FAGOR digital servo drive system

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1 FAGOR digital servo drive system

ervo Drives ystems The Fagor Automation's digital servo drive system is the perfect solution for the machine-tool manufacturer who requires smooth, fast and precise machining.

2 ervo Drives ystems The Fagor Automation's digital servo drive system is the perfect solution for the machine-tool manufacturer who requires smooth, fast and precise machining. 2 differentiated servo drive systems are available, the modular one and the compact one. The modular system is the most appropriate for governing the spindle and the axes of the machine. It offers maximum efficiency using a single supply for all the drive modules. Axis control: AXD drive FKM / FXM motor pindle control: PD drive FM / FM9 motor The compact system is the most appropriate for governing independent axes. They are drives with an integrated supply and may be connected directly to mains. Axis control: ACD drive FKM / FXM motor pindle control: CD drive FM / FM9 motor FXM Torque (Nm) 1,2 4,1 2,6 9,3,9 25,9 20, 6,6 Flange (mm) FKM Torque (Nm) 1, 3,2 6,3,6,9 23,5 6 5 Flange (mm) FM 01 Power (kw) 3, 5, ,5 60 Flange (mm) haft height (mm) FM9 01 Power (kw) Flange (mm) haft height (mm) General characteristics Interface Velocity feedback Protections Control Direct position feedback ercos or analog High resolution incos encoder Over-voltage, over-current, over-, over-temperature, overload, etc. High spindles and built-in motors Differential TT, Vpp, distance-coded reference mark, FAGOR absolute Model range Power supplies-modular system Regulated with energy Non-regenerative Regenerative regeneration P-65A P-25B4 XP-25 XP-65 RP-20 RP-45 RP-5 Input voltage Three-phase mains of 360 VAC to 506 VAC Voltage supply for the module 24 VDC control circuit (between 21 & 2 VDC) Output voltage (Power bus) VDC 600, 625 or 25 VDC. It is programmable. (peak) output (peak) output current Output voltage for drive control signals 65 kw (195 kw, 1 s) 120 A (360 A, 1 s) 25 kw (5 kw, 1 s) 45 A (135 A, 1 s) 25 kw (55 kw, 1 s) 45 A (135 A, 1 s) 65 kw ( kw, 1 s) 120 A (120 A, 1 s) 20 kw (26 kw, in 6) 32 A (41,6 A, in 6) 24 VDC / 240 W 24 VDC / 192 W 45 kw (59 kw, in 6) 2 A (95 A, in 6) 5 kw (9 kw, in 6) 120 A (156 A, in 6) Internal crowbar resistance (Ballast)/ Power 9 Ohms / 600 W,5 Ohms / 500 W 1 Ohms / 520 W 9 Ohms / 100 W regenerative Associated chokes Dimensions ize 2 20 kw 54 kw Choke XP-25 Choke XP-65 ize 1 ize 3 ize 4 Choke RP-20 Choke RP-45 Choke RP-5 ize 3 ize 5 ize 6 2

3 Drives for synchronous and asynchronous motors - Modular system I rated (A) I peak (0.5 s) (A) I rated (1) at 4 khz I rated (1) at khz I 6-40% 4 khz I 6-40% khz Voltage supply for control circuits Consumption of control circuits Dimensions AXD (for axes) VDC (between 21 & 2 VDC) PD (for spindles) A 1.25 A 2 A 0.9 A 1.25 A 2 A ize 1 ize 2 ize 4 ize 1 ize 2 ize 4 Drives for synchronous and asynchronous motors - Compact system I rated (A) I peak (0.5 s) (A) 4 khz I peak (0.5 s) (A) khz I max. (A) 4 khz I max. (A) khz Input voltage Internal ballast resistor (Ohms) Power (W) ervice voltage (output) Dimensions (150) ACD (for axes) (150) (150) 24 VDC (5%), ma CD (for spindles) Three-phase mains of 360 VAC to 506 VAC ize 1 ize 2 ize 1 ize

