of the motor feedback (serial 16-bit absolute encoder) that can provide 16384 pulses per turn.
A dual communications connector that may be connected to any RS485 serial line,

ModBus.

MCPi-15/112
A 4-digit status display 16 inputs and 8 outputs that may be configured as generic I/O or with their pre-

programmed function.

8 opto-coupled outputs at 24V. 16 dedicated inputs active at 24V:
Right limit switch input <FW LIMIT>. Left limit switch input <REV LIMIT>. Automatic/manual input <AUTOM/MAN>. <START> input. <STOP> input. Jog speed push-button input + <JOG +>. Jog speed push-button input - <JOG ->. <RESET> input. External <FAST INPUT>. Home search cam input <HOMING SW>. Home search command input <HOMING>. Inputs for selecting the program starting block number <S0, S1, S2, S3, S4>.

Models:

MCPi 07L MCPi 11L
180.6 mm (7.11") 6.30 mm (0.24") 6.50 mm (0.25")

81 mm (3.18")

183 mm (7.20")

detail A

MCPi-16/112

163.6 mm (6.44")

193.6 mm (7.62")

Model:

101 mm (3.97")

MCPi 15L

180.6 mm (7.11") 193.6 mm (7.62") A 6.30 mm (0.24") 6.50 mm (0.25") 163.6 mm (6.44")

Technical data

MODELS Rated output current Peak current (3 s) Power supply Consumption Over-voltage protection Internal Ballast resistor Internal Ballast power Ballast trigger Thermal protection of the heatsink Operating temperature Storage temperature Protection degree 1/ Module dimensions Module mass IP 20 ------MCPi 07L 2.1 Arms 6.5 Arms MCPi 11L 3.5 Arms 10.5 Arms MCPi 15L 5.0 Arms 15.0 Arms
Single phase 50/60 Hz. Voltage range between 220-10% and 230+10% V AC 12.5 Arms 20.0 Arms 390 V DC ------380 V DC 90C (194F) 5C / 45C (41F / 113F) -20C / 60C (-4F / 140F) IP 20 IP 20 101x163.6x183 mm (3.97x6.44x7.20) 2.1 kg (4.62 lb) 81x163.6x183 mm (3.18x6.44x7.20) 1.9 kg (4.18 lb) W 29.0 Arms
1/ IP 20 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.

MCPi-17/112

Connectors

Power terminals

Connector X4
POWER INPUTS (L1, L2): Mains input terminals. POWER OUTPUTS (U, V, W): Output terminals for the voltage applied to
the motor. Current control with PWM on a carrier frequency of 8 kHz. When connecting to the motor, watch the matching of phases U-U, V-V and W-W.

Connector X9

L+, Ri, Re: Terminals to configure and connect the external ballast resistor.

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's power elements starts when enabling the Drive Enable signal (only on models with integrated fan). It will stop when the heatsink temperature is lower 70C since the Drive Enable signal is turned off. This system decreases the fan's operating time, thus increasing its useful life.

MCPi-18/112

Control signals

Conector X3

ANALOG INPUTS AND OUTPUTS
Velocity command, pins 1 and 2:Analog velocity command input for the motor when the module has been configured as speed drive (AP1=2) It admits a range of 10 V. PIN 1 PIN 2 Input Input +
Programmable analog input, pins 17 and 18: Input for analog command used for some integrated functions. PIN 17 PIN 18 Input Input +
12 V, pins 33, 34 and 19: Output of an internal power supply so the user can easily generate a command signal. It offers a maximum current of 20 mA limited internally. PIN 34 PIN 33 PIN 19 +12 V -12 V GND
Programmable analog output 1, pins 31 and 16 with a voltage range of 10V and programmable output 2, pins 32 and 16 with a voltage range of 10 V. PIN 31 PIN 32 PIN 16 Output 1 Output 2 Common

ENCODER SIMULATOR

Encder 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 22 PIN 7 PIN 24 PIN 8 PIN 37 PIN 38 PIN 23 A+ AB+ BZ+ ZGND

MCPi-19/112

DIRECT FEEDBACK
Auxiliary Feedback Input , pins 5, 6, 36, 21, 35, 20, 4 and 3: Input to connect a second feedback device with TTL signals. The connector provides an auxiliary +5V DC (0.5 A max) for the feedback device (see pin 4). PIN 6 PIN 5 PIN 21 PIN 36 PIN 20 PIN 35 PIN 3 PIN 4

ENABLES

A+ AB+ BZ+ ZGND + 5 V DC (0.5 A max.)
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. PIN 13 PIN 15 PIN 14 PIN 43 PIN 44 DRIVE ENABLE SPEED ENABLE Pin common to inputs DRIVE ENABLE and SPEED ENABLE +24 V DC of the auxiliary power supply ( max. 50 mA) GND of the auxiliary 24 V DC power supply

OFF ON (RED)

No voltage at power circuit The internal bus voltage is higher than preset values and the recovery resistor has been activated
ON (GREEN) Voltage at power circuit

MCPi-23/112

OC: Over Current. Light indicator (LED) located next to the + 24 V ON. When ON (red LED), it indicates over-current at the outputs. +24 V ON: Light indicator (LED) located on top of connector X11. When ON (green LED) it indicates that the input/output (I/O) board is receiving +24 V.
STATUS OF THE LED's OF THE I/O BOARD

