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Fagor 0506 General Manual

Fagor 0506 General Manual

Servo drive system
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Table Of Contents
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Table of Contents

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SERVO DRIVE SYSTEM
General Manual
DDS
Software
v.06.xx
S
ERVO DRIVE
SYSTEM MANUAL
Ref. 0506 (in.)

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Summary of Contents for Fagor 0506

  • Page 1 SERVO DRIVE SYSTEM General Manual Software v.06.xx ERVO DRIVE SYSTEM MANUAL Ref. 0506 (in.)
  • Page 3 (Technical Service Department) The information described in this manual may be subject to changes due to technical modifications. FAGOR AUTOMATION S.Coop. reserves the right to change the contents of this manual without prior notice. All rights reserved. No part of this documentation may be copied, transmitted, transcribed, stored in a backup device or translated into another language without Fagor Automation’s permission.
  • Page 4 EVOLUTION Manual version Items 9702 First version 9707 PS -65, RM-15, CM-60, APS -24, AXD / SPD 3.xx 9802 Compact 8, 25, 50, 75, DDS PROG MODULE Software 02.xx Halt signal via digital input. Range expansion, (C axis) Sercos interface (connection and parameters) 9810 XPS - 25, XPS - 65 Software 03.xx...
  • Page 5 Manual version Items 0112 FXM motors at 400 - 15% Vac MMC and CMC drives ACD / SCD 1.08 / 1.15 drive [compact] Crowbar resistor: ER-18/1800 and ER-18/2200 RS-422 interface for MMC and CMC drives Software 04.02 On-line feedback change Axis synchronization Index DNC50 communication protocol...
  • Page 6 ACD 2.50, SCD 2.50, ACD 2.75, SCD 2.75, CMC 2.50, CMC 2.75 and the programming module DDS PROG MODULE will no longer be in Fagor Automa- tion' catalog. However, all the documentation regard- ing them is kept in this manual just in case the user has already purchased any of these modules.
  • Page 7 E205: The motor has no voltage for the demanded work conditions. 0504 Software 06.07 Error correction. Software 06.08 FAGOR absolute linear encoders Reading protocol of FAGOR absolute linear encoders. Expanded parameter GP10. New parameter: RP60, RP61, RP62 and RP63. E610: ErrWrongAbsSignals. E611: ErrUnstableAbsSignals. Software Identification of R and L in asynchronous motors.
  • Page 8 Manual version Items 0506 Software 06.09 Modifications in the home search feature when using a spindle reference mark and transmission ratio other than 1:1. PP5 = -1. Both feedbacks independent. Software v.06.xx ERVO DRIVE SYSTEM MANUAL Conditions Conditions Conditions Page 8 of 12...

  • Page 9: Related Documentation

    RELATED DOCUMENTATION Product selection English Fagor Motors and Drives Ordering Handbook Quick Reference English Fagor Modular Drives and Motors Quick Reference English Fagor Compact Drives and Motors Quick Reference Servo drive description, installation and adjustment Spanish Sistema de regulación DDS...

  • Page 10: Declaration Of Conformity

    Compac positioning drive CMC: 1.08, 1.15, 1.25 Accessory Modules: RM-15, ER, CM 1.60, CHOKES Power supply filter: DLC 3042 and DLC 3130 Motors: Brushless AC Fagor FXM and FKM and Spindle asynchronous Fagor SPM and FM7 mentioned on this declaration, meet the requirements:...

  • Page 11: Warranty Terms

    This system ensures the 12 . month warranty period for the user. FAGOR offers a 12 - month period for the OEM or distributor for selling and installing the product. This means that the warranty starting date may be up to one year after the product has left our warehouse so long as the warranty control sheet has been sent back to us.

  • Page 12: Safety Conditions

    Read the following safety instructions in order to prevent harming people and damage to this product or to the 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 13 GENERAL INDEX 1. ELECTRONIC MODULES .................. 1 Introduction ........................1 Outside looks ........................3 Non - regenerative power supplies ................3 Regenerative power supplies ..................4 Modular drives ....................... 5 Compact drives ......................7 Other modules ....................... 9 Power supply module ..................... 11 General charact.
  • Page 14 Capacitor module, CM 1.60.................... 94 Auxiliary power supply module, APS 24................. 94 Block diagram of the "APS 24" module ............... 96 APS 24 connectors...................... 96 Programming module, DDS PROG MODULE..............97 Fagor cables........................98 ® For Sercos connection:................... 99 Dimensions........................100 Module identification.....................
  • Page 15 ® Sercos connection ..................... 37 Serial line connection....................41 Connections ........................43 Electrical cabinet drawings ..................... 46 3. COMMON SETUP ....................1 Introduction ........................1 Module power - up ......................1 Data storage structure ...................... 2 WinDDSSetup........................2 Parameter and variable editing ..................3 Oscilloscope ........................
  • Page 16 Considerations at the drives ..................12 General index Control signals PLC 8055/55i - drive ................13 Connection with the Fagor 8070 CNC................18 Parameter unification. 8070 CNC and drive with Sercos® interface ......19 Parameter set and gear ratio..................23...
  • Page 17 Flux reduction without load ..................... 51 Control of high speed spindles ..................52 Parameter setting for a Fagor motor ( FM7, SPM ) ............. 52 Parameter setting for a user motor ( not Fagor ) ............53 Auto-adjustment of an asynchronous user motor ............55 Calculation of the serial inductance ................
  • Page 18 Effect of the errors on the system..................1 Error listing ........................3 Listing of warnings......................15 Troubleshooting......................15 C. FAGOR PRODUCT REFERENCES..............1 References of synchronous servo motors................ 1 References of asynchronous motors................2 References of modular drives................... 3 References of compact drives ..................
  • Page 19 E. PROTECTIONS ON DRIVE AND MOTOR ............1 Introduction ........................1 Protections of the drive ..................... 1 Peak current limit at the drive ..................2 Temperature sensors on the heat - sink ................ 2 Permanent duty cycles allowed for the drive. Calculating the I2t product ..... 3 Protections of the motor....................
  • Page 20 User notes: Software v.06.xx ERVO DRIVE SYSTEM MANUAL General index Index Page 8 of 8...

  • Page 21: Electronic Modules

    ELECTRONIC MODULES Introduction The Fagor Servo Drive System has a modular stackable design. It is connected directly to three - phase mains of 50/60 Hz with a rated voltage between 400 Vac -10% and 460 Vac +10%. It supplies the motors with three - phase 400 - 4.5% Vac and variable frequency to...
  • Page 22 Resistor module RM -15, ER To facilitate a great energy dissipation while braking. Programming module DDS PROG MODULE. Connected to the drive module through the serial line, it allows displaying and programming its internal parameters. It has an internal nonvolatile memory and the possibility to send and receive parameter tables.
  • Page 23 Outside looks Non - regenerative power supplies Software v.06.xx fig.1 Non-regenerative power supplies. ERVO DRIVE SYSTEM MANUAL ELECTRONIC MODULES Outside looks Chapter 1 Page 3 of 106...
  • Page 24 Regenerative power supplies fig.2 Regenerative power supplies. Software v.06.xx ERVO DRIVE SYSTEM MANUAL ELECTRONIC MODULES Outside looks Chapter 1 Page 4 of 106...
  • Page 25 Modular drives fig.3 "AXD / SPD" modular drives. Software v.06.xx ERVO DRIVE SYSTEM MANUAL ELECTRONIC MODULES Outside looks Chapter 1 Page 5 of 106...
  • Page 26 fig.4 MMC modular drives. Software v.06.xx ERVO DRIVE SYSTEM MANUAL ELECTRONIC MODULES Outside looks Chapter 1 Page 6 of 106...
  • Page 27 Compact drives fig.5 "ACD / SCD" compact drives Software v.06.xx ERVO DRIVE SYSTEM MANUAL ELECTRONIC MODULES Outside looks Chapter 1 Page 7 of 106...
  • Page 28 fig. 6 CMC compact drives Software v.06.xx ERVO DRIVE SYSTEM MANUAL ELECTRONIC MODULES Outside looks Chapter 1 Page 8 of 106...

  • Page 29: Other Modules

    Other modules fig. 7 APS 24, CM 1.60, RM -15 and ER Software v.06.xx ERVO DRIVE SYSTEM MANUAL ELECTRONIC MODULES Outside looks Chapter 1 Page 9 of 106...
  • Page 30 fig. 8 Mains filters: DLC 3042 and DLC 3130. Filters EMK 3040 and EMK 3120 are discontinued. Software v.06.xx ERVO DRIVE SYSTEM MANUAL ELECTRONIC MODULES Outside looks Chapter 1 Page 10 of 106...

  • Page 31: Power Supply Module

    Power supply module They are directly connected to 400-460 Vac, 50/60 Hz mains provide a dc voltage output of about 600 Vdc depending on mains power. This voltage supplies to the drive modules through what we call power bus. These power supplies also handle the energy excess accumulated at the power bus usually due to motor braking.
  • Page 32 fig. 9 Power values of power supplies Software v.06.xx ERVO DRIVE SYSTEM MANUAL ELECTRONIC MODULES Power supply module Chapter 1 Page 12 of 106...
  • Page 33 General charact. of the non - regenerative power supplies PS-25A module PS-65A module (discontinued) Three-phase 50/60 Hz, with a voltage range Power supply (Vmains) between 400 Vac -10% and 460 Vac +10% Mains power consumption 38 Arms 100 Arms Maximum connection cable section 10 mm 50 mm Power bus voltage VBUS...
  • Page 34 PS-25A module PS-65A module (discontinued) Ambient temperature 5°C / 45°C (41°F / 113°F) Storage temperature - 20°C / 60°C (- 4°F / 140°F) Maximum humidity < 90% (non condensing at 45°C / 113°F) 1000 meters (3281 ft) Maximum altitude without loss of features above sea level Operating vibration 0.5 G...
  • Page 35 Block diagram of modules: PS-25A and PS- 65A Software v.06.xx ERVO DRIVE SYSTEM MANUAL ELECTRONIC MODULES fig. 10 Block diagram of modules: PS - 25A and PS - 65A Power supply module Chapter 1 Page 15 of 106...
  • Page 36 PS-25B3 * / PS-25B4 modules Three - phase 50/60 Hz, with a voltage range Power supply (Vmains) 400 Vac -10% and 460 Vac +10% Mains power consumption 38 Arms Maximum connection cable section 10 mm Power bus voltage VBUS 567.5 Vdc / 650 Vdc Rated (peak) output current 45 A (135 A, 1 s) ****...
  • Page 37 PS-25B3 * / PS-25B4 modules Ambient temperature 5°C / 45°C (41°F / 113°F) **** Storage temperature - 20°C / 60°C (- 4°F / 140°F) Humidity < 90% (non condensing at 45°C / 113°F) 1000 meters (3281 ft) Maximum altitude without loss of features above sea level Operating vibration 0.5 G...
  • Page 38 Block diagram of the PS - 25Bx module Software v.06.xx ERVO DRIVE fig. 11 Block diagram of the "PS - 25Bx" module SYSTEM MANUAL ELECTRONIC MODULES Power supply module Chapter 1 Page 18 of 106...
  • Page 39 General characteristics of the regenerative power supplies XPS-25 module XPS-65 module Three - phase 50/60 Hz, with a voltage range Power supply (Vmains) between 400 Vac -10% and 460 Vac +10% Mains power consumption 38 Arms 100 Arms Maximum connection cable section 16 mm 50 mm Voltage of the power bus VBUS...
  • Page 40 XPS-25 module XPS-65 module Ambient temperature * 5°C / 45°C (41°F / 113°F) Storage temperature - 20°C / 60°C (- 4°F / 140°F) Humidity < 90% (non condensing at 45°C / 113°F) 1000 meters (3281 ft) Maximum altitude without loss of features above sea level Operating vibration 0.5 G...
  • Page 41 Block diagram of the XPS-25 and XPS-65 fig. 12 Block diagram of the "XPS - 25 and XPS - 65" modules Software v.06.xx ERVO DRIVE SYSTEM MANUAL ELECTRONIC MODULES Power supply module Chapter 1 Page 21 of 106...

  • Page 42: Power Supply Connectors

    Power supply connectors 1. Power connectors for mains. 2. Power connectors for the external Ballast resistor. fig. 13 Power connectors for the external Ballast resistor connection Power supplies PS - 25A and PS - 25Bx can only have the configuration on the right and it is impossible to make a mistake when connecting the external Ballast resistor.
  • Page 43 Connector providing access to the basic control signals. Input connector supplying to the internal auxiliary power supply for mains. X4, X5 and X6 Output connectors of the auxiliary power supply offering 24 Vdc. Note: The location of these connectors is shown with this numeric reference in the illustrations: fig.
  • Page 44 fig. 15 Connectors at the regenerative power supplies Software v.06.xx ERVO DRIVE SYSTEM MANUAL ELECTRONIC MODULES Power supply module Chapter 1 Page 24 of 106...
  • Page 45 Power connectors of the power supplies Terminal strip for connection to mains. They phases may be connected in any From Mains sequence. RST phases may be connected in The ground connection of the cable any sequence. shields is made from the vertical plate next to the terminal strip.
  • Page 46 PS - 25B3 XPS-25 PS-25A PS - 65A PS - 25B4 XPS-65 Gap between terminals 10.16 10.16 10.16 (mm) Max tightening torque    (N·m) Maximum section (mm table 8 Data of the terminal strip for the external Ballast connection If this jumper between Ri and L+ is eliminated and no external resistor is connected, error 215 or 304 will be issued.
  • Page 47 Two plates are supplied with each module to joint the terminals of the adjacent modules. The fastening torque at these terminals must be between 2.3 and 2.8 N·m. Fagor power supplies have a (Soft Start) for charging this power bus. The soft start begins when two necessary and sufficient conditions are met: •...
  • Page 48 This inductance is a must to filter the current circulating from the power bus to mains. Fagor supplies the CHOKE XPS-25 and CHOKE XPS-65 for this application. Use cables with the maximum section allowed (16 and 50 mm ) y and shorter than 2 meters (6 feet).
  • Page 49 X1 connector (internal bus) Interconects all the elements of the servo drive system. All the modules powered with the same power supply must be connected to this bus andit is required to run it. The bus must not be disconnected while the system is running.
  • Page 50 The next table shows the signals and other considerations related to each pin: System error reset input Error RESET (24 Vdc ; 4.5 - 7 mA) Not connected --------------- 0 volts reference for digital inputs Error RESET (1) and System Speed Enable (5) Not connected --------------- System Speed Enable...
  • Page 51 It will normally be at 0V. When activated (24 V) the errors existing in the memory of each one of the system modules will be deleted. If the cause of the error persists, the corresponding module will show it again. If the error is serious, it can only be eliminated by powering the unit down and back up.

  • Page 52: Technical Data

    Modular drive They are modular AXD and MMC drives specifically designed for controlling axes (synchronous motors) and SPD drives for spindles (asynchronous motors). This chapter is common to both models because their external characteristics: dimensions, connectors, ... are the same. Technical data Internal ventilation AXIS DRIVE (synchronous)
  • Page 53 MMC drives (working as axes) have the same currents as AXD drives. fc : IGBT switching frequency The dissipated power values for the spindles correspond to the operation at rated current in S1 mode. See the load duty cycle for axis and spindle modular drives in the corresponding section of this chapter.
  • Page 54 Load duty cycles Load cycle S1 Continuous duty. Operation with constant load and long enough to achieve thermal balance. fig. 22 Load cycle S1. Load cycle Periodic intermittent duty. Succession of identical duty cycles, each S3 - 5% with a rest period. In this duty cycle, the overheating effect of the start-up current is negligible.
  • Page 55 Load cycle Periodic uninterrupted duty cycle with intermittent load. Succession S6 - 15% of identical duty cycles, each with a running period under constant load and another period without load. There is no rest period. The 15% running factor indicates that for a 60-second cycle, it works at constant current for 10 seconds (IS6 - 15%) and without load for 50 seconds (with magnetizing current = 0.7 x rated current).

  • Page 56: Current Derating

    Current derating Axis drives: The following graphs show the maximum rms current in continuous S1 and intermittent S3 (5%) duty cycles depending on the switching frequency of the power transistors in a temperature range between 5 °C and 60 °C. See the load cycles in the previous section.
  • Page 57 Current I [Arms.] AXD 1.25 & MMC 1.25 40.00 Tª ambient 35.00 Arms Arms 30.00 °C °F 25.00 12,5 25,0 20.00 12,5 25,0 15.00 12,5 25,0 10.00 12,2 24,5 5.00 Ambient 11,4 22,8 temperature 0.00 10,5 21,1 °C [ 95 ] [ 104 ] [ 113 ] [ 122 ]...
  • Page 58 Current I [Arms.] AXD 2.75 & MMC 2.75 80.00 Tª ambient 70.00 Arms Arms 60.00 °C °F 50.00 31,5 63,0 40.00 31,5 63,0 30.00 31,5 63,0 20.00 31,4 62,9 10.00 Ambient 28,9 57,8 temperature 0.00 26,3 52,7 °C [ 95 ] [ 104 ] [ 113 ] [ 122 ]...
  • Page 59 " " " " FOR SWITCHING FREQUENCY f = 8 kHz: Current I [Arms.] AXD 1.08 & MMC 1.08 8.00 Tª ambient 7.00 Arms Arms °C °F 6.00 5.00 4.00 3.00 2.00 1.00 Ambient temperature 0.00 °C [ 95 ] [ 104 ] [ 113 ] [ 122 ]...
  • Page 60 Current I [Arms.] AXD 1.35 & MMC 1.35 40.00 Tª ambient 35.00 Arms Arms 30.00 °C °F 25.00 17,5 35,0 20.00 17,5 35,0 15.00 17,5 35,0 10.00 16,6 33,3 5.00 Ambient 15,6 31,3 temperature 0.00 14,7 29,3 °C [ 95 ] [ 104 ] [ 113 ] [ 122 ]...
  • Page 61 Current I [Arms.] AXD 3.100 & MMC 3.100 160.00 Tª ambient 140.00 Arms Arms °C °F 120.00 100.00 50,0 100,0 80.00 50,0 100,0 60.00 50,0 100,0 40.00 47,6 95,2 20.00 Ambient 44,7 89,4 temperature 0.00 41,7 83,4 °C [ 95 ] [ 104 ] [ 113 ] [ 122 ]...
  • Page 62 SPD 1.35 Current I [Amp.] Tª ambient S6 40% 30.00 S6 40% Arms Arms °C °F 25.00 20.00 23,1 30,0 15.00 23,1 30,0 10.00 23,1 30,0 5.00 Ambient 22,0 28,6 temperature 20,7 26,9 °C [ 131 ] [ 95 ] [ 104 ] [ 113 ] [ 122 ]...
  • Page 63 SPD 2.85 Current I [Amp.] Tª ambient 65.0 S6 40% S6 40% 60.0 Arms Arms °C °F 50.0 50,0 65,0 40.0 50,0 65,0 30.0 50,0 65,0 20.0 48,2 62,6 10.0 Ambient temperature 45,3 58,9 °C 42,4 55,1 [ °F ] [ 95 ] [ 104 ] [ 113 ]...
  • Page 64 Current SPD 3.200 I [Amp.] 160.00 Tª ambient S6 40% S6 40% 140.00 Arms Arms °C °F 120.00 121,0 157,3 100.00 121,0 157,3 80.00 121,0 157,3 60.00 40.00 115,6 150,2 20.00 Ambient 109,3 142,1 temperature °C 102,9 133,7 [ 95 ] [ 104 ] [ 113 ] [ 122 ]...
  • Page 65 Current SPD 2.50 I [Amp.] 45.00 Tª ambient S6 40% 40.00 Arms Arms °C °F 35.00 27,0 35,1 S6 40% 30.00 27,0 35,1 25.00 27,0 35,1 20.00 25,9 33,7 15.00 Ambient 24,4 31,7 temperature °C 22,9 29,8 [ 95 ] [ 104 ] [ °F ] [ 113 ]...
  • Page 66 Current I [Amp.] SPD 3.100 80.00 Tª ambient S6 40% 70.00 S6 40% Arms Arms °C °F 60.00 56,0 72,8 50.00 56,0 72,8 40.00 56,0 72,8 30.00 52,9 68,8 20.00 10.00 49,5 64,3 Ambient temperature 46,0 59,8 °C [ 95 ] [104] [113] [122]...
  • Page 67 Power derating The following graphs show the variation suffered by the output rated power of the modular drive (for all its models) depending on the installation altitude over sea level. Output rated power radio Altitude Multiplying factor Derating of the rated output power of the drive depending on altitude (no units) 1.00...
  • Page 68 Block diagram of AXD and SPD modules Software v.06.xx ERVO DRIVE SYSTEM MANUAL fig. 59 Block diagram of the AXD and SPD modules ELECTRONIC MODULES Modular drive Chapter 1 Page 48 of 106...
  • Page 69 Connectors of the modular drive The next figure shows the elements appearing on the front plate of the modular drive: 1. Power connectors for motor connection. 2. 2,5 A [F] / 250V fast fuse To protect the internal control circuits ®...
  • Page 70 The modular drives used in Motion Control [MMC] system have an X6 connector to communicate with other devices such as PC or an video terminal ESA [VT] through an RS-232/RS-422 serial line. These modular drives X6 connector, see chapter 6 in this manual.

