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SM - 8
Synchronous
Motors
Ver. 0002
1
2
...
13
14
15
16
17
18
19
20
21
22
23
...
363
364
SERVO-DRIVESYSTEM
1
RELATED DOCUMENTATION
4
General Index
5
Fagor Automation, S. Coop
9
WARRANTY TERMS
10
Ver. 0002 SM - 1
11
SM.1 GENERAL CHARACTERISTICS
12
Ver. 0002 SM - 3
13
J: Rotor inertia
15
SM.3 DIMENSIONS
17
Ver. 0002 SM - 9
19
Ver. 0002 SM - 11
21
SM.4 BRAKE CHARACTERISTICS
22
SM.5 CONNECTORS
22
SM.5.2 FEEDBACK CONNECTOR
23
B5 V1 V3
25
SM.8 IDENTIFICATION BOARD
26
AM. SPM ASYNCHRONOUS MOTORS
27
AM.3 FAN CHARACTERISTICS
29
Ver. 0002 AM - 5
31
SPM 100LBE
33
SPM 112ME
33
SPM 112LE
34
SPM 112XE
34
SPM 132L
35
SPM 132X
35
SPM 132XL
36
SPM 160M
36
SPM180MA
37
SPM 90 L
38
SPM 90 P
39
SPM 100 LBE
40
SPM 112 ME
41
SPM 112 LE
42
SPM 112 XE
43
SPM 132 L
44
SPM 132 X
44
SPM 132 XL
44
SPM 160 M
45
SPM 160 L
46
SPM 180 MA
47
AM.8 CONNECTORS
48
AM.8.3 FAN CONNECTION
49
AM.9.1 VENTILATION
51
AM.9.2 MOUNTING OPTIONS
51
B3/B5 V1/V5 V3/V6
51
AM.9.3 AMBIENT CONDITIONS
52
AM.10.1 DIRECT COUPLING
52
AM.10.4 BALANCING
53
AM.12 BEARINGS
54
AM.13.1 BEARING REPLACEMENT
55
AM.14 IDENTIFICATION BOARD
56
EM. ELECTRONIC MODULES
57
Ver. 0002 EM - 3
59
EM.1 POWER SUPPLY MODULE
61
REGENERATIVE POWER SUPPLIES
62
PS-25B Module
63
POWER SUPPLIES
64
XPS-25 Module XPS-65 Module
64
Ver. 0002 EM - 9
65
Ver. 0002 EM - 11
67
Ver. 0002 EM - 13
69
Ver. 0002 EM - 15
71
(asynchronous motors)
73
Spindle drives:
75
5 and 55°C (41ºF and 131 ºF)
75
EM.2.3.1 POWER CONNECTORS
77
Axis Compact Drive
79
Spindle Compact Drive
79
EM.3.3.1 POWER CONNECTORS
81
EM.3.3.2 CONNECTOR X1
83
EM.4.1 STATUS DISPLAY
84
EM.4.2 SERCOS CONNECTION
85
EM.4.3 CONNECTOR X2, CONTROL
86
Ver. 0002 EM - 31
87
Ver. 0002 EM - 33
89
EM.4.4 CONNECTOR X3
90
EM.4.4.2 X3, DIRECT FEEDBACK
91
EM.4.5 CONNECTOR X4, FEEDBACK
92
EM.4.7.1 A1 card
94
X7, analog inputs and outputs
95
Ver. 0002 EM - 41
97
8DI-16D0
98
16DI-8D0
98
Ver. 0002
100
EM.4.8 INTERNAL CONFIGURATION
101
EM.5 MAINS FILTER, EMK
102
Ver. 0002 EM - 47
103
RM-15 Power
104
Max. tightening torque (Nm) 1
104
Maximum Section (mm2) 4
104
Ver. 0002 EM - 49
105
EM.8 CAPACITOR MODULE, CM-60
106
EM.9.1 APS 24 CONNECTORS
107
EM.11 FAGOR CABLES
109
EM.12 DIMENSIONS
110
Ver. 0002 EM - 55
111
EM.13 MODULE IDENTIFICATION
113
User notes:
114
IN. INSTALLATION
115
>80 mm (3.15")
116
Ballast circuit is activated
117
IN.2.1 POWER BUS CONNECTION
118
IN.2.2 GROUND CONNECTION
119
°C (°F = °C · 1.8 + 32)
121
IN.3.1.1 MAINS FILTER, EMK
122
IN.3.1.2 FUSES
123
IN.3.1.4 LINE INDUCTANCE
124
Ver. 0002 IN - 11
125
IN.3.2 MOTOR/DRIVE CONNECTION
127
Ver. 0002 IN - 15
129
Current S1
130
IN.3.3 GROUND CONNECTION
131
IN.4.1 EEC ENCODER CONNECTION
132
IN.5 BRAKE CONTROL
133
