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Fagor MCS Series Manual

Brushless ac servo drives
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FAGOR AUTOMATION S.COOP
Brushless AC
servo drives
~ MCS series ~
Ref.0707
LOGOTIPO [FAGOR].jpg

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  • Page 1 FAGOR AUTOMATION S.COOP Brushless AC servo drives ~ MCS series ~ Ref.0707 LOGOTIPO [FAGOR].jpg...
  • Page 2 34-943-771118 (Technical 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 without prior notice. The contents of this manual have been verified and matched with the product described here.
  • Page 3 FAGOR is committed to repairing or replacing its products from the time when the first such product was launched up to 8 years after such product has disappeared from the product catalog. It is entirely up to FAGOR to determine whether a repair is to be considered under warranty. EXCLUDING CLAUSES: The repair will take place at our facilities.
  • Page 4 In Mondragón, February 28th, 2006. INTRODUCTION Fagor offers you a wide range of servo drive systems (AC Brushless motor and Digital Drive) for applications requiring between 1.2 and 33.6 Nm at speeds between 1200 rev/min and 4000 rev/min for FXM motors and between 1.7 and 16.5 Nm at speeds between 2000 rev/min and 6000 rev/min for FKM motors.

  • Page 5: Table Of Contents

    GENERAL INDEX BRUSHLESS AC MOTORS, FXM ................7 Introduction ......................7 Dimensions ......................11 Power connectors and encoder output ..............13 Brake characteristics....................14 Sales reference......................15 BRUSHLESS AC MOTORS, FKM ................16 Introduction ......................16 Dimensions ......................19 Power connectors and encoder output ..............21 Brake characteristics....................22 Sales reference......................23 A.C.
  • Page 6 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 ....................80 LIST OF PARAMETERS, VARIABLES & COMMANDS. IDs DE ModBus....87 MCS-6/92 Digital Brushless AC servo drive system - Ref.0707...

  • Page 7: Brushless Ac Motors, Fxm

    BRUSHLESS AC MOTORS, FXM Introduction FXM1 FXM3 FXM5 FXM7 FXM series synchronous servo motors are AC Brushless, with permanent magnets. They are ideal for any application requiring great positioning accuracy. They have a uniform output torque, high reliability and low maintenance. They are designed Permanent rare earth magnets (SmCo) Excitation...
  • Page 8 MCS- 8/92 Digital Brushless AC servo drive system - Ref.0707...
  • Page 9 Digital Brushless AC servo drive system - Ref.0707 MCS- 9/92...
  • Page 10 MCS- 10/92 Digital Brushless AC servo drive system - Ref.0707...

  • Page 11: Dimensions

    Dimensions FXM1 SERIES mm (inches) TYPE FXM1 5 [0.19] 5 [0.19] 20 [0.78] 14 [0.55] j6 16.0 [0.62] M5 x 12.5 [0.49] TYPE LC (RESOLVER) LC (ENCODER) FXM11 136 [5.35] 33.5 [1.32] 46 [1.81] FXM12 171 [6.7] 46 [1.81] 33.5 [1.32] FXM13 46 [1.81] 206 [8.11]...
  • Page 12 FXM5 SERIES mm (inches) TYPE FXM5 8 [0.31] 7 [0.27] 40 [1.58] 24 [0.94] j6 27 [1.07] M8 x 19.0 [0.75] TYPE LC (RESOLVER) LC (ENCODER) FXM53 237 [9.33] 33.5 [1.32] 46 [1.81] FXM54 272 [10.71] 33.5 [1.32] 46 [1.81] 46 [1.81] FXM55 307 [12.09]...

  • Page 13: Power Connectors And Encoder Output

    Power connectors and encoder output The power connector includes the brake terminals (E, F). A voltage between 22 and 26 V DC applied to the brake releases the shaft . When installing the motor, verify that the brake releases the shaft completely before turning it for the first time. Connecting the motor windings in the order indicated on the connector (U, V, W), the shaft will turn clockwise ( CWR, clockwise rotation ).

  • Page 14: Brake Characteristics

    Brake characteristics FXM motors have an optional brake that applies friction to the shaft. Its purpose is to immobilize or lock vertical axes, not to brake a moving axis. Its main characteristics depending on the type of brake are: Motor Holding Power on/off Unlocking...

