Fagor CNC 8037 User manual

Type
User manual

This manual is also suitable for

DRIVE
DDS|MAB
Software manual
Ref.1912
Soft. V0905
Responsibility exemption
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.
The content of this manual and its validity for the product described here
has been verified. Nevertheless, the information, technical or otherwise,
in these manuals or in any other type of documentation is not
guaranteed to be integral, sufficient or up to date.
Involuntary errors are possible, hence the absolute match is
guaranteed. However, the contents of manuals and documents are
regularly checked and updated implementing the pertinent corrections
in later editions.
Fagor Automation S. Coop. will not be held responsible for any losses or
damage, direct, indirect or by chance that could result from that
information and it will be the user's responsibility to use it.
Responsibility and warranty claims are excluded in case of shipping
damage, wrong usage of the unit in wrong environments or when not used
for the purpose for which it has been designed, ignoring the warnings and
safety indications given in this document and/or legal ones that may be
applied to the work place, software modifications and/or repairs made by
unauthorized personnel, damage caused by the influence of other nearby
equipment.
CE Declaration of Conformity and Warranty Terms
The warranty terms may be requested from your Fagor Automation
representative or through the usual commercial channels.
The warranty terms are available in the downloads section of
FAGOR’s corporate website at,
http://www.fagorautomation.com
· type of file: General terms and conditions of purchase - warranty ·
The EC Declaration of Conformity is available in the downloads
section of FAGOR’S corporate website at,
http://www.fagorautomation.com
· type of file: EC Declaration of Conformity ·
Registered trademarks
All registered trade marks, even those not indicated are also
acknowledged. When some are not indicated, it does not mean that they
are free.
December 2019 | Ref.1912
All rights reserved.
No part of this documentation may be copied,
transmitted, transcribed, stored in a backup device or translated into
another language without Fagor Automation’s permission.
ORIGINAL INSTRUCTIONS
DUAL-USE products.
Products manufactured by Fagor Automation
S. Coop. included on the list of dual-use products according to
regulation (UE) Nr 1382/2014. Their product identification includes the
text -MDU and require an export license depending on destination.
Original manual.
Any translation of the original manual (spanish or
english) will replace the phrase ORIGINAL INSTRUCTIONS with
TRANSLATION OF THE ORIGINAL INSTRUCTIONS.
GENERAL INDEX
I.
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DDS|MAB
SOFTWARE
Soft.09.05
ABOUT THIS MANUAL .......................................................................................................................... 7
ABOUT THE PRODUCT ........................................................................................................................ 8
VERSION HISTORY ............................................................................................................................... 9
SAFETY CONDITIONS ........................................................................................................................ 17
EC DECLARATION OF CONFORMITY AND WARRANTY TERMS .................................................. 18
RECOMMENDED DOCUMENTATION ................................................................................................ 19
1 PREVIOUS KNOWLEDGE ......................................................................................................... 21
Data storage structure ................................................................................................................ 22
Access levels .............................................................................................................................. 23
Parameter editing ........................................................................................................................ 24
Save into flash memory .............................................................................................................. 25
Validating offline parameters ...................................................................................................... 26
Error display ................................................................................................................................ 27
Initialization process, RESET ...................................................................................................... 28
Transferring parameter tables ..................................................................................................... 29
Transfer of « *.mot » files. Motor table ........................................................................................ 30
Motor identification ...................................................................................................................... 32
System configurations ................................................................................................................. 33
2 MOTOR IDENTIFICATION ......................................................................................................... 35
Motor configuration ..................................................................................................................... 36
Motor selection ............................................................................................................................ 37
Motor identification and initialization ........................................................................................... 49
Automatic identification process ................................................................................................. 50
Final remarks .............................................................................................................................. 51
Adjustment of the encoder offset ................................................................................................ 52
3 THE CURRENT DRIVE .............................................................................................................. 55
Current limit parameter setting .................................................................................................... 57
Current command filters .............................................................................................................. 58
4 THE VELOCITY DRIVE .............................................................................................................. 63
Velocity control loop .........................................................................................................
