Fagor MCS Series User manual

LOGOTIPO [FAGOR].jpg
FAGOR AUTOMATION S.COOP.
Brushless AC
servo drives
~ MCS series ~
Ref.0707

MCS-2/92 Digital Brushless AC servo drive system - Ref.0707
Title Brushless AC Servo Drives (MCS series)
Type of documentation Description, installation and startup of motors and digital
drives.
Name MAN_MCS_DRIVE SYSTEM (ing.)
Reference Ref.0707
Software version 02.0x
WinDDSSetup Version 06.0x
Electronic document MAN_MCS_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 MCS-3/92
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 translatesinto theextension ofwarranty period to two yearssince the
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 is committedto repairingorreplacing itsproductsfromthe timewhen thefirst
suchproductwas launched up to8 years aftersuchproducthasdisappearedfromthe
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.

MCS-4/92 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:
Servodrives MCS Series
AC Motors FXM and FKM 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/CEon Electromagnetic Compatibility (EN61800-3:1996,Specific Regulation
on Electromagnetic Compatibility for Servo Drive systems).
In Mondragón, February 28th, 2006.
INTRODUCTION
Fagor offers you a wide range of servo drive systems (AC Brushless motor and
Digital Drive) for applications requiring between 1.2 and 33.6 Nm at speeds between
1200 rev/min and 4000 rev/min for FXM motors and between 1.7 and 16.5 Nm at
speeds between 2000 rev/min and 6000 rev/min for FKM motors.
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.

Digital Brushless AC servo drive system - Ref.0707 MCS-5/92
GENERAL INDEX
BRUSHLESS AC MOTORS, FXM...............................................................................7
Introduction..............................................................................................................7
Dimensions............................................................................................................11
Power connectors and encoder output..................................................................13
Brake characteristics..............................................................................................14
Sales reference......................................................................................................15
BRUSHLESS AC MOTORS, FKM.............................................................................16
Introduction............................................................................................................16
Dimensions............................................................................................................19
Power connectors and encoder output..................................................................21
Brake characteristics..............................................................................................22
Sales reference......................................................................................................23
A.C. SERVODRIVE....................................................................................................24
Introduction............................................................................................................24
General characteristics..........................................................................................24
Dimensions............................................................................................................25
Technical data........................................................................................................25
Connectors.............................................................................................................26
Programming module.............................................................................................28
Front panel and pinout of the connectors ..............................................................30
Characteristics plate ..............................................................................................33
Sales reference......................................................................................................33
INSTALLATION..........................................................................................................34
General considerations..........................................................................................34
Electrical connections............................................................................................35
Power connection. Drive - motor............................................................................37
Cabling...................................................................................................................40
Analog command signal connection......................................................................43
MCS - PC connection. RS-232 serial line..............................................................44
Diagram of the electrical cabinet............................................................................45
Initialization and adjustment...................................................................................46
PARAMETERS, VARIABLES & COMMANDS...........................................................50
Notation used.........................................................................................................50
B group. Non-programmable inputs - outputs........................................................52
C group. Current....................................................................................................52
D group. Diagnosis ................................................................................................56
E group. Encoder simulator ...................................................................................58
G group. General...................................................................................................58
H group. Hardware.................................................................................................61
I group. Inputs........................................................................................................62
K group. Monitoring................................................................................................64

MCS-6/92 Digital Brushless AC servo drive system - Ref.0707
M group. Motor.......................................................................................................65
O group. Analog and digital outputs.......................................................................66
Q group. Communication.......................................................................................68
R group. Rotor sensor............................................................................................70
S group. Velocity....................................................................................................72
T group. Torque and power ...................................................................................78
W group. Internal generator...................................................................................78
ERROR MESSAGES.................................................................................................80
LIST OF PARAMETERS, VARIABLES & COMMANDS. IDs DE ModBus.................87