OVER CURRENT

Over current OFF ON (RED)

24 V ON

Output current ok Over current at the outputs
+24V ON OFF No voltage at the IOs board ON (GREEN) Voltage at the IOs board
Push-buttons and switches
RESET: Push-button for resetting the system. TERMINATING RESISTOR (COMMUNICATIONS): This switch located next to the connector X1 (front of the module) may be used to connect or disconnect the line terminating resistor in RS485 communications.
SWITCH TERMINAL RESISTOR (COMMUNICATIONS)
LINE TERMINATING RESISTOR SWITCH POSITION
"ON" POSITION "OFF" POSITION
Resistor connected Resistor not connected

MCPi-24/112

Front view of the module
Sign indicating display Four 7-segments displays Mains input terminals for the module voltage supply (single phase 220 V AC) and voltage output terminal to the motor (three-phase 220 V AC). Reset button
LED's indicating that there is voltage at the bus, t h a t t h e c r o wb a r i s a c t i v a t e d V B U S O K / CROWBAR (ON) and that there are internal + 5V.

POWER INPUTS

L2 220V L1
FEEDBACK INPUT COMMUNICATIONS

DIG. INPUTS

Line terminating resistor on/off selecting switch. Module connection via RS485 serial line. Encoder signal input. 16 inputs and 8 outputs that may be configured as generic I/O or with their pre-programmed function.

24 V. ON

CONTROL SIGNALS

CONTROL POWER INPUT

LED's indicating over-current at the digital outputs (OC: Over Current) and presence of +24 V ON on the I/O board. Control signals. Analog inputs and outputs, encoder simulator, direct feedback, enables, digital inputs and outputs, drive ok, integrated safety relay, chassis. Input terminals for the voltage supply of the control circuits from mains. (single-phase 220 V AC).

WARNING: Do not hit the shaft when installing transmission pulleys or gears!
Use some tool that is supported in the threaded hole on the shaft to insert the pulley or the gear.

At the Drive

The module must be installed in an electrical cabinet that is clean, dry, free of dust, oil and other pollutants. Remember that the degree of protection is IP 20. Never install it exposing it to flammable gases. Avoid excessive heat and humidity. The ambient temperature must never exceed 45C (113F). Install the modules vertically, avoid vibrations and respect the gaps to allow air flow. See figure.

MCPi-29/112

>50 mm

>30 mm

>10 mm

About the connection

All the cables must be shielded, to reduce the interference on the control of the motor due to the commutation of the PWM. The shield of the motor power cable must be connected to the chassis screw at the bottom of the module and it, in turn, taken to mains ground. The command signal lines must be shielded twisted pairs. The shield must be connected to the housing of connector X3. Keep the signal cables away from the power cables.

Electrical connections

Basic interconnection diagram
External Ballast resistor (optional)

FSA or FSP SERVO MOTOR

Feedback Cable AESC-M (with absolute encoder)

Power Cable MPC

MCPi-30/112
Power connection. Mains - Drive
The drive voltage supply is single phase and does not require a transformer.
Warning. Never make this connection because there is a risk of destroying the module.
Autotransformer or single-phase transformer 380 V AC R S T N

2x2.5 mmV AC

380 V AC

R S T N

fuses High Floating Voltage k1 power switch 220 V AC
POWER INPUTS k1 power switch 220 V AC L2 L1

L2 L1 POWER INPUTS

CONTROL POWER INPUT POWER INPUTS
2x2.5 mmV AC R S T N 220 V AC fuses L2 L1
2x2.5 mmV AC R S T N fuses 220 V AC L2 L1
k1 power switch 220 V AC POWER INPUTS L2 L1 k1 power switch 220 V AC
The table below shows the values recommended for the fuses shown in the previous figure. They are slow general purpose fuses. If they are installed on the Mains input lines, their maximum currents will depend on the value of the Mains voltage. Model MCPi 07L MCPi 11L MCPi 15L Peak current ( Arms ) 6.5 10.5 15.0 Fuse (A) 25
Note. A thermal switch may optionally replace the fuses.

MCPi-31/112

Autotransformer or single-phase transformer
Power connection. External Ballast resistor
If the application requires a Ballast resistor with a power greater than the one indicated in this table according to model: Model MCPi 07L MCPi 11L MCPi 15L therefore:

MCPi-45/112

Software interface
The system is programmed in table mode (structured in a table format). In this programming mode, the PLC program, the positioning program and the motion control program are integrated in a single command line using a special syntax that makes programming easier. This syntax has been designed in order to cover all the applications foreseen to be carried out by this unit.

Types of positioning

The types of positioning that the MCP Innova drive has been designed for are:
Linear axes with motor feedback. Linear axes with direct feedback. Linear axes with motor feedback and direct feedback. Rotary axes with motor feedback. Rotary axes with direct feedback. Rotary axes with motor feedback and direct feedback.

Table editor syntax

The table offers the following fields:
BLOCK Nr. POS_MODE POS_VAL VELPOS EVENT_TYPE FAST INPUT TIME PROGOUT LOOP NEXT INCR - CNT CNDTNL_JMP

MCPi-46/112

BLOCK_NR
This field indicates the block number to be assigned to the current line. In automatic mode, the START input starts the execution of the program at the block number defined by the binary coded formed by inputs S0 through S4.