  • Page 15: Sales Reference

    Sales reference FAGOR SYNCHRONOUS MOTOR SIZE 1, 3, 5, 7 LENGTH 1, 2, 3, 4, 5 12 1200 rev/min 30 3000 rev/min RATED 20 2000 rev/min 40 4000 rev/min SPEED WINDING 220 V AC 400 V AC I0 Incremental encoder (2500 ppt)

  • Page 16: Brushless Ac Motors, Fkm

    BRUSHLESS AC MOTORS, FKM Introduction FKM2 FKM4 FKM6 FKM synchronous servo motors are AC brushless with permanent magnets. They are ideal for any application requiring great positioning accuracy. They have a uniform output torque, high reliability and low maintenance. Its normal protection Permanent rare earth magnets (Nd - Fe - B) Excitation level is IP64, being...
  • Page 17 Digital Brushless AC servo drive system - Ref.0707 MCS- 17/92...
  • Page 18 MCS- 18/92 Digital Brushless AC servo drive system - Ref.0707...

  • Page 19: Dimensions

    Dimensions 80 [3.15] 18 [0.70] 40 [1.57] 40 [1.57] 3 [0.11] 8 [0.31] 97 [3.81] 54 [2.12] FKM2 SERIES mm (inches) TYPE FKM2 6 [0.23] 6 [0.23] 30 [1.18] 19 [0.74] j6 21.5 [0.84] M6 x 16 [0.63] TYPE FKM21 114 [4.48] 208 [8.19] FKM22...
  • Page 20 99 [3.89] 20 [0.78] 58 [2.28] 58 [2.28] 3.5 [0.13] 12 [0.47] 54 [2.12] 158 [6.22] FKM6 SERIES mm (inches) TYPE FKM6 10 [0.39] 8 [0.31] 50 [1.96] 32 [1.26] k6 35 [1.37] M10 x 22 [0.86] TYPE FKM62 148 [5.82] 260 [10.24] FKM64 184 [7.24]...

  • Page 21: Power Connectors And Encoder Output

    Power connectors and encoder output It includes the connectors of the brake itself (pins 4 and 5). A voltage between 22 V DC and 26 V DC releases the shaft. When installing the motor, verify that the brake releases the shaft completely before turning it for the first time. Connecting the motor windings in the order indicated on the connector (U, V, W), the shaft will turn clockwise (CWR, clockwise rotation).

  • Page 22: Brake Characteristics

    Brake characteristics FKM motors have an optional brake that applies friction to the shaft. Its purpose is to immobilize or lock vertical axes, not to brake a moving axis. Its main characteristics depending on the type of brake are: Motor Holding Power on/off Unlocking...

  • Page 23: Sales Reference

    Sales reference FAGOR SYNCRONOUS MOTOR SIZE 2, 4, 6 LENGTH 1, 2, 4 30 3000 rev/min 50 5000 rev/min RATED 40 4000 rev/min 60 6000 rev/min SPEED 45 4500 rev/min WINDING 400 V AC 220 V AC I0 Incremental encoder (2500 ppt) FEEDBACK A3 Absolute multi-turn Sincos Encoder (1.024 ppt)

  • Page 24: A.c. Servodrive

    A.C. SERVODRIVE Introduction The MCS family is a compact speed servo drive family for controlling Synchronous AC brushless motors. It has two series depending on the supply voltage they can be connected to: Thus, we will refer to: MCS (H series) if the power supply voltage is 400 V AC MCS (L series) if the power supply voltage is 220 V AC where each of them will have the following models depending on their peak current: For the “MCS-H”...

  • Page 25: Dimensions

    Dimensions 67 mm (2.63") 245 mm (9.64") 6 mm (0.23") 11 mm (0.43") Technical data 220 V (L series) 400 V ( H series) Rated output current (Arms) Peak current (0.5 s) (Arms) 3 AC 220 V / 240 V ± 10 % 3 AC 400 V / 460 V ±...

  • Page 26: Connectors

    Connectors Power terminals POWER INPUTS (L1, L2, L3). Mains input terminals. POWER OUTPUTS (U, V, W). Output terminals for the voltage applied to the motor. Current control with PWM on a carrier frequency of 8 kHz. When connecting to the motor, watch the matching of phases U-U, V-V and W-W. L+, Ri, Re.
  • Page 27 Speed Enable, (pin 3 of X2). At 0V DC, it forces an internal zero velocity command. These control signals are activated with +24 V DC. Drive Ok (pins 6 and 7 of X2). Relay contact that closes when the internal status of the drive control is OK.