Ver. 0002 IN - 21
135
IN.7.4 DIGITAL OUTPUTS
137
IN.7.4 SERCOS CONNECTION
138
IN.7.5 SERIAL LINE CONNECTION
139
Front View
140
IN.8 CONNECTIONS
141
PC-Computer or
141
Programming Module
141
Fagor CNC
141
24V Released
142
0V Holding
142
Ver. 0002 IN - 29
143
Ver. 0002 IN - 31
145
Modular system
147
Ver. 0002 IN - 35
149
Compact system
151
(F) Fuse
152
Brake connection
153
Mixed system
153
GSU. COMMON SETUP
155
GSU.2 DATA STORAGE STRUCTURE
156
GSU.3 WINDDSSETUP
157
GSU.4 ACCESS LEVELS
158
RAM Memory
159
Internal Memory
159
Flash Memory
160
PC RAM Memory
160
Volatile
160
RAM to Flash
160
GSU.7 INITIALIZATION PROCESS
161
Ver. 0002
162
GSU.9 MOTOR IDENTIFICATION
163
Ver. 0002 GSU - 11
165
CNC Drive Motor
167
Drive Motor
168
To Speed Loop
169
From Motor
169
Current loop diagram:
170
Current Command Filter:
171
SSU. VELOCITY DRIVE SETUP
173
RATIO SP20/SP21
174
SSU.3.1 NUMBER OF PULSES
175
SSU.3.2 MARKER PULSE (HOME I
175
) POSITION
175
SSU.3.3 COUNTING DIRECTION
176
SSU.4 ANALOG OUTPUTS
177
SSU.5 VELOCITY LOOP SETTING
179
SSU.5.2 SPEED-PI ADJUSTMENT
180
Ver. 0002 SSU - 9
181
Ver. 0002 SSU - 11
183
SSU.5.3.2 RAMP GENERATION
184
SSU.5.3.3 JERK LIMIT
185
"0"
186
PSU. POSITION DRIVE SETUP
187
PSU.2 DIRECT FEEDBACK
189
PSU.3 PROPORTIONAL CONTROL
190
PSU.4 VELOCITY FEEDFORWARD
191
PSU.5.1 INCREMENTAL FEEDBACK
192
Ver. 0002 PSU - 7
193
Ver. 0002 PSU - 9
195
Ver. 0002 PSU - 11
197
PSU.5.3 ABSOLUTE FEEDBACK
198
Ball-screw
198
Backlash
198
Ver. 0002 PSU - 13
199
PSU.8 MODULE FORMAT
200
PSU.9 STARTUP SUMMARY
201
Ver. 0002 PSU - 17
203
AP. APPLICATIONS
205
Ver. 0002
206
Ver. 0002 AP - 3
207
8050/55 CNC
208
AP.1.1.2.1 On Axis drives
209
1244444 344444
210
124443444
210
1244 4 3444
211
Ver. 0002 AP - 9
213
Ver. 0002 AP - 11
215
Ver. 0002 AP - 13
217
NPULSES · 4
218
Ver. 0002 AP - 15
219
Parameter Table
220
Example:
220
GP4=8 GV21=3
220
GP6=6 GV25=1
220
AP.3.1 PARAMETER SET
221
Ver. 0002 AP - 19
223
AP.3.2 GEAR RATIOS
224
Ver. 0002 AP - 21
225
MAIN SPINDLE
226
Ver. 0002 AP - 23
227
Ver. 0002 AP - 25
229
Ver. 0002 AP - 27
231
S 3 <return>
232
SP1.3 100<return>
232
SP2.* 300<return>
232
AP.4 VARIABLE MONITORING
233
18.33kW 1833DecaWatts⋅⋅ = =
235
Ver. 0002 AP - 33
237
AP.7 HALT FUNCTION
239
203 Torque overload error
240
Ver. 0002 AP - 37
241
DS. DESIGN
243
DS - 2 Design Ver. 0002
244
Ver. 0002 DS - 3
245
MAX F W AC
247
DS - 6 Design Ver. 0002
248
Ver. 0002 DS - 7
249
Ver. 0002 DS - 9
251
DS.2.4 DRIVE SELECTION
253
DS.3 POWER SUPPLY SELECTION
254
Ver. 0002 DS - 13
255
Ver. 0002 DS - 15
257
DS.4 CM-60 SELECTION GUIDE
258
Design Ver. 0002 DS - 17
259
Compact Drives
260
APPENDIX A:
261
PARAMETERS
261
VARIABLES & COMMANDS
261
Ver. 0002 A - 3
263
Ver. 0002 A - 5
265
Ver. 0002 A - 7
267
Warning:
269