POS_MODE

This field determines the positioning mode to be carried out in the current block. Possible modes:
Modes ABSOLUTE Function Absolute positioning mode. The axis will move to the absolute position indicated in POS_VAL and at the feedrate given in VELPOS. Incremental positioning mode. The axis will move to the relative position indicated in POS_VAL and at the feedrate given in VELPOS. Infinite movement in positive direction. The axis moves without a target at the feedrate given in VELPOS. Infinite movement in negative direction. The axis moves without a target at the feedrate given in VELPOS. The motor shaft does not turn and it changes to the next block depending on the event selected.

INCREMENTAL

+ INFINITE - INFINITE STOP

POS_VAL

This field determines the target position of the movement. This value may be either positive or negative. The base unit is a tenth of a micron (for linear movements) or a tenth-thousandth of a degree (for rotary movements).

VEL_POS

This field determines the feedrate for the movement. This value has no sign. The base units are mm/min (for linear movements) or degrees/min (for rotary movements).

EVENT_TYPE

This field determines the type of event that must take place so the commands and conditions indicated in the following fields are taken into account: TIME, PROGOUT, LOOP and NEXT.

Variables for positioning status
All the variables of the positioning drive are available to be displayed or used by other applications through ModBus. This group of variables give an idea of the status of the positioning in progress. The available variables are: REG3 LV35 LV158 RunningBlock BlockTravelDistance TargetPosition It reflects the number of the block being executed. It reflects the target position of the current block. Final target position on the absolute axis of the positioning drive.

MCPi-54/112

LV36 PV51 PV53 LV159 PV189 REG2
BlockCoveredDistance PositionFeedback1 PositionFeedback2 PositioningVelocity FollowingError ActualPiecesCount
Distance interval traveled so far in the current block. Absolute distance traveled so far (motor feedback). Absolute distance traveled so far (direct feedback). Positioning feedrate in the current block. Following error of the position loop. Number of parts made so far.
Configuration of the positioning drive
There is a group of parameters to set the desired configuration of the positioning drive. We recommend to enter the values of these parameters in the order (sequence) described next. They are grouped like this:

GENERAL GRUP

Set of parameters for the overall configuration of the positioning drive. They are: AP1 PrimaryOperationMode
Operating mode of the drive. Its value sets one of the following configurations as a drive for:
VELOCITY (0-1-2): Equivalent to the operation of the MCSi drive. POSITION WITH MOTOR FEEDBACK (3): The position feedback device
of the application is the feedback integrated into the motor itself (incremental TTL encoder of 2500 ppt or SinCosTM or SinCoderTM encoder).
POSITION WITH DIRECT FEEDBACK (4): The position feedback
device of the application is and external feedback device (incremental TTL encoder of 2500 ppt or SinCosTM or SinCoderTM encoder ).
POSITION WITH MOTOR OR DIRECT FEEDBACK (5): The positioning
measuring element of the application may be set from either one of the two feedbacks. The feedback may be changed in ONLINE mode by software or hardware. The movements in this mode will only incremental. The feedback must always be changed with the motor stopped. If the change command is given while the motor is still running, it will not take place until the movement is stopped.

MCPi-55/112

Feedback change (by software)
"PC150 (ChangePosFB12)" command, with "IP14 (DigitalInput FunctionSelector)" other than zero and "LP48 (PositionActions Select)" as control of the feedback change either by software (bit 8) or as a whole.

Feedback change (by hardware)
It may be selected through the digital input of X1 with "IP14 (DigitalInput FunctionSelector)" equal to zero and LP48 (PositionActionsSelect) as control of the feedback change either by software (bit 8) or as whole. PP76 PositionDataScalingType
It determines whether the configuration of the mechanical system is for a linear or rotary axis. For the rotary axis, it also indicates whether the configuration is either in module or absolute format. PP57 PositionWindow
Positioning window. It sets the in-position zone considered valid to consider it that it is in position. PP159 MonitoringWindow Following error window. Determines the margin of following error allowed before issuing a following error warning. LP49 InBandPosition
Window that determines the position range where the INBAND event may be triggered in the positioning table. PP55 PositionPolarityParameters
The bits of this parameter set certain aspects of the system startup; they are:
Limits on/off via software (PP49 and PP50). Interpretation of the inverted position command. It affects the loop.

PositivePositionLimit

Value of the maximum absolute software positive position limit. PP50 NegativePositionLimit
Value of the maximum absolute software negative position limit.

AXIS CONFIGURATION GROUP

PP76 PositionDataScalingType
Parameter common to the linear and rotary axes. See - General Group described earlier for further detail.

MCPi-56/112

PP103 ModuleValue Value of the module of a rotary axis. LP143 ModuleCommandMode Position search mode for rotary axes. It may indicate that the position search is carried out:
clockwise. counterclockwise. via shortest path.

MOTOR FEEDBACK

NP121 InputRevolutions NP122 OutputRevolutions These parameters set the mechanical ratio between the motor shaft and the final axis of the movement. NP123 FeedConstant Linear feed per turn of the leadscrew, i.e. leadscrew pitch.

