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- Fagor
- Servo Drives
- ACSD series
- Original Instructions Manual
Fagor ACSD series Original Instructions Manual
Summary of ACSD series
Page 1
Fagor automation s.Coop . Brushless ac s ervo d rives ~ acsd series ~ ref.1609 original instructions.
Page 2
Acsd-2/80 digital brushless ac s ervo d rive system - ref.1609 title brushless ac servo drives. Acsd series. Type of documentation description, installation and startup of motors and dig- ital drives. Name man regul acsd (in) reference ref.1609 software version 02.04 and earlier versions winddssetup...
Page 3: Warranty Conditions
Digital brushless ac s ervo d rive system - ref.1609 acsd-3/80 warranty conditions fagor automation guarantees its products for the period of time with the exceptions indicated below, against defects in design, materials used and manufacturing process that affect the correct operation of the product...
Page 4: Declaration of Conformity
Acsd-4/80 digital brushless ac s ervo d rive system - ref.1609 declaration of conformity manufacturer: fagor automation, s. Coop. B.º san andrés 19, c.P. 20500, mondragón - gipuzkoa - (spain) we hereby declare, under our responsibility that the product: fagor ac brushless servodrive system parameter...
Page 5: General Index
Digital brushless ac s ervo d rive system - ref.1609 acsd-5/80 general index brushless ac motors, fxm ..............................................................................7 introduction ............................................................................................................
Page 6
Acsd-6/80 digital brushless ac s ervo d rive system - ref.1609 this page intentionally left blank.
Page 7: Brushless Ac Motors, Fxm
Digital brushless ac s ervo d rive system - ref.1609 acsd-7/80 brushless ac motors, fxm introduction general characteristics t. 6 fxm servomotors. General characteristics. Excitation permanent rare earth magnets (smco) temperature sensor ptc thermistor. Triple shaft end cylindrical with keyway (opti...
Page 8
Acsd-8/80 digital brushless ac s ervo d rive system - ref.1609 t. 2 te chnical dat a of non-ventilated synchronous fx m motors with “f ” winding (220 v ac). Non- ve ntilat e d motors sta ll to rque stall p eak to rque rated spee d stall current peak current calculation pow er torq ue const ant accel...
Page 9
Digital brushless ac s ervo d rive system - ref.1609 acsd-9/80 t. 3 te chnical dat a of non-ventilat ed synchronous fxm motors wi th “a” winding (400 v ac). Non- ve ntilat e d motors stall torque stall peak torque rated spe ed stall current peak current calc ulat ion power torque consta nt acce lera...
Page 10
Acsd-10/80 digital brushless ac s ervo d rive system - ref.1609 t. 4 te chnical dat a of non-ventilated synchronous fxm motors with “a” winding (400 v ac). No n-v e nt ila ted motor s stall to rque stall p eak to rque rated spee d stall current peak current calculation power torque consta nt accele ...
Page 11: Dimensions
Digital brushless ac s ervo d rive system - ref.1609 acsd-11/80 dimensions f. 1 dimensions of fxm1 series motors. F. 2 dimensions of fxm3 series motors. 40 8 lb 46 30 ±0.1 Ø80j6 Ø14j6 0 3 ±0.1 20 86 7 Ø10 0 Ø117 ~1 30 gd f st dimension lb units mm in fxm11 136 5.35 fxm12 171 6.70 fxm13 206 8.11 fxm1...
Page 12
Acsd-12/80 digital brushless ac s ervo d rive system - ref.1609 f. 3 dimensions of fxm5 series motors. F. 4 dimensions of fxm7 series motors. Ø165 12 40 Ø130j6 Ø2 4j6 50 ±0.25 0 3.5 ±0.1 lb with brake: lb+28 46 40 12 145 Ø197 ~1 89 ga gd f st -0 .2 fxm5 series dimension f gd r ga st units mm in mm i...
Page 13: Power Connector
Digital brushless ac s ervo d rive system - ref.1609 acsd-13/80 power connector the power connector includes the brake terminals (e, f). A voltage between 22 and 26 v dc releases the shaft. When installing the motor, verify that the brake releases the shaft completely before turning it for the first...
