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Fagor BCSD Series User Manual
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BCSD-72/116
Digital Brushless
AC S
ervo
D
rive system - Ref. 1809
4.6.2. Online Auto
tuning Procedure
WARNING
•
Do not perform extr
eme adjustment or setting
ch
anges causing
unstable servo operation.Failur
e to
observe this warning may r
esult in injury and damages to the machine.
•
Adjust the gains slowly while confirming motor operation
.
71
73
Table of Contents
Default Chapter
7
Table of Contents
7
1 Products General Description
9
Servo Motor
10
FBS Servomotor
10
FBM Servomotor
14
FBS/FBM Motor Appearance and Part Name
20
BCSD Servodrive
21
BCSD Drive General Information
21
BCSD Drive Specifications and Models
26
BCSD Drive Dimensional Drawings
28
Encoder and Power Cables
30
Communication Cables
31
2 Installation
32
Servomotor
32
Storage
32
Installation Sites
32
Installation Alignment
33
Installation Orientation
33
Handling Oil and Water
33
Cable Tension
33
Servodrive
34
Storage
34
Installation Sites
34
Installation Orientation
34
Installation Method
35
3 Wiring
36
Main Circuit Wiring
36
Names and Functions of Main Circuit Terminals
36
Typical Main Circuit Wiring Examples
37
I/O Signals
39
Example of I/O Signal Connections
39
I/O Signal Names and Functions
40
I/O Signal Connector (CN1) Terminal Layout
41
Interface Circuit
42
Wiring Encoders
43
Connecting an Encoder (CN2)
43
Encoder Connector (CN2) Terminal Layout
43
Communication Connection
44
Communication Connector (CN3) Terminal Layout
44
Communication Connector (CN4) Terminal Layout
44
Wiring Examples
45
CAN Control Mode
45
4 Operation
46
Trial Operation
46
Trial Operation for Servomotor Without Load
48
Trial Operation for Servomotor Without Load from Host Reference
50
Trial Operation with the Servomotor Connected to the Machine
53
Trial Operation for Servomotor with Brakes
54
Control Mode Selection
55
Setting Common Basic Functions
56
Setting the Servo on Signal
56
Switching the Servomotor Rotation Direction
57
Setting the Overtravel Limit Function
58
Setting for Holding Brakes
60
Instantaneous Power Loss Settings
63
Operating Using Speed Control
64
Setting Parameters
64
Setting Input Signals
64
Adjusting Reference Offset
65
Soft Start
65
Speed Reference Filter Time Constant
66
S-Curve Risetime
66
Encoder Signal Output
67
Other Output Signals
69
Servo Alarm Output
69
Servo Ready (/S-RDY) Output
70
Online Autotuning
71
Online Autotuning Procedure
72
Setting Online Autotuning
73
Machine Rigidity Setting for Online Autotuning
73
Absolute Encoders
74
Selecting an Absolute Encoder
74
Handling Battery
75
Replacing Battery
76
Absolute Encoder Setup(Fn010, Fn011)
76
Friction Compensation
77
Related Parameters
77
How to Set Pn206 - Pn211
78
5 Panel Operator
79
Basic Operation
79
Functions on Panel Operator
79
Resetting Servo Alarms
79
Basic Mode Selection
80
Status Display Mode
80
Operation in Parameter Setting Mode
82
Operation in Monitor Mode
83
Operation in Utility Function Mode
85
Alarm Traceback Data Display
86
Parameter Settings Initialization
86
Operation in JOG Mode
87
Automatic Adjustment of the Speed Reference Offset
88
Manual Adjustment of the Speed Reference Offset
89
Offset-Adjustment of Servomotor Current Detection Signal
90
Software Version Display
92
Static Inertia Detection
92
Absolute Encoder Multiturn Data and Alarm Reset
93
Absolute Encoder Related Alarms Reset
93
6 Can Communication
94
CAN Communication Wiring
94
CAN Communication Related Parameters
94
7 Winbcsd SOFTWARE
95
Appendix A. PARAMETER
96
Parameter List
96
Description of Parameter Type
101
Parameters in Detail
102
Appendix B. ALARM DISPLAY
112
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Fagor BCSD Series Specifications
General
Brand
Fagor
Model
BCSD Series
Category
Servo Drives
Language
English
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