Fagor DCM21 Guía del usuario

DC Servo Drive System Manual Ver: 0009 DC - 1/32

Fagor Automation, S.Coop.

Ver: 0009

DC Servo Drive

System Manual.

DC Servo Drive System Manual Ver: 0009

DC - 2/32

DC Motors, DCM 4

1.1 INTRODUCTION ........................................................................................................................... 4

1.2 GENERALCHARACTERISTICS .................................................................................................. 5

1.3 TORQUE-SPEEDCURVES......................................................................................................... 6

1.4 TERMINALBOX........................................................................................................................... 7

1.5 ENCODEROUTPUTCONNECTOR ............................................................................................. 7

1.6 CHARACTERISTICS PLATE ANDSALESREFERENCE ............................................................. 8

1.7 SERVICEINSTRUCTIONS........................................................................................................... 8

D.C. Servodrive 9

2.1 INTRODUCTION ........................................................................................................................... 9

2.2 GENERALCHARACTERISTICS .................................................................................................10

2.3 CONNECTORS ...........................................................................................................................11

2.4 STATUS DISPLAY ......................................................................................................................13

2.5 INTERNALOPERATIONDIAGRAM ............................................................................................14

2.6 SPECIFICATIONS PLATE ANDSALES REFERENCE................................................................15

Motor-Drive set 17

Identity Module, IM 18

Installation 21

5.1 GENERALCONSIDERATIONS ...................................................................................................21

5.2 ELECTRICALCONNECTIONS ....................................................................................................22

5.3 ELECTRICALENCLOSUREDIAGRAM ......................................................................................26

5.4 INITIALIZATIONANDSETUP ......................................................................................................27

Mechanicals Dimensions 28

Index

DC Servo Drive System Manual Ver: 0009 DC - 3/32

Introduction

Fagoroffersyouawiderangeofservodrivesystems(motoranddrive)forapplicationsrequiring

between1and12Nmatspeedsbetween1200rpmand4000rpm.

Thismanualdescribestheelementsindetailandguidesstepbystepthroughtheinstallationand

setupofthedrivesystem.

Wheninstalledforthefirsttime,itisagoodideatoreadthewholedocument.

Shouldyouhaveanydoubtsorquestions,pleasedonothesitatetocontactourtechniciansatany

ofoursubsidiariesworldwide.

ThankyouforchoosingFagor.

Declarationofconformity

Manufacturer: FagorAutomation,S.Coop.

BarriodeSanAndréss/n,C.P.20500,Mondragón-Guipúzcoa-(SPAIN)

Weherebydeclare,underourresponsibilitythattheproduct:

FagorDCServoDriveSystem.

consistingofthefollowingmodulesandmotors:

Servodrives: DCSSeries

DCMotors: DCMSeries

mentionedonthisdeclaration,

withthebasicrequirementsoftheEuropeanDirectives73/23/CEonLowVoltage(BasicSafety

Regulation,MachineryElectricalEquipmentEN60204-1:95)and89/336/CEonElectromagnetic

Compatibility(EN61800-3:1996,SpecificRegulationonElectromagneticCompatibilityforServo

DriveSystems).

InMondragón,September22nd,2000

DC Servo Drive System Manual Ver: 0009

DC - 4/32

1.1 INTRODUCTION

FagorDCMmotors(DC)are

especiallydesignedtobe

controlledbyFagorDC

servodrives.

TheseDCmotorsareeasier

andlessexpensivetogovern

thanbrushlessmotors.

Itsmechanicsisanindustrial

standard.

DC Motors, DCM

DCM4 DCM2DCM5

(*)Thediagrambelowshows

themeaningofthemounting

codes.

(**)IP44meansthatitisprotectedagainstparticleswith

adiametergreaterthan1mmandagainstwatersplashes

inalldirections.

Winding voltage 100-130 Vdc

Number of poles 2 (DCM2); 4 (DCM4 and DCM5)

Shaft end Cylindrical with keyway.

Mounting Face flange.

(meets IEC-34- 7-72) B14, V18, V19 on DCM2;

B5, V1, V3 on DCM4 and DCM5.

