Fagor ACS Series Manuel utilisateur
ACBrushlessServoDriveSystemManual Ver:0002
ACa - 2 / 32
Preliminary
Index
Brushless AC Motors, FXM 4
1.1INTRODUCTION...........................................................................................................................4
1.2 MECHANICALDIMENSIONS.......................................................................................................6
1.3 POWERCONNECTORSANDENCODEROUTPUT....................................................................8
1.4 BRAKECHARACTERISTICS.......................................................................................................9
1.5SALESREFERENCE..................................................................................................................9
A.C. Servodrive 10
2.1INTRODUCTION..........................................................................................................................10
2.2 GENERALCHARACTERISTICS.................................................................................................11
2.3CONNECTORS...........................................................................................................................11
2.4 STATUSDISPLAY......................................................................................................................14
2.5PLACADECARACTERÍSTICAS Y REFERENCIACOMERCIAL...............................................15
2.6 INTERNALOPERATIONDIAGRAM............................................................................................16
Identity Module, IM 18
Installation 22
5.1 GENERALCONSIDERATIONS...................................................................................................22
5.2 ELECTRICALCONNECTIONS....................................................................................................23
5.3 ELECTRICALENCLOSUREDIAGRAM......................................................................................28
5.4 INITIALIZATIONANDSETUP......................................................................................................29
ACBrushlessServoDriveSystemManual Ver:0002 ACa - 3 / 32
Preliminary
Introduction
Fagoroffersyouawiderangeofservodrivesystems(ACbrushlessmotorandAnalogdrive)for
applicationsrequiringbetween0.65and32Nmatspeedsbetween1200rpmand4000rpm.
Thismanualdescribestheelementsindetailandguidesstepbystepthroughtheinstallationand
setupofthedrivesystem.
Wheninstalledforthefirsttime,itisagoodideatoreadthewholedocument.
Shouldyouhaveanydoubtsorquestions,pleasedonothesitatetocontactourtechniciansatany
ofoursubsidiariesworldwide.
ThankyouforchoosingFagor.
Declarationofconformity
Manufacturer: FagorAutomation,S.Coop.
BarriodeSanAndréss/n,C.P.20500,Mondragón-Guipúzcoa-(SPAIN)
Weherebydeclare,underourresponsibilitythattheproduct:
FagorACBrushlessServoDriveSystem.
consistingofthefollowingmodulesandmotors:
Servodrives: ACSSeries
ACMotors: FXMSeries
mentionedonthisdeclaration,
withthebasicrequirementsoftheEuropeanDirectives73/23/CEonLowVoltage(BasicSafety
Regulation,MachineryElectricalEquipmentEN60204-1:95)and89/336/CEonElectromagnetic
Compatibility(EN61800-3:1996,SpecificRegulationonElectromagneticCompatibilityforServo
DriveSystems).
InMondragón,February15th,2000
ACBrushlessServoDriveSystemManual Ver:0002
ACa - 4 / 32
Preliminary
1.1 INTRODUCTION
FXMseriessynchronousservomotors
areACBrushless,withpermanent
magnets.
Theyareidealforanyapplication
requiringgreatpositioningaccuracy.
Theyhaveasmoothtorqueoutput,has
nobrushes,highreliabilityandlow
maintenance.
Brushless AC Motors, FXM
-Meaningofthe
mountingcodes. - IP64meansthatitisprotectedagainstdustandagainst
waterjets.
-TheFclassisolationonthemotormaintainthedielectric
propertiesaslongastheworktemperaturestaysbelow
155°C(311°F).
FXM1 FXM3 FXM5 FXM7
Itsnormalprotectionlevel
isIP64,beingimmuneto
liquidsanddirt.
Thesystemincorporatesa
temperaturesensorfor
monitoringtheinternal
temperature.Theyalso
carryanoptional
electromechanicalbrake.
B5 V1 V3
Excitation Permanent rare earth magnets (SmCo)
Temperature sensor Thermistor
Shaft end Cylindrical with keyway. (Option: with no keyway)
Mounting Face flange
Mounting method B5-V1-V3 (as recommended by IEC-34-3-72)
Mechanical tolerances Normal class (IEC-72/1971)
Balancing Class N (Class R optional) (DIN 45665)
(balanced with the whole key)
Roller bearings' life 20,000 hours
Noise DIN 45635
Vibration resistance Withstands 1G along the shaft
and 3G sideways (G = 10 m/s² ).