........... 64
Parameter setting for
velocity control loop .................................................................................. 66
Velocity command filters ............................................................................................................. 76
Velocity feedback filter ................................................................................................................ 82
Acceleration feedforward ............................................................................................................ 83
Velocity estimator ........................................................................................................................ 84
5 THE POSITION DRIVE ............................................................................................................... 87
Position control loop .................................................................................................................... 88
Home search ............................................................................................................................. 100
CRC on FAGOR absolute linear encoder models SA/GA ........................................................ 114
Monitoring the reference mark in each encoder revolution ....................................................... 115
Backlash compensation ............................................................................................................ 116
Offline auto-adjustment of the inertia ........................................................................................ 126
Following error monitoring ........................................................................................................ 128
Module format ........................................................................................................................... 129
Position limits ............................................................................................................................ 130
Online feedback change ........................................................................................................... 131
Maximum error allowed between feedbacks ............................................................................. 133
Combined feedback .................................................................................................................. 134
Compensation of the elastic deformation in the coupling of an axis ......................................... 135
6
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6 SETUP SUMMARY .................................................................................................................. 141
General parameters .................................................................................................................. 141
Parameters related to the velocity estimator ............................................................................. 142
SENSORLESS related parameters .......................................................................................... 142
Resolution related parameters ..................................................................................................143
Parameters to identify a linear feedback with distance coded reference marks ....................... 143
Home switch parameters .......................................................................................................... 144
Gain related parameters ........................................................................................................... 145
Various parameters for the position loop .................................................................................. 145
Parameters only to be used in MC applications ........................................................................ 146
Exclusive parameters to control a synchronous spindle ........................................................... 146
Exclusive parameters to V/f control .......................................................................................... 146
Exclusive parameters to cogging compensation ....................................................................... 146
Configuration of an application ................................................................................................. 147
7 PARAMETER SETTING OF THE CNC-DRIVE SYSTEM ........................................................ 161
SERCOS communication with the 8055/55i CNC ..................................................................... 162
CAN communication with the 8055/55i CNC ............................................................................ 166
Other 8055/55i CNC parameters .............................................................................................. 169
Considerations at the drives ..................................................................................................... 178
Control signals PLC 8055/55i - drive ........................................................................................ 180
SERCOS communication with the 8070 CNC .......................................................................... 183
8 PARAMETER SET AND GEAR RATIOS ................................................................................ 189
Terminology used ..................................................................................................................... 190
Parameter set ........................................................................................................................... 192
9 HANDLING INTERNAL VARIABLES ...................................................................................... 203
Digital electrical signals for PLC or maneuver .......................................................................... 204
Analog signals for the dial ......................................................................................................... 205
Handling internal variables ........................................................................................................ 206
10 FEATURES FOR THE MOTOR ............................................................................................... 213
Motor power reduction .............................................................................................................. 213
HALT function ........................................................................................................................... 215
Motor stop due to torque overload ............................................................................................ 216
Flux reduction without load ...................................................................................................
.... 217
Auto-adj
ustment of the rotor resistance value .......................................................................... 218
Electrical position on motor start-up ..........................................................................................219
User motor with linear temperature sensor ............................................................................... 224
Limit of the minimum temperature allowed on the motor winding ............................................. 225
Swapping · by parameter · of the sequence of the motor power phases ................................. 226
Linear motor control .................................................................................................................. 227
V/f control .................................................................................................................................. 229
Synchronous motor "cogging" compensation ........................................................................... 231
Spindle home search with a proximity sensor ........................................................................... 233
11 SETTING UP AN ASYNCHRONOUS SPINDLE ...................................................................... 235
Asynchronous motor with motor feedback ................................................................................ 235
SENSORLESS asynchronous motor ........................................................................................ 248
Calculating the serial inductance ..............................................................................................251
12 SETTING UP A SYNCHRONOUS SPINDLE ........................................................................... 253
Synchronous spindle versus asynchronous spindle ................................................................. 253
Conditions for controlling it ........................................................................................................ 254
Parameter setting for a user asynchronous spindle motor ....................................................... 255
Start-up process ........................................................................................................................ 258
Loop setting .............................................................................................................................. 259
I.
