Fagor MCS Innova Series User manual

FAGOR AUTOMATION S.COOP.
Brushless AC
servo drives
~ MCS Innova series ~
Ref.0707

MCSi-2/84 Digital Brushless AC servo drive system - Ref.0707
Title Brushless AC Servo Drives (MCS Innova series)
Type of documentation Description, installation and startup of small motors and
digital drives.
Name MAN_MCSi_DRIVE SYSTEM (ing.)
Reference Ref.0707
Software Version 01.0x
WinDDSSetup Version 06.1x
Electronic document MAN_MCSi_DRIVE SYSTEM.pdf
Headquarters FAGOR AUTOMATION S. COOP.
Bº San Andrés 19, Apdo. 144
20500 ARRASATE- MONDRAGÓN
www.fagorautomation.com
[email protected]
Telephone: [phone]
Fax: [phone] (Technical Service Department)
The information described in this manual may be subject to changes
due to technical modifications. FAGOR AUTOMATION, S. Coop.
reservestherighttochangethecontentsofthismanualwithoutprior
notice.
Thecontentsofthismanualhavebeenverifiedandmatchedwiththe
productdescribedhere.Evenso,itmaycontaininvoluntaryerrorsthat
make it impossible to ensure an absolute match. However, the
contents of this document are regularly checked and updated
implementing the pertinent corrections in a later edition.
All rights reserved. No part of this documentation may be copied,
transmitted, transcribed, stored in a backup device or translated into
another language without Fagor Automation’s permission.

Digital Brushless AC servo drive system - Ref.0707 MCSi-3/84
WARRANTY
INITIAL WARRANTY:
All products manufactured or marketed by FAGOR carry a 12-month warranty for
the end user.
In order to prevent the possibility of having the time period from the time a product
leaves our warehouse until the end user actually receives it run against this 12-month
warranty, the OEM or distributor must communicate to FAGOR the destination,
identification and installation date of the machine by filling out the Warranty Form that
comes with each product.
The starting date of the warranty for the user will be the one appearing as the
installation date of the machine on the Warranty Form.
This system ensures the 12-month warranty period for the user.
FAGOR offers a 12-month period for the OEM or distributor for selling and installing
the product. This means that the warranty starting date may be up to one year after
theproducthasleftourwarehousesolongasthewarrantycontrolsheethasbeensent
backto us.This translatesintothe extensionofwarranty periodto twoyears sincethe
product left our warehouse. If this sheet has not been sent to us, the warranty period
ends 15 months from when the product left our warehouse.
FAGOR iscommitted torepairingor replacingitsproductsfrom thetime whenthe first
suchproductwaslaunchedupto8yearsaftersuchproducthasdisappearedfromthe
product catalog.
It is entirely up to FAGOR to determine whether a repair is to be considered under
warranty.
EXCLUDING CLAUSES:
The repair will take place at our facilities. Therefore, all shipping expenses as well as
travelling expenses incurred by technical personnel are NOT under warranty even
when the unit is under warranty.
The warranty will be applied so long as the equipment has been installed according
to the instructions, it has not been mistreated or damaged by accident or negligence
and has been handled by personnel authorized by FAGOR.
If once the service call or repair has been completed, the cause of the failure is not
tobeblamedontheFAGORproduct,thecustomermustcoverallgeneratedexpenses
according to current fees.
No other implicit or explicit warranty is covered and FAGOR AUTOMATION shall not
be held responsible, under any circumstances, of the damage which could be
originated.
SERVICE CONTRACTS:
ServiceandMaintenanceContractsareavailableforthecustomerwithinthewarranty
period as well as outside of it.