Digital Brushless AC servo drive system - Ref.0707 MCS- 7/92
BRUSHLESS AC MOTORS, FXM
Introduction
Excitation Permanent rare earth magnets (SmCo)
Temperature sensor Thermistor
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 Normal class (meets IEC-72/1971)
Balancing Class N (Class R optional) meets DIN 45665
Roller bearings’ life 20000 hours
Noise DIN 45635
Vibration resistance Withstands 1g along the shaft and 3g sideways.
Take G=10 m/s2.
Electrical insulation Class F (150 °C ~ 302 °F )
Insulation resistance 500 V DC, 10 MΩor greater
Dielectric rigidity 1500 V AC, 1 minute
Protection degree IP64 standard configuration; IP65 with oil seal
Storage temperature From - 20 °C to + 80 °C (- 4 °F to 176 °F)
Ambient temperature From 0 °C to + 40 °C (32 °F to 104 °F)
Ambient temperature From 20 % to 80 % (non condensing)
Brake Optional in all models.
See section: “Brake characteristics “
Feedback Incremental TTL Encoder (FXM with F winding)
Sincos™ or Sincoder™ Encoder (FXM with A winding)
IP64means thatisprotected againstdustandagainstwaterjets.
The F class isolation on the motor maintain the dielectric
properties as long as the work temperature stays below 150 °C
(302 °F).
FXM series synchronous servo motors are
AC Brushless, with permanent magnets.
They are ideal for any application requiring
great positioning accuracy.
They have a uniform output torque, high
reliability and low maintenance.
FXM1 FXM3 FXM5 FXM7
They are designed
to meet the IP64
protection stan-
dard and, there-
fore, they are
immune to liquid
and dirt.
They incorporate a
temperature sen-
sor for monitoring
the internal tem-
perature.
They also carry an
optional electro-
mechanical brake.
Meaning of the
codes for the
mounting method:
IM B5
IM V3 IM V1

MCS-8/92 DigitalBrushlessACservodrivesystem-Ref.0707
Non-ventilated
motors
Stall torque
Stall peak
torque
Rated
speed
Stall current
Peak
current
Rated
power
Torque
constant
Acceleration
time
Inductance
per phase
Resistance
per phase
Inertia (1
Mass (2
Peak torque
Mo
Nm Mp
Nm nN
rev/min Io
Arms Imax
Arms PoW
kW Kt
Nm/Arms tac
ms L
mH R
Ω
J
kg·cm2P
kg MCS-05L
Nm MCS-10L
Nm MCS-20L
Nm MCS-30L
Nm
FXM11.40F.. 1.2 6 4000 2.0 10.1 0.5 0.6 8.4 12.0 4.60 1.2 3.3 3.0 6.0
FXM12.40F.. 2.3 11 4000 3.9 19.3 1.0 0.6 7.2 5.5 1.45 1.9 4.3 6.0 11.0 FXM13.40F.. 3.3 16 4000 5.6 28.0 1.4 0.6 6.8 3.5 0.80 2.6 6.4 12.0 16.0 FXM14.20F.. 4.1 20 2000 3.5 17.2 0.9 1.2 3.5 10.0 2.30 3.3 7.6 12.0 20.0 FXM14.40F.. 4.1 20 4000 6.9 34.0 1.7 0.6 6.9 2.6 0.55 3.3 7.6 12.0 18.0 FXM31.20F.. 2.6 13 2000 2.2 11.0 0.5 1.2 5.6 24.0 5.05 3.5 5.5 6.0 12.0 13.0 FXM31.40F.. 2.6 13 4000 4.4 22.0 1.1 0.6 11.3 6.1 1.25 3.5 5.5 6.0 12.0 13.0 FXM32.20F.. 5.1 25 2000 4.3 22.0 1.1 1.2 5.0 11.0 1.65 6.0 7.5 12.0 24.0 25.0 FXM32.40F.. 5.1 25 4000 8.4 42.0 2.1 0.6 10.1 2.9 0.44 6.0 7.5 12.0 18.0 FXM33.20F.. 7.3 36 2000 6.3 31.0 1.5 1.2 4.9 6.7 0.90 8.5 9.6 24.0 36.0 FXM33.40F.. 7.3 36 4000 12.0 60.0 3.1 0.6 9.9 1.8 0.25 8.5 9.6 18.0 FXM34.20F.. 9.3 46 2000 7.6 38.0 1.9 1.2 5.0 5.3 0.65 11.0 11.5 24.0 36.0 FXM34.40F.. 9.3 46 4000 15.0 76.0 3.9 0.6 10.0 1.3 0.17 11.0 11.5 18.0 FXM53.20F.. 11.9 59 2000 9.9 49.0 2.5 1.2 7.8 5.0 0.45 22.0 15.8 24.0 36.0 FXM53.30F.. 11.9 59 3000 14.8 73.0 3.7 0.8 11.7 2.2 0.20 22.0 15.8 36.0 FXM54.20F.. 14.8 74 2000 12.7 64.0 3.1 1.2 8.2 3.4 0.27 29.0 17.8 36.0 FXM55.12F.. 17.3 86 1200 9.1 45.0 2.2 1.9 5.3 7.2 0.55 36.0 20.0 38.0 57.0 FXM55.20F.. 17.3 86 2000 15.0 77.0 3.6 1.1 8.8 2.5 0.19 36.0 20.0 33.6
FXM73.12F.. 20.8 104 1200 10.7 54.0 2.6 1.9 7.4 9.8 0.60 61.0 29.0 57.0 FXM74.12F.. 27.3 135 1200 13.5 67.0 3.4 2.0 7.4 7.8 0.45 79.0 31.6 60.0 FXM75.12F.. 29.5 165 1200 15.0 85.0 3.7 2.0 7.4 5.9 0.31 97.0 36.0 60.0
(1 When adding the mechanical brake to the motor (optional) also take into account the inertia values given in the table of section “Brake Characteristics“. (2 When adding the mechanical brake to the motor (optional) also take into account its mass values given in the table of section “Brake Characteristics“. Note: The drive recommended to govern each motor must supply the rated current needed to obtain the rated torque from the motor.
CHARACTERISTICS TABLE OF NON-VENTILATED FXM MOTORS WITH “F” WINDING (220 V AC) 

