Fagor MCS Innova Series, Manual

Page 1: ...FAGOR AUTOMATION S COOP Brushless AC servo drives MCS Innova series Ref 0707...

Page 2: ...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 thi...

Page 3: ...et has not been sent to us the warranty period ends 15 months from when the product left our warehouse FAGOR is committed to repairing or replacing its products from the time when the first such produ...

Page 4: ...ical Equipment on Machines EN60204 1 95 and 92 31 CE on Electromagnetic Compatibility EN 61800 3 1996 Specific Regulation on Electromagnetic Compatibility for Servo Drive systems In Mondrag n 01 05 06...

Page 5: ...nt view of the module 23 Top view of the module 24 Pinout of the connectors 24 Sales reference 26 INSTALLATION 27 General considerations 27 Electrical connections 28 Diagram of the electrical cabinet...

Page 6: ...MCSi 6 84 Digital Brushless AC servo drive system Ref 0707 WARNINGS 79 LIST OF PARAMETERS VARIABLES COMMANDS ModBus ID s 80...

Page 7: ...istance 500 V DC 10 M or greater Dielectric rigidity 200 V motors 1500 V AC one minute Body or housing Totally enclosed and self ventilated Protection degree General standard IP55 shaft section exclud...

Page 8: ...2 0 049 0 193 0 331 2 10 Acceleration time tac ms 1 19 1 74 1 42 2 95 Acceleration time tac ms 1 62 3 17 2 72 9 21 Torque constant KT Nm Arms 0 378 0 327 0 498 0 590 Torque constant KT Nm Arms 0 392...

Page 9: ...eed Rev min 2000 4000 0 0 2 0 3 0 4 0 5 0 1 27 3 82 1 0 0 96 0 75 1 6 3 0 FSA04 1000 3000 5000 Torque Nm Speed Rev min 2000 4000 0 0 4 0 6 0 8 0 10 0 2 39 7 16 2 0 1 8 1 5 5 6 FSA08 1000 3000 5000 Tor...

Page 10: ...5 4 3 FSA02 63 0 126 5 96 5 39 5 30 70 50h7 60 3 6 5 5 FSA04 91 0 154 5 124 5 39 5 30 70 50h7 60 3 6 5 5 FSA08 111 5 185 0 145 0 44 5 40 90 70h7 80 3 8 7 0 The brake column shows the length increment...

Page 11: ...5 FSP02 48 1 97 67 31 5 30 90 70h7 80 3 8 7 FSP04 68 1 117 87 31 5 30 90 70h7 80 3 8 7 FSP08 66 7 126 5 86 5 33 5 40 145 110h7 120 3 5 10 10 The brake column shows the length increment for the L and L...

Page 12: ...her pin A voltage between 22 and 26 V DC applied to the brake releases the shaft When installing the motor verify that the brake releases the shaft completely before turning it for the first time Conn...

Page 13: ...FSP02 0 637 5 637 7 6 0 010 24 0 500 1 10 0 109 FSP04 1 270 11 240 7 6 0 010 24 0 500 1 10 0 109 FSP08 2 390 21 153 7 5 0 010 24 1 500 33 1 0 875 The brake must not be used to stop the axis while it...

Page 14: ...SHAFT Cylindrical shaft with keyway and tapped hole Cylindrical keyless shaft and tapped hole BRAKE SEAL OPTION Without brake or seal no considered With brake 24 V DC without seal With brake 24 V DC...

Page 15: ...heir main characteristics are 220 V AC single phase voltage supply Dynamic braking in case of mains failure PWM IGBTs Serial encoder feedback Programmable encoder simulator output USB service communic...

Page 16: ...W Ballast trigger 380 V DC Thermal protection of the 90 C 194 F Operating temperature 5 C 45 C 41 F 113 F Storage temperature 4 F 60 C 4 F 140 F Protection degree IP20 IP20 IP20 Module dimensions 81...

Page 17: ...figureandconnect theexternalballastresistor Connector X5 CONTROL POWER INPUTS L1 L2 GROUND Input terminals for the voltage supply of the drive s control circuits from mains The maximum cable section a...