  • Page 28: Programming Module

    Programming module The programming module (present on MCS model) has four numeric displays of 7 segments, a sign indicator and a rotary decoder with a push button for confirmation incorporated on the knob itself. PUSH TO CONFIRM The rotating direction may be: Clockwise being possible to: To scroll through the list of parameters, variables and commands and display a...
  • Page 29 There are also a set of variables and certain commands of special characteristics whose meaning and sequences to follow 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.

  • Page 30: Front Panel And Pinout Of The Connectors

    Front panel and pinout of the connectors A. CONNECTOR X1 -12V ± 12 V power supply +12V Commands Monitoring B. CONNECTOR X2 Programmable digital output Enables Drive Ok -12V Programmable +12V digital input C. CONNECTOR X3 Control voltage supply Power input pins to the auxiliary power supply CONTROL POWER...
  • Page 31 Signal Function D. COMMUNICATIONS CONNECTOR N.C. Not connected R x D R x D (232) T x D T x D (232) + 5V Voltage supply T x D + T x D + (422) T x D - T x D - (422) R x D + (422) R x D + T x D / R x D + (485)
  • Page 32 Signal Function F. INPUT CONNECTOR OF THE M O T O R F E E D B A C K A N D A + signal TEMPERATURE SENSOR B + signal Z + signal Phase switching U - Phase switching W - Phase switching V - N.C.

  • Page 33: Characteristics Plate

    Imax CTR, POT, VAR and FR indicate manufacturing related aspects (hardware design versions) that are useful for technical consultations and repairs. Sales reference Codes of the sales reference of Fagor drives. Example: MCS - MCS DIGITAL SERVO DRIVE MODEL Rated...

  • Page 34: Installation

    INSTALLATION General considerations At the motor Remove the anti-corrosion paint of the shaft before mounting them on to the machine. The motor may be mounted as described in the first chapter (B5, V1 and V3). Watch for the ambient conditions mentioned in the section on general characteristics and also: Mount it somewhere that is dry, clean and accessible for maintenance.

  • Page 35: Electrical Connections

    >50mm >30mm >10mm >50mm About the connection All the cables must be shielded, to reduce the interference on the control of the motor due to the commutation of the PWM. The shield of the motor power cable must be connected to the chassis screw at the bottom of the module and it, in turn, taken to mains ground.
  • Page 36 Power connection. Mains - Drive The drive power supply must be three-phase, except in modules MCS-05L and MCS- 10L that can also be single-phase. See parameter GP16. The use of a transformer is not a must. Warning. Never make this connection because THREE PHASE there is a risk of destroying the module.

  • Page 37: Power Connection. Drive - Motor

    Use KV41 to indicate to the drive that an external ballast resistor has been connected. MCS DRIVE MCS DRIVE External Ballast Internal Ballast 2.5 mm Power connection. Drive - motor Fagor Cables MPC- 4x1.5+(2x1) , MPC- 4x1.5 MOTOR MPC- 4x2.5+(2x1) , MPC- 4x2.5 OUTPUT CONNECTOR...
  • Page 38 MPC - 4 x 2.5 + (2 x 1) Note. The length of the MPC power cable must be specifically ordered (in meters). Codes of the sales reference of Fagor power cables. MOTOR POWER CABLE E.g. MPC 4 x 0.5...
  • Page 39 Connection of the monitoring and control signals Drive OK switch Enable signals using ±12V voltage To the safety -12 V DR.OK chain. +12 V SPEED Drive OK : 0.6 A - 125 V AC DRIVE 0.6 A - 110 V DC COMMON 2 A - 30 V DC Enable signals...

  • Page 40: Cabling

    (1024 x 4 = 4096 ppt). This (4096) is the highest value to be set in EP1. Note that it may be programmed (it is not a fixed value). Cabling Fagor provides these full connections (cables+connectors): SEC, SEC-HD, IECD, EEC and EEC-SP. Encoder simulator connecting cable, SEC Depending on motor feedback, the drive can generate a set of signals that simulate those of a TTL encoder attached to the rotor of the motor.
  • Page 41 TTL encoder connecting cables, IECD The IECD cable transfers the motor feedback signals from the incremental TTL encoder to the drive. IOC-17 (HD,Sub-D,M26) Signal Front View Brown/Green White/Green Purple Black Blue Yellow/Brown White/Grey Red/Blue Grey/Pink Pink Grey White/Pink STM1 or KTY84 (-) Grey/Brown STM2 or KTY84 (+) Yellow...
  • Page 42 Chassis (only at the drive end). The overall shield is connected to both connector housings The 26-pin connector housing must be conductive (metallic). Codes of the sales reference of Fagor cables Example: IECD -...