MCSi-4/84 Digital Brushless AC servo drive system - Ref.0707
DECLARATION OF CONFORMITY
Manufacturer: Fagor Automation, S. Coop.
Bº San Andrés 19, C.P. 20500, Mondragón -Guipúzcoa- (SPAIN)
We hereby declare, under our responsibility that the product:
Fagor AC Brushless Servo Drive System
consisting of the following modules and motors:
Drive modules: MCS Innova (MCSi) series
AC motors: FS. FSA and FSP series.
mentioned on this declaration,
with the basic requirements of the European Directives 73/23/CE on Low Voltage
(Basic Safety Regulation; Electrical Equipment on Machines EN60204-1:95) and
92/31/CEonElectromagneticCompatibility(EN61800-3:1996,SpecificRegulation
on Electromagnetic Compatibility for Servo Drive systems).
In Mondragón, 01.05.06
INTRODUCTION
Fagor offers a range of servo systems (AC brushless motor FS plus digital drive) for
application between 0.318 and 2.39 N·m at a rated speed of 3000 rev/min.
This manual describes the elements in detail and guides step by step through the
installation and setup of the drive system.
When installed for the first time, it is a good idea to read the whole document.
Should you have any doubts or questions, please do not hesitate to contact our
technicians at any of our subsidiaries worldwide.
Thank you for choosing Fagor.

Regulación AC Brushless digital - Ref.0707 MCSi-5/84
GENERAL INDEX
BRUSHLESS AC MOTORS, FS..................................................................................7
Introduction ..................................................................................................................7
General characteristics ................................................................................................7
Torque-speed curves...................................................................................................9
Dimensions ................................................................................................................10
Base power connectors and encoder output..............................................................12
Brake characteristics..................................................................................................13
Sales reference..........................................................................................................14
A.C. SERVODRIVE....................................................................................................15
Introduction ................................................................................................................15
General characteristics ..............................................................................................15
Dimensions ................................................................................................................15
Technical data............................................................................................................16
Connectors.................................................................................................................17
Indicators (LED's).......................................................................................................21
Push-buttons and switches........................................................................................21
Programming module.................................................................................................22
Front view of the module............................................................................................23
Top view of the module..............................................................................................24
Pinout of the connectors ............................................................................................24
Sales reference..........................................................................................................26
INSTALLATION..........................................................................................................27
General considerations ..............................................................................................27
Electrical connections ................................................................................................28
Diagram of the electrical cabinet................................................................................38
Initialization and adjustment.......................................................................................41
PARAMETERS, VARIABLES AND COMMANDS .....................................................46
B group. Non-programmable inputs - outputs............................................................48
C group. Current ........................................................................................................48
D group. Diagnosis.....................................................................................................52
E group. Encoder simulator........................................................................................54
G group. General .......................................................................................................54
H group. Hardware.....................................................................................................56
I group. Inputs............................................................................................................57
K group. Monitoring....................................................................................................59
M group. Motor...........................................................................................................60
O group. Analog and digital outputs...........................................................................61
Q group. Communication ...........................................................................................64
S group. Speed..........................................................................................................66
T group. Torque and power........................................................................................71
W group. Internal generator.......................................................................................72
ERROR MESSAGES.................................................................................................74

MCSi-6/84 Digital Brushless AC servo drive system - Ref.0707
WARNINGS ...............................................................................................................79
LIST OF PARAMETERS, VARIABLES & COMMANDS. ModBus ID’s......................80

Digital Brushless AC servo drive system - Ref.0707 MCSi-7/84
BRUSHLESS AC MOTORS, FS
Introduction
General characteristics
Excitation Permanent magnets
Temperature sensor Not available
Shaft end Cylindrical with keyway (optional: Without keyway)
Mounting Face flange
Mounting method IM B5, IM V1, IM V3 (as per IEC-34-3-72)
Mechanical tolerances Eccentricity: 0.02
Concentricity: 0.04
Perpendicularity: 0.04
Roller bearings’ life 20000 hours
Vibration resistance Vibration acceleration: 49 m/s2
Vibration class 15 µm or lower
Electrical insulation Class B (130 °C / 266 °F)
Insulation resistance 500 V DC, 10 MΩor greater
Dielectric rigidity 200 V motors: 1500 V AC, one minute
Body or housing Totally enclosed and self-ventilated
Protection degree General: standard IP55 (shaft section excluded)
Storage temperature From - 20 °C to 60 °C (from - 4 °F to 140 °F)
Ambient temperature allowed From 0 °C to 40 °C (from 32 °F to 104 °F)
Working ambient humidity From 20 % to 80 % (non condensing)
Voltage supply for the brake 24 V DC - the brake is optional -
Feedback Standard: Incremental encoder 13 bits: 2028 ppt
Optional: Absolute encoder 16 bits: 16384 ppt
FS synchronous servo motors (FSA
a
ndFSPseries) are ACbrushlesswith
p
ermanent magnets.
T
hey are ideal for any application
r
equiring great positioning accuracy.
T
hey have a uniform output torque,
h
igh reliability and low maintenance.