Digital Brushless AC servo drive system - Ref.0707 MCS- 9/92
Non-ventilated
motors
Stall torque
Stall peak
torque
Rated
speed
Stall current
Peak
current
Rated
power
Torque
constant
Acceleration
time
Inductance
per phase
Resistance
per phase
Inertia (1
Mass (2
Peak torque
Mo
Nm Mp
Nm nN
rev/min Io
Arms Imax
Arms PoW
kW Kt
Nm/Arms tac
ms L
mH R
Ω
J
kg·cm2P
kg MCS-04H
Nm MCS-08H
Nm MCS-16H
Nm
FXM11.20A.. 1.2 6 2000 0.45 2.2 0.3 2.7 4.2 248 93.5 1.2 3.3 6.0 FXM11.30A.. 1.2 6 3000 0.67 3.4 0.4 1.8 6.3 110 43.0 1.2 3.3 6.0 FXM11.40A.. 1.2 6 4000 0.90 4.5 0.5 1.3 8.4 62 23.5 1.2 3.3 5.2 6.0
FXM12.20A.. 2.3 11 2000 0.86 4.1 0.5 2.7 3.6 111 32.0 1.9 4.3 10.7 11.0 FXM12.30A.. 2.3 11 3000 1.29 6.2 0.7 1.8 5.4 49 13.0 1.9 4.3 7.1 11.0 FXM12.40A.. 2.3 11 4000 1.72 8.2 1.0 1.3 7.2 28 7.8 1.9 4.3 5.4 10.7 11.0 FXM13.20A.. 3.3 16 2000 1.23 6.0 0.7 2.7 3.4 71 16.0 2.6 6.4 10.7 16.0
FXM13.30A.. 3.3 16 3000 1.85 9.0 1.0 1.8 5.1 32 7.25 2.6 6.4 7.1 14.2 16.0
FXM13.40A.. 3.3 16 4000 2.50 12.0 1.4 1.3 6.8 18 4.05 2.6 6.4 10.6 16.0
FXM14.20A.. 4.1 20 2000 1.53 7.5 0.9 2.7 3.5 52 12.0 3.3 7.6 10.7 20.0
FXM14.30A.. 4.1 20 3000 2.30 11.2 1.3 1.8 5.2 23 4.85 3.3 7.6 14.2 20.0
FXM14.40A.. 4.1 20 4000 3.10 15.0 1.7 1.3 6.9 13 2.95 3.3 7.6 10.6 20.0
FXM31.20A.. 2.6 13 2000 0.97 4.8 0.5 2.7 5.6 126 29.0 3.5 5.5 10.7 13.0
FXM31.30A.. 2.6 13 3000 1.45 7.3 0.8 1.8 8.5 56 12.5 3.5 5.5 7.2 13.0
FXM31.40A.. 2.6 13 4000 1.92 9.6 1.1 1.4 11.3 32 7.25 3.5 5.5 5.4 10.8 13.0
FXM32.20A.. 5.1 25 2000 1.89 9.2 1.1 2.7 5.0 56 9.55 6.0 7.5 10.8 21.6 25.0
FXM32.30A.. 5.1 25 3000 2.80 14.0 1.6 1.8 7.5 25 4.05 6.0 7.5 14.6 25.0
FXM32.40A.. 5.1 25 4000 3.80 18.5 2.1 1.4 10.1 14 2.3 6.0 7.5 10.7 21.4
(1 Whenaddingthemechanicalbraketothemotor(optional)alsotakeintoaccounttheinertiavaluesgiveninthetableofsection“BrakeCharacteristics“. (2 Whenaddingthemechanicalbraketothemotor(optional)alsotakeintoaccountitsmassvaluesgiveninthetableofsection“BrakeCharacteristics“.
Note: The drive recommended to govern each motor must supply the rated current needed to obtain the rated torque from the motor.
CHARACTERISTICS TABLE OF NON-VENTILATED FXM MOTORS WITH “A” WINDING (400 V AC) 

