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MCS- 72/92

Digital Brushless AC servo drive system - Ref.0707

S group. Velocity

Function:

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

Valid values:

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

SP2: 0.1, ..., 999.9 ms.

Default value:

Depends on the motor-drive combination.

Function:

Value of the derivative action of the velocity PI.

Valid values:

SP3: 0, ..., 9999.

Default value:

SP1: 0.

Function:

Maximum velocity limit for SV7 (VelocityCommandFinal).

Valid values:

0, ..., 110 % of the motor rated speed in rev/min.

Default value:

1000 rev/min.

SP1

BASIC, RW

VelocityProportionalGain

SP2

BASIC, RW

VelocityIntegralGain

SP3

BASIC, RW

VelocityDerivativeGain

SP10 BASIC, RW

VelocityLimit

SP1

SP2

SP1

SP2

SP60
SP66

SP10

SV1

SP66

X (-1)

SP60

IV10

SP43

IP14 = 2

IP14

≠

Содержание MCS Series

Страница 1: ...LOGOTIPO FAGOR jpg FAGOR AUTOMATION S COOP Brushless AC servo drives MCS series Ref 0707...

Страница 2: ...al Service Department The information described in this manual may be subject to changes due to technical modifications FAGOR AUTOMATION S Coop reserves the right to change the contents of this manual...

Страница 3: ...t has not been sent to us the warranty period ends 15 months from when the product left our warehouse FAGOR is committed to repairing or replacing its products from the time when the first such produc...

Страница 4: ...EN 61800 3 1996 Specific Regulation on Electromagnetic Compatibility for Servo Drive systems In Mondrag n February 28th 2006 INTRODUCTION Fagor offers you a wide range of servo drive systems AC Brush...

Страница 5: ...al data 25 Connectors 26 Programming module 28 Front panel and pinout of the connectors 30 Characteristics plate 33 Sales reference 33 INSTALLATION 34 General considerations 34 Electrical connections...

Страница 6: ...7 M group Motor 65 O group Analog and digital outputs 66 Q group Communication 68 R group Rotor sensor 70 S group Velocity 72 T group Torque and power 78 W group Internal generator 78 ERROR MESSAGES 8...

Страница 7: ...t temperature From 0 C to 40 C 32 F to 104 F Ambient temperature From 20 to 80 non condensing Brake Optional in all models See section Brake characteristics Feedback Incremental TTL Encoder FXM with F...

Страница 8: ...90 8 5 9 6 24 0 36 0 FXM33 40F 7 3 36 4000 12 0 60 0 3 1 0 6 9 9 1 8 0 25 8 5 9 6 18 0 FXM34 20F 9 3 46 2000 7 6 38 0 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 76 0 3 9 0 6 1...

Страница 9: ...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 1...

Страница 10: ...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 3...

Страница 11: ...1 81 D GA R GD ST F R 20 0 78 D 14 0 55 j6 ST M5 x 12 5 0 49 GA 5 0 19 LC ENCODER LC RESOLVER LB TYPE 16 0 0 62 GD FXM1 TYPE 5 0 19 F 257 10 12 222 8 74 152 5 98 187 7 36 6 0 24 LB FXM31 FXM3 TYPE F T...

Страница 12: ...8 24 0 94 j6 27 1 07 M8 x 19 0 0 75 FXM5 SERIES mm inches D GA R GD ST F LB 10 0 39 256 10 08 291 11 46 326 12 83 361 14 21 TYPE FXM7 F FXM74 FXM73 TYPE FXM76 FXM75 8 0 31 GD 50 1 97 R 32 1 26 k6 D 35...

Страница 13: ...se CWR clockwise rotation Pins I and J of the encoder connector correspond to the thermistor for monitoring motor temperature POWER CONNECTORS Example MC 23 MOTOR CONNECTOR MC Straight AMC Angled CURR...

Страница 14: ...6 0 38 0 3 0 66 FXM3 11 97 3 16 0 021 20 29 22 26 1 06 0 6 1 32 FXM5 22 194 7 18 0 024 25 50 22 26 3 60 1 1 2 42 FXM7 80 708 0 35 0 047 53 97 22 26 31 80 4 1 9 03 Note The maximum speed is 10000 rev m...

Страница 15: ...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 ESPECIFICATION 8 NEMA Standard USA 9 Special I0...

Страница 16: ...From 20 C to 80 C 4 F to 176 F Ambient temperature From 0 C to 40 C 32 F to 104 F Ambient temperature From 20 to 80 non condensing Brake Optional in all models See section Brake characteristics Feedb...