Mechanical tolerance Standard class (meets IEC 72/1971)

Bearings life 10000 hours

Balancing Class N (meets DIN 45665)

(balancing with keyway)

Noise Meets IEC 34-9-72

Brake (optional) 24 Vdc

Electrical Insulation Class F

Degree of protection IP44 (**)

Operating temperature range From 0°C to +40°C (32°F to 104°F)

Maximum overtemperature 130°C (266°F)

Thermal switch N. C. 120°C (248°F)

13 Amp (250 Vac); 18 Amp (24 Vdc)

Maximum altitude 1000 meters (1281 ft) above sea level.

Feedback 20 Volt/Krpm tachometer

2500 lines/turn encoder TTL

(***)TheFclassisolationonthemotormaintainthe

dielectricpropertiesaslongastheworktemperature

staysbelow155°C(311°F).

B14/B5 V18/V1 V19/V3

DC Servo Drive System Manual Ver: 0009 DC - 5/32

1.2 GENERAL

CHARACTERISTICS DCM4

42.12A

(Kg·m2)·10E-3

Total weight with tachometer

Maximum speed

MECHANICAL PARAMETERS

Inertia

rpm

5,2

0,95

4.000

7,3 9,5

1,8

4.000

2,7

2.500

2,1

9,3

1.200 2.000 3.000 1.200

V/(rad/s)

Nm/A

rad/s2

UNIT

Continuous stall current

Armature resistance w/o brushes

Armature resistance with brushes

Back EMF

Armature inductance

Peak current

Voltage constant

ohms

(2)

ohms

Mechanical time constant

Electrical time constant

Theoretical acceleration at peak torque

Thermal time constant

ELECTRICAL PARAMETERS

THERMAL PARAMETERS

Torque constant (KT) (2)

min

Continuous stall torque

Peak stall torque

MOTOR PARAMETERS

(1) Nm

8,5

19,5

4,7

103

1,75

0,24

1,6

8,8

105

32,5

7,2

113

0,7

0,55

0,25

1,4

0,43

1,2

0,24

4.950

28,8

4,8

0,25

0,43

5.555

5,7

5.185

21,2

7,521

2,9

110,5

36,5

4,7

111

5,90

5,80

0,88

1,90

1,80

0,53

133,5

6,9

110

5,2

110,5

0,80

0,70

0,35

2,6

2,5

0,88

0,88 0,53

9.190

3,5

9.190

3,9

14,2

0,35 0,88

9.190

4,3

13,7

9.687

10,7

DCM2

1,12

4,7

21.40A

DCM21

2,2

22.40A

3,1

23.25A

DCM22 DCM23

41.20A

DCM41

41.12A

2,6

19,3

2,5

19,3

41.30A

2,4

19,3

4,6

2.0003.000

12,4

3,2

2.000

4,8

1.200

9,6

1.200

2.000

1.200

11.250

7,8

118

11,0

120

0,98

0,9

0,56

0,45

0,38

7,3

123

12,0

123

1,22

1,12

0,98

0,54

0,44

0,58

9.687

0,56

0,38

9.687

5,1

11,1

4,4

11,7

0,98

0,58

11.250

7,5

6,8

5,5

8,8

6,7

9,5

125

1,10

1,03

1,00

62,4

15,0

125

12,0

125

0,42

0,36

0,60

0,77

0,70

1,00

5.000

10,4

0,60

1,00

5.000

5,7

12,1

5.400

7,6

43.20A42.30A42.20A

4,4

4,2

DCM42

43.12A

7,2

7,0

DCM43

DCM5

DCM51

9,5

51.12A

51.20A

52.12A

DCM52

(2)

TACHOMETER PARAMETERS -T0-

(2) ohms

Armature resistance

Temperature coefficient

Minimum load resistance value Kohms

% / °C

Voltage Gradient

Voltage Ripple (3)

V / Krpm

0,02

20 ± 5%

<1,5

ENCODER PARAMETERS -E0-

Signal

Resolution 2500 lines per turn

3.000

11.250

1,3

140

17,4

123

0,25

0,18

0,39

8,7

43.30A

6,8

Brake mass

Parking torque

Power Supply voltage, (power)

(3) Peak-to-peak value / average value.