MCSi-8/84 Digital Brushless AC servo drive system - Ref.0707
Peak torque
(for 3s)
MCSi
15 L
Nm
7.16
Peak torque
(for 3s)
MCSi
15 L
Nm
7.16
(*) If the motor has a brake (option), its inertia must also be taken into account. See section < Brake characteristics>. (**) If the motor has a brake (option), its mass must also be taken into account. See section < Brake characteristics>. The drive recommended to govern each motor must supply the rated current needed to obtain the rated torque from the motor.
11 L
Nm
3.82 6.19
11 L
Nm
3.82 6.73
07 L
Nm
0.95 1.91 3.24 3.84
07 L
Nm
0.95 1.91 3.48 4.17
Mass (**)
P
kg
0.5 1.1 1.7 3.4
Mass (**)
P
kg
0.7 1.4 2.1 4.2
Inertia(*)
J
kg·cm2
0.036 0.106 0.173 0.672
Inertia(*)
J
kg·cm2
0.049 0.193 0.331
2.10
Acceleration
time
tac
ms
1.19 1.74 1.42 2.95
Acceleration
time
tac
ms
1.62 3.17 2.72 9.21
Torque
constant
KT
Nm/Arms
0.378 0.327 0.498 0.590
Torque
constant
KT
Nm/Arms
0.392 0.349 0.535 0.641
Rated
P
W
100 200 400 750
Rated
P
W
100 200 400 750
Peak
current
Ip
Arms
2.8 6.5 8.5
13.4
Peak
current
Ip
Arms
2.8 6.0 8.0
13.9
Stall
current
Io
Arms
0.9 2.1 2.8 4.4
Stall
current
Io
Arms
0.9 2.0 2.6 4.1
Maximum
speed
nmax
rev/min
5000 5000 5000 5000
Maximum
speed
nmax
rev/min
5000 5000 5000 5000
Rated
speed
nN
rev/min
3000 3000 3000 3000
Rated
speed
nN
rev/min
3000 3000 3000 3000
Stall peak
torque
Mp
Nm
0.95 1.91 3.82 7.16
Stall peak
torque
Mp
Nm
0.95 1.91 3.82 7.16
Stall torque
Mo
Nm
0.318 0.637
1.27 2.39
Stall torque
Mo
Nm
0.318 0.637
1.27 2.39
FSA SERIES
FSA01.50F.. FSA02.50F.. FSA04.50F.. FSA08.50F..
FSP SERIES
FSP01.50F.. FSP02.50F.. FSP04.50F.. FSP08.50F..