  • Page 71: Power Connectors

    Power connectors The upper connectors are for connecting the motor. The ground connection of the cable shields in made from the vertical plate next to the connectors. The bottom connectors corresponds to the power bus input. The drive needs 456-800 Vdc which can vary depending on the mains voltage and the load.

  • Page 72: General Characteristics

    Fagor compact axis drives (synchronous motors) offer an rms current of up to 12.5 A on their "ACD 1.25" model and Fagor compact spindle drives (asynchronous motors) up to 17.75 A on their "SCD 1.25" model.
  • Page 73 ACD 1.15 & CMC 1.15 Tª amb. Current S1 (Amp.) °C °F 7.50 8.00 7.00 7.50 6.00 7.50 5.00 7.25 Ambient 4.00 temperature 6.75 °C ( 95 ) (104) (113) (131) (140) (°F ) (122) 6.25 fig. 65 Derating graph of the compact drive: ACD - 1.15 & CMC 1.15 ACD 1.25 &...
  • Page 74 Discontinued ACD 2.75 & CMC 2.75 Current Tª amb. S1 (Amp.) °C °F 38.00 37.5 37.00 37.5 36.00 37.5 35.00 Ambient 34.00 36.40 temperature 35.00 °C ( 95 ) (104) (113) (122) (131) (°F ) fig. 68 Derating graph of the compact drive: ACD - 2.75 & CMC 2.75 Spindle compact drives: Compact models can provide the indicated rated current in any duty cycle.
  • Page 75 SCD 1.25 Current SCD 1.25 Tª amb. S1 (Amp.) °C °F 18.00 17.75 17.00 17.75 16.00 15.00 17.75 14.00 17.00 Ambient 13.00 temperature 16.00 °C ( 95 ) (104) (113) (122) (131) (140) (°F ) 15.00 fig. 71 Derating graph of the compact drive: SCD - 1.25 Discontinued SCD 2.50 Current...

  • Page 76: Power Derating

    Power derating The following graphs show the variation suffered by the output rated power of the compact drive (for all its models) depending on the installation altitude over sea level. Output rated power radio Altitude Multiplying factor Derating of the rated output power of the drive depending on altitude (no units) 1.00...
  • Page 77 Current bandwidth 800 Hz Velocity bandwidth 100 Hz (depends on the motor / drive combination) Overvoltage, overcurrent, overspeed, heat-sink temperature, ambient temperature, motor temperature, Ballast temperature, Protections hardware error, overload. - See appendix E table 18 General characteristics of compact drives AXIS COMPACT SPINDLE COMPACT DRIVE...
  • Page 78 AXIS COMPACT SPINDLE COMPACT DRIVE DRIVE (note 1) (note 2) ACD / ACD/ ACD/ 1.25 2.50 2.75 1.25 2.50 2.75 Rated current (A) 12.5 37.5 Maximum peak current for 500 ms in cycles longer than 10 s Maximum current in any duty 19.6 35.4 53.0...
  • Page 79 AXIS COMPACT SPINDLE COMPACT DRIVE DRIVE (note 1) (note 2) ACD/ ACD/ ACD/ 1.25 2.50 2.75 1.25 2.50 2.75 Power for internal circuits (24 Vdc) Input voltage (X1 connector) Between 400 Vac -10 % and 460 Vac +10 % (50/60 Hz) Mains consumption 124.5 mA (400 Vac), 108 mA (460 Vac) Maximum voltage at the bus...
  • Page 80 Connectors of the compact drive The next diagram shows the elements appearing on the front plate of the compact drive: 1. Power connectors for motor and mains connection. Access to the power bus. 1a. Connector for the external Ballast resistor [crowbar connector]. 2.
  • Page 81 Top view Warning: Note that connector 1 for CMC 1.08/1.15 CMC 1.08 / 1.15 compact drives has no access to the power bus. BALLAST DC BUS ON 24V ON At connector 1a the pin L+ is only for connecting the external Ballast resistor.
  • Page 82 Power connectors They are used for connecting the compact drive to mains (L1, L2, L3) and to the motor (U, V, W). In the case of ACD /SC1.08 /1.15 drives only these connections are allowed through this connector. There is another connector at the bottom of the module to connect the external Ballast resistor.
  • Page 83 The following table shows the thread pitch and the fastening torque of the screws for both the power connector and the Ballast as well as the maximum section of their cables. ACD 1.08 / 1.15 ACD 1.25 ACD 2.xx ACD 2.xx SCD 1.08 / 1.15 SCD 1.25 SCD 2.xx...
  • Page 84 Up to 45 °C (113°F), this internal resistor dissipated the power indicated in the previous characteristics table. It also incorporates a protection against overtemperature which issues an error 301 when reaching 105 °C (221°F). By removing this jumper (R y L+) an external resistor may be connected between R y L+ which will then dissipate the energy.
  • Page 85 Connector X1 Compact drives internally generate the 24 Vdc necessary for the internal circuits. In regular operation, this voltage is obtained from the power bus and from mains when starting up the system. The mains energy necessary for start - up is supplied via this three - prong Phoenix connector.

  • Page 86: Status Display

    Aspects common to both modular and compact Status display During the module start up, in order to check that all the display segments are operating correctly, this display shows the following information: fig. 83 Status display First, the display is seen completely off, and then it shows numbers 1, 2, 3 and 4 corresponding to the four initializing stages and, then, it will turn back off.
  • Page 87 E r r o r 5 0 1 h a s occurred E r r o r 3 0 0 a n d warning 1 fig. 84 Error and warning sequences appendix B for the meanings of errors and warnings. The system will not start running until all the errors detected at the drive have been eliminated.
  • Page 88 ® fig. 85 Sercos connection All this drastically reduces the hardware required at the drive, thus, making it more reliable. Its open standard structure provides compatibility between CNCs and servo systems from different manufacturers on the same machine. The bending radius oh the fiber optic cable must be more than 30 mm. Connector X2, Control Modular drive: When the control circuit is supplied with 24 Vdc (pins 7 and 8) the drive...
  • Page 89 fig. 86 X2 connector of the modular drive MODULAR DRIVE: Reference 0 V for control signals DRIVE ENABLE Control signals Through the motor current enable (24 Vdc) SPEED ENABLE Drive speed enable (24 Vdc) DRIVE OK Module status contact (it opens in case of failure). Limit: 1 A at 24 Vdc DRIVE OK CHASSIS Chassis connection...
  • Page 90 The “Drive Ok” contact (pins 6 and 7) will stay closed as long as the compact drive runs properly. Other functions: The “Prog Out” contact (pins 8 and 9) is a user programmable output by means of the drive’s internal parameter OP5 [F0144]. fig.

  • Page 91: Normal Operation Mode

    Speed Enable, Drive Enable Normal operation mode: 1. Activate inputs Drive Enable and Speed Enable (24 Vdc ). They may be activated in any order. Before doing go, the Soft Start process (smoothly reaching the power bus voltage) must be over.
  • Page 92 Deactivation of the Drive Enable input: The Drive Enable input (pin 2) controls the current loop by hardware. When it is powered with 24 Vdc the current loop is enabled and the drive can work. If the Drive Enable input is set to 0 Vdc, the power circuit turns off and the motor loses its torque.

  • Page 93: Phase-Shift

    Connector X3 This connector offers two possible configurations: • encoder simulator • direct feedback X3. Encoder simulator For the simulator, X3 is a high density 15 - pin sub - D type male connector whose pins are galvanically isolated from the rest of the drive.
  • Page 94 X3. Direct feedback For direct feedback, X3 is a high density 15 - pin sub - D type female connector. This connector admits three different types of feedback signals: • Square TTL signals • Square differential TTL signals (double - ended) •...
  • Page 95 " " " " ABSOLUTE FEEDBACK: ( SSI data interface ). NODE DATA SELECT /DATA STATUS DISPLAY CLOCK /CLOCK SL2 SL1 +5_SENSE DRIVE ENABLE GND_SENSE SPEED ENABLE O.K. +24Vdc DANGER HIGH VOLTAGE DISCHARGE TIME > 4 Min Characteristics of TTL and 1Vpp signals 90°...
  • Page 96 Connector X4 receives the signals coming from the feedback at the motor shaft. The feedback on Fagor motors may be through a sinusoidal encoder or a resolver. In either case, the signals must be taken to different pins using the connection cables EEC, EEC - SP and REC respectively.
  • Page 97 Connector X5, RS232 serial line To set the configuration parameters and adjust the drive module, it may be connected to a PC, or the programming module DDS PROG MODULE. This conne X5. It is a 9 - pin sub - D type male connector for ser ial line communications.
  • Page 98 ----------- Not connected R x D 232 RS 232 line (receive data) T x D 232 RS 232 line (send data) + 5 V ISO Supply voltage output GND ISO 0 V reference T x D 422 RS 422 line (send data) #T x D 422 R x D 422 RS 422 line (receive data)
  • Page 99 The operator may assign internal boolean type variables to these parameters (for example: SV3 [ S00332 ] , TV10 [ S0333 ] , ...) in order to indicate the system status through electrical contacts. These variables are set by means of the monitoring program for PC through the DDS PROG MODULE.
  • Page 100 X7, analog inputs and outputs: It offers 2 inputs and 2 outputs , all of them fully programmable. Each input and output is associated with certain parameters as indicated in the fig.96. It offers a ±15V power supply for easily generating the command. (A1 Board) Chassis Analog Input 2 (-)
  • Page 101 Analog inputs characteristics Resolution 1.22 mV Input voltage range ±10 Vdc Continuous mode 80 Vdc Input overvoltage Transients 250 Vdc With respect toGND 40 K. Input impedance Between both inputs 80 K. Voltage in common mode 20 Vdc table 25 Analog input characteristics Dip - Switches: The status of the Dip-Switch [DS1, DS2] must not be changed by the operator.
  • Page 102 OP2 [F01401], OP3 [F01402] and OP4 [F01403]. The internal variables [speed reference, actual speed, torque,...] that can be associated with each one of the outputs are set by means of the monitor program for PC - Windows supplied by Fagor, DDSSetup. See chapter 4. Analog outputs characteristics Resolution 4.88 mV...
  • Page 103 X9, X10, X13, digital outputs: They offer 8 fully programmable digital outputs. These outputs are optocoupled and of the contact type referred to a common point (pin 1). Each output is associated with a PLC resource. (8DI-16DO Board) (16DI-8DO Board) (Phoenix, 3.5 mm) 8DI-16D0...
  • Page 104 Numbering of the PLC resources on the cards Inserting the cards in slots SL1 and SL2 permits all the possible combinations except for two A1 type cards. At the PLC, the input / output resources can be named according to their location in SL1 and/or SL2: •...

  • Page 105: Internal Configuration

    Internal configuration The following graphic is the internal diagram of the drive consisting of four basic blocks which are: position loop, velocity loop, current loop and rotor sensor loop. fig. 101 Internal drive configuration Software v.06.xx ERVO DRIVE SYSTEM MANUAL ELECTRONIC MODULES Aspects common...
  • Page 106 MMC and CMC positioning drive Aspect common to AXD and ACD drives All the considerations described in this chapter [electronic modules] up to this section for the AXD and ACD drives such as: " Dimensions " Overall characteristics " Derating curves "...
  • Page 107 • Their face plates indicate that they are positioning drive. MMC 1.25 CMC 1.08 fig. 103 X6 connector - RS-422 serial line Software v.06.xx ERVO DRIVE SYSTEM MANUAL ELECTRONIC MODULES MMC and CMC positioning drive Chapter 1 Page 87 of 106...
  • Page 108 Mains filter, DLC In order to compl y with Eur opean Dir ective 92/3 1/CE on electromagnetic compatibility, it is mandatory to insert a DLC mains filter (that replaces the previous EMK filter). This filter must be connected between the mains and the servo drive system (modular or compact).
  • Page 109 ¡ Discontinued ! EMK 3040 EMK 3120 Pitch (mm) 10.1 15.1 Maximum tightening torque (N·m) Maximum section (mm table 30 Technical data of the connection terminals of EMK mains filters. The last section of this chapter shows its mechanical dimensions. Note that this filter must be mounted near the drive.
  • Page 110 The inter nal switching mechanism of the XPS generates a regenerative current to mains which is filtered by this choke. Fagor supplies the chokes that the XPS power supplies necessarily come with. The following table shows the characteristics of these chokes.
  • Page 111 Resistor modules: RM -15, ER These modules are designed for dissipating the energy excess at power bus when requiring a Ballast resistor with greater power than can be dissipated inside the power supply module. They do not need an external power supply. Stackable module RM -15: The module can be mounted on either side and it has a safety thermal switch.
  • Page 112 N.C. Ballast Power (W) Thermal RM-15 Resistor Switch 1400 1050 Temp. °C (°F) 25 (77) 45 (113) RM -15 power Gap between terminals (mm) Max tightening torque (N·m) Maximum section (mm fig. 104 Derating and connection characteristics of the module: RM - 15 Independent resistors ER: They are electrical resistors which may also be applied to the compact drives.
  • Page 113 The resistor surface may sometimes reach 375 °C [ 707 °F ]. Ohmage: The following table indicates how to combine resistors RM-15 and ER to obtain the Ohm value required for each power supply and compact module. 1.5 kW RM-15 950 W ER-18/1100 PS-25A...
  • Page 114 Capacitor module, CM 1.60 This module stores the energy returned while the motors are braking. Also, in systems sporadically demanding great peak currents from the power bus, it is recommended to install the capacitor module improving the capacity of the bus itself. This module is connected in parallel to the power bus.
  • Page 115 APS 24 Output voltage 24 Vdc (5%) , 10 A maximum current 400 Vac (-10 %) - 460 Vac (+10 %) Input voltage [ single phase ] (50/60 Hz) 0.72 A (400 Vac) Mains consumption 0.63 A (460 Vac) Maximum inrush current 23.9 A (460 Vac) 0.485 A (567.5 Vdc) Bus consumption...

  • Page 116: Power Supply

    Block diagram of the "APS 24" module + 24Vdc 0 Vdc CHASSIS + 24Vdc Power 0 Vdc Supply CHASSIS + 24Vdc CHASSIS 0 Vdc CHASSIS fig. 105 Block diagram of the "APS 24" module APS 24 connectors Software v.06.xx ERVO DRIVE SYSTEM MANUAL fig.
  • Page 117 (35 mm) type metallic rails. It can be shown on the outside of the enclosure using a front adapter supplied by Fagor and described in the last section of this chapter. The last section of this chapter shows the module dimensions.
  • Page 118 Fagor cables Power cables: Fagor supplies the cables for transferring electrical power to the motors via three phases with a ground wire. Other cables include two thinner wires used to govern the brake on synchronous motors or for the connection of the thermal switch on the asynchronous motors.

  • Page 119: Feedback Cables

    For Sercos connection: ® Fagor Automation supplies the fiber optic cables for Sercos communications between the group of drives and the CNC in lengths ranging from 1 to 25 meters. The cables between drives come with the connectors for each module.
  • Page 120 Dimensions When building an electrical cabinet, it must be borne in mind to leave enough room for cables and connectors. The upper power connectors may need up to 45 mm. The units in the figure are in mm (inches). CHOKE XPS-25 CHOKE XPS-65 CHOKE XPS-25 CHOKE XPS-65...
  • Page 121 Discontinued EMK 3040 PS-25A, PS-25Bx "EMK 3040" FILTER "EMK 3120" FILTER XPS-25 ACD/SCD 1.xx pulg. pulg. EMK 3120 10.63 16.93 PS-65A, XPS-65 5.51 7.87 ACD/SCD 2.xx 2.44 5.12 Ø 0.5 [ 0.25 ] 10.15 16.06 4.17 6.53 fig. 110 Dimensions of EMK mains filters (discontinued). Software v.06.xx ERVO DRIVE...
  • Page 122 fig. 111 Dimensions of the power supplies, drive modules and other modules Software v.06.xx ERVO DRIVE SYSTEM MANUAL ELECTRONIC MODULES Dimensions Chapter 1 Page 102 of 106...
  • Page 123 EXTERNAL RESISTOR "ER" ER - 43 / 350 ER - 24 / 750 ER - 18 / 1100 60 (2.36) 140 (5.51) 240 (9.45) 110 (4.33) 220 (8.66) 320 (12.60) EXTERNAL RESISTOR "ER" ER - 18 / 1800 ER - 18 / 2200 120 (4.72) 190 (7.47) 40 (1.57)
  • Page 124 Discontinued fig. 113 Dimensions of the "DDS PROG MODULE". Units in mm (inches). Software v.06.xx ERVO DRIVE SYSTEM MANUAL ELECTRONIC MODULES Dimensions Chapter 1 Page 104 of 106...

  • Page 125: Module Identification

    Module identification Each electronic module is identified by its characteristics plate. It indicates the model and its main technical characteristics. WARNING: The user must make sure that the references indicated on the packing list of the order match those supplied by each module on its characteristics plate before making any connection to avoid any possible shipping errors ! fig.114...

  • Page 126: User Notes

    User notes: Software v.06.xx ERVO DRIVE SYSTEM MANUAL ELECTRONIC MODULES Module identification Chapter 1 Page 106 of 106...

  • Page 127: Installation

    INSTALLATION Introduction Follow these steps for a complete system installation: • Prepare the supports for the module in the electrical cabinet. • Unpack and mount all the system modules in the electrical cabinet. • Mount the mains filter in the cabinet. •...

  • Page 128: Chapter 2 Page 2 Of 56

    In order for the Fagor Servo System to meet the European Directive on Electromagnetic Compatibility 92/31/CE , the modules installation rules must be strictly followed regarding: • The mounting of the filter to mains • Electrical installation of the power stage •...

  • Page 129: Chapter 2 Page 3 Of 56

    fig. 1: >80 mm (3.15") >80 mm (3.15") fig. 1 Location of the servo drive system Mount the drive module of greater power next to the power supply module and use the same criteria for the rest of the drive modules. Climate conditions.

  • Page 130: Chapter 2 Page 4 Of 56

    Dissipated Dissipated Module power (W) Module power (W) at 4 / 8 kHz at 8 kHz AXD 1.08 33 / 44 W ACD 1.08 150 W AXD 1.15 69 / 89 W ACD 1.15 150 W AXD 1.25 115 / 148 W ACD 1.25 220 W AXD 1.35...

  • Page 131: Air Outlet

    • Carry out periodic maintenance on air filters. Air outlet Air inlet with filter fig. 2 Air intake and output in the electrical cabinet Use the following suggestions to minimize the maintenance of this type of cooling systems and the contamination of the electrical cabinet: •...

  • Page 132: Chapter 2 Page 6 Of 56

    Inter-modular connection Power bus connection Connect the power bus located at the bottom of the module. Use 2 of the 3 plates and the washers and nuts supplied with each module to make the connection of the power bus (lower part of the module). All the modules must be tightly joined to each other guaranteeing a good electrical contact.

  • Page 133: Ground Connection

    Joining the chassis between modules Use the 3rd plate and the washers and nuts supplied with each module to join the chassis between modules. The tightening torque must be between 2.3 and 2.8 N·m. Top view fig. 5 Joining the chassis between modules Connecting these terminals by means of metal plates offers mechanical rigidity;...

  • Page 134: Chapter 2 Page 8 Of 56

    Connection to the external Ballast resistor If the energy to be dissipated when braking the motors is too high, an external Ballast resistor. The Fagor modules RM -15 and ER are designed for this purpose. See the section (resistor modules RM-15 and ER of chapter...

  • Page 135: Chapter 2 Page 9 Of 56

    The ohm value of the external Ballast resistor must be the same as that of the internal resistor of that module. Never connect an external resistor in parallel with the internal Ballast resistor. It may cause severe damage to the system. Compact drives must never be connected to the RM-15 module.

  • Page 136: Heat Dissipation

    Heat dissipation. Ballast resistor can generate a great deal of heat. Optionally, a PAPST 614 type fan may also be installed for better dissipation. The figure and table below show the temperatures reached in the gap above the module and the fan effect. Dissipated 1042 1400...

  • Page 137: Power Line Connection

    Power line connection System cabling to mains The DDS modular drive system has been designed to be connected to a three-phase mains between 400 Vac (-10 %) and 460 Vac (+10 % ). To connect the system to other voltages, use transformers or auto- transformers.

  • Page 138: Chapter 2 Page 12 Of 56

    This chapter describes the characteristics, component requirements and connection diagrams of mains connection. Mains filter DLC In order for the Fagor servo drive system to meet the European Directive on Electromagnetic Compatibility 92/31/CE the DLC mains filter, must also be installed.

  • Page 139: Chapter 2 Page 13 Of 56

    The fuses are selected according to the characteristics indicated in table 4 table 5. Tables 6, show a group of fuses that may be used from different manufacturers. The fuse references given in these tables are the ones that may be installed to obtain the maximum power on each model.

  • Page 140: Chapter 2 Page 14 Of 56

    Power supply module PS - 25A Manufact. PS - 25B3 PS - 65A XPS - 25 XPS - 65 PS - 25B4 A00-66C5D8 A00-66C125D8 A00-66C5D8 A00-66C125D8 GOULD A00-66C5D1 A00-66C125D1 A00-66C5D1 A00-66C125D1 6.9 gRB 00 6.9 gRB 00 6.9 gRB 00 6.9 gRB 00 D08L 040 D08L 125...