Page 14: Motor Feedback Connector
Acsd-14/80 digital brushless ac s ervo d rive system - ref.1609 motor feedback connector pins of 9 and 10 of the connector of the incremental ttl encoder correspond to the thermistor used to monitor motor overheating. Pins of 3 and 4 of the sincos or sincoder encoder connector correspond to the ther...
Page 15: Holding Brake
Digital brushless ac s ervo d rive system - ref.1609 acsd-15/80 holding brake fxm motors have an optional holding brake that applies friction to the shaft. Its purpose is to immobilize or lock vertical axes, not to brake a moving axis. Technical data the characteristics depending on the type of brak...
Page 16: Sales Reference
Acsd-16/80 digital brushless ac s ervo d rive system - ref.1609 sales reference 0 without fan 12 1200 rev/min 20 2000 rev/min 30 3000 rev/min 40 4000 rev/min fxm . . . - x fagor synchronous motor size 1, 3, 5, 7 length 1, 2, 3, 4, 5 rated speed winding feedback type i0 incremental encoder (2500 ppt)...
Page 17: Brushless Ac Motors, Fkm
Digital brushless ac s ervo d rive system - ref.1609 acsd-17/80 brushless ac motors, fkm introduction general characteristics t. 6 fkm servomotors. General characteristics. Excitation permanent rare earth magnets (nd-fe-b) temperature sensor thermistor ptc kty84-130 thermistor ptc pt1000 (shortly) s...
Page 18
Acsd-18/80 digital brushless ac s ervo d rive system - ref.1609 t. 7 te chnical dat a of non-ventil ated synchronous fkm motors with “a” winding (400 v ac). Non-ventilated motors sta ll torque stall pe ak torque rated spe ed stall curr ent peak curr ent calculation powe r tor qu e cons ta nt accele ...
Page 19
Digital brushless ac s ervo d rive system - ref.1609 acsd-19/80 t. 8 te chnical dat a of non-ventil ated synchronous fkm motors with “f” winding (220 v ac). No n-ve nti la ted mo tor s stall torque stall pe ak torque rated spe ed stall current peak current calc ulati on powe r tor qu e cons ta nt ac...
Page 20: Dimensions
Acsd-20/80 digital brushless ac s ervo d rive system - ref.1609 dimensions f. 8 dimensions of fkm2 series motors. F. 9 dimensions of fkm4 series motors. 80 18 40 ±0.1 0 3 ±0.1 Ø80j6 Ø19j6 30 8 54 lb l 97 139.5 7 Ø100 Ø115 dimensions in mm, 1 in = 25.4 mm fkm2 series d ga gd f st -0 .2 dimension lb l...
Page 21: Power Connector
Digital brushless ac s ervo d rive system - ref.1609 acsd-21/80 power connector it includes the connectors of the brake itself (pins 4 and 5). A voltage between 22 and 26 v dc releases the shaft. When installing the motor, verify that the brake releases the shaft completely before turning it for the...
Page 22: Motor Feedback Connector
Acsd-22/80 digital brushless ac s ervo d rive system - ref.1609 motor feedback connector pins 9 and 10 on the connector of the ttl incremental encoder (ref. I0) correspond to the thermal sensor of the motor that monitors its heating. Note that the ptc kty84-130 thermistor has polarity, (pin 9 - / pi...
Page 23: Holding Brake
Digital brushless ac s ervo d rive system - ref.1609 acsd-23/80 holding brake fkm motors have an optional holding brake that applies friction to the shaft. Its purpose is to immobilize or lock vertical axes, not to brake a moving axis. Technical data its main characteristics depending on the type of...
Page 24: Sales Reference
Acsd-24/80 digital brushless ac s ervo d rive system - ref.1609 sales reference 0 standard 1 electro-ventilated 8 low inertia 9 low inertia and electro-ventilated (future) 20 2000 rev/min 45 4500 rev/min 30 3000 rev/min 50 5000 rev/min fkm . . Motor series size 2, 4, 6 length 1, 2, 3, 4, 6 rated spe...
Page 25: Compact Servo Drive, Acsd
Digital brushless ac s ervo d rive system - ref.1609 acsd-25/80 compact servo drive, acsd introduction acsd is a compact speed servo drive family for controlling synchronous ac brushless servomotors. It has two series depending on the supply voltage they can be connected to: hence, we will refer to:...