Electrical Insulation Class F (155°C) (311°F)
Isolating resistance 500 Vdc, 10 MOhms or greater
Dielectric Strength 1500 Vac, one minute
Degree of Protection Overall: IP64 standard, IP54 with fan
Axis: IP64 standard, IP65 with oil seal
Storage temperature From -20°C to +80°C (-4°F / 176°F)
Working ambient temp. From 0°C to +40°C (32°F / 74°F)
Working ambient humidity From 20% to 80% (non condensing)
Brake Optional on all models
See "Brake Characteristics"
Feedback Differential TTL Encoder
ACBrushlessServoDriveSystemManual Ver:0002 ACa - 5 / 32
Preliminary
FXM11.40F.I0.xx0
FXM12.40F.I0.xx0
FXM13.40F.I0.xx0
FXM14.20F.I0.xx0
FXM14.40F.I0.xx0
FXM31.20F.I0.xx0
FXM31.40F.I0.xx0
FXM32.20F.I0.xx0
FXM32.40F.I0.xx0
FXM33.20F.I0.xx0
FXM33.40F.I0.xx0
FXM34.20F.I0.xx0
FXM34.40F.I0.xx0
FXM53.20F.I0.xx0
FXM53.40F.I0.xx0
FXM54.20F.I0.xx0
FXM54.30F.I0.xx0
FXM55.12F.I0.xx0
FXM55.20F.I0.xx0
FXM73.12F.I0.xx0
FXM73.20F.I0.xx0
FXM74.12F.I0.xx0
FXM75.12F.I0.xx0
Stall Torque
Peak
Torque
Rated
Speed
Stall Current
Peak
Current
Power
Torque
Constant
Acceleration
Time
Inductance
inter-phases
Resistance
inter-phases
Inertia
Weight
Peak Torque (Nm) for 0.5 seconds.
Mo Mp nNIo Imax Pow KT tac L R J P ACS-05 ACS-10 ACS-20 ACS-30
-Nm- -Nm- -rpm- -A- -A- -kW- Nm/A -ms- -mHr- Ohms
K
g.cm2 -Kg- -Nm- -Nm- -Nm- -Nm-
0,65 3,3 4000 1,1 5,5 0,3 0,6 23,2 70,0 8,1 1,8 3,3 3,0
1,3 6,5 4000 2,1 10,5 0,5 0,6 18,7 18,0 2,7 2,9 4,3 3,1
1,9 9,5 4000 3,1 15,5 0,8 0,6 21,6 8,3 1,5 4,9 6,4 3,1 6,1
2,6 13,0 2000 2,1 10,5 0,5 1,2 9,7 19,0 4,3 6,0 7,6 6,2
2,6 13,0 4000 4,2 21,0 1,1 0,6 19,3 4,9 1,1 6,0 7,6 6,2
2,0 10,0 2000 1,6 8,0 0,4 1,3 9,4 48,0 8,5 4,5 5,5 6,3
2,0 10,0 4000 3,2 16,0 0,8 0,6 18,8 13,0 2,4 4,5 5,5 3,1 6,3
3,9 19,5 2000 3,2 16,0 0,8 1,2 7,9 23,0 3,4 7,4 7,5 6,1 12,2
3,9 19,5 4000 6,3 31,5 1,6 0,6 15,9 5,8 0,8 7,4 7,5 6,2 12,4
5,8 29,0 2000 4,7 23,5 1,2 1,2 7,6 13,0 1,7 10,5 9,6 12,3 24,7
5,8 29,0 4000 9,4 47,0 2,4 0,6 15,2 3,6 0,5 10,5 9,6 12,3
7,9 39,5 2000 6,4 32,0 1,7 1,2 7,4 10,0 1,3 14,0 11,5 12,3 24,7
7,9 39,5 4000 12,7 63,5 3,3 0,6 14,8 2,6 0,3 14,0 11,5 12,4
10,0 50,0 2000 8,1 40,5 2,1 1,2 9,6 9,4 0,8 23,0 15,8 24,7 37,0
10,0 50,0 4000 16,1 80,5 4,2 0,6 19,3 2,4 0,2 23,0 15,8 18,6
13,6 68,0 2000 11,0 55,0 2,8 1,2 11,4 6,5 0,5 37,0 17,8 24,7 37,1
13,6 68,0 3000 16,4 82,0 4,3 0,8 17,1 3,1 0,3 37,0 17,8 24,9
17,0 85,0 1200 8,2 41,0 2,1 2,1 6,6 15,0 1,2 45,0 20,0 41,5 62,2
17,0 85,0 2000 13,7 68,5 3,6 1,2 11,1 5,8 0,4 45,0 20,0 37,2
19,5 97,5 1200 9,4 47,0 2,5 2,1 11,9 19,0 1,1 92,0 29,0 41,5 62,2
19,5 97,5 2000 15,7 78,5 4,1 1,2 19,8 6,9 0,4 92,0 29,0 37,3
26,0 130,0 1200 12,6 63,0 3,3 2,1 11,6 15,0 0,8 120,0 31,6 41,3 61,9
32,0 160,0 1200 15,5 77,5 4,0 2,1 12,6 11,0 0,6 160,0 36,0 61,9
ACBrushlessServoDriveSystemManual Ver:0002
ACa - 6 / 32
Preliminary
1.2 MECHANICAL DIMENSIONS
ACMOTORS
ACBrushlessServoDriveSystemManual Ver:0002 ACa - 7 / 32
Preliminary
ACBrushlessServoDriveSystemManual Ver:0002
ACa - 8 / 32
Preliminary
Thepowerconnectorincludesthebraketerminals(E,F).Voltagesbetween22and26volts
releasetheshaft.Wheninstallingthemotor,verifythatthebrakereleasestheshaftcompletely
beforeturningitforthefirsttime.
