Transcription

1 FAGOR Digital ervo Drive ystem FAGOR AUTOMATION

2 ervo drive systems Modular system It is a configurable system that controls several axes and the spindle. The Power supply module (P, XP or RP ) is connected directly to Vac mains and it supplies to the servo drive modules installed: Axis drives (AXD) pindle drives (PD) Power supplies Mains Voltage supply for the drive's control circuit Output voltage ( power BU ) (peak) output power (peak) output current Output voltage for drive control signals Internal crowbar Resistance (Ballast) regenerative power Associated chokes Dimensions Non-regenerative Regenerative Regenerative regulated P-5A P-25B4 XP-25 XP-5 RP-20 RP-45 RP-5 24 VDC (between 21-2 VDC) 5 Kw (195 kw, 1 sec) 120 A (30 A, 1 sec) 25 Kw (5 Kw, 1 sec) 45 A (135 A, 1 sec) VDC Three-phase from 30 to 50 VAC 25 Kw (55 Kw, 1 sec) 45 A (135 A, 1 sec) 5 Kw (10 kw, 1 sec) 120 A (120 A, 1 sec) 24 VDC /240 W 24 VDC /192 W 9 Ohms / 00 w 1,5 Ohms / 500 w 1 Ohms / 520 w 9 Ohms / 10 w 20 Kw 54 Kw 20 Kw (2 kw, en ) 32 A (41. A, en ) 00, 25 or 25 VDC. They are programmable. 45 Kw (59 kw, en ) 2 A (95 A, en ) 5 Kw (9 kw, en ) 120 A (15 A, en ) Choke XP-25 Choke XP-5 Choke RP-20 Choke RP-45 Choke RP-5 ize 2 ize 1 ize 3 ize 4 ize 3 ize 5 ize Modular drives for synchronous and asynchronous motors I nom. Amp. I peak (0.5 sec) Amp. I nom (1) 4 khz I nom (1) khz I - 40% 4 khz I - 40% khz Control circuit voltage supply Control circuit consumption Dimensions AXD ( for axis ) PD ( for spindle ) VDC ( between 21-2 VDC ) 0.9 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 2 Compact system They are independent drives with an integrated power supply and may be connected directly to mains. There are compact drives to control a single axis (ACD) or a single spindle (CD). Compact servo drive I nom. (Amp.) I peak (0.5 sec) (Amp.) 4 khz I peak (0.5 sec) (Amp.) khz I máx. (Amp.) 4 khz I máx. (Amp.) khz Mains display Internal ballast resistance (Ohms) Power (W) ervice voltage (output) Dimensions (150) ACD ( for axis ) CD ( for spindle ) Three-phase from 30 to 50 VAC (150) (150) 24 VDC (5%), ma ize 1 ize 2 ize 1 ize 2

3 Drive configuration DIRCT FDBACK ( optional ) Real axis position feedback, usually through a linear or rotary encoder. NCODR IMUATOR BOARD ( optional ) It outputs a number of pulses per motor turn that can be set by parameter (any value between 1 and 1,34 ppt, programmable reference mark (Io), differential TT). MOTOR FDBACK BOARD It reads the feedback signals coming from the encoder mounted on the motor in order to know the exact rotor position and speed. R-232 C BOARD To connect it with a PC or a programming module for parameter setting and system monitoring ( between 9,00 Baud and 19,200 Baud ). DIGITA RCO INTRFAC BOARD ( optional ) Precise and efficient fiber optic interface using the RCO communications standard to transmit position, velocity and torque commands. The use of fiber optics ensures full immunity against noise and extremely simple cabling between modules. DIGITA CAN INTRFAC CARD (optional) tandard CAN communications interface to transmit position, velocity and torque commands.. ANAOG INTRFAC BOARD ( optional ) It offers 2 +10V analog inputs and 2 analog outputs to connect the CNC velocity commands and to monitor internal parameters respectively. It also offers 4 digital inputs and 4 digital outputs, all of them fully programmable. Properties of the drive modules ither ercos or analog interface. Velocity feedback high resolution incos encoder. Protections: overvoltage, overcurrent, overspeed, overtemperature, hardware errors, overload, etc. Control of high speed spindles. Control of electrospindles and built-in motors. Direct position feedback: differential TT, Vpp, Distance-coded Io, FAGOR absolute. 3

