AMX AXD-CP4/PB Especificaciones

Ver. 0002 (ing)SERVO-DRIVESYSTEMGeneral Manual

INITIAL WARRANTYAll products manufactured or marketed by FAGOR carry a 12-month warranty for the end user.In order to prevent the possibility of havin

EM - 44 Electronic Modules Ver. 00028DI-16DO11311119A119I3I2I1191919I7I6I5I4O11O10O9O8O15O14O13O12O3O2O1O7O6O5O4I3I4I1I2O4O3O2O1I19I18I1716DI-8DO191

Electronic Modules Ver. 0002 EM - 45EM.4.8 INTERNAL CONFIGURATIONThe following graphic is the internal diagram of the drive consisting of four basic

EM - 46 Electronic Modules Ver. 0002EM.5 MAINS FILTER, EMKIn order to comply with European Directive 89/336/CE on Electromagnetic Compatibility,a Ma

Electronic Modules Ver. 0002 EM - 47EM.6 CHOKE FOR AN "XPS" POWER SUPPLYWhen returning power to Mains, the impedance of Mains for the outg

EM - 48 Electronic Modules Ver. 0002EM.7 RESISTOR MODULES: RM-15, ER.These modules are designed for dissipating the energy excess at the Power Bus

Electronic Modules Ver. 0002 EM - 49Independent resistors ER.They are electrical resistors which may also be applied to the Compact Drives.Here belo

EM - 50 Electronic Modules Ver. 0002EM.8 CAPACITOR MODULE, CM-60This module stores the energyreturned while the motors arebraking. Also, in systemss

Electronic Modules Ver. 0002 EM - 51Very important: In case of microsurges or total mains power outage, this module guaranteesthe stability of the

EM - 52 Electronic Modules Ver. 0002EM.10 PROGRAMMING MODULE, DDS PROG MODULEThe Programming Module is a small portable unit that could replace a PC

Electronic Modules Ver. 0002 EM - 53EM.11 FAGOR CABLESPower cables:Fagor supplies the cables fortransferring electrical power to themotors via three

Synchronous Motors Ver. 0002 SM - 1SM. FXM SERIES SYNCHRONOUS MOTORSFXM series Fagor synchronous servo motors are AC Brushless, with permanent magne

EM - 54 Electronic Modules Ver. 0002EM.12 DIMENSIONSWhen making the electrical cabinet, also take into account the necessary room for theconnectors

Electronic Modules Ver. 0002 EM - 55

EM - 56 Electronic Modules Ver. 0002

Electronic Modules Ver. 0002 EM - 57EM.13 MODULE IDENTIFICATION.Each electronic module is identified by its "characteristics plate". It in

EM - 58 Electronic Modules Ver. 0002User notes:

Installation Ver. 0002 IN - 1IN. INSTALLATIONFollow these steps for a complete system installation:Prepare the supports for the module in the electr

IN - 2 Installation Ver. 0002IN.1 SECURING ALL THE ELEMENTS1.- Prepare the fixtures in the electrical cabinet. See the EM chapter -dimensions-.2.- U

Installation Ver. 0002 IN - 3Climate conditions:Watch that temperature in the electrical cabinet is always kept under 55°C (131°F). Neverinstall the

IN - 4 Installation Ver. 0002IN.2 INTER-MODULAR CONNECTIONIN.2.1 POWER BUS CONNECTIONUse 2 of the 3 plates and the washers and nuts supplied with ea

Installation Ver. 0002 IN - 5IN.2.2 GROUND CONNECTIONUse the 3rd plate and the washers and nuts supplied with each module for making theground conne

SM - 2 Synchronous Motors Ver. 0002SM.1 GENERAL CHARACTERISTICSStandard characteristics of FXM motors:The F class isolation on the motor maintain th

IN - 6 Installation Ver. 0002IN.2.4 CONNECTION TO THE EXTERNAL BALLAST RESISTORIf the energy to be dissipated when braking the motors is too high, a

Installation Ver. 0002 IN - 756342165 cm30 cm10 cm25.6"11.8"3.93"Dissipated power -W- 734 896 1042 1400 1400 (*) Ambient temperature

IN - 8 Installation Ver. 0002IN.3 POWER LINE CONNECTIONIN.3.1 CABLING OF THE SYSTEM TO MAINSPossible safety elements and adaptation to mains.Some ma

Installation Ver. 0002 IN - 9IN.3.1.2 FUSES.To protect the Servo Drive system, fuses must be included on the linescoming from Mains.The fuses are

IN - 10 Installation Ver. 0002IN.3.1.3 TRANSFORMER OR AUTOTRANSFORMER.If the Mains voltage has to be adapted to the system levels, an isolating tran

Installation Ver. 0002 IN - 11IN.3.1.5 SECTION OF THE CABLES FOR MAINS CONNECTION.The table on the right gathers the regulation applicable totypical

IN - 12 Installation Ver. 0002IN.3.1.6 MECHANICAL CHARACTERISTICS OF THE CONNECTORSModuleGap betweenterminals (mm)Max. tighteningtorque (Nm))Maximum

Installation Ver. 0002 IN - 13IN.3.2 MOTOR/DRIVE CONNECTIONWhen connecting the Drive module with its corresponding motor, connectterminal "U&qu

IN - 14 Installation Ver. 0002IN.3.2.1 GUIDE FOR SELECTING THE POWER CABLES OF THE MOTORSThe following tables serve as guides for selecting the powe

Installation Ver. 0002 IN - 15(A) In these cases, donot use angled sockets-AMC- .Rated Current (Amp)1.5 mm22.5 mm24 mm26 mm210 mm216 mm225 mm235 mm2

Synchronous Motors Ver. 0002 SM - 3SM.2 ELECTRICAL CHARACTERISTICSTorque/speedcharacteristic ofsynchronous motors:1 Work area for permanent duty cyc

IN - 16 Installation Ver. 0002Rated Current S1 (Amp)1.5 mm22.5 mm24 mm26 mm210 mm216 mm225 mm235 mm250 mm2SPM 90L xx.1 7,8SPM 90P xx.1 10,1SPM 100

Installation Ver. 0002 IN - 17IN.3.3 GROUND CONNECTIONThe ground connections of the drives (screwed-on plates) must go to a single point and fromthe

IN - 18 Installation Ver. 0002IN.4 CONNECTING THE MOTOR FEEDBACK TO THE DRIVERUse the cable with connectors supplied by Fagor to lead the motor feed

Installation Ver. 0002 IN - 19IN.5 BRAKE CONTROLTo govern the mechanical brake optionally incorporated on some motors, they have to besupplied with:

IN - 20 Installation Ver. 0002IN.6 CONTROL POWER SUPPLY FOR THE MODULESThe internal circuits of all electronic modules need 24 Vdc.The PS-25A and PS

Installation Ver. 0002 IN - 21Connection of the PS-25B and XPS power suppliesXPSPS-25B(Phoenix, 5.08 mm)13X5X218(Phoenix, 5.08mm)13(Phoenix, 7.62

IN - 22 Installation Ver. 0002IN.7 CONTROL AND COMMUNICATION SIGNALSConnect the encoder simulator signal to the CNC.If the Drive is going to work wi

Installation Ver. 0002 IN - 23IN.7.3 ANALOG VELOCITY COMMANDTake the analog velocity command from the CNC to the Drive.Connector X7 of the drive has

IN - 24 Installation Ver. 0002IN.7.4 SERCOS CONNECTIONIdentification.Distinguish each Drive by means of the 16-position rotary switch (Node_Select)

Installation Ver. 0002 IN - 25IN.7.5 SERIAL LINE CONNECTIONTo transfer the parameter table and set up the system, the drive must be connected to a P

SM - 4 Synchronous Motors Ver. 0002NON-VENTILATEDPower connMOTORSFXM11.20A.xx.xx0FXM11.30A.xx.xx0FXM11.40A.xx.xx0FXM12.20A.xx.xx0FXM12.30A.xx.xx0FXM

