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Summary of Contents for Fagor DCM21
- Page 1 Fagor Automation, S.Coop. DC Servo Drive System Manual. Ver: 0009 DC - 1/32 DC Servo Drive System Manual Ver: 0009...
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Page 2: Table Of Contents
Index DC Motors, DCM INTRODUCTION ........................... 4 GENERAL CHARACTERISTICS ....................5 TORQUE-SPEED CURVES ......................6 TERMINAL BOX ........................... 7 ENCODER OUTPUT CONNECTOR ..................... 7 CHARACTERISTICS PLATE AND SALES REFERENCE ............. 8 SERVICE INSTRUCTIONS ......................8 D.C. Servodrive INTRODUCTION ........................... 9 GENERAL CHARACTERISTICS .................... - Page 3 In Mondragón, September 22nd, 2000 Introduction Fagor offers you a wide range of servo drive systems (motor and drive) for applications requiring between 1 and 12 Nm at speeds between 1200 rpm and 4000 rpm. This manual describes the elements in detail and guides step by step through the installation and setup of the drive system.
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Page 4: Dc Motors, Dcm
DCM4 DCM2 INTRODUCTION Winding voltage 100-130 Vdc Number of poles 2 (DCM2); 4 (DCM4 and DCM5) Fagor DCM motors (DC) are Shaft end Cylindrical with keyway. especially designed to be Mounting Face flange. controlled by Fagor DC (meets IEC-34- 7-72) B14, V18, V19 on DCM2;... -
Page 5: General Characteristics
GENERAL DCM2 DCM4 DCM5 CHARACTERISTICS DCM21 DCM22 DCM23 DCM41 DCM42 DCM43 DCM51 DCM52 UNIT MOTOR PARAMETERS 21.40A 22.40A 23.25A 41.12A 41.20A 41.30A 42.12A 42.20A 42.30A 43.12A 43.20A 43.30A 51.12A 51.20A 52.12A Continuous stall torque 1,12 Peak stall torque 19,3 19,3... -
Page 6: Torque-Speed Curves
TORQUE-SPEED CURVES DCM21 DCM22 DCM23 1000 3000 4000 1000 3000 4000 1000 2500 3000 DCM41 DCM42 DCM43 0 rpm 1000 1200 2000 3000 0 rpm 1000 1200 2000 3000 0 rpm 1000 1200 2000 3000 DCM52 DCM52 1. Work area in continuous duty cycle S1. -
Page 7: Terminal Box
TERMINAL BOX Includes terminals for: Power input for the motor winding. Input for electromechanical brake Tacho voltage output. Safety thermal contact Tacho Brake DC-IND-2/28 inductance only needed with the motors FXM 42.30A and 43.30A Thermal Thermal N.C. Motor Power Motor Tacho Brake Clockwise Rotation... -
Page 8: Characteristics Plate And Sales Reference
CHARACTERISTICS PLATE AND SALES REFERENCE Example of the plate that Permanent Magnet D.C. Servomotor comes with each DCM motor. TYPE: DCM42.20A.E0.000 SN: E190057 0.56 Nm/A Iso.Cl.: F MAX. RPM: 2000 B.E.M.F.: 118 V TACHO: V/KRPM BRAKE: Sales reference description for DCM motors DC MOTORS Example DCM 4 2. -
Page 9: D.c. Servodrive
D.C. Servodrive INTRODUCTION The D.C.Servo drive is a compact speed drive which includes the power supply and is designed to control a single DC motor. There are two modules of different power offering rated currents of 8 and 14 Amps and whose main characteristics are: - Three-phase power supply through a transformer. -
Page 10: General Characteristics
GENERAL CHARACTERISTICS Fagor D.C.Servodrive DCS-08 DCS-14 Power supply 110 Vac between phases. 50/60 Hz (range 94-120 Vac) Consumption, Amperes -RMS- Maximum in-rush current 350 Amp for 10 msec. Maximum output voltage 150 Vdc Rated output current 8 Amp 14 Amp Peak current (4.5 sec) -
Page 11: Connectors
CONNECTORS Power Terminals Motor Output: ±150 Vdc output voltage applied to the motor Output current to the motor (continuous/peak for 4.5 seconds): DCS-08: 8A/16A DCS-14: 14A/28A Maximum current with PWM on a carrier frequency of 10 kHz. Watch out for polarity. See page 23. Power Input: 94-120Vac three-phase supply through a transformer. - Page 12 Front panel and Connectors. Identity module: IM. - See corresponding section - Acc/Dec. Ramps Max. Current Limit PI.Gain Max. Meaning of the Drive status display. Speed possible messages at the Status display. Offset DRIVE DISABLED Connector for drive 0 SPEED DISABLED 1 RUNNING control signals.
