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Electronic Modules Ver. 0002 EM - 45
EM.4.8 INTERNAL CONFIGURATION
The following graphic is the internal diagram of the drive consisting of four basic blocks which
are: Position loop, Velocity loop, Current loop and Rotor Sensor processing.
M
3
Velocity
Limit
In
Out
Velocity Loop (*)
A nal og
Input 2
Rotor Sensor
Current Loop
Offset
Correction
A nal og
Input 1
Offset
Correction
Internal
Generator
Error Stop
Ramps
& Jerk
Velocity
Feedback
Current
Limit
Speed PI
Halt Function
SpeedEnable Function
Current PI
Power
Circuits
DriveEnable
Motor
Feedback
Power
Velocity Command
Managment
Error Stop
or
or
Sercos
Interface
Volts/rpm
Ratio
Position
Evaluation
Position to
Speed
S
Sercos
Velocity
Command
Sercos
Position
Command
Velocity Loop (*)
Speed PI
Position Loop
Position P
S
External
Feedback
Position
Feedforward
Velocity
Feedforward
(*) The same Velocity Loop Block
To the
Current Loop
- SERVO-DRIVESYSTEM 1
- RELATED DOCUMENTATION 4
- General Index 5
- Fagor Automation, S. Coop 9
- WARRANTY TERMS 10
- Ver. 0002 SM - 1 11
- SM.1 GENERAL CHARACTERISTICS 12
- Ver. 0002 SM - 3 13
- J: Rotor inertia 15
- SM.3 DIMENSIONS 17
- Ver. 0002 SM - 9 19
- Ver. 0002 SM - 11 21
- SM.4 BRAKE CHARACTERISTICS 22
- SM.5 CONNECTORS 22
- SM.5.2 FEEDBACK CONNECTOR 23
- B5 V1 V3 25
- SM.8 IDENTIFICATION BOARD 26
- AM. SPM ASYNCHRONOUS MOTORS 27
- AM.3 FAN CHARACTERISTICS 29
- Ver. 0002 AM - 5 31
- SPM 100LBE 33
- SPM 112ME 33
- SPM 112LE 34
- SPM 112XE 34
- SPM 132L 35
- SPM 132X 35
- SPM 132XL 36
- SPM 160M 36
- SPM180MA 37
- SPM 90 L 38
- SPM 90 P 39
- SPM 100 LBE 40
- SPM 112 ME 41
- SPM 112 LE 42
- SPM 112 XE 43
- SPM 132 L 44
- SPM 132 X 44
- SPM 132 XL 44
- SPM 160 M 45
- SPM 160 L 46
- SPM 180 MA 47
- AM.8 CONNECTORS 48
- AM.8.3 FAN CONNECTION 49
- AM.9.1 VENTILATION 51
- AM.9.2 MOUNTING OPTIONS 51
- B3/B5 V1/V5 V3/V6 51
- AM.9.3 AMBIENT CONDITIONS 52
- AM.10.1 DIRECT COUPLING 52
- AM.10.4 BALANCING 53
- AM.12 BEARINGS 54
- AM.13.1 BEARING REPLACEMENT 55
- AM.14 IDENTIFICATION BOARD 56
- EM. ELECTRONIC MODULES 57
- Ver. 0002 EM - 3 59
- EM.1 POWER SUPPLY MODULE 61
- REGENERATIVE POWER SUPPLIES 62
- PS-25B Module 63
- POWER SUPPLIES 64
- XPS-25 Module XPS-65 Module 64
- Ver. 0002 EM - 9 65
- Ver. 0002 EM - 11 67
- Ver. 0002 EM - 13 69
- Ver. 0002 EM - 15 71
- (asynchronous motors) 73
- Spindle drives: 75
- 5 and 55°C (41ºF and 131 ºF) 75
