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Fagor MCS Innova Series Manual

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FAGOR AUTOMATION S.COOP
Brushless AC
servo drives
~ MCS Innova series ~
Ref.0707

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Summary of Contents for Fagor MCS Innova Series

  • Page 1 FAGOR AUTOMATION S.COOP Brushless AC servo drives ~ MCS Innova series ~ Ref.0707...
  • Page 2 Title Brushless AC Servo Drives (MCS Innova series) Type of documentation Description, installation and startup of small motors and digital drives. Name MAN_MCSi_DRIVE SYSTEM (ing.) Reference Ref.0707 Software Version 01.0x WinDDSSetup Version 06.1x Electronic document MAN_MCSi_DRIVE SYSTEM.pdf Headquarters FAGOR AUTOMATION S. COOP.
  • 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, 01.05.06 INTRODUCTION Fagor offers a range of servo systems (AC brushless motor FS plus digital drive) for application between 0.318 and 2.39 N·m at a rated speed of 3000 rev/min. This manual describes the elements in detail and guides step by step through the installation and setup of the drive system.

  • Page 5: Table Of Contents

    GENERAL INDEX BRUSHLESS AC MOTORS, FS ..................7 Introduction ........................7 General characteristics ....................7 Torque-speed curves ....................9 Dimensions ........................10 Base power connectors and encoder output..............12 Brake characteristics ....................13 Sales reference ......................14 A.C. SERVODRIVE....................15 Introduction ........................15 General characteristics ....................15 Dimensions ........................15 Technical data......................16 Connectors .........................17 Indicators (LED's).......................21 Push-buttons and switches ..................21...
  • Page 6 WARNINGS .......................79 LIST OF PARAMETERS, VARIABLES & COMMANDS. ModBus ID’s......80 MCSi-6/84 Digital Brushless AC servo drive system - Ref.0707...

  • Page 7: Brushless Ac Motors, Fs

    BRUSHLESS AC MOTORS, FS Introduction FS synchronous servo motors (FSA and FSP series) 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. General characteristics Excitation Permanent magnets...
  • Page 8 MCSi-8/84 Digital Brushless AC servo drive system - Ref.0707...

  • Page 9: Torque-Speed Curves

    Torque-speed curves Synchronous AC servomotors FSA series Torque Torque 0.95 1.91 FSA01 FSA02 0.318 0.637 0.45 0.36 Speed Speed 1000 2000 3000 4000 5000 Rev/min 1000 2000 3000 4000 5000 Rev/min Torque Torque 10.0 3.82 7.16 FSA04 FSA08 1.27 2.39 0.96 0.75 Speed...

  • Page 10: Dimensions

    Dimensions Synchronous AC servomotors. FSA series Dimensions Motor length Flange surface Δ brake LR Motor type FSA01 61.5 119.5 94.5 40.5 30h7 FSA02 63.0 126.5 96.5 39.5 50h7 FSA04 91.0 154.5 124.5 39.5 50h7 FSA08 111.5 185.0 145.0 44.5 70h7 The [Δ...
  • Page 11 Synchronous AC servomotors. FSP series Dimensions Motor length Flange surface Δ brake LR Motor type FSP01 42.5 29.0 50h7 FSP02 48.1 31.5 70h7 FSP04 68.1 31.5 70h7 FSP08 66.7 126.5 86.5 33.5 40 145 110h7 120 The [Δ brake] column shows the length increment for the L and LL measurements when using a motor configuration “with brake”.

  • Page 12: Base Power Connectors And Encoder Output

    Base power connectors and encoder output The following figure shows the identification of these connectors: Connector Base power connector Base feedback connector Note that although the figure shows the FSA series motor, the dimensions of all the connectors will be the same for the FSP series. The base power connector includes pins 4 and 5 of the brake.

  • Page 13: Brake Characteristics

    Viewed from the outside of the motor BASE FEEDBACK CONNECTOR On FSA and FSP motors (200 V) Signal Color 0 V (16 bit absolute) Pink 3.6 V (16 bit absolute) Grey + RS485 Green - RS485 Yellow + 5 V White Brown Note 1.

