Fagor CNC 8058elite T User manual

DRIVE

BCSD

EtherCAT

User manual

Ref.2102

transcribed, stored in a backup device or translated into another language

without Fagor Automation’s consent. Unauthorized copying or distributing of

this software is prohibited.

The information described in this manual may be subject to changes due to

technical modifications. Fagor Automation reserves the right to change the

contents of this manual without prior notice.

All the trade marks appearing in the manual belong to the corresponding

owners. The use of these marks by third parties for their own purpose could

violate the rights of the owners.

It is possible that CNC can execute more functions than those described in

its associated documentation; however, Fagor Automation does not

guarantee the validity of those applications. Therefore, except under the

express permission from Fagor Automation, any CNC application that is not

described in the documentation must be considered as “impossible”. In any

case, Fagor Automation shall not be held responsible for any personal injuries

or physical damage caused or suffered by the CNC if it is used in any way

other than as explained in the related documentation.

The content of this manual and its validity for the product described here has

been verified. Even so, involuntary errors are possible, hence no absolute

match is guaranteed. However, the contents of this document are regularly

checked and updated implementing the necessary corrections in a later

edition. We appreciate your suggestions for improvement.

The examples described in this manual are for learning purposes. Before

using them in industrial applications, they must be properly adapted making

sure that the safety regulations are fully met.

ORIGINAL INSTRUCTIONS

Original instructions

FAGOR AUTOMATION S.COOP.

B

eta series Ether

C

AT

S

ervo

D

rives

~

BCSD-xxEG-EC series

~

Ref.2102

4|192 - BCSD EtherCAT Beta series EtherCAT Servo Drives | Ref.2102

User manual

About this manual

This manual describes the following information required for designing and maintaining

BCSD-



EG-EC series servo drives.

 Specification of the servo drives and servo motors.

 Procedures for installing the servo drives and servo motors.

 Procedures for wiring the servo drives and servo motors.

 Procedures for operation of the servo drives.

 Procedures for using the panel operator.

 Communication protocols.

 Ratings and characteristics.

Intended audience

 Those designing BCSD-



EG-EC series servo drive systems.

 Those installing or wiring BCSD-



EG-EC series servo drives.

 Those performing trial operation or adjustments of BCSD-



EG-EC series servo drives.

 Those maintaining or inspecting BCSD-



EG-EC series servo drives.

or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording,

or otherwise, without the prior written permission of FAGOR. No patent liability is assumed

with respect to the use of the information contained herein.

Beta series EtherCAT Servo Drives | Ref.2102 BCSD EtherCAT - 5|192

User manual

Safety precautions

 Do not connect the servo motor directly to the local electrical mains.

Failure to observe this may result in damage to servo motor.

 Do not plug or unplug connectors from servo drive after power is on.

Failure to observe this may result in damage to servo drive and servo motor.

 Note that residual voltage still remains in the servo drive even after the power is turned off.

Please be noted that even after the power is turned off, residual voltage still remains in the

capacitor inside the servo drive. If inspection is to be performed after the power is turned

off, always wait at least 5 minutes to avoid the risk of an electrical shock.

 Keep servo drives and other devices separated by at least 10 mm.

The servo drive generates heat. Install the servo drive so that it can radiate heat freely.

When installing servo drives with other devices in a control panel, provide at least 10 mm

space between them and 50 mm space above and below them. Please install servo drives

in an environment free from condensation, vibration and shock.

 Perform noise reduction and grounding properly.

Please comply with the following instructions strictly to avoid the noisy generated by

signal lines.

1. Separate high-voltage cables from low-voltage cables.

2. Use cables as short as possible.

3. Single point grounding is required for the servo motor and servo drive (grounding

resistance 100 m or below).

4. Never use a line filter for the power supply in the circuit.

 Conduct a voltage resistance test for the servo drive under the following conditions:

1. Input voltage: 1500 Vrms ac, 1 minute.

2. Braking current: 100 mA.

3. Frequency: 50/60 Hz.

4. Voltage applied point: between L1, L2, L3 terminals and frame ground.

 Use a fast-response type ground-fault interrupter.

For a ground-fault interrupter, always use a fast-response type or one designed for PWM

inverters. Do not use a time-delay type.