- EM.2.3.1 POWER CONNECTORS 77
- Axis Compact Drive 79
- Spindle Compact Drive 79
- EM.3.3.1 POWER CONNECTORS 81
- EM.3.3.2 CONNECTOR X1 83
- EM.4.1 STATUS DISPLAY 84
- EM.4.2 SERCOS CONNECTION 85
- EM.4.3 CONNECTOR X2, CONTROL 86
- Ver. 0002 EM - 31 87
- Ver. 0002 EM - 33 89
- EM.4.4 CONNECTOR X3 90
- EM.4.4.2 X3, DIRECT FEEDBACK 91
- EM.4.5 CONNECTOR X4, FEEDBACK 92
- EM.4.7.1 A1 card 94
- X7, analog inputs and outputs 95
- Ver. 0002 EM - 41 97
- 8DI-16D0 98
- 16DI-8D0 98
- Ver. 0002 100
- EM.4.8 INTERNAL CONFIGURATION 101
- EM.5 MAINS FILTER, EMK 102
- Ver. 0002 EM - 47 103
- RM-15 Power 104
- Max. tightening torque (Nm) 1 104
- Maximum Section (mm2) 4 104
- Ver. 0002 EM - 49 105
- EM.8 CAPACITOR MODULE, CM-60 106
- EM.9.1 APS 24 CONNECTORS 107
- EM.11 FAGOR CABLES 109
- EM.12 DIMENSIONS 110
- Ver. 0002 EM - 55 111
- EM.13 MODULE IDENTIFICATION 113
- User notes: 114
- IN. INSTALLATION 115
- >80 mm (3.15") 116
- Ballast circuit is activated 117
- IN.2.1 POWER BUS CONNECTION 118
- IN.2.2 GROUND CONNECTION 119
- °C (°F = °C · 1.8 + 32) 121
- IN.3.1.1 MAINS FILTER, EMK 122
- IN.3.1.2 FUSES 123
- IN.3.1.4 LINE INDUCTANCE 124
- Ver. 0002 IN - 11 125
- IN.3.2 MOTOR/DRIVE CONNECTION 127
- Ver. 0002 IN - 15 129
- Current S1 130
- IN.3.3 GROUND CONNECTION 131
- IN.4.1 EEC ENCODER CONNECTION 132
- IN.5 BRAKE CONTROL 133
- Ver. 0002 IN - 21 135
- IN.7.4 DIGITAL OUTPUTS 137
- IN.7.4 SERCOS CONNECTION 138
- IN.7.5 SERIAL LINE CONNECTION 139
- Front View 140
- IN.8 CONNECTIONS 141
- PC-Computer or 141
- Programming Module 141
- Fagor CNC 141
- 24V Released 142
- 0V Holding 142
- Ver. 0002 IN - 29 143
- Ver. 0002 IN - 31 145
- Modular system 147
- Ver. 0002 IN - 35 149
- Compact system 151
- (F) Fuse 152
- Brake connection 153
- Mixed system 153
- GSU. COMMON SETUP 155
- GSU.2 DATA STORAGE STRUCTURE 156
- GSU.3 WINDDSSETUP 157
- GSU.4 ACCESS LEVELS 158
- RAM Memory 159
- Internal Memory 159
- Flash Memory 160
- PC RAM Memory 160
- Volatile 160
- RAM to Flash 160
- GSU.7 INITIALIZATION PROCESS 161
- Ver. 0002 162
- GSU.9 MOTOR IDENTIFICATION 163
- Ver. 0002 GSU - 11 165
- CNC Drive Motor 167
- Drive Motor 168
- To Speed Loop 169
- From Motor 169
- Current loop diagram: 170
- Current Command Filter: 171
- SSU. VELOCITY DRIVE SETUP 173
- RATIO SP20/SP21 174
- SSU.3.1 NUMBER OF PULSES 175
- SSU.3.2 MARKER PULSE (HOME I 175
- ) POSITION 175
- SSU.3.3 COUNTING DIRECTION 176
- SSU.4 ANALOG OUTPUTS 177