MCS-10/92 DigitalBrushlessACservodrivesystem-Ref.0707
Non-ventilated
motors
Stall torque
Stall peak
torque
Rated
speed
Stall current
Peak
current
Rated
power
Torque
constant
Acceleration
time
Inductance
per phase
Resistance
per phase
Inertia (1
Mass (2
Peak torque
Mo
Nm Mp
Nm nN
rev/min Io
Arms Imax
Arms PoW
kW Kt
Nm/Arms tac
ms L
mH R
Ω
J
kg·cm2P
kg MCS-04H
Nm MCS-08H
Nm MCS-16H
Nm
FXM33.20A.. 7.3 36 2000 2.7 13.4 1.5 2.7 4.9 36 5.05 8.5 9.6 21.6 36.0 FXM33.30A.. 7.3 36 3000 4.1 20.0 2.3 1.8 7.4 16 2.20 8.5 9.6 14.2 28.5 FXM33.40A.. 7.3 36 4000 5.5 27.0 3.1 1.3 9.9 8.6 1.15 8.5 9.6 21.3 FXM34.20A.. 9.3 46 2000 3.4 17.0 1.9 2.7 5.0 26 3.45 11.0 11.5 21.9 43.8 FXM34.30A.. 9.3 46 3000 5.1 25.0 2.9 1.8 7.5 12 1.60 11.0 11.5 29.1 FXM34.40A.. 9.3 46 4000 6.9 34.0 3.9 1.4 10.0 6.6 0.85 11.0 11.5 21.6 FXM53.12A.. 11.9 59 1200 2.8 14.0 1.5 4.2 4.7 61 5.85 22.0 15.8 34.0 59.0 FXM53.20A.. 11.9 59 2000 4.7 23.0 2.5 2.5 7.8 22 2.15 22.0 15.8 40.5 FXM53.30A.. 11.9 59 3000 7.1 35.0 3.7 1.7 11.7 9.6 0.91 22.0 15.8 26.9 FXM54.12A.. 14.8 74 1200 3.5 17.6 1.9 4.2 4.9 44 3.70 29.0 17.8 33.8 67.7 FXM54.20A.. 14.8 74 2000 5.9 30.0 3.1 2.5 8.2 16 1.35 29.0 17.8 40.2 FXM54.30A.. 14.8 74 3000 8.7 44.0 4.7 1.7 12.3 7.3 0.64 29.0 17.8 27.2 FXM55.12A.. 17.3 86 1200 4.1 20.0 2.2 4.2 5.3 36 2.95 36.0 20.0 33.8 67.5 FXM55.20A.. 17.3 86 2000 6.7 33.0 3.6 2.6 8.8 13 1.05 36.0 20.0 41.3 FXM73.12A.. 20.8 104 1200 4.9 25.0 2.6 4.2 7.4 46 3.05 61.0 29.0 67.8 FXM73.20A.. 20.8 104 2000 8.2 41.0 4.4 2.5 12.3 17 1.10 61.0 29.0 40.6
FXM74.12A.. 27.3 135 1200 6.6 32.0 3.4 4.2 7.4 33 1.90 79.0 31.6 66.2 FXM75.12A.. 33.6 165 1200 8.0 39.0 4.2 4.2 7.4 27 1.45 97.0 36.0 67.2
(1 Whenaddingthemechanicalbraketothemotor(optional)alsotakeintoaccounttheinertiavaluesgiveninthetableofsection“BrakeCharacteristics“. (2 Whenaddingthemechanicalbraketothemotor(optional)alsotakeintoaccountitsmassvaluesgiveninthetableofsection“BrakeCharacteristics“. Note: The drive recommended to govern each motor must supply the rated current needed to obtain the rated torque from the motor.
CHARACTERISTICS TABLE OF NON-VENTILATED FXM MOTORS WITH “A” WINDING ( 400 V AC) 