  • Page 43: Analog Command Signal Connection

    Example: EEC - CABLE ENCODER - DRIVE CABLE FOR SINCOS™ ENCODER OR SINCODER™ LENGTH (m) 1A, 3, 5, 7, 10, 15, 20, 25, 30, 35, 40, 45, 50 EEC-1A is 1.25 meters long. SUB-D EOC-12 HD M26 Example: EEC -SP - CABLE ENCODER - DRIVE CABLE FOR SINCOS™...

  • Page 44: Mcs - Pc Connection. Rs-232 Serial Line

    The input impedance of the velocity command is 56 k Ω (a range ± 10 V). The input impedance of the current command is 56 k Ω (a range ± 10 V). Differential velocity command input range of ±10 V VEL+ Uref VEL-...

  • Page 45: Diagram Of The Electrical Cabinet

    Diagram of the electrical cabinet This is an orientative diagram for the installation of the electrical cabinet. This diagram may be modified according to the requirements of each application. It includes a simple circuit for the voltage supply of the brake of the servo motors. Warning.

  • Page 46: Initialization And Adjustment

    After starting the motor-drive system, the way the parameters, variables and commands will be displayed and edited will be determined by the access level: Fagor level, user level or basic level restricting, depending on the level, the access to some or all of them.
  • Page 47 Everything done so far is stored in RAM memory, but not permanently. So, all these modifications will be ignored if a reset is carried out because, when starting up again, the drive assumes the configurations stored in its PROM. T h e r e f o r e , t o s t o r e a l l t h e s e modifications permanently, the information stored in RAM memory must be saved (transferred) into...
  • Page 48 To obtain information on the type of drive (it can be read but not edited) coherent with the selected motor, find GV9 and follow the indication of the figure below to display the different fields that show their characteristics: Model: L 220 V AC Power Supply:...
  • Page 49 WinDDSSetup Fagor application for PC. Establish communication between the MCS unit and the PC via serial port. The operator can use the application's interface to read, modify, save to a PC file and download from a PC file all the parameters and variables of the drive and check the status of the motor-drive combination;...

  • Page 50: Parameters, Variables & Commands

    PARAMETERS, VARIABLES & COMMANDS Notation used <Group> <Type> <Index> where: Group. Identifying character of the logic group to which the parameter or variable belongs. There are the following groups of parameters: GROUPS OF PARAMETERS, VARIABLES & COMMANDS FUNCTION GROUP LETTER Control signals Terminal box Current control loop...
  • Page 51 Basic level Examples of access levels SP10 basic : S group, Parameter P , Nr 10 , Access level (basic) CV11 Fagor , RO: C Group, V variable, Nr 11 , Access level (Fagor) , read-only variable (RO) . Modifiable variable.

  • Page 52: B Group. Non-Programmable Inputs - Outputs

    B group. Non-programmable inputs - outputs BV14 FAGOR, RO NotProgrammableIOs Function: Indicates the logic values of the electrical control signals of the drive. 24 V at the electrical input mean a logic 1 at the bits of this variable. Function 15, ..., 4...
  • Page 53 (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. CP30 FAGOR, RW CurrentCommandFilter1Type Function: Parameter in charge of enabling / disabling the current filter. Valid values:...
  • Page 54 CP32 FAGOR, RW CurrentCommandFilter1Damping Function: Sets the bandwidth in Hz of a notch filter that acts upon the current command. Valid values: 0, ..., 1000. Default value: CP45 USER, RW CurrentCommandSelector Function: This parameter is used to determine the command source of the current loop.
  • Page 55 From the velocity loop CP45 From the functions generator Digital Command CV15 IP17 Analog Command Default value: USER, RO Current1Feedback Function: Display the value of the feedback of the current going through phase V. Valid values: - 50, ..., + 50 A (instant values). Default value: USER, RO Current2Feedback...