  • Page 14: Sales Reference

    Sales reference FSA04.50F.J5.000 - S99 MOTOR SERIES MOTOR LENGTH LONG MOTORS SHORT MOTORS SIZE/POWER 200 V 200 V HEIGHT 0.75 0.75 MAXIMUM SPEED 5000 rev/min Note that the rated speed is 3000 rev/min VOLTAGE 400 V 200 V FEEDBACK 13 bit incremental 16 bit absolute FLANGE &...

  • Page 15: A.c. Servodrive

    A.C. SERVODRIVE Introduction The MCS Innova Servodrive (MCSi) family is a compact speed servo drive family for controlling small synchronous AC brushless motors. There are three modules of different power offering peak currents of 6.5, 10.5 and 15.0 Arms for single-phase 220 V AC General characteristics Their main characteristics are: 220 V AC single-phase voltage supply.

  • Page 16: Technical Data

    Model: 101 mm (3.97") 183 mm (7.20") MCSi 15L 6.30 mm (0.24") detail A Technical data MODELS MCSi 07L MCSi 11L MCSi 15L Rated output current 2.1 Arms 3.5 Arms 5.0 Arms Peak current (3 s) 6.5 Arms 10.5 Arms 15.0 Arms Single phase 50/60 Hz.

  • Page 17: Connectors

    Connectors Power terminals Connector X4 POWER INPUTS (L1, L2): 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. Connector X9 L+, Ri, Re: Terminals to configure and connect the external ballast resistor.
  • Page 18 Control signals Conector X3 ANALOG INPUTS AND OUTPUTS Velocity command, pins 1 and 2: Velocity command input for the motor. It admits a range of ± 10 V. PIN 1 Input - PIN 2 Input + Programmable analog input, pins 17 and 18: Input for analog command used for some integrated functions.
  • Page 19 DIRECT FEEDBACK Auxiliary Feedback Input , pins 5, 6, 36, 21, 35, 20, 4 and 3: Input to connect a second feedback device with TTL signals. The connector provides an auxiliary + 5 V DC (0.5 A max) for the feedback device (see pin 4).
  • Page 20 RELAY FOR INTEGRATED SAFETY Safe-disable relay, pins 41 and 42: Second, normally closed contact (NC) used as an external acknowledgement of the status of the integrated-safety relay. Note that this relay contact must be necessarily included in the electrical maneuver. CHASSIS Metal housing of the connector: Drive chassis connection point.

  • Page 21: Indicators (Led's)

    Indicators (LED's) +5 V: LED located on top of connector X1. When lit, it indicates that the internal +5 V are being applied. CROWBAR (ON) / VBUS OK: Two-color (green/red) light indicator located next to the + 5 V LED. It indicates its status according to the following table: CROWBAR (ON) VBUS OK + 5V...

  • Page 22: 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, vari- ables and commands and display a particular...

  • Page 23: Front View Of The Module

    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 24: Top View Of The Module

    Top view of the module Terminals to configure and connect the external ballast resistor USB connection with a PC Pinout of the connectors COMMUNICATIONS (X1) Signal Description A1, B1 N.C. Not connected A2, B2 TxD/RxD - (RS485) TxD/RxD signal - (RS485) A3, B3 TxD/RxD + (RS485) TxD/RxD signal + (RS485)
  • Page 25 CONTROL SIGNALS (X3) Signal Description Input + Range ± 10 V, ANALOG VELOCITY impedance 56 kΩ COMMAND INPUT Input - Input + Range ± 10 V, PROG. ANALOG impedance 56 kΩ INPUT Input - Programmable analog output 1 Range ± 10 V PROG.

  • Page 26: Sales Reference

    Not connected 1 2 3 4 5 N.C. Not connected Chassis Housing Sales reference Codes of the sales reference of Fagor MCS Innova drives. MCS INNOVA DIGITAL DRIVE EXAMPLE. MCSi - 07 L model: MCS Innova rated peak (3 s) current (A) 10.5...

