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Fagor CNC 8070 Series Manual
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Fagor CNC 8070 Series Manual

Fagor CNC 8070 Series Manual

Remote modules
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CNC
8070
Remote modules.
(Ref: 1709)

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Summary of Contents for Fagor CNC 8070 Series

  • Page 1 8070 Remote modules. (Ref: 1709)
  • Page 2 CNC and at the drives. • Tendency test on analog axes. FAGOR AUTOMATION shall not be held responsible for any personal injuries or physical damage caused or suffered by the CNC resulting from any of the safety elements being disabled.
  • Page 3 R em o te m odu l es . I N D E X About the product - CNC 8070 ..................... 5 Declaration of CE conformity and warranty conditions ..............9 Version history - CNC 8070 ......................11 Safety conditions ........................13 Returning conditions ........................
  • Page 4 Re mo te mo dul es. 5.10 RIOW-4AO module. Module of 4 analog outputs............90 5.10.1 Elements (connectors)....................91 5.11 RIOW-2AI-PT100 module. Module of 2 inputs for PT100 temperature sensors.... 92 5.11.1 Elements (connectors)....................93 5.12 RIOW-END module. Last module of the group.............. 94 5.13 Numbering of the digital inputs and outputs.
  • Page 5 R e m ot e m o d u l e s . ABOUT THE PRODUCT - CNC 8070 BASIC CHARACTERISTICS. Basic characteristics. ·BL· ·OL· ·L· Number of axes. 3 to 7 3 to 31 3 to 31 Number of spindles. 1 to 6 1 to 6 Number of tool magazines.
  • Page 6 With this feature, the PLC It limits the number of axes to 4, where the CNC can also may be programmed either in the usual Fagor language interpolate these at the same time. or in IEC 61131 format.
  • Page 7 C axes. The parameters of each axis indicate if it will function as a C axis or not, where it will not be Third-party CANopen. necessary to activate another axis for the machine Enables the use of non-Fagor CANopen modules. parameters. SOFT FVC UP TO 10m3 SOFT TANDEM AXES SOFT FVC MORE TO 10m3 Tandem axes.
  • Page 8 BLANK PAGE ·8·...
  • Page 9 R e m ot e m o d u l e s . DECLARATION OF CE CONFORMITY AND WARRANTY CONDITIONS DECLARATION OF CONFORMITY The declaration of conformity for the CNC is available in the downloads section of FAGOR’S corporate website. http://www.fagorautomation.com. (Type of file: Declaration of conformity).
  • Page 10 BLANK PAGE ·10·...
  • Page 11 R e m ot e m o d u l e s . VERSION HISTORY - CNC 8070 Here is a list of the features added to each manual reference. Ref. 1309 First version. Ref. 1312 Remote module RCS-S. Connector ·H53·. Ref.
  • Page 12 BLANK PAGE ·12·...
  • Page 13 Read the following safety measures in order to prevent harming people or damage to this product and those products connected to it. Fagor Automation shall not be held responsible of any physical or material damage originated from not complying with these basic safety rules.
  • Page 14 Central unit enclosure. To maintain the right ambient conditions in the enclosure of the central unit, it must meet the requirements indicated by Fagor. See the corresponding chapter in the hardware manual. Power switch. This switch must be easy to access and at a distance between 0.7 and 1.7 m (2.3 and 5.6 ft) off the floor.
  • Page 15 R em o te m odu l es . Symbols that the product may carry. Ground symbol. This symbol indicates that that point must be under voltage. ESD components. This symbol identifies the cards as ESD components (sensitive to electrostatic discharges). CNC 8070 : 1709) ·15·...
  • Page 16 BLANK PAGE ·16·...
  • Page 17 R e m ot e m o d u l e s . RETURNING CONDITIONS Pack it in its original package along with its original packaging material. If you do not have the original packaging material, pack it as follows: Get a cardboard box whose 3 inside dimensions are at least 15 cm (6 inches) larger than those of the unit itself.
  • Page 18 BLANK PAGE ·18·...
  • Page 19 • Do not handle the connectors with the unit supplied with power. Before handling these connectors (I/O, feedback, etc.), make sure that the unit is not powered. • Do not get into the inside of the unit. Only personnel authorized by Fagor Automation may access the interior of this unit.
  • Page 20 BLANK PAGE ·20·...
  • Page 21 In order to avoid personal injuries and damage to this product or to those connected to it, read carefully the section on safety conditions in the introduction to this manual. Fagor Automation shall not be held responsible of any physical damage or defective unit resulting from not complying with these basic safety regulations.
  • Page 22 Re mo te mo dul es. HARDWARE STRUCTURE. Remote modules may be used to have an additional number of digital and analog inputs and outputs (remote I/O) that, distributed at different points of the machine or mounted in the cabinet, permit controlling various devices of the machine. The remote modules are distributed by groups (nodes) and are connected to the central unit through the CAN bus (RIO5, RIO70 or RIOW) or of the Sercos bus (RCS-S).
  • Page 23 General purpose analog inputs. Analog outputs. Feedback inputs. Fagor remote modules, RIO70 series, available for CAN bus with CANfagor protocol. There are full-size modules (those occupying the whole box) and half-size modules (occupying half the box). Two half-size modules may be mounted in a box. Each group may have up to 5 complete modules depending on consumption.
  • Page 24 Re mo te mo dul es. Fagor supplies all types of possible combinations with half-size modules, even units with a single half-size module (the other half will be a cover). The available modules are the following. • Power supply. The power supply module must be present in each group. This module must be powered at 24 V DC and connected to the system CAN bus.
