Fagor BCSD Series User Manual
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Fagor BCSD Series User Manual

Fagor BCSD Series User Manual

Brushless ac servo drives
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  • Page 1 User manual Ref. 1809...
  • Page 2 Fagor Automation does not guarantee the validity of those applications. Therefore, except under the express permission from Fagor Automation, any CNC application that is not described in the documentation must be considered as “impossible”. In any case, Fagor Automation shall not be held responsible for any personal injuries or physical All rights reserved.
  • Page 3 FAGOR AUTOMATION S.COOP Brushless AC Servo Drives ~ BCSD series ~ Ref. 1809...
  • Page 4 All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of FAGOR. No patent liability is assumed with respect to the use of the information contained herein.
  • Page 5 Safety Precautions • Do not connect the servomotor directly to the local electrical network. Failure to observe this may result in damage to servomotor. • Do not plug or unplug connectors from servodrive after power is on. Failure to observe this may result in damage to servodrive and servomotor. •...
  • Page 6 Revision History Date Revised Content Remark 1. Remove 200V drives and motors BCSD-15AMA, BCSD-20AMA, BCSD-30AMA, BCSD-50AMA, FBM-10ADA, FBM-15ADA, FBM- 20ADA, FBM-30ADA, FBM-50ADA. 2014-02 2. Add 400V drives and motors BCSD-10DMA, BCSD-15DMA, BCSD- 20DMA, BCSD-30DMA, BCSD-50DMA, FBM-10DDA, FBM- 15DDA, FBM-20DDA, FBM-30DDA, FBM-50DDA. 1.

  • Page 7: Table Of Contents

    1. PRODUCTS GENERAL DESCRIPTION.................... 9 1.1. Servo motor ..........................10 1.1.1. FBS Servomotor ....................... 10 1.1.2. FBM Servomotor....................... 14 1.1.3. FBS/FBM motor appearance and part name..............20 1.2. BCSD Servodrive........................21 1.2.1. BCSD drive General information ..................21 1.2.2. BCSD drive Specifications and Models ................26 1.2.3.
  • Page 8 4.4. Operating Using Speed Control ....................64 4.4.1. Setting Parameters ......................64 4.4.2. Setting Input Signals......................64 4.4.3. Adjusting Reference Offset....................65 4.4.4. Soft Start........................... 65 4.4.5. Speed Reference Filter Time Constant ................66 4.4.6. S-curve Risetime ......................66 4.4.7. Encoder Signal Output...................... 67 4.5.

  • Page 9: Products General Description

    However, if the servomotor has brakes, it cannot be turned manually. • Checking Products on Delivery. If any of the above items are faulty or incorrect, contact your FAGOR representative or the dealer from whom you purchased the products. Digital Brushless AC Servo Drive system - Ref. 1809...

  • Page 10: Servo Motor

    1.1. Servo motor 1.1.1. FBS Servomotor • FBS Servomotor Model Designation. FBS - FAGOR servo motor (1) Model (4) Encoder (7) Option Code Model Code Encoder Code Option Small type Absolute encoder: 131072P/R Without brake With brake (DC 24 V)
  • Page 11 • Rated Value and Specification of FBS motors. Servo Motor Model FBS-08ADB FBS-10ADB Rated Output Power (kW) 0.75 Rated Torque (N.m) 2.39 3.18 Instantaneous peak Torque (N.m) 7.16 9.55 Rated current (Arms) Instantaneous Max. current (Arms) 12.0 15.9 Rated speed (r/min) 3000 Max.
  • Page 12 • Dimension of FBS motors (Unit: mm). Flange Side Tap x Model FBS Depth 08ADB2 08ADB4 19 M6 x 15L 10ADB2 10ADB4 BCSD-12/116 Digital Brushless AC Servo Drive system - Ref. 1809...
  • Page 13 • FBS motor Connector specification. Motor connector specification: Pin No. Signal Color Blue White Green/yellow Encoder connector specification: Pin No. Signal Color Blue Blue/Black BAT+ Brown BAT- Brown/Black PG5V PG0V Black Shield Brake connector specification: Pin No. Signal Color Blue White Digital Brushless AC Servo Drive system - Ref.