Страница 17: ...6 1 1 2 9 5 3 7 4 13 0 FKM22 50F 3 2 13 5000 7 2 29 1 7 0 45 11 7 1 7 0 425 2 9 5 3 3 6 9 0 13 0 FKM42 30F 6 3 25 3000 8 5 34 2 0 0 74 10 7 2 6 0 45 8 5 7 8 14 8 22 2 FKM42 45F 6 3 25 4500 12 4 50 3 0...

Страница 18: ...7 5 8 1 4 2 9 5 3 6 7 13 0 FKM42 30A 6 3 25 3000 4 6 19 2 0 1 4 10 7 8 6 1 45 8 5 7 8 21 9 FKM42 45A 6 3 25 4500 6 9 28 3 0 0 9 16 0 3 9 0 675 8 5 7 8 14 6 FKM44 30A 11 6 47 3000 8 2 33 3 6 1 4 11 2 4...

Страница 19: ...0 23 6 0 23 F FKM2 TYPE GD 19 0 74 j6 R 30 1 18 D M6 x 16 0 63 GA ST 208 8 19 232 9 13 138 5 43 114 4 48 FKM21 FKM22 D GA R GD ST F 50 1 96 110 4 33 j6 10 0 39 3 5 0 13 L FKM44 FKM42 143 5 62 185 7 2...

Страница 20: ...ERIES mm inches 58 2 28 130 5 11 j6 3 5 0 13 12 0 47 L LB 54 2 12 99 3 89 20 0 78 158 6 22 200 5 7 89 12 0 47 1 6 5 6 4 9 190 7 48 58 2 28 L LB TYPE 35 1 37 8 0 31 10 0 39 F FKM6 TYPE GD 32 1 26 k6 R...

Страница 21: ...CWR clockwise rotation Pins 3 and 4 of the encoder connector correspond to the thermistor PTC KTY 84 for monitoring motor temperature POWER CONNECTOR Example MC 20 6 MOTOR CONNECTOR MC 20 6 Straight C...

Страница 22: ...in lb W HP ms V DC kg cm2 kg lbf FKM2 4 5 39 8 12 0 016 7 35 22 26 0 12 0 28 0 62 FKM4 9 79 6 18 0 024 7 40 22 26 0 54 0 46 1 01 FKM6 18 159 3 24 0 032 10 50 22 26 1 15 0 90 1 98 Note Maximum speed f...

Страница 23: ...024 ppt E3 Sincos Encoder 1 024 ppt FLANGE SHAFT 0 With keyway standard BRAKE OPTION 0 Without brake CONNECTION F 220 V AC 1 Cable output without connectors 1 With standard brake 24 V DC 1 Cilyndrica...

Страница 24: ...the power supply voltage is 220 V AC MCS H 04 MCS H 08 MCS H 16 with peak currents of 4 8 and 16 Arms MCS L 05 MCS L 10 MCS L 20 MCS L 30 with peak currents of 5 10 20 and 30 Arms Three phase power s...

Страница 25: ...8 132 132 66 Power of the internal ballast W 150 Ballast trigger 416 V DC 780 V DC Thermal protection of the 90 C 194 F Operating temperature 5 C 45 C 41 F 113 F Storage temperature 4 F 60 C 4 F 140 F...

Страница 26: ...is turned off This method decreases the fan s operating time thus increasing its useful life Control signals Voltage 12 V pins 1 2 3 of X1 Output of an internal power supply so the user can easily ge...

Страница 27: ...24V By default it is selected as error reset Motor feedback input motor temp sensor Input of the encoder signals installed on the motor for position velocity feedback and of the temperature sensor of...

Страница 28: ...ible to To scroll through the list of parameters variables and commands and display a particular one To increase its value if parameters Counterclockwise being possible to To decrease its value The pu...

Страница 29: ...ollow are described in section initialization and setup in this manual Interpretation of the symbols used in some diagrams of this manual Blinking status of the two rightmost digits of the display Bli...

Страница 30: ...on the corresponding models 12V 12V MCS COMMUNICAT IONS RS422 RS232 R S485 CONTROL POWER INPUTS D E F A B C 220 V AC A CONNECTOR X1 12 V power supply 12V 12V Commands Monitoring B CONNECTOR X2 Progra...

Страница 31: ...R x D 485 CHASSI Screws Pin Signal Function 1 A A signal 2 A A signal 3 B B signal 4 B B signal 5 Z Z signal 6 Z Z signal 7 485 RS485 serial line transmission signal 8 485 9 N C Not connected 10 N C N...

Страница 32: ...Phase switching W 15 V Phase switching V 16 N C Not connected 17 SELSEN1 Information of the installed sensor given to the drive via hardware 18 SELSEN2 19 485 RS 485 serial line for SINCOS or SINCODE...