4 Accessory modules Auxiliary supply module, AP 24 It generates the 24 VDC required by supply and drive modules to supply their control circuits. Input voltage from 400 VAC - % to 460 VAC + % 50/60 Hz. Mains consumption Output voltage, maximum current 0.2 A ( 400 VAC ) 0.63 A ( 460 VAC ) 24 VDC [ 5%] A Dimensions ize 1 Resistor modules They must be used with P, XP supplies and with ACD, CD compact drives. They are designed to dissipate the excess energy generated while braking when it exceeds the one dissipated by the internal Ballast resistor. Model R+TH-24 / 50 R+TH-1 / 0 R+TH-1 / 00 + FAN W R+TH-1 / 100 R+TH-1 / Capacitor module CM 1.60 It stores the energy returned by the motors while braking when using P (non-generative) supplies. It has a capacity of 4mF and it provides a maximum voltage of 9 VDC at the bus. Mains filter The uropean Directive 92/31/C on electromagnetic compatibility requires inserting a mains filter between mains and the drive system (modular or compact). Available models: 42A mains filter for "P/XP-25" supplies 130A mains filter for "P/XP-65" supplies Chokes for XP supplies. When using regenerative supplies (XP) these chokes must be installed in the regeneration circuit in order to comply with the established regulation. Available models: CHOK XP-25 CHOK XP-65 Chokes for RP supplies Installing chokes is an absolute must when using RP regenerative regulated supplies and they must always be installed between the RP supply and the DC mains filter. CHOK RP-20 CHOK RP-45 CHOK RP-5 4

Configuration of the drive modules Direct feedback (optional) Feedback of the actual (real) position of an axis, usually by connecting a linear or rotary encoder.

5 Configuration of the drive modules Direct feedback (optional) Feedback of the actual (real) position of an axis, usually by connecting a linear or rotary encoder. ncoder simulation (optional) It provides a number of pulses per motor revolution that may be set by parameter (any value between 1 and,34 pulses/turn), programmable I0, differential TT. Motor feedback It reads the signals coming from an encoder mounted on the motor to know the exact position and of the rotor. R-232 C To connect with a PC or the programming module for system parameter setting and monitoring (from 9600 to Bd). Digital sercos interface (optional) Precise and efficient interface through optical fiber, using the RCO standard to transmit position, velocity and torque commands. The use of optical fiber ensures full immunity against noise and very simple wiring between modules. Digital CAN interface (optional) tandard CAN communications interface to transmit position, velocity and torque commands. Analog interface (optional) It offers two ±V analog inputs and two ±V analog outputs to connect the velocity commands from the CNC and monitor the internal parameters respectively. It also offers four inputs and four outputs, all of them digital and fully programmable. Dimensions mm. (inches) 3,5 (0,14),5 (0,29) (0,31) 22 (0,6) 3,5 (0,14) 6,5 (0,25),5 (0,33) 255 (,04) (3,03) (4,61) 194 (,64) 234 (9,21) 3 (12,24) 350 (13,) ize 1 ize 2 ize 3 ize 4 ize 5 ize 6 34 (13,66) 5

6 lectrical connection MAIN Mains filter FM - FM9 FXM FKM PD AXD Power supply Choke (*) CAN ercos Analog CNC (*) Only with XP and RP supplies. 6