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SOFTWARE
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13 PARAMETERS, VARIABLES AND COMMANDS ................................................................... 261
Notations ................................................................................................................................... 261
Groups of parameters, variables and commands ..................................................................... 265
14 ERROR CODES AND MESSAGES ......................................................................................... 379
Message codes at the drive ...................................................................................................... 379
Message codes in RPS power supplies .................................................................................... 398
15 PROTECTIONS ........................................................................................................................ 405
Protections of the drive ............................................................................................................. 406
Bus Protection Module, BPM .................................................................................................... 412
Protections of the motor ............................................................................................................ 413
External monitoring of the real I²t levels .................................................................................... 415
Protection of the external ballast resistor .................................................................................. 416
Protection against a mains phase drop ..................................................................................... 418
16 WINDDSSETUP ....................................................................................................................... 419
System requirements and compatibility .................................................................................... 419
Before installing WinDDSSetup on Windows 7 and Windows Vista ......................................... 420
Installation process ................................................................................................................... 421
General description of the screen ............................................................................................. 422
6
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Preliminary I
0.
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SOFTWARE
Soft.09.05
Title DRIVE DDS|MAB. Software manual.
Type of documentation FAGOR servo drive system's software description. Setup, parameters
involved and error listing. WinDDSSetup application.
Electronic document man_dds_soft.pdf.
Language English.
Manual reference Ref.1912.
Web The user must always use the latest reference of this manual, available on
FAGOR'S corporate website.
http://www.fagorautomation.com.
Internal code It belongs to the manual directed to the manufacturer (OEM). The manual
code depends on the software version standard or advanced:
Associated software V09.05 and older.
Start-up
Warning
Headquarters
Fagor Automation, S. Coop.
B.º San Andrés 19, Apdo.144
C. P. - 20500 Arrasate - Mondragón
www.fagorautomation.com
ABOUT THIS MANUAL
MAN REGUL (IN) STAN Code: 04754001
DANGER. In order to comply with the EC seal indicated on the component,
verify that the machine on which the servo system is installed complies with
European Directive 2006/42/EC on machine safety.
Before setting up the servo drive system, read the instructions in chapter 1.
PREVIOUS KNOWLEDGE of the “man_dds_soft.pdf” manual.
WARNING. 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.
+34-943-039800 (customer support)
+34-943-791712 (customer support)
+34-943-795047 (SAT, headquarters)
+34-934-744375 (SAT, Catalonia)
Preliminary I
0.
8
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SOFTWARE
· 8 ·
Soft.09.05
Software options
Bear in mind that some of the features or applications described in the “man_dds_hard.pdf” manual
depend on the software version installed.
These considerations are indicated in this manual that is supplied together with the “man_dds_hard.pdf”
manual.
ABOUT THE PRODUCT
Preliminary II
Ref.1912
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DDS|MAB
SOFTWARE
Soft.09.05
The history of versions shows the list of software applications added in each manual version. To know
the hardware elements added to the hardware and the version of the manual that describes them, For
DDS system, consult the manual "man_dds_hard.pdf" provided hereto. For MAB system, consult the
manual "man_mab_hard.pdf”.
VERSION HISTORY
Manual reference Events
9702
DDS
Software 01.01. First version.
9707
DDS
No new software has been implemented.
9802
DDS
Software 02.XX
Halt signal via digital input. Range expansion, (C-axis).
SERCOS interface (connection and parameters).
9810
DDS
Software 03.XX
SinCoder feedback (ref. E1).
Motor identification at the encoder.
Emergency ramps. Current filter.
SERCOS interface (servo system adjustment).
Expansion of parameters for gear ratios. Communications with the PLC.
Overload detection. Spindles at low rpm.
9904
DDS
Software 03.03
Full motor identification.
Drive off Delay time, GP9.
0002
(only in CD Rom)
DDS
Software 04.01
· preliminary ·
Current filter.
Position loop.
Feed-forward, homing, backlash compensation.
Following error control, module format.
Direct feedback.
WinDDSSetup.