IN - 26 Installation Ver. 0002Serial line to DDS PROG MODULE.The line labeled as +5V is only required when using the Programming Module "DDS PR

Installation Ver. 0002 IN - 27IN.8 CONNECTIONSConnection of an SPD module with an SPM spindle motor and encoder feedback.U1234A/AB/B5678Io/Io110 V54

IN - 28 Installation Ver. 0002Connecting an AXD module with an FXM servomotor and resolver feedback.M3Holding Brake(Option)Axis MotorFXM...R0...MPC-

Installation Ver. 0002 IN - 29Connection of an SCD module with a spindle motor SPM and encoder feedback.X2INOUTX2110(Phoenix, 5.08mm)INOUTNODESELECT

IN - 30 Installation Ver. 0002IN.9 ELECTRICAL CABINET DRAWINGSLet us first see which is the system power-up procedure.The internal control circuits

Installation Ver. 0002 IN - 31This circuit configuration joins the error reset and the system power-up in a single push-button.Activating D2 activat

IN - 32 Installation Ver. 0002Modular systemwith PS-xxA.76354821Speed EnableDrive Enable18(Phoenix, 5.08mm)2.5 Amp(F) FuseSYSTEMOK765831System Spee

Installation Ver. 0002 IN - 33Modular systemwith PS-xxA

IN - 34 Installation Ver. 0002Modular system withXPS or PS-25B.76354821Speed EnableDrive Enable18(Phoenix, 5.08mm)2.5 Amp(F) FuseSYSTEMOK765831Syst

Installation Ver. 0002 IN - 35In this schematics, thecancelation of K1 isbeing delayed so themotor braking is done byreturning energy tomains.Modul

Synchronous Motors Ver. 0002 SM - 5Mo, Io: Stall torque, with Io current permitted without time limitMp, Imax: Peak torque and maximum currentVery i

IN - 36 Installation Ver. 0002Compact systemwith SercosCompact modules do not have the System_Speed_Enable signals.In this schematics, in spite of h

Installation Ver. 0002 IN - 37Compact systemwith Sercos

IN - 38 Installation Ver. 0002Mixed systemwith Sercos98SYSTEMOK765831System Speed EnableError Reset321X2X4XPS-xxREGENERATIVEPOWERSUPPLY76354821XAXIS

Installation Ver. 0002 IN - 39Brake connectionMixed systemwith Sercos

IN - 40 Installation Ver. 0002User notes:

Common Setup Ver. 0002 GSU - 1GSU. COMMON SETUPThis chapter describes some of the steps of the adjustment process for the drive moduleDDS. It only c

GSU - 2 Common Setup Ver. 0002GSU.2 DATA STORAGE STRUCTUREBoth the PC and the Programming module as well as the Drive itself have nonvolatilememory:

Common Setup Ver. 0002 GSU - 3GSU.3 WINDDSSETUPWith the Fagor program WinDDSSetup (Windows based) it is possible to set up the Drivethrough the seri

GSU - 4 Common Setup Ver. 0002GSU.4 ACCESS LEVELSA parameter table determines the operation of the Drive depending on the motor it governsand on the

Common Setup Ver. 0002 GSU - 5GSU.5 PARAMETER EDITINGRegarding the editing of parameters, the following warning must borne in mind:Important:The edi

SM - 6 Synchronous Motors Ver. 0002VENTILATEDPower connMOTORSFXM53.12A.xx.xx1FXM53.20A.xx.xx1FXM53.30A.xx.xx1FXM53.40A.xx.xx1FXM54.12A.xx.xx1FXM54.2

GSU - 6 Common Setup Ver. 0002GSU.6 SAVE INTO FLASH MEMORYIn order for the values given to the parameters during setup stay as a permanent Driveconf

Common Setup Ver. 0002 GSU - 7GSU.7 INITIALIZATION PROCESSTurning the Drive causes it to Reset. This reset may also be caused by the user:• By means

GSU - 8 Common Setup Ver. 0002GSU.8 TRANSFERRING PARAMETER TABLESFrom the Flash of the Drive to the hard disk of the PC:• at the WinDDSSetup program

Common Setup Ver. 0002 GSU - 9GSU.9 MOTOR IDENTIFICATIONEach motor appearing in this manual requires a specific configuration of the drive software.

GSU - 10 Common Setup Ver. 0002The motor selection window will be similar to one of these:Motor with Encoder feedback. Motor with Resolver feedback.

Common Setup Ver. 0002 GSU - 11Motor identification and initialization.The motor may be identified through the initialization button .Selection and

GSU - 12 Common Setup Ver. 0002User motor.When installing a non-Fagor motor (user motor) or to get access to certain "motorparameters", MP

Common Setup Ver. 0002 GSU - 13PositionLoopVelocityLoopCurrentLoopCNCMotor FeedbackInputCNC Drive Motor EncoderSimulatorMSS32 = xxx010PositionLoopV

GSU - 14 Common Setup Ver. 0002VelocityLoopCurrentLoopCNCMotor FeedbackInputCNC Drive Motor PositionLoopMSS32 = xxx011VelocityLoopCurrentLoopMotor

Common Setup Ver. 0002 GSU - 15FeedbackResolverRhoCorrectionRP5 -F1504-To Speed LoopVelocityFeedbackSV2 -S40-FeedbackSineGainRP3 -F1502-RP1 -F1500-R

Synchronous Motors Ver. 0002 SM - 7SM.3 DIMENSIONS

GSU - 16 Common Setup Ver. 00023 2CV10 -F305-CV11 -F306-CV1-F309-CV2-F310-Drive EnableX2(2)0V+24VUWCurrentUOffsetCurrentVOffsetGP1 -F700- P

Common Setup Ver. 0002 GSU - 17FrecuencyGainFcCurrent Command Filter:Low Pass FilterFcCP30100 Hz200 Hz300 Hz400 Hz500 Hz600 Hz700 Hz800 Hz8765432110

GSU - 18 Common Setup Ver. 0002User notes:

Velocity Drive Setup Ver. 0002 SSU - 1SSU. VELOCITY DRIVE SETUPThis chapter describes the setup procedure for DDS drive module when used as "Ve

SSU - 2 Velocity Drive Setup Ver. 0002Volts/Rev RatioSP20- VoltsSP21- Rev.X7(5)X7(4)V (+)V (-)VelocityLimitVelocityCommandFinalVelocityFeedbackSP10S

Velocity Drive Setup Ver. 0002 SSU - 3SSU.3 PARAMETERS FOR THE ENCODER SIMULATORThe Drive can generate a simulated incremental Encoder output with d

SSU - 4 Velocity Drive Setup Ver. 0002SSU.3.3 COUNTING DIRECTIONFor the turning direction of the diagram below (clockwise), the encoder simulator ge

Velocity Drive Setup Ver. 0002 SSU - 5X7(11)X7(10)X7(9)X7(8)Variable examples for OP1 and OP2SV2 -S00040- VelocityFeedbackSV7 -F01612- Velocit

SSU - 6 Velocity Drive Setup Ver. 0002The figure shows a possible look of the oscilloscope screen and its interpretation dependingon the gains set.D

Velocity Drive Setup Ver. 0002 SSU - 7Tek Hold: 2.5kS/s 130 Acqs --.-- kΩCh2 2 VCh1 2 V 100ms Ch 1 -1.08 VActualVelocity0CommandPeriod: 160 ms (6.2

SM - 8 Synchronous Motors Ver. 0002

SSU - 8 Velocity Drive Setup Ver. 0002SSU.5.2 SPEED-PI ADJUSTMENTThe Velocity Loop basically consists of a Proportional-Integral (PI) controller sh

Velocity Drive Setup Ver. 0002 SSU - 9For example, if SP4 = 1500 (150%)and SP1 = 30 (0.030 ARMS/rpm),The value for the proportional action Kp at low