Measured with filter at max. motor speed

(1) Ambient temperature: 40°C

(

)

Tolerance ±10 %

Rated torque Nm 0,9

Rated power Kw 0,37

1,5 2

0,62 0,52

2,3 2 1,6

0,29 0,42 0,5

4,5 4 3,5

0,56 0,83 1,1 0,85 1,15 1

1,25

6,8 5,5 8

1,25 1,38

611

Important: The torque offered by the motors could be limited

by the maximum current of the drive governing them. See table on page 17.

square wave TTL

+5 Vdc 20 mA max.

Power supply DC

+5 Vdc 200 mA max.

BRAKE PARAMETERS

Vdc, (W)

0,6

24, (12)

24, (15)

24, (25)

DCM2 DCM4 DCM5

Hold/Release time sec 5/7 7/15 18/55

Inertia Kg.cm20.38 1.05 8.5

DC Servo Drive System Manual Ver: 0009

DC - 6/32

1.3 TORQUE-SPEED CURVES

1. Workareaincontinuous

dutycycleS1.Torque

availableincontinuous

mode.

2. Workareainintermittent

dutycycle.Torqueavailable

incyclicaccelerationand

deceleration.

3. Workareainsporadic

accelerationand

deceleration.Workinginthis

area,reducesthelifespan

ofthebrushes.

L.S. Demagnetizinglimitat25°C(77°F).TheDCSdrive,equippedwiththeproperIMboard,watches

themotorsoitneverexceedsthosedemagnetizingcurrents.

0.5

04000rpm

DCM21 DCM22 DCM23

30001000

DCM41

DCM52

0.5

04000rpm

30001000

0.5

03000rpm

25001000

DCM43

100

0rpm

1000 2000 3000

1200

DCM42

100

0rpm

1000 2000 3000

1200 1

100

0rpm

1000 2000 3000

1200

DCM52

300Nm

100

0 rpm 1000 2000 30001200 1

300Nm

100

0 rpm 1000 2000 30001200

DC Servo Drive System Manual Ver: 0009 DC - 7/32

Includesterminalsfor:

Powerinputforthemotorwinding. Inputforelectromechanicalbrake

Tachovoltageoutput. Safetythermalcontact

1.4 TERMINAL BOX

Whenthemotorwindingissuppliedwiththepolarityindicatedontheterminalbox(B+,E-),the

rotorturnsclockwise(CWR,clockwiserotation),asshowninthediagram.And,forthisturning

direction,thetachogeneratesavoltageatitsterminals(Tacho)alsowiththepolarityindicatedon

the box (+, -).

Theelectromechanicalbrakereleasesthemotorshaftwhenapplied24Vdc.

Whenstationary,itholdsthemotorshaft.

Thethermalswitchwatchesthearmaturetemperature.

1.5 ENCODER OUTPUT CONNECTOR

Front View

TTL Encoder

DC Motor

987

Clockwise Rotation (CWR)

nals:

CWR

Clockwise Rotation

+5V

Pin Si

nal

BMotor

Power

Tacho

Thermal

Brake

CWR

Clockwise Rotation

N.C.

Tacho

Brake

Thermal

Motor

Power

Ch.

DC-IND-2/28 inductance

onl

needed with the motors

FXM 42.30A and 43.30A

DC Servo Drive System Manual Ver: 0009

DC - 8/32

1.6 CHARACTERISTICS PLATE AND SALES REFERENCE

Exampleoftheplatethat

comeswitheachDCMmotor.

Salesreferencedescription

forDCMmotors

1.7 SERVICEINSTRUCTIONS

Thebrushesmustbecheckedforthefirsttimeafterbeingrunningfor500hoursand,then,every

1000hours.Onemustcheckthewaytheysweep,theirsurfaceandthatofthecollector.

Thelifespanofthebrushesdependonhowtheyareusedandonambientconditions.

Theymustbereplacedwithbrushesofsamequalityanddimensions:10mmfortheDCM2,and

11mmfortheDCM4andDCM5.