DIRECT FEEDBACK

Set of parameters for configuring various aspects related to direct feedback. They are: NP131 InputRevolutions2 NP132 OutputRevolutions2 These parameters determine the mechanical ratio between the measurement point and the input to the drive. NP133 FeedConstant2 Pitch of the linear encoder. For a linear encoder, the pitch value must be given in tenths of a micron. NP117 ResolutionOfFeedback2 Direct feedback resolution when using a rotary encoder. Its value will be given in pulses per turn. NP118 ResolutionOfLinearFeedback Direct feedback resolution when using a linear encoder. Its value will be given in dm (tenths of a micron). PP115 PositionFeedback2Type Installation configuration. This parameter may be used to select either a linear encoder or a rotary encoder as direct feedback. Also, one of its bits indicates to the drive whether the position feedback generated by the direct feedback must be inverted or not in the position loop. Digital Brushless AC servo drive system - Ref.0910 MCPi-57/112

Character identifying de type of data which the information corresponds to. May be:
A parameter defining the system operation (P) A variable that can be read and modified dynamically (V) or A command that carries out a specific action (C).

Index:

Character identifying the parameter or the variable within the group to which it belongs.
Definition examples SP10 CV11 GC1 S group C group G group (P) parameter (V) variable (C) command nr (10) nr (11) nr (1)

MCPi-60/112

Access level: The access level is defined by the number following the ID: Thus:
Fagor level User level Basic level
Examples of access levels SP10 basic CV11

S group

(P) parameter

nr (10)

(basic) access level (Fagor) access level

Fagor, RO

C group
(V) variable nr (11) (RO) read-only variable.
Modifiable variable: Any modifiable variable, in other words, that can be read and written, will carry the (RW) label to identify it as such next to its access level. The (RO) label means that the variable is Read Only. Examples of a modifiable variable DV32 Fagor, RW

D Group

(V) variable nr (32) (Fagor) access level (RW) read-write (modifiable) variable.

MCPi-61/112

A group. Application
AP1 Function: FAGOR, RW PrimaryOperationMode It sets the operating mode according to the configuration of the system. Value =2 =3 =4 =5 Function Velocity command (without position loop) Position command with motor feedback Position command with direct feedback Position command with motor feedback or direct feedback
Warning. If AP1=5, only incremental movements are possible and no home search is possible. Besides, the feedback change will only be effective while the motor is stopped. Default value: (=3), position command with motor feedback.
B group. Non-programmable inputs - outputs
BV14 Function: FAGOR, RO NotProgrammableIOs Indicates the logic values of the electrical control signals of the drive. 24V at the electrical input mean a logic 1 at the bits of this variable. Bit Function 15,., 4 Reserved 3 Programmable input Pins 11 -12 of terminal strip X3 Default value (IP14=4), error reset 2 Drive_OK output Pins 29 -30 of terminal strip XSpeed_Enable input Pin 15 of terminal strip XDrive_Enable input Pin 13 of terminal strip X3

MP2 Function:

Valid values: Default value: MP3 Function: Valid values: Default value: MP4 Function. Valid values: Default value: FAGOR FAGOR
N group. Linear axis configuration
NP117 FAGOR Function: Units: ResolutionOfFeedback2 It indicates the resolution of the direct feedback device. if it is a linear encoder, the feedback period signal is given in microns (m). For FAGOR linear encoders (graduated glass) the resolution is 20 microns; in other words: NP117 = 20 If it is a rotary encoder, the resolution of the feedback signal is given in pulses per turn. Valid values: Default value: 0. 65535. 4096 pulses per turn (ppt) of the rotary encoder.

MCPi-80/112

NP118 FAGOR Function:
ResolutionOfLinearFeedback It indicates the resolution of the linear encoder used as direct feedback. This parameter is ignored for a rotary feedback device. If the feedback signal is modified by an external multiplier, the value of this parameter must reflect its effect. The period of the feedback signal is given in microns (m). For FAGOR linear encoders (graduated glass) the resolution is 20 m; in other words: NP118=20 For Fagor steel-tape-based linear encoders, the resolution is 100 m, that is: NP118=100 If a x5 multiplying factor is applied to a Fagor linear encoder COVX (20 m), then: NP118=4.

Units:

Valid values: Default value: NP121 FAGOR NP122 FAGOR Function:
0. 6553.5 m. 20 m. InputRevolutions OutputRevolutions They define the gear ratio between the motor shaft and the final axis moved by the machine. For example, if 5 turns of the motor shaft mean 3 turns of the machine leadscrew, the value of these parameters is: NP121=5 NP122=3
Valid values: Default value: NP123 FAGOR Function:
1. 65535 turns 1 turn in both parameters (direct coupling). FeedConstant They define the gear ratio between the linear movement of the machine and the axis moving it. For example, if every turn of the leadscrew means a 4 mm displacement of the table, the value for this parameter is: NP123=4 If it is a rotary axis: NP123=360 (360 per turn)
0. 214748 mm. 5000 m (5mm per turn).