SSU - 10 Velocity Drive Setup Ver. 0002DS1Voltage/Current Dip-SwitchWV1, WV2, WV3, WV4, WV5.WV4=0WV4=1SERCOSInterfaceInOutX7(3)X7(2)IdIP1=2IP1=1SP31

Velocity Drive Setup Ver. 0002 SSU - 11SP10SV7SpeedEnable FunctionRampsHalt FunctionError StopSP80<>0SP80=0SP70=0SP70=1JerkAcc. Emerg.SV8ORORS

SSU - 12 Velocity Drive Setup Ver. 0002SV8 -F01612-SV7 -F01613-Emergency Ramp (example):Speed(rpm)SP65015000.1SP65=1500/0.1/9.5= 1578 rad/

Velocity Drive Setup Ver. 0002 SSU - 13SV8 -F01612-SV7 -F01613-SP100=1SP80=300 rad/seg3Jerk Limit (example):Speed(rpm)01500TTimeLimit set by SP10SP6

SSU - 14 Velocity Drive Setup Ver. 0002SSU.5.4 REMOVAL OF THE INTERNAL COMMANDIf the adjusting process has been done, the parameters must be saved

Positioning Drive Setup Ver. 0002 PSU - 1PSU. POSITION DRIVE SETUPThis chapter describes some characteristic aspects for setting up the DDS module w

PSU - 2 Positioning Drive Setup Ver. 0002ErrorStop OR SpeedEnable Function mean s PWM_OFF if the motor has not stopped in a time period GP3Halt F

Positioning Drive Setup Ver. 0002 PSU - 3PSU.2 DIRECT FEEDBACKThe position feedback may be mounted directly on the moving load. From now on, this wi

Synchronous Motors Ver. 0002 SM - 9

PSU - 4 Positioning Drive Setup Ver. 0002PSU.3 PROPORTIONAL CONTROLIt is the basic element of the position loop. Its function at the drive is the sa

Positioning Drive Setup Ver. 0002 PSU - 5PSU.4 VELOCITY FEEDFORWARDIt is complementary to proportional control. Its function at the drive is identic

PSU - 6 Positioning Drive Setup Ver. 0002PSU.5 HOME SEARCHThe "Position Drive" is capable of carrying out an automatic home searching proc

Positioning Drive Setup Ver. 0002 PSU - 7Is the point with the searched marker pulse. When going over that point, which isalways done at low feedrat

PSU - 8 Positioning Drive Setup Ver. 0002Home search setting.It is possible to set the home searching direction and the boolean logic of the home sw

Positioning Drive Setup Ver. 0002 PSU - 9Mechanical location of the "home switch".In der to avoid possible repeatability problems when hom

PSU - 10 Positioning Drive Setup Ver. 0002PSU.5.2 LINEAR FEEDBACK WITH DISTANCE-CODED REFERENCEMARKSA slight movement of the motor is enough for the

Positioning Drive Setup Ver. 0002 PSU - 11The manufacturing of linear scales with distance-coded reference marks causes eachfeedback device to have

PSU - 12 Positioning Drive Setup Ver. 0002PSU.5.3 ABSOLUTE FEEDBACKThe absolute feedback on Fagor FXM motors registers the value of their angular po

Positioning Drive Setup Ver. 0002 PSU - 13PSU.7 FOLLOWING ERROR MONITORINGThe monitoring of following error prevents the axes from running away.The

Title Servo-Drive SystemType of documentation Description, Installation and setupof motors and digital drives.Internal code 04754001Model MAN REGUL (I

SM - 10 Synchronous Motors Ver. 0002Detail on the internal thread of the shaft.Detail on power and feedback connectors for FXM motors.- Power connec

PSU - 14 Positioning Drive Setup Ver. 0002PSU.8 MODULE FORMATThe "drive" can work in "module format". This is format mainly used

Positioning Drive Setup Ver. 0002 PSU - 15PSU.9 STARTUP SUMMARYGeneral parametersAP1: Selects the operating mode of the drive.= 3: Position loop usi

PSU - 16 Positioning Drive Setup Ver. 0002Home search parameters.PP147: Setting of the home search.Bit 5: = 0 The home switch is monitored (by defa

Positioning Drive Setup Ver. 0002 PSU - 17Various parameters for the position loop.PP49, PP50: Indicate the maximum position that can be reached by

PSU - 18 Positioning Drive Setup Ver. 0002User notes:

Applications Ver. 0002 AP - 1AP. APPLICATIONSThis chapter describes some particularities of the Servo Drive system:- Considerations for the system s

AP - 2 Applications Ver. 0002AP.1.1 CONSIDERATIONS AT THE 8050/55 CNCWhen using the Sercos interface, the Drives must be identified in the ring and

Applications Ver. 0002 AP - 3Use to parameter SERCOSLE to select the communications line for feedback signals whichmeans two work modes well differe

AP - 4 Applications Ver. 0002AP.1.1.2 OTHER 8050/55 CNC PARAMETERSThe analog velocity command at the 8050/55 CNC is adjusted by means of parametersP

Applications Ver. 0002 AP - 5These parameters and the way to calculate them are also applicable to generate the digitalSercos velocity command.This

Synchronous Motors Ver. 0002 SM - 11

AP - 6 Applications Ver. 0002AP.1.1.2.2 On spindle drives in open loop.The CNC 50/55 indicates to the spindle drive, through the Sercos ring, the de

Applications Ver. 0002 AP - 7[]MS f PROGAIN,FFGAIN...mVSP21SP20 (motor rpm)=⋅1244 4 3444AP.1.1.2.3 On spindle drives in closed loop, M19 or Rigid Ta

AP - 8 Applications Ver. 0002Example for a spindle in closed loop:Using the example for a spindle in open loop, we have:The machine has three gear r

Applications Ver. 0002 AP - 9Feedback parameter setting at the spindle drive in closed loop:With SERCOSLE=0Using external feedback requires all the

AP - 10 Applications Ver. 0002AP.1.2 CONSIDERATIONS AT THE DRIVESWhen using the Sercos interface, certain Drive parameters are no longer needed.If n

Applications Ver. 0002 AP - 11AP.1.3 CONTROL SIGNALS PLC8050/55 - DRIVESignals from the PLC 50/55 to the Drive.The Drive "Speed Enable" an

AP - 12 Applications Ver. 0002Signals from the Drive to the PLC 50/55.The Drive offers two bits to the PLC 50/55 to indicate the operating status.Th

Applications Ver. 0002 AP - 13This is an example of how to program a Fagor PLC.It handles the drive's control signals depending on its status a

AP - 14 Applications Ver. 0002AP.2 CONNECTION WITH THE FAGOR 8070 CNCThe Fagor 8070 CNC has some general configuration parameters similar to those o

Applications Ver. 0002 AP - 15AP.3 PARAMETER SET AND GEAR RATIOSThe Fagor Servo Drive System is configured by means of a parameter table.Some of the

SM - 12 Synchronous Motors Ver. 0002SM.4 BRAKE CHARACTERISTICSFXM motors have a brake that acts by friction against the shaft. It is used to hold th

AP - 16 Applications Ver. 0002Any parameter may be edited at any time (eight sets and eight gear ratios). The Backup andRestore operations affect th

Applications Ver. 0002 AP - 17MUX & GV32GV31GV30GV24GV22Set 0 0 0 0Parameter SetsSet 1 0 0 1Set 2 0 1 0Set 3 0 1 1Set 4 1 0 0Set 5 1 0 1Set

AP - 18 Applications Ver. 0002Operation with the Strobe always active:GV24 "Strobe" will stay active if it is not assigned to a digital in

Applications Ver. 0002 AP - 19"Acknowledge" signal for a set change set.This signal is used as confirmation of the change. It will go to &

AP - 20 Applications Ver. 0002AP.3.2 GEAR RATIOSThe gear ratios consist of parameters NP121, NP122 and NP123 only.These parameters indicate the mech