  • Page 25 R em o te m odu l es . Dimensions and mounting of the modules. Place the modules on 2 profiles, according to the UNE 50022 standard, with 2 securing ends, one at each end of the group; they help securing the modules besides maintaining the right gap between the profiles.
  • Page 26 Re mo te mo dul es. Each group is connected to the system (CPU, Keyboard, etc.) through the CAN bus as described later on. DO NOT make any connection or connect any module to the power supply while the latter is turned on.
  • Page 27 R em o te m odu l es . Consumption of the remote modules The power supply is in charge of supplying to the rest of the modules through +5 V and ±18 V and managing the internal bus of the group. The total consumption of the group depends on the configuration of the modules.
  • Page 28 Re mo te mo dul es. Power Supply. The power supply must be present in all the configurations (1 per group), it must be powered at 24 Vdc and connected to the CAN bus of the system. POWER SUPPLY CHASIS GND IN Connector ·X1·.
  • Page 29 R em o te m odu l es . 3.3.1 Elements (connectors). Connector ·X1·. Power and emergency relay. 6-pin male Phoenix minicombicon contact (3.5 mm pitch). CHASSIS Signal. Function. GND IN GND IN Chassis Shield. +24 V IN GND IN Power input.
  • Page 30 Re mo te mo dul es. CAN bus. ·ADDRESS· selector. Address (node) of the element within the bus. Each one of the elements integrated into the CAN bus is identified by the 16-position rotary switch (0-15) "Address" (also referred to as "Node_Select").
  • Page 31 R em o te m odu l es . Digital inputs and outputs. DIGITAL INPUT N.C. Connector ·X1·. 8 digital inputs. N.C. Connector ·X2·. 8 digital inputs. DIGITAL OUTPUT +24V Connector ·X1·. 8 digital outputs. Status indicator LED. +24V. Connector ·X2·. 8 digital outputs.
  • Page 32 Re mo te mo dul es. 3.4.1 Elements (connectors). Connector ·X1· & ·X2·. Digital inputs (8 inputs in each connector). 10-pin male Phoenix minicombicon contact (3.5 mm pitch). N.C. N.C. Signal. Function. N.C. Not being used. I1 - I8 Digital inputs. I9 - I16 Digital inputs.
  • Page 33 R em o te m odu l es . Analog inputs and outputs ANALOG INPUT Connector ·X1·. SHIELD 4 analog inputs. SHIELD Connector ·X2·. SHIELD 4 analog inputs. SHIELD ANALOG OUTPUT Connector ·X1·. SHIELD 4 analog inputs. SHIELD SHIELD SHIELD CNC 8070 : 1709) ·33·...
  • Page 34 Re mo te mo dul es. 3.5.1 Elements (connectors). Connector ·X1· & ·X2·. Analog inputs (4 inputs in each connector). 10-pin male Phoenix minicombicon contact (3.5 mm pitch). Signal. Function. I1+ I1- Analog inputs. SHIELD SHIELD SHIELD Shield connection. SHIELD SHIELD Each analog input has three pins (I+, I-, SH).
  • Page 35 R em o te m odu l es . Feedback inputs (counter). COUNTER Connector ·X1·. 2 probe inputs. Connector ·X2·. F e e d b a c k i n p u t ( d i ff e r e n t i a l T T L a n d sinusoidal 1 Vpp).
  • Page 36 Re mo te mo dul es. 3.6.1 Elements (connectors). Connector ·X1·. Not being used from software version V01.10 on. Previous versions allowed connecting 2 probes of 5 V DC or 24 V DC. Connectors ·X2· & ·X3· & ·X4· & ·X5·. Feedback inputs (differential TTL and sinusoidal 1 Vpp).
  • Page 37 R em o te m odu l es . Electrical characteristics of the inputs and outputs. Digital inputs. All digital inputs, 16 per module, have a status indicating LED and are galvanically protected with opto-couplers. The electrical characteristics of the inputs are: Nominal voltage.
  • Page 38 Re mo te mo dul es. Feedback inputs. Technical characteristics and connection. The module has 4 feedback inputs, valid for differential TTL and sinusoidal 1 Vpp signals. Technical characteristics of the feedback inputs. Power consumption: +5 V 1 A (250 mA per axis) Work levels for differential TTL signal.
  • Page 39 R em o te m odu l es . Feedback cable characteristics. Fagor Automation offers a wide range of cables and extension cables to connect the feedback systems to the CNC. Refer to our catalog for further information. The cable used must have overall shield; the rest of the characteristics of the cable, as well as its length, will depend on the type of feedback device used.
  • Page 40 Re mo te mo dul es. Numbering of the digital inputs and outputs. Use machine parameters to set the number of digital I/O modules connected to the same CAN bus. If these parameters are not set, the CNC numbers the modules automatically according to the order of the remote groups (·ADDRESS·...
  • Page 41 R em o te m odu l es . Numbering by machine parameters. When the numbering is set by machine parameters, each module is assigned a base index and the inputs or outputs of that module are numbered after it. The values of the base index must be comply with the formula 16n+1 (i.e.
  • Page 42 Re mo te mo dul es. 3.10 Numbering of the analog inputs and outputs and of the feedback inputs. The CNC numbers the modules automatically according to the order of the remote groups (·ADDRESS· selector of the power supply module). Within each group, they are ordered from top to bottom and from left to right.
  • Page 43 R em o te m odu l es . 3.11 Probe connection. The digital inputs let you handle the signal of the two 24 V DC probes . Use machine parameters to define which digital input is associated with each probe and their type of pulse. Probe whose output has a normally open contact.