Page 26: Dimensions
Acsd-26/80 digital brushless ac s ervo d rive system - ref.1609 dimensions technical data f. 14 acsd drives. Dimensions. · 220 v · l series · 400 v · h series 05 10 20 30 04 08 16 rated output current (a) 2.5 5 10 15 2 4 8 peak current (0.5 s) (a) 5 10 20 30 4 8 16 power supply 3 ac 220/240 v ± 10 %...
Page 27: Connectors
Digital brushless ac s ervo d rive system - ref.1609 acsd-27/80 connectors power terminals power inputs l1, l2, l3. Mains input terminals. Power outputs u, v, w. Output terminals for the voltage applied to the motor. Current control with pwm on a carrier fre- quency of 8 khz. When connecting to the ...
Page 28: Indicators
Acsd-28/80 digital brushless ac s ervo d rive system - ref.1609 drive ok. Drive ok. (pins 6 and 7 of x2). Relay contact that closes when the internal status of the drive control is ok. It must be included in the electrical maneuver. Prog. Digit. Input programmable digital input, (pins 8 and 9 of x2)...
Page 29: Push-Buttons and Switches
Digital brushless ac s ervo d rive system - ref.1609 acsd-29/80 crowbar (on). Indicator light on top of the reset button. When lit, it indicates that the voltage of the internal bus has exceeded the preset voltage values and the ballast resistor has been activated. Vbus ok. Indicator light on top of...
Page 30
Acsd-30/80 digital brushless ac s ervo d rive system - ref.1609 front panel and pinout of the connectors f. 15 front panel and pinout of its connectors. Note. The label 220 v ac will indicate 400 v ac on the corresponding models. -12v +12v speed drive common x2 l1 l2 x3 canl shield canh x4 x1 2 3 4 ...
Page 31
Digital brushless ac s ervo d rive system - ref.1609 acsd-31/80 pin signal function 1 a+ a + signal 2 b+ b + signal 3 z+ z + signal 4 u- phase switching u - 5 w- phase switching w - 6 v- phase switching v - 7 n.C. Not connected 8 n.C. 9 n.C. 10 a- a - signal 11 b- b - signal 12 z- z - signal 13 u+ p...
Page 32: Unit Identification
Acsd-32/80 digital brushless ac s ervo d rive system - ref.1609 unit identification the specifications and version labels that come with each fagor acsd digital drive show the following information: sof, sofp, mot, can, ctr, pot and var indicate manufacturing related aspects (hardware design version...
Page 33: Installation
Digital brushless ac s ervo d rive system - ref.1609 acsd-33/80 installation general considerations at the motor remove the anti-corrosion paint of the shaft before mounting them on to the machine. The motor may be mounted as im b5, im v1 and im v3. Watch for the ambient conditions mentioned in the ...
Page 34: Electrical Connections
Acsd-34/80 digital brushless ac s ervo d rive system - ref.1609 about the connection all the cables must be shielded, to reduce the interference on the control of the motor due to the commutation of the pwm. The shield of the motor power cable must be connected to the chassis screw at the bottom of ...
Page 35
Digital brushless ac s ervo d rive system - ref.1609 acsd-35/80 the table below shows the values recommended for the fuses shown in the previous figure. They are slow general purpose fuses. If they are installed on the mains input lines, their maximum currents will depend on the value of the mains v...
Page 36
Acsd-36/80 digital brushless ac s ervo d rive system - ref.1609 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 de...
Page 37
Digital brushless ac s ervo d rive system - ref.1609 acsd-37/80 tt diagram distribution diagram that has a point directly connected to ground and the conduc- tive parts of the installation are connected to this ground point independently from the ground electrode of the power supply system. It diagr...
Page 38: Fkm
Acsd-38/80 digital brushless ac s ervo d rive system - ref.1609 power connection. Ballast resistor if the application requires a ballast resistor with more than 150 w: remove the cable joining the terminals ri and l+ . Install the external resistor between the terminals re and l+. Make sure that the...