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Page 13: Status Display
Solutions: Limit motor acceleration with ACC/DEC RAMPS. If the motor has low inductance and the current ripple is excessive, add an inductance in series with the winding circuit (this is never required with Fagor DCM motors). Overvoltage. For an instant, the internal Bus voltage has exceeded 193 V. -
Page 14: Internal Operation Diagram
Pin 1 -10V Power Pin 2 Internal POWER stage. Rectifer Ballast. Voltage supply Pin 3 INPUT +10V MOTOR OUTPUT Power-down detection Pin 14 Pin 13 DRIVE SPEED COMMON COMMON Pin 15 Pin 15 Overspeed Control J2 a b c Pin 5 Current Speed PI Ramp... -
Page 15: Specifications Plate And Sales Reference
SPECIFICATIONS PLATE AND SALES REFERENCE Examples of the specs plate Fagor Automation S. Coop.(Spain) that comes with each Fagor DC SERVODRIVE DC drive. MODEL: DCS-14-E0 INPUT : 3 X 110 VAC / 50-60 Hz S.N.: 22-19040001 OUTPUT: 0-150 VDC W: 3,5 Kg Imax Fagor Automation S. - Page 16 DC - 16/32 DC Servo Drive System Manual Ver: 0009...
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Page 17: Motor-Drive Set
This table considers these possible limitations. DCS-08 DRIVE DCS-14 DRIVE Speed Stall Torque Peak Torque Stall Torque Peak Torque MOTORS -rpm- -Nm- -Nm- -Nm- -Nm- DCM21.40A 4000 1.12 DCM22.40A 4000 DCM23.25A 2500 DCM41.12A 1200 15.2 DCM41.20A 2000 DCM41.30A 3000 DCM42.12A 1200 15.2... -
Page 18: Identity Module, Im
There is an IM card for each correct combination of DCM motor and DCS drive as shown on the next page. The IM-000 board is used for setting DCS Drives with non-Fagor motors. The calculation of the passive components is described on the next pages. - Page 19 These are the names of the identity And these are the values of the passive modules (IM) for each Motor-Drive set. components on each of those cards. IM Board RAJFV RTV1 DCS-08 DCS-14 DCS-08 DCS-14 DCM21.40A DCM21.40A IM-2140A-08 5,6K DCM22.40A DCM22.40A IM-2240A-08 IM-2240A-14 5,6K DCM23.25A DCM23.25A...
- Page 20 Adjustment of IM components for governing Non-Fagor motors RTV1 calculation: Example of calculation: Vmaxtac = Nmax · 1.3 · Ktac Maximum Speed: 1200 rpm RTV1 = Vmaxtac - 22 (KΩ) Tacho Constant: 20 V/Krpm This RTV1 must be of 1/4 Watts 1200 ·...