Digital Brushless AC servo drive system - Ref.0707 MCSi-9/84
Torque-speed curves
Synchronous AC servomotors FSA series
Synchronous AC servomotors FSP series
1000 3000 5000
0.2
Torque
Nm
Speed
Rev/min
2000 40000
0
0.4
0.6
0.8
1.0
1.2
0.318
0.95
0.2
1000 3000 5000
Torque
Nm
Speed
Rev/min
2000 40000
0
1.0
1.5
2.0
2.5
3.0
0.637
1.91
0.5 0.45 0.36
FSA01 FSA02
1000 3000 5000
Torque
Nm
Speed
Rev/min
2000 40000
0
2.0
3.0
4.0
5.0
1.27
3.82
1.0 0.96 0.75
1.6
3.0
FSA04
1000 3000 5000
Torque
Nm
Speed
Rev/min
2000 40000
0
4.0
6.0
8.0
10.0
2.39
7.16
2.0 1.8 1.5
5.6
FSA08
1000 3000 5000
Torque
Nm
Speed
Rev/min
2000 40000
0
4.0
6.0
8.0
10.0
2.39
7.16
2.0 1.0
1000 3000 5000
Torque
Nm
Speed
Rev/min
2000 40000
0
2.0
3.0
4.0
5.0
1.27
3.82
1.0 0.96 0.75
1.6
3.0
1000 3000 5000
Torque
Nm
Speed
Rev/min
2000 40000
0
1.0
1.5
2.0
2.5
3.0
0.637
1.91
0.5 0.3
1000 3000 5000
0.2
Torque
Nm
Speed
Rev/min
2000 40000
0
0.4
0.6
0.8
1.0
1.2
0.318
0.82
0.15
0.95
FSP01 FSP02
FSP04 FSP08

MCSi-10/84 Digital Brushless AC servo drive system - Ref.0707
Dimensions
Synchronous AC servomotors. FSA series
Dimensions Motor length Flange surface
Motor type LM L LL Δ brake LR LA LB LC LE LG LZ
FSA01 61.5 119.5 94.5 40.5 25 46 30h7 40 2.5 5 4.3
FSA02 63.0 126.5 96.5 39.5 30 70 50h7 60 3 6 5.5
FSA04 91.0 154.5 124.5 39.5 30 70 50h7 60 3 6 5.5
FSA08 111.5 185.0 145.0 44.5 40 90 70h7 80 3 8 7.0
The [Δ brake] column shows the length increment for the L and LL measurements
when using a motor configuration “with brake”.
Dimensions Shaft end Shaft hole
Motor type S QK W T V
FSA01 8h6 14 3 3 9.2 M3 x 6
FSA02 14h6 20 5 5 16 M5 x 8
FSA04 14h6 20 5 5 16 M5 x 8
FSA08 16h6 30 5 5 18 M5 x 8

Digital Brushless AC servo drive system - Ref.0707 MCSi-11/84
Synchronous AC servomotors. FSP series
Dimensions Motor length Flange surface
Motor type LM L LL Δ brake LR LA LB LC LE LG LZ
FSP01 42.5 87 62 29.0 25 70 50h7 60 3 6 5.5
FSP02 48.1 97 67 31.5 30 90 70h7 80 3 8 7
FSP04 68.1 117 87 31.5 30 90 70h7 80 3 8 7
FSP08 66.7 126.5 86.5 33.5 40 145 110h7 120 3.5 10 10
The [Δ brake] column shows the length increment for the L and LL measurements
when using a motor configuration “with brake”.
Dimensions Shaft end Shaft hole
Motor type S QK W T V
FSP01 8h6 14 3 3 9.2 M3 x 6
FSP02 14h6 16 5 5 16 M5 x 8
FSP04 14h6 16 5 5 16 M5 x 8
FSP08 16h6 22 5 5 18 M5 x 8

MCSi-12/84 Digital Brushless AC servo drive system - Ref.0707
Base power connectors and encoder output
The following figure shows the identification of these connectors:
Note that although the figure shows the FSA series motor, the dimensions of all the
connectors will be the same for the FSP series.
The base power connector includes pins 4 and 5 of the brake. Remember that it has no
polarity and, therefore, the 24 V DC may be applied to either pin. A voltage between 22
and 26 V DC applied to the brake releases the shaft .
When installing the motor, verify that the brake releases the shaft completely before
turning it for the first time.
Connecting the motor windings in the order indicated on the connector (U, V, W) of the
figure below, the shaft will turn clockwise (CWR, clockwise rotation).