  • Page 14: Fbm Servomotor

    1.1.2. FBM Servomotor • FBM Servomotor Model Designation. FBM - FAGOR servo motor (1) Model (3) Voltage (6) Shaft End Code Model Code Voltage Code Shaft End Medium type 400 V AC Straight without key (Standard) Straight with key and tap...
  • Page 15 • Torque-Speed Feature of FBM motors. FBM-10D FBM-15D FBM-20D FBM-30D FBM-50D A: Continuous Working Area B: Repeatedly Working Area Digital Brushless AC Servo Drive system - Ref. 1809 BCSD-15/116...
  • Page 16 • Dimension of FBM-10/15/20DDB motors (Unit: mm). Model FBM 10 DDB 203 (245.5) 148 (190.5) 80 (103.2) 131.5 (174) 60.5 15 DDB 225 (267.5) 170 (212.5) 102 (125.2) 153.5 (196) 60.5 20 DDB 247 (289.5) 192 (234.5) 124 (147.2) 175.5 (218) 60.5 Model FBM Dimension...
  • Page 17 • Connector specification of FBM-10/15/20DDB motors. Motor connector specification: Pin No. Signal (*) G (*) There are no B1, B2 signals in motor without brake. (*) H Encoder connector specification: Absolute encoder. Pin No. Signal BAT+ BAT- PG0V PG5V Digital Brushless AC Servo Drive system - Ref. 1809 BCSD-17/116...
  • Page 18 • Dimension of FBM-30/50DDA motors (Unit: mm). Model FBM 30 DDA 307 (378) 228 (299) 203 (274) 50 DDA 357 (428) 278 (349) 253 (324) Model FBM Flange Side Tap x Depth 30 DDA 114.3 13.5 M8 x 16L 50 DDA 114.3 13.5 M8 x 16L...
  • Page 19 • Connector specification of FBM-30/50DDA motors. Motor connector specification: Pin No. Signal Encoder connector specification: Pin No. Signal Color Blue Blue/Black BAT+ Brown BAT- Brown/Black PG5V PG0V Black Shield Brake connector specification: Pin No. Signal Digital Brushless AC Servo Drive system - Ref. 1809 BCSD-19/116...

  • Page 20: Fbs/Fbm Motor Appearance And Part Name

    1.1.3. FBS/FBM motor appearance and part name • Appearance and Nameplate. Servomotor model Ratings Serial number • Part names of servo motor. Mounting hole Encoder Output shaft Shell Flange BCSD-20/116 Digital Brushless AC Servo Drive system - Ref. 1809...

  • Page 21: Bcsd Servodrive

    1.2. BCSD Servodrive 1.2.1. BCSD drive General information • Servodrive Model Designation. BCSD - 01 FAGOR servo drive (1) Model (3) Voltage Code Model Code Voltage BCSD BCSD 220 V AC (Only valid for BCSD-08/10AMA) 400 V AC (Only valid for BCSD-10/15/20/30/50DMA)
  • Page 22 • Appearance. BCSD-08A/10A BCSD-10D/15D/20D BCSD-30D/50D • Nameplate. Servodrive model Applicable power supply Applicable servomotor capacity Serial number BCSD-22/116 Digital Brushless AC Servo Drive system - Ref. 1809...
  • Page 23 • Part name of BCSD-08A/10A. Charge indicator. Lights when the main circuit power supply is ON and stays lit as long as the main circuit power supply capacitor remains charged. Power on indicator. Lights when the Main circuit power control power supply supply terminals.
  • Page 24 • Part name of BCSD-10D/15D/20D. Charge indicator. Lights when the main circuit power supply is ON and stays lit as long as the main circuit power supply capacitor remains charged. Power on indicator. Lights when the Main circuit power control power supply supply terminals.
  • Page 25 • Part name of BCSD-30D/50D. Charge indicator. Lights when the main circuit power supply is ON and stays lit as long as the main circuit power supply capacitor remains charged. Power on indicator. Lights when the Main circuit power control power supply supply terminals.

  • Page 26: Bcsd Drive Specifications And Models

    Max. input voltage: ±12 V Analog Input About 10 M or above. mode Speed Control Impedance Circuit Time 10 µs Constant CAN mode CAN Fagor protocol, CAN communication with CNC. BCSD-26/116 Digital Brushless AC Servo Drive system - Ref. 1809...
  • Page 27 Servodrive Model: BCSD - FBS - Applicable Servomotor Model: FBM - Encoder Dividing Pulses Phase-A, phase-B, phase-C, line driver output. Output Number of dividing pulses: any. Number Signal allocations and positive/negative logic modifications: Digital Servo ON (/S-ON), P control (/P-CON), alarm reset (/ALM- Input Function RST), position error clear (/CLR), forward run prohibited (P-...

  • Page 28: Bcsd Drive Dimensional Drawings

    1.2.3. BCSD drive Dimensional Drawings • BCSD-08A/10A (unit: mm). • BCSD-10D/15D/20D (unit: mm). BCSD-28/116 Digital Brushless AC Servo Drive system - Ref. 1809...
  • Page 29 • BCSD-30D/50D (unit: mm). Digital Brushless AC Servo Drive system - Ref. 1809 BCSD-29/116...

  • Page 30: Encoder And Power Cables

    1.3. Encoder and Power cables Name Model Specifications EEC-FBS-A-XX FBM-10D FBM-15D EEC-FBM-A-XX-01 Serial Encoder FBM-20D Cables FBM-30D EEC-FBM-A-XX FBM-50D MPC-FBS-18-XX FBM-10D FBM-15D MPC-FBM-14-XX-01 FBM-20D Power Cables FBM-30D MPC-FBM-12-XX FBM-50D Servomotor Servodrive Power cable Power connector Encoder cable FBS-08ADB  BCSD-08AMA-01 MPC-FBS-18-XX MC-FBS-08-10 EEC-FBS-A-XX...