Connectingthemotorwindingsintheorderindicatedontheconnector(U,V,W),theshaftwill
turnclockwise(CWR).
Encoderconnector'sterminals9and10correspondtothethermistor.Itwatchesthemotor
heating.
1.3 POWER CONNECTORS AND ENCODER OUTPUT
ACBrushlessServoDriveSystemManual Ver:0002 ACa - 9 / 32
Preliminary
FXM 34.20F . I0 . 0 0 0
FAGOR AXIS MOTOR
I0 Incremental Encoder
Example:
FXM MOTORS
SIZE 1, 3, 5, 7
F
12 1200 rpm 20 2000 rpm
30 3000 rpm 40 4000 rpm
LENGTH
MAXIMUM
SPEED
WINDING
FEEDBACK TYPE
FLANGE AND
SHAFT 0
With Keyway
1
Without Keyway
BRAKE OPTION 0Without brake
1With standard brake (24 Vdc)
VENTILATION 0Without Fan
1.5 SALESREFERENCE
1.4 BRAKECHARACTERISTICS
Motor Type Torque Maximum
RPM Power On/Off
Delay Unlocking
voltage margin Inertia Weight
Nm (in.lb) rpm W (HP) ms Vdc Kg.cm2 (lb.in2) Kg (lbf)
FXM 1 2.5 (22.12) 10000 12 (0.016) 7/5
22 - 26
0,38 (0.13) 0,3 (0.66)
FXM 3 5 (44.25) 8000 16 (0.021) 15/7 1,06 (0.36) 0,6 (1.32)
FXM 5 12 (106.2) 6000 18 (0.024) 30/13 3,6 (1.23) 1.1 (2.42)
FXM 7 40 (354) 3600 35 (0.047) 100/30 31,8 (10.86) 3.5 (7.71)
ACBrushlessServoDriveSystemManual Ver:0002
ACa - 10 / 32
Preliminary
2.1 INTRODUCTION
TheA.C.Servodriveisacompactspeeddrivewhichincludesthepowersupplyandisdesignedto
controlasingleBrushlessACSmotor.
Therearefourmodulesofdifferentpowerofferingpeakcurrentsof5,10,20and30Amps-rms-
andwhosemaincharacteristicsare:
- Three-phasepowersupplyfromMains.
- IndependentPowerandControlsupplies
- DynamicbrakingincaseofMainsfault.
- PWM IGBTs.
- IncrementalTTLEncoderfeedbackwith2500ppt.
- Programmableencoderoutput2/n(n,from2to16)
- VelocityorTorquecommand.
- Velocitycommandfilteredwithramps.
- Logicinputstocontrolthemotor(SpeedandDriveEnable).
- Galvanicisolationbetweenpowerandcontrol.
- Analogoutputstomonitorspeedandcurrent.
- Controlagainstexcessiveacceleration/deceleration.
- 7-segmentdisplaytomonitorthestatusoftheservodrivesystem.
- InternalfanactivationdependingontheDrive_Enablesignal.
- Protectionagainstfeedbackloss.
- Protectionagainstexcessivedrivetemperature.
- ProtectionagainstBusovervoltageorundervoltage.
- i2t protectioninthemotor.
- ProtectionoftheinternalBallastresistor(i2t).
- Short-circuitprotectioninthemotoroutputterminals.
- Protectionagainstaphasedrop.
A.C. Servodrive
Ce manuel convient aux modèles suivants
66
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