7 Asynchronous AC motors For machine-tool spindles Fagor Automation's wide range of spindle motors and drives may be used on all kinds of machine-tool spindles, providing the high reliability and best efficiency that the application may demand. FM_xxxxxx_01 series with single winding, for up to 60 kw. FM9_xxxxxx_01 series with single winding, for greater than 60 kw. FM_xxxxxx_03 series with double winding, Y/Delta (star/triangle). FM_xxxxxx_H3 series direct drive (without pulleys), with hollow shaft for cooling the tool from the spindle and double winding (Y/Delta, star/triangle). FM_xxxxxx_01 series General characteristics Thermal protection (meets IC standard) Degree of vibration (meets IC standard) Built type (meets IC standard) lectrical isolation of the winding (meets IC standard) Degree of protection (meets IC standard) Feedback NTC thermistor V5 - V (standard) V3 - V5 (optional) Horizontal: IM B3, IM B5, IM B35 Vertical: IM V1, IM V5, IM V15 Class F (155ºC-3ºF) IP44 Incremental TT encoder of 24 ppt (standard) 1 Vpp sinusoidal encoder of 24 ppt (optional) Models range 1 (kw) 6, 40% (kw) torque 1 (Nm) current (Arms) Base Maximum Inertia (Kg.cm 2 ) Weight (Kg) Flange Weight (Kg) Foot Modular drive Compact drive FM A , PD 1.25 CD 1.25 FM A , PD 1.25 CD 1.25 FM A , PD 1.35 CD 2.35 FM A , PD 2.50 FM A , PD 2.50 FM A , PD 2.5 FM A , PD 2.5 FM A ,000 1, PD 3.0 FM A ,500 2, PD FM A ,500 2, PD FM A ,000 4, PD FM B ,000, PD 2.5 FM B ,000,000 1, PD 2.5 FM B ,000 6,500 2, PD 3.0 FM B ,000 6,500 2, PD FM C ,000 4, PD FM C ,000 5, PD FM , 5,000, PD 3.200

8 Dimensions in mm FM xxxx-1 motors FM xxxx-3 motors FM xxxx-5 motors model with flange. model with feet. model with feet and flange. R Q W A F F D G H B T U C M Feet Flange Feet and flange C D F G H A B M R Q je T U W FM A03-3 FM A h h6 h 4 h9 FM A055-3 FM A h h6 h 5 h9 FM A05-3 FM A h h6 9 h 14 h9 FM A090-3 FM A h h6 9 h 14 h9 FM A-3 FM A-1 FM A h6 9 h 14 h9 FM A150-3 FM A150-1 FM A h6 9 h 14 h9 FM A15-3 FM A15-1 FM A h6 9 h 14 h9 FM A220-3 FM A220-1 FM A h6 9 h 14 h9 FM A300-3 FM A300-1 FM A h m6 h 1 h9 FM A30-3 FM A30-1 FM A h m6 h 1 h9 FM A5-3 FM A5-1 FM A h m6 12 h.5 20 h9 FM B120-3 FM B120-1 FM B h6 9 h 14 h9 FM B-3 FM B-1 FM B h6 9 h 14 h9 FM B220-3 FM B220-1 FM B h m6 h 1 h9 FM B20-3 FM B20-1 FM B h m6 h 1 h9 FM C215-3 FM C215-1 FM C h m6 12 h.5 20 h9 FM C20-3 FM C20-1 FM C h m6 12 h.5 20 h9 FM FM FM h m6 h 1 h9

9 FM9_xxxxxx_01 series 01 series FM9 spindle motors have forced fan cooling and single winding, with a rated between 55 kw and 130 kw. General characteristics Thermal protection (meets IC standard) Degree of vibration (meets IC standard) Built type (meets IC standard) lectrical isolation of the winding (meets IC standard) Degree of protection (meets IC standard) Feedback Thermistor KTY4-130 V5 Horizontal: IM B35 Vertical: IM V15 Class F (155ºC-3ºF) IP54 1 Vpp sinusoidal encoder of 24 ppt Model range 1 (kw) 6-40% (kw) Par Nominal (Nm) current 1 (Arms) Base Maximum 1 Inertia (Kg.cm 2 ) Weight (Kg) FM9-B055-C5Cx-01 FM9-B01-C5Cx-01 FM9-A0-C5Cx-01 FM9-B3-C5Cx-01 FM9-A130-C5Cx ,000 1,000 1,000 5,000 4,500 4,500 4,500 4,500 6,900 14,00 14,00 23,300 19, Dimensions in mm GC GB K GA MA CA W B T R C M D C Q D N C CA D GA GB GC K B C D M MA N Q R T W FM9-B055-C5Cx-01 FM9-B01-C5Cx-01 FM9-A0-C5Cx-01 FM9-B3-C5Cx-01 FM9-A130-C5Cx , , , , ,5 20 9