  • Page 31: Communication Cables

    1.4. Communication cables Cable name Cable description BSC-CS-XX-01 CAN Cable between CNC drive and SCD drive (XX: 5, 10, 15 m). BSC-CA-XX-02 CAN Cable between CNC drive and BCSD drive (XX: 5, 10, 15 m). BSC-SA CAN Cable between SCD drive and BCSD drive (300 mm). BSC-AA CAN Cable between BCSD drive and BCSD drive (300 mm).

  • Page 32: Installation

    2. INSTALLATION 2.1. Servomotor Servomotor can be installed either horizontally or vertically. However, if the servomotor is installed incorrectly, the service life of the servomotor will be shortened or unexpected problems will occur. Please observe the installation instructions described below to install the servomotor correctly. Before installation: Anticorrosive paint is coated on the edge of the servomotor shaft.

  • Page 33: Installation Alignment

    2.1.3. Installation Alignment Align the shaft of the servomotor with that of the machinery to be controlled, and then connect the shafts with elastic couplings. Install the servomotor so that alignment accuracy falls within the range shown below. Measure this distance at four different positions in the circumference. The difference between the maximum and minimum measurements must be 0.03 mm or less.

  • Page 34: Servodrive

    2.2. Servodrive BCSD series servodrive is a base-mounted type. Incorrect installation will cause problems. Always observe the installation instructions described below. 2.2.1. Storage When the servodrive is not used, store it in the temperature between -20 ºC and 85 ºC with the power cable disconnected.

  • Page 35: Installation Method

    2.2.4. Installation Method When installing multiple servodrives side by side in a control panel, observe the following installation method. • Installation Orientation. Install servodrive perpendicular to the wall so that the front panel (containing connectors) faces outward. • Cooling. Provide sufficient space around each servodrive to allow cooling by natural convection or fans. •...

  • Page 36: Wiring

    3. WIRING 3.1. Main Circuit Wiring Please observe the following instructions while wiring the main circuit. CAUTION • Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines separated by at least 300 mm. •...

  • Page 37: Typical Main Circuit Wiring Examples

    3.1.2. Typical Main Circuit Wiring Examples • Three-phase 220V BCSD-08A~10A. Digital Brushless AC Servo Drive system - Ref. 1809 BCSD-37/116...
  • Page 38 • Three-phase 400V BCSD-10D~50D. BCSD-38/116 Digital Brushless AC Servo Drive system - Ref. 1809...

  • Page 39: I/O Signals

    3.2. I/O Signals 3.2.1. Example of I/O Signal Connections Digital Brushless AC Servo Drive system - Ref. 1809 BCSD-39/116...

  • Page 40: I/O Signal Names And Functions

    3.2.2. I/O Signal Names and Functions • Input Signals. Control Signal Function Mode Name /S-ON Servo ON: Turns the servomotor on. P-OT Forward run prohibited Overtravel prohibited: N-OT Reverse run prohibited Stops servomotor when OFF. /ALM-RST Alarm reset: Releases the servo alarm state. Speed Control power supply input for I/O signals: Provide the +24 V DC power DICOM...

  • Page 41: I/O Signal Connector (Cn1) Terminal Layout

    3.2.3. I/O Signal Connector (CN1) Terminal Layout Terminal Terminal Name Function Name Function VREF+ T-REF+ Speed reference input: ±10 V Torque reference input: ±10 V VREF- T-REF- DGND DGND DGND DGND Reserved Reserved /TGON+ PULS+ Running signal output Reference pulse input /TGON- PULS- ALM+...

  • Page 42: Interface Circuit

    3.2.4. Interface Circuit This section shows examples of servodrive I/O signal connection to the host controller. • Interface for sequence input circuit. The sequence input circuit interface connects through a relay or open-collector transistor circuit. Select a low-current relay otherwise a faulty contact will result. •...

  • Page 43: Wiring Encoders

    3.3. Wiring Encoders 3.3.1. Connecting an Encoder (CN2) • 17 bit Absolute Encoders. Note: The pin numbers for the connector wiring differ depending on the servomotors. 3.3.2. Encoder Connector (CN2) Terminal Layout • 17 Bit Absolute Encoder. Terminal Terminal Name Function Name Function...

  • Page 44: Communication Connection

    3.4. Communication Connection 3.4.1. Communication Connector (CN3) Terminal Layout Terminal No. Name Function Reserved 485+ RS-485 communication terminal ISO_GND Isolated ground ISO_GND 485- RS-485 communication terminal CANH CAN communication terminal CANL CAN communication terminal Note: Do not short terminal 1 and 2 of CN3. 3.4.2.