Page 18: ...enerate a command signal It offers a maximum current of 20 mA limited internally Programmable analog output 1 pins 31 and 16 with a voltage range of 10 V and programmable output 2 pins 32 and 16 with...

Page 19: ...may be used for the control of inputs Drive Enable and Speed Enable as well as the programmable digital input It offers a maximum current of 50 mA limited internally DIGITAL INPUTS AND OUTPUTS Program...

Page 20: ...s a line terminating resistor selector whose status is set as follows Connector X2 MOTOR FEEDBACK INPUT Standard IEEE 1394 type connector for input of the serial encoder signals installed on the motor...

Page 21: ...NS This switch located next to the connector X1 front of the module may be used to connect or disconnect the line terminating resistor in RS485 communications COMMUNICATIONS 5V CROWBAR VBUS OK ON OFF...

Page 22: ...ible to To scroll through the list of parameters vari ables and commands and display a particular one To increase its value if parameters Counterclockwise being possible to To decrease its value The p...

Page 23: ...K RESET PUSH TO CONFIRM JOG CONTROL SIGNALS CONTROL POWER INPUT L1 220V L2 MOTOR POWER INPUTS L1 220V L2 W V U ON OFF Four 7 segments displays Programming module Sign indicating display Input terminal...

Page 24: ...escription A1 B1 N C Not connected A2 B2 TxD RxD RS485 TxD RxD signal RS485 A3 B3 TxD RxD RS485 TxD RxD signal RS485 A4 B4 N C Not connected Chassis Housing Pin Signal Description 1 5 V Voltage supply...

Page 25: ...from 0 to 24 V DC 12 Common of the digital input 27 PROG DIGIT OUTPUT O Programmable digital output collector 100 mA max 50 V DC 28 Programmable digital output emitter 29 DRIVE OK O Open contact of t...

Page 26: ...Output terminals for the voltage applied to the motor 200 V V V phase U U phase Pin Signal Description L2 S phase 220 V mains input terminal for the control circuits L1 R phase Chassis Ground Pin Sign...

Page 27: ...le coupling for direct transmission Avoid radial and axial loads on the motor shaft At the Drive The module must be installed in an electrical cabinet that is clean dry free of dust oil and other poll...

Page 28: ...chassis screw at the bottom of the module and it in turn taken to mains ground The command signal lines must be shielded twisted pairs The shield must be connected to the housing of connector X3 Elect...

Page 29: ...L2 L1 X4 220 V AC R S T N 380 V AC CONTROL POWER INPUT POWER INPUTS X5 L2 L1 L2 L1 X4 220 V AC 220 V AC R S T N 380 V AC High Floating Voltage CONTROL POWER INPUT POWER INPUTS 220 V AC Autotransformer...

Page 30: ...put of one of the power phasesL1orL2ofthedrive connectorX4 toreducehighfrequencyharmonics coming from mains with a value of 5 mH and and rms current of 6 Arms This inductance reduces the disturbances...

Page 31: ...stem Connect the filter using 6 3 mm Faston terminals as shown in the figure Dimensions Mains filters Imax A FEHV 10Z 10 FEHV 16Z 16 FEHV 30B 30 Remember that the rated currents of the drives are 2 1...

Page 32: ...Drive motor Mains filters FAGOR FEHV 30B Fagor Cables MPC 4x0 5 MPC 4x0 5 2x0 5 M 3 Holding brake optional 24 V DC Released 0 V DC Holding U W V X4 MCSi Drive MOTOR FSA or FSP motors 220 V Important...

Page 33: ...f the motor has a brake MPC 4 x 0 5 MPC 4 x 0 5 2 x 0 5 Note The length of the MPC power cable must be specifically ordered in meters MOTOR POWER CABLE Nr of wires Motor Power Cable E G MPC 4 x 0 5 Se...

Page 34: ...the Servodrive is running properly Enable signals 44 43 13 14 15 X3 44 43 14 15 13 Signal Pin 43 24 V GND 13 DRIVE ENABLE COMMON SPEED ENABLE 44 14 15 X3 30 29 DRIVE OK SWITCH 29 30 X3 TO THE SAFETY C...