10 FM_xxxxxx_03 series 03 series FM spindle motors have forced fan cooling and double winding (Y/Delta, star/triangle). They can reach s of up to 12,000 rpm and 15,000 rpm General characteristics Thermal protection (meets IC standard) Degree of vibration (meets IC standard) Built type (meets IC standard) lectrical isolation of the winding (meets IC standard) Degree of protection (meets IC standard) Feedback NTC thermistor V3 (standard) Horizontal: IM B5 Vertical: IM V1 Class F (155ºC-3ºF) IP44 Incremental TT encoder of 24 ppt Model range 1 (kw) 6, 40% (kw) torque 1 (Nm) current (Arms) Base Maximum Inertia (Kg.cm 2 ) Weight (Kg) Modular drive FM-D055-1D0-03 FM-D05-1D0-03 FM-D-1D0-03 FM-D150-1D0-03 FM-D15-1D0-03 FM-D220-1D ,000 15,000 12,000 12,000 12,000 12, , PD 1.35 PD 2.50 PD 2.5 PD 2.5 PD 2.5 PD 3.0 Dimensions in mm KI K Q D B A Q C I FM-D055-1D0-03 FM-D05-1D0-03 FM-D-1D0-03 FM-D150-1D0-03 FM-D15-1D0-03 FM-D220-1D0-03 I KI 204 K A B 10 h 10 h C Axis Q 60 2 h h6 0 3 h6 0 3 h6 0 3 h6 0 3 h6

11 K FM_xxxxxx_H3 series H3 series FM spindle motors are direct-mount motors and are especially designed to be mounted on the column for direct transmission without pulleys. They have forced fan cooling and double winding (Y/Delta, star/triangle). They can reach s of up to 12,000 rpm and 15,000 rpm. The tool is secured with a coupling and they have a hole on the shaft for tool cooling. General characteristics Thermal protection (meets IC standard) Degree of vibration (meets IC standard) Built type (meets IC standard) lectrical isolation of the winding (meets IC standard) Degree of protection (meets IC standard) Feedback NTC Thermistor V3 (standard) Horizontal: IM B5 Vertical: IM V1 Class F (155ºC-3ºF) IP44 Incremental TT encoder of 24 ppt Model range 1 (kw) 6, 40% (kw) torque 1 (Nm) current (Arms) Base Maximum Inertia (Kg.cm 2 ) Weight (Kg) Modular spindle drive FM-D05-1D0-H , PD 2.50 FM-D-1D0-H , PD 2.5 FM-D15-1D0-H , PD 2.5 FM-D220-1D0-H ,000 1, PD 3.0 Dimensions in mm KI Q B A C I I KI K A B C Q je FM-D05-1D0-H h h6 FM-D-1D0-H h6 FM-D15-1D0-H h6 FM-D220-1D0-H h6