Page 39
Digital brushless ac s ervo d rive system - ref.1609 acsd-39/80 power cables codes of the sales reference of fagor power cables. Connection of the monitoring and control signals if the motor does not have a brake if the motor has a brake mpc-4x1.5 mpc-4x1.5+(2x1) mpc-4x2.5 mpc-4x2.5+(2x1) note. The ...
Page 40: Cables
Acsd-40/80 digital brushless ac s ervo d rive system - ref.1609 encoder feedback connection the signals generated by the encoder are taken to the ·motor feedback input· of the acsd drive. The encoder must be mounted on to the motor shaft and cannot be installed anywhere else in the transmission chai...
Page 41: Can Field Bus Connection
Digital brushless ac s ervo d rive system - ref.1609 acsd-41/80 can field bus connection the various acsd modules and the device acting as master are inter-connected through the can (x4) connector that incorporates each of these modules (see its front panel) using a specific can cable (twisted pairs...
Page 42: Can Cable
Acsd-42/80 digital brushless ac s ervo d rive system - ref.1609 can cable codes of the fagor cables f. 31 connection diagram for can communication bus. F. 32 connection diagram of the cable for the can communication bus. Encoder-drive cable example: iecd- 20 cable of incremental encoder length (m) 0...
Page 43
Digital brushless ac s ervo d rive system - ref.1609 acsd-43/80 connecting a drive to a pc. Rs-232 serial line the acsd drive will use this rs-232 line connection only for updating the firmware. The connection cable is: encoder-drive cable example: eec-sp- 20 cable for sinusoidal encoder length (m) ...
Page 44
Acsd-44/80 digital brushless ac s ervo d rive system - ref.1609 diagram of the electrical cabinet this is an orientative diagram for the installation of the electrical cabinet. This diagram may be modified according to the requirements of each application. It includes a simple circuit for the voltag...
Page 45
Digital brushless ac s ervo d rive system - ref.1609 acsd-45/80 initialization and adjustment the system can only be initialized and adjusted using the can field bus (communication interface included in the acsd drive). This process is carried out from the master device (cnc). Initially, bear in min...
Page 46
Acsd-46/80 digital brushless ac s ervo d rive system - ref.1609 speed select selector that can help the node select select the node number and can confirm the communication speed of the can bus. How to select the bus speed? Proceed as follows to select the bus speed: start the drive up (or do a rese...
Page 47
Digital brushless ac s ervo d rive system - ref.1609 acsd-47/80 to assign node number 13 to a drive, the ss selector must be in the off position and the rotary selector ns in the d position (13 in decimal), which results from the previous formula the node value: node = 13+(16x0) = 13 to assign node ...
Page 48
Acsd-48/80 digital brushless ac s ervo d rive system - ref.1609 bus activity. This led is the only element that, without a mas- ter can device, allows displaying the status of the unit. This indi- cator light informs of the status of the can bus and the status of the drive. The following table shows...
Page 49: Notation
Digital brushless ac s ervo d rive system - ref.1609 acsd-49/80 parameters, variables & commands the parameters, variables and commands of the drive that are shown next may be used with any device that works as master. Besides all these, there are others that may be used to communicate the drive wit...
Page 50
Acsd-50/80 digital brushless ac s ervo d rive system - ref.1609 access level. The access level is defined by the number following the id. Hence: fagor level - 1 - user level - 2 - basic level - 3 - examples of access levels: sp10 basic: group s , (p) parameter, (nr) 10, access level (basic) cv11 fag...
Page 51: Groups
Digital brushless ac s ervo d rive system - ref.1609 acsd-51/80 groups b. Non-programmable inputs and outputs function indicates the logic values of the electrical signals of the drive's control. 24 v at the electrical input mean a logic 1 at the bits of this variable. C. Current function value of t...
Page 52
Acsd-52/80 digital brushless ac s ervo d rive system - ref.1609 function parameter in charge of disabling/enabling the current filter. Valid values 0/1 disable/enable. Default value 0 disable. Function sets the natural frequency in hz of a notch filter that acts upon the current command. Valid value...
Page 53
Digital brushless ac s ervo d rive system - ref.1609 acsd-53/80 function display the rms current circulating through the motor. Valid values - 50.00 ... 50.00 arms (rms value). Function value of the automatic compensation of the current feed- back offset of phase v. Valid values - 2.000 ... 2.000 a ...