Applications Ver. 0002 AP - 21AP.3.2.1 CHANGE OF GEAR RATIO THROUGH SERCOS INTERFACEChange procedure via Sercos also applicable to the change of Se

AP - 22 Applications Ver. 0002AP.3.2.2 EXAMPLE OF A PLC PROGRAM FOR A GEAR CHANGE AT THEMAIN SPINDLEExample of a spindle with SERCOS interface on th

Applications Ver. 0002 AP - 23; -- EXAMPLE OF A PLC PROGRAM FOR A GEAR CHANGE AT THE MAIN SPINDLE --;; Information on resources in use:;; I41 = Det

AP - 24 Applications Ver. 0002;T10 = SET MSG10 ;Gear change time exceededRESETOUT OR NOT O1= RES MSG10;;M150 AND M156 = MOV 100 SANALOG = PLCCNTL ;G

Applications Ver. 0002 AP - 25;---------- AUXEND, /XFERINH, /FEEDHOLD ---------;DFU STROBE OR DFU TSTROBEOR DFU T2STROBE OR DFU MSTROBE = TG1 1 100

Synchronous Motors Ver. 0002 SM - 13SM.5.2 FEEDBACK CONNECTORDepending on the type of feedback integrated into the motor (encoder or resolver) theco

AP - 26 Applications Ver. 0002;-- EXAMPLE OF A PLC PROGRAM FOR A SET CHANGE AT THE MAIN SPINDLE (C AXIS) ---;; Information of the resources being u

Applications Ver. 0002 AP - 27M252 AND CPS R45 EQ $77 ;Selected C axis parameter table AND NOT SERPLCAC = RES M251 = RES M252;M262 AND CP

AP - 28 Applications Ver. 0002Note: the numerical data of these parameters and variables are given in the units used by the DOS-based "ddssetup

Applications Ver. 0002 AP - 29AP.4 VARIABLE MONITORINGThe continuous monitoring of internal variables of the Drive module may be carried out in twow

AP - 30 Applications Ver. 0002AP.4.2 DIGITAL ELECTRICAL SIGNALS FOR PLC OR MANOEUVERFour internal boolean variables of the Drive can be taken to the

Applications Ver. 0002 AP - 31AP.4.3 ANALOG OUTPUTS FOR THE "DIAL"Two internal variables of the Drive can be represented permanently on th

AP - 32 Applications Ver. 0002AP.5 HANDLING OF INTERNAL VARIABLES VIA SERCOSThe features documented in this chapter need the following software vers

Applications Ver. 0002 AP - 33Cyclic channel. Drive variables to be written from the PLC.Use PLC machine parameters P68-P87 associated with register

AP - 34 Applications Ver. 0002AP.6 SPINDLE MOTORS AT LOW RPMIn some cases, it would interesting to avoid the gear box on the machine spindle. Thatre

Applications Ver. 0002 AP - 35Note: the numerical data of these parameters and variables are given in the units used by the DOS-based "ddssetup

SM - 14 Synchronous Motors Ver. 0002SM.5.2.2 RESOLVER FEEDBACK CONNECTORIt is a 9-pin male Conney type connector which meets the IP65 sealing standa

AP - 36 Applications Ver. 0002AP.8 MOTOR STOP DUE TO TORQUE OVERLOADFrom software version 02.04 on, includes a new feature especially designed for s

Applications Ver. 0002 AP - 37AP.9 FLUX REDUCTION WITHOUT LOADSoftware version 04.01 includes a new feature for spindle motors.While the motor is tu

AP - 38 Applications Ver. 0002User notes:

Design Ver. 0002 DS - 1DS. DESIGNDS.1 AXIS MOTOR AND SERVO DRIVE SELECTIONDS.1.1 FIRST MOTOR PRE-SELECTIONThe motor must meet the specificationson T

DS - 2 Design Ver. 0002Torque due to weight of the table Mw :When the move does not move horizontally, but at an angle "δ" like in the pre

Design Ver. 0002 DS - 3DS.1.2 SECOND MOTOR PRE-SELECTIONCalculation of Inertia (J)The next step is to calculate the load that the motor has to move

DS - 4 Design Ver. 0002Motor inertia JMOTOR will be:which are data that may be obtained from the characteristics in chapter SM.Verify that in the c

Design Ver. 0002 DS - 5The typical values for tAC, tP , and tCin machine-tool cycle are:Calculation of the motor peak torque (MPEAK)The required

DS - 6 Design Ver. 0002DS.2 SPINDLE MOTOR AND SERVO DRIVEOn the spindles of machine tools, it is important to maintain a constant turning speed of t

Design Ver. 0002 DS - 7DS.2.1.1 POWER REQUIRED BY THE LOADThe power demanded from a spindle motor in a turning or machining center is determined byt

Synchronous Motors Ver. 0002 SM - 15SM.6 INSTALLATION AND MOUNTING CONDITIONSBefore installing it onto the machine, the anti-rust paint should be re

DS - 8 Design Ver. 0002In the case of a drill, the bit is mounted on the spindle itself and turns with this to drill thematerial as shown in the Ill

Design Ver. 0002 DS - 9DS.2.1.2 POWER NEEDED FOR THE ACC / DEC OF THE SPINDLE MOTORThere are three methods to control the acceleration and decelerat

DS - 10 Design Ver. 0002The capability demanded from the motor is determined by the following formulae:Capacity required by the Motorin the constant

Design Ver. 0002 DS - 11DS.2.2 CALCULATION OF ACCELERATION AND BRAKING TIMEAfter selecting the mechanical characteristics and the power of the Drive

DS - 12 Design Ver. 0002DS.3 POWER SUPPLY SELECTIONPower demanded to the Power Supply for servo systems with a synchronous motor (axis):where:Pow Mo

Design Ver. 0002 DS - 13Power demanded to the Power supply for servo systems with an asynchronous motor(spindle):where:Pm Maximum power that the ser

DS - 14 Design Ver. 0002Selection Criteria.1. The "Power Supply" module must be capable of supplying the power required bythe set of servo

Design Ver. 0002 DS - 154. Use the following sheet to calculate the input transformer, and the section of themains cables.Rated current throughthe m

DS - 16 Design Ver. 0002DS.4 CM-60 SELECTION GUIDEThe CM-60 is a module that increases the electrical capacitance of the power bus in 4millifarads.

Design Ver. 0002 DS - 17Once the values of Wmx and Pe are calculated, follow these flow charts.Power supplies for Modular drives.NONOExternalBallas

SM - 16 Synchronous Motors Ver. 0002AC BRUSHLESS SERVOMOTORFagor Automation S. Coop.(Spain)Type FXM 32.20A.R0.000 Ver.: 00 SN F170000.01Mo

DS - 18 Design Ver. 0002Compact Drives.NONOExternalBallastYESNOWmx > 2kWs (0.4 s)Pe > 120WSCD, ACD1.15ER-43/350YESNONOExternalBallastYESNOWmx

Parameters, Variables and Commands Ver. 0002 A - 1APPENDIX A:PARAMETERSVARIABLES & COMMANDS

A - 2 Parameters, Variables and Commands Ver. 00021. GROUP APPLICATION “A”. ...

Parameters, Variables and Commands Ver. 0002 A - 3FP36 FMA (F610) MotorInductance7 ...

™ 8„™ Ver. 000210. MONITORING GROUP “K” ... 25KP1 F (F1112) Dri

Parameters, Variables and Commands Ver. 0002 A - 513. ANALOG AND DIGITAL OUTPUT GROUP “O” ...

™ 8„™ Ver. 0002PV108 W (S108) FeedrateOverride ...

Parameters, Variables and Commands Ver. 0002 A - 7SP40.# O (S125.#) VelocityThresholdNx...