 Do not make any extreme adjustments or setting changes of parameters.

Failure to observe this caution may result in injury or damage to the product due to unstable

operation.

 The servo motor cannot be operated by turning the power on and off.

Frequently turning the power ON and OFF causes the internal circuit elements to

deteriorate, resulting in unexpected problems. Always start or stop the servomotor by using

reference pulses.

 Follow the instructions for PCB use:

1. Before touch the PCB, the body of the user must be discharged.

2. The PCB cannot be contact with highly insulating materials.

3. The PCB is only allowed to put on the conductive pad.

4. The PCB is only allowed to store and transport packaging in conductive wrapper or

conductive foam rubber or aluminum foil.

6|192 - BCSD EtherCAT Beta series EtherCAT Servo Drives | Ref.2102

User manual

 Precautions on turning ON and turning OFF the servo drive:

1. When turning on the servo drive, make sure that the control power supply has be turned

on before turning on the main circuit power supply.

2. When turning off the servo drive, make sure that the main circuit power supply has be

turned off before turning off the control power supply.

Beta series EtherCAT Servo Drives | Ref.2102 BCSD EtherCAT - 7|192

User manual

Revision history

DATE COMMENTS

2102 Servo drive models:

200 Vac

BCSD-08AEG-EC, BCSD-10AEG-EC, BCSD-15AEG-EC, BCSD-20AEG-EC,

BCSD-30AEG-EC, BCSD-50AEG-EC.

400 Vac

BCSD-10DEG-EC, BCSD-15DEG-EC, BCSD-20DEG-EC,

BCSD-30DEG-EC, BCSD-50DEG-EC.

Servomotor models:

200 Vac

FBS-08ALB



, FBS-10ALB



.

FBM-10A



L



, FBM-15A



L



, FBM-20A



L



,

FBM-30A



L



, FBM-50A



L



.

400 Vac

FBM-10D



L



, FBM-15D



L



, FBM-20D



L



,

FBM-30D



L



, FBM-50D



L



.

8|192 - BCSD EtherCAT Beta series EtherCAT Servo Drives | Ref.2102

User manual

This page intentionally left blank

Beta series EtherCAT Servo Drives | Ref.2102 BCSD EtherCAT - 9|192

User manual

1. CHECKING PRODUCTS AND PARTS NAMES ............................................................... 11

1.1. Checking Products on Delivery................................................................................... 11

1.2. Part Names ................................................................................................................. 15

2. INSTALLATION................................................................................................................. 20

2.1. Servomotor.................................................................................................................. 20

2.2. Servo Drive ................................................................................................................. 22

3. WIRING.............................................................................................................................. 24

3.1. Main Circuit Wiring ...................................................................................................... 24

3.2. I/O Signals................................................................................................................... 27

3.3. Wiring Encoders.......................................................................................................... 32

3.4. Communication Connection........................................................................................ 33

3.5. Standard Wiring Examples.......................................................................................... 34

3.6. Wiring for Noise Control.............................................................................................. 36

3.7. Using more than one Servo Drive............................................................................... 41

4. OPERATION...................................................................................................................... 42

4.1. Trial Operation ............................................................................................................ 42

4.2. Control Mode Selection............................................................................................... 54

4.3. Setting Common Basic Functions............................................................................... 55

4.4. Absolute Encoders...................................................................................................... 64

4.5. Operating Using Speed Control with Analog Reference............................................. 66

4.6. Operating Using Position Control................................................................................ 75

4.7. Operating Using Torque Control ................................................................................. 93

4.8. Operating Using Speed Control with an Internally Set Speed .................................... 98

4.9. Limiting Torque ......................................................................................................... 100

4.10. Control Mode Selection........................................................................................... 103

4.11. Other Output Signals............................................................................................... 104

4.12. Online Autotuning.................................................................................................... 109

4.13. Inertia ...................................................................................................................... 113

4.14. Updating Operation................................................................................................. 113

5. PANEL OPERATOR........................................................................................................ 114

5.1. Basic Operation......................................................................................................... 114