Страница 33: ...ecs plate that comes with each Fagor MCS digital drive MCS DIGITAL SERVO DRIVE Example MCS 05 L MODEL MCS CURRENT Rated Peak 0 5 s 05 2 5 A 5 A 10 5 A 10 A 20 10 A 20 A 30 15 A 30 A SUPPLY VOLTAGE 220...

Страница 34: ...osed 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...

Страница 35: ...eld must be connected to the voltage reference at the module pins 2 4 or 10 of X1 All the pins with the GND symbol 2 4 and 10 are the same electrical point and are interchangeable Electrical connectio...

Страница 36: ...POWER INPUTS R S T N 380 V AC High Floating Voltage Autotransformer or three phase transformer Autotransformer or three phase transformer Warning Never make this connection because there is a risk of...

Страница 37: ...tor has been connected Power connection Drive motor Note A thermal switch may optionally replace the fuses Important The secondary windings must have a star connection with its middle point connected...

Страница 38: ...brake MPC 4 x 1 5 MPC 4 x 1 5 2 x 1 MPC 4 x 2 5 MPC 4 x 2 5 2 x 1 Note The length of the MPC power cable must be specifically ordered in meters MOTOR POWER CABLE Nr of wires Motor Power Cable E g MPC...

Страница 39: ...else in the transmission chain The encoders that can be found on the motors depending on the series are At FXM servo motors I0 Incremental TTL encoder 2500 ppt E1 SINCODER encoder 1024 ppt A1 Multitur...

Страница 40: ...he SEC HD cable transfers these signals from the drive to the 8055i CNC or 8040 CNC Yellow Purple Blue Grey Green Brown Pink Black White Ready Made Cable Fagor SEC 1 3 5 10 15 20 25 30 35 Length in me...

Страница 41: ...26 Front View Ready Made Cable IECD 5 10 15 20 25 F E D C B A F E L K B A G H M Yellow Blue Black Grey White Green White A A B B Z Z 5 VDC W V 1 10 12 3 13 4 22 15 21 14 5 6 24 GND U U V W Brown Green...

Страница 42: ...nd to the common pin of Chassis only at the drive end The overall shield is connected to both connector housings The 26 pin connector housing must be conductive metallic 19 26 1 9 TYPE I HD Sub D M26...

Страница 43: ...DER ORSINCODER LENGTH m 1A 3 5 7 10 15 20 25 30 35 40 45 50 EEC 1A is 1 25 meters long CABLE ENCODER DRIVE Example EEC SP 20 CABLE FOR SINCOS ENCODER OR SINCODER LENGTH m 5 10 15 20 25 30 35 40 45 50...

Страница 44: ...E2PROM through this line The connection cable is 5 4 6 Current command range of 10 V Uref 0 V VEL VEL X1 chassis screw Differential velocity command input Velocity command 5 4 6 Uref 2 1 3 12 V 12 V 1...

Страница 45: ...rake of the servo motors Mains connection and maneuver diagram The delayed disconnection of D3 contacts is useful so The Drive Enable stays active while the motor brakes at maximum torque The brake ho...

Страница 46: ...drive must be told which type motor it must govern by means of parameter MP1 When connecting a motor that uses a SINCOS or SINCODER encoder thisisnotnecessarybecausetheencoderwill tell thedrivewhichty...

Страница 47: ...d very fast If the command has been executed properly the displays shows the word dOnE Otherwise in case of an error it displays the word Err In any of these instances a short push returns it to its i...

Страница 48: ...esired response to the velocity command entered Use parameter CP20 to set the maximum peak current value of the drive to obtain the best dynamic response Set the velocity PI gain using parameter SP1 p...

Страница 49: ...from a PC file all the parameters and variables of the drive and check the status of the motor drive combination thus making the final adjustment of the servo drive system easier faster and more comf...

Страница 50: ...able 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 Command Nr 1 GROUPS OF PARAMETERS VARIABLES COMMANDS Nr FUNCTIO...

Страница 51: ...or RO C Group V variable Nr 11 Access level Fagor read only variable RO Modifiable variable Any modifiable variable in other words that can be read and written will carry the RW label to identify it a...

Страница 52: ...action of the current PI Valid values 0 999 Default value Depends on the motor drive combination Function Parameters CP10 and CP11 define the relationship between the voltage of the analog input IV2 a...

Страница 53: ...lue 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 Function Parameter in charge of ena...