  • Page 44 Re mo te mo dul es. Interface with a PUSH-PULL output. Connection to +24 V. Depending on the interface being used, the connection acts upon the up flank or down flank of the probe signal. REMOTE GROUP + 24 V PROBE CNC 8070 : 1709)
  • Page 45 RIO5 and RIOW series modules; modules of both series cannot be combined in the same group. Fagor remote modules, RIO5 series, available for CAN bus with CANopen protocol. Each group (node) may consist of up to two of these modules.
  • Page 46 CAN bus with Fagor modules. A bus made up of only with Fagor modules can have 40 general purpose analog inputs and 10 inputs for temperature sensors. In Fagor modules, the analog inputs are pre-assigned as general-purpose inputs (four per module) or as inputs for temperature sensors (two inputs per module).
  • Page 47 R em o te m odu l es . Dimensions and mounting of the modules. Place the modules on 2 profiles, according to the UNE 50022 standard, with 2 securing ends, one at each end of the group; they help securing the modules besides maintaining the right gap between the profiles.
  • Page 48 Re mo te mo dul es. Power supply. The power supply must be powered at 24 Vdc and connected to the CAN bus of the system. There are two power supply models. • Power supply with 24 digital inputs and 16 digital outputs. •...
  • Page 49 R em o te m odu l es . Power supply with analog inputs and outputs. POWER ANALOG I/O Connector ·X1·. Power supply. +24V CAN bus. ·SPEED· selector. Connector ·X4·. CAN bus transmission speed. 4 general purpose analog outputs. SPEED CAN bus.
  • Page 50 Re mo te mo dul es. 4.2.1 Elements (connectors). Connectors at the power supply. Connector ·X1·. Power supply. 3-pin male Phoenix combicom contact (7.62 mm pitch). Signal. Function. Chassis Chassis Shield. +24 V Power supply. +24 V Power supply. CAN bus. ·CAN· connector. Connector ·X2· & ·X3·. 5-pin male Phoenix minicombicon contact (3.5 mm pitch).
  • Page 51 R em o te m odu l es . CAN bus. ·ST· selector. Line terminating resistor. The ·LT· switch identifies which are the elements that occupy the ends of the CAN bus; i.e. the first and last physical element in the connection. The switch position of the terminating elements must be "1"...
  • Page 52 Re mo te mo dul es. Connectors for the analog inputs and outputs. Connector ·X4·. General purpose analog outputs (4 outputs). 12-pin male Phoenix minicombicon contact (3.5 mm pitch). Signal. Function. O1+ O1- Analog outputs. O2+ O2- Analog outputs. O3+ O3- Analog outputs.
  • Page 53 R em o te m odu l es . Each input has 5 pins (RL, R+, R-, RF, SH). Use shielded cables connecting their meshes to the corresponding shield pin. 4 wires. 3 wires. 2 wires. CNC 8070 : 1709) ·53·...
  • Page 54 Re mo te mo dul es. Digital inputs and digital outputs (single module). This module is used to expand the digital inputs and outputs (remote I/O). Each module has 24 digital inputs and 16 digital outputs. Digital inputs and digital outputs (single module).
  • Page 55 R em o te m odu l es . 4.3.1 Elements (connectors). Connector ·X1· & ·X2·. Digital outputs (8 outputs in each connector). 10-pin male Phoenix minicombicon contact (3.5 mm pitch). Both connectors must be powered with 24 V DC and GND. Signal.
  • Page 56 Re mo te mo dul es. Digital inputs and digital outputs (double module). This module is used to expand the digital inputs and outputs (remote I/O). Each module has 48 digital inputs and 32 digital outputs. Digital inputs and digital outputs (double module).
  • Page 57 R em o te m odu l es . 4.4.1 Elements (connectors). Connector ·X1· & ·X2· & ·X5· & ·X6·. Digital outputs (8 outputs in each connector). 10-pin male Phoenix minicombicon contact (3.5 mm pitch). Both connectors must be powered with 24 V DC and GND. X1-X5 X2-X6 Signal.
  • Page 58 Re mo te mo dul es. Electrical characteristics of the inputs and outputs. Digital inputs. All digital inputs are galvanically isolated through opto-couplers. All the digital inputs have the following characteristics: Nominal voltage. +24 V DC (between +18 V DC and +30 V DC). High threshold "1".
  • Page 59 R em o te m odu l es . Numbering of the digital inputs and outputs. Use machine parameters to set the number of digital I/O modules connected to the same CAN bus. If these parameters are not set, the CNC numbers the modules automatically according to the order of the remote groups (·ADDRESS·...
  • Page 60 Re mo te mo dul es. Numbering by machine parameters. When the numbering is set by machine parameters, each module is assigned a base index and the inputs or outputs of that module are numbered after it. The double input/output module must be assigned two base indexes for the inputs and two base indexes for the outputs;...
  • Page 61 R em o te m odu l es . Numbering of the analog inputs and outputs and of the temperature sensor inputs. The CNC numbers the modules automatically according to the order of the remote groups (·ADDRESS· selector of the power supply module). When numbering the analog inputs, the CNC considers the inputs for the temperature sensor (connector X5) as analog inputs.
  • Page 62 RIO5 and RIOW series modules; modules of both series cannot be combined in the same group. Fagor remote modules, RIOW series, available for CAN bus with CANopen protocol. Each group (node) will consist of a leading (first) module (RIOW-CANOPEN-STAND), an end module (last) (RIOW-END) and a maximum of 64 intermediate modules for processing digital and analog inputs and outputs, etc.