Page 54
Acsd-54/80 digital brushless ac s ervo d rive system - ref.1609 version modified in version 02.04. Bit 10 has been added. Function this variable contains a numerical data coded into 16 binary bits and represents the control signals that act upon the drive through the serial line. Bits (from the most...
Page 55
Digital brushless ac s ervo d rive system - ref.1609 acsd-55/80 g. 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 motor stops within the gp3 time, it also cancel...
Page 56
Acsd-56/80 digital brushless ac s ervo d rive system - ref.1609 function displays the software version in use. Function it registers the checksum value of the software version loaded at the drive. Valid values - 32 768 ... 32 767 (although the range goes up to 65535 because it is a 16-bit variable)....
Page 57
Digital brushless ac s ervo d rive system - ref.1609 acsd-57/80 • execute gc3. The motor will start positioning and it will be completed after about 30 or 40 seconds. At this instant, the new rho has been calculated. Its value may be displayed in the rv3 variable. • select mp1 and edit the motor typ...
Page 58
Acsd-58/80 digital brushless ac s ervo d rive system - ref.1609 k. Monitoring function contains the value of power of the external ballast resistor. Valid values 200 ... 2 000 w. Default value 200 w. Function contains the value of the energy pulse that can be dissipated by the external ballast resis...
Page 59
Digital brushless ac s ervo d rive system - ref.1609 acsd-59/80 m. Motor function motor identification. The limits of certain parameters depend on the value of mp1 (for example: the upper limit of sp10 is 110 % of the motor rated speed) like its default parameter initialization through gc10. See com...
Page 60
Acsd-60/80 digital brushless ac s ervo d rive system - ref.1609 n. Linear axis configuration function parameter that shows the relationship between the load inertia and that of the motor rotor. When calculating this ratio, bear in mind the mechanical transmission ratio between the load movement and ...
Page 61
Digital brushless ac s ervo d rive system - ref.1609 acsd-61/80 o. Analog and digital outputs function sets the polarity (inverted or not inverted) of the digital output (pins 1 and 2 of x2). Valid values 0/1 not inverted/inverted default value 0 not inverted. Function this variable contains the val...
Page 62
Acsd-62/80 digital brushless ac s ervo d rive system - ref.1609 q. Communication function read parameter that indicates every how long the drives close the loop. Therefore, it defines the loop time. Valid values 0 ... 10 000 µs. Default value 4000 µs. Function it sets the transmission speed through ...
Page 63
Digital brushless ac s ervo d rive system - ref.1609 acsd-63/80 default value function variable containing the parameters that are readjusted by the drive when it issues an “error e.502: incompatible parameters”. The parameters are listed by their bus identifier. Valid values any parameter bus ident...
Page 64
Acsd-64/80 digital brushless ac s ervo d rive system - ref.1609 function compensation (offset mode) of the sine/cosine signal that goes from the motor feedback to the drive. Valid values - 2 000 ... 2 000. Default value 0. Function motor feedback failure protection sensitivity adjustment. See e.605....
Page 65
Digital brushless ac s ervo d rive system - ref.1609 acsd-65/80 sp2: 0.1... 999.9 ms. Default value depends on the motor-drive combination. Function maximum velocity limit for sv7 (velocitycommandfinal). Valid values 0 ... 110 % of the motor rated speed in rpm. Default value 1 000 rpm. Function dete...
Page 66
Acsd-66/80 digital brushless ac s ervo d rive system - ref.1609 function cutoff frequency of the first-order low-pass filter after the velocity feedback. Valid values 0 (the filter is not applied) ... 4 000 hz. Default value 800 hz. Function determines the value of the acceleration ramp applied to t...
Page 67
Digital brushless ac s ervo d rive system - ref.1609 acsd-67/80 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 (by default), ..., 400.0 rpm/ms. Function determines the value of the deceleration ra...
Page 68: Compensation Torque
Acsd-68/80 digital brushless ac s ervo d rive system - ref.1609 t. Torque and power function constant friction compensation in the positive direction of the velocity. It is a constant value for all the positive reference speeds. See the figures later on. Valid values 0.0 (by default), ..., 100.0 n·m...