  • Page 141: Chapter 2 Page 15 Of 56

    Using other protection devices instead of fuses (magneto-thermal switches, for example) does no guarantee proper protection of the equipment. Autotransformer or transformer. When the mains voltage must be isolated or adapted to the levels required by the DDS system, it may be connected through an isolating transformer or an auto-transformer.

  • Page 142: Chapter 2 Page 16 Of 56

    When using transformers or autotransformers, the main contactor must be connected between them and the DDS system, never on the input line of the transformer or autotransformer. For machines whose servo drive system includes XPS modules, the transformer or auto-transformer must be properly sized. The rated power of the auto-transformer must be the one resulting from applying the following formula: P = 570 ·...

  • Page 143: Chapter 2 Page 17 Of 56

    Differential breaker On a DDS system, fault DC current, practically flat, may come up besides the AC currents and pulsating DC currents. This forces the use of a differential circuit breaker that must be a universal B type with selective breaking. It is not recommended to use differential breakers sensitive to pulsating currents and, overall, general purpose differential breakers.

  • Page 144: Chapter 2 Page 18 Of 56

    Types of mains Depending on the diagram of the electric energy distribution circuit, there are three types of mains: TN, TT and IT. Depending on the type of mains, the cabling in the electrical cabinet will vary considerably. We here describe their characteristics and, later on, sample diagrams for a proper installation.

  • Page 145: Chapter 2 Page 19 Of 56

    Software v.06.xx ERVO DRIVE SYSTEM MANUAL INSTALLATION fig. 12 Installation diagram in TN - C type mains Power line connection Chapter 2 Page 19 of 56...

  • Page 146: Chapter 2 Page 20 Of 56

    " " " " TT diagram Distribution diagram that has a point directly connected to ground and the conductive parts of the installation are connected to this ground point independently from the ground electrode of the power supply system. Software v.06.xx ERVO DRIVE SYSTEM MANUAL...

  • Page 147: Chapter 2 Page 21 Of 56

    " " " " IT diagram Distribution diagram that has no direct connection to ground and the conductive parts of the installation are connected to ground. In this type of mains, the differential breaker is used assuming that the capacitance of mains with respect to ground is large enough to ensure that a minimum fault current flows with the same magnitude as that of the operating differential current assigned.

  • Page 148: Cabling Considerations

    Cabling considerations When designing the electrical cabinet where the DDS system will be installed, the following suggestions should be kept in mind in order to avoid operating problems, breakdown, disturbances, etc. You should: • Avoid running signal cables and power cables together. Try to run them as far away as possible form each other.

  • Page 149: Chapter 2 Page 23 Of 56

    Considerations to bear in mind to improve electromagnetic compati- bility. With shielded cables: Usually, when connecting two units that are connected to ground, the cable shield must be connected at both ends. When the connections include analog signals, it will only be connected at one end (usually the receiver).

  • Page 150: Chapter 2 Page 24 Of 56

    Inductive components During installation, take the following precautions when cabling inductive components (contactors, relays, electrovalves, motor brakes or any types of coils). Thus: • All inductive circuits or components must have their own interference suppressor that must be installed as close as possible to the inductive component.

  • Page 151: Chapter 2 Page 25 Of 56

    MPC - 4 x 10 + [ 2 x 1] MPC - 4 x 16 MPC - 4 x 16 + [ 2 x 1.5 ] table 11 Fagor power cables: Nr of cables x section [mm Software v.06.xx ERVO DRIVE...

  • Page 152: Chapter 2 Page 26 Of 56

    Mechanical characteristics of the connectors Max. tightng Pitch section. Module torque (mm) (Nm) 7.62 AXD / SPD - 1.08 / 1.15 7.62 ACD / SCD - 1.08 / 1.15 AXD / SPD - 1.25 ACD / SCD - 1.25 PS-25A AXD / SPD 1.35 EMK 3040, DLC 3042 AXD 2.50, AXD 2.75...

  • Page 153: Chapter 2 Page 27 Of 56

    Motor - drive connection When connecting the drive module with its corresponding motor connect terminal U of the drive module with the terminal corresponding to the U phase of the motor. Same as terminals V - V, W - W and ground - ground. In order for the system to comply with the European Directive on Electromagnetic Compatibility, the hose grouping all four cables U - V- W - ground must be shielded and must be connected only at the drive...

  • Page 154: Chapter 2 Page 28 Of 56

    Ground connection The ground connections of the drives (screwed on plates) must go to a single point and from there to the ground terminal of the electrical cabinet. When applying a 10 A current between this ground point and any of these points, the voltage drop must not exceed 1 V. When not having a separate ground point, join the plates to the terminal of the power supply module which, in turn, will be connected to mains ground.
  • Page 155 Connecting the motor feedback to the driver Use the cable with connectors supplied by Fagor to lead the motor feedback to connector X4 of the drive module. The motor feedback can be one of two types: encoder or resolver. If the user has an FM7 spindle motor, refer to the connection diagrams in the motor manual.

  • Page 156: Chapter 2 Page 30 Of 56

    With II type cable: II Type Ready Made Cable EEC-SP 5/10/15/20/25/30/35/40/45/50 [ Length in meters; including connectors ] (HD, Sub-D, Cable 3x2x0.14 +4x0.14+2x0.5 Signal M26) Green Front View Yellow E0C 12 REFCOS Blue Front View Purple REFSIN Black +485 Brown -485 Black [ 0.5 mm...

  • Page 157: Brake Control

    Brake control The mechanical brakes optionally available for FXM and FKM motors must be supplied with 24 V Their power consumption is shown in the manual for AC servo motors: FXM and FKM. A transformer - rectifier circuit like the one in fig. 24 will be enough to power the brake of an FXM or FKM motor.

  • Page 158: Chapter 2 Page 32 Of 56

    Control power supply for the modules The internal circuits of all electronic modules need 24 Vdc. The PS-25A and PS-65A power supply modules and modular drives must be supplied with this voltage through their X2 connector. These modules have stabilizing system for the supplied voltage. The maximum consumption of each module is: •...

  • Page 159: Chapter 2 Page 33 Of 56

    Connection of the PS-25Bx and XPS power supplies. XPS- DRIVES PS-25B Mains (Phoenix, 7.62 mm) 0 Vdc +24 Vdc (Phoenix, (Phoenix, 5.08mm) 5.08mm) (Phoenix, 5.08 mm) fig. 26 Connection of the PS-25Bx and XPS power supplies Software v.06.xx ERVO DRIVE SYSTEM MANUAL INSTALLATION Control power...

  • Page 160: Chapter 2 Page 34 Of 56

    Control and communication signals Connect the encoder simulator to the CNC. If the drive is going to work analog interface, take the ±10 V velocity command from the CNC. ® When working with Sercos interface, identify the drives and connect them with each other.

  • Page 161: Chapter 2 Page 35 Of 56

    Metallic shield connected to CHASSIS pin - at the sensor end and at the drive end - fig. 29 Direct feedback (incremental linear encoder) connection If it is an absolute linear encoder, use the cable supplied by Fagor EC- ! B-D: 1/3/6/9/12/15 FAGOR sensor cable EC- #B- D (Length in meters;...

  • Page 162: Analog Velocity Command

    [ - ] Analog Input 2 Front view [ + ] X8 connector [ - ] Analog Input 1 CNC 8055 Fagor [ + ] -15 Vdc +15 Vdc DRIVE fig. 32 Analog command Digital outputs When the drive outputs are connected to inductive loads, we must...

  • Page 163: Chapter 2 Page 37 Of 56

    Each drive comes with a fiber optic line to connect it to the adjacent module. Fagor provides the other necessary fiber optic lines upon request. The bending radius of the fiber optic cable must be more than 30 mm.

  • Page 164: Chapter 2 Page 38 Of 56

    Baudrate selection. ® From version v.06.05 on, the drive will have a Sercos board capable of transmitting data at 2, 4, 8 or 16 Mbaud. This board will not be compatible with software versions old- er than v.06.05 ! See the chapter on COMPATIBILITY.

  • Page 165: Chapter 2 Page 39 Of 56

    Once the display shows the desired speed, do a long press so it assigns its associated value to QP11, it saves it in flash memory and it resets the drive. Start Normal Display Button ON t > 3 sec. Show the transmission rate on the display Pressed Button ON...

  • Page 166: Chapter 2 Page 40 Of 56

    Values that may be assigned to the transmission rate. The possible values that may be selected to set the transmission rate supported by the hardware are: Value Rate Shown on the display QP11 = 0 4 MBaud QP11 = 1 2 MBaud QP11 = 2 2 MBaud...

  • Page 167: Serial Line Connection

    Serial line connection To transfer the parameter table and set up the system, the drive must be c onnec ted to a PC-Compati bl e c ompu ter or wit h the programming module "DDS PROG MODULE" through a serial line. The metal shield must be soldered to the hood of the connector at the drive end.

  • Page 168: Chapter 2 Page 42 Of 56

    Serial line to DDS PROG MODULE. The line labeled as +5V is only required when using the programming module "DDS PROG MODULE". When mounting the programming module away from the drive, the screw located next to the connector should be connected to a chassis pin.

  • Page 169: Chapter 2 Page 43 Of 56

    Connections Connection of an SPD module with an SPM spindle motor and encoder feedback. Modular Digital Spindle Drive Ready Made Cable to 8055 CNC SEC 1/3/5/10/15/20/25 Ready Made Cable to 8055i CNC or 8040 CNC SEC- HD 1/3/5/10/15/20/25 SPD 2.50-SI-1 (Length in meters;...

  • Page 170: Axis Motor

    Connecting an AXD module with an FXM servomotor and resolver feedback. Ready Made Cable REC 5/10/15/20/25 (Length in meters; including connectors) Front View Black Blue Black Green Black White TEMP Black (HD, TEMP Sub-D, R0C 9 F26) (HD, Sub-D, M26) MC-23 or MC-46 base.

  • Page 171: Chapter 2 Page 45 Of 56

    Connection of an SCD module with a spindle motor SPM and encoder feedback. Digital Spindle Compact Drive Ready Made Cable to 8055 CNC SEC 1/3/5/10/15/20/25 Ready Made Cable to 8055i CNC or 8040 CNC SEC- HD 1/3/5/10/15/20/25 SCD 2.50 ... (Length in meters;...

  • Page 172: Chapter 2 Page 46 Of 56

    Electrical cabinet drawings Let us see which is the system power - up procedure. The internal control circuits of each power supply module, drive or compact drive must be supplied with 24 V Compact modules, XPS power supplies and the PS-25Bx power supplies do not need an external 24 V power supply.

  • Page 173: Chapter 2 Page 47 Of 56

    are reset by means of the contact associated with the ON button. This may cause the Driver_OK and System_OK contacts to close activating D1and, while ON is pressed, activate K1. This circuit configuration joins the error reset and the system power - up in a single push - button.

  • Page 174: Chapter 2 Page 48 Of 56

    When powering the machine up, the brake must not be released until the system assumes control of that axis. This can also be controlled by means of internal variable TV100 [F01702] TorqueStatus . RM-15, (or ER) N.C. Thermal RESISTOR Switch (RM-15) +24 Vdc MODULE +24 Vdc...

  • Page 175: Chapter 2 Page 49 Of 56

    fig. 44 [B] - Modular system with PS-xxA Software v.06.xx ERVO DRIVE SYSTEM MANUAL INSTALLATION Electrical cabinet drawings Chapter 2 Page 49 of 56...

  • Page 176: Chapter 2 Page 50 Of 56

    10 mm (XPS-25) CHOKE XPS-xx 50 mm (XPS-65) +24 Vdc (Only with XPS) +24 Vdc XPS-xx or PS-25Bx POWER Error Reset SUPPLY System Speed Enable (Only in XPS) SYSTEM Power (Phoenix, 5.08mm) +24 Vdc (*) X4 X5 X6 3x400-460 Vac Internal (Phoenix, 5.08 mm)

  • Page 177: Chapter 2 Page 51 Of 56

    fig. 46 [B] - Modular system with XPS or PS-25Bx Software v.06.xx ERVO DRIVE SYSTEM MANUAL INSTALLATION Electrical cabinet drawings Chapter 2 Page 51 of 56...

  • Page 178: Chapter 2 Page 52 Of 56

    Drive Enable Speed Enable DR.Z (Phoenix, 2x400-460 Vac 5.08mm) Chassis FAGOR ® fig. 47 [A] - Compact system with Sercos Compact modules do not have the System_Speed_Enable signals. ® In this schematics, in spite of having Sercos interface, electrical signals are used to activate the enables.

  • Page 179: Chapter 2 Page 53 Of 56

    Software v.06.xx ERVO DRIVE SYSTEM MANUAL ® fig. 48 [B] - Compact system with Sercos INSTALLATION Electrical cabinet drawings Chapter 2 Page 53 of 56...

  • Page 180: Chapter 2 Page 54 Of 56

    +24 Vdc COMPACT DRIVE Error Reset MODULE Drive Enable Speed Enable 3x400-460 Vac DR.S 2x400-460 Vac Chassis FAGOR ® fig. 49 [A] - Mixed system with Sercos Software v.06.xx ERVO DRIVE SYSTEM MANUAL INSTALLATION Electrical cabinet drawings Chapter 2 Page 54 of 56...

  • Page 181: Chapter 2 Page 55 Of 56

    ® fig. 50 [B] - Mixed system with Sercos fig. 51 Brake connection Software v.06.xx ERVO DRIVE SYSTEM MANUAL INSTALLATION Electrical cabinet drawings Chapter 2 Page 55 of 56...

  • Page 182: User Notes

    User notes: Software v.06.xx ERVO DRIVE SYSTEM MANUAL INSTALLATION Electrical cabinet drawings Chapter 2 Page 56 of 56...

  • Page 183: Common Setup

    COMMON SETUP Introduction This chapter describes some of the steps of the adjustment process for the drive module DDS. It only considers the ones that are common to the velocity drive and position drive applications. The specific steps of each application are described in the following chapters 4 and Module power - up When powering up the DDS module or doing a reset, various...

  • Page 184: Data Storage Structure

    2000, XP and NT) permits, through the RS232 serial line, to set up the drive. To install the WinDDSSetup at the PC, insert the CD-Rom supplied by Fagor and follow the steps indicated to guide you through the whole procedure. The minimum PC requirements for the WinDDSSetup are:...

  • Page 185: Chapter 3 Page 3 Of 46

    Parameter and variable editing Once the WinDDSSetup application is open, clicking this icon on the icon bar displayed in its window shows another window named parameter setting (editing mode) with a list of parameters, variables and command of the drive. To edit one of them, it must be located and then selected.

  • Page 186: Chapter 3 Page 4 Of 46

    Observer that each parameter, variable or command has an access level assigned to it. Therefore, they can only be edited at those levels The following illustration shows the parameter setting window (editing mode): fig.3 Parameter setting window. The variables are edited the same way by accessing the variables configuration window displayed when clicking the relevant icon of the icon bar of the WinDDSSetup.

  • Page 187: Chapter 3 Page 5 Of 46

    Oscilloscope This icon is used to activate the oscilloscope tool of the WinDDSSetup application that may be accessed from its main window. It displays the following screen: fig.5 Oscilloscope window. This tool may be used to display on the oscillograph the behavior of two drive variables over time.

  • Page 188: Chapter 3 Page 6 Of 46

    The dialog boxes look like this: fig.7 Variable selecting boxes. Activating or deactivating the trace means activating or deactivating the channels. fig.8 Cancelling the TRACE option. It also has eight digital channels that are useful to know the behavior of a particular bit of the variable selected in any of the two channels. They appear on the screen as follows: Clicking the left button of the mouse on the panel for the digital channels...

  • Page 189: Chapter 3 Page 7 Of 46

    The dialog box looks like this: fig.10 Digital Channel Setup boxes. It also shows a field called Alias where an arbitrary set of characters may be entered. This set of character will later appear before the variable identifier (bit) in the selected digital channel. fig.11 ALIAS for channels with active TRACE.

  • Page 190: Chapter 3 Page 8 Of 46

    In order to obtain numerical data of the signals shown on the oscillograph, the oscilloscope window shows a box where one can: • activate two reference cursors • manipulate their positions on the oscillograph • enlarge the image of a capture •...

  • Page 191: Chapter 3 Page 9 Of 46

    It is also interesting to be able to set the axes, cursors and trigger position when displaying all these elements on the screen. This is possible by clicking the right button of the mouse on the screen if the oscilloscope to select and enter the values chosen by the operator in the various fields of the dialog box that comes up when selecting graphic setup.

  • Page 192: Chapter 3 Page 10 Of 46

    It is also possible to set how to display the behavior of the variable assigned to each channel on the oscillograph by clicking the right button of the mouse on each channel of the oscilloscope and selecting setup at the window being displayed: fig.16 Setup.

  • Page 193: Chapter 3 Page 11 Of 46

    Selecting shift data with can only be enabled when the variable assigned to the channel is a 32 - bit variable permits displaying 16 of them by selecting them at the expandable window. Thus, selecting 0 bits will display the first 16 and the bit string move as you select the number of bits.

  • Page 194: Chapter 3 Page 12 Of 46

    The traced captured in channel 1 is loaded as a reference trace 1 when activating REF 1 of the expanded menu. Activating the reference label it is possible to verify that the captured trace is located in the first reference channel. fig.20 Trace captured in the reference channel 1.

  • Page 195: Chapter 3 Page 13 Of 46

    The parameter list is stored with the oscilloscope configuration; therefore, it may be recalled from this file. A click of the right mouse button on the oscillograph expands a menu that allows saving or loading the list configured with the adjustment parameters. fig.22 Store the list of parameters in a file using the option to save data.

  • Page 196: Chapter 3 Page 14 Of 46

    Variables can also be included. However, it must be borne in mind that the value displayed is a result of an initial reading and is not continuously refreshed. Bo th the c apt ur e ch ann els and th e reference channels may be displayed in "DC mode"...

  • Page 197: Error Display

    Spy window: Disable errors. Select the error in the window expanded on the screen and confirm by clicking the icon. This option requires user, OEM or FAGOR access. Then, execute the DC1 command (reset errors) to make error disabling effective. Software v.06.xx...

  • Page 198: Menu Structure

    Operation of the programming module With the programming module DDS PROGRAM MOD, the same operations as from a PC may be carried out although with the limitations of a smaller screen and a smaller keyboard. Its basic functions are: Edit parameters. Individually or in sets. Read, store and transmit parameter tables.

  • Page 199: Chapter 3 Page 17 Of 46

    Function of each key of this menu: Shows the full parameter name if longer than 16 characters. Cancels the parameter editing mode and it steps back in the menu structure. Validates the new value and it is stored in the drive’s RAM memory. ENTER It steps forth in the menu structure.

  • Page 200: Variables Menu

    The function of each key on this menu is. Steps back in the menu structure cancelling the command in progress. ENTER Loads, saves or deletes the table. Steps forth in the menu structure Moves over the characters when editing the name of the table. Scroll the alphanumeric set when editing the name of the table.

  • Page 201: Commands Menu

    Notes: When selecting the DC waveform, the period field disappears and the amplitude field may take a negative sign. The period field can only take specific values. Parameters SP1 and SP2 (speed PI) adjusted with this method correspond to the currently active parameter set. See (parameter set) chapter SETUP DOWN...

  • Page 202: Chapter 3 Page 20 Of 46

    The FAGOR level allows full access to all system variables, parameters and commands. At Fagor level, it is possible to access a group of parameters depending on the electronics of the drive and that are factory sets. (Access restricted to the manufacturing process and technicians from Fagor Automation).

  • Page 203: Parameter Editing

    Parameter editing Regarding the editing of parameters, the following warning must borne in mind: Important: The editing of parameters with WinDDSSetup or with the portable programming module affects all the data stored in the drive’s RAM memory. Edit RAM memory Internal memory fig.32 RAM memory and INTERNAL memory.
  • Page 204 Save into flash memory In order for the values given to the parameters during setup stay a permanent drive configuration, they must be transferred into the flash memory. This is so for both on-line and off-line parameters. 1. The drive must be connected to power 2.

  • Page 205: Chapter 3 Page 23 Of 46

    Validating OFF - LINE parameters Validating off-line parameters makes it possible that any change on the value of this type of parameters be effective with a single mouse click on the "validate" icon (command GC4) appearing in the parameter configuration window [modify mode] of the WinDDSetup. This command does not save the new value given to the parameter into flash memory, although it won’t be necessary to save in Flash in order to make that change effective, thus speeding up the setup.

  • Page 206: Chapter 3 Page 24 Of 46

    Off-line parameters with "Set" can also be validated when doing a set change or an UnPark. If there is any erroneous parameter, it will issue error 504. The list of errors may be displayed by clicking the icon of the icon bar of the WinDDSSetup.

  • Page 207: Chapter 3 Page 25 Of 46

    Initialization process, reset Turning the drive causes it to reset. This reset may also be caused by the user: • By means of the push - button located on top of the drive module. • With the SoftReset command of the portable programmable module.

  • Page 208: Chapter 3 Page 26 Of 46

    Transferring parameter tables From the Flash of the drive to the hard disk of the PC: • At the WinDDSSetup program, press It is used to save the configuration of the drive. From the hard disk of the PC to the Flash of the drive: •...