A - 8 Parameters, Variables and Commands Ver. 0002NOTATION USED :[Group][Type][Index][.Range] where:Group: Identifying character of the logic group

Parameters, Variables and Commands Ver. 0002 A - 9Identification of parameters:After the name, the following characteristics are described:Parameter

Asynchronous Motors Ver. 0002 AM - 1AM. SPM ASYNCHRONOUS MOTORSFagor asynchronous motors, also called induction motors, are designed to work on mach

A - 10 Parameters, Variables and Commands Ver. 00021. GROUP APPLICATION “A”.Function: It determines the way it operates as far as the system configu

Parameters, Variables and Commands Ver. 0002 A - 11BV7 O (F203) DriveEnableDncFunction: Controls the DriveEnable function through the serial line.De

A - 12 Parameters, Variables and Commands Ver. 0002CP6 FMA (F303) CurrentAdaptationLowerLimitFunction: Is the upper rpm limit of the speeds consider

Parameters, Variables and Commands Ver. 0002 A - 13CV1 s (F309) CurrentUFeedbackCV2 s (F310) CurrentVFeedbackFunction: Display of the feedback value

A - 14 Parameters, Variables and Commands Ver. 0002DV9 (S12) Class2Diagnostics (Warnings)Function: The DV9 variable contains the numeric data which

Parameters, Variables and Commands Ver. 0002 A - 15DV14 (F400) ErrorsInDncFormatFunction: For reading all the errors currently active. See appendix

A - 16 Parameters, Variables and Commands Ver. 0002DV32 (S134) MasterControlWordFunction: The DV32 variable contains the numeric data which in 16-bi

Parameters, Variables and Commands Ver. 0002 A - 175. SIMULATOR ENCODER GROUP “E”.EP1 O (F500) EncoderSimulatorPulsesPerTurnFunction: Number of pul

A - 18 Parameters, Variables and Commands Ver. 00026. FLUX GROUP “F”FP1 OMA (F600) MotorFluxProportionalGainFP2 OMA (F601) MotorFluxIntegralTimeFP20

Parameters, Variables and Commands Ver. 0002 A - 19GP3 O (F702) StoppingTimeoutFunction: After deactivating the SPEED_ENABLE and once the GP3 time p

AM - 2 Asynchronous Motors Ver. 0002AM.2 ELECTRICAL CHARACTERISTICSElectric characteristics table of the new SPMxxx.xx.xxxxx.1 motors:(*) Maximum s

A - 20 Parameters, Variables and Commands Ver. 0002GV3 s (F705) ParameterChecksumVersion: Available from version 01.04 on.GV4 (S380) DCBusVoltageFun

Parameters, Variables and Commands Ver. 0002 A - 21GV22 W (S217) ParameterSetPreselectionFunction: Determines which is the parameter set that will b

A - 22 Parameters, Variables and Commands Ver. 0002GV37 (F2012) PlcErrorsFunction: When the PLC indicates through the display Status a compiling or

Parameters, Variables and Commands Ver. 0002 A - 239. GROUP OF INPUTS “I”IP1.# O (F900.#) AnalogReferenceSelectFunction: Selects the analog input us

A - 24 Parameters, Variables and Commands Ver. 0002IV1 s (F905) AnalogInput1IV2 s (F906) AnalogInput2Function: They monitor de input voltages for an

Parameters, Variables and Commands Ver. 0002 A - 2510. MONITORING GROUP “K”KP1 F (F1112) DriveI2tErrorEffectFunction: It determines whether the i2t

A - 26 Parameters, Variables and Commands Ver. 0002KV32 (F1109) I2tDriveKV36 F (F1111) I2tMotorFunction: Variables being used internally by the syst

Parameters, Variables and Commands Ver. 0002 A - 2711. MOTOR GROUP “M”MP1 O (S141) MotorTypeFunction: Motor identification and initialization. Assi

A - 28 Parameters, Variables and Commands Ver. 0002MP12 FMA (F1208) MotorNominalPowerFunction: Nominal Power.Valid values: 1..2000 tenths of Kw.M

Parameters, Variables and Commands Ver. 0002 A - 2912. SERCOS GROUP “N”NP1 FM (F2200) ReducedActuatedMomentumOfInertiaPercentageFunction: (Parameter

Asynchronous Motors Ver. 0002 AM - 3SPMxxx.xx.xxxxx.0 motors differ from these only on the values of their current:(*) Maximum speed when special be

A - 30 Parameters, Variables and Commands Ver. 0002NP123 O (S123) FeedConstantFunction: They define the linear movement of the machine and the axis

Parameters, Variables and Commands Ver. 0002 A - 3113. ANALOG AND DIGITAL OUTPUT GROUP “O”OP1 *O (F1400) DA1IDNOP2 *O (F1401) DA2IDNFunction: They i

A - 32 Parameters, Variables and Commands Ver. 0002OP10 O (F1404) O1IDNOP11 O (F1405) O2IDNOP12 O (F1406) O3IDNOP13 O (F1407) O4IDNFunction: They id

Parameters, Variables and Commands Ver. 0002 A - 33OV10 O (F1410) DigitalOutputsFunction: The OV10 variable contains a binary coded numeric value wh

A - 34 Parameters, Variables and Commands Ver. 000214. GROUP FOR THE POSITIONING DRIVE “P”This group will be operative from software version 04.01 o

Parameters, Variables and Commands Ver. 0002 A - 35PP42.# O (S42.#) HomingAccelerationFunction: It is the acceleration applied when the homing opera

A - 36 Parameters, Variables and Commands Ver. 0002PP57 O (S57) PositionWindowFunction: It indicates the maximum difference allowed between the real

Parameters, Variables and Commands Ver. 0002 A - 37PP103 Os (S103) ModuloValueFunction: Module value. If bit 7 of PP76 selects the "module form

A - 38 Parameters, Variables and Commands Ver. 0002PP150 Os (S150) ReferenceOffset1Function: Parameter setting the position of the reference mark wi

Parameters, Variables and Commands Ver. 0002 A - 39PP243.# O (S393.#) ModuloComandModeFunction: When the Modulo function is active, the interpreta

Evolution Version items9702 First version9707 PS-65, RM-15, CM-60, APS24, AXD3.., y SPD3..PowerPro 110A, new motors FXM.9802 Compact 8,25, 50,75, DDS

AM - 4 Asynchronous Motors Ver. 0002AM.4 BRAKE CHARACTERISTICS (OPTIONAL)AM.5 CHARACTERISTICS OF THE ROLLER BEARINGSThis table refers to the motor b

A - 40 Parameters, Variables and Commands Ver. 0002PV21 W (F1321) JogNegativeSignalFunction: Digital signal used in the "manual.mc" progra

Parameters, Variables and Commands Ver. 0002 A - 41PV47 Ws (S47) PositionCommandPV51 s (S51) PositionFeedback1PV53 s (S53) PositionFeedback2Function

A - 42 Parameters, Variables and Commands Ver. 0002PV173 s (S173) MarkerPositionAFunction: In the homing process, when the drive detects the referen

Parameters, Variables and Commands Ver. 0002 A - 43PV208 (S408) ReferenceMarkerPulseRegisteredFunction: This binary parameter is activated when the

A - 44 Parameters, Variables and Commands Ver. 000215. SERCOS COMMUNICATION GROUP “Q”QP1 (S1) ControlUnitCycleTimeFunction: Read-only parameter that

Parameters, Variables and Commands Ver. 0002 A - 4516. ROTOR SENSOR GROUP “R”RP1 O (F1500) FeedbackSineGainRP2 O (F1501) FeedbackCosineGainFunction

A - 46 Parameters, Variables and Commands Ver. 0002RV4 (F1509) FeedbackRadiusValid values: 0 .. 32767Version: Available from version 02.01 on.RV5 (F

Parameters, Variables and Commands Ver. 0002 A - 47RC1 O (F1509) EncoderParameterStoreCommandFunction: It has several functions:- For Sincos, it for

A - 48 Parameters, Variables and Commands Ver. 000217. SPEED GROUP “S”.SP1.# * (S100.#) VelocityProportionalGainSP2.# * (S101.#) VelocityIntegralTim