  • Page 63 R em o te m odu l es . Dimensions of the modules. STOP Overflow inch 2,01 0,47 3,94 1,38 2,56 2,52 CNC 8070 : 1709) ·63·...
  • Page 64 Re mo te mo dul es. Technical and electrical characteristics. 5.2.1 Technical characteristics. Mechanical characteristics. Vibrations (module RIOW-CANOPEN-STAND). • Meets the IEC60068-2-6 standard. • Sweep sine trial with a frequency step of 1 octave/minute (±10%) and on each of the three axes.
  • Page 65 Do not get into the inside of the unit. This unit MUST NOT be opened by unauthorized personnel. Only personnel authorized by Fagor Automation may manipulate the inside of this unit. CNC 8070 : 1709) ·65·...
  • Page 66 Re mo te mo dul es. 5.2.2 Electrical characteristics of the inputs and outputs. Digital outputs. All digital outputs have a status indicating LED that turns on when the output is active. The outputs are protected with opto-couplers and protected against short-circuits. Technical characteristics.
  • Page 67 R em o te m odu l es . Analog inputs for PT100 temperature sensors. Each input has 2 LED's; a green one that turns on when the bus transmission is OK and a red one that turns on when there is a reading error at the inputs. The inputs are protected by opto-couplers.
  • Page 68 Re mo te mo dul es. Sizing of the remote groups. Maximum number of modules in a group. Each group (node) will consist of a leading (first) module, an end module (last) and a maximum of 64 intermediate modules; power supply modules, input modules, output modules, etc.
  • Page 69 R em o te m odu l es . Installation of the modules. DO NOT make any connection or connect any module or cable if the group is under power. Before making any connection, disconnect the power supply cable of the leading (first) module (RIOW- CANOPEN) and, if necessary, that of the power supply module (RIOW-PS24).
  • Page 70 Re mo te mo dul es. Clearance recommended around a group. It is recommended to leave a gap between the group and the adjacent elements (other groups, cable carrying channels, enclosure walls, etc.) for better ventilation and easier handling of the unit later on. STOP Overflow 24V 0V...
  • Page 71 R em o te m odu l es . Side voltage jumpers. Some modules, e.g. the digital inputs module, have some jumpers on the left side for receiving and sending a current of 10 A needed to supply the module. The jumpers of a module must latch into the grooves of the previous module.
  • Page 72 Re mo te mo dul es. RIOW-CANOPEN-STAND module. Leading (first) module. The RIOW-CANOPEN-STAND module must be present in all the groups and must be the first module of the group. This module is in charge of managing the internal bus of the group, connecting the group to the system CAN bus and supplying power to the I/O modules through the side jumpers with 24 V 10A.
  • Page 73 R em o te m odu l es . 5.5.1 Elements (connectors). CAN bus connection. Signal Function N.C. N.C. Not being used. CAN H CAN H (HIGH) bus signal. SHIELD CAN L SHIELD CAN shield. CAN L (LOW) bus signal. Ground / 0 V.
  • Page 74 Re mo te mo dul es. Power supply status indicator LED's Color Function Green The LED turns on when the module is under power. Green The LED turns on if the side jumpers have 24 V. CNC 8070 : 1709) ·74·...
  • Page 75 R em o te m odu l es . 5.5.2 Voltage supply for the module. Power for the module and for the rest of the modules must be separated in order to ensure the operations in the bus in case of a short-circuit on the side of the actuator. STOP Overflow 24 V...
  • Page 76 Re mo te mo dul es. 5.5.3 Node configuration. The node is configured using the dipswitches to select the node address and the transmission speed. Configuring the node speed. To select the speed of the node, the module must be in configuration mode (all the dipswitches in the ·off·...
  • Page 77 R em o te m odu l es . Line terminating resistor. In the CAN bus, it is necessary to use a line terminating resistor to identify which are the elements that occupy the ends of the bus; i.e. the first and last physical element in the connection.
  • Page 78 Re mo te mo dul es. 5.5.4 Meaning of the LED's. While staring the module up, the LED's indicate the stage the node is in and its status. Node status. Meaning. Initializing stage After starting up or after a reset, the module goes into the initializing stage to run an autotest.
  • Page 79 R em o te m odu l es . Led I/O. Three-colored LED (orange/red/green) that indicates the bus status and the errors found. Led I/O. Meaning. There's no data at the data bus Green. The module is transmitting data. Red. Hardware error.
  • Page 80 Re mo te mo dul es. Type. Description. Solution. Error when initializing the EEPROM. Remove power from the node, replace the leading module and apply power to the node again. Timeout error when reading EEPROM data. Remove power from the node, replace the leading module and apply power to the node again.
  • Page 81 R em o te m odu l es . Error 5: Internal-bus initializing error. Type. Description. Solution. Communication error while initializing the Remove power from the node, replace the n-th module. module and apply power to the node again. The number of blinks indicates the n position of the I/O module.
  • Page 82 Re mo te mo dul es. RIOW-PS24 module. This module is in charge of supplying power to the I/O modules through the side jumpers with 24 V 10A. If when configuring the remote group, the consumption of the I/O modules is higher, additional RIOW-PS24 modules must be added.
  • Page 83 R em o te m odu l es . 5.6.1 Elements (connectors). Power supply. Signal Function 24 V Power supply. 0 V reference signal. Ground connection. 24 V Status indicator LED's. The LED is green. The LED turns on if the side jumpers have 24 V. 24 V CNC 8070 : 1709)
  • Page 84 Re mo te mo dul es. RIOW-8DI module. Module of 8 digital inputs. Expansion module with eight 24V DC digital inputs. The module has an LED indicating the status for each input. The 24 V DC needed to power the module comes from the previous module (inputs, outputs module or power supply module) through the side power supplying jumpers).