12 ynchronous AC motors To control axes in machine tool applications Fagor Automation's axis servo motors are permanent-magnet synchronous motors that may be adapted to any application and meet the ever growing demands of new-generation state-of-the-art machines. These motors are combined with AXD and ACD axis drives to make up a solid and high featured system. The type of encoder integrated for and position control depends on the application. They are designed to run without external cooling because heat is dissipated off the surface of the motor. Optionally, they may carry an electromechanical brake. FKM motors General characteristics Temperature sensor haft extension Mounting Mounting possibilities (meets IC standard) Balancing (meets DIN standard) lectrical isolation Degree of protection Fan Brake Feedback Thermistor PTC KTY-4 Keyless shaft (option: with key) Front flange IM B5, IM V1, IM V3 Halfkey balancing Class N (standard), Class R (optional) Class F (150ºC / 302ºF) tandard configuration: IP64 eal configuration: IP65 Not available Optional on all models except in FKM96 Multi-turn absolute 1 Vpp sinusoidal encoder of 24 ppt 1Vpp sinusoidal encoder of 24 ppt Incremental TT encoder of 0 ppt Model range tall torque (Nm) Peak torque (Nm) tall current (Arms) Peak current (Arms) Inertia (Kg.cm2) Weight (Kg) FKM 21.60A 1. 6, FKM 22.30A FKM 22.50A ,000 5, FKM 22.60A 6, FKM 42.30A FKM 42.45A ,000 4, FKM 42.60A 6, FKM 44.30A FKM 44.40A.6 4 3, FKM 62.30A 3, FKM 62.40A FKM 62.60A 6, FKM 64.30A FKM 64.40A , FKM 66.20A FKM 66.30A ,000 3, FKM 94.20A FKM 95.20A FKM 96.20A (*) ,000 2,000 2, (*) Brake option not available.

13 Dimensions in mm F GD R H T GA ØN ØD Ø Ø M T C AC1 (without brake) (with brake) C T AC1 M N H D GA GD F R T FKM 21 FKM 22 FKM 42 FKM 44 FKM 62 FKM 64 FKM 66 FKM 94 FKM 95 FKM j6 j6 130 j ,5 19 j6 24 j6 32 k M6x Mx19 Mx22 M12x30 13

14 FXM motors General characteristics Temperature sensor haft extension Mounting Mounting possibilities (meets IC standard) Balancing (meets DIN standard) lectrical isolation Thermistor PTC Keyless shaft (option: with key) Front flange IM B5, IM V1, IM V3 Full-key balancing Class N (standard), Class R (optional) Class F (150 C / 302 F) Degree of protection tandard configuration: IP 64 eal option: IP 65 Fan option: IP 54 Fan Brake Feedback Optional in FXM5 and FXM series Optional on all models Multi-turn absolute 1 Vpp sinusoidal encoder of 24 ppt 1Vpp sinusoidal encoder of 24 ppt Incremental TT encoder of 0 ppt Model range tall torque (Nm) Peak torque (Nm) 1200 rpm tall current (Arms) / Peak current (Arms) 2000 rpm 3000 rpm 4000 rpm Inertia (Kg cm 2 ) Weight (Kg) FXM FXM 12 FXM 13 FXM 14 FXM 31 FXM 32 FXM 33 FXM 34 FXM 53** FXM 54** FXM 55** FXM 3** FXM 4** FXM 5** FXM 6** FXM ** FXM ** (1.)* 14.(22.2)* 1.3(25.9)* 20.(31.2)* 2.3(40.9)* 33.6(50.4)* 39.(59.5)* 45.6(6.4)* 51.1(6.6)* (4.2)*/ (5.3)*/ (6.1)*/20 4.9(.4)*/25 6.6(9.)*/32 (12.0)*/39 9.4(14.1)*/46.0(.6)*/ (19.0)*/ / / /6 1.5/.5 0.9/4. 1.9/ / /1 4.0(.0)*/ (.9)*/ (.1)*/33.2(12.3)*/41.1(.5)*/ (20.0)*/65 15.(23.5)*/ 1.(26.)*/ 20.(31.0)*/3 0.6/ / /9 2.30/ /.3 2.0/ / /25.(.6)*/35.0(13.1)*/44.0.3(15.4)*/ (1.5)*/62.2(24.3)*/0 19.9(29.9)*/9 23.6(35.3)*/1 29.0(43.5)*/ (42.6)*/ / / /12 2./ / /1.5 0/ / /(14.0)*/46.0(1.)*/ (21.1)*/0.5(24.)*/2 22.1(33.1)*/9 26.6(39.9)*/ (4.2)*/ (55.0)*/11 42.(63.9)*/ (20)* 1. (22)* 20 (24.2)* 29 (33.2)* 31.6 (35.)* 36 (40.2)* 40 (44.2)* 43 (4.2)* 4 (51.2)* (*) Values of electro-ventilated motors in parenthesis. (**) For motor sizes 5 and, there is the option of electro-ventilated motor that permits obtaining about 50 % more torque. 14