2
1
2
1
ConnectorNr
1Base power connector
2Base feedback connector
BASE POWER CONNECTOR
On FSA and FSP motors (200 V)
* No polarity
Signal
2
1
6
5
43
Pin Color
1U phase Red
2W phase White
3V phase Blue
4brake * Black
5brake * Black
6Ground Green / Yellow
Viewed from the outside of the motor

Digital Brushless AC servo drive system - Ref.0707 MCSi-13/84
Brake characteristics
FSA and FSP series motors have an optional brake that applies friction to the shaft. Its
purpose is to immobilize or lock vertical axes, not to brake a moving axis. Its main
characteristics depending on the type of brake are:
Brake Holding
torque Power consumption Supply voltage Mass Inertia
Motor type Nm (lbf· In) W (hp) V DC kg (lbf) kg·cm2
FSA01 0.318 (2.814) 6.0 (0.008) 24 0.300 (0.66) 0.0085
FSA02 0.637 (5.637) 6.9 (0.009) 24 0.500 (1.10) 0.058
FSA04 1.270 (11.240) 6.9 (0.009) 24 0.500 (1.10) 0.058
FSA08 2.390 (21.153) 7.7 (0.010) 24 0.900 (1.98) 0.058
FSP01 0.318 (2.814) 8.1 (0.010) 24 0.200 (0.44) 0.029
FSP02 0.637 (5.637) 7.6 (0.010) 24 0.500 (1.10) 0.109
FSP04 1.270 (11.240) 7.6 (0.010) 24 0.500 (1.10) 0.109
FSP08 2.390 (21.153) 7.5 (0.010) 24 1.500 (33.1) 0.875
The brake must not be used to stop the axis while it is moving.
The brake must never exceed its maximum turning speed.
Avoltagebetween 22 V and 26 V releasestheshaft.Makesurethat
no voltage over 26V is applied that prevent the shaft from turning.
When installing the motor, make sure that the brake fully releases
the shaft before making it turn for the first time.
1
2
3
4
5
6
7
8
9
10 11
12
13
14
15
16 17
BASE FEEDBACK CONNECTOR
On FSA and FSP motors (200 V)
Note 1. The rest of pins are not connected
SignalPin Color
10 V (16 bit absolute) Pink
23.6 V (16 bit absolute) Grey
3+ RS485 Green
4- RS485 Yellow
8+ 5 V White
90 V Brown
Note 2. Connector housing connected to ground
Viewed from the outside of the motor

MCSi-14/84 Digital Brushless AC servo drive system - Ref.0707
Sales reference
MOTOR LENGTH
MOTOR SERIES
LONG MOTORS
SHORT MOTORS
MAXIMUM SPEED
Note that the rated speed is 3000 rev/min
50 5000 rev/min
VOLTAGE 400 V A
200 V F
SIZE/POWER
HEIGHT
FEEDBACK
13 bit incremental J5
16 bit absolute J7
FLANGE & SHAFT
Cylindrical shaft with keyway and tapped hole
Cylindrical keyless shaft and tapped hole
BRAKE/SEAL OPTION
Without brake or seal (no considered)
With brake (24 V DC), without seal
With brake (24 V DC), with seal
Without brake, with seal
CONNECTION
Interconnectron connector
0
1
2
3
0
1
0
SPECIAL CONFIGURATION S
ESPECIFICATION
only when having the special "S" configuration ! 01
ZZ
A
P
200 V kW
04 0.4
60
200 V kW
02 0.2
80 04 0.4
08 0.75
08 0.75
120
FSA04.50F.J5.000 - S99
FSA FSP
40 01 0.1
02 0.2 01 0.1