  • Page 56: D Group. Diagnosis

    CV10 FAGOR, RO Current1Offset Function: Value of the automatic compensation of the current feedback offset of phase V. Valid values: - 2000, ..., + 2000 mA (depends on the connected drive). Default value: CV11 FAGOR, RO Current2Offset Function: Value of the automatic compensation of the current feedback offset of phase W.
  • Page 57 DV31 FAGOR, RO DriveStatusWord Function: The DV31 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). Function 15, 14 Power & Torque Status.

  • Page 58: E Group. Encoder Simulator

    USER, RW ResetClassDiagnostics Function: Reset of the unit's errors . When an error occurs, this command may be used to reset it and restart the unit by first updating the error bit of DV31, DriveStatusWord, and then setting the drive in the ReadyForPower state. Note its difference with the unit's reset because the action carried out by this command keeps the RAM memory intact and therefore the parameter settings of the unit.
  • Page 59 Value of the time used in functions OutFunc1 and OutFunc2. Valid values: 0, ..., 9999 ms. Default value: 2000 ms. GP15 FAGOR, RW AutomaticInitialization Function. When having a SINCOS™or SINCODER™ encoder, it enables reading MP1 directly from the sensor and consequently loading certain drive parameter automatically.
  • Page 60 0 and 1 (with 1, it resets the unit). Default value: GV16 USER, RO MotorTableVersion Function: Version of the motor table. GV75 FAGOR, RO ErrorList Function: List of the error numbers active in the unit. Valid values: 0,..., 999. Default value: MCS- 60/92 Digital Brushless AC servo drive system - Ref.0707...

  • Page 61: H Group. Hardware

    BASIC, RW BackupWorkingMemoryCommand Function: Command to execute the parameter transfer from RAM to PROM. FAGOR, RW AutophasingCommand Function: Command that lets activate the Autophasing sequence. Procedure to follow: Connect the drive to the motor with the SINCOS™ or SINCODER™ encoder installed (power and feedback cables) and without a load on the shaft.

  • Page 62: I Group. Inputs

    I group. Inputs USER, RW DigitalInputPolarity Function: Sets the polarity (inverted or not inverted) of the programmable input (pins 8 and 9 of X2). Valid values: 0 . Not inverted. 1. Inverted. Default value: 0. Not inverted. X2.8 PROG_ DIGIT_INPUT IV10 X2.9 IP14...
  • Page 63 BASIC, RO AnalogInput1 Function: Monitors the input voltage through analog input 1 (pins 5 - 6 of X1). It's display is in volts. PROG_ ANALOG_INPUT VEL + X1.5 10 Bit 16 Bit VEL - X1.6 X1.7 X1.4 X1.4 USER, RO AnalogInput2 Function: Monitors the input voltage through analog input 2 (pin 7 of...