Digital Brushless AC servo drive system - Ref.0707 MCS- 11/92
Dimensions
FXM1 SERIES mm (inches)
33.5 [1.32]
33.5 [1.32]
33.5 [1.32]
33.5 [1.32]
171 [6.7]
136 [5.35]
206 [8.11]
241 [9.48]
FXM11
FXM13
FXM12
FXM14
46 [1.81]
46 [1.81]
46 [1.81]
46 [1.81]
D
GA
R
GD
ST
F
R
20 [0.78]
D
14 [0.55] j6
ST
M5 x 12.5 [0.49]
GA
5 [0.19]
LC (ENCODER)LC (RESOLVER)LBTYPE
16.0 [0.62]
GD
FXM1
TYPE
5 [0.19]
F
257 [10.12]
222 [8.74]
152 [5.98]
187 [7.36]
6 [0.24]
LB
FXM31
FXM3
TYPE F
TYPE
FXM33
FXM32
FXM34 46 [1.81]
46 [1.81]
46 [1.81]
46 [1.81]
LC (ENCODER)
33.5 [1.32]
LC (RESOLVER)
6 [0.24]
GD
30 [1.18]
R
33.5 [1.32]
33.5 [1.32]
33.5 [1.32]
19 [0.75] j6
D
21.5 [0.85]
GA
M6 x 16.0 [0.63]
ST
FXM3 SERIES mm (inches)
D
GA
R
GD
ST
F

MCS-12/92 DigitalBrushlessACservodrivesystem-Ref.0707
D
GA
R
GD
ST
F
STGADRGDFTYPE
307 [12.09]
272 [10.71]
237 [9.33]
8 [0.31]
LB
FXM55
TYPE
FXM5
FXM54
FXM53
LC (ENCODER)
46 [1.81]
46 [1.81]
46 [1.81]
33.5 [1.32]
7 [0.27]
33.5 [1.32]
LC (RESOLVER)
33.5 [1.32]
40 [1.58] 24 [0.94] j6 27 [1.07] M8 x 19.0 [0.75]
FXM5 SERIES mm (inches)
D
GA
R
GD
ST
F
LB
10 [0.39]
256 [10.08]
291 [11.46]
326 [12.83]
361 [14.21]
TYPE
FXM7
F
FXM74
FXM73
TYPE
FXM76
FXM75
8 [0.31]
GD
50 [1.97]
R
32 [1.26] k6
D
35 [1.38]
GA
46 [1.81]
46 [1.81]
46 [1.81]
46 [1.81]
LC (ENCODER)
33.5 [1.32]
33.5 [1.32]
LC (RESOLVER)
33.5 [1.32]
33.5 [1.32]
M10 x 22 [0.86]
ST
FXM78
MC-23 BASE
33.5 [1.32] 46 [1.81]431 [16.97]
35 [1.38]
40 [1.57]
FXM77
MC-46 BASE
C1
396 [15.59] 46 [1.81]33.5 [1.32]
FXM7 SERIES mm (inches)