1. GROUP APPLICATION “A”
270
3. CURRENT GROUP “C”
271
4. DIAGNOSTICS GROUP “D”
273
DV11 (F404) FagorDiagnostics
274
DV14 (F400) ErrorsInDncFormat
275
DV15 O (F401) ErrorDisable
275
DV16 O (F402) ErrorEnable
275
DV31 (S135) DriverStatusWord
275
DV32 (S134) MasterControlWord
276
DV95 (S95) DiagnosticMessage
276
Ver. 0002 A - 17
277
6. FLUX GROUP “F”
278
7. GENERAL GROUP “G”
278
Ver. 0002 A - 19
279
Ver. 0002 A - 21
281
8. HARDWARE GROUP “H”
282
9. GROUP OF INPUTS “I”
283
10. MONITORING GROUP “K”
285
KV32 (F1109) I2tDrive
286
KV36 F (F1111) I2tMotor
286
11. MOTOR GROUP “M”
287
12. SERCOS GROUP “N”
289
Ver. 0002 A - 31
291
Ver. 0002 A - 33
293
Ver. 0002 A - 35
295
PP57 O (S57) PositionWindow
296
PP58 Os (S58) Backlash
296
PP103 Os (S103) ModuloValue
297
PP147 (S147) HomingParameter
297
Ver. 0002 A - 39
299
Ver. 0002 A - 41
301
Ver. 0002 A - 43
303
QP1 (S1) ControlUnitCycleTime
304
QP11 (F2000) SercosMbaud
304
16. ROTOR SENSOR GROUP “R”
305
Ver. 0002 A - 47
307
17. SPEED GROUP “S”
308
SP10, SP20, SP21:
309
SP80.# O (S349.#) JerkLimit
311
SV1 Ws (S36) VelocityCommand
311
SV2 s (S40) VelocityFeedback
311
Ver. 0002 A - 53
313
TV50 s (F1700) PowerFeedback
314
TV60 (S337) PGreaterPx
314
TV100 (F1702) TorqueStatus
314
Ver. 0002 A - 55
315
20. MISCELLANEOUS GROUP “X”
316
Ver. 0002 A - 57
317
Ver. 0002 A - 59
319
Ver. 0002 A - 61
321
APPENDIX B:
323
LIST OF ERRORS
323
WARNINGS
323
TROUBLESHOOTING
323
Ver. 0002 B - 3
325
EFFECT OF THE SYSTEM ERRORS
326
LIST OF ERRORS
327
B - 6 Errors Ver. 0002
328
Errors Ver. 0002 B - 7
329
B - 8 Errors Ver. 0002
330
Errors Ver. 0002 B - 9
331
B - 10 Errors Ver. 0002
332
805 Encoder detected
333
LIST OF WARNINGS
334
Errors Ver. 0002 B - 13
335
APPENDIX C:
337
REFERENCES
337
OF FAGOR
337
PRODUCTS
337
Motor references
338
Ver. 0002 C - 3
339
References of Modular Drives
340
AXD 1 . 25 - A1 - 0
340
SPD 2 . 50 - SI - 0
340
PS - 25A
341
XPS - 25
341
PS - 25B
341
SCD 2 . 50 - SI - 0
342
SIGNAL CABLES
343
SOFTWARE
343
INDUCTANCE FOR XPS
343
ACCESORY MODULES
343
FAGOR AUTOMATION S. COOP
344
UNIT NET
344
US $ US $
344
Manufacturing Codes
345
CABLES AND CONNECTORS
345
MODULAR AXES DRIVES
346
MODULAR SPINDLE DRIVES
346
COMPACT AXES DRIVES
346
COMPACT SPINDLE DRIVES
346
References Ver. 0002 C - 11
347
Overview of FAGOR
348
APPENDIX D:
349
COMPATIBILITY
349
1. MAINS VOLTAGE: 380 - 460
350
Ver. 0002 D - 3
351
APPENDIX E:
353
PROTECTIONS
353
ON DRIVES AND MOTORS
353
1. PROTECTIONS OF THE DRIVE
354
Protections Ver: 0002 E - 3
355
CALCULATING THE I2T PRODUCT
356
Protections Ver: 0002 E - 5
357
E - 6 Protections Ver: 0002
358
2. PROTECTIONS OF THE MOTOR
359
Protections Ver: 0002 E - 9
361
RESISTOR
362
Ver: 0002 E - 11
363
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