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Title Servo-Drive System
Type of documentation Description, Installation and setup
of motors and digital drives.
Internal code 04754001
Model MAN REGUL (IN)
Version 0002
Software Version 04.01
Electronic document D_DDS.pdf
Headquarters FAGOR AUTOMATION S.COOP.
Bº San Andrés s/n, Apdo. 144
E-20500 ARRASATE-MONDRAGON
www.fagorautomation.mcc.es
Service Dept. Telephone 34-943-771118
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.
- 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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