- SSU.5 VELOCITY LOOP SETTING 179
- SSU.5.2 SPEED-PI ADJUSTMENT 180
- Ver. 0002 SSU - 9 181
- Ver. 0002 SSU - 11 183
- SSU.5.3.2 RAMP GENERATION 184
- SSU.5.3.3 JERK LIMIT 185
- "0" 186
- PSU. POSITION DRIVE SETUP 187
- PSU.2 DIRECT FEEDBACK 189
- PSU.3 PROPORTIONAL CONTROL 190
- PSU.4 VELOCITY FEEDFORWARD 191
- PSU.5.1 INCREMENTAL FEEDBACK 192
- Ver. 0002 PSU - 7 193
- Ver. 0002 PSU - 9 195
- Ver. 0002 PSU - 11 197
- PSU.5.3 ABSOLUTE FEEDBACK 198
- Ball-screw 198
- Backlash 198
- Ver. 0002 PSU - 13 199
- PSU.8 MODULE FORMAT 200
- PSU.9 STARTUP SUMMARY 201
- Ver. 0002 PSU - 17 203
- AP. APPLICATIONS 205
- Ver. 0002 206
- Ver. 0002 AP - 3 207
- 8050/55 CNC 208
- AP.1.1.2.1 On Axis drives 209
- 1244444 344444 210
- 124443444 210
- 1244 4 3444 211
- Ver. 0002 AP - 9 213
- Ver. 0002 AP - 11 215
- Ver. 0002 AP - 13 217
- NPULSES · 4 218
- Ver. 0002 AP - 15 219
- Parameter Table 220
- Example: 220
- GP4=8 GV21=3 220
- GP6=6 GV25=1 220
- AP.3.1 PARAMETER SET 221
- Ver. 0002 AP - 19 223
- AP.3.2 GEAR RATIOS 224
- Ver. 0002 AP - 21 225
- MAIN SPINDLE 226
- Ver. 0002 AP - 23 227
- Ver. 0002 AP - 25 229
- Ver. 0002 AP - 27 231
- S 3 <return> 232
- SP1.3 100<return> 232
- SP2.* 300<return> 232
- AP.4 VARIABLE MONITORING 233
- 18.33kW 1833DecaWatts⋅⋅ = = 235
- Ver. 0002 AP - 33 237
- AP.7 HALT FUNCTION 239
- 203 Torque overload error 240
- Ver. 0002 AP - 37 241
- DS. DESIGN 243
- DS - 2 Design Ver. 0002 244
- Ver. 0002 DS - 3 245
- MAX F W AC 247
- DS - 6 Design Ver. 0002 248
- Ver. 0002 DS - 7 249
- Ver. 0002 DS - 9 251
- DS.2.4 DRIVE SELECTION 253
- DS.3 POWER SUPPLY SELECTION 254
- Ver. 0002 DS - 13 255
- Ver. 0002 DS - 15 257
- DS.4 CM-60 SELECTION GUIDE 258
- Design Ver. 0002 DS - 17 259
- Compact Drives 260
- APPENDIX A: 261
- PARAMETERS 261
- VARIABLES & COMMANDS 261
- Ver. 0002 A - 3 263
- Ver. 0002 A - 5 265
- Ver. 0002 A - 7 267
- Warning: 269
- 1. GROUP APPLICATION “A” 270
- 3. CURRENT GROUP “C” 271
- 4. DIAGNOSTICS GROUP “D” 273
- DV11 (F404) FagorDiagnostics 274
- DV14 (F400) ErrorsInDncFormat 275
- DV15 O (F401) ErrorDisable 275
- DV16 O (F402) ErrorEnable 275
- DV31 (S135) DriverStatusWord 275
- DV32 (S134) MasterControlWord 276
- DV95 (S95) DiagnosticMessage 276
- Ver. 0002 A - 17 277
- 6. FLUX GROUP “F” 278
- 7. GENERAL GROUP “G” 278
- Ver. 0002 A - 19 279
- Ver. 0002 A - 21 281
- 8. HARDWARE GROUP “H” 282
- 9. GROUP OF INPUTS “I” 283
- 10. MONITORING GROUP “K” 285