  • Page 45: Wiring Examples

    3.5. Wiring Examples 3.5.1. CAN Control Mode Note: The following wiring is for BCSD-10AMA as an example, the control voltage is 220 V AC. For BCSD-10D/15D/20D/30D/50D, the control voltage is 24 V DC. Digital Brushless AC Servo Drive system - Ref. 1809 BCSD-45/116...

  • Page 46: Operation

    4. OPERATION 4.1. Trial Operation Make sure that all wiring has been completed prior to trial operation. Perform the following three types of trial operation in order. Instructions are given for speed control mode (standard setting). Unless otherwise specified, the standard parameters for speed control mode (factory settings) are used.
  • Page 47 Step Item Description Reference Install the servomotor and servodrive according to the installation conditions. (Do not connect the servomotor to the machine because the Installation servomotor will be operated first under the no-load condition for checking.) Connect the power supply circuit (L1, L2 and L3), servomotor wiring (U, V, W), I/O signal wiring (CN1), and encoder wiring (CN2).

  • Page 48: Trial Operation For Servomotor Without Load

    4.1.1. Trial Operation for Servomotor Without Load CAUTION • Release the coupling between the servomotor and the machine, and secure only the servomotor without a load. • To prevent accidents, initially perform the trial operation for servomotor under no-load conditions (with all couplings and belts disconnected).
  • Page 49 Step Description Check Method and Remarks Use the panel operator to operate the servomotor with utility function Fn002 (JOG Mode Operation). Check that the servomotor rotates in the forward direction by INC key, and reverse direction by DEC key. The operation is completed when the operation is performed as described below and the alarm display does not appear.

  • Page 50: Trial Operation For Servomotor Without Load From Host Reference

    JOG Speed Speed Pn305 Setting Range Setting Unit Factory Setting Setting Validation 0 ~ 6000 immediately Set the utility function Fn002 (JOG Mode Operation) to the reference value of servomotor speed. The servomotor can be operated using only the panel operator without reference from the host controller. Pay attention that the Forward Run Prohibited (P-OT) and Reverse Run Prohibited (N-OT) signals are invalid during JOG mode operation.
  • Page 51   2. Operating Procedure in Speed Control Mode (Pn005=H. The following circuit is required: External input signal circuit or equivalent. Step Description Check Method and Remarks Check the power and input signal Refer to the above figure for input signal circuit. circuits again, and check that the speed reference input (voltage between the V-REF+ and V-REF-) is...
  • Page 52 • When Position Control is configured at the Host. When the servodrive conducts speed control and position control is conducted at the host controller, perform the operation below, following the operation in Operation Procedure in Speed Control Mode (Pn005=H.0). Step Description Check Method and Remarks Check the input signal circuit again,...

  • Page 53: Trial Operation With The Servomotor Connected To The Machine

    4.1.3. Trial Operation with the Servomotor Connected to the Machine WARNING • Follow the procedure below for trial operation precisely as given. • Malfunctions that occur after the servomotor is connected to the machine not only damage the machine, but may also cause an accident resulting death or injury. Follow the procedure below to perform the trial operation.

  • Page 54: Trial Operation For Servomotor With Brakes

    Step Description Check Method and Remarks Adjust the servo gain and improve the The servomotor will not be broken in completely during the servomotor response characteristics, if trial operation. Therefore, let the system run for a sufficient necessary. amount of additional time to ensure that it is properly broken Thus, the trial operation with the servomotor connected to the machine is completed.

  • Page 55: Control Mode Selection

    4.2. Control Mode Selection The control modes supported by the BCSD series servodrives are described below. Reference Parameter Control Mode section Speed Control (Can bus or Analog voltage reference) Controls servomotor speed using analog voltage speed reference. Use in the following instances.

  • Page 56: Setting Common Basic Functions

    4.3. Setting Common Basic Functions 4.3.1. Setting the Servo ON Signal This sets the servo ON signal (/S-ON) that determines whether the servomotor power is ON or OFF. 1. Servo ON signal (/S-ON). Connector Type Name Setting Meaning Pin Number Servomotor power ON.

  • Page 57: Switching The Servomotor Rotation Direction

    4.3.2. Switching the Servomotor Rotation Direction The rotation direction of the servomotor can be switched without changing the reference pulse to the servodrive or the reference voltage polarity. This causes the travel direction (+, -) of the shaft reverse. The output signal polarity such as encoder pulse output and analog monitor signal from the servodrive does not change.

  • Page 58: Setting The Overtravel Limit Function

    4.3.3. Setting the Overtravel Limit Function The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion and turn ON a limit switch. 1. Connecting the overtravel signal. To use the overtravel function, connect the following overtravel limit switch to the corresponding pin number of servodrive CN1 connector correctly.
  • Page 59 3. Selecting the Servomotor Stop Method. This is used to set the stop method when an overtravel (P-OT, N-OT) signal is input while the servomotor is operating. Mode After Parameter Stop Mode Meaning Stopping Stop by Rapidly stops the servomotor by dynamic braking ...