  • Page 209: Chapter 3 Page 27 Of 46

    (*.mot) file transfer From the PC’s hard disk to the drive’s flash memory: • At the tool bar of the WinDDSSetup, press It is also used to transfer a motor file (*.mot). Each FXM, FKM, SPM or FM7 motor requires a specific drive software configuration. This software contains its corresponding fxm_fkm_xx.mot, spm.mot or fm7.mot file with the initialized parameter data for each motor as well as the parameters for the adjustment of the current and flux...

  • Page 210: Motor Identification

    Motor identification As mentioned in the previous chapter, each FXM, FKM, SPM or FM7 motor requires a specific drive software configuration. This software contains its corresponding fxm_fkm_xx.mot, spm.mot or fm7.mot file with the initialized data of the parameters for adjusting the current and flux loops.

  • Page 211: Chapter 3 Page 29 Of 46

    When the motor uses encoder feedback: The Fagor motors equipped with encoder feedback (ref. E0, E1, E2, E3, A0 or A1) store the motor sales reference in the encoder’s permanent memory.

  • Page 212: Chapter 3 Page 30 Of 46

    Otherwise, if there is no match, it issues error E505. When the motor uses resolver feedback: Fagor motors equipped with resolver feedback (ref. R0) do not have auto - identification. The drive module must be "told" which motor has been connected to it.

  • Page 213: Chapter 3 Page 31 Of 46

    Motor identification and initialization: The motor may be identified through the initialization button. Activating this icon displays the window SELECT MOTOR FOR INITIALIZATION: fig.46 Window for selecting an FXM motor to be initialized. fig.47 Window for selecting an FM7 motor to be initialized. The motor selection using this procedure sets the motor parameters and also sets the rest of the parameters of the drive to their default values.

  • Page 214: Chapter 3 Page 32 Of 46

    User motor: When installing a non - Fagor motor (user motor) or to get access to certain motor parameters, MP1 [S00141] Motor Type must be loaded with a value starting with 0, for example: 0supermotor. The drive software only admits one user motor. To keep the parameter tables of several user motors , the various parameter transferring functions must be used.

  • Page 215: Chapter 3 Page 33 Of 46

    Position or velocity drive After identifying the motor other adjustment are necessary. The drive, with the CNC and the feedback, is ready to work with different configurations. Parameter AP1 [S32] configures the drive to work with each of these configurations. Meaning of the arrows in the following diagrams: Via fiber optics Via electrical cable...
  • Page 216 Velocity drive with direct feedback Drive Motor S32 = xxx010 Position Current Velocity loop loop loop Direct feedback fig.51 Speed regulation with direct feedback (II). Position drive. ( see chapter 5: Adjustment of the position drive ) Position drive with motor feedback Drive Motor S32 = xxx011...

  • Page 217: Chapter 3 Page 35 Of 46

    Adjustment of the encoder offset After adjusting the control loops, the motor may make a high - pitch noise due to a cer tain misadjustment of the feedback signal generation. Although the encoder is factor y adjusted, when connected to the drive (motor _ feedback, cable, connector) distorts these signals.

  • Page 218: Chapter 3 Page 36 Of 46

    Example: ... for NP121 = NP122 = 1 NP123 = 10 mm/rev..after replacing values and adjusting units: = 6 (rpm) * * 10 (mm/rev.) = 60 (mm/min) feed Radius = 60 (mm/min) * 6 sec.* (1min/60 sec) = 6 (mm) Note: To know the meaning of parameters NP121, NP122 and NP123 appendix A - SERCOS GROUP - in this manual.

  • Page 219: Current Loop

    FOR FAGOR MOTORS: The parameters involved in the current loop (CP1,...CP7) are factory set for each drive and each FAGOR motor and they all (except CP1 and CP2) need Fagor access to be edited. These parameters take their pertinent values automatically according to the ID entered in MP1.

  • Page 220: Chapter 3 Page 38 Of 46

    The current loop within the velocity loop helps stabilize the system even more and its diagram may be seen in the figure below: Drive Enable X2 [ 2 ] Encoder or Resolver +24V Current Loop Filter 1 Filter 2 Enable Motor bit 4 of C P 3 0 b it 6 o f C P 30...

  • Page 221: Filter Parameter Setting

    Filter parameter setting Current command filters: In order to improve the dynamic behavior of the servo drive system and eliminate noise, two filters have been included in series with the purpose of filtering the current command (torque command). These filters may be set as: •...

  • Page 222: Chapter 3 Page 40 Of 46

    The phase diagram below shows the phase shift originated between the response and the input. fig.56 Low-passing filter. Bode diagram for a break frequency Fc = 100 Hz and different values of the damping factor . . Bandstop (notch) filter: This type of filter eliminates or damps a certain interval of frequencies between two specific limits.

  • Page 223: Chapter 3 Page 41 Of 46

    Parameter setting for current command filters: The parameters involved in setting the filters are: CP30 [F00308], CP31 [F00312], CP32 [F00313], CP33 [F00314] and CP34 [F00315]. These parameters may be edited at OEM level or higher and they have an immediate effect (on-line). These filters may be applied both to servo drive systems with synchronous and asynchronous machines.

  • Page 224: Chapter 3 Page 42 Of 46

    Parameter CP32 [F00313] CurrentCommandFilter1Damping: This parameter has two functions depending of the filter type selected. It will only be operational when bit 4 of parameter CP30 is set to "1". If the selected filter type is low-passing (bit 5 of CP30 is 0) it reflects the filter’s damping factor.
  • Page 225 Install or update a new software at the drive After installing the WinDDSSetup application from the CD-ROM supplied by Fagor, and being the drive under power and connected with a PC through the serial line, the procedure to install or update a...
  • Page 226 fig.60 " Version folder " window. Clicking this icon displays the "Instructions" window. Follow its instructions. The two buttons it refers to are on the front panel of the drive. fig.61 " Instructions " window. After accepting it, it will start executing the process of loading the software from the PC to the drive.
  • Page 227 fig.63 " Actions " drop list. Clicking this icon shows the "configuration" window to indicate certain aspects to be considered when loading the software version. fig.64 " Communications " window. " " " " Communications: This option determines the port and its communication speed as well as the other elements shown here.
  • Page 228 " " " " Motor table: It offers the following option: • Load after loading version, if when updating the software you wish to load the motor file (*.mot) associated with the drive, which, by default will be an fxm_fkm_xx.mot for an axis drive (AXD or ACD) or an fm7.mot for a spindle drive (SPD or SCD).
  • Page 229 VELOCITY DRIVE SETUP Introduction This chapter describes the setup procedure for DDS drive module when as velocity drive. The necessary steps for the application as position drive are described in the next chapter Adjustment of the offset of the analog signal Power the drive on.

  • Page 230: Chapter 4 Page 2 Of 18

    Same for analog input 2 with SP31 [F01604] and potentiometer P2. Analog Input 2 X7(3) X7(2) S P 3 1 [F 0 1 6 0 4 ] IV 2 [F 0 0 9 0 6 ] IP1=2 IP 1 [F 0 0 9 0 0 ] IP 1 = 1 IV 1 [F 0 0 9 0 5 ] S P 3 0...

  • Page 231: Number Of Pulses

    Example: If the application requires a speed of 4000 rpm when applying an analog voltage of 9.5 V, and the motor has a nominal speed of 4000 rpm, the values for these parameters could be: SP20 = 9500 mV SP21 = 4000 rpm SP10 = 4200 rpm SP10, SP20, SP21: Avoid setting parameters SP21...

  • Page 232: Counting Direction

    Marker pulse (home I ) position It is the location of the reference mark. The inverted marker pulse signal (/Io) is also available. The home position may be set by following any of these two different procedures: 1. Orient the rotor shaft to the desired home position. Then, execute the command EC1 [F00503].

  • Page 233: Analog Outputs

    PinOut of the encoder simulator connector Drive connector X3 is the one outputting the signals generated by the encoder simulator. Encoder Simulator HV2-X3 Board Id X3[1] EP1 [ F500 ] X3[2] EncoderSimulatorPulsesPerTurn X3[3] EP2 [ F501] X3[4] EncoderSimulatorI0Position X3[5] EP3 [ F502 ] X3[6] EncoderSimulatorDirection X3[11]...

  • Page 234: Chapter 4 Page 6 Of 18

    Physical Analog Outputs OV1 -F01408- Channel 1 DA1Value X7(11) OP1 -F01400- DA1ID N OP3 -F01402- X7(10) DA1ValuePer10Volts ±10 Volts OV2 -F01409- max. Channel 2 DA2Value OP2 -F01401- DA2ID N X7(9) OP4 -F01403- X7(8) DA2ValuePer10Volts Variable examples for OP1 and OP2 SV2 -S00040- VelocityFeedback SV7 -F01612-...

  • Page 235: Chapter 4 Page 7 Of 18

    CALCULATION OF VALUES Speed = 1000rpm/10 V * 2 V/division * 2.5 divisions = 500 rpm Torque = 600 dN·m/10 V * 2 V/division * 3 divisions = 360dN·m = 36 N·m speed = 500 rpm Total sampling time [ one sample per ms ] Channel 2: 2 volts per line [ torque ] Channel 1: 2 volts per line [ speed ] fig.7...

  • Page 236: Chapter 4 Page 8 Of 18

    2 for parameter AP1 [S32] Primary Operation Mode. Use this icon to generate velocity commands internally. They can only be activated at OEM or Fagor access levels, not at the basic level. When clicking this button, the screen shows dialog box that looks like this: Software fig.9...

  • Page 237: Chapter 4 Page 9 Of 18

    It is possible to set the signal waveform, amplitude, period and other aspects appearing in the dialog box. The range for each field are: Amplitude: [ -32768, 32767] Period: [1,32764] Offset: [-32768,32767] Number of waves: [0,65535] Duty cycle: [1,99] It activate the command generator It deactivate the command generator Thus, for a square wave, whose velocity command amplitude is 500 rpm and its period is 152 ms.

  • Page 238: Chapter 4 Page 10 Of 18

    Speed PI adjustment The velocity loop basically consists of a proportional - integral (PI) controller shown in the fig.11. The operation of this PI is determined by two constants, The operation of this PI is determined by two constants, Kp given by parameter [SP1] and Ti given by parameter [SP2].

  • Page 239: Chapter 4 Page 11 Of 18

    SP5 [S00212] Adaptation of the value of the integral action at low speed. SP6 [S00209] Adaptation limit of the velocity loop at low speed. Lower speed at which the PI toggles from being constant to being variable and vice versa. SP7 [S00210] Adaptation limit of the velocity loop at high speed.

  • Page 240: Chapter 4 Page 12 Of 18

    Software v.06.xx ERVO DRIVE SYSTEM MANUAL VELOCITY DRIVE SETUP fig.14 Command signal management. Adjustment of the velocity loop Chapter 4 Page 12 of 18...

  • Page 241: Chapter 4 Page 13 Of 18

    Velocity command filters The smooth motor movement, the velocity command can be filtered in two ways described in the following sections. The first one is converting the command into velocity ramps limiting the acceleration ramp generation. The second one is limiting the acceleration and the jerk of the command, jerk limit.

  • Page 242: Chapter 4 Page 14 Of 18

    Ramp generation For this type of velocity command filter, set SP80 [S00349] = 0 and SP100 [F01611] = 1. The action of this ramp generator is divided into three velocity sections. In each one of them, the acceleration can be limited to a different value.

  • Page 243: Chapter 4 Page 15 Of 18

    Jerk Limit effect: SP80=700 rad/seg SP80=300 rad/seg Time Jerk Limit [example]: S P 100= 1 S P 80=3 00 ra d/se g Limit set by SP10 S V 8 [F 01612 ] 1 5 00 S V 7 [F 01613] Time S P 80=S P 60/T Acceleration...

  • Page 244: Chapter 4 Page 16 Of 18

    Velocity feedback filter It is a first order low-passing filter that may be set with parameter SP50 [F2014] VelocityFeedbackFilterFrequency. Its function is to filter the actual speed coming from the velocity feedback making it smoother thus reducing the amount of current noise at the motor.

  • Page 245: User Notes

    User notes: Software v.06.xx ERVO DRIVE SYSTEM MANUAL VELOCITY DRIVE SETUP Removal of the internal command Chapter 4 Page 17 of 18...

  • Page 246: Chapter 4 Page 18 Of 18

    User notes: Software v.06.xx ERVO DRIVE SYSTEM MANUAL VELOCITY DRIVE SETUP Removal of the internal command Chapter 4 Page 18 of 18...

  • Page 247: Position Loop

    POSITION DRIVE SETUP Introduction This chapter describes some characteristic aspects of the setup of DDS drive modules when used to regulate position. chapter 4 describes the necessary steps for the application as velocity regulation. Position loop From software version 04.01 on, the drive is capable of closing the position loop and, therefore, attend to positioning commands.
  • Page 248 Software v.06.xx ERVO DRIVE SYSTEM MANUAL POSITION DRIVE SETUP Position loop fig. 1 Loop diagram including the position loop Chapter 5 Page 2 of 46...
  • Page 249 = 3. The relevant version of the direct feedback board will be required. From version V.06.08 on, it is possible to have absolute direct feedback using a Fagor linear encoder so as to read the absolute position on power-up without having to search home. Its parameters are set GP10=4 or GP10=5 depending on whether the signal is square or 1 Vpp, in either case with SSI communication.

  • Page 250: Proportional Control

    Interpolator The CNC generates the position commands with a frequency indicated by parameter QP1 [S1] ControlUnitCycleTime. Depending of these CNC commands, the interpolator generates internal commands with a period of 250us [cubic interpolation]. This treatment of the position commands make the system behavior more linear. CNC Position Commands Internal Position Commands [ interpolated ] Position...
  • Page 251 Velocity feed-forward It is added to the proportional control. Its function at the drive is the same as that of parameter FFGAIN [P25] of the Fagor CNC. The purpose of the velocity feed-forward is to provide the desired velocity (a time derivative of the position), directly in the velocity loop without the need for the proportional gain to give this value.

  • Page 252: Home Search

    Home search The position drive is capable of carrying out an automatic home searching process. This feature is not required in the case of motors with an absolute encoder (ref. A0 and A1). Incremental feedback This procedure may be activated with the servo system in any initial position.
  • Page 253 Is the point with the searched marker pulse. When going over that point, which is always done feedrate PP1 [F1300] HomingVelocitySlow, the system registers the value of the position feedback in parameter PV173 [S173] MarkerPosition PV208 [S408] ReferenceMarkerPulseRegistered is activated. The motor stops.
  • Page 254 Feedback without marker pulses (reference marks) [ E0, E2, E3, R0 on the Fagor motor reference ]. Software v.06.xx In each encoder turn, the load moves a distance L:...
  • Page 255 Place the home-switch in the load travel point meeting the previous condition. Feedback with marker pulses [ E1, I0 on the Fagor motor reference ]. In order to avoid repeatability problems when searching home, it is important to watch for the physical location of the home switch on the machine and for the location of the marker pulse near it.
  • Page 256 Shifting the home switch using the GC6 command is carried out as follows: " " " " Perform a home search so the drive knows the position of the reference marker (I0) and of the home switch. The found reference mark will not be the final one because the home switch must be shifted, but the PV1 variable will already have the best value that must be shifted.
  • Page 257 With spindle home and gear ratio other than 1:1 From software version 06.03 on , it is possible to home a spindle that only has motor feedback when the gear ratio NP121/ NP122 is not 1/ 1. Restrictions of the application: It can only be applied to: "...
  • Page 258 S117: Number of pulses per turn. fig. 10 Meaning of the parameters of an encoder Example 1: Fagor MOVP model glass scales have several reference marks separates 100 signal cycles, the group of marks alternating with the Software previous ones are separated 100.1 signal cycles and their pitch is 20 v.06.xx...
  • Page 259 PV53 with reversed sign. Example 2: Fagor encoder models SOP and HOP have a set of reference marks (I0) 100 signal cycles apart from each other, another set of marks that alternate with the previous ones 100.1 signal cycles apart from each other.
  • Page 260 = 1000 NP117 = 100 microns 50 · 2 + 0.1 NP165 = = 1001 In fact all Fagor scales appearing in this table are adjusted with NP166 = 1000 and NP165 = 1001. Software v.06.xx ERVO DRIVE SYSTEM MANUAL...

  • Page 261: Backlash Compensation

    Absolute feedback The absolute feedback device on Fagor FXM motors registers the value of its angular position throughout ± 2048 revolutions (4096 revolutions) and does not lose it when turning the machine off (see variable RV5 [F1515] StegmannType). Thus, the drive knows from the very first instant the absolute position of that axis.
  • Page 262 • there is no feedback on the load. Both the drive and the CNC offer parameters setting the value of ballscrew backlash. This value must only be registered at one of them. The other parameter must be set to 0. Direct feedback.
  • Page 263 This ballscrew backlash compensation is only applied if: • the drive in position control mode • there is feedback on the load. When adjusting it, manipulate both parameters until minimizing the amount of following error. Both the drive and the CNC have parameters to determine the value of the ballscrew backlash.
  • Page 264 To determine the auto-adjustment of these parameters, the following sequence of movements must be programmed at the CNC : 1. movement at slow constant speed (eg. 50 rpm). 2. movement at fast constant speed (i.e. half the motor rated speed). 3.

  • Page 265: Following Error Monitoring

    Following error monitoring The monitoring of following error prevents the axes from running away. The drive compares these parameters: PV189 [S189] FollowingError PP159 [S159] MonitoringWindow If FollowingError > MonitoringWindow means that the servo system follows the command with an excessive delay and it triggers the error message: Error 156 ExcessiveFollowingError...
  • Page 266 Module format The drive can work in module format. This is format mainly used on rotary axes. This means that it is ready to handle the full mechanical travel of the axis by means of command or feedback data restricted to a range of values;...

  • Page 267: Position Limits

    Position limits Parameters PP49 [S49] PositivePositionLimit and PP50 [S50] NegativePositionLimit set the travel limits. This establishes a permitted zone and a forbidden zone for axis movement. Any position command PV47 [S47] PositionCommand that would force the axis into the forbidden zone will cause error 150. See parameters PP49 [S49] PositivePositionLimit and PP50 [S50] NegativePositionLimit in appendix A...
  • Page 268 Feedback changing command The command that makes the feedback change is the PC150 [F2003] ChangePosFB12. It operates as follows: • Enter the value 3 to execute it. • It return the value of 7 if everything is working fine. • It return the value of 15 (error) if the command is not executed properly.
  • Page 269 2. Regulation and home search on direct feedback • The command PC150 = 3 • Bit 3 of parameter PP147 = 1 This operation mode is the same as setting parameter AP1=4 or AP1=12 forcing the home search to be carried out on the direct feedback.
  • Page 270 M a x i m u m e r r o r a l l o w e d b e t w e e n feedbacks Parameter: PP5 [S391] ActualPositionMonitoringWindow It sets the maximum error allowed between the motor feedback and the direct feedback.
  • Page 271 Start up summary General parameters: AP1: Selects how the drive will operate. = 3 : position loop with motor feedback without feedforward. = 4 : position loop with direct feedback without feedforward. = 5 : position loop with motor or direct feedback without feedforward.
  • Page 272 NP117: Resolution of the rotary direct feedback in pulses per turn. NP118: Resolution of the linear direct feedback. - period of the scale signal. 20 microns for Fagor scales [graduated glass] , S118 = 20 microns. NP121, NP122: The NP121/NP122 ratio indicates the gear ratio between the motor and the ballscrew..
  • Page 273 Bit 3 of parameter PP147 indicates which feedback will be used for homing regardless of which feedback is used for regulation. Therefore, Bit 3 of parameter PP147: bit 3 = 0 with motor feedback bit 3 = 1 with direct feedback With the 8070 CNC take the electrical contact home -switch to one of its digital inputs.
  • Page 274 PP57: In position zone. It indicates the difference allowed between the real and final position LV158 [S258] TargetPosition for consid- ering that the axis is in position. Parameters related to the SSI communication of the Fagor Software absolute linear encoder: v.06.xx...

  • Page 275: Accessing The Interface

    Configuration of an application The purpose of this application is to help the user configure a particular application. Its interface is very intuitive and offers a window to guide the user through the configuration of the application. From this window and depending on the label that is activated, the user will fill in each of the fields that appear on the screen, that are associated with parameters or variables of the drive.