- KV32 (F1109) I2tDrive 286
- KV36 F (F1111) I2tMotor 286
- 11. MOTOR GROUP “M” 287
- 12. SERCOS GROUP “N” 289
- Ver. 0002 A - 31 291
- Ver. 0002 A - 33 293
- Ver. 0002 A - 35 295
- PP57 O (S57) PositionWindow 296
- PP58 Os (S58) Backlash 296
- PP103 Os (S103) ModuloValue 297
- PP147 (S147) HomingParameter 297
- Ver. 0002 A - 39 299
- Ver. 0002 A - 41 301
- Ver. 0002 A - 43 303
- QP1 (S1) ControlUnitCycleTime 304
- QP11 (F2000) SercosMbaud 304
- 16. ROTOR SENSOR GROUP “R” 305
- Ver. 0002 A - 47 307
- 17. SPEED GROUP “S” 308
- SP10, SP20, SP21: 309
- SP80.# O (S349.#) JerkLimit 311
- SV1 Ws (S36) VelocityCommand 311
- SV2 s (S40) VelocityFeedback 311
- Ver. 0002 A - 53 313
- TV50 s (F1700) PowerFeedback 314
- TV60 (S337) PGreaterPx 314
- TV100 (F1702) TorqueStatus 314
- Ver. 0002 A - 55 315
- 20. MISCELLANEOUS GROUP “X” 316
- Ver. 0002 A - 57 317
- Ver. 0002 A - 59 319
- Ver. 0002 A - 61 321
- APPENDIX B: 323
- LIST OF ERRORS 323
- WARNINGS 323
- TROUBLESHOOTING 323
- Ver. 0002 B - 3 325
- EFFECT OF THE SYSTEM ERRORS 326
- LIST OF ERRORS 327
- B - 6 Errors Ver. 0002 328
- Errors Ver. 0002 B - 7 329
- B - 8 Errors Ver. 0002 330
- Errors Ver. 0002 B - 9 331
- B - 10 Errors Ver. 0002 332
- 805 Encoder detected 333
- LIST OF WARNINGS 334
- Errors Ver. 0002 B - 13 335
- APPENDIX C: 337
- REFERENCES 337
- OF FAGOR 337
- PRODUCTS 337
- Motor references 338
- Ver. 0002 C - 3 339
- References of Modular Drives 340
- AXD 1 . 25 - A1 - 0 340
- SPD 2 . 50 - SI - 0 340
- PS - 25A 341
- XPS - 25 341
- PS - 25B 341
- SCD 2 . 50 - SI - 0 342
- SIGNAL CABLES 343
- SOFTWARE 343
- INDUCTANCE FOR XPS 343
- ACCESORY MODULES 343
- FAGOR AUTOMATION S. COOP 344
- UNIT NET 344
- US $ US $ 344
- Manufacturing Codes 345
- CABLES AND CONNECTORS 345
- MODULAR AXES DRIVES 346
- MODULAR SPINDLE DRIVES 346
- COMPACT AXES DRIVES 346
- COMPACT SPINDLE DRIVES 346
- References Ver. 0002 C - 11 347
- Overview of FAGOR 348
- APPENDIX D: 349
- COMPATIBILITY 349
- 1. MAINS VOLTAGE: 380 - 460 350
- Ver. 0002 D - 3 351
- APPENDIX E: 353
- PROTECTIONS 353
- ON DRIVES AND MOTORS 353
- 1. PROTECTIONS OF THE DRIVE 354
- Protections Ver: 0002 E - 3 355
- CALCULATING THE I2T PRODUCT 356
- Protections Ver: 0002 E - 5 357
- E - 6 Protections Ver: 0002 358
- 2. PROTECTIONS OF THE MOTOR 359
- Protections Ver: 0002 E - 9 361
- RESISTOR 362
- Ver: 0002 E - 11 363
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