  • Page 60: Setting For Holding Brakes

    4.3.4. Setting for Holding Brakes The holding brake is used when the servodrive controls a vertical axis. A servomotor with brake prevents the movable part from shifting due to gravity when the servodrive power goes OFF. (Refer to 4.1.4 Trial Operation for Servomotor with Brakes.) 1.
  • Page 61 2. Brake interlock output. Connector Pin Type Signal Name Setting Meaning Number ON (Low level) Releases the brake. Output Must be allocated OFF (High level) Applies the brake. This output signal controls the brake and is used only for a servomotor with a brake. This output signal is not used with the factory setting.The output signal must be allocated by Pn511.
  • Page 62 Related parameter: Parameter Setting Name Unit Default Range Pn505 Servo ON waiting time -2000 ~ 2000 Pn506 Basic waiting flow 10 ms 0 ~ 500 Pn507 Brake waiting speed 10 ~ 100 Pn508 Brake waiting time 10 ms 10 ~ 100 (4) Setting the Brake ON/OFF Timing after the Servomotor Stops.

  • Page 63: Instantaneous Power Loss Settings

    5. Setting the Brake ON/OFF Timing When Servomotor Running. The following parameters can be used to change the /BK signal output conditions when a stop reference is output during servomotor operation due to the servo OFF or an alarm occurring. Brake Waiting Speed Speed Pn507...

  • Page 64: Operating Using Speed Control

    4.4. Operating Using Speed Control 4.4.1. Setting Parameters Parameter Meaning   Pn005 Control mode selection: Speed control (analog reference) (factory setting) Speed Reference Input Gain Speed Pn300 Setting Range Setting Unit Factory Setting Setting Validation 0 ~ 3000 rpm/v Immediately Sets the analog voltage level for the speed reference (V-REF) necessary to operate the servomotor at the rated speed.

  • Page 65: Adjusting Reference Offset

    4.4.3. Adjusting Reference Offset Note: Please see content of 5.2.4 and 5.2.5. 4.4.4. Soft Start The soft start function converts the stepwise speed reference inside the servodrive to a consistent rate of acceleration and deceleration. Pn310 can be used to select the soft start form: 0: Slope;...

  • Page 66: Speed Reference Filter Time Constant

    4.4.5. Speed Reference Filter Time Constant Speed Reference Filter Time Constant Speed Pn308 Setting Range Setting Unit Factory Setting Setting Validation 0 ~ 10000 1 ms Immediately This smoothens the speed reference by applying a 1st –order delay filter to the analog speed reference (V-REF) input.

  • Page 67: Encoder Signal Output

    4.4.7. Encoder Signal Output Encoder feedback pulses processed inside the servodrive can be output externally. Type Signal Name Connector Pin Number Name CN1-20 Encoder output phase A Output /PAO CN1-21 Encoder output phase /A CN1-22 Encoder output phase B Output /PBO CN1-23 Encoder output phase /B...
  • Page 68 • Pulse Dividing Ratio Setting. PG Dividing Ratio Speed Pn200 Setting Range Setting Unit Factory Setting Setting Validation 16 ~ 16384 1 Pulse 16384 After restart Set the number of pulses for PG output signals (PAO,/PAO,PBO,/PBO) externally from the servodrive. Feedback pulses from the encoder per revolution are divided inside the servodrive by the number set in Pn200 before being output.

  • Page 69: Other Output Signals

    4.5. Other Output Signals 4.5.1. Servo alarm output The following diagram shows the right way to connect Alarm Output. External +24 V I/O power supply is required, since there is no +24 V power supply available inside servo drive. Output  ALM+ 1CN- 7 Servo alarm output Output ...

  • Page 70: Servo Ready (/S-Rdy) Output

    4.5.2. Servo Ready (/S-RDY) Output Type Signal Name Connector Pin Number Setting Meaning ON (low level) Servo is ready. CN1-9,CN1-10 Output /S-RDY (factory setting) OFF (high level) Servo is not ready. - This signal indicates that the servodrive received the servo ON signal and completed all preparations. - It is output when there are no servo alarms and the main circuit power supply is turned ON.

  • Page 71: Online Autotuning

    4.6. Online Autotuning 4.6.1. Online Autotuning Online autotuning calculates the load moment of inertia during operation of the servo drive and sets parameters so that the servo gains consistent with the machine rigidity are achieved. Online autotuning may not be effective in the following cases. •...

  • Page 72: Online Autotuning Procedure

    4.6.2. Online Autotuning Procedure WARNING • Do not perform extreme adjustment or setting changes causing unstable servo operation.Failure to observe this warning may result in injury and damages to the machine. • Adjust the gains slowly while confirming motor operation. BCSD-72/116 Digital Brushless AC Servo Drive system - Ref.

  • Page 73: Setting Online Autotuning

    4.6.3. Setting Online Autotuning Related parameters: Parameter Setting Factory Setting Name Unit Range Setting Invalidation Online autotuning setting 0: Manual gain adjustment 1, 2, 3 = Normal mode; 4, 5, 6 = Vertical load Pn100 — 0 ~ 6 After restart 1, 4 = Load inertia without variation;...