  • Page 276: Gear Selection

    General description of the screen The data of the screen for <configuring the application> is laid out as follows: fig.18 Configuring the application from the WinDDSSetup. Execute the following from the icon bar located at the top of the window: fig.19 Icon bar.
  • Page 277 <Configuring the application> with the <motor> label active: fig. 20 Configuring the application from the WinDDSSetup with the <motor> label active: The fields shown in this window are: A. Field <Motor selecting options> : The default value of MP1 appearing in this field may be modified by selecting the option <user motor>, i.e.
  • Page 278 Activating the icons of this window permits: Entering in MP1 the motor ID selected in the field <Motors at the drive>. <Configuring the application> with the <General> label active: fig. 21 Configuring the application from the WinDDSSetup with the <General> label active: The fields shown in this window are: A.
  • Page 279 B. Field <Type of precontrol>: This field may be used to decide whether feedforward and accforward will be activated or not, only if if the <velocity> option has not been selected in the previous field. If it has been, the < feed + ac forward > option cannot be selected because it is disabled.
  • Page 280 <Configuring the application> with the <Motor feedback> label active: fig. 22 Configuring the application from the WinDDSSetup with the <Motor feedback> label active: The fields shown in this window are: A. Field <MP1>: This field shows the motor ID. B. Field <GP2>: This field may be used to select the type of motor feedback.
  • Page 281 The window <Configuring the application> with the <Direct feedback > label active: fig. 23 Configuring the application from the WinDDSSetup with the <Direct feedback> label active: The fields shown in this window are: When using direct feedback, activate the option <Activate second feedback>...
  • Page 282 When selecting in this field the <linear encoder> option with the <distance-coded I0's> option off, the window and the fields that will be displayed are: fig. 24 Configuring the application from the WinDDSSetup with the <Direct feedback> label active: Linear direct feedback without distance-coded I0's.
  • Page 283 E. Field <NP166>: This field is used to define the gap between two consecutive I0's. The <With distance-coded I0's> option must be selected previously. To change this value, type the new value in this field. Being the <With distance-coded I0's> option activated, it enables the <Counting direction (decreasing vs increasing)>...
  • Page 284 When activating the <With distance-coded I0's> option, the following window and fields are displayed: fig. 27 Configuring the application from the WinDDSSetup with the <Direct feedback> label active: Rotary direct feedback with distance-coded I0's. J. Field <NP165>: This field is used to define the gap between two consecutive distance-coded I0's, when using distance-coded I0's.
  • Page 285 The window <Configuring the application> with the <Signs> label active is: " " " " If in the AP1 operating mode, the <velocity> option was selected, this window will look like this, being possible to change the sign of the various data by activating or deactivating the button next to each block with a "1"...
  • Page 286 " " " " If in the AP1 operating mode, any of the <position> options was selected, this window will look like this, being possible to change the sign of the various data by activating or deactivating the button next to each block with a "1" inside. Therefore, activating each button, the value of (1) displayed in the block associated to it switches to (-1), thus changing the sign of the data it represents: fig.
  • Page 287 The fields shown in this window are: Activating the <Activate (PP55.bit4)> option activates the position limits that delimit the area permitted for axis movements. A. Field <PP49>: This field is used to define the positive position limit. To change this value, type the new value in this field. B.
  • Page 288 If the <velocity> option has been selected in the field <AP1 operating mode> when the <General> label was activated, the <Configuring the application> window displayed with the active label <Home search> is: fig. 32 Configuring the application from the WinDDSSetup with the <Home search>...
  • Page 289 If any option other than <velocity> option has been selected in the field <AP1 operating mode> when the <General> label was activated, the <Configuring the application> window displayed with the active label <Home search> is: fig. 33 Configuring the application from the WinDDSSetup with the <Home search>...

  • Page 290: Chapter 5 Page 44 Of 46

    Observe that depending on the activated options, the representations change in the graphics area ! The fields shown in this window are: If <motor feedback> was selected: where: Slow motor speed during home search when controlled by the drive itself. PP41 Fast motor speed during home search when controlled by the drive itself.

  • Page 291: User Notes

    User notes: Software v.06.xx ERVO DRIVE SYSTEM MANUAL POSITION DRIVE SETUP Configuration of an application Chapter 5 Page 45 of 46...

  • Page 292: Chapter 5 Page 46 Of 46

    User notes: Software v.06.xx ERVO DRIVE SYSTEM MANUAL POSITION DRIVE SETUP Configuration of an application Chapter 5 Page 46 of 46...
  • Page 293 APPLICATIONS Introduction This chapter describes some particularities of the servo drive system: ® • Considerations for the system start - up with Sercos interface. • Adjustment of the motors for spindle at low rpm • Motor locking function, Halt. • Monitoring the drive’s internal variables •...

  • Page 294: Chapter 6 Page 2 Of 82

    Considerations at the 8055/55i CNC ® When using the Sercos interface, the drives must be identifier in the ring and determine the operation mode. Certain 55/55i CNC and drive parameters must also be set. Identification and operation mode The following CNC parameters must be set for each servo drive. DRIBUSID [Parameters: P056 for the axes, P044 for the spindles, P044 for the auxiliary spindle].

  • Page 295: Chapter 6 Page 3 Of 82

    X, Y, Z, U, V, W, A, B and C follow a sequential numbering system. fig.1 is an example. NODE SELECT CNC 8055/55i FAGOR Parameters SPINDLE P44=4 X_AXIS P56=1 P56=2...

  • Page 296: Chapter 6 Page 4 Of 82

    8055/55i CNC in 0 mode (external feedback) The CNC receives the position feedback through its connector at the axes module. The velocity command sent out by the CNC to the drive through the optical fiber is given in rpm referred to the motor. Position ®...

  • Page 297: Chapter 6 Page 5 Of 82

    8055/55i CNC in 2 mode (direct feedback) The CNC receives the position feedback through the fiber optic lines ® of the Sercos ring. The drive generates this feedback based on direct feedback. The velocity command sent out by the CNC to the drive through the optical fiber is given in rpm referred to the motor.

  • Page 298: Chapter 6 Page 6 Of 82

    Other 8055/55i CNC parameters The analog velocity command at the 8055/55i CNC is adjusted by means of parameters PROGAIN, FFGAIN, DERGAIN, ACFGAIN, MAXVOLT, MAXVOLT1...4. PROGAIN [PROportional GAIN] [Parameters: P023 for axes and spindles] Function: Proportional gain. It is the constant that sets the ratio between the velocity command and the following error (axis lag).

  • Page 299: Chapter 6 Page 7 Of 82

    FFGAIN [Feed Forward GAIN] [Parameters: P025 for axes and spindles] Function: Axes: defines the percentage of additional command due to the programmed feedrate. Spindles: defines the percentage of additional command due to the programmed speed. Only when the spindle is working in M19 mode or rigid tapping.

  • Page 300: Chapter 6 Page 8 Of 82

    At the drive: • Set parameters NP121, NP122 and NP123 according the gear ratios installed. • SP20 [F00031] and SP21 [F00081] are ignored. At the CNC: • Set MAXVOLT = 9500 that is: 9.5 V. • Calculate the PROGAIN constant based on a command of 9500 mV.

  • Page 301: Chapter 6 Page 9 Of 82

    At the 8055/55i CNC: • Set the 8055/55i CNC MAXGEARn parameters with the maximum tool speed for that gear n. • Set the MAXVOLTn parameters according the following equation: SP21 [ mV ] MAXVOLTn = MAXGEARn SP20 [ rpms motor ] N motor Ratio = Gear ratio = N tool...

  • Page 302: Chapter 6 Page 10 Of 82

    On spindle drives in closed loop, M19 or rigid tapping ® The CNC indicates to the drive, through the Sercos ring, the desired motor speed [MS] which is calculated in a way similar to that of the axis drive. MS = f [ PROGAIN, FFGAIN...] x SP21 [ rpm motor ] SP20 To properly set the drive, proceed as follows:...

  • Page 303: Chapter 6 Page 11 Of 82

    Example for a spindle in closed loop: Using the example for a spindle in open loop, we have : The machine has three gear ratios: 4/1, 2/1 and 1/1. Maximum motor speed for this application: 4000 rpm. SP21 [F00081] = 4000 SP20 [F00031] = 9500.

  • Page 304: Chapter 6 Page 12 Of 82

    When working with DRIBUSLE = 1, the motor feedback is only useful to work in M19 and/or rigid tapping when the spindle only has one gear and the gear ration meets one of these two conditions: • The gear ratio is 1/1. The reference mark of the spindle (I ) is that of the motor feedback.

  • Page 305: Chapter 6 Page 13 Of 82

    If it is a rotary axis where each turn of the output pulley means a 360° turn: NP123 = 3600000 ten - thousandths of a degree. For example: Example: OUTPUT PULLEY Diameter of the output pulley = 25.75 mm Diameter of the input pulley = 15.3 mm BALLSCREW TABLE NP121 = 2575 NP122 = 1530...

  • Page 306: Chapter 6 Page 14 Of 82

    The Speed Enable function at the drive will be activated when the SPENA variable is activated and the electric signal Speed_Enable is activated the pins of connector X2. The Drive Enable function will be activated when the DRENA variable is activated and the electrical signal- Drive_Enable is activated at the pins of connector X2.

  • Page 307: Chapter 6 Page 15 Of 82

    Those with the S,S1 and AS index will correspond to the main, second and auxiliary spindle respectively. The installation manual of the 8055/55i CNC also mentions these PLC variables. DRSTAFn DRSTASn Status Action The drive is not ready. Do not apply Check the 24 Vdc and/ mains power to the power supply.

  • Page 308: Chapter 6 Page 16 Of 82

    This is an example of how to program a Fagor PLC 8055/55i. If handles the drive’s control signals depending on its status and other variables. ;-- This machine has two axes [X, Z] and a spindle [S] ;-- The Z axis is vertical and it is not compensated. It has a brake controlled by the O20 output.

  • Page 309: Chapter 6 Page 17 Of 82

    M112 AND NOT LOPEN AND O1 AND [others] ; Z axis [vertical] enable = TG3 2 400 = O20 ; brake controlling signal. T2 = DRENA2 = SERVO2ON = SPENA2 ;Speed and Drive Enable with a 400 ms delayed ; deactivation to prevent axis sag. ;----- MANAGING SPINDLE ENABLES ----- CPS R103 GE 2 = M113 ;...

  • Page 310: Chapter 6 Page 18 Of 82

    Connection with the Fagor 8070 CNC The Fagor 8070 CNC has some general configuration parameters similar to those of the Fagor drive. These parameters must be set so they are consistent with the ones set at the drive. The are:...

  • Page 311: Chapter 6 Page 19 Of 82

    It indicates whether writing the parameter at the drive is conditioned by the type of axis feedback, motor feedback or direct feedback. Software: v.06.xx ERVO DRIVE SYSTEM MANUAL APPLICATIONS Connection with the Fagor 8070 CNC Chapter 6 Page 19 of 82...

  • Page 312: Chapter 6 Page 20 Of 82

    Software: v.06.xx ERVO DRIVE SYSTEM MANUAL APPLICATIONS Connection with the Fagor 8070 CNC Chapter 6 Page 20 of 82...

  • Page 313: Chapter 6 Page 21 Of 82

    Software: v.06.xx ERVO DRIVE SYSTEM MANUAL APPLICATIONS Connection with the Fagor 8070 CNC Chapter 6 Page 21 of 82...

  • Page 314: Chapter 6 Page 22 Of 82

    Software: v.06.xx ERVO DRIVE SYSTEM MANUAL APPLICATIONS Connection with the Fagor 8070 CNC Chapter 6 Page 22 of 82...

  • Page 315: Chapter 6 Page 23 Of 82

    Parameter set and gear ratio The Fagor servo drive system is configured by means of a parameter table. Some of these parameters are arrays of the eight elements, ordered with ending going from zero up. One of these arrays is, for example: SP1.0, SP1.1, SP1.2, ..SP1.6 and SP1.7.

  • Page 316: Parameter Set

    For example, with GP4 = 4 the values of active set are limited to between 0 and 3. Assigning a motor ID to the GV10 variable resets the whole parameter table to their default values. Particularly, GP4=1 and GP6 = 1, thus leaving set 0 and gear ratio 0 as the only ones that can activated.

  • Page 317: Chapter 6 Page 25 Of 82

    SetActiveBits SetChangeStb Set 0 0 0 0 GV24 Set 1 0 0 1 Set 2 0 1 0 ActualParameterSet Set 3 0 1 1 Delay GV21 & GV22 Set 4 1 0 0 ParameterSetPreselection Set 5 1 0 1 Set 6 1 1 0 Set 7 1 1 1...

  • Page 318: Chapter 6 Page 26 Of 82

    fig.10 shows an example of this. GP4=4 GV24=1 20 ms < 20 ms 20 ms unassigned 24 V IP12=GV31 pin3-5 X6 24 V IP13=GV30 pin4-5 X6 GV23 SetChangeAck Acknowledge GV21 ActualParameterSet >100 ms fig.10 Operation with the strobe always active. The active set may be changed while the motor is running.

  • Page 319: Gear Ratio

    ® Set change through Sercos interface The procedure is identical and parallel ti the change of gear ratio. ® See the section on " change of gear ratio through Sercos interface ". There is a very important aspect to be considered when changing sets ®...

  • Page 320: Chapter 6 Page 28 Of 82

    ® Change of gear ratio through Sercos interface ® Change procedure via Sercos also applicable to the change of sets. The CNC changes gear ratios by means of commands M41, M42, M43 and M44. By setting parameter AUTOGEAR [P006] to "YES", the CNC will automatically generate the previous M codes according to the selected speed.

  • Page 321: Chapter 6 Page 29 Of 82

    w h i c h w e k n o w t h e " A c t u a l G e a r R a t i o " [ G V 2 5 ] a n d "ActualParameterSet"...

  • Page 322: Main Spindle

    ; With parameter PLC P28 [R700] = 3.33172, we define ® ; the Sercos identifier ; Fagor Diagnostics, ; because in this case, at the spindle DRIBUSID = 3 ;B10R700 = SV3 , This bit is activated when the spindle speed is ; lower than the minimum N [SP40].

  • Page 323: Chapter 6 Page 31 Of 82

    ;---------- GEAR CHANGE --------- M2047 = AND R700 $0F R45 ; read variable GV25 «ActualGearRatio» B9R700 = TG2 30 200 ; confirmation delay N=0 B10R700 = TG2 31 200 ; confirmation delay N=Nmin T30 = M155 ; N = 0 T31 = M156 ;...

  • Page 324: Chapter 6 Page 32 Of 82

    AND NOT SERPLCAC = SET M341 ; latching the request for drive’s second gear ratio M241 OR M341 = M146 DFU M146 = MOV $00 R41 = CNCWR[R41,SETGES,M1000] ; request for drive’s first gear ratio M146 AND CPS R45 EQ $00 AND NOT SERPLCAC AND GEAR1 = RES M141 = RES M241 = RES M341...

  • Page 325: Chapter 6 Page 33 Of 82

    ;---------- ENABLING THE DRIVE --------- M3 OR M4 = SET M140 ; request for spindle rotation M2 OR M5 OR M30 OR NOT O1 OR RESETOUT = RES M140 ; cancellation of spindle rotation [M140 OR PLCCNTL ] AND M114 ;...

  • Page 326: Chapter 6 Page 34 Of 82

    Ex. of a PLC program for a parameter set change This example shows how to work with in both spindle and C axis mode with the same drive. The drive of the main spindle (S) is identified as number 3 in the ®...

  • Page 327: Chapter 6 Page 35 Of 82

    ; I79 = “Drive OK” spindle drive [ C axis ] ® ; PLC parameter P28 [R700] = 3.33172, set Sercos ; identifier Fagor Diagnostics, ; because, in this case, at the spindle, DRIBUSID = 3 ;---------- DRIVE STATUS --------...

  • Page 328: Chapter 6 Page 36 Of 82

    ;---------- C AXIS ---------- M2047 = AND R700 $FF R45 ; mask to get GV21 and GV25 ; GV21: active parameter table ; GV25: active gear ratio DFU CAXIS = SET M251 ; C axis request M115 AND M251 AND NOT M262 AND NOT SERPLCAC ;...

  • Page 329: Chapter 6 Page 37 Of 82

    ;---------- ENABLING THE DRIVE ---------- CAXSEROK ; C axis active AND M115 ; drivers under power AND [closed door conditions] ; closed door AND NOT LOPEN = TG3 58 4000 = SPENA3 ; speed enable of the C axis = SERVO3ON ;...

  • Page 330: Chapter 6 Page 38 Of 82

    Sets in WinDDSSetup This section describes how the sets are treated from WinDDSSetup. Activating this icon gives access to the parameter configuration window [modification mode]. The parameter configuration window [ modification mode ] displays a drop list giving access to a particular group of parameters if the drive or even to a list of all of them.

  • Page 331: Chapter 6 Page 39 Of 82

    The next figure shows what it look like: fig.15 Parameters with the gear identifying digit next to its ID. Any parameter editing without indicating the set will affect the parameter corresponding to set zero. Software: v.06.xx ERVO DRIVE SYSTEM MANUAL APPLICATIONS Parameter set and gear ratio...

  • Page 332: Chapter 6 Page 40 Of 82

    Variable monitoring The continuous monitoring of internal variables of the drive module may be carried out in two ways. By electrical signals through the digital and analog outputs or by showing their values on the display of the programming module. For example, to monitor the power of the asynchronous motors [TV50] and the motor torque on the synchronous ones [TV2] through the analog outputs and to see if the motor is stopped [SV5] through...

  • Page 333: Chapter 6 Page 41 Of 82

    Example: OP12 = TV10 The contact between pins 10/11 will be closed if the motor torque exceeds the threshold value Tx set by parameter TP1. OP10 = SV5 The contact between pins 6/7 will be closed if the motor is sttoped. Check the chapter 1 of this manual in order not to exceed the...

  • Page 334: Chapter 6 Page 42 Of 82

    Example II: We installed a volt - meter with a measuring range +12 Vdc corresponding to a range between 0 % and 200 %. We wish to use it to represent the percentage of rated power (S1) being developed. This spindle motor has a rated power (S1) = 11 kW. The setting must be as follows: OP1 = TV50 power feedback, channel 1, pins 10/11 of con-...

  • Page 335: Chapter 6 Page 43 Of 82

    ® Handling of internal variables via Sercos The features documented in this chapter need the following software versions: 8055/55i CNC versions 01.01 (mill) and 02.01 (lathe) and later. Drive versions 03.01 and later. ® The data transmitted through the Sercos ring is classified in two groups: Cyclic channel (fast):...

  • Page 336: Chapter 6 Page 44 Of 82

    Cyclic channel. Drive variables to be written from the PLC. Use PLC machine parameters P68-P87 associated with registers: P68 with R800 P69 with R801 P70 with R802 The drive variables which can be written from the PLC are: (see appendix A of this manual).

  • Page 337: Chapter 6 Page 45 Of 82

    Cyclic channel (fast). Drive variables to be read from the CNC. The drive variables that may be read from the CNC are: (see appendix A in this manual). ® Variable Sercos Name 33079 F311 CurrentFeedback Class2Diagnostics (Warnings) DV10 Class3Diagnostics (OperationStatus) DV11 33172 F404...

  • Page 338: Chapter 6 Page 46 Of 82

    Cyclic channel (fast). Drive variables to be written from the CNC. The variables that may be written from the CNC are: (see appendix A in this manual). ® Variable Sercos Nombre 34176 F1408 DA1Value 34177 F1409 DA2Value OV10 34178 F1410 DigitalOutputs OV11 34181...

  • Page 339: Chapter 6 Page 47 Of 82

    By limiting its maximum power to a third of its capacity, the effective base speed is also reduced to one third, 500 rpm. This effect is controlled with parameter TP22 (Fagor access level). Limiting the power at the motor does not mean that it can be controlled with a smaller drive.

  • Page 340: Chapter 6 Page 48 Of 82

    MOTOR SPM132L .1 POWER/SPEED CHARACTERISTIC TP22 = 100 SPM 132L .1 3.100 Drive S6-40% 2.75 Drive 1000 2000 4000 6000 8000 speed [rpm] MOTOR SPM132L .1 POWER/SPEED CHARACTERISTIC TP22 = 33 SPM 132L .1 3.100 Drive S6-40% 2.75 Drive 1000 2000 4000 6000...

  • Page 341: Halt Function

    Halt function Activating the Halt function means setting the velocity command to zero while keeping the rotor locked (with torque). As opposed to the effect of deactivating the Speed_Enable function, the Halt function does not free the motor when it has stopped it. It can be activated through an electrical signal at one of the digital inputs of the drive, by the monitoring program through the serial line ®...

  • Page 342: Chapter 6 Page 50 Of 82

    Motor stop due to torque overload From software version 02.04 on, includes a new feature especially designed for spindle drives although it is also available for axes. Ii offers the possibility to detect that the motor has stopped when, for instance, the tool gets stuck.

  • Page 343: Chapter 6 Page 51 Of 82

    Flux reduction without load Software version 03.06 includes a new feature for asynchronous motors. While the motor is turning without a load, this feature makes it possible to momentarily decrease the magnetizing current. This considerably decreases the noise generated by the motor and its heating. This reduction does not affect the power output, since the magnetizing current increases automatically when motor torque is needed.

  • Page 344: Chapter 6 Page 52 Of 82

    (type I) column of table 2. must be zero. On Fagor motors, this condition will always be checked, but on user motors, any of them may take a zero value. The drive display will show error E502.

  • Page 345: Chapter 6 Page 53 Of 82

    Parameter setting for a user motor ( not Fagor ) It is a parameter setting process that must be carried out manually entering the known motor parameters one by one. Depending on the type of application, these parameters might not be the same ones that is why there are 4 different ways to manually set the parameters of an asynchronous motor depending on the parameters available.