  • Page 27: Installation

    INSTALLATION General considerations At the motor Remove the anti-corrosion paint of the shaft before mounting them on to the machine. The motor will admit flange mounts: IM B5 and IMV1. Watch for the ambient conditions mentioned in the section on general characteristics and also: Mount it somewhere that is dry, clean and accesible for maintenance.

  • Page 28: Electrical Connections

    >50 mm >30 mm >10 mm >50 mm 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 29 Power connection. Mains - Drive The drive voltage supply is single phase and does not require a transformer. Warning. Never make this connection because there is a risk of destroying the module. Autotransformer or Autotransformer or single-phase transformer single-phase transformer 2x2.5 mm 2x2.5 mm 220 V AC...
  • Page 30 Mains filter to suppress electromagnetic interference In order for the Fagor DDS servo drive system to meet the European Directive on Electromagnetic Compatibility 92/31/CE, the mains filter FAGOR FEHV- XXX must be inserted (see the table in the next section “connection”) at the input of the MCSi (power phases L1 and L2 of connector X4) against electromagnetic interference.
  • Page 31 Connect the filter using 6.3 mm Faston terminals as shown in the figure. MCSi Inductance (5 mH, 6 Arms) SINGLE-PHASE 220 V AC MAINS FILTER "FAGOR FEHV-XX" Dimensions Mains filters FAGOR FEHV-10Z/16Z Digital Brushless AC servo drive system - Ref.0707 MCSi-31/84...
  • Page 32 Mains filters FAGOR FEHV- 30B Power connection. Drive - motor Motor output Holding brake (optional) connector Fagor Cables Important: No polarity MPC 4x0.5 (without brake) 24 V DC Released MPC 4x0.5+(2x0.5) (with brake) 0 V DC Holding MC-15 connector FSA or FSP motors...
  • Page 33 MPC - 4 x 0.5 + (2 x 0.5) Note: The length of the MPC power cable must be specifically ordered (in meters). Codes of the sales reference of Fagor power cables. E.G. MPC 4 x 0.5 MOTOR POWER CABLE...
  • Page 34 Connection of the monitoring and control signals Enable signals using 24 V Signal 24 V DRIVE ENABLE COMMON SPEED ENABLE Signal indicating that the Servodrive is running properly Signal DRIVE OK DRIVE OK SWITCH 0.6 A - 125 V AC 0.6 A - 110 V DC 2 A - 30 V DC TO THE SAFETY CHAIN...
  • Page 35 Monitoring signals Signal PROG. ANALOG. OUT. 1 PROG. ANALOG. OUT. 2 Programmable digital outputs Signal + 24 V DC + 24 V DC PROG. DIGIT. OUT (C) PROG. DIGIT. OUT. (E) Collector Collector Emitter Emitter Maximum current 100 mA Maximum voltage 50 V Programmable digital input Signal...
  • Page 36 Sales reference of Fagor feedback extension cables Fagor also provides, upon request and in meters, the feedback cable (without connectors) with sales reference FSA/FSP Encoder Cable up to 30 meters in case the user wants to make his own cable.
  • Page 37 Analog command signal connection The command governing the motor may be a velocity or current command. All the command signal lines must be shielded twisted pairs. The shield must be connected to the housing of the 44-pin connector X3 (control signals). The input impedance of the velocity command is 56 KΩ...

  • Page 38: 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.
  • Page 39 Integrated safety The Safe Disable function (SD) offered by Fagor MCS Innova drives permits disabling the power output of the drive making sure that the motor torque is eliminated as a safe situation. This function is available through the "Drive Enable" section so called in standard Fagor servo drive systems.
  • Page 40 The following figure shows the diagram of the safe disable (SD) of an MCS Innova and as an example of application, a diagram to control the access to areas with moving elements: Diagram to control the access to areas with moving Integrated-safety relay Mains elements...