  • Page 74: Absolute Encoders

    - When the upper limit (+32767) is exceeded in the forward direction, the multiturn data is 17-bit/ -32768. BCSD Series -32768 ~ +32767 single turn - When the lower limit (-32768) is exceeded in the reverse direction, the multiturn data is +32767.

  • Page 75: Handling Battery

    In order for the absolute encoder to retain position data when the power is turned OFF, the data must be backedup by a battery. Please purchase the special cable and battery case made by Fagor if an absolute encoder is used. 1. Install the battery to the servodrive.

  • Page 76: Replacing Battery

    4.7.3. Replacing Battery The servodrive will generate an absolute encoder battery alarm (A.48) when the battery voltage drops below about 3.1 V. • Battery Replacement Procedure. 1. Replace the battery with only the servodrive control power supply turned ON. 2. After replacing the battery, using the panel operator with utility function Fn011 to cancel the absolute encoder battery alarm (A.48).

  • Page 77: Friction Compensation

    4.8. Friction compensation 4.8.1. Related parameters Parameter Setting Factory Setting Name Unit Range Setting Invalidation Constant Positive 0.1% of rated Pn206 -1000 ~ 1000 Immediately Torque Compensation torque Constant Negative 0.1% of rated Pn207 -1000 ~ 1000 Immediately Torque Compensation torque 0.1% of rated Dynamic Positive...

  • Page 78: How To Set Pn206 - Pn211

    4.8.2. How to set Pn206 – Pn211 Run following program on CNC 8055: N1 G1X0F10000 G4K10 X10F120 X100F10000 G4K10 X90F120 (GOTO N1) Monitor TV2 and SV1 variable on CNC 8055 by oscilloscope, record the values of TV2 at the point A/B/C/D. For horizontal axis: Pn206 = 7 X TV2(A) Pn207 = 7 X TV2(C)

  • Page 79: Panel Operator

    5. P ANEL PERATOR 5.1. Basic Operation 5.1.1. Functions on Panel Operator Panel operator is a built-in operator that consists of display part and keys located on the front panel of the servodrive. Parameter setting, status display and execution of utility function are enabled using the panel operator. The names and functions of the keys on the panel operator are shown as follows.

  • Page 80: Basic Mode Selection

    5.1.3. Basic Mode Selection The basic modes include status display mode, parameter setting mode, monitor mode, and utility function mode. Each time the MODE key is pressed, the next mode in the sequence is selected. Select a basic mode to display the operation status, set parameters and operation references. The basic mode is selected in the following order.
  • Page 81 Bit Data Display Speed Control Mode Bit Data Description Lit when the difference between the servomotor and reference speed Speed is the same as or less than the preset value. Coincidence Preset value: Pn501 (factory setting is 10 rpm). Base lock Lit for base block.

  • Page 82: Operation In Parameter Setting Mode

    5.1.5. Operation in Parameter Setting Mode The servodrive offers a large number of functions, which can be selected or adjusted by the parameter settings. Refer to A.1 Parameter List for details. • Parameter Setting Procedures. The parameter settings can be used for changing parameter data. Before changing the data, check the permitted range of the parameter.

  • Page 83: Operation In Monitor Mode

    5.1.6. Operation in Monitor Mode The monitor mode allows the reference values input into the servodrive, I/O signal status, and servodrive internal status to be monitored. • Using the Monitor Mode The example below shows how to display 1500, the contents of monitor number Un001. 1.
  • Page 84 Contents of Bit Display: Monitor Number Display LED Number Content /S-ON(CN1-14) /PCON(CN1-15) P-OT(CN1-16) N-OT(CN1-17) Un005 /ALM-RST(CN1-39) /CLR(CN1-40) /PCL(CN1-41) /NCL(CN1-42) Monitor Number Display LED Number Content (Not used) (Not used) (Not used) Phase-C Un006 Phase-B Phase-A (Not used) (Not used) Monitor Number Display LED Number Content CN1_05, CN1_06...

  • Page 85: Operation In Utility Function Mode

    5.2. Operation in Utility Function Mode In utility function mode, the panel operator can be used to run and adjust the servodrive and servomotor. The following table shows the parameters in the utility function mode. Parameter No. Function Fn000 Alarm traceback data display Fn001 Parameter setting initialization Fn002...

  • Page 86: Alarm Traceback Data Display

    5.2.1. Alarm Traceback Data Display The alarm traceback display can display up to 10 previously occurred alarms. The alarm is displayed on Fn000, which is stored in the alarm traceback data. Follow the procedures below to confirm alarms which have been generated. 1.

  • Page 87: Operation In Jog Mode

    5. Release the ENTER key to return to the utility function mode display Fn001. Note: Press the ENTER key during servo ON does not initialize the parameter settings. Initialize the parameter settings with the servo OFF. 5.2.3. Operation in JOG Mode Follow the procedures below to operate the servomotor in JOG mode.