4 ervo drive systems Dimensions in mm (inches) 255 (10,04) (3,03) 11 (4,) 194 (,4) 234 (9,21) 311 (12,24) 350 (13,) 3,5 (0,14),5 (0,29) (0,31) 22 (0,),5 (0,25) 3,5 (0,14) ize 1 ize 2 ize 3 ize 4 ize 5 ize 34 (13,),5 (0,33) lectrical connection Mains FM Mains filter FXM FKM Power supplies (*) AXD PD CAN ercos Analog CNC Choke (*) Only for regenerative power supplies. 4

5 Accessory modules Auxiliary power supply module, AP 24 It generates the 24Vdc required by power supply and drive modules to supply their control circuits. Resistor modules Model W Input voltage from 400 Vac -10% to 40 Vac +10% 50 / 0 Hz. Mains consumption 0.2 Amp (400 Vac) 0.3 Amp (40 Vac) Output voltage, maximum 24 Vdc [ 5%] current 10 Amp. Dimensions ize 1 R+TH-24 / 50 R+TH-1 / 0 R+TH-1 / 10 R+TH-1 / Only to be used with P, XP power supplies and ACD, CD compact servo drives. They are designed to dissipate the excess energy generated while braking when it exceeds the one dissipated by the internal Ballast resistor. Capacitor module, CM 1.0 It stores the energy returned by the motors while braking when using P (non-generative) power supplies. It has a capacity of 4mF and it provides a maximum voltage of 9 Vdc at the power 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: Mains filter 42A for "P / XP-25" power supplies Mains filter 130A for "P / XP-5" power supplies Chokes for XP power supplies When using regenerative power supplies (XP) these chokes must be installed in the power regeneration circuit in order to comply with the established regulation. Available models: CHOK XP-25 CHOK XP-5 Chokes for RP power supplies Installing chokes is an absolute must when using RP regenerative regulated power supplies and they must always be installed between the RP power supply and the DC mains filter. CHOK RP-20 CHOK RP-45 CHOK RP-5 5

6 FM Asynchronous AC motors For machine-tool spindles FAGOR asynchronous motors are small and balanced for high speed. They cover a power range between 3. Kw and 0 Kw with base speeds of 500, 1000, 1 and rpm with very low noise and vibration levels. With the FM_01 family it is possible to reach up to 9,000 rpm and with the FM_03 and FM_H3 families up to 15,000 rpm. 01 eries Power 1 (KW) Power, 40% (KW) Torque 1 (Nm) current (Arms) peed (rpm) Maximum peed 01(rpm) Inertia (Kg.cm2) Weight (Kg) Flange Weight (Kg) Foot pindle Modular Drive pindle 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 PD FM A PD FM A PD FM A PD FM B PD 2.5 FM B PD 2.5 FM B PD FM B PD FM C PD FM C PD FM PD General characteristics Temperature sensor Balancing. Degree of vibration Mounting lectrical isolation of the winding Degree of protection Feedback NTC thermistor tandard: V5 () - V10 (R) Optional: V3 (R) - V5 () Horizontal: B3 - B5 - B35 Vertical: V1 - V5 - V15 Class F (155 C F) IP44 tandard: magnetic encoder Optional: C axis encoder