0103
DDS
Software 04.01 · final ·
Motion parameters in the L group.
0112
DDS
Software 04.02
Online feedback change.
Axis synchronization.
Index.
DNC communications protocol.
0303
DDS
Software 04.03
Variables GV3|GV6. Checksum parameters.
Variables XV12|XV13. Variables for communication between the PLC of
the 8055 CNC and the PLC of the drive.
Parameter LP59. Parameter to select the source of the master in
synchronization LP59.
Software 04.04
Variable HV13. SERCOSRS422Id. Variable to read the rotary switch.
Reversal peak with an exponential shape.
Software 04.05 (with Vecon board) | 05.05 (with Vecon-2 board)
Parameter QP13. Parameter to increase the number of axes accessible
via RS-422.
Variable TV92. BipolarTorqueForceLimit. Torque control. ONLINE.
Software 04.06 | 05.06
FM7 motors (E01 version).
They recognize the Motor ID of these motors.
Preliminary II
16
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SOFTWARE
· 10 ·
Soft.09.05
0303
(continued)
DDS
Software 04.07 | 05.07
FM7 motors (C-axis and maximum speed).
ModBus protocol in RS-422.
Software 04.08 | 05.08
FM7 motors (E02 version).
E412. Drive|CNC synchronism detection via SERCOS channel.
Software 04.09 | 05.09
Error correction.
0305
DDS
Software 04.10 | 05.10
Maximum currents on spindle drives.
0310
DDS
Software 06.01
Current-loop topology (structure). Natural units. There is no variable PI.
A second current filter has been included. Parameters CP33 and CP34.
Flow and EMF parameters. Natural units FP1, FP2, FP21 and FP22.
Control of high speed spindles Parameters renamed.
SP12 is now MP25.
SP11 is now MP26.
MP25 is now MP21.
FP30 ... FP38 is now MP30 ... MP38.
MP22 is now TP22.
Parameters that disappear MP8.
Parameters CP16, TP86 and MP41.
Auto-adjustment of the rotor resistance value. Parameters FP30 and
FP31.
Command to validate parameters offline GC4.
Command to execute the inertia auto-adjustment GC5 (in offline mode).
Offsets of feedback signals RP1 ... RP4 and their equivalent RP51 ...
RP54 are now online.
Variables SV10 and SV11.
Units for TV1 and TV2.
Velocity ramps SP51= 2.
PWM adjustable.
Default emergency ramps SP70 = 1.
ACForward with velocity loop.
0403
DDS
Software 06.02
Home switch movement.
Parameter PP4.
Variable PV1.
Command GC6.
Other variables: RV9|RV59.
Absolute direct feedback with Stegmann sinusoidal encoder.
0405
DDS
Software 06.03
The initial coordinates are checked after a home search.
E150. Travel limit overrun.
Variables HV1 (modified), HV2 (new), RV10.
Square signals RV1|RV2.
Home search with spindle I0 and gear ratio other than 1:1.
0407
DDS
Software 06.04
Error correction.
0410
DDS
Software 06.05
Calculation of the serial inductance for high speed spindles.
Modification of the values permitted in variables LV160 and LV193.
E922. Wrong Jerk value.
Online parameters PP76, PP103, LP143, PP55, PP49 and PP50.
Parameter NP116 makes sense when using resolvers.
0501
DDS
Software 06.06
Error correction.
E205. The motor has no voltage for the demanded work conditions.
Manual reference Events
Preliminary II
Ref.1912
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DDS|MAB
SOFTWARE
Soft.09.05
0504
DDS
Software 06.07
Error correction.
Software 06.08
FAGOR absolute linear encoder.
FAGOR absolute linear encoder reading protocol.
Expanded parameter GP10.
Parameters RP60, RP61, RP62 and RP63.
E610. Error code at the signals of the FAGOR absolute linear encoder.
E611. Error code indicating that the signals of the FAGOR absolute lin-
ear encoder are unstable.
Identification of R and L in asynchronous motors.
Variable FV1.
New structure of the velocity loop. Parameter involved SP52.
«DEFAULT» option with motor ID.