Digital Brushless AC servo drive system - Ref.0707 MCS- 13/92
Power connectors and encoder output
The power connector includes the brake terminals (E, F). 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), the shaft will turn
clockwise ( CWR, clockwise rotation ).
Pins I and J of the encoder connector correspond to the thermistor for monitoring motor
temperature.
POWER CONNECTORS Example: MC - 23
MOTOR CONNECTOR MC Straight
AMC Angled
CURRENT 23 Amperes
CONNECTION BASE OF AN
"INCREMENTAL TTL" ENCODER
Reference mark (I0)
MOTOR POWER
CONNECTION BASE
MC 23 or AMC 23
A
BC
DE
F
PIN SIGNAL
APhaseU
BPhase V
CPhase W
DGround
EBrake (+)
FBrake (-)
IOC-17
PIN SIGNAL
AA
B*A
C+ 5 V DC
DGround
EB
F*B
GZ
H*Z
I Thermistor
J Thermistor
KU
L*U
MV
N*V
OW
P*W
Q Shield + chassis
A
B
C
DEFGH
I
J
K
L
M
NO
P
Q
2
1
1
2
Note. their connection bases are viewed from the outside of the motor.

MCS-14/92 DigitalBrushlessACservodrivesystem-Ref.0707
Brake characteristics
FXM 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:
Motor Holding
torque Power consumption on/off time Unlocking voltage margin Inertia Mass
Units N·m (in·lb) W (HP) ms V DC kg·cm2kg (lbf)
FXM1 5 (44.2) 12 (0.016) 19/29 22-26 0.38 0.3 (0.66)
FXM3 11 (97.3) 16 (0.021) 20/29 22-26 1.06 0.6 (1.32)
FXM5 22 (194.7) 18 (0.024) 25/50 22-26 3.60 1.1 (2.42)
FXM7 80 (708.0) 35 (0.047) 53/97 22-26 31.80 4.1 (9.03)
Note. The maximum speed is 10000 rev/min, for all of them except for the brake that may be
used on the FXM7 series that is 8000 rev/min.
NEVER use this brake to stop a moving axis !
The brake must never exceed its maximum turning speed.
A voltage between 22 V DC and 26 V DC releases the shaft. Make
surethatnovoltageover26Visappliedthatpreventstheshaftfrom
turning.
When installing the motor, make sure that the brake fully releases
the shaft before making it turn for the first time.

Digital Brushless AC servo drive system - Ref.0707 MCS- 15/92
Sales reference
0Without fan
12 1200 rev/min 30 3000 rev/min
20 2000 rev/min 40 4000 rev/min
FXM . . .
- X
FAGOR SYNCHRONOUS MOTOR
SIZE 1, 3, 5, 7
LENGTH 1, 2, 3, 4, 5
RATED
SPEED
WINDING
F 220 V AC
FEEDBACK
TYPE
FLANGE &
SHAFT
0 IEC Standard
BRAKE
OPTION
0 Without brake
VENTILATION
A 400 V AC
1With standard fan
1 With standard brake (24 V DC)
1 Keyless shaft
9With special fan
SPECIAL
CONFIGURATION X
01  ZZ
ESPECIFICATION
8 NEMA Standard (USA)
9 Special
I0 Incremental encoder (2500 ppt)
A1 Absolute multi-turn Sincos emcoder (1024 ppt)
E1 Sincoder encoder (1024 ppt)
Nota: Motor with F type winding may carry an encoder with incremental I0.
The rest of feedback devices with only be available on motors with A type winding.
¡Only when it has a special configuration (X) !