TYPE: DCM42.20A.E0.000

Permanent Magnet D.C. Servomotor

SN: E190057

Mo 4.4 Nm

Mp 29 Nm Io: 7.8 A MAX. RPM: 2000

B.E.M.F.: 118 V

TACHO: V/KRPM BRAKE: V A

Ip: 52 A

KT: 0.56 Nm/A Iso.Cl.: F

DC MOTORS Example DCM 4 2. 20 A. E0. 0 0 0

DIRECT CURRENT MOTOR

MOTOR SIZE 295 mm

4115 mm

5153 mm

LENGTH 1, 2, 3 See drawings

MAXIMUM SPEED 12 1200 rpm 30 3000 rpm

20 2000 rpm 40 4000 rpm

25 2500 rpm

WINDING AStandard

FEEDBACK E0 TTL Encoder (standard)

T0 Tacho

F0 Encoder and Tacho (not available)

FLANGE AND SHAFT 0With keyway (standard)

1Without keyway

BRAKE OPTION 0Without brake (standard)

1With brake (24 Vdc)

POWER CONNECTION 0Terminal box

1Power connector (not available)

DC Servo Drive System Manual Ver: 0009 DC - 9/32

2.1 INTRODUCTION

TheD.C.Servodriveisacompactspeeddrivewhich

includesthepowersupplyandisdesignedtocontrola

singleDCmotor.

Therearetwomodulesofdifferentpowerofferingrated

currentsof8and14Ampsandwhosemaincharacteristics

are:

- Three-phasepowersupplythroughatransformer.

- PWM Mosfets.

- Encoderfeedback(standard)ortacho.

- VelocityorTorquecommand.

- Velocitycommandfilteredwithramps.

- Logicinputstocontrolthemotor.

- Galvanicisolationbetweenpowerandcontrol

- Analogoutputstomonitorspeedandcurrent.

- Controlagainstexcessiveacceleration/deceleration.

- Dynamicbrakingduringmainsfailures.

- Protectionagainstmotorcurrentdrifts.

- Protectionagainstfeedbackloss.

- Protectionagainstexcessivetemperature,Busvoltageandoutputcurrent.

- 7-segmentdisplaytomonitorthestatusoftheservodrivesystem.

D.C. Servodrive

DC Servo Drive System Manual Ver: 0009

DC - 10/32

Maximumpeakcurrent.

Thedrivewithstandsamaximumpeakcurrentinrepetitivecycles

Thefirstgraphshowsthedutycycleanalyzedonamotorwithoutload.

ThefollowinggraphshowsthemaximumpeakcurrentallowedattheDCSdependingonthe

durationofthepulseandfordifferenttemperatures.

Inanycase,thedurationofthemaximumcurrentpulse(T1)mustnotexceed4.5seconds.

DCS-08

Amp

0.1

60.2 0.3 0.4 0.5 0.6

DCS-14

Amp

0.1

50.2 0.3 0.4 0.5 0.6

+rpm

-rpm

T1/T2

25°C

45°C

25°C

45°C

2.2 GENERAL CHARACTERISTICS

(*) IP20 means that it is protected against particles with diameter greater than 12.5 mm; but not

against water splashes. In other words, the equipment must be mounted inside the electrical

enclosure.

Fagor D.C.Servodrive

DCS-08 DCS-14

Power supply 110 Vac between phases. 50/60 Hz

(range 94-120 Vac)

Consumption, Amperes -RMS- 9 16

Maximum in-rush current 350 Amp for 10 msec.

Maximum output voltage 150 Vdc

Rated output current 8 Amp 14 Amp

Peak current (4.5 sec) 16 Amp 28 Amp

Overvoltage protection 192 V

Overcurrent protection 20 A 33 A

Internal Ballast 10 Ohms, 200 W

Ballast trigger 184 V

Thermal protection 90°C (194°F)

Ambient temperature 5°C / 45°C (41°F / 113°F)

Storage temperature -20°C / 60°C (-4°F / 140°F)

Insulation IP20 (*)

Module width 62 x 300 x 230 mm

(2.48 x 11.8 x 9.05 inches)

Module weight 3,5 Kg (7.76 lbs)

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