Page 35: ...16 X3 31 32 X3 31 16 32 V V Signal Pin 16 GND 31 32 PROG ANALOG OUT 1 PROG ANALOG OUT 2 X3 28 27 24 V DC Collector Emitter 28 X3 X3 28 27 24 V DC Collector Emitter Signal Pin 27 PROG DIGIT OUT C 28 PR...

Page 36: ...s upon request and in meters the feedback cable without connectors with sales reference FSA FSP Encoder Cable up to 30 meters in case the user wants to make his own cable The motors may have use an in...

Page 37: ...Service port USB line Connecting a PC compatible computer with an MCS Innova drive via USB Universal Serial Bus makes it possible to set and monitor system variables facilitating its adjustment The mo...

Page 38: ...hile the motor brakes at maximum torque the brake holds the motor after it has stopped X3 14 15 13 44 19 43 29 30 D3 D4 L2 L1 L2 L1 X5 Power input for the control signals Power connection diagrams Con...

Page 39: ...afety techniques implemented in Fagor MCS Innova drives guarantees the same or greater safety without having to use external contactors thus saving material and room in the electrical cabinet The Driv...

Page 40: ...Drive Enable Pin 41 X3 Pin 42 X3 Drive Enable Pin 41 X3 Pin 42 X3 Drive Enable Pin 41 X3 Pin 42 X3 Drive Enable Pin 41 X3 Pin 42 X3 M Mains CONTROL MCS Innova L2 L1 R S T Pins 41 42 X3 Drive Enable Pi...

Page 41: ...urning the rotary decoder If it is not correct it will display 4 horizontal lines and then the variable GV7 where the level code must be edited again On startup the drive will look in the memory of th...

Page 42: ...s execution whereas a short push returns it to its initial state While executing the command the display shows the word rUn it is not displayed in commands that are executed very fast C L C ok YES NO...

Page 43: ...ad but not edited find the GV9 variable and follow the indication of the figure below to display the different fields that show their characteristics If for any reason the access level must be changed...

Page 44: ...or the whole control loop Set the CNC in DRO mode keeping the Drive_Enable and Speed_Enable signals active Change parameter SP30 until the motor stops WinDDSSetup ItisaFagorapplicationforPC Theoperato...

Page 45: ...perties option and the Hardware label in the next popup window Select Device administrator The window will show them as Multipleserialportadapters thereferenceMOTIONCONTROLINNOVA Ports COM LPT referen...

Page 46: ...riable within the group to which it belongs GROUPS OF PARAMETERS VARIABLES COMMANDS Nr FUNCTION GROUP LETTER 1 Control signals Terminal box B 2 Current control loop Current C 3 Error diagnosis Diagnos...

Page 47: ...can be read and written will carry the RW label to identify it as such next to its access level The RO label means that the variable is Read Only Examples of access levels SP10 basic S group P parame...

Page 48: ...99 Default value Depends on the motor drive combination Function Value of the integral action of the current PI Valid values 0 999 Default value Depends on the motor drive combination BV14 FAGOR RO No...

Page 49: ...unction Limit of the current command that reaches the system s current loop Valid values 0 00 50 00 Arms CP20 must never exceed the smallest value given by the peak current of the motor 5 x MP3 and of...

Page 50: ...current command Valid values 0 1000 Default value 0 Function This parameter is used to determine the command source of the current loop Valid values 0 1 2 and 3 CP31 FAGOR RW CurrentCommandFilter1Fre...

Page 51: ...tion Display the rms current circulating through the motor Valid values 0 50 Arms rms values Default value 0 3 External analog Itappliesthevalueoftheexternalauxiliaryinput pins 17 and 18 of connector...

Page 52: ...e 0 Function This variable registers the value of the digital current com mand Valid values 50 00 50 00 Arms Default value 0 00 Arms D group Diagnosis CV10 FAGOR RO Current1Offset CV11 FAGOR RO Curren...