  • Page 85 R em o te m odu l es . 5.7.1 Elements (connectors). Digital inputs (8 inputs). Signal Function 24 V Power supply. Power supply. DI1 - DI8 Digital inputs. 24 V Status indicator LED's. Green LED's. All digital inputs have a status indicating LED that turns on when the input is active.
  • Page 86 Re mo te mo dul es. RIOW-8DO module. Module of 8 digital outputs. Expansion module with eight 24V DC 0,5 A digital outputs. The module has an LED indicating the status for each output. The 24 V DC needed to power the module comes from the previous module (inputs, outputs module or power supply module) through the side power supplying jumpers).
  • Page 87 R em o te m odu l es . 5.8.1 Elements (connectors). Digital outputs (8 outputs). Signal Function 24 V Power supply. Power supply. DO1 - DO8 Digital outputs. 24 V Status indicator LED's. Green LED's. All digital outputs have a status indicating LED that turns on when the output is active.
  • Page 88 Re mo te mo dul es. RIOW-4AI module. Module of 4 analog inputs. Expansion module with four ±10 V DC analog inputs. The module has an LED indicating the status for each input. The 24 V DC needed to power the module comes from the previous module (inputs, outputs module or power supply module) through the side power supplying jumpers).
  • Page 89 R em o te m odu l es . 5.9.1 Elements (connectors). Analog inputs (4 inputs). Signal Function AI1 - AI4 Analog inputs. Ground connection. Power supply. 24 V Power supply. 24 V Connectors ·2· and ·6· are joined together internally. Connectors ·4·...
  • Page 90 Re mo te mo dul es. 5.10 RIOW-4AO module. Module of 4 analog outputs. Expansion module with four ±10 V DC analog outputs. The module has an LED indicating the status of the bus an LED indicating an error at any of the outputs. The 24 V DC needed to power the module comes from the previous module (inputs, outputs module or power supply module) through the side power supplying jumpers).
  • Page 91 R em o te m odu l es . 5.10.1 Elements (connectors). Analog outputs (4 outputs). Signal Function AO1 - AO4 Analog outputs. Ground connection. Power supply. 24 V Power supply. 24 V All ·GND· connectors are joined together internally. Led ·BUS·.
  • Page 92 Re mo te mo dul es. 5.11 RIOW-2AI-PT100 module. Module of 2 inputs for PT100 temperature sensors. Expansion module with 2 analog inputs for PT100 temperature sensors. Each input has an LED indicating the status of the bus an LED indicating a measuring error of the sensor. Bus status indicator LED for Bus status indicator LED for sensor ·1·.
  • Page 93 R em o te m odu l es . 5.11.1 Elements (connectors). Analog inputs for PT100 temperature sensors (2 inputs). Signal Function R1+ RL1 Signals of the PT100 sensor. R2+ RL2 Signals of the PT100 sensor. SHIELD Grid. The shield connectors are internally joined together and are connected to the profile where the module is mounted SHIELD SHIELD...
  • Page 94 Re mo te mo dul es. 5.12 RIOW-END module. Last module of the group. The RIOW-END module must be present in all the groups and must be the last module of the group. This module is used to end the internal bus of the group and ensure proper data flow.
  • Page 95 R em o te m odu l es . 5.13 Numbering of the digital inputs and outputs. Use machine parameters to set the number of digital I/O modules connected to the CAN bus. If these parameters are not defined, the CNC numbers the modules automatically according to the logic order of the remote groups.
  • Page 96 Re mo te mo dul es. When inserting a new module, the first modules will be assigned the numbering of the table and the last one will be assigned the next valid base index after the highest one assigned until then. Examples for numbering the different modules.
  • Page 97 R em o te m odu l es . 5.14 Numbering of the analog inputs and outputs and of the temperature sensor inputs. The CNC numbers the modules automatically according to the logic order of the remote groups. Within each group, they are ordered from left to right. When numbering the analog inputs, the CNC considers the inputs for the temperature sensor as analog inputs.
  • Page 98 Re mo te mo dul es. REMOTE MODULE RIOR. (CANOPEN PROTOCOL). Remote modules may be used to have an additional number of digital and analog inputs and outputs (remote I/O) that placed in the cabinet, permit controlling various devices of the machine.
  • Page 99 R em o te m odu l es . CANopen bus characteristics. When the CNC works with CANopen bus, this bus lets combine in the bus groups (nodes) formed by the RIO5, RIOW and RIOR series modules; modules of different series cannot be combined in the same group.
  • Page 100 Re mo te mo dul es. Dimensions and mounting of the module. DO NOT make any connection or connect any module to the power supply while the latter is turned on. Before making any connection, turn the power supply off by unplugging the power cable. The RIOR module, meeting the standard EN 60529, corresponds to the IP00 classification, so it must be mounted inside an electrical cabinet that provides at least IP54 protection.
  • Page 101 R em o te m odu l es . Mounting the module. The RIOR module may be mounted onto the electrical cabinet in two positions; parallel to the cabinet with 4 mounting points or perpendicular to it with two mounting points. Use M6 bolts to secure the modules.
  • Page 102 Re mo te mo dul es. Powering the modules. Power the RIOR modules with a 24 V DC class III power supply that does not exceed the limits for SELV/PELV. Power supply requirements. If the supply cable is longer than 10 meters, some protection element must be installed at the input of the device to protect it against voltage peaks.