5.2. Operation in Utility Function Mode............................................................................ 122

6. ETHERCAT COMMUNICATION ..................................................................................... 137

6.1. EtherCAT Communication Wiring ............................................................................. 137

6.2. EtherCAT Communication Related Parameters ....................................................... 137

7. SPECIFICATIONS ........................................................................................................... 138

7.1. Servomotors.............................................................................................................. 138

7.2. Servo Drives..............................................................................................................153

8. WinBCSD SOFTWARE ................................................................................................... 160

10|192 - BCSD EtherCAT Beta series EtherCAT Servo Drives | Ref.2102

User manual

APPENDIX A. PARAMETERS ............................................................................................ 161

A.1 Parameter List ........................................................................................................... 161

A.2 Parameters in Detail .................................................................................................. 168

APPENDIX B. ALARM DISPLAY........................................................................................ 188

Beta series EtherCAT Servo Drives | Ref.2102 BCSD EtherCAT - 11|192

User manual

1. CHECKING PRODUCTS AND PARTS NAMES

1.1. Checking Products on Delivery

CHECK ITEMS COMMENTS

Are the delivered products

the ones that were ordered?

Check the model numbers marked on the nameplate on

the servomotor and servo drive.

Is there any damage?

Check the overall appearance, and check for damage or

scratches that may have occurred during shipping.

Does the servomotor shaft

rotates moothly?

If the servomotor shaft can be easily rotated by hand, then

the motor is working normally. However, if a brake is

installed on the servomotor, then it cannot be turned by

hand.

If any of the above items are faulty or incorrect, contact your FAGOR representative or the

dealer from whom you purchased the products.

12|192 - BCSD EtherCAT Beta series EtherCAT Servo Drives | Ref.2102

User manual

1.1.1. Servomotors



Model designation



Appearance and nameplate

FBS- 08 A L B 1 2

FAGOR servomotor

·1+2· ·3· ·4· ·5· ·6· ·7·

FBS model

·1+2·

Rated output

·4·

Encoder

·6·

Shaft end

Code Rated output Code Encoder Code Shaft end

08 0.75 kW

L

23-bit absolute:

8388608 P/R

1

Flat, without keys

10 1.00 kW

2

Flat, with keys, with screw thread

·3·

Voltage

·5·

Designing sequence

·7·

Optional parts

Code Voltage Code Designing Code Optional parts

A 200 Vac B SMT rotator

2 With oil seal and brakeless

4 With oil seal and brake (24 Vdc)

FBM- 30 D L A 1 2

FAGOR servomotor

·1· ·2· ·3· ·4· ·5· ·6·

FBM model

·1·

Rated output

·3·

Encoder

·5·

Shaft end

Code Rated output Code Encoder Code Shaft end

10 1.0 kW

L

23-bit absolute:

8388608 P/R

1 Flat, without keys

15 1.5 kW

2 Flat, with keys, with screw thread

20 2.0 kW

30 3.0 kW

50 5.0 kW

·2·

Voltage

·4·

Designing sequence

·6·

Optional parts

Code Voltage Code Designing Code Optional parts

A 200 Vac A Embedded rotator 2 With oil seal and brakeless

D 400 Vac B SMT rotator 4 With oil seal, with brake (24 Vdc)

FAGOR

SERVOMOTOR

MODEL

Fagor Automation S.Coop.

2.0 kW 9.55 N·m

2000 r/min

5.7 A

400 V

CONT.

Ins. F

FBM-20DLB22

S/N:

5115334H019

SERVOMOTOR

MODEL

RATED OUTPUT

POWER

SERIAL

NUMBER

RATED

TORQUE

RATED

SPEED

RATED

CURRENT

AC VOLTAGE

THERMAL

ENDURANCE

CLASS

Beta series EtherCAT Servo Drives | Ref.2102 BCSD EtherCAT - 13|192

User manual

1.1.2. Servo Drives



Model designation



Appearance

BCSD 10 A E G - EC

FAGOR servo drive

·1· ·2· ·3· ·4· ·5·

BCSD model

·1·

Rated output

·2·

Voltage

·4·

Encoder interface

Code Rated output Code Voltage Code Encoder interface

08 0.75 kW A 200 Vac

G 23-bit absolute: 8388608 P/R

10 1.0 kW D 400 Vac

15 1.5 kW

20 2.0 kW

·3·

Control mode

·5·

Extended module type

30 3.0 kW

Code Control mode Code Extended module type

50 5.0 kW

E

therCAT

EC

E

ther

C

AT bus

BCSD-15AEG-EC

BCSD-20AEG-EC

BCSD-10DEG-EC

BCSD-15DEG-EC

BCSD-20DEG-EC

BCSD-30AEG-EC

BCSD-50AEG-EC

BCSD-30DEG-EC

BCSD-50DEG-EC

BCSD-08AEG-EC

BCSD-10AEG-EC

14|192 - BCSD EtherCAT Beta series EtherCAT Servo Drives | Ref.2102

User manual



Nameplate

SERVO DRIVE

MODEL

APPLICABLE

POWER

SUPPLY

SERIAL

NUMBER

APPLICABLE

SERVOMOTOR

CAPACITY

Beta series EtherCAT Servo Drives | Ref.2102 BCSD EtherCAT - 15|192

User manual

1.2. Part Names

1.2.1. Servomotors

FBS-08ALB



2 | FBS-10ALB



2

FBS-08ALB



4 | FBS-10ALB



4

POWER

OUTPUT SHAFT

SERVOMOTOR WITHOUT HOLDING BRAKE

ENCODER

POWER

ENCODER

KEYWAY

SHELL

MOUNTING

HOLE

FLANGE

POWER

OUTPUT SHAFT

SERVOMOTOR WITH HOLDING BRAKE

ENCODER

POWER

ENCODER

KEYWAY

SHELL

MOUNTING

HOLE

FLANGE

HOLDING BRAKE

BRAKE

16|192 - BCSD EtherCAT Beta series EtherCAT Servo Drives | Ref.2102

User manual

FBM-10AL



2 | FBM-15AL



2 | FBM-20AL



2

FBM-10DL



2 | FBM-10DL



2 | FBM-20DL



2

FBM-30AL



2 | FBM-50AL



2

FBM-30DL



2 | FBM-50DL



2

A

B

C

D

E

F

G

H

I

1

3

5

6

8

9

10

2

4

7

POWER

OUTPUT

SHAFT

SERVOMOTOR WITHOUT HOLDING BRAKE

ENCODER

POWER

ENCODER

SHELL

MOUNTING

HOLE

FLANGE

A

BC

D

G

F

H

E

S

J

D

R

K

T

N

C

B

A

M

L

P

POWER

ENCODER

SERVOMOTOR WITHOUT HOLDING BRAKE

OUTPUT

SHAFT

MOUNTING

HOLE

SHELL

FLANGE

POWER

ENCODER

Beta series EtherCAT Servo Drives | Ref.2102 BCSD EtherCAT - 17|192

User manual

FBM-10AL



4 | FBM-15AL



4 | FBM-20AL



4

FBM-10DL



4 | FBM-10DL



4 | FBM-20DL



4

FBM-30AL



4 | FBM-50AL



4

FBM-30DL



4 | FBM-50DL



4

1

3

5

6

8

9

10

2

4

7

A

B

C

D

E

F

G

H

I

SERVOMOTOR WITH HOLDING BRAKE

POWER AND

HOLDING BRAKE

ENCODER

OUTPUT

SHAFT

MOUNTING

HOLE

SHELL

FLANGE

ENCODER

POWER AND

HOLDING BRAKE

A

BC

D

G

F

H

E

S

J

D

R

K

T

N

C

B

A

M

L

P

A

B

C

POWER

OUTPUT

SHAFT

SERVOMOTOR WITH HOLDING BRAKE

ENCODER

POWER

ENCODER

SHELL

MOUNTING

HOLE

FLANGE

HOLDING BRAKE

HOLDING

BRAKE

18|192 - BCSD EtherCAT Beta series EtherCAT Servo Drives | Ref.2102

User manual

1.2.2. Servo Drives

BCSD-08AEG-EC | BCSD-10AEG-EC

BCSD-20AEG-EC | BCSD-10DEG-EC | BCSD-15DEG-EC | BCSD-20DEG-EC

CN3 | CN4.

Connectors for

communication

CN1.