Parameters, Variables and Commands Ver. 0002 A - 49SP12 FM (F1600) MotorRatedSpeedFunction: Synchronous: Rated SpeedAsynchronous: Base Speed. The co

Asynchronous Motors Ver. 0002 AM - 5706090801101001000 200030004000altitude a.s.l. (m)torque (%)POWER/AMBIENTCHARACTERISTIC5050°60°40°temperature (°

A - 50 Parameters, Variables and Commands Ver. 0002SP42 O (S124) StandStillWindowFunction: Margin of low speeds that will activate logic mark “nfeed

Parameters, Variables and Commands Ver. 0002 A - 51SP80.# O (S349.#) JerkLimitFunction: Limits the "jerk" of the velocity command. In othe

A - 52 Parameters, Variables and Commands Ver. 0002SV3 (S332) nFeedbackMinorNxFunction: Logic mark associated to: nfeedback < nxSee parameter

Parameters, Variables and Commands Ver. 0002 A - 5318. TORQUE AND POWER GROUP "T".TP1 Os (S126) TorqueThresholdTxFunction: Torque threshol

A - 54 Parameters, Variables and Commands Ver. 0002TV50 s (F1700) PowerFeedbackFunction: Display of the power feedback value.Valid values: -100..100

Parameters, Variables and Commands Ver. 0002 A - 5519. INTERNAL GENERATOR GROUP “W”WV1 W (F1800) GeneratorShapeFunction: It indicates the waveform o

A - 56 Parameters, Variables and Commands Ver. 000220. MISCELLANEOUS GROUP “X”These variables are available from version 02.01 on.XV0 (S0) NullIdXV1

Parameters, Variables and Commands Ver. 0002 A - 57S- 0 X V 0 NullIdS- 1 Q V 1 ControlUnitCycleTimeS- 2 Q V 2 CommunicationCycleTimeS- 3 Q V 3 Short

A - 58 Parameters, Variables and Commands Ver. 0002S- 383 K V 6 MotorTemperatureS- 392 S P 110 VelocityFilterTimeConstantS- 400 P V 200 HomeSwitchS-

Parameters, Variables and Commands Ver. 0002 A - 59F- 1201 M P 5 MotorPolesPairsF- 1202 M P 6 MotorRatedSupplyVoltageF- 1203 M P 7 MotorPowerFactorF

AM - 6 Asynchronous Motors Ver. 0002423162000speed (rpm)power (kw)S6-40%S1SPM 90L .11000 4000 6000 80001.25 Drive51.15 DriveS1S6-40%1.25 Drive1.15

A - 60 Parameters, Variables and Commands Ver. 0002F- 1551 R P 52 Feedback2CosineGainF- 1552 R P 53 Feedback2SineOffsetF- 1553 R P 54 Feedback2Cosin

Parameters, Variables and Commands Ver. 0002 A - 61DS1Voltage/Current Dip-SwitchWV1, WV2, WV3, WV4, WV5.WV4=0WV4=1SERCOSInterfaceInOutX7(3)X7(2)IdIP

A - 62 Parameters, Variables and Commands Ver. 0002User notes:

Errors Ver. 0002 B - 1APPENDIX B:LIST OF ERRORSWARNINGSANDTROUBLESHOOTING

List of errors and warnings: (page)EFFECT OF THE SYSTEM ERRORS ...

Errors Ver. 0002 B - 3602 Motor feedback B signal saturated. ...

B - 4 Errors Ver. 0002EFFECT OF THE SYSTEM ERRORSActivating any of the errors listed in this appendix causes certain effects on the system thatdepen

Errors Ver. 0002 B - 5LIST OF ERRORS1 Internal Error.Get in touch with Fagor Automation.2 Internal Error.Get in touch with Fagor Automation.3 While

B - 6 Errors Ver. 0002107 Drive overtemperature. (CPU board)The ambient temperature of the drive is too high. It must be lowered.108 Motor overtemp

Errors Ver. 0002 B - 7211 Internal Error.Get in touch with Fagor Automation.212 Overcurrent.- Too much current at the Drive module. Drive malfunctio

Asynchronous Motors Ver. 0002 AM - 74286102000speed (rpm)power (kw)S6-40%S1SPM 112ME .11000 4000 6000 80001.25 Drive1.35 DriveSPM 100LBESPM 112ME21

B - 8 Errors Ver. 0002305 Protocol error at the interface between the Power Supply and the Drive.- Communication errors between the Power Supply mod

Errors Ver. 0002 B - 9403 MST fault404 MDT fault405 Err_InvalidPhase406 Err_PhaseUpshift407 Err_PhaseDownshift- 400 series errors refer to various c

B - 10 Errors Ver. 0002602 Motor feedback B signal saturated.- Defective rotor sensor cabling, encoder or X4 card. RP1 (gain of the sine signal of t

Errors Ver. 0002 B - 11805 Encoder detected.The Drive has been set to have a Resolver (GP2) and the motor feedback is not of this type.Maybe the mot

B - 12 Errors Ver. 0002LIST OF WARNINGSA warning on the 7-segment display appears with an "A" instead of an "E" which is used to

Errors Ver. 0002 B - 13The Ballast kicks in without apparent reason.The motor cable leaks to ground.The motor loses torque, it does not reach the sp

B - 14 Errors Ver. 0002User notes:

References Ver. 0002 C - 1APPENDIX C:REFERENCESOF FAGORPRODUCTS

C - 2 References Ver. 0002Motor referencesExample: FXM 34.30A . E1 . 0 0 0FEEDBACK TYPEE0Encoder SincosTMR0Resolver TamagawaTMSIZEFLANGE ANDSHAFT0

References Ver. 0002 C - 3SPINDLE MOTOR90L 2.2/3.3 90P 3/4100LBE 4/6 112ME 5.5/8112LE 7.5/11 112XE

AM - 8 Asynchronous Motors Ver. 000242861210142000speed (rpm)power (kw)S6-40%S1SPM 112LE .11000 4000 6000 80001.35 Drive2.50 Drive4286121018142000s

C - 4 References Ver. 0002References of Modular DrivesExample: 1 Width 77mm (08, 15, 25, 35 Amp)INTERFACE2 Width 117mm (50, 75 Amp)3 Wid

References Ver. 0002 C - 5mmKg·m2Nm°CKw÷ 25.4÷ 0.113x 1.8inchlb·in·sec2lb·in°FHP÷ 0.113÷ 0.746+ 32Metric ImperialConversion tabletoExample:25A (25

C - 6 References Ver. 0002References of Compact DrivesExample:AXIS COMPACT DRIVE08 (4 Amp, 8 Amp)15 (7.5 Amp, 15 Amp)25 (12.5 Amp, 25 Amp)

References Ver. 0002 C - 7References of other necessary elements.Example: EEC - 20LENGTH (m)1, 3, 5, 10, 15, 20, 25.EEC ENCODER EXTENSION CAB

C - 8 References Ver. 0002Example: MC 23POWER CONNECTOR FOR FXME0C 12ENCODER FEEDBACK CONNECTOR (12 pins)R0C 923 (23 Amp)MAXIMUM CURRENT46

References Ver. 0002 C - 9Manufacturing CodesPOWER SUPPLIES AND ACCESSORIESPS-25 84070000 XPS-25 84070005 POWER-PRO 36A 04600050PS-65 84070002 XPS-6

C - 10 References Ver. 0002MODULAR AXES DRIVESAXD 1.08-A1-0 84010000 AXD 1.08.S0.0 84010013 AXD 1.08-SI-0 84010010AXD 1.08-A1-1 84010001 AXD 1.08

References Ver. 0002 C - 11Accessories supplied in a plastic bag with the modules.ELEMENTConnection plates (77 mm)Connection plates (117 mm)Hex nut