MCS-16/92 DigitalBrushlessACservodrivesystem-Ref.0707
BRUSHLESS AC MOTORS, FKM
Introduction
Excitation Permanent rare earth magnets (Nd - Fe - B)
Temperature sensor Thermistor PTC KTY84-130
Shaft end Cylindrical keyless (option: with keyway)
Mounting Face flange with through holes
Mounting method IM B5, IM V1, IM V3 (as per IEC-34-3-72)
Mechanical tolerances Normal class (meets IEC-72/1971)
Balancing Class N (Class R optional) meets DIN 45665
Half-key balancing
Roller bearings’ life 20000 hours
Noise DIN 45635
Vibration
resistance Withstands 1g along the shaft and 3g sideways. Take
G=10 m/s2.
Electrical insulation Heating class F ( 150 °C ~ 302 °F )
Insulation
resistance 500 V DC, 10 MΩor greater
Dielectric rigidity 1500 V AC, 1 minute
Protection degree IP64 standard configuration; IP65 with oil seal
Storage temperature From - 20 °C to + 80 °C (- 4 °F to 176 °F)
Ambient temperature From 0 °C to + 40 °C (32 °F to 104 °F)
Ambient temperature From 20 % to 80 % (non condensing)
Brake Optional in all models.
See section: “ Brake characteristics “
Feedback Incremental TTL Encoder (FKM with F winding)
Sincos ™ or Sincoder™ Encoder (FKM with A winding)
IP64 means that is protected against dust and against water
jets.
The F class isolation on the motor maintain the dielectric
properties as long as the work temperature stays below 150
°C (302 °F).
FKM synchronous servo motors are AC
brushless with permanent magnets.
They are ideal for any application requiring
great positioning accuracy. They have a
uniformoutputtorque,highreliabilityandlow
maintenance.
FKM2 FKM4 FKM6
Itsnormalprotection
level is IP64, being
immune to liquids
and dirt.
TheyhaveaKTY84-
130 sensor to moni-
tor the internal tem-
perature.
They also carry an
optional electrome-
chanical brake.
They have rotating
powerandfeedback
connectors.
Meaning of the
codesforthemount-
ing method:
IM B5
IM V3
IM V1

Digital Brushless AC servo drive system - Ref.0707 MCS- 17/92
Non-ventilated
motors
Stall torque
Stall peak
torque
Rated
speed
Stall current
Peak
current
Rated
power
Torque
constant
Acceleration
time
Inductance
per phase
Resistance
per phase
Inertia1)
Mass 2)
Peak torque
Mo
Nm Mp
Nm nN
rev/min Io
Arms Imax
Arms PoW
kW Kt
Nm/Arms tac
ms L
mH R
Ω
J
kg·cm2M
kg MCS-10L
Nm MCS-20L
Nm MCS-30L
Nm
FKM21.60F.. 1.7 7 6000 4.7 19 1.1 0.36 14.4 2.6 0.885 1.6 4.2 3.6 7.0 FKM22.30F.. 3.2 13 3000 4.5 18 1.0 0.74 7.0 4.6 1.1 2.9 5.3 7.4 13.0 FKM22.50F.. 3.2 13 5000 7.2 29 1.7 0.45 11.7 1.7 0.425 2.9 5.3 3.6 9.0 13.0 FKM42.30F.. 6.3 25 3000 8.5 34 2.0 0.74 10.7 2.6 0.45 8.5 7.8 14.8 22.2 FKM42.45F.. 6.3 25 4500 12.4 50 3.0 0.51 16.0 1.2 0.21 8.5 7.8 18.2 25.0 FKM44.30F.. 11.6 47 3000 15.6 62 3.6 0.74 11.2 1.2 0.15 16.7 11.7 22.2 FKM62.30F.. 8.9 35 3000 13.1 52 2.8 0.68 14.4 2.1 0.225 16.0 11.9 20.4 FKM64.20F.. 16.5 66 2000 14.3 57 3.4 1.15 9.4 2.7 0.2 29.5 17.1 34.5
(1 Motor inertia without brake. (2 Motor mass without brake. Note: The drive recommended to govern each motor must supply the rated current needed to obtain the rated torque from the motor.
CHARACTERISTICS TABLE OF NON-VENTILATED FKM MOTORS WITH “F” WINDING (220 V AC) 