  • Page 64: K Group. Monitoring

    K group. Monitoring USER, RW ExtBallastPower Function: Contains the value of power of the external ballast resistor. Valid values: 200, ..., 2000 W. Default value: 200 W. USER, RW ExtBallastEnergyPulse Function: Contains the value of the energy pulse that can be dissipated by the external ballast resistor.
  • Page 65 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-Fagor motor, insert the NULL value in the first field of MP1. FEEDBACK TYPE...
  • Page 66 FAGOR, RW MotorContinuousStallCurrent 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: It depends on the motor connected (Arms). O group. Analog and digital outputs...
  • Page 67 Units: The units of the variable being displayed. Valid values: 0, ..., 9999. Default value: 4000 and 3000 respectively. Example: If OP1= 04 [SV2] (VelocityFeedback, in rev/min) and OP3 = 3000. It means that when the value of SV2 is 3000 rev/min the analog output will be 10 V and it maintains this (rev/min)/V ratio throughout its full range ±10V.
  • Page 68 OP15 USER, RW DigitalOutputWarningSelector Function: Selector of the warning that will be displayed by the programmable output when function OutFunc7 is selected. Valid values: 0 . I t Motor (by default) 1. I t Ballast. 2. I t Drive. OP15 I2t MOTOR OV10 I2t BALLAST...
  • Page 69 QP16 USER, RW SerialSettings Function: Determines the communications parameters of the UART (Universal Asynchronous Receiver/Transmitter) of the serial line: baudrate, parity, Nr of bits, Nr of stop bits. Function 15, ..., 12 Reserved 11, 10 Stops bits 1 Stop bits 2 Stop bits 9, ..., 6 Data bits 7 Data bits...
  • Page 70 QV22 FAGOR, RO IDNListOfInvalidOperationData Function: Variable containing the parameters that are readjusted by the drive when it issues the error E.502 (incompatible parameters). The parameters are listed by their bus identifier (the WinDDSSetup shows the parameter names directly). Valid values: Any parameter bus identifier.
  • Page 71 FAGOR, RW FeedbackSineOffset FAGOR, RW FeedbackCosineOffset Function: Compensation (offset mode) of the sine/cosine signal that goes from the motor feedback to the drive. Valid values: - 2000, ..., 2000. Default value: USER, RO FeedbackSine USER, RO FeedbackCosine Function: Sine and cosine of the feedback that goes from the motor to the drive as internal system variables.
  • Page 72 S group. Velocity BASIC, RW VelocityProportionalGain BASIC, RW VelocityIntegralGain 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. BASIC, RW VelocityDerivativeGain Function:...
  • Page 73 SP19 BASIC, RW SymmetryCorrection Function: Its purpose is to correct the possible difference in analog command generated to obtain exactly the same speed in both turning directions. Valid values: - 500, ..., + 500 mV. SP19 Default value: 0 mV. SP20 BASIC, RW VoltageRpmVolt Function:...
  • Page 74 SP40 USER, RW VelocityThresholdNx Function: Velocity level over which the OV10 variable is activated when function OutFunc3 (MotorSpeed > SP40) is active. Valid values: 0, ..., motor rated speed in rev/min. Default value: 1000 rev/min. SP41 USER, RW VelocityWindow Function: Velocity window assigned to the "reached speed"...
  • Page 75 SP45 BASIC, RW VelocityCommandSelector Function: This parameter is used to determine the velocity command source. Valid values: 0, 1 and 2. Value Function Analog. Input through pins 5 and 6 of connector X1 after being adapted by SP19, SP20 and SP21. Function generator.
  • Page 76 SP65 BASIC, RW EmergencyAcceleration Function: In emergency stop. If the bus voltage drops or there is a power outage for the unit in the acceleration, deceleration or constant power mode, the drive will get into the dynamic braking sequence. It stops with the emergency ramp until its speed is zero as long as the mechanical energy stored in the motor allows it.
  • Page 77 BASIC, RO VelocityFeedback Function: Velocity feedback. Valid values: - 9999, ..., + 9999 rev/min. BASIC, RO VelocityCommandAfterFilters Function: Velocity command after applying limits, ramps, etc. Valid values: - 9999, ..., + 9999 rev/min. BASIC, RO VelocityCommandFinal Function: Final velocity command applied to the loop. Valid values: - 9999, ..., + 9999 rev/min.
  • Page 78 T group. Torque and power USER, RW TorqueThresholdTx Function: Parameter that determines the threshold for the activation of OV10 when function OutFunc2 (TorqueLimitModeCero Search) is activated. Units: Fraction of the rated value of the motor torque. Valid values: 0, ..., 100 %. Default value: 5 %.