C - 12 References Ver. 0002Overview of FAGORsubsidiaries:SPAINHeadquarters:FAGOR AUTOMATION S.COOP.Bº San Andrés s/n, Apdo. 144E-20500 ARRASATE-MOND

Compatibility Ver. 0002 D - 1APPENDIX D:COMPATIBILITY

Asynchronous Motors Ver. 0002 AM - 9105201525302000speed (rpm)power (kw)S6-40%S1SPM 132X .11000 4000 6000 80003.100 Drive105201525302000speed (rpm)

D - 2 Compatibility Ver. 00021. MAINS VOLTAGE: 380 - 460Originally, the drives and power supplies were designed for a mains voltage of 380 Vac,50H

Compatibility Ver. 0002 D - 3Replacing a 380 Vac module with a 460Vac module:New drive "MSC 12A".New capacitor module "01A".New

D - 4 Compatibility Ver. 0002User notes:

E - 1 Protections Ver: 0002APPENDIX E:PROTECTIONSON DRIVES AND MOTORS

E - 2 Protections Ver: 0002PROTECTIONS AGAINST OVERCURRENT ANDOVERTEMPERATURE ON DRIVES AND MOTORSThis document describes the various limitations an

Protections Ver: 0002 E - 31.1 PEAK CURRENT LIMIT AT THE DRIVEThe operator may adjust the value of parameter CP20 -F00307- to limit the current com

E - 4 Protections Ver: 00021.3 PERMANENT DUTY CYCLES ALLOWED TO THE DRIVE,CALCULATING THE I2T PRODUCT.Chapter EM indicates which is the maximum cur

Protections Ver: 0002 E - 5Calculating the I2t implies an ambient temperature of 40°C (104°F). For temperatures of up to55°C (131°F) (the maximum a

E - 6 Protections Ver: 0002Typical cycle of the drive for synchronous motors.The synchronous drive withstands, for example, cycles equivalent to thi

Protections Ver: 0002 E - 72. PROTECTIONS OF THE MOTORThe mechanical power limit of a motor is determined, among other causes, by the maximumtempera

AM - 10 Asynchronous Motors Ver. 0002105201525352000speed (rpm)power (kw)S6-40%S1SPM 160M .11000 4000 6000 80003.150 Drive3.100 Drive301020402000sp

E - 8 Protections Ver: 00022.3 PERMANENT DUTY CYCLES ALLOWED FOR THE MOTOR,CALCULATING THE I2T PRODUCT.The drive software offers a procedure to calc

Protections Ver: 0002 E - 93. EXTERNAL MONITORING OF THE REAL I2TLEVELS.The user may know the effort level of the drive by checking the value of the

E - 10 Protections Ver: 00024. PROTECTION OF THE EXTERNAL BALLASTRESISTORFrom software version 03.07 on, the Drive internally calculates the i2t to

Protections Ver: 0002 E - 115. PROTECTION AGAINST A MAINS PHASE DROPFrom drive software version 03.07 on and with MSC board version 06A or later, th

E - 12 Protections Ver: 0002User notes:

Asynchronous Motors Ver. 0002 AM - 111020602000speed (rpm)power (kw)S6-40%S1SPM 180MA .01000 4000 6000 80003.150 Drive3040501020502000speed (rpm)po

AM - 12 Asynchronous Motors Ver. 0002AM.7 DIMENSIONS90 (3.54)40 (1.57)152 (5.98)9 (0.35)140 (5.51)160 (6.3)80 (3.15)5 (0.19)ø125 (4.92)268 (10.55)42

Asynchronous Motors Ver. 0002 AM - 1340 (1.57)152 (5.98)9 (0.35)140 (5.51)160 (6.3)5 (0.19)ø203 (7.99) - 215 (8.46)345 (13.58)497 (19.56)56 (2.2)135

RELATED DOCUMENTATIONSelectionDescriptionInstallationan setupFagor Motors and DrivesOrdering HandbookServo Drive SystemCode: 04754001Quick ReferenceFa

AM - 14 Asynchronous Motors Ver. 0002180 (7.08)Pg21297 (11.69)135 (5.31) 122 (4.8)24 (0.94)13 (0.51)4 (0.15)61 (2.4)200 (7.87)156 (6.14)215(8.46)54

Asynchronous Motors Ver. 0002 AM - 15SPM 112 MESHAFT8 (0.31)28 (1.1)7 (0.27)M1050 (1.96)31 (1.22)60 (2.36)4 (0.16)70 (2.75)518 (20.39)477 (18.78)321

AM - 16 Asynchronous Motors Ver. 0002SPM 112 LESHAFT8 (0.31)38 (1.49)10 (0.39)M1280 (3.15)70 (2.75)41 (1.61)80 (3.15)4 (0.16)70 (2.75)588 (23.15)547

Asynchronous Motors Ver. 0002 AM - 17SPM 112 XESHAFT8 (0.31)38 (1.49)10 (0.39)M1280 (3.15)70 (2.75)41 (1.61)80 (3.15)4 (0.16)70 (2.75)698 (27.48)657

AM - 18 Asynchronous Motors Ver. 0002SPM 132 LSPM 132 XSPM 132 XLSHAFT8 (0.31)42 (1.65)12 (0.47)M16110 (4.33)100 (3.93)45 (1.77)36 (1.41)1" GAS

Asynchronous Motors Ver. 0002 AM - 19SPM 160 MSHAFT9 (0.35)48 (1.88)14 (0.55)M16110 (4.33)100 (3.93)51.5 (2.02)36 (1.41)108 (4.25)110 (4.33)5 (0.19)

AM - 20 Asynchronous Motors Ver. 0002SPM 160 LSHAFT9 (0.35)48 (1.88)14 (0.55)M16110 (4.33)100 (3.93)51.5 (2.02)36 (1.41)108 (4.25)110 (4.33)5 (0.19)

Asynchronous Motors Ver. 0002 AM - 21SPM 180 MASHAFT10 (0.39)55 (2.16)16 (0.63)M20110 (4.33)100 (3.93)59 (2.32)42 (1.65)300 (11.81)Pg361/2" GAS

AM - 22 Asynchronous Motors Ver. 0002123AM.8 CONNECTORS1Terminal box for power and brake (option)connection.2Encoder feedback connector3Terminal box

Asynchronous Motors Ver. 0002 AM - 23AM.8.2 FEEDBACK CONNECTION. ENCODERIt is done through a 12-pin male Conney connector which assures a sealing de

General IndexSM. FXM SERIES SYNCHRONOUS MOTORS ... SM - 1SM.1 GENERAL CHARACTERISTICS ...

AM - 24 Asynchronous Motors Ver. 0002AM.9 INSTALLING RECOMMENDATIONSThe motor should be installed in a clean, dry and well ventilated place.It shoul

Asynchronous Motors Ver. 0002 AM - 25AM.9.1 VENTILATIONSPM series motors carry an electric fan that generates a constant air flow regardless of them

AM - 26 Asynchronous Motors Ver. 0002AM.9.3 AMBIENT CONDITIONSBefore mounting it onto the machine, the anti-rust paint should be removed from the ro

Asynchronous Motors Ver. 0002 AM - 27AM.10.3 COUPLING THROUGH GEAR BOXESRefer to the "direct coupling" section and to any information pro

AM - 28 Asynchronous Motors Ver. 0002AM.12 BEARINGSThe special bearings are the ball-bearing type, suitable for high speeds and lubricated withspeci

Asynchronous Motors Ver. 0002 AM - 29AM.13 MAINTENANCE INTERVALSFirst inspection: in normal cases and after about 500 hours of operation, at any rat

AM - 30 Asynchronous Motors Ver. 0002AM.14 IDENTIFICATION BOARDThe identification plate of each motor has the shape shown in the next figure.AM.15 R

Electronic Modules Ver. 0002 EM - 1EM. ELECTRONIC MODULESThe Fagor Servo-Drive System has a modular stackable design.It is connected directly to a t

