Fagor DCM21 User guide

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
Kg
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
mH
A
A
V
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
ms
ms
Continuous stall torque
Peak stall torque
MOTOR PARAMETERS
(1) Nm
Nm
8,5
19,5
4,7
103
1,75
0,24
1,6
74
40
8,8
105
32,5
7,2
113
0,7
0,55
0,25
1,4
0,43
1,2
0,24
45
4.950
28,8
4,8
0,25
55
0,43
60
5.555
5,7
20
5.185
21,2
5
7,521
22
2,9
110,5
36,5
4,7
111
5,90
5,80
0,88
1,90
1,80
0,53
133,5
55
6,9
110
35
5,2
110,5
0,80
0,70
0,35
2,6
2,5
0,88
0,88 0,53
50
9.190
3,5
16
9.190
3,9
14,2
0,35 0,88
9.190
4,3
13,7
9.687
5
10,7
DCM2
1,12
4,7
21.40A
DCM21
2,2
10
22.40A
3,1
14
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
31
2.0003.000
12,4
3,2
2.000
17
4,8
1.200
21
9,6
1.200
23
2.000
13
1.200
11.250
25
52
7,8
118
80
11,0
120
0,98
0,9
0,56
0,45
0,38
0,38
39
55
7,3
123
95
12,0
123
1,22
1,12
0,98
0,54
0,44
0,58
9.687
0,56
60
0,38
9.687
5,1
11,1
4,4
11,7
0,98
70
0,58
11.250
7,5
6,8
5,5
8,8
6,7
50
9,5
125
1,10
1,03
1,00
62,4
83
15,0
125
70
12,0
125
0,42
0,36
0,60
0,77
0,70
1,00
1,00
5.000
6
10,4
0,60
80
1,00
90
5.000
5,7
12,1
5.400
7,6
10
43.20A42.30A42.20A
4,4
29
4,2
31
DCM42
43.12A
7,2
54
7,0
54
DCM43
DCM5
DCM51
9,5
50
51.12A
9
50
51.20A
12
70
52.12A
DCM52
(2)
(2)
(2)
(2)
TACHOMETER PARAMETERS -T0-
(2) ohms
Armature resistance
Temperature coefficient
Minimum load resistance value Kohms
% / °C
Voltage Gradient
Voltage Ripple (3)
V / Krpm
%
26
6
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
0,39
6
8,7
43.30A
6,8
54
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
(
2
)
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 4
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.
Kg
BRAKE PARAMETERS
Vdc, (W)
Nm
0,6
24, (12)
2
1
24, (15)
5
3
24, (25)
20
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.
1
0.5
10
50
04000rpm
DCM21 DCM22 DCM23
Nm
5
30001000
DCM41
DCM52
1
0.5
10
50
04000rpm
Nm
5
30001000
1
0.5
10
50
03000rpm
Nm
5
25001000
DCM43
1
10
100
0rpm
Nm
5
1000 2000 3000
3
2
20
50
1200
DCM42
1
10
100
0rpm
Nm
5
1000 2000 3000
3
2
20
50
1200 1
10
100
0rpm
Nm
5
1000 2000 3000
3
2
20
50
1200
DCM52
1
10
300Nm
50
100
0 rpm 1000 2000 30001200 1
10
300Nm
50
100
0 rpm 1000 2000 30001200
3
2
3
1
2
1
2
1
2
1
2
1
3
2
1
3
2
1
1
2
3
LS

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
6
5
4
3
21
6
5
4
3
2
1
7
8
9
B
A
Zt
Clockwise Rotation (CWR)
si
g
nals:
CWR
Clockwise Rotation
+5V
*A
B
*B
Z
*Z
0V
A
Pin Si
g
nal
NC
E
BMotor
Power
Tacho
Thermal
Brake
DC
CWR
Clockwise Rotation
E
B
G
M
D
C
N.C.
Tacho
Brake
Thermal
Motor
Power
Ch.
Ch.
DC-IND-2/28 inductance
onl
y
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
12
10
16
18
0
Amp
14
0.1
8
60.2 0.3 0.4 0.5 0.6
DCS-14
15
10
25
30
0
Amp
20
0.1
50.2 0.3 0.4 0.5 0.6
T2
T1
+rpm
-rpm
T1/T2
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)