  • Page 41: 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 42 Once the GC10 has been found (by turning the decoder until appears on the display) the sequence to follow is shown in the figure: All that has been done so far is saved in the RAM memory o f t h e d r i v e , b u t n o t permanently.
  • Page 43 If the command has been executed properly, the displays shows the word: dOnE . Otherwise, in case of an error, it displays the word: In any of these instances, a short push returns it to its initial state. COMMAND COMMAND MNEMONIC MNEMONIC To obtain information on the type of drive (it can be read but not edited) find...
  • Page 44 WinDDSSetup It is a Fagor application for PC. 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 45 The first time the unit is connected to the PC, the operating system will show two messages indicating that “new hardware has been detected”. Do the <default> installation, recommended by the system and ignore the message regarding the incompatibility tests of the software with the operating system Windows®...

  • Page 46: Parameters, Variables And Commands

    PARAMETERS, VARIABLES AND 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 47 Basic level Examples of access levels SP10 basic S group (P) parameter nr (10) (basic) access level CV11 Fagor, RO C group (V) variable nr (11) (Fagor) access level (RO) read-only variable. Modifiable variable: Any modifiable variable, in other words, that can be read and written, will carry the (RW) label to identify it as such next to its access level.

  • Page 48: 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 49 (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: Value...
  • Page 50 CP31 FAGOR, RW CurrentCommandFilter1Frequency Function: Sets the natural frequency in Hz of a notch filter that acts upon the current command. Valid values: 0, ..., 4000. Default value: CP32 FAGOR, RW CurrentCommandFilter1Damping Function: Sets the bandwidth in Hz of a notch filter that acts upon the current command.
  • Page 51 External analog. It applies the value of the external auxiliary input ( pins 17 and 18 of connector X3 ) after being treated, IV3, if IP17 has the right value (IP17 = 1). From the velocity loop CP45 From the functions generator Digital Command CV15 IP17...

  • Page 52: 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 53 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 54: E Group. Encoder Simulator

    USER, RW ResetHistoricOfErrors Function: Reset of the DV17 variable HistoricOfErrors (array). This command sets it to 0. E group. Encoder simulator BASIC, RW EncoderSimulatorPulsesPerTurn Function: Number of pulses generated by the encoder simulator per rotor revolution. Valid values: 1, ..., Number of pulses of the selected feedback. Default value: Number of pulses of the selected feedback device.
  • Page 55 BASIC, RW DriveOffDelayTime Function: After the motor has stopped because the Speed_Enable function has been disabled, the cancellation of the the Drive_Enable function (that implies PWM-OFF) is delayed by a time period indicated by GP9. It is useful on axes not compensated with a holding brake.

  • Page 56: H Group. Hardware

    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: BASIC, RW...

  • Page 57: I Group. Inputs

    I group. Inputs USER, RW DigitalInputPolarity Function: Sets the polarity (inverted or not inverted) of the program- mable input (pins 11 and 12 of X3). Valid values: 0. Not inverted. 1. Inverted. Default value: 0. Not inverted. X3.11 PROG_DIGIT_INPUT IV10 X3.12 IP14 USER, RW...
  • Page 58 IP17 USER, RW AnalogFunctionSelector Function: Determines the analog function assigned to the programma- ble analog input. Valid values: 0, ..., 2. Default value: IP17 Function -------- IV3 as input Func1 to function Nr Func2 BASIC, RO AnalogInput1 Function: Monitors the voltage through the analog input ANALOG VELOCITY COMMAND INPUT (VEL+ and VEL-) (pins 2 - 1 of X3).

  • Page 59: K Group. Monitoring

    IV10 USER, RO DigitalInputs Function: This variable reflects the status of the programmable digital input at pins 11 and 12 of connector X3. The status of this variable is affected by IP6. Valid values: 0 and 1. Default value: K group. Monitoring USER, RW ExtBallastPower Function:...

  • Page 60: M Group. Motor

    KV36 USER, RO tMotor Function: Variable internally useful to the system. It measures the internal load level of the calculation of the i t at the motor in percentage used over the maximum. Valid values: 0, ..., 100 %. Default value: 0 %.