  • Page 346: Chapter 6 Page 54 Of 82

    Doing this initializes the following parameters to zero: Parameter Name MotorType MotorContinuousStallCurrent MotorPolesPairs MotorRatedSupplyVoltage MotorPowerFactor MotorSlip MP10 MotorStatorResistance MP11 MotorStatorLeakageInductance MP12 MotorNominalPower MP14 MotorTempSensorType MP21 MotorPhasesOrder MP25 MotorRatedSpeed MP26 MotorMaximumSpeed MP27 MotorRotorResistance MP28 MotorRotorLeakageInductance MP29 MotorMagnetizingInductance table 1. Parameters initialized to zero after entering CLEAR MOTOR in MP1.

  • Page 347: Chapter 6 Page 55 Of 82

    After entering the values one by one, save them permanently into Flash memory. The parameters of asynchronous FM7 motors may be set either as Fagor motors or as user motors (motor 0).

  • Page 348: Chapter 6 Page 56 Of 82

    The command used to auto-adjust the synchronous motor is: [F1238] MotorElectricalParametersIdentification Note that: • After entering the user motor parameters (type IV non-Fagor motors) the motor must move adequately. • Executing the MCI command calculates even better the electrical parameters of the motor, especially parameter MP10.

  • Page 349: Chapter 6 Page 57 Of 82

    " " " " Initialization: The following parameters must also be initialized: CP16 SeriesInductance (on high speed spindles) AP1 = 2 PrimaryOperationMode (velocity control) To determine whether CP16 must be initialized or not and, if so, obtain its value, see section: < Calculation of the serial inductance >...

  • Page 350: Chapter 6 Page 58 Of 82

    Identification Before executing the MC1 command to auto-adjust the asynchronous motor for the identification, the motor may be coupled to or uncoupled from the mechanical transmission. " " " " Power it up and enable the torque. WARNING: The user must know that when executing the MC1 command the motor will turn at its rated speed ! "...

  • Page 351: Chapter 6 Page 59 Of 82

    Auto-adjustment of the loops " " " " Remove power. Needed to be able to save parameters. " " " " Restore GP7 Give GP7 the desired value for the application. NOTE THAT this parameter was set to zero before executing the MC1 command ! "...

  • Page 352: Chapter 6 Page 60 Of 82

    Calculation of the serial inductance When using high speed spindles, the value of the leak inductance of the motor is low. In order for the sindle servo system to perform properly, this leak inductance value must be greater than the minimum value.

  • Page 353: Chapter 6 Page 61 Of 82

    Auto-adjustment of the rotor resistance value: From version v.06.01 there is a software capable of improving the behavior of an asynchronous motor regardless of the variations of the rotor resistance value depending on temperature and fre- quency. This auto-adjustment consists in estimating the value of this resis- tance at all times while watching those variations.

  • Page 354: Chapter 6 Page 62 Of 82

    Loading and debugging of PLC and MC programs Introduction This section defines the characteristics required by the user interface to use and set up the MC software and its applications. The user will have to edit application programs in a specific MC language and compile them;...

  • Page 355: Loading The Program

    The figure below shows the WinDDS window: fig.24 Going from the editor to the WinDDSSetup through the WinDDS window. Loading the program Activating this icon from the icon bar of the WinDDSSetup window allows displaying a new window Backup file drive where the operator may select the type and name of the file to be loaded from the PC to the drive.

  • Page 356: Chapter 6 Page 64 Of 82

    The figure below shows the window for loading files into the drive: fig.25 < File drive backup > window. Once the desired file type and name has been selected, it is loaded into the drive by clicking on Open. MC program debugging After editing and compiling MC and PLC applications, access the WinDDS window from the editor by clicking this icon.

  • Page 357: Chapter 6 Page 65 Of 82

    The window shows what the WinDDSSetup looks like and it indicates the function icons corresponding to these tools. DEBUG WATCH LOAD fig.26 Layout of the < debug, watch and load > icons on the tool bar of the WinDDSSetup. This debugging tool for MC/PLC applications will only be enabled for those drives having the MC/PLC software loaded or active because not all of them satisfy this requirement.

  • Page 358: Chapter 6 Page 66 Of 82

    Debugging of applications Activating this icon at the WinDDSSetup window permits displaying the debug window used to debug MC applications. It offers functions to display the files to be debugged, to activate application executing commands and to set execution break points. After activating this icon, the debugging tool looks like this: fig.27 Debug window.

  • Page 359: Debugging Commands

    Debugging commands This group of icons appearing at the tool bar of the debug window offers the operator a number of debugging commands for a con- trolled execution of the application. Each icon determines how each command is executed. To start the execution of the application To stop the execution immediately To stop the execution immediately and reset the application positioning at the beginning...

  • Page 360: Chapter 6 Page 68 Of 82

    The RTC also sets an application interruption point so the execution stops when reaching this point for the first time and it is then deactivated. Only one element of this type may be set every time the execution is started. To set a BP, the operator must select the desired program line and activate the corresponding icon at the tool bar.

  • Page 361: Chapter 6 Page 69 Of 82

    Displaying variables Activating this icon at the WinDDSSetup window displays the watch window where the operator may access the read and write application variables during debugging. This window offers the possibility to select and display the desired variables. The window displayed after clicking on this icon looks like this: As can be seen on the image, besides selecting parameters and variables of the drive.

  • Page 362: Chapter 6 Page 70 Of 82

    Up to 10 variables and commands may be selected and they will be displayed in the established selecting order. Each variable will be selected from its tab depending on whether it is an MC, PLC or drive variable. Besides, the values of these variables may be changed by writing directly in the field box of the variable and pressing ENTER.

  • Page 363: Chapter 6 Page 71 Of 82

    ESA video terminal Description An ESA video terminal (VT) is a device that may be used to control or monitor a system. The VT may send commands using keys or on- screen touch buttons configured by the user. It can also send data to determine the procedure and display the data coming originated by it.

  • Page 364: Chapter 6 Page 72 Of 82

    Drive’s RS 232 / 422 serial port The connection to the drive is carried RS232 - RS422 out through this port. CONNECTOR It has a 9-pin male Sub-D type SIGNAL connector. N.C. R X D 232 T X D 232 [ Sub-D, M9 ] + 5 V ISO Front View...
  • Page 365 MSP serial port of the video terminal VT The MSP serial port (Multi Serial Port) is a part of all the VTs and is CONNECTOR used to connect it with other devic- es. Thus, the project is transferred SIGNAL from the PC to the ESA VT through N.C.

  • Page 366: Chapter 6 Page 74 Of 82

    Connections The following sections describe the possible connections from the PC to the VT and from the VT to a drive or several drives so they can communicate with each other. Some connections will mention the adapter "RS232/RS422 BE", thus being necessary to describe it and its pinout at both ends.

  • Page 367: Chapter 6 Page 75 Of 82

    PC-VT connection via RS232 serial line This VT - PC connection is essential for transferring the communication driver and the project. The connection cable to use will depend on whether the adapter RS232/RS422 BE is used or not. " " " " PC-VT connection using an RS232 cable (without adapter). RS232 cable fig.33 PC-VT connection without adapter.

  • Page 368: Chapter 6 Page 76 Of 82

    " " " " PC-VT connection using an RS232 cable (with adapter). RS232 cable fig.36 PC-VT connection with adapter. The adapter RS232/RS422 BE has the following connectors at its ends: PORT A PORT B B port of the adapter A port of the adapter (Sub-D, M25) (Sub-D, M9) fig.37 RS422/RS232 BE adapter...

  • Page 369: Chapter 6 Page 77 Of 82

    MSP serial port of the VT and the drive's RS232 serial port. When mentioning a drive, it means any model of the Fagor catalog, i.e. AXD, SPD, ACD, SCD, MMC and CMC models ! WARNING: The RS232 serial line can only be used between the ESA VT and a single drive.

  • Page 370: Chapter 6 Page 78 Of 82

    DRIVES In this section, when mentioning drives, it means only the MMC and CMC models of the Fagor catalog. This connection must be used when using ModBus communications protocol between an ESA VT panel and several MMC or CMC modules ! Once the project has been transferred from the PC to the VT, the VT may now be connected with several drives.

  • Page 371: Chapter 6 Page 79 Of 82

    ! ! ! ! VT - MMC or CMC connection through RS422 cable (with adapter). RS422 cable Port B ..Port A MMC or CMC DRIVES PORT B PINOUT B port of the adapter (Sub-D, M9) Not connected T x RS232 0UT R x RS232 IN A port of the adapter Not connected...

  • Page 372: Chapter 6 Page 80 Of 82

    Protocol and communication mode from the WinDDSSetup On MMC drives and CMC drives: From the WinDDSSetup window, activate the SetUp menu bar and the screen shows the PREFERENCES screen. fig.47 PREFERENCES window. A c t i v a t i n g t h e c o m m u n i c a t i o n s t a b d e t e r m i n e a l l t h e communications characteristics through the following fields: Port: Selects the port to communicate with the...

  • Page 373: Chapter 6 Page 81 Of 82

    Cases where a transmission will be established: RS422; n>1: communication with several drives in RS422 mode: The communication protocol for several axes in RS422 mode will be the DNC50. The node number assigned to each drive with its rotary switch identifies it with that number and it must be other than 0.

  • Page 374: User Notes

    User notes: Software v.06.xx ERVO DRIVE SYSTEM MANUAL APPLICATIONS Protocol and communication mode from the WinDDSSetup Chapter 6 Page 82 of 82...
  • Page 375 DESIGN Axis motor and servo drive selection First motor pre - selection The motor must meet the specifications on torque (N·m), speed, duty cycles or other kind of requirements of the axis to be moved. fig. 1 Axis The shape of an axis may be like the one in fig.1. Calculation of the necessary motor torque [M] The total motor torque M has two components:...

  • Page 376: Chapter 7 Page 2 Of 22

    Friction torque m g ∝ h • • • • • -- - -- - M F table M F ballscrew --------------------------- - ----- - – – 2π where: torque due to friction and is given in N·m. The table mass in kg. The diameter of the ballscrew in mm.
  • Page 377 --------------- - RPM motor Vmax is the maximum linear speed the table needs. In the characteristics table for Fagor synchronous motors (see synchronous motor manual), select a motor that has: • A stall torque equal to or greater than the calculated continuous torque M •...

  • Page 378: Chapter 7 Page 4 Of 22

    The resulting inertia are in [kg·m is the ballscrew length [m]. is the width of pulley 1 [m]. is the width of pulley 2 [m]. is the diameter of pulley 1 [m]. is the diameter of pulley 2 [m]. α is the material density: 7700 [kg/m ] for iron/steel...

  • Page 379: Chapter 7 Page 5 Of 22

    Calculation of the needed rms torque [ M The third and last motor selection requires a new data the RMS torque. 2 t AC 2 t p 2 t C • • • --------- - ---- - ----- - where: is the acceleration time mentioned earlier.

  • Page 380: Drive Selection

    Calculation of the motor peak torque [ M peak The required maximum torque is the sum of the friction, weight and acceleration torque. M MAX M AC For a given acceleration time, we will need specific acceleration torque and maximum torque. The motor must be able to provide a peak torque equal to or greater than the calculated maximum torque.

  • Page 381: Chapter 7 Page 7 Of 22

    Spindle motor and servo drive On the spindles of machine tools, it is important to maintain a constant turning speed of the spindle. To control this speed, the drive applies torque to the load according to the characteristics of this load as well as to the adjusted accelerations and decelerations.

  • Page 382: Chapter 7 Page 8 Of 22

    The power required, P is calculated as follows: d L V d L V ----------------------------------- - -------------- - kW 60 1000 . • • π DN • ------------------- - 1000 is the relative cutting resistance in [N/mm is the depth of the cut in [mm] is the length of the blade, or feedrate per full turn in [mm] is the diameter of the part machined in [mm] is the turning speed of the spindle in [rpm]...

  • Page 383: Chapter 7 Page 9 Of 22

    In the case of a drill, the bit is mounted on the spindle itself and turns with this to drill the material. fig. 5. Te power required in this case P is calculated as below: • π D M 2πn kW ) ------------------------------------------------- - -------------------------------------- -...

  • Page 384: Chapter 7 Page 10 Of 22

    Governing a frictional load. This is the case of horizontal movements such as a conveyor belt or a movable table. For a friction coefficient ∝ , the power required in this case P , is calculated as follows. See fig.7. ∝...

  • Page 385: Chapter 7 Page 11 Of 22

    • Limited acceleration and choke. Choke = variation of acceleration. Method Acceleration and choke limit. Adjusts Progressive acceleration, avoid- Control ing abrupt variations of transmitted torque. Approach square sine function Time Comments (bell shape) for the speed. fig. 10 Choke and acceleration limit The capability demanded from the motor is determined by the following formulas: Capacity required by the motor in the constant...

  • Page 386: Chapter 7 Page 12 Of 22

    Calculations: 1. When the speed ranges from 0 to 1500 rpm • 2 0.13 1500 2 2 J M N M • 2π 2π • • 1 [ ] ------ - --------------------- - kW ------ - -------------------------------- - 6.41 kW •...

  • Page 387: Chapter 6: Selection

    Calculation of power with intermittent load. Forming the drive to the right dimensions has to be done with the greatest care when the application involves a periodical starting and stopping operation, frequently repeated as in the case of threading with a miller. For a cycle like the one shown in the fig.11 which includes acceleration...

  • Page 388: Chapter 7 Page 14 Of 22

    Power supply selection Calculate the power demanded to the power supply for servo systems with a synchronous motor [axis]. FEED AXES [ FXM ]: Axis speed in the application (rpm) Power (characteristics table) Rated speed of the motor (rpm) Axis Power (kW) Feed axes: Pa = Pow ·...

  • Page 389: Chapter 7 Page 15 Of 22

    Then, depending on the peak power that could be requested by the drives at any time: FEED AXES ( FXM ) : Driver Peak Power AXD 2.50 6.1 kW AXD 1.08 38.3 kW AXD 2.75 AXD 1.15 11.5 kW 57.5 kW 19.1 kW AXD 1.25 76.7 kW...

  • Page 390: Chapter 7 Page 16 Of 22

    It includes the power dissipated by the drive itself. 3. Non-Fagor spindle motor For non-Fagor spindle motors (e.g.: an high speed spindle) the previous tables for standard Fagor motors are not available. To properly calculate the power demanded by the non-Fagor spindle from the power supply, it is necessary: •...

  • Page 391: Chapter 7 Page 17 Of 22

    Never connect the power supplies in parallel. 3. The table below shows the range of the Fagor power supplies that may be selected. It shows their rated (nominal) power, the mains voltage and whether the power supply has a built - in 24 Vdc power supply or not.

  • Page 392: Chapter 7 Page 18 Of 22

    4. Use the following sheet to calculate the input transformer, and the section of the mains cable. M a in s vo ltag e Th e F ag or S ervo D riv e s ystem re q uire s 4 00 - 46 0 V a c. T ra ns form er : Th e tran sfo rm er o r au totra n sfo rm e r being us ed m u st b e o f th e p o w er: 1 .0 5 [ kV A ] =...

  • Page 393: Chapter 7 Page 19 Of 22

    CM 1. 60 selection guide The CM 1.60 is a module that increases the electrical capacitance of the power bus in 4 mF. It should be installed on machines with very short duty cycles (very repetitive accelerations and deceleration) and with low braking energy.

  • Page 394: Chapter 7 Page 20 Of 22

    Ballast resistor selection guide Calculate the value of: is the energy generated by the braking of each system motor. is the rms power generated by all braking of all the motors throughout a complete duty cycle. Based on the following formulae: •...

  • Page 395: Chapter 7 Page 21 Of 22

    Once the values of W and P are calculated, follow these flow charts: Wmx > PS-25A Pe > 520W 18kWs (0.6 s) RM-15 ER-18/1100 ER-18/1800 ER-18/2200 Wmx > PS-65A Pe > 600W 36kWs (0.6 s) RM-15// RM-15 ER-18/1100//ER-18/1100 ER-18/1800//ER-18/1800 ER-18/2200//ER-18/2200 Wmx >...

  • Page 396: User Notes

    User notes: Software v.06.xx ERVO DRIVE SYSTEM MANUAL DESIGN Ballast resistor selection guide Chapter 7 Page 22 of 22...