MCPi-81/112

NP131 FAGOR NP132 FAGOR Function:
InputRevolutions2 OutputRevolutions2 They define the gear ratio between the direct feedback and the movement of the load. For example, if 5 turns of the encoder shaft of the direct feedback are due to 3 turns of the machine leadscrew, the value of these parameters must be: NP131=5 NP132=3

Valid values: Default value: PP41 Function: FAGOR
Valid values: Default value: PP42 Function: FAGOR

MCPi-85/112

PP49 PP50 Function:

FAGOR FAGOR

PositivePositionLimit NegativePositionLimit They delimit the area permitted for the movements of the axis. These limits are only taken into account if a home search has been carried out before; in other words, bit 0 of PV203 - PositionFeedbackStatus - is set to 1 (the PC148 DriveControlledHoming - command has been executed). If the PV47 - PositionCommand - variable generates an axis movement that takes it beyond the permitted zone, it will activate the warnings 500 (if beyond the positive limit) or 501 (if beyond the negative limit). If the LV158 - TargetPosition - variable exceeds the position limits, the drive activates bit 13 (TargetPosition OutsideTheTravelZone) of DV158 - Class2Diagnostics (Warnings) -.
- 214748. mm. For linear axes: PP49=214748 mm y PP50= - 214748 mm For rotary axes: PP49 = 214748 y PP50= - 214748 ReferenceDistance1 With motor feedback, this parameter describes the distance between the machine reference zero and the machine reference point. It is similar to parameter REFVALUE (P53) of the axes of the 8055/55i CNC. - 214748. 214748 mm. 0. ReferenceDistance2 With direct feedback, this parameter describes the distance between the machine reference zero and the machine reference point. It is similar to parameter REFVALUE (P53) of the axes of the 8055/55i CNC - 214748. 214748 mm. 0. PositionPolarityParameters 16-bit register that may be used to activate or deactivate the position limits and invert or not the sign of the position command value.

PP52 Function:

Valid values: Default value: PP54 Function: FAGOR
Valid values: Default value: PP55 Function: FAGOR

MCPi-86/112

Bear in mind that on rotary motors, if the sign of the position command variations is positive, the motor will turn clockwise. Bit Nr Meaning 15 (MSB), 14, 13, 12, 11, 10, 9, 8, 7, 6, 5 reserved 4 Position limits. = 0 Cancels the position limits = 1 Activates the position limits (by default). See parameters PP49 and PP50. 3, 2, (LSB) Reserved Sign of the position command value. = 0 Not inverted = 1 Inverted (by default)

PP57 Function:

PositionWindow It indicates the difference allowed between the actual position and the target position LV158 - TargetPosition - so the motor-drive system may be considered to be in position. -214 748. mm for linear axes and () for rotary axes. 2 mm for linear and () for rotary over 360. PositionDataScalingType 16-bit register that configures the measuring scale for the positioning. All the bits must be set to zero, except bit 6 that will always be set to 1 and bit 7 (1 or 0) to either activate or not the module format on the commands received. Bit Nr Meaning 15 (MSB), 14, 13, 12, 11, 10, 9, 8 (reserved, all = 0). 7 Format. = 0 Absolute (by default). = 1 Module. See parameter PP103. 6, 5, 4, 3, 2 (reserved). 1, 0 Position command scaling method. (LSB) = 01 Linear scaling (by default). = 10 Rotary scaling.
Valid values: Default value: PP76 Function: FAGOR
PP103 FAGOR Function: Valid values: Default value:
ModuleValue Module value. If bit 7 of parameter PP76 selects the module format, this parameter defines the work range of the position. 0. 360 (since it is usually used on rotary axes). MCPi-87/112

PP104 FAGOR Function:

PositionKvGain It sets the value of the proportionality constant Kv in the position loop. It is similar to parameter PROGAIN (P23) of the axes of the 8055/55i CNC. It is given in m/min of programmed velocity command per mm of following error. 0. 65535 (m/min)/mm. 10 (following error of 1 mm for a feedrate of F1000).
Valid values: Default value: Example.
PP104=10 means that a following error of 1 mm is obtained with a programmed feedrate of 1000 mm/min (F1000 at the CNC). PP104=20 means that a following error of 0.5 mm is obtained at a feedrate of F1000 programmed at the CNC. To obtain a following error of 500 m, for a F2500, the Kv will be 2500/500, i.e. PP104=5. PP105 FAGOR Function: PositionKvGain2 It sets the value of the proportionality constant Kv in the position loop when using direct feedback. It is given in m/min of programmed velocity command per mm of following error. 0. 65535 (m/min)/mm. 10 (following error of 10 mm for a feedrate of F1000).

Valid values: Default value: SV2 Function: Valid values: SV6 Function: Valid values: SV7 Function: Valid values: SV15 Function: Valid values: USER, RW BASIC, RO BASIC, RO BASIC, RO
T group. Torque and power
TP1 Function: USER TorqueThresholdTx Parameter that determines the threshold for the activation of OV10 when function OutFunc2 (TorqueLimitModeZero Search) is activated. Fraction of the rated value of the motor torque. 0. 100 %. 5 %.

MCPi-97/112

TV1 TV2 Function:

USER, RO USER, RO

TorqueCommand TorqueFeedback Displays the values of the command and torque feedback. - 99.9. + 99.9 Nm.

_D_rel

W group. Internal generator
WV1 Function: Valid values: Value 2 Default value: WV2 Function: Valid values: Default value: WV3 Function: Valid values: Default value: USER, RW USER, RW 1. GeneratorPeriod It indicates the signal period of the internal command generator. 2. 9999 ms. 200 ms. GeneratorAmplitude Signal amplitude of the internal command generator. 0. 9999 rev/min if it is a velocity command. 0. 9999 Arms/100 if it is a current command. 0. Waveform Sinusoidal Square Triangular USER, RW GeneratorShape It indicates the waveform of the internal command generator.