EM - 2 Electronic Modules Ver. 0002

Electronic Modules Ver. 0002 EM - 3

EM.2 MODULAR DRIVE (AXES AND SPINDLE)...EM - 17EM.2.1 GENERAL CHARACTERISTICS, MODULA

EM - 4 Electronic Modules Ver. 0002

Electronic Modules Ver. 0002 EM - 5EM.1 POWER SUPPLY MODULEThey are directly connected to 380-460 Vac, 50/60 Hz Mains and provide a dc voltage outpu

EM - 6 Electronic Modules Ver. 0002EM.1.1 GENERAL CHARACTERISTICS OF THE NON-REGENERATIVE POWER SUPPLIESIMPORTANT NOTE: PS-25A and PS-65A power sup

Electronic Modules Ver. 0002 EM - 7IMPORTANT NOTE: The PS-25B model power supply admits a Mains voltageof up to 460 Vac.See appendix D to know about

EM - 8 Electronic Modules Ver. 0002EM.1.2 GENERAL CHARACTERISTICS OF THE REGENERATIVEPOWER SUPPLIESXPS-25 Module XPS-65 ModulePower supply (Vmains)

Electronic Modules Ver. 0002 EM - 9EM.1.3 POWER SUPPLY CONNECTORS1. Power connectors for Mains.2. Power connectors for the external Ballast resistor

EM - 10 Electronic Modules Ver. 0002

Electronic Modules Ver. 0002 EM - 11EM.1.3.1 POWER CONNECTORS OF THE POWER SUPPLIESTerminal strip for connection to Mains.The phases may be connecte

EM - 12 Electronic Modules Ver. 0002If this jumper between "Ri" and "L+" is eliminated and no external resistor is connected, er

Electronic Modules Ver. 0002 EM - 13In the case of the PS-25B power supply, it will be enough to have all three phases of MainsThe start process beg

IN.4.2 REC RESOLVER CONNECTION ...IN - 18IN.5 BRAKE CONTROL...

EM - 14 Electronic Modules Ver. 0002EM.1.3.2 X1 CONNECTOR, INTERNAL BUSInterconnects all the elements of the Servo Drive System. All the modules pow

Electronic Modules Ver. 0002 EM - 15Procedure to turn on the Power Supply module:1. At the PS-xxA models.Supply 24 Vdc to the control circuits of th

EM - 16 Electronic Modules Ver. 0002EM.1.3.4 CONNECTORS X3, X4, X5, X6 (XPS AND PS-25B)All four connectors belong to the Auxiliary Power Supply.X3 r

Electronic Modules Ver. 0002 EM - 17EM.2 MODULAR DRIVE (AXES AND SPINDLE)There are modular drives specific for controlling axes (synchronous motors

EM - 18 Electronic Modules Ver. 0002EM.2.2 DERATING OF THE MODULAR DRIVESThe following graphs show the maximum rms current in continuous duty cycle

Electronic Modules Ver. 0002 EM - 1943°C (°F)CurrentS1 (Amp)35 (95)5355 (131)SPD 2.75 SPD 3.15092°C (°F)CurrentS1 (Amp)40 (104)10655 (131)SPD 1.3527

EM - 20 Electronic Modules Ver. 0002EM.2.3 CONNECTORS OF THE MODULAR DRIVEThe next figure shows the elements appearing on the front plate of the mod

Electronic Modules Ver. 0002 EM - 21EM.2.3.1 POWER CONNECTORSThe upper connectors are forconnecting the motor.The ground connection of the cableshie

EM - 22 Electronic Modules Ver. 000211.4°C (°F)CurrentS1 (Amp)45 (113)12.555 (131)ACD 1.25 ACD 2.50ACD 2.75 SCD 2.7524°C (°F)CurrentS1 (Amp)50 (122)

Electronic Modules Ver. 0002 EM - 23Axis Compact Drive(Note 1)Spindle Compact Drive (Note 2)ACD1.08ACD1.15ACD1.25ACD2.50ACD2.75SCD1.08SCD1.15SCD1.25

APPENDIX:PARAMETERS, VARIABLES & COMMANDS ...APPENDIX ALIST OF ERRORS, WARNINGS AND TROUBLESHO

EM - 24 Electronic Modules Ver. 0002EM.3.3 CONNECTORS OF THE COMPACT DRIVEThe next diagram shows the elements appearing on the front plate of the Co

Electronic Modules Ver. 0002 EM - 25EM.3.3.1 POWER CONNECTORSThey are used for connecting thecompact drive to mains (L1, L2, L3) andto the motor (U

EM - 26 Electronic Modules Ver. 0002Before handling these terminals proceed as follows:1st Disconnect the Mains voltage at the electrical cabinet.2n

Electronic Modules Ver. 0002 EM - 27EM.3.3.2 CONNECTOR X1Compact Drives internallygenerate the 24Vdc necessaryfor the internal circuits.In regular o

EM - 28 Electronic Modules Ver. 0002EM.4 ASPECTS COMMON TO BOTH MODULAR AND COMPACTEM.4.1 STATUS DISPLAYDuring the module start up, in order to chec

Electronic Modules Ver. 0002 EM - 29EM.4.2 SERCOS CONNECTIONThe IEC 1491 SERCOS interface is an international standard for digital communicationsbet

EM - 30 Electronic Modules Ver. 0002EM.4.3 CONNECTOR X2, CONTROLModular drive:When the control circuit is supplied with 24 Vdc (pins 7 and 8) the dr

Electronic Modules Ver. 0002 EM - 31Compact DriveIntegrates specific functions of the Power Supply and modular Drives.Specific of the Power Supply:

EM - 32 Electronic Modules Ver. 0002EM.4.3.1 SPEED ENABLE, DRIVE ENABLENormal operation mode.1. Activate inputs “Drive Enable” and “Speed Enable”Th

Electronic Modules Ver. 0002 EM - 33Deactivation of the Drive Enable inputThe “Drive Enable” input (pin 2) controls the Current Loop by hardware.Whe

Manufacturer: Fagor Automation, S. Coop.Barrio de San Andrés s/n, C.P. 20500, Mondragón -Guipúzcoa- (SPAIN)We hereby declare, under our responsibil

EM - 34 Electronic Modules Ver. 0002EM.4.4 CONNECTOR X3This connector offers two possible configurations:- encoder simulator- second feedbackEM.4.4.

Electronic Modules Ver. 0002 EM - 35EM.4.4.2 X3, DIRECT FEEDBACKFor direct feedback, X3 is a high density 15-pin SUB-D type female connectorThis con

EM - 36 Electronic Modules Ver. 0002EM.4.5 CONNECTOR X4, FEEDBACKConnector X4 receives the signals coming from the feedback at the motor shaft.The f

Electronic Modules Ver. 0002 EM - 37EM.4.6 CONNECTOR X5, SERIAL LINETo set the configuration parameters and adjust the Drive module, it must be conn

EM - 38 Electronic Modules Ver. 0002EM.4.7 CONNECTORS AT SL1 AND SL2EM.4.7.1 A1 cardThe A1 card must always be in SL1.X6, digital inputs and output

Electronic Modules Ver. 0002 EM - 39X7, analog inputs and outputsIt offers two inputs and two outputs, all of them fully programmable.Each input and

EM - 40 Electronic Modules Ver. 0002Analog input 1 (pins 4 and 5)It is the usual input for the velocity command (±10Vdc) generated by the CNC.The in

Electronic Modules Ver. 0002 EM - 41Dip-Switches.The status of the Dip-Switch (DS1, DS2) MUST NOT be changed by the operator.Adjustment outputs (p

EM - 42 Electronic Modules Ver. 0002EM.4.7.2 Cards 8DI-16DO and 16DI-8DOThese cards may be located in SL1 and/or SL2.• 8I-16O offers to the user e

Electronic Modules Ver. 0002 EM - 43X9, X10, X13, digital outputs.They offer eight fully programmable digital outputs.These outputs are optocoupled