MCS-18/92 DigitalBrushlessACservodrivesystem-Ref.0707
Non-ventilated
motors
Stall torque
Stall peak
torque
Rated
speed
Stall current
Peak
current
Ratedpower
Torque
constant
Acceleration
time
Inductance
per phase
Resistance
per phase
Inertia1)
Mass 2)
Peak torque
Mo
Nm Mp
Nm nN
rev/min Io
Arms Imax
Arms PoW
kW Kt
Nm/Arms tac
ms L
mH R
Ω
J
kg·cm2M
kg MCS-08H
Nm MCS-16H
Nm
FKM21.60A.. 1.7 7 6000 2.8 11 1.1 0.6 14.4 7.7 2.6 1.6 4.2 5.0 7.0
FKM22.30A.. 3.2 13 3000 2.4 10 1.0 1.3 7.0 16.0 3.95 2.9 5.3 10.2 13.0
FKM22.50A.. 3.2 13 5000 4.0 16 1.7 0.8 11.7 5.8 1.4 2.9 5.3 6.7 13.0
FKM42.30A.. 6.3 25 3000 4.6 19 2.0 1.4 10.7 8.6 1.45 8.5 7.8 21.9
FKM42.45A.. 6.3 25 4500 6.9 28 3.0 0.9 16.0 3.9 0.675 8.5 7.8 14.6
FKM44.30A.. 11.6 47 3000 8.2 33 3.6 1.4 11.2 4.2 0.54 16.7 11.7 22.6
FKM44.40A.. 11.6 47 4000 10.7 43 4.9 1.1 14.9 2.4 0.315 16.7 11.7 17.3
FKM62.30A.. 8.9 35 3000 7.1 28 2.8 1.3 14.4 7.2 0.77 16.0 11.9 20.0
FKM62.40A.. 8.9 35 4000 9.3 37 3.7 1.0 19.1 4.1 0.44 16.0 11.9 15.4
FKM64.30A.. 16.5 66 3000 12.1 48 5.2 1.4 14.0 3.8 0.285 29.5 17.1 21.8
(1 Motor inertia without brake. (2 Motor mass without brake. Note: The drive recommended to govern each motor must supply the rated current needed to obtain the rated torque from the motor.
CHARACTERISTICS TABLE OF NON-VENTILATED FKM MOTORS WITH “A” WINDING (400 V AC) 

Digital Brushless AC servo drive system - Ref.0707 MCS- 19/92
Dimensions
40 [1.57]
FKM2 SERIES mm (inches)
Ø 80 [3.15] j6
54 [2.12]
LB
L
3 [0.11]
8 [0.31]
80 [3.15]
18 [0.70]
139.5 [5.49]
97 [3.81]
Ø100[3.93]
Ø115[4.52]
Ø7[0.27]
40 [1.57]
LLBTYPE
21.5 [0.84]6 [0.23]6 [0.23]
F
FKM2
TYPE GD
19 [0.74] j6
R
30 [1.18]
D
M6 x 16 [0.63]
GA ST
208 [8.19]
232 [9.13]
138 [5.43]
114 [4.48]
FKM21
FKM22
D
GA
R
GD
ST
F
50 [1.96]
Ø 110 [4.33] j6
10 [0.39]
3.5 [0.13]
L
FKM44
FKM42 143 [5.62]
185 [7.28] 289 [11.38]
247 [9.72]
STGA
M8 x 19 [0.75]
D
40 [1.57]
R
24 [0.94] j6
GDTYPE
FKM4
F
8 [0.31] 7 [0.27] 27 [1.06]
TYPE LB L
FKM4 SERIES mm (inches)
LB 54 [2.12]
18 [0.70]
80 [3.15]
Ø150[5.90]
Ø130[5.11]
Ø9[0.35]
126 [4.96]
168.5 [6.63]
50 [1.96]
D
GA
R
GD
ST
F

MCS-20/92 DigitalBrushlessACservodrivesystem-Ref.0707
D
GA
R
GD
ST
F
FKM6 SERIES mm (inches)
58 [2.28]
Ø 130 [5.11] j6
3.5 [0.13]
12 [0.47]
L
LB 54 [2.12]
99 [3.89]
20 [0.78]
158 [6.22]
200.5 [7.89]
Ø12[0.47]
Ø165[6.49]
Ø190[7.48]
58 [2.28]
LLBTYPE
35 [1.37]8 [0.31]10 [0.39]
F
FKM6
TYPE GD
32 [1.26] k6
R
50 [1.96]
D
M10 x 22 [0.86]
GA ST
260 [10.24]
296 [11.65]
184 [7.24]
148 [5.82]
FKM62
FKM64