  • Page 397: Parameters, Variables & Commands

    PARAMETERS, VARIABLES & COMMANDS Notations Notations used. [Group] [Type] [Index] [.Set] 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 Operating mode...
  • Page 398 Note that a variable may be modified from the basic level if it is labeled with a W. If the access level is more restrictive (OEM or Fagor), it must be labeled with either an <O> or <F>, respectively in order to be able to modify it.
  • Page 399 It means that it is a parameter of the motor group, that cannot be extended in sets, cannot be modified on line and it can only be modified from the Fagor access level, unsigned, defined by the Motor Id and that only applies ®...
  • Page 400 Groups of parameters, variables and commands A group: Application [S32] PrimaryOperationMode Function: It sets the operating mode regarding the configuration of the system. Name FUNCTION It sets the activation of feed-forward (when working with position command). Position control with following error. (feed-forward off) Position control without following error.
  • Page 401 B group: Non-programmable inputs - outputs It groups the variables related to non-programmable hardware control signals and the logic variables associated with the Halt and Drive_Enable functions through the serial line. Activating the Halt function is the same as setting a zero velocity command while keeping the rotor locked (with torque).
  • Page 402 [F203] DriveEnableDnc Function: It controls the DriveEnable function through the serial line. Default value: 1 (with no effect). Example: BV7=0 (cancels the DriveEnable function, can- cels motor torque). BV14 [F204] 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.
  • Page 403 C group: Current [S106] CurrentProportionalGain Function: Value of the proportional gain of the current loop. Valid values: 0 ... 327 (V/A). [S107] CurrentIntegralTime Function: Value of the integral gain of the current loop. Valid values: 0 ... 32 (ms). *FMA [F300] CurrentFeedbackDerivativeGain Function: Value of the derivative gain of the current loop.
  • Page 404 This parameter may be used to automatically calculate the values of CP1 (Kp) and CP2 (Ti) from MP10 (R) and MP11 (L) for adjusting the current loop on non-Fagor synchronous motors and adjusting the current loop, flux loop and BEMF on non-Fagor asynchronous motors.
  • Page 405 CP30.# *O [F308.#] CurrentCommandFiltersType Function: This parameter may be used to select filter 1 and/or 2 of the current command and set the type of filter for each of them. They may be set as low-passing filter or notch filter. Thus, considering bits 4, 5, 6 and 7 of this parameter: Name...
  • Page 406 CP31.# *O [F312.#] CurrentCommandFilter1Frequency Function: Break frequency of current command filter 1. Valid values: 0 ... 4000 (Hz) Default value: CP32.# *O [F313.#] CurrentCommandFilter1Damping Function: Depending on the type of filter 1 selected: Low passing filter: Damping factor of current command filter (in thousandths).
  • Page 407 D group: Diagnosis DP142 [S142] ApplicationType Function: Informative parameter. It contains the type of application the drive is dedicated to (e.g.: spindle or rotary axis). [S11] Class1Diagnostics [Errors] Function: The DV1 variable contains a numerical data coded into 16 binary bits and represents the error status as shown by the attached table.
  • Page 408 [S12] Class2Diagnostics [Warnings] Function: The DV9 variable contains a numerical data coded into 16 binary bits and represents the warning status as shown by the attached table. Bit (from the most to the least significant). Name Warning 15, 14 Reserved TargetPositionOutsideTheTravelZone (warning 13) 12, 11, 10...
  • Page 409 DV11 [F404] FagorDiagnostics Function: The DV11 variable contains a numerical data coded into 16 binary bits and represents the status of some of the most interesting variables at the drive. See attached table. Bit (from the most to the least significant). Variable Meaning 15, 14, 13...
  • Page 410 DV31 [S135] 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. Bit (from the most to the least significant). This ® variable is communicated to the via the Sercos interface.
  • Page 411 DV32 [S134] MasterControlWord Function: The DV32 variable contains a numerical data that in 16-bit binary code represents the status of the various control signals that the CNC ® sends to the drive through the Sercos interface. See attached table. Bit (from the most to the least significant).
  • Page 412 E group: Encoder simulator [F500] EncoderSimulatorPulsesPerTurn Function: Number of pulses generated by the encoder simulator per rotor revolution. Valid values: 1 ... 16360 pulses per turn (integer number). Default value: 1250 pulses per turn. Note that when using square motor feedback (TTL), EP1 must be equal to NP116;...
  • Page 413 F group: Flux *OMA [F600] MotorFluxProportionalGain Function: Value of the proportional gain of the flux loop. Valid values: 0 ... 3200 (A/Wb). Default value: It depends on the motor connected. *OMA [F601] MotorFluxIntegralTime Function: Value of the integral time of the flux loop. Valid values: 0 ...
  • Page 414 FP40.# [F622.#] FluxReduction Function: Percentage reduction of flux level. It indicates the percentage of the magnetizing current circulating through the motor when it has no load. It reduces motor noise and heat when turning without load. Use a value of 1000 % to cancel the effect of this parameter.
  • Page 415 G group: General [F700] PwmFrequency Function: It selects the switching frequency of the IGBT's. This frequency determines the times of the servo loop and of the vector control loop. This parameter may be modified at OEM level. Valid values: 4000 Hz. 8000 Hz.
  • Page 416 [F704] ParameterVersion Function: It stores the version of the motor parameter table. It is a read-only parameter. [F717] GearRatioNumber Function: Number of useful gear ratios. The useful gear ratios must be numbered from zero on. Only a limited number of gear ratios may be activated with this parameter.
  • Page 417 Function: It informs about the current access level of the user Valid values: 1 -. Basic (user) Software 2 -. OEM v.06.xx 3 -. Fagor ERVO DRIVE SYSTEM MANUAL [S140] DriveType PARAMETERS, VARIABLES & Function: It informs about the drive's sales reference.
  • Page 418 GV10 [S262] LoadDefaultsCommand Function: motor identification and initialization. Assigning an identifying reference of a particular motor to this var iable (see appendix C) sets the parameters related to the motorto govern it and the rest of the parameters to their default values.
  • Page 419 GV23 [F711] ParameterSetAck GV24 [F712] ParameterSetStb Function: Variables related to changing the active set. GV24 must be set to 1 (Strobe) in order to be able to change the set using GV30, GV31, GV32. When the set change is effective, the drive shows it through the GV23 variable.
  • Page 420 [S220] OfflineParameterValidation Function: Command that validates any modification of an off-line parameter without having to save it. Therefore, it does not store the change permanently in Flash memory. This command is especially useful for faster setup. Version: Operative from version 06.01 on. [F614] AutoCalculate Function:...
  • Page 421 H group: Hardware [S110] S3LoadCurrent Function: It identifies the current of an axis drive module (current for a synchronous motor in duty cycle S3 with a running factor of 5% and a cycle time of 10 seconds). Valid values: See tables 12 and 13 of chapter 1: Electronic modules.
  • Page 422 I group: Inputs IP1.# [F900.#] AnalogReferenceSelect Function: It selects the analog input used as velocity command. Valid values: 1 -. Analog input 1 (by default). 2 -. Analog input 2. [F909] DigitalInputVoltage Function: Its 4 least significant bits configure the digital inputs of the drive 8I - 16O and 16I - 8O to operate with an input voltage of 24 Vdc.
  • Page 423 Example: IP10 = GV24 (pin 1 referred to 5 is the Strobe for selecting the sets) IP11 = BV1 (pin 2 referred to pin 5 carries out the hardware Halt function). IP12 = 0 (pin 3 referred to pin 5 does not carry out any function).
  • Page 424 IV11 [F908] DigitalInputsCh2 Function: Variable IV11 contains a number whose binary code represents the status of the digital inputs of slot SL2. • Slot SL1 can only be occupied by some of the input/output cards 16DI-8DO or 8DI- 16DO. When using the PLC, these inputs represent its resources I17-I32.
  • Page 425 K group: Monitoring [F1112] DriveI2tErrorEfect Function: It determines whether the I t error causes the motor to stop or limits its current to its rated value. Valid values: 0 - Stops the system. 1 - Limits the current circulating through the motor to its rated value.
  • Page 426 [S201] MotorTemperatureWarningLimit [S383] MotorTemperature [S204] MotorTemperatureErrorLimit Function: Read/Write the limits set by the user for the warning and error of the motor's temperature. Note that KV6 can only be applied to AXM motors. Valid values: for KV5 and KV8: 0 ...150 (°C). for KV6 : 5 ...150 (°C).
  • Page 427 L group: Motion Control [F2301] SecondCamSwitchStart Function: This parameter determines which is the first cam that belongs to the second CamSwitch. Thus: LP1= 0 It indicates that there is only the first CamSwitch and therefore all 8 cams will belong to it. LP1=1 It indicates that there is only the second CamSwitch and there-...
  • Page 428 LP12 [F2312] PositioningVelocityDefault Function: In Motion Control programs, it defines the posi- tioning feedrate applied between in motion blocks not specified by the V parameter (Veloc- ity). Valid values: - 214000 ... 214000 (m/min). Default value: 10 (m/min). LP22 [F2322] JogVelocity Function: It is used as value assigned to parameter V (Velocity) inside the Motion Control application...
  • Page 429 LP41 [F2341] SynchronizationAcceleration Function: This parameter defines the synchronization acceleration and sets the maximum accelera- tion for the velocity and position adaptation stages from when the synchronization process begins until it is completed. Valid values: 0 ... 200 (m/s Default value: 2 (m/s LP42 [F2342] SynchronizationVelocity...
  • Page 430 LP62 [S62] PosSwitch2On LP63 [S63] PosSwitch2Off LP64 [S64] PosSwitch3On LP65 [S65] PosSwitch3Off LP66 [S66] PosSwitch4On LP67 [S67] PosSwitch4Off LP68 [S68] PosSwitch5On LP69 [S69] PosSwitch5Off LP70 [S70] PosSwitch6On LP71 [S71] PosSwitch6Off LP72 [S72] PosSwitch7On LP73 [S73] PosSwitch7Off LP74 [S74] PosSwitch8On LP75 [S75] PosSwitch8Off Function:...
  • Page 431 LP228 [S228] SynchronizationPositionWindow Function: This parameter sets the synchronization posi- tion window. This way, during the position syn- chronization mode, if the difference between the synchronization position calculated for the slave axis and the position feedback is within this window, the InSynchronization mark [F2346] will be activated indicating that syn- chronization has been reached.
  • Page 432 LV14 [F2314] KernelAutoMode Function: It indicates which is the execution mode of the kernel for the automatic mode and for the jog mode. Valid values: 0 -. Continuous (by default). 1 -. Single block. 2 -. Instruction by instruction. LV15 [F2315] KernelStartSignal Function: Digital signal whose up flank (transition from 0...
  • Page 433 LV20 [F2320] JogPositiveSignal Function: Digital signal used in the JOG module of the Motion Control application (*.mc) to activate the jog movement in the positive direction. LV21 [F2321] JogNegativeSignal Function: Digital signal used in the JOG module of the Motion Control application (*.mc) to activate the jog movement in the negative direction.
  • Page 434 LV28 [F2328] KernelExecError Function: Variable that groups the execution errors of the Motion Control program (901-922). These errors are communicated through the status display of the dr ive. They interr upt the execution of the program but do not prevent the MC software from running, thus being possible to check values of variables and parameters.
  • Page 435 LV31 [F2331] KernelExecutionPoint Function: Variable that shows the execution point of the application; in other words, the line number of the source file that is being executed. When the execution is running, its value will var y; however, if it is interrupted, it will indicate the p o i n t w h e r e t h e exe c u t i o n h a s b e e n interrupted.
  • Page 436 LV36 [F2336] BlockCoveredDistance Function: Variable that returns for a given instant the total distance traveled in the current positioning block or that of the last one that has been executed if there is none in progress. Its value is upd ate d by th e in ter pol at or in e ac h interpolation cycle.
  • Page 437 Units: for the position - position (mm or °) type cam. for the position - time (ms) type cam. Version: Operative from version 06.01on. Expanded in version v.06.03 LV49 [F2349] MasterScale1 Function: For a cam type: position - position: it defines the master axis position range according to table 1 of the electronic cam.
  • Page 438 Units: for the position - position (mm or °) type cam. for the position - time (ms) type cam. Version: Operative from version 06.01on. Expanded in version v.06.03 LV53 [F2353] MasterScale2 Function: For a cam type: position - position: it defines the master axis position range according to table 2 of the electronic cam.
  • Page 439 LV158 [S258] TargetPosition Function: Final position for the current positioning block. Note that in the current operating mode, the final position specified in the MOVE instruction being executed is copied to the LV158 [S258] TargetPosition. Valid values: - 214748 ... 214748. Units: For rotary axes (°).
  • Page 440 LV223 [S323] TargetPositionOutsideOfTravelRange Function: Mark that activates when the target position indicated in the current positioning block is off the position limits given by parameter PP49 [S49] PositivePositionLimit or PP50 [S50] NegativePositionLimit. Valid values: 0 and 1. LV242 [S342] TargetPositionAttained Function: Mark indicating that the interpolator has reached the target position;...
  • Page 441 See the section on Motor Identification in chapter 3. To govern a user motor (non-Fagor) or to modify one of these M parameters, set MP1 to a value that begins with a "0", e.g. MP1 =0supermotor. Valid values: The references specified in appendix C for motors.
  • Page 442 Thermal time constant of the motor. Valid values: 1 ... 200 (min). MP14 [F1210] MotorTempSensorType Function: it identifies the sensor of a Fagor motor. Valid values: 0.- SPM and FXM: Triple, sensitive between 130°C and 160°C. 1.- AXM: Simple, sensitive between 0 and 155 degrees 2.- KTY84...
  • Page 443 MP16 [F1212] MotorBrake Function: This parameter determines whether the motor has a brake (MP16 = 1) or not (MP16 = 0). This parameter only applies to synchronous motors since none of the asynchronous motor models have a brake. This parameter is set during the motor identification process.
  • Page 444 MP20 [F1216] MotorBearings Function: This parameter indicates the type of bearings. On SPM motors: MP20 = 0 Normal bearings. MP20 = 1 High speed bearings. On FM7 motors: MP20 = 1 Always. This parameter is set during the motor identifi- cation process.
  • Page 445 MP28 [F1224] MotorRotorLeakageInductance Function: Phase-neuter leak inductance of the rotor. Valid values: 0 ... 10000 (mH). Default value: 0 (mH). Version: Operative from version 06.01 on. MP29 [F1225] MotorMagnetizingInductance Function: Magnetizing inductance. Valid values: 0 ... 10000 (mH). Default value: 0 (mH).
  • Page 446 [F1238] MotorElectricalParametersIdentification Function: After its execution, it will identify the values of the resistance, inductance, the motor's satura- tion curve and rms current without load speci- fied in the following parameters: MotorStatorResistance MP10 MotorStatorLeakageInductance MP11 MotorRotorResistance MP27 MotorRotorLeakageInductance MP28 MotorMagnetizingInductance MP29 MotorInductanceFactor1 MP30...
  • Page 447 Units: If it is a linear encoder, the feedback period signal is given in microns. In the case of Fagor l i nea r e nc o der s ( gra du ate d gl a ss ) the resolution is 20 microns; i.e. S117 = 20. If it is a rotary encoder, the resolution of the feedback signal is given in pulses per turn.
  • Page 448 The period of the feedback signal is given in microns. In the case of Fagor linear encoders (graduated glass) the resolution is 20 microns; i.e. S118 = 20. In the case of Fagor steel-tape- based linear encoders, the resolution is 100 microns; thus S118 = 100.
  • Page 449 NP131.# O [F130.#] InputRevolutions2 NP132.# O [F131.#] OutputRevolutions2 Function: They define the gear ratio between the direct feedback and the movement of the load. If 5 turns of the encoder shaft of the direct feedback are due to 3 turns of the machine leadscrew, the value of these parameters must be: F130 = 5;...
  • Page 450 Examples: 1.- Motor drive with toothed belt and external encoder attached to the leadscrew. 2:1 ratio; Leadscrew pitch: 10 mm. Parameter setting: NP121 = 2, NP122 = 1, NP123 = 10 mm NP131 = 1, NP132 = 1, NP133 = 10 mm 2.- In a MC application (cylindrical rollers) with measuring wheel.
  • Page 451 O group: Analog and digital outputs [F1400] DA1IDN [F1401] DA2IDN Function: They identify the internal analog variables of the drive that will be reflected at the electrical outputs and will be affected by the OP3 and OP4 gains respectively. Channel 1 (pins 10 - 11 of X7) and channel 2 (pins 8-9 of X7).
  • Page 452 [F1411] Prog_OutIDN Function: It identifies the Boolean variable represented at the digital Prog_OUT output of the compact drive (pins 8-9 of connector X2). Default value: 0 (unassigned). In this situation, Prog_OUT may be forced using OV5. Example: OP5 = TV100 (the contact closes when there is torque). Physical Analog Outputs OV1 -F01408- Channel 1...
  • Page 453 [F1408] DA1Value [F1409] DA2Value Function: These variables may be used to force the value of the electrical signal at the analog outputs of connector X7. These signals can only be forced when these outputs (OP1, OP2) have been assigned a value of 0. OV1 reflects the value of the output through channel 1 (pins 11 and 10 of connector X7).
  • Page 454 OV10 [F1410] DigitalOutputs Function: Variable OV10 contains a number whose binary code represents the status of the digital outputs of slot SL1. • If slot SL1 is occupied by connectors X6 and X7, these outputs are the ones associated with parameters OP10-OP13. At the PLC, these outputs represent resources O1 - O4.
  • Page 455 OV11 [F1413] DigitalOutputsCh2 Function: Variable OV11 contains a number whose binary code represents the status of the digital outputs of slot SL2. • At the PLC, the value of OV11 refers to resources O17-O32. In read mode: Value of the digital ouptuts. In write mode: Values that the digital outputs are forced to.
  • Page 456 P group: Position loop PP1.# [F1300.#]HomingVelocitySlow Function: It is the slow speed of the homing process controlled from the drive itself. This parameter is necessar y when the home search is controlled from the drive: PC148 [S148] DriveControlledHoming active. Valid values: 0 ...
  • Page 457 [S391] ActualPositionMonitoringWindow Function: This parameter sets the maximum error allowed between the motor feedback and the direct feedback. This way, when comparing the value of the direct position feedback (this difference may be viewed in PV190), if its deviation exceeds the value set in this parameter PP5 for more than 20 ms, the drive issues error 157 ExcessiveActualPosition Difference (DV11 [S11], bit 11).
  • Page 458 PP42.# [S42.#] HomingAcceleration Function: It is the acceleration applied in the homing process controlled from the drive itself. This parameter is necessar y when the home search is controlled from the drive: PC148 [S148] DriveControlledHoming active. Valid values: 0 ... 2147484 (rad/s Default value: 60 (rad/s PP49...
  • Page 459 PP55 [S55] PositionPolarityParameters Function: 16-bit register that may be used to invert the sign of the various position data. When the drive closes the position loop: Bits 2 and 3 modify the sign of the monitored position feedback, but it does not affect the operation of the loop.
  • Page 460 Bear in mind that on rotary axes if the sign of the position command variations is positive, the motor will turn clockwise. Meaning 15 [MSB], 14, 13, 12, 11, 10, 9, 8, 7, 6, 5 (reserved)] Position limits Cancels the position limits. Active (by default).
  • Page 461 PP76 [S76] PositionDataScalingType Function: 16-bit register that configures the measuring scale for the positioning. All of them must be zero except bit 6 (always set to 1) and bit 7 that sets the activation or not of the module format in the commands received.
  • Page 462 PP115 [S115] PositionFeedback2Type Function: It indicates the various aspects of direct feedback. Bit 3 may be used to solve a positive feedback problem (runaway) when the drive closes the position loop. Note that when the CNC closes the position loop, bit 3 of parameter PP55 is also involved.
  • Page 463 PP147 [S147] HomingParameter Function: It is a 16-bit register that sets the mechanical and electrical relationship between the h o m i n g p r o c e d u r e a n d t h e m a c h i n e installation, the CNC or the drive.
  • Page 464 PP150 [S150] ReferenceOffset1 Function: Parameter that gives the position of the machine reference point with respect to the reference mark (I0), depending on the feedback of the motor. It is the same as parameter REFSHIFT [P47] of the axes of the 8055/55i CNC.
  • Page 465 PP169 [S169] ProbeControlParameter Funtion: This is the control parameter of the probe. It determines which probes and which flanks are activated by the procedure command of the probing cycle. Its structure is: Meaning Probe 1 positive flank Positive flank inactive Positive flank active Probe 1 negative flank Negative flank inactive...
  • Page 466 PP216.# [S296.#] VelocityFeedForwardPercentage Function: It sets the how much velocity feed-forward is applied. It is similar to parameter FFGAIN [P25] of the axes of the 8055/55i CNC. It indicates the % of velocity command anticipated to the movement and it does not depend on the amount of following error (open loop).
  • Page 467 PV130 [S130] ProbeValue1PositiveEdge Function: Depending on the value of bit 4 of parameter PP169, the drive stores the value of the position motor feedback or direct feedback in this variable after the positive flank (leading edge) of the INDEX input signal. Valid values: -214748 ...
  • Page 468 PV175 [S175] DisplacementParameter1 Function: It indicates the offset of the coordinate system due to and after the home search carried out by the drive (with motor feedback). Valid values: -214748 ... 214748 (mm) for linear movements. -214748 ... 214748 (°) for rotary movements. Default value: PV176 [S176]...
  • Page 469 PV189 [S189] FollowingError Function: It registers the difference between the position command and the position feedback "PV189 = PV47 - PV51/53". FollowingError=PositionCommand- PositionFeedback 1/2. Units: Tenths of microns on linear movements. Tenthousandths of a degree on rotary move- ments. PV190 [F2005] PosErrorBetweenFeedbacks Function: This variable may be used to display the error...
  • Page 470 PV203 [S403] PositionFeedbackStatus Function: The drive activates this binary variable to inform that it interprets the position feedback as being referred to the machine reference zero point. The variable deactivates when executing the command: PC148 [S148] DriveControlledHoming reactivates when executed successfully.
  • Page 471 PV208 [S408] ReferenceMarkerPulseRegistered Function: This binary variable is activated when the drive detects the reference mark (I0) during home search. At that instant, the drive saves PositionFeedback (not yet homed) in Marker PositionA. Valid values: 0 and 1. PV209 [S409] Probe1PositiveLatched Function: Variable used to assign an identifier to...
  • Page 472 PC150 [F2003] ChangePosFB12 Function: This command can only be executed when the operating mode AP1 is assigned a value of 5 or 13. Initially, in this operating mode, the position will be regulated through motor feedback. If this command is executed with a value of 3, it switches to direct feedback.
  • Page 473 ® Q group: Sercos communication [S1] ControlUnitCycleTime Function: Read parameter that indicates every how long the drives close the loop. Valid values: 1 ... 8 (ms). Default value: 4 (ms). ® QP11 [F2000] Sercos Mbaud Function: It sets the transmission speed through the Ser- ®...
  • Page 474 ® When using the new Sercos board (16 MBaud), the values of the previous table are no longer valid and those given in the following table must be considered instead ! Value of QP12 Cable length L (m) L < 15 15 = L <...
  • Page 475 [F716] TMODE_Select ® Function: This variable is useful to test the Sercos ring hardware. Valid values: Normal operating mode Zero Bit String Continuous light output QV30 [F727] FiberDistErrCounter ® Function: This variable may be used to diagnose Sercos problems. It is a counter that counts the distortion errors and it indicates the number of times that a distortion error has come up in the ®...
  • Page 476 R group: Rotor sensor [F1500] Feedback1SineGain [F1501] Feedback1CosineGain Function: Compensation (proportional gain mode) of the amplitude of the sine/cosine signal that goes from the motor feedback to the drive. Valid values: 1500 ... 3070. Default value: 2032. [F1502] Feedback1SineOffset [F1503] Feedback1CosineOffset Function: Compensation (offset mode) of the sine/cosine signal that goes from the motor feedback to the...
  • Page 477 RP51 [F1550] Feedback2SineGain RP52 [F1551] Feedback2CosineGain Function: Compensation (proportional gain mode) of the amplitude of the sine/cosine signal that goes from the direct feedback to the drive. Valid values: 1500 ... 3070. Default value: 2032. RP53 [F1552] Feedback2SineOffset RP54 [F1553] Feedback2CosineOffset Function: Compensation (offset mode) of the sine/cosine signal that goes from the motor feedback to the...
  • Page 478 [F1506] FeedbackSine [F1507] FeedbackCosine Function: Sine and cosine of the feedback that goes from the motor to the drive as internal system variables. Valid values: - 32768 ... 32767. Note: From version v.06.03 on, when using square-wave motor feedback, these two variables may have incremental square-wave signals for display and diagnostics ! [F1508] FeedbackRhoCorrection Function:...
  • Page 479 [F1510] EncoderError Function: The RV6 variable contains a list of feedback e r r o r s f o r t h e e x c l u s i v e u s e o f F a g o r technicians.
  • Page 480 RV51 [F1556] Feedback2Sine RV52 [F1557] Feedback2Cosine Function: Sine and cosine of the feedback that goes from the direct feedback to the drive as internal system variables. Valid values: -32768 ... 32767. RV54 [F1559] Feedback2Radius Function: It may be used to display the radius formed by the RV51 and RV52 signals.
  • Page 481 S group: Speed SP1.# [S100.#] VelocityProportionalGain SP2.# [S101.#] VelocityIntegralTime Function: Value of the proportional / integral action of the velocity PI. Valid values: SP1: 0 ... 16384 (mArms/rpm). SP2: 0 ... 1638.4 (ms). Note: The value of the integral action SP2 has been reduced in a factor of x16 as compared to previous versions.
  • Page 482 SP10.# [S91.#] VelocityLimit Function: Maximum value that "SV7 (Velocity Command Final)" can take. If SV2 (VelocityFeedback) is greater than this parameter in a 12%, it issues error 200 (overspeed). Valid values: 1 ... 24000 (rpm). Depends on the motor connected. Default value: Synchronous: 110% of MP25 (MotorRatedSpeed).
  • Page 483 SP30 [F1603] AnalogInputOffset1 SP31 [F1604] AnalogInputOffset2 Function: Compensation of the offset of analog inputs 1 and 2 respectively. Valid values: - 8190 ... 8190 (mV). Default value: SP40.# [S125.#] VelocityThresholdNx Function: Velocity level under which logic mark nfeedback < n activates.
  • Page 484 SP42 [S124] StandStillWindow Function: the velocity window for logic mark n = 0. feedback The logic mark is the SV5 variable. Usage example: In a particular application, we would like to know when the speed of the motor is lower than 10 rpm.
  • Page 485 SP44 [S44] VelocityDataScalingType Funtion: Parameter that has to do with the type of scaling. Meaning 15 [MSB] -2 (reserved) 1, 0 [LSB] Scaling method Rotary Valid values: SP50 [F2014] VelocityFeedbackFilterFrequency Function: This parameter sets the break frequency of the first order low-passing filter inserted in the velocity feedback.
  • Page 486 SP52 [F2017] VelocityLoopTimeConstant Function: Parameter that may be used to model the velocity loop with a 1 order time constant. It is represented in the loop with a 1st order delay element P-T1. This parameter is inserted before the integral controller to compensate for the delay due to the velocity loop.
  • Page 487 SP60.# [S138.#] AccelerationLimit SP62.# [F1606.#]AccelerationLimit2 SP64.# [F1608.#]AccelerationLimit3 Function: They define, with SP61 and SP63, the velocity command filtering ramps SV8. SP80 must be 0 in order for them to be effective. SP60 is also useful in Jerk limitation mode. Units: (rad/s The conversion is 1 rad/s = 9.5492 rpm/s =...
  • Page 488 Units: (rad/s The conversion is 1 rad/s = 9.5492 rpm/s = 0.009545 rpm/ms Valid values: 1 ... 2147484 (rad/s Version: Modified in version 06.01 SP70 [F1610] AccelerationOnEmergency Function: It determines whether the acceleration limit given by SP65 is applied or not in case of an emergency stop coming from Speed_Enable, Halt function or stop by error.
  • Page 489 [S332] nFeedbackMinorNx Function: Boolean logic mark associated with: nfeedback < n See parameter SP40. Valid values: 0/ 1, (no / yes). [S330] nFeedbackEqualNCommand Function: In speed regulation, it is the Boolean logic mark associated with: nfeedback = ncommand. See parameter SP41. Valid values: 0/ 1, (no / yes).
  • Page 490 [F1613] VelocityCommandBeforeFilters Function: It reflects the value of the velocity command before limitations, ramps, etc. Units: (rpm). Valid values: -24000 ... 24000 (rpm). Ramps ErrorStop OR S P 6 0 ... SpeedEnable Function ...S P 6 4 means PWM_OFF if the motor has not stopped in a Halt Function time period GP3...
  • Page 491 T group: Torque and power [S126] TorqueThresholdTx Function: Torque threshold described by the user to activate logic mark TV10. Units: Fraction of the rated value of the motor torque. Valid values: 0 ... 100 (%). Depends on the drive connected. Default value: 5 (%).
  • Page 492 TP12 [F1904] DynamicPositiveTorqueCompensation Function: Dynamic friction compensation in the positive direction of the velocity. It is the value of the compensation with the reference speed equal to SP10. It is directly proportional to other positive reference speeds. Units: (N·m). Valid values: 0 ...
  • Page 493 TP14 [F1906] TorqueCompensationTimeConstant Function: Time constant of the torque compensation. Before applying the torque compensation, it goes through a low-passing filter. This filter helps better represent the friction behavior in velocity direction changes. The constant friction suddenly changes when changing the sign of the reference speed.
  • Page 494 TP22 Motor rated power 100% Speed Incre ase of constant - powe r range TP85 [S85] TorquePolarityParameters Function: This parameter is used to change the sign of certain torque data in specific applications. It will only change the sign of the monitored data, but not internally.
  • Page 495 TP86 [S86] TorqueScalingParameters Function: It is a read-only parameter. It indicates, among other things, the units to write and read the torque. It is initialized with the value indicating that the torque is referred to the motor. The units are given in % of the rated motor torque. See TV1 and TV2.
  • Page 496 [F1912] VelocityIntegralAction Function: It is the output of the velocity PI. When the acceleration is not extremely high, it is the same as the friction torque. When compensating for friction, the value of this variable must be reduced to near zero. TV10 [S333] TGreaterTx...
  • Page 497 X group: Miscellaneous [F1900] One [F1901] Zero Function: These variables are used to force a 1 or 0 through a logic output. This way, write a 0 so a digital input does not carry out any function. Example: OP10 = XV1 (sets the digital output to 1). IP12 = 0 (removes the digital input from any function).
  • Page 498 S -1 Q P1 ControlUnitCycleTime S -11 D V1 Class1Diagnostics (Errors) S -12 D V9 Class2Diagnostics (Warnings) S -13 D V10 Class3Diagnostics (OperationStatus) S -30 G V2 ManufacturerVersion S -32 A P1 PrimaryOperationMode S -36 S V1 VelocityCommand S -40 S V2 VelocityFeedback S -41...
  • Page 499 S -85 T P85 TorquePolarityParameters S -86 T P86 TorqueScalingParameters S -91 S P10 VelocityLimit S -92 T V92 BipolarTorqueForceLimit S -95 D V95 DiagnosticMessage S -99 D C1 ResetClass1Diagnostics S -100 S P1 VelocityProportionalGain S -101 S P2 VelocityIntegralTime S -103 P P103 Value module S -104...
  • Page 500 S -169 P P169 ProbeControlParameter S -173 P V173 MarkerPositionA S -174 P V174 MarkerPositionB S -175 P V175 DisplacementParameter1 S -176 P V176 DisplacementParameter2 S -177 P P177 AbsoluteDistance1 S - 178 P P178 AbsoluteDistance2 S - 179 P V179 ProbeStatus S - 183 L P183 SynchronizationVelocityWindow S - 189...
  • Page 501 S - 333 T V10 TGreaterTx S - 336 P V136 InPosition S - 337 T V60 PGreaterPx S - 342 L V242 TargetPositionAttained S - 343 L V243 InterpolatorHalted S - 348 P P217 AccelerationFeedForwardPercentage S - 349 S P80 JerkLimit S - 380 G V4...
  • Page 502 F - 310 C V2 CurrentVFeedback F - 311 C V3 CurrentFeedback F - 312 C P31 CurrentCommandFilter1Frequency F - 313 C P32 CurrentCommandFilter1Damping F - 314 C P33 CurrentCommandFilter2Frequency F - 315 C P34 CurrentCommandFilter2Damping F - 316 C P16 SeriesInductance F - 317 C P8...
  • Page 503 F - 720 G P7 OverLoadTimeLimit F - 721 G P8 OverLoadVelocityThreshold F - 723 G V6 RamParameterChecksum F - 724 G V12 FFParameterChecksum F - 727 Q V30 FiberDistErrCounter F - 800 H V21 MotorVoltage F - 804 H V2 S6LoadCurrent F - 806 H V9...
  • Page 504 F - 1209 M P13 MotorThermalTimeConstant F - 1210 M P14 MotorTempSensorType F - 1211 M P15 MotorShaft F - 1212 M P16 MotorBrake F - 1213 M P17 MotorFan F - 1214 M P18 MotorMounting F - 1215 M P19 MotorBalancing F - 1216 M P20...
  • Page 505 F - 1411 O P5 Prog_OutIDN F - 1412 O V5 Prog_Out F - 1413 O V11 DigitalOutputsCh2 F - 1500 R P1 Feedback1SineGain F - 1501 R P2 Feedback1CosineGain F - 1502 R P3 Feedback1SineOffset F - 1503 R P4 Feedback1CosineOffset F - 1504 R P5...
  • Page 506 F - 1615 S V10 PositionFeedback1Delta F - 1616 S V11 PositionFeedback2Delta F - 1700 T V50 PowerFeedback F - 1701 T V3 PowerFeedbackPercentage F - 1702 T V100 TorqueStatus F - 1900 X V1 F - 1901 X V2 Zero F - 1902 T P10...
  • Page 507 F - 2321 L V21 JogNegativeSignal F - 2322 L P22 JogVelocity F - 2323 L P23 JogIncrementalPosition F - 2324 L V24 FeedrateOverrideEqualCero F - 2325 L P25 InPositionTime F - 2326 L V26 ProgramPositionOffset F - 2327 L V27 KernelInitError F - 2328 L V28...
  • Page 508 Software v.06.xx ERVO DRIVE SYSTEM MANUAL PARAMETERS, VARIABLES & COMMANDS Groups of parameters, variables and commands Appendix A Page 112 of 114...