  • Page 79 USER, RW GeneratorAmplitude Function: It indicates the signal amplitude of the internal command generator. Valid values: 0, ..., 9999 rev/min if it is a velocity command. 0, ..., 9999 Arms x 10 if it is a current command. USER, RW GeneratorType Function: It specifies on which magnitude the internal command is...
  • Page 80 ERROR MESSAGES E.001 Internal Contact Fagor Automation. E.003 At the power bus voltage Cause. Error. When having torque, one of the phases of the line may have dropped. Warning. When starting the unit up, maybe: One of the three-phase lines has dropped.
  • Page 81 If t1 < GP3 then after GP9 motor torque ON = 0; else (motor torque ON = 0 and “E.004”) SP42 Time zero speed (total lack of velocity) does not exist, there is always a minimum amount of speed noise due to feedback. Solution.
  • Page 82 E.200 Overspeed Cause. The motor speed has exceeded the value of SP10 in a 12%. 1.12 x Rated Motor Speed Rated Motor Speed “E.200” Time Solution. Bad cabling or poor connection of the position sensor or of the motor power. Maybe, the velocity loop is not adjusted properly.
  • Page 83 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 codes of the following table will be displayed informing on which drive the alarm has been detected.
  • Page 84 E.304 Power bus voltage of the drive too high Causes. The hardware of the drive module has detected that the voltage at the power bus is too high. Solution. Check the connection of the external Ballast resistor (if applicable) and make sure it is in good condition.
  • Page 85 E.801 Encoder not detected Cause. The drive has not detected the rotor sensor. Solution Match the selected sensor with the feedback installed and, if the error persists, contact Fagor Automation. Digital Brushless AC servo drive system - Ref.0707 MCS- 85/92...
  • Page 86 Defective encoder 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. E.803 Encoder not initialized Solution. Contact Fagor Automation. MCS- 86/92 Digital Brushless AC servo drive system - Ref.0707...
  • Page 87 LIST OF PARAMETERS, VARIABLES & COMMANDS. ID DE M Mnem. Name Level IdBus Min. Max. Def. Units BV14 NotProgrammableIOs Fagor 08601 65535 ----- ----- CurrentProportionalGain Fagor 00213 ----- ----- CurrentIntegralTime Fagor 00215 ----- ----- CP10 VoltageAmpVolt user 08823 1000 9999...
  • Page 88 00280 ---- ---- ---- ----- GV11 SoftReset basic 09609 ----- GV16 MotorTableVersion basic 09625 ---- ---- ---- ----- GV75 ErrorList Fagor 00750 ---- ---- ---- ----- PLDVersion basic 08783 ---- ---- ---- ----- DigitalInputPolarity user 10013 ----- IP14 DigitalInputFunctionSelector user...
  • Page 89 Level IdBus Min. Max. Def. Units FeedbackSine user 11205 - 512 ---- ----- FeedbackCosine user 11207 - 512 ---- ----- FeedbackRhoCorrection Fagor 11209 65535 ---- ----- VelocityProportionalGain basic 00201 9999 ---- Arms/rpm VelocityIntegralTime basic 00203 9999 ---- VelocityDerivativeGain basic 00205...
  • Page 90 User notes: Digital Brushless AC servo drive system - Ref.0707 MCS- 90/92...
  • Page 91 User notes: MCS - 91/92 Digital Brushless AC servo drive system - Ref.0707...
  • Page 92 Fax: 351 22 996 07 19 E-mail: fagor_nj@fagorautomation.com.cn Sede Central: E-mail: fagorautomation@fagorautomation.pt Guangzhou: FAGOR AUTOMATION S.COOP. Beijin FAGOR AUTOMATION Equipment Ltd. Bº San Andrés 19, Apdo. 144 Guangzhou Office Chicago: E-20500 ARRASATE-MONDRAGON Room 915 Lihao Plaza FAGOR AUTOMATION CORP. www.fagorautomation.com No.
  • Page 93 X1.1 IV10 -12 V ANALOG COMMAND X1.2 IP17 X1.3 +12 V +12 V FAGOR SYNCRONOUS MOTOR FAGOR SYNCHRONOUS MOTOR WV6 DUTY % SIZE 2, 4, 6 SIZE 1, 3, 5, 7 LENGTH 1, 2, 4 LENGTH 1, 2, 3, 4, 5 GEN.
  • Page 94 I/O FUNCTIONS FUNCIÓN OP14 X2.8 OV10 as output NO FUNC. from la función nº: OUTFUNC1 PROG_DIG_ IP14 FUNCTION OUTFUNC2 INPUT OV10 X2.1 NO FUNC. IV10 OUTFUNC3 INFUNC1 X2.9 OUTFUNC4 PROG_DIG_ IV10 as input INFUNC2 OUTFUNC5 to function nr: OUTPUT INFUNC3 OUTFUNC6 INFUNC4 OUTFUNC7...
  • Page 95 ANALOG FUNCTIONS PROG ANALOG CP10, CP11 INPUT IP17 FUNCTION Voltage CP10 NO FUNC. X1.7 IV3 as input FUNCTION 1 to function nr: 10 Bit X1.4 FUNCTION 2 CP11 Current Function 1 External current command Function 2 External current limit command CP45 From speed loop CP45...
  • Page 96 ERROR FUNCTIONS Function "E.003" Power supply fault Function "E.106" Function "E.200" Overspeed Drive overtemp speed 1, 2 or 3 lines lost 1 line lost Power Supply Rated motor speed x 1.12 105 ºC Rated motor speed Drive Enable "E.106" Speed Enable "E.200"...

This manual is also suitable for:

Fxm1seriesFxm3 fxm5 seriesFxm7 seriesFkm2 seriesFkm4 seriesFkm6 series

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