  • Page 61: O Group. Analog And Digital Outputs

    FAGOR, RW MotorTorqueConstant Function: Contains the torque constant of the synchronous motor, (motor torque according to the rms current) Valid values: 0.0, ..., 10.0 Nm/Arms. Default value: It depends on the motor connected. FAGOR, RW MotorContinuousStallCurrent Function: Contains the motor rated current. Manipulating MP3 may affect parameter CP20 directly.
  • Page 62 VARIABLE NAME VARIABLE UNITS SV15 DigitalVelocityCommand SV15 VelocityCommand rev/min VelocityCommandAfterFilters VelocityCommandFinal VelocityFeedback TorqueCommand dN·m TorqueFeedback CurrentFeedback GeneratorOutput ------- AnalogInput1 AnalogInput2 ------- Reserved Reserved Reserved USER, RW DA1ValuePer10Volt USER, RW DA2ValuePer10Volt Function: They define the gain of channel 1 (pin 31 of X3) and channel 2 (pin 32 of X3).
  • Page 63 X3.27 OV10 X3.28 OP14 USER, RW DigitalOutputFunctionSelector Function: They determine the activation of the various outputs of the digital functions available. OP14 function OutFunc0 OutFunc1 OutFunc2 OV10 as OutFunc3 output of OutFunc4 function Nr OutFunc5 OutFunc6 OutFunc7 OP15 USER, RW DigitalOutputWarningSelector Function: Selector of the warning that will be displayed by the...

  • Page 64: Q Group. Communication

    OV10 USER, RO DigitalOutputs Function: The OV10 variable contains the value of the output status of the various functions that may be selected with OP14. Valid values: 0 and 1. Default value: Q group. Communication QP16 USER, RW SerialSettings Function: Determines the communications parameters of the UART (Universal Asynchronous Receiver/Transmitter) of the 485 serial line of connector X1.
  • Page 65 Successive rotations scroll the posible values of the field 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).

  • Page 66: S Group. Speed

    S group. Speed 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 67 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...
  • Page 68 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 (rev/min). Default value: 1000 rev/min. SP41 USER, RW VelocityWindow Function: Velocity window assigned to the "reached speed" function. It is used to know when the speed of a motor (SV2) has reached the supplied command (SV7) within the margins of this window SP41.
  • Page 69 SP45 BASIC, RW VelocityCommandSelector Function: This parameter is used to determine the velocity command source. Valid values: 0, ..., 2. value function Analog. Input through pins 1 and 2 of connector X3 after being adapted by SP19, SP20 and SP21. Function generator.
  • Page 70 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 71: T Group. Torque And Power

    BASIC, RW VelocityCommand Function: Velocity command after the SP45 selector. Valid values: - 6000, ..., + 6000 rev/min. Default value: 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.

  • Page 72: W Group. Internal Generator

    USER, RO TorqueCommand USER, RO TorqueFeedback Function: Displays the values of the command and torque feedback. Valid values: - 99.9..., + 99.9 Nm Default value: 0 Nm. _D_rel W group. Internal generator USER, RW GeneratorShape Function: It indicates the waveform of the internal command generator.
  • Page 73 USER, RW GeneratorType Function: It specifies on which magnitude the internal command is applied. Valid values: Value Waveform generated disconnected (by default) generated connected. Velocity command generated connected. Current command Default value: USER, RO GeneratorOutput Function: Variable that reflects the value of the signal generated by the internal function generator.