7 I FM model with foot mounting Dimensions for foot mounting (mm) D F H KD M XB Q Q U W FM A h 4 h9 FM A h 5 10h9 KD Q D FM A05-3 FM A090-3 FM A-3 FM A FM A Q H FM A FM A F F XB W U M FM A30-3 FM A510-3 FM B120-3 FM B10-3 FM B m.5 FM B FM C , m.5 FM C , m.5 FM model with flange mounting W U C A K Q KD KI Dimensions for flange mounting (mm) A C I KD K KI Q U W FM A03-1 FM A055-1 FM A05-1 FM A090-1 FM A-1 FM A150-1 FM A15-1 FM A220-1 FM A300-1 FM A30-1 FM A510-1 FM B120-1 FM B10-1 FM B220-1 FM B2-1 FM C-1 FM C h 1 h 1 h 1 h 300 h 300 h 350 h 300 h 300 h 350 h 350 h h 32 h 0 m 0 m 0 m h9 10 h9 FM model with foot and flange mounting Dimensions for flange & foot mounting (mm) D F H M KD Q Q U W KD D FM A-5 FM A150-5 FM A Q FM A220-5 FM A h 40 Q H FM A h 40 FM A h m.5 F F W U M FM B120-5 FM B10-5 FM B220-5 FM B h 300 h FM C h m.5 FM C h m.5

8 Dimensions in mm 03 series FM spindle motors have forced fan cooling and double winding (star / triangle) The can reach speeds of up to 12,000 rpm and 15,000 rpm. FM-D055-1D0-03 FM-D05-1D0-03 FM-D-1D A 1 h 1 h C I K KI haft Q 0 2 h 0 2 h 3 h FM-D150-1D h H3 series FM spindle motors are directly mounting motors and are especially designed to be mounted on the column for direct transmission without pulleys. They have forced fan cooling, double winding (star / triangle) and can reach speeds 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. FM-D15-1D0-03 FM-D220-1D0-03 FM-D05-1D0-H3 FM-D-1D0-H3 FM-D15-1D0-H3 FM-D220-1D0-H3 03 eries h 21 H3 eries h 3 h 2 h 3 h 3 h 3 h D Q Q KI KI K K A A C I C I Q FM motors characteristics- 03 and H3 series Power 1 (KW) Power, 40% (KW) Torque 1 (Nm) current (Arms) peed (rpm) Maximum peed 01(rpm) Inertia (Kg.cm2) Weight (Kg) pindle Modular Drive tar Triangle tar Triangle tar Triangle tar Triangle FM - D055-1D PD 1.35 FM - D05-1D PD 2.50 FM - D-1D PD 2.5 FM - D150-1D PD 2.5 FM - D15-1D PD 2.5 FM - D220-1D PD 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 PD 3.100

9 FKM ynchronous AC motors To control axes in machine-tool applications General characteristics Temperature sensor Balancing (halfkey) Mounting lectrical isolation Degree of protection Brake Feedback FKM 21.0 A FKM A FKM A FKM A FKM A FKM A FKM A FKM 2.30 A FKM 2.40 A FKM 4.30 A FKM 4.40 A FKM.30 A tall torque (Nm) Peak torque (Nm) speed (rpm) tall current (Arms) Peak current (Arms) Inertia (Kg.cm2) Thermistor PTC KTY-4 tandard: Class N Optional: Class R Front flange B5-V1-V3 Class F (150 C F) tandard: IP4 Optional: IP 5 with seal Optional on all models inusoidal encoder or resolver Weight (Kg) Dimensions in mm T F GD GA øn ød R ø ø M H T C AC1 C T AC1 M N H D GA GD F R T FKM 21 FKM 22 FKM 42 FKM 44 FKM 2 FKM 4 FKM j 130 j j j 24 j 32 k Mx1 Mx19 M10x22 9