MCPi-98/112

WV4 Function:

USER, RW

GeneratorType It specifies on which magnitude the internal command is applied. Value 2 Waveform Generated disconnected (by default) Generated connected. Velocity command Generated connected. Current command
Default value: WV5 Function: Valid values: Default value: WV6 Function: USER, RW USER, RO
0. GeneratorOutput Variable that reflects the value of the signal generated by the internal function generator. - 9999. 9999. 0. GeneratorDutyCycle For generating square signals (WV1=1), this variable specifies the ratio of the duty cycle. For example: to simulate an S6-40 % cycle, WV6=40. 1. 99 %. 50 %. GeneratorOffset It allows entering an offset in the signal of the internal command generator. - 9999. + 9999 rev/min. Velocity. - 9999. + 9999 Arms/100. Current.

WV2 WV3

Valid values: Default value: WV9 Function: Valid values: USER, RW
Function generator 0 WV9 WV4 WV2 (To current loop)

0 WV2 WV6 Duty %

MCPi-99/112

DEDICATED PLC REGISTERS

NOTATION USED
[REG] [Index] where: REG: Index: Character identifying the dedicated PLC register. Register identifier number
There are the following registers: REG1 Function: Valid values: Default value: REG2 Function: Valid values: Default value: REG3 Function: Valid values: Default value: REG4 Function: Valid values: Default value: USER, RW USER, RW USER, RW USER, RW PiecesCount Counter for the number of parts to be made. 0. 65535 - Nr of parts -. 0. ActualPiecesCount Counter for the number of parts that have been made so far. 0. 65535 - Nr of parts -. 0. RunningBlock Register that reflects the number of the block being executed. 1. 127. 1. PositionBlockIni Register that reflects the number of the block to be executed after activating the START input. 1. 127. 1.

MCPi-112/112

VELOCITY CONTROL BLOCK DIAGRAM
ERR0R GENERAL PARAMETERS GV2 GV7 GC10 GC11 GC1 GV9

DRIVE ENABLE X3.13

DESCRIPCIN Watch dog Power Supply fault / warning Stop time > GP3 Drive Overtemp Motor Overtemp Following error Overspeed I2t motor I2t drive Short-circuit Bus Overvoltage Bus low voltage I2t Ballast Incompatible parameters Motor table missing Incoherent combination (motor-feedback) Encoder not detected Defective encoder Encoder not initialized
DISPLAY DRIVE STATUS L. buS [.] [rdy1] [rdy0] [rdy-] Waiting P. Supply Drive ready Motor running Motor running speed = 0 Drive enable (on) and no pulses

DR. OK X3.29 X3.30

E.001 E.003 E.004 E.106 E.108 E.156 E.200 E.201 E.202 E.214 E.304 E.307 E.314
Software version Password Default parameters Reset Store parameters Drive type Code Checksum

PULSES

SPEED ENABLE X3.15

MOTOR TORQUE ON

COMMON X3.14 SP20 & SP21 VEL +

V SP20 SP19

E.502 E.506 E.510 E.801 E.802

SP60 & SP66

SP1 & SP2

X3.2 VEL X3.1 X3.19

X (-1) SV1

SP43 SP10

S PS P6 6

re v/m in

SPEED ENABLE & HALT FUNCTIONS
-12 V X3.33 GND X3.19 +12 V X3.34

CV15 IV3

DIGITAL COMMAND

WV4 WV5

ANALOG COMMAND

D u ty %

ESPECIFICATION

MOTOR SENSOR INPUT

Generator functions: WV1, WV2, WV3, WV6, WV9

LONG MOTORS

SERIAL ENCODER

SHORT MOTORS

SPECIAL CONFIGURATION
FSA FSP kW 0.80 0.2 0.0.0.75 0.2 0.4 0.1 200V kW
Interconnectron Connector 0

WITH FEEDBACK TYPE

HEIGTH 40 60

200V 01

F5 INCREMENTAL ENCODER: 13 bits (2048 ppv) F7 ABSOLUTE ENCODER: 16 bits (16384 ppv) ENCODER SIMULATOR OUT PINS 7, 8, 22, 24, 37 and 38 OF X3 CONNECTOR

ENCODER SIMULATOR

Without brake or seal (not considered) With brake (24 V DC), without seal With brake (24 V DC), with seal Without brake, with seal 2 3
MOTOR PARAMETERS MP1 MP2 MP3 Motor type Torque constant Rated current

50 5.000 rev/min

Eje cilndrico con chaveta y taladro roscado Eje cilndrico liso sin chaveta y taladro roscado 0 1

R GA D GD

46 [1.81] 46 [1.81] 46 [1.81]

FXM3 SERIES mm (inches)

TYPE FXM3 F 6 [0.24] GD 6 [0.24] R 30 [1.18] D 19 [0.75] j6 GA 21.5 [0.85] ST M6 x 16.0 [0.63] TYPE FXM31 FXM32 FXM33 FXM34 LB 152 [5.98] 187 [7.36] 222 [8.74] 257 [10.12] LC [ RESOLVER ] 33.5 [1.32] 33.5 [1.32] 33.5 [1.32] 33.5 [1.32] LC [ ENCODER ] 46 [1.81]