I/O signal connector

Used for reference input

signals and sequence

I/O signals

CN2.

Encoder connector

Connects to the encoder

in the servomotors

CHARGE indicator

Lights when the main circuit power

supply is ON and stays lit as long as the

main circuit power supply capacitor

remains charged

L1 | L2 | L3.

Main circuit power supply

terminals

Ground terminal

U | V | W.

Servomotor terminals

B1 | B2 | B3.

Regenerative resistor connecting

terminals

L1C | L2C.

Control power supply

terminals

+1 | +2 | -.

Connecting terminal

of DC reactor

CN5.

Connector for

debugging

POWER ON indicator

Lights when the control

power supply is ON

PANEL operator

Under lid

CN3 | CN4.

Connectors for

communication

CN1.

I/O signal connector

Used for reference input

signals and sequence

I/O signals

CN2.

Encoder connector

Connects to the encoder

in the servomotors

CHARGE indicator

Lights when the main circuit power

supply is ON and stays lit as long as

the main circuit power supply

capacitor remains charged

L1 | L2 | L3.

Main circuit power supply

terminals

Ground terminal

U | V | W.

Servomotor terminals

B1 | B2 | B3.

Regenerative resistor connecting

terminals

L1C | L2C.

Control power supply

terminals

+1 | +2 | -.

Connecting terminal

of DC reactor

CN5.

Connector for

debugging

POWER ON indicator

Lights when the control

power supply is ON

PANEL operator

Under lid

Beta series EtherCAT Servo Drives | Ref.2102 BCSD EtherCAT - 19|192

User manual

BCSD-30AEG-EC | BCSD-50AEG-EC | BCSD-30DEG-EC | BCSD-50DEG-EC

CN3 | CN4.

Connectors for

communication

CN1.

I/O signal connector

Used for reference input

signals and sequence

I/O signals

CN2.

Encoder connector

Connects to the encoder

in the servomotors

CHARGE indicator

Lights when the main circuit power

supply is ON and stays lit as long as

the main circuit power supply

capacitor remains charged

L1 | L2 | L3.

Main circuit power supply

terminals

Ground terminal

U | V | W.

Servomotor terminals

B1 | B2 | B3.

Regenerative resistor connecting

terminals

L1C | L2C.

Control power supply

terminals

+1 | +2 | -.

Connecting terminal

of DC reactor

CN5.

Connector for

debugging

POWER ON indicator

Lights when the control

power supply is ON

PANEL operator

Under lid

Under lid connectors

20|192 - BCSD EtherCAT Beta series EtherCAT Servo Drives | Ref.2102

User manual

2. INSTALLATION

2.1. Servomotor

Servomotor can be installed either horizontally or vertically. However, if the

servomotor is installed incorrectly, the service life of the servomotor will be shortened

or unexpected problems may occur.

Please observe the installation instructions described below to install the servomotor

correctly.

2.1.1. Storage

When the servomotor is not being used, store it in an area with a temperature

between -25 °C and +60 °C with the power cable disconnected.

2.1.2. Location

The servomotor is designed for indoor use. Install the servomotor in an environment

which meets the following conditions:

 Free from corrosive and explosive gases

 Well-ventilated and free from dust and moisture

 Ambient temperature from 0 °C to 40 °C

 Relative humidity from 26 % to 80 % · non-condensing ·

 Facilitates inspection and cleaning

2.1.3. Alignement

Before installation

Anticorrosive paint is coated on the edge of the servomotor

shaft. Clean off the anticorrosive paint thoroughly using a cloth

moistened with thinner.

Avoid getting thinner on other parts of the servomotor when

cleaning the shaft.

Align the shaft of the servomotor with that of the machinery

shaft to be controlled. Then connect the two shafts withan

elastic coupling.

Install the servomotor so that alignment accurancy falls within

the range shown below.

Measure this distance at four different positions in the

circumference. The difference between the maximum and

minimum measurements must be 0.03 mm or less. Turn

together with couplings.

NOTE.

 If the alignment accurancy is incorrect, vibration will occur, resulting in damage to

the bearings.

 Mechanical shock to the shaft end is forbidden, otherwise it may result in damage

to the encoder of the servomotor.



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