  • Page 103 R em o te m odu l es . Electrical characteristics of the inputs and outputs. Digital inputs. The digital inputs have no galvanic isolation. Each connector has an auxiliary 24 V output protected against short-circuits, to feed the digital inputs. The digital inputs have the following characteristics.
  • Page 104 Re mo te mo dul es. Inputs for the temperature sensors PT100. Use shielded cables connecting the shields to the ground plate of the module itself. The electrical characteristics of the inputs are: Type of sensor. PT100 Temperature range. Between -200 ºC ( -328 ºF) and +850 ºC (1562 ºF). Resolution.
  • Page 105 R em o te m odu l es . Description of connectors. Ground plate B28B B28A I44A I44B Connector. ·A22· 24 V DC supply input. ·B28A· CAN bus. ·B28B· ·D45· RUN led, module status indicator. ·D46· ERR led, transmission status indicator. ·I44A·...
  • Page 106 Re mo te mo dul es. ·A22· 24 V DC supply input. Plug-in part 3-pole Phoenix combicom contact (7.62 mm pitch). Rated current; 12 A. Signal. Function. - - -. 0 V reference signal. +24 V Power supply. Connector data. Number of poles.
  • Page 107 R em o te m odu l es . ·D46· ERR led, transmission status indicator. Red LED. Its meaning depends on the blinking speed. Blinking rate. Description. Off. The module is ready to run. Intermittent. Module configuration stage. Single blinking. Poor transmission.
  • Page 108 Re mo te mo dul es. · I 4 8 · A n a l o g i n p u t s a n d o u t p u t s . A n a l o g i n p u t s f o r temperature sensors.
  • Page 109 R em o te m odu l es . ·S42· CAN bus. Communication speed selection. The transmission speed at the bus is defined in each node and they all must run at the same speed. The speed is selected with switches ·2· and ·3· (CO BR). The transmission speed depends on the total length of the bus.
  • Page 110 Re mo te mo dul es. CAN bus connection. ·B28A·/·B28B connector pinout. Plug-in part 5-pole Phoenix contact minicombicon connector (3.5 mm pitch). Rated current; 8 A. Pin. Signal. Function. Ground / 0 V. (LOW) bus signal. CAN shield. (HIGH) bus signal. CAN shield.
  • Page 111 R em o te m odu l es . Connection of the digital inputs and outputs. ·I44A·/·I44B· connector pinout. 50-pin male IDC connector with a latch. Use a female connector for ribbon cable. Maximum height of the connector, 14.5 mm. •...
  • Page 112 Re mo te mo dul es. Connection of the analog inputs/outputs and the PT100 inputs. ·I48· connector pinout. Plug-in part 8x2 pin two-level male Phoenix Contact minicombicon (3.5 mm pitch). Rated current; 8 A. Pin. Signal. Function. GND_AO1 Reference signal. Analog output 1. GND_AO2 Reference signal.
  • Page 113 R em o te m odu l es . RCS-S-4F4AO The "RCS-S" counter may be used to get extra feedback (counter) inputs and analog outputs (remote I/O). These modules are connected to the central unit via Sercos-II bus and they are just another bus within the bus.
  • Page 114 Re mo te mo dul es. Specifications. Type. Description. General. Remote module with feedback inputs and analog outputs. • Dimensions (width x height x depth) - 43 × 200 × 125 mm. - 1.69" × 7.87" × 4.92". • Weight: 1.2 kg (2.65 lb) Regulation.
  • Page 115 R em o te m odu l es . Dimensions. inch inch 1.69 5.27 7.87 8.26 4.92 CNC 8070 : 1709) ·115·...
  • Page 116 Re mo te mo dul es. Securing the module. 7.4.1 Ambient characteristics. The RCS-S modules must be installed inside an electrical cabinet with a protection rating of IP54 or higher. The ventilation for the electrical cabinet must be enough to dissipate the heat generated by all the devices and components working inside.
  • Page 117 R em o te m odu l es . Voltage supply for the module. DO NOT make any connection or connect any module to the power supply while the latter is turned on. Before making any connection, turn the power supply off by unplugging the power cable. DO NOT make any connection or connect any module or cable if the group is under power.
  • Page 118 Re mo te mo dul es. 7.5.2 Module protections. Protection against reverse voltage. The module is protected against reverse voltage at the 24V input. 7.5.3 Ground connection. Bottom view. Ground connection. Join the ground terminal of the module to the cabinet chassis. The ground terminals of all the elements making up the system must be connected to a single ground point.
  • Page 119 R em o te m odu l es . Hardware functionality. Connectors. Front view. Connector ·A22·. 24 V supply input. Connector ·E21A·. Feedback input. ·Boot· button. ·Reset· button. Connector ·E21B·. Feedback input. Connector ·B32·. Sercos bus connection. Connector ·E21C·. Selector ·S38·. Feedback input.
  • Page 120 ·Boot· Button to update the software. ·Reset· Reset button. ·Boot· BOOT Button to update the software. This button is for the exclusively use by personnel authorized by Fagor Automation. ·Reset· Magazine reset. ·B32· Sercos-II bus connection. ·IN· & ·OUT· connectors Honeywell emitter and receiver.
  • Page 121 R em o te m odu l es . ·S39· Sercos-II bus setting (transmission speed and optical power). Switches ·1· and ·2· indicate the Sercos transmission speed (baudrate). Switches ·3· and ·4· set the Sercos power or the intensity of the light going through the optic fiber. The optical power value depends on the total length of the cable being used.
  • Page 122 Re mo te mo dul es. • Communication protocols (SSI, EnDat). Pin. Signal. Function. Feedback signals. 1 ... 5 6 ... 10 DATA Data line. 11 ... 15 /DATA CLOCK Clock line. /CLOCK +5 V Voltage supply for the feedback system. +5_SENSE Reference signal.