Page 53: ...tatusWord and then setting the drive in the ReadyForPower state Note its difference with the unit s reset because the action carried out by this command keeps the RAM memory intact and therefore the p...

Page 54: ...ckwise G group General Function After deactivating the Speed_Enable and after the GP3 time has elapsed if the motor has not stopped it cancels the torque automatically and issues error E 004 If the mo...

Page 55: ...Displays the software version in use Function It registers the checksum value of the software version loaded at the drive Valid values 32768 32767 although the programming module can only display the...

Page 56: ...and to execute the parameter transfer from RAM to E2 PROM Function Command to initialize parameters This command loads the default parameters of the drive for the motor whose ID is stored in parameter...

Page 57: ...the unit The programmable digital input pins 11 and 12 of X3 is configured as remote input for resetting errors IP14 04 Valid values 0 4 Default value 4 Error reset IP6 USER RW DigitalInputPolarity I...

Page 58: ...2 pins 18 17 of X3 It s display is in volts Function Contains the value of the auxiliary analog command pins 17 and 18 of X3 usually current command after being affected by CP10 and CP11 It must never...

Page 59: ...200 W Function Contains the value of the energy pulse that can be dissipated by the external ballast resistor Valid values 200 2000 J Default value 200 J Function Itdisplaysthetemperatureof theheatsi...

Page 60: ...s 0 100 Default value 0 Function Selector that determines whether the ballast resistor is external or internal Valid values 0 1 external internal by default M group Motor Function Motor identification...

Page 61: ...ent of the motor This current value must NEVER be exceeded in the motor See parameter CP20 Valid values 0 00 50 00 Arms Depends on the motor connected Default value It depends on the motor connected O...

Page 62: ...ge 10 V Function Sets the polarity inverted or not inverted of the programmable digital input pins 27 and 28 of X3 Valid values 0 1 Not inverted inverted Default value 0 Not inverted OP1 VARIABLE NAME...

Page 63: ...programmable output when function OutFunc7 is selected Valid values 0 I2 tMotor 1 I2 tBallast 2 I2 tDriver Default value 0 OP14 USER RW DigitalOutputFunctionSelector OP14 function 00 OutFunc0 OV10 as...

Page 64: ...r X1 For the service line USB COM it is always configured as 9600 no parity 8 data bits 1 stop bit Default value 1540 9600 no parity 8 data bits 1 stop bit To edit this parameter the programming modul...

Page 65: ...containsthenumberofthenodeassignedtothe drive for communication Valid values 0 127 Default value 0 QV22 FAGOR RO IDNListOfInvalidOperationData QV96 USER RW SlaveArrangement Value ModBus protocol 0 Num...

Page 66: ...f the derivative action of the velocity PI Valid values SP3 0 9999 Default value SP1 0 Function Maximum velocity limit for the SV7 variable Velocity CommandFinal Valid values 0 110 of the motor rated...

Page 67: ...pt G00 Feed Function See parameter SP20 Valid values 10 Motor rated speed rev min Default value Motor rated speed rev min Function Correction of the analog velocity command offset It is applied after...

Page 68: ...arameter SP10 speed limit in rev min Default value 20 rev min Function Determines the value of the velocity window around zero that will be considered to be zero speed Valid values 0 Motor rated speed...

Page 69: ...that no ramps will be applied Valid values 0 0 400 0 rpm ms Default value 0 SP45 BASIC RW VelocityCommandSelector value function 0 Analog Input through pins 1 and 2 of connector X3 after being adapted...

Page 70: ...n for stopping the motor If anytime during the sequence the Drive Enable is interrupted the motor will turn by inertia SP65 0 cancels this limiting effect Valid values 0 0 400 0 rpm ms Default value 0...

Page 71: ...d values 9999 9999 rev min Function Digital velocity command Valid values 6000 6000 rev min Default value 0 T group Torque and power Function Parameter that determines the threshold for the activation...

Page 72: ...command generator Valid values 2 9999 ms Default value 200 ms Function It indicates the signal amplitude of the internal command generator Valid values 0 9999 rev min if it is a velocity command 0 99...