Страница 54: ...CP32 FAGOR RW CurrentCommandFilter1Damping CP45 USER RW CurrentCommandSelector Value Function 0 Normal operation The current command comes from the velocity loop 1 Function generator Value of WV5 if...

Страница 55: ...gthrough phase W Valid values 50 50 A instant values Default value 0 Function Display the rms current circulating through the motor Valid values 0 50 Arms rms values Default value 0 CV1 USER RO Curren...

Страница 56: ...digital current com mand Valid values 50 00 50 00 Arms Default value 0 00 Arms D group Diagnosis Valid values All the possible error codes implemented in the loaded software version Code 0 means no er...

Страница 57: ...ls that act upon the drive through the serial line DV31 FAGOR RO DriveStatusWord Bit Function 15 14 Power Torque Status 0 0 DoingInternalTest DRVSTS_INITIALIZATING 0 1 ReadyForPower DRVSTS_LBUS 1 0 Po...

Страница 58: ...ution Valid values 1 Number of pulses of the selected feedback Default value Number of pulses of the selected feedback device Function Selection of the turning direction of the simulated encoder Valid...

Страница 59: ...in functions OutFunc1 and OutFunc2 Valid values 0 9999 ms Default value 2000 ms Function When having a SINCOS or SINCODER encoder it enables reading MP1 directly from the sensor and consequently load...

Страница 60: ...ill change the access level corresponding to the password entered Valid values 0 9999 Default value 0 Function This variable informs of the drive s sales reference See the initialization and adjustmen...

Страница 61: ...d it will display ERR do a short push to get out of this situation The motor will start positioning and after about 30 or 40 seconds the display shows DONE do a short push to get out At this instant t...

Страница 62: ...P 04 Valid values 0 4 Default value 4 Error reset Function Determines the analog function assigned to the programma ble analog input Valid values 0 2 Default value 0 IP6 USER RW DigitalInputPolarity I...

Страница 63: ...rent command after being affected by CP10 and CP11 It must never exceed the value of the maximum current of the unit Valid values 50 00 50 00 Arms Default value 0 Function This variable reflects the s...

Страница 64: ...s 20 200 C Function Itdisplaysthetemperatureoftheheatsinkofthepowerstage Valid values 0 200 C Function Variable internally useful to the system It measures the internal load level of the calculation o...

Страница 65: ...ertain parameters depend on the value of MP1 for example The upper limit of SP10 is 110 of the motor rated speed like its default parameter initialization through GC10 See command GC10 To govern a non...

Страница 66: ...value 04 for OP1 and 07 for OP2 Function They define the gain of channel 1 pin 8 of X1 and channel 2 pin of X1 There are 10 V at these outputs when the selected variable reaches this value MP3 FAGOR...

Страница 67: ...v min V ratio throughout its full range 10V Function Sets the polarity inverted or not inverted of the program mable digital input pins 1 and 2 of X2 Valid values 0 Not inverted by default 1 Inverted...

Страница 68: ...4 Valid values 0 and 1 Default value 0 Q group Communication Function Determines which hardware communication mode has been established RS 232 RS 485 RS 422 with MODBUS communication protocol and it i...

Страница 69: ...gure QP16 USER RW SerialSettings Bit Function 15 12 Reserved 11 10 Stops bits 1 Stop bits 2 Stop bits 9 6 Data bits 7 Data bits 8 Data bits 5 4 Parity bits 0 no parity 1 even parity 2 even parity 3 0...

Страница 70: ...communication Valid values 0 127 Default value 0 R group Rotor sensor Function Compensation proportional gain mode of the amplitude of the sine cosine signal that goes from the motor feedback to the d...

Страница 71: ...t and the motor shaft The motors are factory set and the value of this variable is stored in the encoder memory Valid values 0 65535 although the programming module can only display the 4 most signifi...

Страница 72: ...Value of the derivative action of the velocity PI Valid values SP3 0 9999 Default value SP1 0 Function Maximum velocity limit for SV7 VelocityCommandFinal Valid values 0 110 of the motor rated speed...

Страница 73: ...concept G00 Feed Function See SP20 Valid values 10 Motor rated speed in rev min Default value Motor rated speed in rev min Function Correction of the analog velocity command offset It is applied afte...

Страница 74: ...of SP10 speed limit in rev min Default value 20 rev min Function Determines the value of the velocity window around zero that will be considered to be zero speed Valid values 0 motor rated speed in r...

Страница 75: ...that no ramps will be applied Valid values 0 0 400 0 rev min ms Default value 0 SP45 BASIC RW VelocityCommandSelector Value Function 0 Analog Input through pins 5 and 6 of connector X1 after being ad...