WinDDSSetup Parameter setting assistance for the DDS system. New
help tool for configuring an application.
0506
DDS
Software 06.09
Modifications in the home search feature when using a spindle reference
mark and transmission ratio other than 1:1.
PP5 = - 0.0001. Both feedbacks independent from each other.
0602
DDS
Software 06.10
Control of new FM7 spindle motors. Series E03 and HS3.
Star-triangle configuration change while the motor is stopped.
Control of a synchronous spindle
Parameters involved MP42, MP43 and MP50.
Readjustment of the current loop for high rpm on a spindle motor.
CP9 CurrentLoopTimeConstant.
Detection of the electrical position of a synchronous motor on power-up.
Command GC7. AutophasingOnline.
Parameter PP160. MonitoringWindowPosEleCalc.
Backlash compensation with position control and direct feedback.
Parameter PP58. Backlash. More functions for this parameters.
Parameter PP59. Backlash12. Backlash between feedbacks.
Variable TV5. TorqueFeedforward. Compensated torque.
Parameter PP13. BacklashPeakDelay. Delayed exponential
compensation of the backlash due to movement reversal peak
Parameter PP14. BacklashPeak2FeedbackDisplacement. Cancellation
of exponential compensation of the backlash due to movement reversal
peak.
Parameter PP15 ReversalHysteresis. Hysteresis in the exponential
compensation of the backlash due to a movement reversal peak.
Improved friction compensation. Zero compensation of the friction dur-
ing the exponential compensation of the backlash due to movement
reversal peak.
Parameter TP15 TorqueCompensationSpeedHysteresis. Hysteresis in
the friction torque compensation.
Error codes
E158. Movement greater than the value given in parameter PP160.
E216. Internal error.
E316. “Soft Start” problem to charge the power bus at a compact drive.
E813. Error when initializing the electrical position of a synchronous
motor on power-up.
It also includes the documentation regarding the control software of the
RPS regenerative regulated power supplies.
Software 01.02 (RPS)
Parameters, variables and commands.
List of errors. Warnings and solutions
Manual reference Events
Preliminary II
16
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SOFTWARE
· 12 ·
Soft.09.05
0606
DDS
Software 06.11
Error correction.
Software 06.12
Feedback combination.
Parameter PP16.
Variable PV153.
Velocity estimator.
Parameters SP15, SP16 and SP17.
Variable SV12.
Error codes
E205. (modification). Braking with emergency ramp.
Errors E610 and E611 become E814 and E815.
0612
DDS
Software 06.13
Error correction.
Software 06.14
Control of an asynchronous motor without feedback (Sensorless).
Parameters AP2, FP50, FP51 and FP60.
Parameter MP44.
0706
DDS
Software 06.15
U signal as I0 in a feedback device (rotary or linear encoder) with U,
V and W signals.
Parameter RP7.
Linear temperature sensor that may be set by parameters.
Parameters MP14=5, MP45 and MP46.
Automatic simplification of mechanical ratio NP121/NP122.
Variables TV51, PV191, PV192 and PV193.
Software 01.07 ·RPS·
Parameters GP7 and GP8.
Warning and error codes A4, E316, E317, E318.
0710
DDS
Software 06.16
Compensation of the elastic deformation in the coupling of an axis.
Parameter PP20.
0802
DDS
Software 06.17
Error correction.
Software 06.18
Online change of the Y-delta (star-triangle) connection of the stator
winding on FM7 motors, series E03 and HS3. Parameter MP23.
Online motor change.
Modifications in the interpolator. Modifications of the minimum
values of variables LV160 and LV193.
Treatment of EnDat encoders.
Feedback parameter setting procedure using bits.
Parameters involved GP2 and GP10.
Modifications to the execution of the GC7 command. Parameters
involved CP21, CP22, CP23, CP24, CP26 and CP27.
Home search with direct feedback and inexact ratio for rotary axes.
Command GC8. Update the RHO value when passing through the
reference mark I0.
Recognizing the asynchronous motor FM7-E600.
Recognizing the synchronous motor FKM62.60A.
A.189 warning. GP10 has been set to 0 when having the direct
feedback board installed.