Page 69
Digital brushless ac s ervo d rive system - ref.1609 acsd-69/80 function time constant of the torque compensation. Before applying it, it is filtered with a low-pass filter to improve the friction behavior in velocity direction changes. The constant friction suddenly changes when changing the sign o...
Page 70
Acsd-70/80 digital brushless ac s ervo d rive system - ref.1609 function amplitude of the hysteresis in friction torque compensation. Valid values 0.2000 ... 1 000.0000 rpm. Default value 0.0000 rpm. Function displays the values of the command and torque feedback. Valid values - 99.9 ... 99.9 n·m. F...
Page 71: Error Codes
Digital brushless ac s ervo d rive system - ref.1609 acsd-71/80 error codes contact fagor automation. Probably one of the three-phase lines has dropped or a drive has failed. Verify that the lines and the drives are in good condition and restart the system. An attempt has been made to stop the motor...
Page 72
Acsd-72/80 digital brushless ac s ervo d rive system - ref.1609 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 measuring cables (position sensor ca...
Page 73
Digital brushless ac s ervo d rive system - ref.1609 acsd-73/80 the i²t protection of the drive went off. The duty cycle is greater than the system can provide. Decrease the speed overshoot in the system response. There is short-circuit at the drive module. Reset the error. If it persists, may be be...
Page 74
Acsd-74/80 digital brushless ac s ervo d rive system - ref.1609 due to the duty cycle, the ballast resistor is overloaded. Resize the ballast resistor. Decrease the duty cycle. Smooth the duty cycle by applying acceleration ramps. The synchronism message is received erroneously during two consecutiv...
Page 75
Digital brushless ac s ervo d rive system - ref.1609 acsd-75/80 motor not accepted by the drive. Motor's power voltage is different from that of the drive (e.G.: motor fxm34.40 a .E1.000 with mcp-20 l drive). Some of the sine or cosine signals of the encoder has reached a peak level lower than 150 m...
Page 76
Acsd-76/80 digital brushless ac s ervo d rive system - ref.1609 parameters, variables & commands. Id s mnem. Name level idser ac min. Max. Def. Units pag. Bv14 notprogrammableios fagor 32972 ro 0 65535 - - 51 cp1 currentproportionalgain fagor 00106 rw 0 999 - - 51 cp2 currentintegraltime fagor 00107...
Page 77
Digital brushless ac s ervo d rive system - ref.1609 acsd-77/80 mnem. Name level idser ac min. Max. Def. Units pag. Np123 feedconstant fagor 00123 rw 0 2 31 -1 50000 mm 60 op6 digitaloutputpolarity user 34184 rw 0 1 0 - 61 ov10 digitaloutputs user 34178 ro 0 1 0 - 61 pc146 nccontrolledhoming fagor 0...
Page 78
Acsd-78/80 digital brushless ac s ervo d rive system - ref.1609 user notes.
Page 79
Digital brushless ac s ervo d rive system - ref.1609 acsd-79/80 user notes.
Page 80
Acsd-80/80 digital brushless ac s ervo d rive system - ref.1609 fagor automation s. Coop. B.º san andrés, 19 - apdo. 144 e-20500 arrasate-mondragón, gipuzkoa ·spain· tel: +34 943 719 200 +34 943 039 800 fax: +34 943 791 712 e-mail: info@fagorautomation.Es www.Fagorautomation.Com.
Page 81
Digital brushless ac servo drive system - ref.1609 acsd - appendix 1/2 ttl encoder motor sensor input x (-1) 1 0 sp43 sv1 speed enable & halt functions sv7 cp20 tv1 sv6 pulses dr. Ok motor torque on sp10 x1.3 +12 v x2.6 1vpp encoder velocity control block diagram gv2 software version general paramet...
Page 82
Digital brushless ac servo drive system - ref.1609 acsd - appendix 2/2 time time drive enable speed enable "e.003" 1, 2 or 3 lines lost 1 line lost time sv2 1.12 x rated motor speed "e.200" time kv32 "e.202" cv3 drive rated current f (drive rated current) time kv36 f (mp3) "e.201" tv2 mp 3 kv40 "e.3...