  • Page 509: User Notes

    User notes: Software v.06.xx ERVO DRIVE SYSTEM MANUAL PARAMETERS, VARIABLES & COMMANDS Groups of parameters, variables and commands Appendix A Page 113 of 114...
  • Page 510 User notes: Software v.06.xx ERVO DRIVE SYSTEM MANUAL PARAMETERS, VARIABLES & COMMANDS Groups of parameters, variables and commands Appendix A Page 114 of 114...
  • Page 511 LISTING OF ERROR MESSAGES, WARNINGS AND SOLUTIONS Effect of the errors on the system Activating any of the errors listed in this appendix causes some effects on the system that depend on the type of interface being used. Analog interface: The activated error is shown on the drive's display.
  • Page 512 Some errors cannot be reset and cannot be eliminated with this procedure. These errors can only be eliminated by powering the unit back up and only if the cause of the error has disappeared. These errors are: ERRORS THAT CANNOT BE RESET Motor stop Activating some errors eliminates the current circulating through the motor.
  • Page 513 Error listing Internal. Contact Fagor Automation. Internal. Contact Fagor Automation. If there is torque, the power bus drops. Possible drop on any of the three-phase lines or any of the drives failed. Check the proper condition of the lines and drives and restart the system up.
  • Page 514 Internal +8V out of range. Internal -8V out of range. Internal +18V out of range. Internal -18V out of range. Contact Fagor Automation. Extreme temperature at the heatsink (of the IGBT's). The drive is carrying out a task that overheats the power devices.
  • Page 515 Low "IGBT heatsink" temperature. The drive is under temperatures equal to or lower than 0ºC, in other words, too low. Bring the temperature down. Maybe the sensor or the cable is defective. Travel limit overrun. The travel limits set by parameters PP49 and PP50 have been exceeded.
  • Page 516 Too much following error (axis lag). The servo system follows the position command with a "PV189 [S189] FollowingError" greater than what is allowed by the "PP159 [S159] MonitoringWindow" Check the settings of all the aspects affecting the following error as well as the value given to parameter PP159. Too much difference in actual (real) position.
  • Page 517 Low supply voltage has been detected at the IGBT triggering circuits of the drive module. The driver of the IGBT or the IGBT itself may be defective. Reset the error and if it persists, contact Fagor Automation. Short-circuit. A short-circuit has been detected at the drive module.
  • Page 518 Home search error. Contact Fagor Automation. DriveControlledHoming command error Contact Fagor Automation. I0 not found in two turns. Contact Fagor Automation. Distance-coded I0's read wrong. Check the installation of the linear encoder and reader head of the direct feedback. Error when changing the feedback after exe- cuting the PC150 command (feedback change).
  • Page 519 Error that cannot be reset. Contact Fagor Automation. Regenerative power supplies XPS can detect a group of errors that drives (with version 03.05 or older) cannot show on their status display.
  • Page 520 Check that the power bus plates are tight and the fuse of the power supply. Over-current in the regeneration circuit. Contact Fagor Automation. Short-circuit on the high side IGBT. Contact Fagor Automation. Low voltage at the driver of the high side IGBT.
  • Page 521 Err_PhaseDownshift. T h e e r r o r s o f t h e 4 0 0 s e r i e s r e f e r t o v a r i o u s communication problems through the fiber optic ring. Check the ring connections and the identification of each module.
  • Page 522 The default motor values table is wrong This error does not come up in software versions 03.01 or newer. This table has not been saved. The table must be saved. ® Wrong parameter in Sercos phase two. ® Only in the case of Sercos interface and from software version 03.01 on, parameter QV21 [S21] contains the list ®...
  • Page 523 Wrong absolute signals. Strange data has been read in the absolute position. This error may be disabled. Check the feedback cable. Contact Fagor Automation. ErrUnstableAbsSignals The axis is moving while starting the drive up and the absolte position cannot be read correctly.
  • Page 524 Maybe the motor has an encoder instead of a resolver. Make the GP2 value coherent with the type of feedback installed. Contact Fagor Automation. Home search error with sincoder. Contact Fagor Automation. Defective C and D signals.

  • Page 525: Troubleshooting

    184. WarSinchronizationT4in165 185. WarSinchronizationCubicInterp 186. WarSinchronizationDeltaIniError Contact Fagor Automation when any of these warnings come up ! Troubleshooting The purpose of this section is to help solve certain typical problems that might come up when installing the servo drive system.
  • Page 526 After setup and the drive being activated, the motor does not move. Resolver feedback has been selected, but an encoder is being used, instead. Change GP2. The motor does not move correctly and it is very noisy. The shield of the resolver cable is not connected to connector X4 of the drive module (pin 26).

  • Page 527: User Notes

    User notes: Software v.06.xx ERVO DRIVE SYSTEM MANUAL LISTING OF ERROR MESSAGES, WARNINGS AND SOLUTIONS Listing of warnings Appendix B Page 17 of 18...
  • Page 528 User notes: Software v.06.xx ERVO DRIVE SYSTEM MANUAL LISTING OF ERROR MESSAGES, WARNINGS AND SOLUTIONS Listing of warnings Appendix B Page 18 of 18...
  • Page 529 FAGOR PRODUCT REFERENCES References of synchronous servo motors. MOTOR SERIES SIZE 1, 3, 5, 7 LENGTH 1, 2, 3, 4, 5, 6, 7, 8 RATED 12 1200 rpm 30 3000 rpm SPEED 20 2000 rpm 40 4000 rpm WINDING 400 Vac...
  • Page 530 * Only motor models 160L and 180MA have a 330Vac winding the rest have a 270 Vac winding fig. 3 SPM motor sales reference FM7 - - E0 FAGOR M7 MOTOR BASE SPEED 1500 rpm - single winding A 1000 rpm - single winding B...
  • Page 531 Sercos Sercos & analogic ADDITIONAL None Software FEEDBACK Encoder simulator v.06.xx FEATURES Direct feedback ERVO DRIVE SYSTEM MANUAL fig. 6 Sales reference of the SPD spindle drive FAGOR PRODUCT REFERENCES References of modular drives Appendix C Page 3 of 10...
  • Page 532 Sercos board Sercos & analogic ADDITIONAL None FEEDBACK Encoder simulator FEATURES Direct feedback fig. 8 Sales reference of the SCD spindle drive Software v.06.xx ERVO DRIVE SYSTEM MANUAL FAGOR PRODUCT REFERENCES References of compact drives Appendix C Page 4 of 10...
  • Page 533 Board with 8I / 16O v.06.xx ERVO DRIVE None ADDITIONAL Encoder simulator FEEDBACK SYSTEM MANUAL FEATURES Direct feedback SOFTWARE None APPLICATIONS FAGOR PRODUCT REFERENCES References of MMC drives fig. 10 Sales reference of the CMC compact axis drive Appendix C Page 5 of 10...
  • Page 534 POWER 25 [25 kw, 45 Amp] [power, rated current] 65 [65 kw, 120 Amp] ERVO DRIVE SYSTEM MANUAL fig. 14 Sales reference of the XPS regenerative power supply FAGOR PRODUCT REFERENCES Power supply references Appendix C Page 6 of 10...
  • Page 535 References of other elements ACCESORY MODULES DLC 3130 Example: FAGOR MAINS FILTER discontinued ! MAXIMUM CURRENT 3042 42 Amp 3130 130 Amp 40 Amp 3040 discontinued ! 3120 120 Amp APS 24 AUXILIARY POWER SUPPLY [24 Vdc] CM 1.60 CAPACITOR MODULE [4 mF]...
  • Page 536 Example: MPC - 4 x 10 + (2 x 1) MOTOR POWER CABLE LINES x SECTION (mm LINES x SECTION (mm fig. 18 Sales reference of the power cables Software v.06.xx ERVO DRIVE SYSTEM MANUAL FAGOR PRODUCT REFERENCES Cable references Appendix C Page 8 of 10...

  • Page 537: Order Example

    ENCODER FEEDBACK CONNECTOR [12 pins ] E0C 12 RESOLVER FEEDBACK CONNECTOR [ 9 pins ] R0C 9 fig. 20 Sales reference of the connectors for synchronous servo motors Order example FAGOR AUTOMATION S. COOP. UNIT REFERENCE DESCRIPTION PRICE PRICE US $ US $ FXM 33.30A.R0.000...
  • Page 538 User notes: Software v.06.xx ERVO DRIVE SYSTEM MANUAL FAGOR PRODUCT REFERENCES Order example Appendix C Page 10 of 10...

  • Page 539: Mains Voltage

    380 Vac (50 - 60 Hz). They have now been redesigned to work with mains voltage ranging between 380 - 460 Vac (50 - 60 Hz). They are identified as: Elements for 380 Vac Elements for 380 - 460 Vac Fagor Automation, Fagor Automation, S.Coop.(Spain) S.Coop.(Spain) MODEL...
  • Page 540 Replacing 380 Vac module with a Vac module: Drive MSC 12A New capacitor module: CM 1.60 [CAP 00A] [VAR 02A] Auxiliary power supply APS 24 PF 05A They may be incorporated into any servo drive system regardless of its power supply. Power supply PS - xxA If the system includes any element for a mains voltage of 380 V •...
  • Page 541 ® VECON2 board New board that replaces the VECON ® expanding the capacity of the flash memory and improves the operating speed of the flash and the RAM memories. ® VECON board version Software version v. 05.08 ® VEC2 01A and later v.
  • Page 542 User notes: Software v.06.xx ERVO DRIVE SYSTEM MANUAL COMPATIBILITY ® SERCOS board (at 16 MBaud ) Appendix D Page 4 of 4...
  • Page 543 Protections of the drive The elements setting the current limit through the drive are power semiconductors (IGBTs). The range of Fagor drives carry IGBTs whose maximum current (I ) ranges between 5.6 A and 130 A. IGBT The IGBTs of the drive may be damaged if: •...
  • Page 544 Peak current limit at the drive The operator may adjust the value of parameter CP20 [F307] to limit the current command. This way, the drive will never attend to current commands exceeding the Ipeak. Parameter setting: CP20 < I peak Bear in mind that: on synchronous motors.
  • Page 545 Permanent duty cycles allowed for the drive. Calculating the I t product Chapter 1 indicates which is the maximum current allowed for permanent duty cycles (S1). The higher the ambient temperature, the lower the capabilities of the drive. Thus, the operator must decrease the demands in the duty cycles.
  • Page 546 The S6-40% cycle reproduces intermittent work conditions in periods of 10 minutes, with tc = 4 min and tv = 6 min and the S6-15% cycle reproduces intermittent work conditions in periods of 60 s with tc = 10 s and tv = 50 s. Cycle S6-40% 10 min Cycle S6-15%...
  • Page 547 As soon as it is possible to vary the frequency of the PWM, the maximum limit of the I t allowed it will adapt automatically in order to consider the losses in the commutations corresponding to each frequency. Equivalent duty cycles These drives will also admit any other equivalent duty cycles whose rms current is the one permitted in its derating graph.
  • Page 548 With internal fan AXIS DRIVE (synchronous) Currents at fc = 4 kHz 1.08 1.15 1.25 1.35 2.50 2.75 3.100 3.150 I S1 ( = I ) (Arms) 12.5 17.5 23.5 31.5 I S3 - 5% (Arms) Dissipated current (W) table 2 Axis drives.
  • Page 549 This cycle tries to reproduce the intermittent work conditions in periods of 10 minutes, with 4 minutes with load and 6 minutes without load. The current available at low portion of the cycle must be enough to provide the motor with magnetizing current. The 0.7 value comes from the ratio between the magnetizing current and the rated current in most asynchronous motors.
  • Page 550 With internal fan SPINDLE DRIVE (asynchronous) Currents at f = 8 kHz 1.25 1.35 2.50 2.75 2.85 3.100 3.150 3.200 I S1 ( = I ) (Arms) 0.7 x I (Arms) 12.6 18.9 22.4 25.9 39.2 49.7 67.9 I S6 - 40% (Arms) 16.9 23.4 35.1...
  • Page 551 Temperature sensors in the motor The motors have an overtemperature sensor (gage) PTC. It is a triple sensor which permits detecting overtemperatures in the windings of each phase. This sensor is connected to the drive through the feedback cable of the motor itself. Error 108 will be issued when the limit temperature for the motor is reached (which in Class F is 150 °C (302°F )).
  • Page 552 External monitoring of the real I t levels The user may know the effort level of the drive by checking the value of the I t product through the variable: real value: KV32 [F1109] tDrive The user may know the effort level of the motor by checking the value of the I t through the variable: real value:...
  • Page 553 [F1116] ExtBallastEnergyPulse Function: Contains the value of the energy pulse that can be dissipated through the external Ballast resistor in a compact drive. It is useful for the t protection of that resistor. Valid values: 0 ... 400000 (J). Default value: KV40 [F1115] I2tCrowbar Function:...
  • Page 554 User notes: Software v.06.xx ERVO DRIVE SYSTEM MANUAL PROTECTIONS ON DRIVE AND MOTOR Protection against a mains phase drop Appendix E Page 12 of 12...

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