MCP-11/116

FXM5 SERIES mm (inches)
TYPE FXM5 F 8 [0.31] GD 7 [0.27] R 40 [1.58] D 24 [0.94] j6 GA 27 [1.07] ST M8 x 19.0 [0.75] TYPE FXM53 FXM54 FXM55 LB 237 [9.33] 272 [10.71] 307 [12.09] LC [ RESOLVER ] 33.5 [1.32] 33.5 [1.32] 33.5 [1.32] LC [ ENCODER ]
C1 MC-23 BASE MC-46 BASE 35 [1.38] 40 [1.57]

FXM7 SERIES mm (inches)

TYPE FXM7 F 10 [0.39] GD 8 [0.31] R 50 [1.97] D 32 [1.26] k6 GA 35 [1.38] ST M10 x 22 [0.86] TYPE FXM73 FXM74 FXM75 FXM76 FXM77 FXM78 LB 256 [10.08] 291 [11.46] 326 [12.83] 361 [14.21] 396 [15.59] 431 [16.97] LC [ RESOLVER ] 33.5 [1.32] 33.5 [1.32] 33.5 [1.32] 33.5 [1.32] 33.5 [1.32] 33.5 [1.32] LC [ ENCODER ] 46 [1.81] 46 [1.81]
46 [1.81] 46 [1.81] 46 [1.81] 46 [1.81]

MCP-12/116

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 MOTOR CONNECTOR CURRENT MC AMC 23
Example: Straight Angled Amperes
MOTOR POWER CONNECTION BASE MC 23 or AMC 23
PIN A B C D E F SIGNAL Phase U Phase V Phase W Ground Brake (+) Brake (-)
CONNECTION BASE OF AN "INCREMENTAL TTL" ENCODER

Reference mark (I0)

A K L M J
PIN A B C D E F G H I J K L M N O P Q

IOC-17

SIGNAL A *A + 5 V DC Ground B *B Z *Z Thermistor Thermistor U *U V *V W *W Shield + chassis

P I Q N O H E F G

Note. Their connection bases are viewed from the outside of the motor.

MCP-13/116

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 On/off consumption time Unlocking Inertia voltage margin Mass

FXM1 FXM3 FXM5 FXM7

Nm (inlb)

W (HP)

19/29 20/29 25/50 53/97

22-26 22-26 22-26 22-26

kgcm2 kg (lbf)

0.38 1.06 3.60 31.80 0.3 (0.66) 0.6 (1.32) 1.1 (2.42) 4.1 (9.03)
Mo of the motor 12 (0.016) Mo of the motor 16 (0.021) Mo of the motor 18 (0.024) Mo of the motor 35 (0.047)
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 sure that no voltage over 26 V is applied that prevents 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.

MCP-14/116

Sales reference
FAGOR SYNCHRONOUS MOTOR SIZE LENGTH RATED SPEED WINDING 1, 3, 5, 7 1, 2, 3, 4, 1200 rev/min rev/min F A 220 V AC 400 V AC rev/min rev/min

FEEDBACK TYPE

I0 Incremental encoder (2500 ppt) A1 Absolute multi-turn SinCos encoder (1024 ppt) E1 SinCoder encoder (1024 ppt) IEC Standard Keyless shaft NEMA Standard (USA) Special Without brake With standard brake (24 V DC) Without fan With standard fan With special fan X 01 ZZ

FLANGE & SHAFT

BRAKE OPTION
VENTILATION 9 SPECIAL CONFIGURATION SPECIFICATION
Only when it has a special configuration (X) !
Note: 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.

MCP-15/116

BRUSHLESS AC MOTORS, FKM
FKM2 FKM 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. FKM4 FKM6
Its normal protection level is IP 64, being immune to liquids and dirt. They have a KTY84130 sensor to monitor the internal temperature. They also carry an optional electromechanical brake. They have rotating power and feedback connectors. Meaning of the codes for the mounting method:
Excitation Temperature sensor Shaft end Mounting Mounting method Mechanical tolerances Balancing Roller bearings life Noise Vibration resistance Electrical insulation Insulation resistance Dielectric rigidity Protection degree Storage temperature Ambient humidity Ambient temperature Brake
Permanent rare earth magnets (Nd - Fe - B) Thermistor PTC KTY84-130 Cylindrical keyless (option: with keyway) Face flange with through holes IM B5, IM V1, IM V3 (as per IEC-34-3-72) Normal class (meets IEC-72/1971) Class N (Class R optional) meets DIN 45665 Half-key balancing 20000 hours DIN 45635 Withstands 1g along the shaft and 3g sideways. Take G=10 m/s2. Heating class F (150C~ 302F) 500 V DC, 10 M or greater 1500 V AC, 1 minute IP 64 standard configuration; IP 65 with oil seal From - 20C to + 80C (- 4F to 176F) From 0C to + 40C (32F to 104F) From 20 % to 80 % (non condensing) Optional in all models. See section: brake characteristics Incremental TTL encoder - FKM with F winding SinCosTMor SinCoderTMencoder - FKM with A winding -