  • Page 123 R em o te m odu l es . ·I37B· general purpose ±10 V analog outputs (16 bits). Plug-in part 2 identical connectors 2-pole Phoenix-contact minicombicon connector (3.5 mm pitch). Rated current; 8A. • Left connector. Pin. Signal. Function. 0 V reference signal. Analog output.
  • Page 124 Re mo te mo dul es. 7.6.3 Technical/electrical characteristics of the feedback inputs. Use shielded cables connecting the shields to the ground plate inside the electrical cabinet. The unshielded portion of the wires of an unshielded cable cannot be longer than 75 mm. Characteristic.
  • Page 125 1 µs to 10 µs > 1 µs 20 µs to 35 µs SSI: Binary code. CNC 8070 Parity: Fully configurable. Work levels for FeeDat protocol signals. Consult Fagor Automation regarding the work levels for FeeDat protocol signals. : 1709) ·125·...
  • Page 126 Re mo te mo dul es. 7.6.4 Technical/electrical characteristics of the analog outputs: Use shielded cables connecting their meshes to the ground screw of the module. All the analog outputs have the following characteristics: Characteristics. Value. Command voltage within range. ±10 V.
  • Page 127 "Work levels for sinusoidal 1 Vpp signals." on page 125. 1 Vpp. CNC 8070 SSI protocol. "Work levels for SSI protocol signals." on page 125. FeeDat protocol. Consult Fagor Automation regarding the work levels for FeeDat protocol signals. : 1709) ·127·...
  • Page 128 Re mo te mo dul es. Feedback cable characteristics. Fagor Automation offers a wide range of cables and extension cables to connect the feedback systems to the CNC. The cable characteristics , as well as its length, depend on the type of feedback being used.
  • Page 129 Refer to our catalog for further information. Remove the protective cap from the cable. Fagor supplies the cable with the terminals protected by a cap. Remove the protection cap before connecting the cable. To remove the terminal protecting cap or to connect or disconnect the cable, hold the cable by its terminal;...
  • Page 130 Re mo te mo dul es. Module identification. Address (node) of the element within the bus. Nodes are identified with the 16-position rotary switch (thumbwheel) "Address" (also called "Node_Select") and for the RCS-S modules also with parameter SERCOUUNTID. This switch selects the address occupied by each of the elements integrated into the Sercos connection.
  • Page 131 R em o te m odu l es . 7.7.3 RS232 serial line connection. Connector pinout. Plug-in part 9-pin female SUB-D type connector. Pin. Signal. Description. Carrier detect. Receive data. Send data. Data terminal ready. Reference signal. 1 ... 5 Data set ready.
  • Page 132 Re mo te mo dul es. Module configuration on the CNC. 7.8.1 Module identification at the bus The SCR-S module is, like the drives, a node type of the Sercos ring. In terms of parameter setting, these modules have dual identification, physical and logic, as described next. Physical module identification.
  • Page 133 R em o te m odu l es . 7.8.2 Parameter setting example. The system has 2 Sercos counters (nodes 3, 5) and 3 Sercos AXD drives (nodes 1, 2, 4). Plus, the system has the following axes. • 3 analog axes X Y Z. •...
  • Page 134 Re mo te mo dul es. The parameter could be set as follows. NSERCOUNT Number of Sercos axes in the system. SERCOUNTID1 (No common, but valid). SERCOUNTID2 Parameters SERCOUNTID1 through SERCOUNTID8 set the order (sequence) of the feedback inputs. Since SERCOUNTID1=5 and SERCOUNTID2=3, the first feedback input will be the first one of node 5.
  • Page 135 R em o te m odu l es . 7.8.3 Automatic detection of a FeeDat/EnDat encoder. The FeeDat and EnDat protocols enable the necessary parameters to be read from the feedback device itself, so they can be used by the CNC without any additional parameter settings.
  • Page 136 Re mo te mo dul es. 7.8.4 Identifying the encoder. Consistency check (error 4026). At the end of the Sercos initialization process (system start-up, machine value reset or validation), a consistency check is performed on the encoder data. If the data detected and saved do not match all the FeeDat and EnDat feedbacks, the CNC will display error 4026 (encoder FeeDat/EnDat data mismatch), indicating the ID of the feedback in which the mismatched data has been detected.
  • Page 137 R em o te m odu l es . Error codes and messages on the Sercos counter. The module display shows the active error code. The CNC screen displays this same error code. The CNC can display both the errors listed in this chapter and the error codes and texts of the Sercos communication itself.
  • Page 138 A502 Fagor digital feedback. Encoder power outside desired values. E21D. Check that the power supply cable of the encoder is not damaged. Also check that the cable length is the right one and that the wiring connection is the right one. If the problem persists, contact Fagor Automation.
  • Page 139 E038 Code checksum error. The loaded checksum of the program code is not correct. Load the software again. If the problem persists, the RAM, FLASH memories or the loaded code may be defective. Contact Fagor Automation. Error that cannot be reset.
  • Page 140 Sercos counter. Check the condition (shape) of the cable, of the connection or of the feedback device. If the problem persists, contact Fagor Automation. E140 Feedback frequency too high at E21A feedback.
  • Page 141 Error in the initialization phase of the EnDat or FeeDat feedback device during the synchronous reading of the absolute coordinate of the feedback device. The error may be due to a malfunction of the encoder or a connection problem. If the problem persists, contact Fagor Automation. E183 INDUCTOSYN: INC signal too low at E21A feedback.
