Fagor CNC 8058elite T User manual

Type
User manual

This manual is also suitable for

DRIVE
BCSD
EtherCAT
User manual
Ref.2102
All rights reserved. No part of this documentation may be transmitted,
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.
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system,
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
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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
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
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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