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Page 21: Installation
Installation GENERAL CONSIDERATIONS About the Motor: Remove the anti-corrosion paint of the shafts before mounting them on to the machine. The motor may be mounted as described in the first chapter Watch for the ambient conditions: Mount it somewhere that is dry, clean and accessible for maintenance. -remember that it meets the IP44 degree of protection. -
Page 22: Electrical Connections
ELECTRICAL CONNECTIONS DCEC Cable Ac c/De c. Ra m ps Basic interconnection diagram M ax . Cu r re nt L im it PI.G ain M ax . Sp eed Of fs et DRIVE DIS A BL ED 0 SPEED DI S A BL ED 1 RUNNING 2 MO T O R I S O L ATION FAULT 3 FEEDBACK ERROR... - Page 23 DC Motor Thermal switch The Fagor DCS drive has been designed to govern motors with a winding inductance greater than 2.5 mHr. The FXM 42.30A and 43.30A motors need a coil installed in series.This coil must never have an inductance value greater than 8 mHr. Fagor offers the coil DC-IND-2/28 (2mHr, 28A) appropriate for these motors.
- Page 24 It must output 2000 or more pulses per turn for a good regulation and its signals must be differential (double ended) 5V. The encoders installed on Fagor DCM motors appearing in this manual meet these requirements. On the identity card, put selector J1 in the (bc) position.
- Page 25 VEL+ Uref VEL- Input impedance: 22 kΩ Jumper J4 (bc) Jumper J4 (bc) Codes of the sales references for the cables supplied by Fagor: Example: DCEC - 20 ENCODER CABLE Example: SEC - 20 ENCODER-CNC CABLE DC ENCODER CABLE ENCODER SIMULATOR CABLE LENGTH (m) 5, 10, 15, 20.
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Page 26: Electrical Enclosure Diagram
ELECTRICAL ENCLOSURE DIAGRAM This is a sample diagram for an electrical enclosure. It may be modified to meet the needs of a particular application. It includes a simple circuit to power the brake of the DCM. Warning: When using an autotransformer, the secondary must have a star connection with its middle point connected to ground. -
Page 27: Initialization And Setup
INITIALIZATION AND SETUP Verify that the identity card IM is the right one. The name of the card itself (page 20) indicates which motor and drive combination it has been designed for. Verify that the type of feedback selected with jumper J1 matches the feedback device installed on the motor. -
Page 28: Mechanicals Dimensions
Mechanicals Dimensions DC MOTORS DC - 28/32 DC Servo Drive System Manual Ver: 0009... - Page 29 Details of the motor shafts and keyways. DC SERVODRIVE INDUCTANCE 126 mm (4.96") 63 mm (2.48") 230 mm (9.05") DCS-08, DC-IND-2/28 DCS-14 6 mm (0.23") 6 mm 105 mm (4.13") (0.23") 11 mm (0.43") DC - 29/32 DC Servo Drive System Manual Ver: 0009...
- Page 30 Product DCM21.40A.T0.000 84400000 DCM42.12A.T0.000 84400080 DCM51.12A.T0.000 84400180 DCM21.40A.T0.010 84400001 DCM42.12A.T0.010 84400081 DCM51.12A.T0.010 84400181 codes. DCM21.40A.T0.100 84400002 DCM42.12A.T0.100 84400082 DCM51.12A.T0.100 84400182 DCM21.40A.T0.110 84400003 DCM42.12A.T0.110 84400083 DCM51.12A.T0.110 84400183 DCM21.40A.E0.000 84400004 DCM42.12A.E0.000 84400084 DCM51.12A.E0.000 84400184 DCM21.40A.E0.010 84400005 DCM42.12A.E0.010 84400085 DCM51.12A.E0.010 84400185 DCM21.40A.E0.100 84400006 DCM42.12A.E0.100 84400086...
- Page 31 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. Therefore, all shipping expenses as well as travelling expenses incurred by technical personnel are NOT under warranty even when the unit is under warranty.
- Page 32 Overview of FAGOR SWITZERLAND CHINA, P.R. subsidiaries: FAGOR AUTOMATION SUISSE S.à r.l. Beijing: Rue B.- Vuilleumier 11 Beijing FAGOR AUTOMATION Equipment SPAIN CH-2616 RENAN (BE) Co.,Ltd. Tel.: 41-329631863 Room No. B-202, Guo Men Building, Nº 1 Headquarters: Fax: 41-329631864 ZuoJiaZhuang, Chaoyang District FAGOR AUTOMATION S.COOP.
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