  • Page 142 E492 wrong REFPULSE parameter at E21D feedback. The value of machine parameter REFPULSE is inconsistent with the type of feedback connected. Try changing its value. If the problem persists, contact Fagor Automation. E193 Fagor digital feedback. Error on the absolute track. E21A feedback.
  • Page 143 R em o te m odu l es . E196 Fagor digital feedback. Image capturing sensor (CCD) error E21A feedback. E296 Fagor digital feedback. Image capturing sensor (CCD) error E21B feedback. E396 Fagor digital feedback. Image capturing sensor (CCD) error E21C feedback.
  • Page 144 "7.10.2 Updating the FeeDat and EnDat information." on page 146. Resources Information. FBACKCONFIG Type of feedback. : 1709) Serial number. Encoder serial number. Name. If it is a Fagor encoder, the name of the encoder. If it is an EnDat encoder, the "EnDat” text. ·144·...
  • Page 145 R em o te m odu l es . Resources Information. Type. Encoder type (multi-turn absolute rotary, absolute rotary, absolute linear, etc). Resolution. Encoder resolution. • If the encoder is linear, nanometer resolution. • If the encoder is angular, the number of pulses per turn. Datalength.
  • Page 146 Re mo te mo dul es. 7.10.2 Updating the FeeDat and EnDat information. If the data read on any FeeDat or EnDat encoder feedback do not match those saved in its parameter table, the CNC displays a softkey to save the new data in the table.
  • Page 147 The software for the RCS-S (Sercos counter) module can only be installed or updated through Fagor’s WinDDSSetup application for PCs (version 08.06 or later). In addition to having this application installed on the PC, the RCS-S module must be connected to the PC by a RS-232 series line cable.
  • Page 148 Re mo te mo dul es. Search the directory with the version to install. Click on this icon to go to the "Version folder" window where the version to be installed has been decompressed (expanded). Locate and select the file "cser2.cfg" in the corresponding folder and click on the "Open"...
  • Page 149 R em o te m odu l es . 7.11.1 Set the default Boot. Display the top menu "SetUp" > "Preferences" > "Boot". Use this menu sequence to set the "Default Boot Type" and also uncheck the option "Ask for boot type". After clicking on "OK", the next time the "Boot"...
  • Page 150 Re mo te mo dul es. CAN BUS (CANFAGOR/CANOPEN PROTOCOLS). CANfagor and CANopen are two network communication protocols based on the CAN bus system for connecting the CNC with remote modules and keyboards. The CAN connection supports up to 32 devices (nodes), including the central unit; more one than keyboard and several groups of remote modules are possible.
  • Page 151 R em o te m odu l es . Module interconnection. Respect the cable's minimum bending radius when connecting it. They must be connected in series; on elements having two CAN connectors, either one may be used. Once the elements have been connected, define their logic order in the bus and the transmission speed.
  • Page 152 Re mo te mo dul es. Identification of the modules at the bus. Each one of the elements integrated into the CAN bus is identified by its address or node number. The CNC must always occupy position "0" and the rest of the elements of the bus will occupy consecutive positions starting with 1.
  • Page 153 R em o te m odu l es . Configuring the address (node number). RIOW series remote modules. The dipswitch may be used to select the address of the node and the transmission speed. The address (node number) of the group is selected while the module is off.
  • Page 154 Re mo te mo dul es. Type of CAN bus and baudrate. Bus type selector: CANfagor / CANopen. The CNC has two types CAN bus: CANfagor and CANopen. There are specific remote modules for each type of bus; at the CNC and at the operator panels, the type of active CAN bus must be selected.
  • Page 155 R em o te m odu l es . Selecting the baudrate for the CANopen bus. When using the CANopen protocol, the transmission speed at the bus is defined in each node and they all must run at the same speed. The transmission speed depends on the total length of the bus.
  • Page 156 Re mo te mo dul es. to dipswitch ·4·. The first time the module is configured, the TX LED blinks indicating that no valid speed has been selected. If when turning the module on, all the dipswitches are not in the ·off· position, the position of the dipswitches will be the new address (node number) of the group.
  • Page 157 R em o te m odu l es . Selecting the speed for the CANfagor bus. When using the CANfagor protocol, the transmission speed at the bus is defined at the CNC (parameter CANLENGTH). The transmission speed depends on the total length of the cable. Use the following approximate values.
  • Page 158 NODE NODE Sercos cable characteristics. Fagor Automation supplies the fiber optic cables needed for Sercos communication. There are several types of cable depending on their length and their dynamic and static installation characteristics. • Fiber optic cable with polymer core (SFO, SFO-FLEX) for up to 40 meters. If the fiber...
  • Page 159 R em o te m odu l es . Cable handling. The cable provided by Fagor has its pins protected with a hood. Before connecting the cable, remove the protecting hood. Both for removing the pins protecting hood for the pins and...
  • Page 160 The Sercos connection is carried out in a ring using fiber optic cable by joining an OUT terminal with an IN terminal. The drawing shows the Sercos connection of the CNC with Fagor spindle drives and the X, Y axes. SPINDLE...
  • Page 161 R em o te m odu l es . Data exchange via Sercos. The data exchange between the CNC and the drives takes place in each position loop. The more data is exchanged, the more overloaded the Sercos transmission will be. These registers should be limited leaving only the ones absolutely necessary after the setup.
  • Page 162 Re mo te mo dul es. User notes: CNC 8070 : 1709) ·162·...
  • Page 163 R em o te m odu l es . User notes: CNC 8070 : 1709) ·163·...
  • Page 164 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...