0806
DDS
Software 06.19
E159. Phases swapped in the power cable and/or in the motor feedback.
E816. The C|D signals of the motor feedback are unstable.
Manual reference Events
Preliminary II
Ref.1912
· 13 ·
DDS|MAB
SOFTWARE
Soft.09.05
Manual reference Events
0811
DDS
Software 06.20
CRC check on FAGOR absolute linear encoders.
Parameter RP64.
E817. CRC checking error.
Recognizing the feedback with EnDat 2.1 digital interface as motor
feedback.
Monitoring of feedback reference mark signal.
Parameters RP8 and RP9.
E256. The reference mark signal is not repeated in the same number of
pulses per turn of the feedback device.
Emergency ramp watch while braking.
Parameters SP71 and SP72.
E160. In an emergency stop, the evolution of the braking operation does
not properly follow the reference emergency ramp.
Stegmann encoder data reading,
Commands RC2 and RC3.
Variables RV11, RV12, RV13, RV14, RV15, RV16, RV17 and RV18.
More ( *.mot ) files with non-Fagor spindle motors.
Recognizing the new references of FKM motors: FKM22.60A.XX.X0X,
FKM42.60A.XX.X0X and FKM66.20A.XX.X0X.
Max. controllable speed of a synchronous spindle.
0905
DDS
Software 06.21
EnDat reading protocol. Related parameters RP60 ... RP63.
Motor selection. «DEFAULT2» option.
0906
DDS
Software 06.22
Auto-adjustment. Variable HV4.
Modified recognizing of the SPD 3.200 drive (incompatibility) aimed
at controlling 60 kW FM7 motors and 71 kW FM9 motors. With previous
software versions, it was not possible to govern this drive model and,
consequently, neither these spindle motors.
1003
DDS
Software 06.23
Recognizing synchronous FKM9 motors, models FKM94.20A,
FKM95.20A, FKM96.20A.
Recognizing FM9 family asynchronous motors, models FM9-B055-
C5C-E01, FM9-B071-C5C-E01, FM9-A100-C5C-E01, FM9-B113-
C5C-E01 and FM9-A130-C5C-E01.
Recognizing the SKS36 encoder from Stegmann whose parameters are
set the same way as those of any other Stegmann encoder (ref. E1, A0,
A1, ...).
Possibility of continuous latching with Stegmann encoders ref. E1.
Correction of the start-up position with CD encoders when going through
the first I0.
Enabling of MP21 with synchronous motors that will allow changing the
order (sequence) of the power phases (motor turning direction).
New possible configuration at the drives Analog card in slot SL1 and
8I/16O card in slot SL2.
1012
DDS
Software 08.01
Important note.
This version is only compatible in drives with CAN board.
Variable PV148.
1209
DDS
Software 08.02
Important note.
This version is only compatible in drives with CAN board.
Error correction.
Software 08.03
Important note.
This version is only compatible in drives with CAN board.
Temperature identifier of the SPD 2.85 drive based on the AXD 2.75.
Preliminary II
16
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SOFTWARE
· 14 ·
Soft.09.05
Manual reference Events
1209
(continued)
DDS
Software 08.04
Important note.
This version is only compatible in drives with CAN board.
Identification of the compact spindle drive SCD 2.75.
On RPS power supplies, error codes
E319 and E706.
1305
DDS
Software 08.05
Important note.
Software compatible for drives with SERCOS or CAN interface.
Recognize EnDat 2.2 digital interface.
Improve parameter setting of linear motor.
Variables RV20 and RV25.
Command GC9.
Hall effect sensor signal parameter setting and processing.
FAGOR SSI. Error codes and solutions.
Command that forces the position value of the Stegmann encoder to zero.
Limit minimum temperature allowed in motor winding.
Swapping of motor power phases by parameter.
V/f control.
Incompatibility with previous WinDDSSetup versions.
Modifications to parameter FP40.
Modifications to parameters SP13 and SP15 (concept).
Modifications to parameters TP10, TP11, TP12 and TP13.
Maximum valid value of parameter SP16 modified.