Страница 76: ...Drive Enable is interrupted the motor will turn by inertia SP65 0 cancels this limiting effect Valid values 0 0 400 0 rev min ms Default value 0 Function Determine the value of the deceleration ramp...

Страница 77: ...r applying limits ramps etc Valid values 9999 9999 rev min Function Final velocity command applied to the loop Valid values 9999 9999 rev min Function Digital velocity command Valid values 6000 6000 r...

Страница 78: ...Function Displays the values of the command and torque feedback Valid values 99 9 99 9 Nm W group Internal generator Function It indicates the waveform of the internal command generator Valid values...

Страница 79: ...that reflects the value of the signal generated by the internal function generator Valid values 9999 9999 Function For generating square signals WV1 1 this variable specifies the ratio of the duty cy...

Страница 80: ...and start the system back up Cause An attempt has been made to stop the motor by canceling Speed Enable The system has tried to stop the motor at full torque but it has not been able to stop it in th...

Страница 81: ...top the motor The module may be defective Cause The drive is carrying out a task that overheats the power devices Solution Stop the system for several minutes and decrease the effort demanded from the...

Страница 82: ...e the velocity loop is not adjusted properly There may be a speed overshooting in the system response Decrease the overshooting Cause The duty cycle demanded from the motor is greater than it can prov...

Страница 83: ...rseveral of them causing a short circuit between them Some wrong parameter or some failure at the drive If the error persists contact Fagor Automation Observe that after displaying E 214 one of the co...

Страница 84: ...rive parameter setting Ej A drive to govern a motor The motor admits a peak current of 20 A The drive parameter that sets the current limit is set CP20 20 If now a 16A peak motor is connected the curr...

Страница 85: ...C Solution Check that the selected motor drive combination is coherent Cause Oneofthesineorcosinesignalsof theencoderhasreachedapeaklevel lower than 150 mV Solution Contact Fagor Automation Cause The...

Страница 86: ...0707 Cause Communication error when using a SINCOS or SINCODER encoder Incoherent U V W signals when using an incremental I0 encoder Solution Contact Fagor Automation Solution Contact Fagor Automation...

Страница 87: ...ent1Offset Fagor 08803 ro 2000 2000 mA 56 CV11 Current2Offset Fagor 08805 ro 2000 2000 mA 56 CV15 DigitalCurrentCommand user 08827 rw 5000 5000 0 10 2 x A 56 DC1 ResetClass1Diagnostics user 00199 rw 0...

Страница 88: ...user 10415 ro 0 100 64 KV40 I2tCrowbar user 10423 ro 0 100 65 KV41 BallastSelect user 10427 rw 0 1 1 65 MP1 MotorType basic 00282 rw 65 MP2 MotorTorqueConstant Fagor 10593 rw 0 100 10 1 x Nm A 65 MP3...

Страница 89: ...ameters basic 00087 rw 0 1 0 74 SP45 VelocityCommandSelector basic 11427 rw 0 2 0 75 SP60 AccelerationLimit basic 00277 rw 0 4000 0 10 1 x rpm ms 75 SP65 EmergencyAcceleration basic 11411 rw 0 4000 0...

Страница 90: ...Digital Brushless AC servo drive system Ref 0707 MCS 90 92 User notes...

Страница 91: ...MCS 91 92 Digital Brushless AC servo drive system Ref 0707 User notes...

Страница 92: ...1 614 855 5928 E mail tdrane fagor automation com CANADA Ontario FAGOR AUTOMATION ONTARIO Unit 3 6380 Tomken Road MISSISSAUGA L5T 1Y4 Tel 1 905 6707448 Fax 1 905 6707449 E mail sales fagorautomation...

Страница 93: ...otor feedback E 605 Feedback signals excessively damped E 801 Encoder not detected E 802 Defective encoder MP1 MP3 MP2 Motor type Torque Constant Rated Current Motor parameters MP1 ENCODER SIMULATOR O...

Страница 94: ...SP42 SV2 t1 GP9 time if t1 GP3 then after GP9 PAR MOTOR ON 0 else MOTOR TORQUE ON 0 and E 004 E 004 SV2 MOTOR TORQUE ON 0 1 SV6 SV7 SV1 SP65 SP65 IV10 error Only if InFunc03 is selected SP43 X 1 DC1...

Страница 95: ...input to function nr Function 1 UNITS rev min rev min rev min rev min rev min 10 1 Nm 10 1 Nm 10 2 A mV mV bits VARIABLE OP1 00 SV15 01 02 03 04 05 06 07 08 09 10 11 SV1 SV6 SV7 SV2 TV1 TV2 CV3 WV5 I...

Страница 96: ...T 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 KV...

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