10 FXM ynchronous AC motors To control axes in machine-tool applications There are motors of 1200, 2000, 3000 and rpm and size 5 and size motors offer the option of being electro-ventilated. tall torque (Nm) Peak torque (Nm) tall current (Arms) / Peak current (Arms) 1200 rpm rpm rpm. rpm. Inertia (Kg.cm2) Weight (Kg) FXM 11 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 ** FXM ** FXM ** (1.)* 14.(22.2)* 1.3(25.9)* 20.(31.2)* 2.3(40.9)* 33.(50.4)* 39.(59.5)* 45.(.4)* 51.1(.)* (4.2)*/ (5.3)*/1. 4.1(.1)*/20 4.9(.4)*/25.(9.)*/32 (12.0)*/39 9.4(14.1)*/4 11.0(1.)*/55 12.(19.0)*/3 0.45/2.2 0./ / 1.5/.5 0.9/4. 1.9/ / /1 4.0(.0)*/ (.9)*/30.0.(10.1)*/33.2(12.3)*/ (1.5)*/ (20.0)*/5 15.(23.5)*/ 1.(2.)*/ 20.(31.0)*/103 0./ /.2 1.5/9 2.30/ /.3 2./ / /25.10(10.)*/35.0(13.1)*/ (15.4)*/ (1.5)*/2 1.2(24.3)*/ 19.9(29.9)*/9 23.(35.3)*/ (43.5)*/ (42.)*/ / / / / /9. 3./1.5 0/2.0.90/ /(14.0)*/4 11.(1.)*/ (21.1)*/0 1.5(24.)*/2 22.1(33.1)*/109 2.(39.9)*/ (4.2)*/15 3.(55.0)*/11 42.(3.9)*/ (20)* 1. (22)* 20 (24.2)* 29 (33.2)* 31. (35.)* 3 (40.2)* 40 (44.2)* 43 (4.2)* 4 (51.2)* (*) Values of the electro-ventilated motors in parenthesis. (**) Motor sizes 5 and can provide about 50% higher torque with their optional electro-ventilation. General characteristics Balancing (whole key) Mounting lectrical isolation Overall degree of protection Degree of protection of the axis Fan Brake Feedback tandard: Class N Optional: Class R Front flange B5-V1-V3 Class F (150 C F) tandard: IP4 Optional: IP54 with fan tandard: IP4 Optional: IP5 with seal Optional on models FXM 5... and FXM... Optional on all models inusoidal encoder or resolver 10

11 tandard motor lectro-ventilated motor Dimensions in mm BR (1) T AC1 AC2 M N D GA GD F R T P (2) V (2) ACV (2) FXM 11 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 FXM FXM J 95 J 130 J 1 J J 1 19 J J 2 32 K M5X12.5 MX1 MX19 M10X Resolver ncoder C (1). Add BR to the dimensions for motors with a brake. (2). Only on electroventilated models. R GD T F ÆD GA P V Æ ACV NÆ ÆM T C AC2 AC1 11

12 Fagor Automation. Coop. (Mondragón) Bº an Andrés, 19 P.O.Box Arrasate-Mondragón, pain Tel Fax: mail: [email protected] R-03/1994 R-09/1999 Fagor Automation. Coop. (Usurbil) Bº an steban, s/n Txoko Alde Usurbil, pain Tel Fax: mail: [email protected] Fagor AUTOMATION is a cooperative enterprise that is part of Mondragón Corporation, the th largest business group in pain. This corporation is formed by more than companies and more than 100,000 employees in 4 sectors: financial, industrial, distribution and knowledge (training and R&D centers). Fagor Automation is integrated in the industrial area and focuses their efforts on increasing their presence in the traditional sectors where it operates (machine tool) as well as in other emerging industrial sectors: photovoltaic, metrology, semi-conductors, electro-medicine, etc. covering the current market needs for industrial automation. They have gained the confidence of a great number of manufacturers and users by investing 10% on R&D and exporting %. They have a solid commercial network in 50 countries with almost 30 subsidiaries or branch offices, more than 45 distributors and service centers. 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 Ohio Branch (Ohio) 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 ystem Pvt. td. (Bangalore) Tel. +91 (0)4222 Fax: +91 (0)4221 KR-Fagor Automation Korea, td. (eoul) Tel. (22) / Fax: (2 2) MY-Fagor Automation (M) DN.BHD. (Kuala umpur) Tel Fax: G-Fagor Automation () Pte. td. (ingapore) Tel / 4134 Fax: TW-Fagor Automation Taiwan Co. td. (Taichung) Tel Fax Fagor Automation holds the IO 9001 Quality ystem Certificate and the C Certificate for all its products. agoranet - DD - 00 N - D.. BI-24 / 0 FAGOR AUTOMATION shall not be held responsible for any printing or transcribing errors in this catalog and reserves the right to make any changes to the characteristics of its products without prior notice. FAGOR AUTOMATION Worldwide reliability