Maximum valid value of parameter MP44 modified.
1310
DDS
Parameter CP50.
Software 08.06
Parameter MP144. Motor stall torque.
Parameter CP18. A better auto-adjustment of the current loop.
Variable GV69. Resetting by software.
1502
DDS
Software 08.07
Identification of the analog-only servo drive.
Software 08.08
Parameters FP1|FP20. Their max. value has risen from 32000 to 80000.
Software 08.09
Parameter SP17. Behavior changed.
Variable GV16. Display the motor table version.
Variables that may be read|written from the CNC: RV17, RV18, GV16.
Version 02.02 of the (*.mot) motor table.
1601
DDS
Software 08.10
Variable GV17. VECON board version identification.
Recognizing VECON-4 (vers.10A).
Software 08.11
Variables RV28, RV29 and RV30. Parameter setting assistance for
EnDat feedback devices.
Replacement of error E700 by warning A190.
1605
DDS
1605
DDS|MAB
Software 08.12
MP14=6. Recognition of the PTC 111-K13-140 temperature sensor of
FKM1 motors.
Version 02.05 of the (*.mot) motor table.
Software 08.13
Parameter RP10. Degree of sensitivity regarding E605/E608 errors.
Parameter SP11. Resolution of up to 2 decimal places for SP1.
MP14=7. Recognition of the RTD Pt1000 temperature sensor.
MAB. Recognition of the multi-axis drives.
Version 02.06 of the (*.mot) motor table.
Preliminary II
Ref.1912
· 15 ·
DDS|MAB
SOFTWARE
Soft.09.05
Manual reference Events
1702
DDS|MAB
Software 08.14
Disabling with default values from error E108.
Version 02.07 of the (*.mot) motor table.
Software 08.15
Improved management of error E108 ·motor overtemperature·
Software 08.16
Modifications without any effect on the DDS regulation.
Version 02.08 of the (*.mot) motor table.
Software 08.17
Bit 3 is included in parameter RP62.
Parameter RP65. Format selection ·in bits or pulses· for the absolute
resolution of an SSI rotary encoder.
The SP65 parameter is now online.
Version 02.09 of the «*.mot » motor table.
1707
DDS|MAB
No new software has been implemented.
1710
DDS|MAB
Software 08.18
Amendment regarding the incompatibility of WinDDSSetup 08.17 and
earlier versions with the current flash memories in the drives.
MAB. V2 validation for the PLDs.
1711
DDS|MAB
Software 08.19
Cogging compensation on synchronous motors.
Parameters TP30, TP31 and TP32.
MAB. The error codes of the main power supply: E317, E318, E319, E320,
E321, E322, E323, E324, E325, E326, E327, E328, E329.
1807
DDS|MAB
Software 08.20
Version 02.10 of the «*.mot » motor table.
Software 09.01
Parameter setting position loop resolution of the motor feedback in a
linear motor. Parameters PP77 and PP78, modifications in parameter
RP62 and new parameters RP66, RP67 and RP68 to carry out the
parameter setting of the linear encoder.
Parameter PP79. Increased resolution for direct feedback with a
maximum one other bit.
Parameter SP65. EmergencyAcceleration. ONLINE.
Parameter PP6. No. of I0s used during the home search for distance-
coded reference marks (I0).
E217. Motor anti-runaway of the velocity loop supervision.
Variable TV51. Modification of the calculation to enhance adaptive
control.
Parameter MP43. Modification of the maximum value to 10 000.
Command GC11. Calculation of the RHO without motor movement.
Parameter CP28. Percentage of the synchronous motor current set to
MP3.
Spindle home search using an NPN inductive proximity sensor as I0
signal.
MAB.
E330. Fault associated with the motor holding brake circuitry.
MAB. Management of bicolor A| B| C| S STATUS led´s.
Version 02.11 of the «*.mot » motor table.
1905
DDS|MAB
Software 09.02
Error correction.
Software 09.03
Version 02.12 of the «*.mot » motor table.
Software 03.03 ·RPS·
A005 warning. NS1-NS2 terminals of the X3 connector, not jumpered.
