance 164...

Страница 146: ...total number of Sercos nodes including drives and counters Logic module identification The SERCOUNTID table of the general machine parameters allows linking the logic number of the Sercos counters 1...

Страница 147: ...ut Analog output ANAOUT2 E21B feedback input Analog output ANAOUT1 X analog axis X analog axis Handwheel Y analog axis 4 AXD drive Sercos spindle S 5 RCS S module E21B feedback input E21C feedback inp...

Страница 148: ...valid SERCOUNTID2 3 Axis Parameter Value X axis DRIVETYPE COUNTERTYPE COUNTERID ANAOUTTYPE ANAOUTID Analog Sercos counter 5 Sercos counter 6 Y axis DRIVETYPE COUNTERTYPE COUNTERID ANAOUTTYPE ANAOUTID...

Страница 149: ...ertableandvalidatesthem IfaFeeDat EnDatfeedbackiseliminated from the axis parameter settings the CNC deletes the encoder information from the table This automatic validation only works the first time...

Страница 150: ...replacing it with the previously validated one Substituting the encoder even it is with another with equivalent functions will continue to show error E4026 Expressly adding the new encoder validating...

Страница 151: ...thout having eliminated all the errors detected by the Sercos counter When using the Sercos communication interface the errors are reset the same way as any other CNC error Activating any of the reset...

Страница 152: ...E21B feedback A403 Fagor digital feedback Excessive axis speed E21C feedback A503 Fagor digital feedback Excessive axis speed E21D feedback The axis moving speed exceeds the sampling capability of th...

Страница 153: ...loaded code may be defective Contact Fagor Automation Error that cannot be reset E083 The FPGA could not be loaded Restart the counter If the problem persists contact Fagor Automation Error that cann...

Страница 154: ...0s E21A feedback E241 Wrong distance between I0s E21B feedback E341 Wrong distance between I0s E21C feedback E441 Wrong distance between I0s E21D feedback Resettable error Error indicating the lack of...

Страница 155: ...synchronous reading of the absolute coordinate of the feedback device The error may be due to a malfunction of the encoder or a connection problem If the problem persists contact Fagor Automation E183...

Страница 156: ...ck E289 INDUCTOSYN Incoherent SSITYPE parameter with feedback device type connected to E21B feedback E389 INDUCTOSYN Incoherent SSITYPE parameter with feedback device type connected to E21C feedback E...

Страница 157: ...e encoder or encoder head configuration has been lost Replace the encoder or the encoder head E403 MST failure Communication problems through fiber optic ring Check the ring connections and the identi...

Страница 158: ...a in the table See 7 10 2 Updating the FeeDat and EnDat information on page 160 Field Meaning SERCOUNTID ID of the thumbwheel associated with the counter Soft Version Software version of the counter C...

Страница 159: ...r of bits Version Protocol version of FeeDat or EnDat Temperature Temperature The module does not update this value in real time it only reads them at start up or in the event of an error in the FeeDa...

Страница 160: ...and correctly identified and they do not match those already saved This softkey validates and saves the information read in all the FeeDat EnDat feedbacks whose parameters have been set in the CNC Wh...

Страница 161: ...lication installed on the PC the RCS S module must be connected to the PC by a RS 232 series line cable Process to install or update the software 3 If the Online option is shown uncheck it to enable t...

Страница 162: ...the software loading process from the PC to the remote module RCS S 6 Click on this icon to go to the Version folder window where the version to be installed has been decompressed expanded Locate and...

Страница 163: ...ctly which in this case is BOOT_RCS_S 7 11 2 Communication parameters Display the top menu SetUp Preferences Communication Use this menu to set the main parameters involved in the communication betwee...

Страница 164: ...Remote modules CNC 8060 CNC 8065 7 RCS S 4F4AO SERCOS II PROTOCOL Software installation update 164 REF 1906...

Страница 165: ...ector at both ends The connector has two shield pins Both pins are equivalent and the CAN shield may be connected to either one CAN cable characteristics Use a specific CAN cable The ends of all the w...

Страница 166: ...0 F D C B 9 8 7 5 3 1 1 MODULE 2 0 ADDRESS 2 ISO GND CAN L SHIELD CAN H SHIELD Line Term 1 1 0 Line Term 1 4 0 F D C B 9 8 7 5 3 1 ADDRESS 0 ISO GND CAN L SHIELD CAN H SHIELD ISO GND CAN L SHIELD CAN...

Страница 167: ...at the Address switch to be assumed the CNC must be restarted and the corresponding drive must be reset however we recommend to change the address while the modules and the CNC are off The Address sw...

Страница 168: ...d of the line even when not having this switch The other end of the line will be the last physical device of the bus RIOW series remote modules TheRIOWseriesmodulesdonothaveafactory installedlinetermi...

Страница 169: ...ate Bus type selector CANfagor CANopen The CNC has two types CAN bus CANfagor and CANopen There are specific remote modules for each type of bus at the CNC and at the operator panels the type of activ...

Страница 170: ...eed of the node the module must be in configuration mode all the dipswitches in the off position After turning the module on in configuration mode the top 4 LED s of the module blink indicating the sp...

Страница 171: ...ter saving the configuration the corresponding LED s turn on to indicate the module speed For 1 MHz all four LED s turn on Oncethespeed has been selected turnthe module offby removingpower andset dip...

Страница 172: ...otocol the transmission speed at the bus is defined at the CNC parameter CANLENGTH The transmission speed depends on thetotal lengthof the cable Use the following approximate values Assigning other va...

Страница 173: ...ore SFO SFO FLEX for up to 40 meters If the fiber optic cableis going towithstanddynamicconditions moving always usetheSFO FLEX cable If the fiber optic cable is going to withstand static conditions n...

Страница 174: ...its pins protected with a hood Before connecting the cable remove the protecting hood Both for removing the pins protecting hood for the pins and for plugging and unplugging the cable hold the cable...

Страница 175: ...NC powered off and back on Whether the drive identified with number 1 for example corresponds to the X axis to the Y axis or to another one is irrelevant However it is a good idea for clarity sake tha...

Страница 176: ...ions there must be two separate transmission channels Cyclic channel fast The data is transmitted in every position loop It contains velocity commands feedback etc Each variable that is read or writte...

Страница 177: ...Remote modules CNC 8060 CNC 8065 177 User notes REF 1906...

Страница 178: ...Remote modules CNC 8060 CNC 8065 178 User notes REF 1906...

Страница 179: ...Remote modules CNC 8060 CNC 8065 179 User notes REF 1906...

Страница 180: ...Fagor Automation S Coop B San Andr s 19 Apdo 144 E 20500 Arrasate Mondrag n Spain Tel 34 943 719 200 34 943 039 800 Fax 34 943 791 712 E mail info fagorautomation es www fagorautomation com...

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