15 Dimensions in mm P ACV V Ø R F GD GA Ø N T ØD Ø M T B C AC2 AC1 B BR (1) T AC1 AC2 M N D GA GD F R T P (2) V (2) ACV (2) FXM FXM 12 FXM 13 FXM 14 FXM 31 FXM 32 FXM 33 FXM 34 FXM 53 FXM 54 FXM 55 FXM 3 FXM 4 FXM 5 FXM 6 FXM FXM J6 95 J6 130 J6 10 J J6 19 J6 24 J6 32 K M5X12.5 M6X MX19 MX C Resolver ncoder (1) Add BR to the B dimensions, for motors with brake. (2) Only on electro-ventilated models. 15

16 plants headquarters subsidiary distributor Worldwide Automation FAGOR AUTOMATION shall not be responsible for any printing or transcribing errors in the catalog and reserves the right to make changes to the characteristics of its products without prior notice. Fagor Automation. Coop. Bº an Andrés, 19 P.O.Box Arrasate-Mondragón, pain Tel Fax: mail: R-03/1994 Fagor Automation holds the IO 9001 Quality ystem Certificate and the C Certificate for all its products. UROP D - Fagor Automation GmbH (Göppingen) Tel Fax: Fagor Automation Catalunya (Barcelona) Tel Fax: FR - Fagor Automation France.à.r.l. (Clermont Ferrand) Tel Fax: GB - Fagor Automation UK td. (West Midlands) Tel Fax: IT - Fagor Italia.R.. (Milano) Tel Fax: PO - Fagor Automation tda. (eça da Palmeira) Tel Fax: RU - Fagor Automation Russia. (Moscow) Tel AMRICA BR - Fagor Automation do Brasil Com. Imp. xp. tda. (ão Paulo) Tel Fax: CA - Fagor Automation Ontario (Mississauga) Tel Fax: Fagor Automation Quebec (Montreal) Tel Fax: Fagor Automation Windsor (Canada) Tel Fax: U - Fagor Automation Corp. (Chicago) Tel Fax: Fagor Automation West Coast (California) Tel Fax: Fagor Automation ast Coast (New Jersey) Tel Fax: Fagor Automation Texas (Houston) Tel Fax Fagor Automation outh ast (Florida) Tel Fax: AIA CN - Beijing Fagor Automation quipment Co., td. (Beijing) Tel Fax: Beijing Fagor Automation quipment td. (Nanjing) Tel Fax: Beijing Fagor Automation quipment td. (Chengdu) Tel Fax Beijing Fagor Automation quipment Co., td. (Guangzhou) Tel Fax: Beijing Fagor Automation quipment Co., td. (hanghai) Tel Fax: HK - Fagor Automation (Asia) td., ( Hong Kong) Tel Fax: IN - Fagor Control ystems Pvt. td. (Bangalore) Tel. +91 (0) Fax: +91 (0)04262 KR - Fagor Automation Korea, td. (eoul) Tel / Fax: MY - Fagor Automation (M) DN.BHD. (Kuala umpur) Tel Fax: G - Fagor Automation () Pte. td. (ingapore) Tel / Fax: TW - Fagor Automation Taiwan Co. td. (Taichung) Tel Fax: UKOPI DD - N 09 Worlwide reliability

Digital servo. drive system

Digital servo. drive system Digital servo drive system DDS (Digital Drive System) The perfect solution for the machine-tool manufacturer who requires smooth, fast and precise machining General characteristics Interface Velocity feedback