  • Page 88: Automatic Adjustment Of The Speed Reference Offset

    5.2.4. Automatic Adjustment of the Speed Reference Offset When using the speed (analog reference) control, the servomotor may rotate slowly even if 0 V is specified as the analog voltage reference. This happens if the host controller or external circuit has a slight offset (in the unit of mV) in the reference voltage.

  • Page 89: Manual Adjustment Of The Speed Reference Offset

    5. Press the MODE key for more than one second, the reference offset will be automatically adjusted. 6. Press ENTER key to return to the utility function mode display Fn003. 7. Thus, the speed reference offset automatic adjustment is completed. 5.2.5.

  • Page 90: Offset-Adjustment Of Servomotor Current Detection Signal

    Thus, the speed reference offset manual adjustment is completed. 5.2.6. Offset-adjustment of Servomotor Current Detection Signal Automatic servomotor current detection offset adjustment has performed at FAGOR before shipping. Basically, the user need not perform this adjustment. Perform this adjustment only if highly accurate adjustment is required for reducing torque ripple caused by current offset.
  • Page 91 4. Press the MODE key, the display will blinks for one second. The offset will be automatically adjusted. 5. Press the ENTER key to return to the utility function mode display Fn005. Thus, the automatic offset-adjustment of the servomotor current detection signal is completed. •...

  • Page 92: Software Version Display

    5.2.7. Software Version Display Set the Fn007 to select the software version check mode to check the servodrive software version. 1. Press the MODE key to select the utility function mode. 2. Press the INC or DEC key to select the utility function number Fn007. 3.

  • Page 93: Absolute Encoder Multiturn Data And Alarm Reset

    5.2.9. Absolute Encoder Multiturn Data and Alarm Reset 1. Press the MODE key to select the utility function mode. 2. Press the INC or DEC key to select the utility function number Fn010. 3. Press the ENTER key, the display will be shown as below. 4.

  • Page 94: Can Communication

    6. CAN COMMUNICATION 6.1. CAN Communication Wiring Please see the “(MAN) Fagor BCSD.pdf” 6.2. CAN Communication Related Parameters Parameter Setting Control Description Meaning Validation Mode Pn703.0 CAN communication baud rate [0]-[3] Reserved [4] 500Kbps, only when the CAN cable length is...

  • Page 95: Winbcsd Software

    7. W BCSD SOFTWARE WinBCSD is a software tool for setup and optimum Servo Driver tuning of Fagor BCSD Servo Drivers. This product provides uniform features and functions enabling everyone from beginners to persons experienced in servo tuning to easily perform connections, test runs, and tuning that are matched to the customer's machine right out of the box.

  • Page 96: Appendix A. Parameter

    A. PARAMETER PPENDIX A.1. Parameter List Parameter Setting Factory Setting Name Unit Range Setting Invalidation Binary Pn000.0: Servo ON Pn000.1: Forward rotation input signal prohibited (P-OT) Pn000 — 0 ~ 1111 0110 After restart Pn000.2: Reverse rotation input signal prohibited (N-OT) Pn000.3: Alarm output when instantaneous power loss Binary...
  • Page 97 Parameter Setting Factory Setting Name Unit Range Setting Invalidation Online autotuning setting 0: Manual gain adjustment 1,2,3 = Normal mode Pn100 4,5,6 = Vertical load — 0 ~ 6 After restart 1,4 = Load inertia without variation 2,5 = Load inertia with little variation 3,6 = Load inertia with great variation Pn101 Machine rigidity setting...
  • Page 98 Parameter Setting Factory Setting Name Unit Range Setting Invalidation Pn122 Switching delay time 0.1 ms 0 ~ 20000 Immediately Pn123 Threshold switching level 0 ~ 20000 Immediately Pn124 Reserved — — — — Pn125 Reserved — — — — Pn126 Hysteresis switching 0 ~ 20000 Immediately...
  • Page 99 Parameter Setting Factory Setting Name Unit Range Setting Invalidation Pn303 Reserved — — — — Pn304 Reserved — — — — Pn305 JOG speed 0 ~ 6000 Immediately Pn306 Soft start acceleration time 0 ~ 10000 Immediately Pn307 Soft start deceleration time 0 ~ 10000 Immediately Pn308...
  • Page 100 Parameter Setting Factory Setting Name Unit Range Setting Invalidation Pn517 Input port signal inversion — 0 ~ 1111 Immediately Pn518 Reserved — — — — Pn519 Reserved — — — — Pn520 Reserved — — — — If connect externally regenerative resistor.

  • Page 101: Description Of Parameter Type

    A.2. Description of Parameter Type Type Parameter No. Description Control mode, stop mode, and some functions Function selection switches Pn000 ~ Pn006 selection Parameters of servo gain Pn100 ~ Pn129 Speed gain, rigidity, etc. Friction compensation parameters Pn200 ~ Pn211 PG divided ratio, friction compensation, etc.