Preliminary II
16
Ref.1912
DDS|MAB
SOFTWARE
· 16 ·
Soft.09.05
1910
DDS|MAB
Software 09.04
Error correction.
Software 09.05
Identification of the ACD/SCD compact drives for line voltages between
200/240 V AC, 3-phase.
1912
DDS|MAB
Absolute feedback.
Treatment of the single-turn and multi-turn feedback devices.
More detailed information.
Software 09.04
Preliminary III
Ref.1912
· 17 ·
DDS|MAB
SOFTWARE
Soft.09.05
For DDS system,
consult the corresponding section on security measures in the manual man_dds_hard.pdf.
For MAB system,
consult the corresponding section on security measures in the manual man_mab_hard.pdf.
SAFETY CONDITIONS
Preliminary III
20
Ref.1912
DDS|MAB
SOFTWARE
· 18 ·
Soft.09.05
The EC Declaration of Conformity is available in the downloads section of FAGOR’S corporate
website at http://www.fagorautomation.com. · type of file: EC Declaration of Conformity ·
The warranty terms are available in the downloads section of FAGOR’s corporate website at
http://www.fagorautomation.com. · type of file: General terms and conditions of purchase - warranty ·
EC DECLARATION OF CONFORMITY
AND WARRANTY TERMS
Preliminary III
Ref.1912
· 19 ·
DDS|MAB
SOFTWARE
Soft.09.05
Available manuals
Product selection guides
Quick references
Servodrive system manuals
RECOMMENDED DOCUMENTATION
Manual available in electronic format
http://www.fagorautomation.com
Manual available on paper
Document Description Format
man_drive_ord_hand.pdf
english
It describes the products that make up the DDS system
and allows selecting each element according to the
user's needs.
man_8060fl_mab_ord_hand.pdf
inglés
It describes the products that make up the MAB
system and allows selecting each element according
to the user's needs.
man_fm7_fm9_ord_hand.pdf
english
It describes the FM7/FM9 asynchronous motors and
allows selecting each model according to the user's
needs.
man_fxm_ord_hand.pdf
english
It describes the FXM synchronous motors and allows
selecting each model according to the user's needs.
man_fkm_ord_hand.pdf
english
It describes the FKM synchronous motors and allows
selecting each model according to the user's needs.
Document Description Format
man_dds_mod_quick_ref.pdf
english
It describes each element that make up the system as
well as the most important considerations regarding
the installation of motors and modular drives, power
supplies and accessories such as cables, connectors,
etc.
man_dds_comp_quick_ref.pdf
english
It describes each element that make up the system as
well as the most important considerations regarding
the installation of motors and compact drives and
accessories such as cables, connectors, etc.
man_mab_quick_ref.pdf
english
It describes each element that make up the MAB
system as well as the most important considerations
regarding the installation of motors and the multi-axis
drive and accessories such as cables, connectors,
etc.
man_fkm_quick_ref.pdf
english
FKM servomotors installation guide.
Document Description Format
man_dds_hard.pdf
spanish/english
It describes each device and equipment that make
up the DDS Power Drive System as well as their
installation
man_dds_soft.pdf
spanish/english
It describes the adjustments of the Power Drive
System. Available parameters, variables and
commands. Features. Operation of the WinDDS
Setup software for PC.
man_mab_hard.pdf
spanish/english
It describes each device and equipment that make up
the the MAB Power Drive System as well as their
installation.
Preliminary III
20
Ref.1912
DDS|MAB
SOFTWARE
· 20 ·
Soft.09.05
Electric motor manuals
Document Description Format
man_fm7_fm9_motors.pdf
spanish/english
They describe the FM7/FM9 families of asynchronous
motors of the FAGOR catalog and how to install them
with the DDS system.
man_fxm_fkm_motors.pdf
spanish/english
They describe the FXM/FKM families of synchronous
motors of the FAGOR catalog and how to install them
with the DDS system.
man_fkm_motors.pdf
spanish/english
They describe the FKM family of synchronous motors
of the FAGOR catalog and how to install them with the
DDS system.
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Fagor CNC 8037 User manual

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