Digital Brushless AC servo drive system - Ref.0707 MCSi-15/84
A.C. SERVODRIVE
Introduction
The MCS Innova Servodrive (MCSi) family is a compact speed servo drive family for
controlling small synchronous AC brushless motors.
There are three modules of different power offering peak currents of 6.5, 10.5 and 15.0
Arms for single-phase 220 V AC
General characteristics
Their main characteristics are:
220 V AC single-phase voltage supply.
Dynamic braking in case of mains failure.
PWM IGBTs
Serial encoder feedback.
Programmable encoder simulator output.
USB service communication line.
Two logic inputs for motor control. Speed Enable and Drive Enable.
Integrated functions.
On-line parameter editing.
Integrated programming module.
RS485 communications interface.
Possible communication protocol: ModBus.
Dimensions
81 mm (3.18")
180.6 mm (7.11")
193.6 mm (7.62")
183 mm (7.20")
163.6 mm (6.44")
A
Models:
MCSi 07L
MCSi 11L
6.30 mm (0.24")
6.50 mm (0.25")
detail A

MCSi-16/84 Digital Brushless AC servo drive system - Ref.0707
Technical data
MODELS
MCSi 07L MCSi 11L MCSi 15L
Rated output current 2.1 Arms 3.5 Arms 5.0 Arms
Peak current (3 s) 6.5 Arms 10.5 Arms 15.0 Arms
Power supply Single phase 50/60 Hz.
Voltage range between 220-10 % and 230+10 % V AC
Consumption 12.5 Arms 20.0 Arms 29.0 Arms
Over-voltage protection 390 V DC
Internal Ballast resistor ---- ---- 45 Ω
Internal Ballast power ---- ---- 15 W
Ballast trigger 380 V DC
Thermal protection of the 90 °C (194 °F)
Operating temperature 5 °C / 45 °C (41 °F / 113 °F)
Storage temperature - 4 °F / 60 °C (- 4°F / 140 °F)
Protection degree *IP20 IP20 IP20
Module dimensions 81 x 163.6 x 183 mm
( 3.18 x 6.44 x 7.20 “ ) 101 x 163.6 x 183 mm ( 3.97 x 6.44 x 7.20 “ )
Module mass 1.9 kg (4.18 lb) 2.1 kg (4.62 lb)
(*) IP20 means that it is protected against objects of a diameter larger than 12.5 mm, but not
against water splashes. Therefore, the unit must be mounted inside an electrical cabinet.
Model:
MCSi 15L 183 mm (7.20")
163.6 mm (6.44")
101 mm (3.97")
180.6 mm (7.11") 193.6 mm (7.62")
6.30 mm (0.24")
6.50 mm (0.25")
detail A
A

Digital Brushless AC servo drive system - Ref.0707 MCSi-17/84
Connectors
Power terminals
Connector X4
POWER INPUTS (L1, L2): Mains input terminals.
POWER OUTPUTS (U, V, W): Output terminals for the voltage applied to
themotor.CurrentcontrolwithPWMonacarrierfrequencyof8kHz.When
connectingtothemotor,watchthematchingofphasesU-U,V-VandW-W.
Connector X9
L+,Ri,Re:Terminalstoconfigureandconnecttheexternalballastresistor.
Connector X5
CONTROL POWER INPUTS ( L1, L2, GROUND): Input terminals for the
voltage supply of the drive's control circuits from mains. The maximum
cable section at these power terminals is 2.5 mm2.
ACTIVATION OF THE INTERNAL FAN: The internal fan that cools the
drive'spowerelementsstartswhenenablingtheDrive_Enablesignal(only
on models with integrated fan). It will stop when the heatsink temperature
is lower 70 °C since the Drive_Enable signal is turned off. This system
decreases the fan's operating time, thus increasing its useful life.