  • Page 74: Error Messages

    ERROR MESSAGES E.001 Internal Contact Fagor Automation. E.003 Error at the power bus voltage Error When having torque, one of the phases of the line may have dropped. Warning: When starting the unit up, maybe: The connector of the Ballast resistor has not been installed.
  • Page 75 Solutions The load that must stop the motor is too large to stop it in the time frame set by GP3 and the value given to this parameter must be increased. The threshold or velocity window considered zero (SP42) is too small; thus, increase the value ofthis parameter.
  • Page 76 E.200 Overspeed T h e m o t o r s p e e d h a s Speed exceeded the value of SP10 in a 12 %. 1.12 x Rated Motor Speed Bad cabling of the position Rated Motor Speed sensor or of the motor power.
  • Page 77 An erroneous sequence when connecting the power cables or a short- circuit between them. The parameters may be wrong or there is a fault at the drive. Contact Fagor Automation. After displaying E.214, it will display some of the codes that describe the type of short-circuit that has taken place.
  • Page 78 The drive has not detected the sensor. Check the cabling and the motor connection regarding connector X2. Then do a reset. If it doesn't fix it, contact Fagor Automation. E.802 Defective encoder Communication error. After an initial connection, communication errors keep coming up.
  • Page 79 WARNINGS The warnings indicate that the drive is approaching an error limit. Thus: Before the drive display shows errors E.201, E.202 and E.314, it will issue a warning with fast flashing (0.5 s) of the BUS ACTIVITY indicator. If this behavior continues for longer than 5 s, the display will show one of the errors mentioned earlier.
  • Page 80 LIST OF PARAMETERS, VARIABLES & COMMANDS. ID’ Mnem. Name Level IdBus Min. Max. Def. Units Page BV14 NotProgrammableIOs Fagor 08601 65535 ----- ----- CurrentProportionalGain Fagor 00213 ----- ----- CurrentIntegralTime Fagor 00215 ----- ----- CP10 VoltageAmpVolt user 08823 1000 9999 9500...
  • Page 81 Mnem. Name Level IdBus Min. Max. Def. Units Page GV16 MotorTableVersion basic 09625 ---- ---- ---- ----- GV75 ErrorList Fagor 00750 ---- ---- ---- ----- PLDVersion basic 08783 ---- ---- ---- ----- DigitalInputPolarity user 10013 ----- IP14 DigitalInputFunctionSelector user 10015...
  • Page 82 Mnem. Name Level IdBus Min. Max. Def. Units Page SP40 VelocityThresholdNx user 00251 9999 1000 SP41 VelocityWindow user 00315 9999 SP42 StandStillWindow user 00249 9999 SP43 VelocityPolarityParameters basic 00087 ----- SP45 VelocityCommandSelector basic 11427 ----- SP60 AccelerationLimit basic 00277 4000 drpm/ms SP65 EmergencyAcceleration...
  • Page 83 User notes: Digital Brushless AC servo drive system - Ref.0707 MCSi-83/84...
  • Page 84 Fax: 86-25-83328260 Fax: 351 22 996 07 19 E-mail: fagor_nj@fagorautomation.com.cn Headquarters: 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 85 VELOCITY CONTROL BLOCK DIAGRAM ERR0R DESCRIPTION DR. OK E.001 Watch dog GENERAL PARAMETERS DISPLAY DRIVE STATUS E.003 Power Supply fault / warning X3.29 X3.30 Software version Waiting P. Supply L. buS E.004 Stop time > GP3 Password Drive ready E.106 Drive Overtemp GC10 Default parameters...
  • Page 86 I/O FUNCTIONS FUNCTION OP14 X3.11 OV10 as output NO FUNC. from function nr: OUTFUNC1 IP14 FUNCTION PROG DIG INPUT OUTFUNC2 OV10 X3.27 INFUNC0 IV10 OUTFUNC3 INFUNC1 OUTFUNC4 X3.12 IV10 as input INFUNC2 OUTFUNC5 PROG DIGIT OUTPUT to function nr: INFUNC3 OUTFUNC6 INFUNC4 OUTFUNC7...
  • Page 87 ANALOG FUNCTIONS CP10, CP11 PROG ANALOG INPUT IP17 Function Voltage CP10 NO FUNC. IV3 as input X3.17 FUNCTION 1 to function nr: FUNCTION 2 X3.18 CP11 Current Function 1 External current command Function 2 External limit current command CP 45 From speed loop CP 45 From speed loop...
  • Page 88 ERROR FUNCTIONS Function "E.003" Power Supply fault Function "E.106" Function "E.200" OverSpeed Drive Overtemperature speed 1 line lost 1, 2 or 3 lines lost Tensión de alimentación x 1.12 Motor rated speed 105 ºC Motor rated speed Drive Enable "E.106" Speed Enable "E.003"...

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