Page 73: ...tio of the duty cycle For example to simulate an S6 40 cycle WV6 40 Valid values 1 99 Default value 50 Function It allows entering an offset in the signal of the internal command generator Valid value...

Page 74: ...m has tried to stop the motor at full torque but it has not been able to stop it in the time frame set by parameter GP3 StoppingTimeout maximum time allowed for braking before considering the error fo...

Page 75: ...e The drive is carrying out a task that overheats the power devices Stop the system for several minutes and decrease the effort demanded from the drive The motor has overheated The motor temperature m...

Page 76: ...Overspeed The motor speed has exceeded the value of SP10 in a 12 Bad cabling of the position sensor or of the motor power The velocity loop is adjusted wrong Decrease the speed overshoot in the syste...

Page 77: ...cted that the voltage at the power bus is too high When using an external Ballast it is not connected properly The Ballast resistor is burned Disconnect the power supply and ckeck the proper connectio...

Page 78: ...he GC1 command because the parameters readjusted to the right values by the drive in RAM memory are saved in EEPROM memory Contact Fagor Automation Motor not accepted by the drive Motor s power voltag...

Page 79: ...t will issue a warning with fast flashing 0 5 s of the BUS ACTIVITY indicator If this behavior continues for longer than 5 s the display will show one of the errors mentioned earlier Warning W 003 War...

Page 80: ...o 5000 5000 cA 51 CV10 Current1Offset Fagor 08803 ro 2000 2000 mA 52 CV11 Current2Offset Fagor 08805 ro 2000 2000 mA 52 CV15 DigitalCurrentCommand user 08827 rw 5000 5000 0 cA 52 DC1 ResetClass1Diagno...

Page 81: ...rTorqueConstant Fagor 10593 rw 0 100 dNm A 61 MP3 MotorContinuousStallCurrent Fagor 00223 rw 0 5000 cA 61 MP4 MotorPeakCurrent Fagor 00219 ro 0 50 A 61 OP1 DA1IDN user 10993 rw 0 11 4 61 OP2 DA2IDN us...

Page 82: ...1 VelocityCommand basic 00072 rw 6E7 6E7 0 dmrpm 71 SV2 VelocityFeedback basic 00080 ro 6E7 6E7 dmrpm 71 SV6 VelocityCommandAfterFilters basic 11436 ro 6E7 6E7 dmrpm 71 SV7 VelocityCommandFinal basic...

Page 83: ...Digital Brushless AC servo drive system Ref 0707 MCSi 83 84 User notes...

Page 84: ...1 614 855 5928 E mail tdrane fagor automation com CANADA Ontario FAGOR AUTOMATION ONTARIO Unit 3 6380 Tomken Road MISSISSAUGA L5T 1Y4 Tel 1 905 6707448 Fax 1 905 6707449 E mail sales fagorautomation...

Page 85: ...Cylindrical shaft with keyway and tapped hole Cylindrical keyless shaft and tapped hole CONNECTION Interconnectron connector 0 1 0 SPECIAL CONFIGURATION S ESPECIFICATION 01 ZZ A P FSA04 50F J5 000 S99...

Page 86: ...put from function nr Kp Ti IV10 SP42 SV2 t1 GP9 time if t1 GP3 then after GP9 MOTOR TORQUE ON 0 else MOTOR TORQUE ON 0 and E 004 E 004 SV2 MOTOR TORQUE ON 0 1 SV6 SV7 SV1 SP65 SP65 IV10 Error Only if...

Page 87: ...TION 2 IV3 as input to function nr Function 1 UNITS rev min rev min rev min rev min rev min dNm dNm cA mV mV VARIABLE OP1 00 SV15 01 02 03 04 05 06 07 08 09 10 11 SV1 SV6 SV7 SV2 TV1 TV2 CV3 WV5 IV1 I...

Page 88: ...Drive rated current time KV36 f MP3 E 201 TV2 MP 3 KV40 E 314 f KP3 KP4 Function E 200 OverSpeed Function E 201 Motor Overload Function E 202 Drive Overload Function E 314 Ballast overload time KV2 E...