MCSi-18/84 Digital Brushless AC servo drive system - Ref.0707
Control signals
Conector X3
ANALOG INPUTS AND OUTPUTS
Velocity command, pins 1 and 2: Velocity command input for the motor. It
admits a range of ± 10 V.
Programmable analog input, pins 17 and 18: Input for analog command
used for some integrated functions.
± 12 V, pins 33, 34 and 19: Output of an internal power supply so the user
caneasilygenerateacommandsignal.It offers a maximumcurrentof20mA
limited internally.
Programmable analog output 1, pins 31 and 16 with a voltage range of
±10 V and programmable output 2, pins 32 and 16 with a voltage range of
± 10 V.
ENCODER SIMULATOR
Encóder Simulator Output , pins 22, 7, 24, 8, 37, 38 and 23: Outputs of the
encoder signals divided by the preset factor, for closing the position loop at
the CNC.
PIN 1 Input -
PIN 2 Input +
PIN 17 Input -
PIN 18 Input +
PIN 34 +12 V
PIN 33 -12 V
PIN 19 GND
PIN 31 Output 1
PIN 32 Output 2
PIN 16 Common
PIN 22 A+
PIN 7 A -
PIN 24 B+
PIN 8 B -
PIN 37 Z+
PIN 38 Z -
PIN 23 GND

Digital Brushless AC servo drive system - Ref.0707 MCSi-19/84
DIRECT FEEDBACK
Auxiliary Feedback Input , pins 5, 6, 36, 21, 35, 20, 4 and 3: Inputtoconnect
a second feedback device with TTL signals. The connector provides an
auxiliary + 5 V DC (0.5 A max) for the feedback device (see pin 4).
ENABLES
Drive Enable input, pin 13: No current circulates through the motor stator
winding at 0 V DC, thus it no longer supplies torque. It is activated with +24
V DC.
Speed Enable input, pin 15: At 0 V DC, it forces an internal zero velocity
command. It is activated with +24 V DC.
Common to inputs Drive Enable and Speed Enable pin 14: Reference
point for inputs Drive Enable and Speed Enable.
+24 V DC and 0 V DC, pins 43 and 44: Output of the internal 24 V DC
power supply that may be used for the control of inputs Drive Enable and
Speed Enable as well as the programmable digital input. It offers a
maximum current of 50 mA limited internally.
DIGITAL INPUTS AND OUTPUTS
Programmable digital input, pins 11 and 12: Digital input (servo drive at
+24 V DC and 0 V DC) used as input for some integrated functions.
Programmable digital output, pins 27 and 28: Optocoupled open
collector output that reflects the output of some integrated functions.
DRIVE OK
Drive Ok, pins 29 and 30: Relaycontactthatcloseswhen the internalstatus
of the drive control is OK.
PIN 6 A+
PIN 5 A -
PIN 21 B+
PIN 36 B -
PIN 20 Z+
PIN 35 Z -
PIN 3 GND
PIN 4 + 5 V DC (0.5 A max.)
PIN 13 DRIVE ENABLE
PIN 15 SPEED ENABLE
PIN 14 Pin common to inputs DRIVE ENABLE and SPEED ENABLE
PIN 43 +24 V DC of the auxiliary power supply (max. 50 mA)
PIN 44 GND of the auxiliary 24 V DC power supply
Note that this relay contact must be necessarily included in the electrical
maneuver.

MCSi-20/84 Digital Brushless AC servo drive system - Ref.0707
RELAY FOR INTEGRATED SAFETY
Safe-disable relay, pins 41 and 42: Second, normally closed contact (NC)
used as an external acknowledgement of the status of the integrated-safety
relay.
CHASSIS
Metal housing of the connector: Drive chassis connection point.
Connector X1
COMMUNICATIONS
USB - type A double parallel connector for fast interconnection between
various units (ModBus protocol) via RS485 serial line. It has a line
terminating resistor selector whose status is set as follows:
Connector X2
MOTOR FEEDBACK INPUT
Standard IEEE 1394 type connector for input of the serial encoder signals,
installed on the motor itself for position + speed feedback.
Connector X6
SERVICE
Standard USB mini AB type connector to connect a PC for setting
parameters, monitoring system variables and updating the firmware of the
unit using the WinDDSSetup application for PC. Any standard USB cable
with a miniA or miniB connector may be connected at the drive side.
Note that this relay contact must be necessarily included in the electrical
maneuver.
ON Resistor connected
OFF Resistor not connected