  • Page 102: Parameters In Detail

    A.3. Parameters in detail Parameter Setting Description Function and Meaning Validation Pn000.0 Servo ON [0] External S-ON enabled. [1] External S-ON disabled. servomotor excitation signal is turned ON automatically after S-RDY is output. Pn000.1 Forward rotation input signal prohibited (P-OT) [0] External P-OT enabled.
  • Page 103 Parameter Setting Description Function and Meaning Validation Pn004.0 Stop Mode [0] Stops the servomotor by applying DB and then releases [1] Coast to a stop. [2] Stops the servomotor by DB when servo OFF, stops the servomotor by plug braking when overtravel, then places it into coast (power OFF) mode.
  • Page 104 Parameter Setting Description Function and Meaning Validation The response speed of servo system is determined by this parameter. Normally, the rigidity should be set a little larger. Machine rigidity Pn101 Immediately However, if it is too large, it would suffer mechanical impact. setting It should be set a little smaller when large vibration is present.
  • Page 105 Parameter Setting Description Function and Meaning Validation Setting Threshold of acceleration speed to switch PI control to P acceleration Pn119 Immediately control. speed switching Unit: 10 rpm/s threshold Setting speed Threshold of speed to switch PI control to P control. Pn120 switching Immediately...
  • Page 106 Parameter Setting Description Function and Meaning Validation Analog encoder output orthogonal difference pulses. PG divided The meaning of this value is the number of analog encoder Pn200 After restart ratio output orthogonal difference pulses per one servomotor rotation. Pn201 Reserved —...
  • Page 107 Parameter Setting Description Function and Meaning Validation It is used to set JOG rotation speed, and the direction is Pn305 JOG speed Immediately determined by the pressing key during JOG operation. Soft start The time for trapeziform acceleration to accelerate to 1000 Pn306 acceleration Immediately...
  • Page 108 Parameter Setting Description Function and Meaning Validation These parameters are only enabled when the port output parameters are allocated with /BK signal output. Servo ON These parameters are used to keep braking (prevent from Pn505 Immediately waiting time gravity glissade or continuous outside force on servomotor) time sequence.
  • Page 109 Parameter Setting Description Function and Meaning Validation Pn511.0 corresponding port CN1_11, CN1_12 Pn511.1 corresponding port CN1_05, CN1_06 Pn511.2 corresponding port CN1_09, CN1_10 Corresponding signal of each data is shown as follows: 0: /COIN/VCMP 1: /TGON Output signal Pn511 After restart 2: /S-RDY allocation 3: /CLT...
  • Page 110 Parameter Setting Description Function and Meaning Validation Pn700.0 MODBUS communication baud rate [0] 4800 bps [1] 9600 bps [2] 19200 bps Pn700.1 MODBUS protocol selection [0] 7, N, 2 (MODBUS,ASCII) [1] 7, E, 1 (MODBUS,ASCII) [2] 7, O, 1 (MODBUS,ASCII) [3] 8, N, 2 (MODBUS,ASCII) Pn700 After restart...
  • Page 111 Attached table -1 Drive Motor Pn840 Pn008.0 Pn146 Pn147 Pn148 BCSD-08AMA-01 FBS-08ADB 0X0203 0 or 4...128 6000 BCSD-10AMA-01 FBS-10ADB 0x0303 0 or 4...128 3600 FBM-10DDA 0x0303 0 or 4...128 9500 BCSD-10DMA-01 FBM-10DDB 0x0313 0 or 4...128 7500 FBM-15DDA 0x0403 0 or 4...128 8500 BCSD-15DMA-01 FBM-15DDB...

  • Page 112: Appendix B. Alarm Display

    B. ALARM DISPLAY PPENDIX Alarm Alarm Alarm Name Meaning Display Output A.01 Parameter breakdown The checksum results of parameters are abnormal. A.02 AD shift channels breakdown AD related electrical circuit is faulty. The servomotor speed is excessively high and the A.03 Overspeed servomotor is out of control.
  • Page 113 Alarm Alarm Alarm Name Meaning Display Output A.47 Battery voltage below 2.5 V Absolute encoder multiturn information is loss. A.48 Battery voltage below 3.1 V Battery voltage is too low. Serial encoder communication Encoder disconnected; encoder signal disturbed; encoder A.50 overtime error or encoder decoding circuit error.
  • Page 114 BCSD-114/116 Digital Brushless AC Servo Drive system - Ref. 1809...
  • Page 115 User notes: Digital Brushless AC Servo Drive system - Ref. 1809 BCSD-115/116...
  • Page 116 User notes: BCSD-116/116 Digital Brushless AC Servo Drive system - Ref. 1809...
  • Page 118 FAGOR AUTOMATION Fagor Automation S. Coop. Bº San Andrés, 19 - Apdo. 144 E-20500 Arrasate-Mondragón, 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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