Feedback

MCP-16/116
Non-ventilated motors tac ms 14.4 7.0 11.7 10.7 16.0 11.2 14.4 19.1 9.4 14.0 9.57 2.7 1.3 0.8 1.3 2.1 1.2 0.150 0.225 0.180 0.200 0.145 0.135 1.2 0.210 8.5 16.7 16.0 16.0 29.5 29.5 43.0 2.6 0.450 8.5 1.7 0.425 2.9 5.3 7.8 7.8 11.7 11.9 11.9 17.1 17.1 22.3 4.6 1.100 2.9 5.3 2.6 0.885 1.6 4.2 3.6 7.4 3.6 L mH R J kgcm2 M kg

Peak torque

Mo Nm 2000 19.2 76.8 4.9 1.22 20.5.1 0.82 14.3.4 1.15 16.3.7 0.54 13.2.8 0.68 15.3.6 0.74 12.3.0 0.51 8.2.0 0.74 7.1.7 0.45 4.1.0 0.74 4.1.1 0.36
Mp nN Io Imax Pow Kt Nm rev/min Arms Arms kW Nm/Arms
MCP-10L MCP-20L MCP-30L Nm Nm Nm 7.0 13.0 9.0 14.8 18.2 13.0 22.2 25.0 22.2 20.4 16.2 34.5 24.6 36.6

FKM21.60F.

FKM22.30F.

FKM22.50F.

FKM42.30F.

FKM42.45F.

FKM44.30F.

FKM62.30F.

FKM62.40F.

FKM64.20F.

FKM64.30F.

FKM66.20F.

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.

MCP-17/116

Characteristics table of non-ventilated FKM motors with F winding (220 V AC)

MCP-18/116

Peak torque nN Io Imax rev/min Arms Arms 2000 10.4.9 12.5.2 1.4 2.2 9.3.7 1.0 7.2.8 1.3 10.4.9 1.1 14.9 14.4 19.1 14.0 9.5 8.3.6 1.4 11.2 8.3.9 0.7 21.3 2.6 4.2 2.4 7.2 4.1 3.8 4.6 6.3.0 0.9 16.0 3.9 4.2.0 1.4 10.7 8.6 1.45 0.67 0.45 0.54 0.31 0.77 0.44 0.28 0.31 4.2.0 0.7 14.0 4.6 1.10 4.1.7 0.8 11.7 5.8 1.40 2.9 2.9 8.5 8.5 8.5 16.7 16.7 16.0 16.0 29.5 43.0 2.1.0 1.3 7.0 16.0 3.95 2.9 2.1.1 0.6 14.4 7.7 2.60 1.6 4.2 5.3 5.3 5.3 7.8 7.8 7.8 11.7 11.7 11.9 11.9 17.1 22.3 Pow kW Kt Nm/Arms tac ms L mH R J kgcm2 M kg 5.0 10.2 6.7 5.6 7.0 13.0 13.0 11.2 21.9 14.6 11.2 22.6 17.3 20.0 15.4 21.8 35.2

MCP-08H MCP-16H Nm Nm

FKM21.60A.

FKM22.30A.

FKM22.50A.

FKM22.60A.

FKM42.30A.

FKM42.45A.

FKM42.60A.

FKM44.30A.

FKM44.40A.

FKM62.30A.

FKM62.40A.

FKM64.30A.

FKM66.20A.
Characteristics table of non-ventilated FKM motors with A winding (400 V AC)

80 [3.15] 18 [0.70]

40 [1.57]

[3 [4. 52 ]

80 [3.15] j6

7 [0.27]

3 [0.11] 8 [0.31] LB L 54 [2.12] 97 [3.81]

FKM2 SERIES mm (inches)

TYPE FKM2 F 6 [0.23] GD 6 [0.23] R 30 [1.18] D 19 [0.74] j6 GA 21.5 [0.84] ST M6 x 16 [0.63]

138 [5.43]

232 [9.13]

114 [4.48]

208 [8.19]

50 [1.96]

139.5 [5.49]

110 [4.33] j6

9 [0.35]
3.5 [0.13] 10 [0.39] LB L 54 [2.12] 126 [4.96]

FKM4 SERIES mm (inches)

Encoder simulator connecting cable, SEC.
Depending on motor feedback, the drive can generate a set of signals that simulate those of a TTL encoder attached to the rotor of the motor. The SEC cable transfers these signals from the drive to the 8055 CNC.
Ready Made Cable Fagor SEC 1/3/5/10/15/20/25/30/35 (Length in meters; including connectors) (HD,Sub-D,F15)

Front View

( Sub-D, M15 ) Cable 4x2x0,14 + 2x0,5 Signal A *A B *B Z *Z Pin 11 Green Yellow Blue Pink Grey Brown White Purple Black Pin 11

0 volt TO DRIVE

CHASSIS (HD,Sub-D,F15) Twisted pair. Overall shield. Metallic shield connected to CHASSIS pin ( at the 8055 CNC end and at the Drive end )
TO 8055 CNC ( Sub-D, M15 )
Encoder simulator connecting cable, SEC-HD
Depending on motor feedback, the drive can generate a set of signals that simulate those of a TTL encoder attached to the rotor of the motor. The SEC-HD cable transfers these signals from the drive to the 8055i CNC or 8040 CNC.
Ready Made Cable Fagor SEC - HD 1/3/5/10/15/20/25/30/35 (Length in meters; including connectors) (HD, Sub-D, Cable 4x2x0,14 + 2x0,5 M15) Pin Front View Green 1 Yellow 2 Blue 3 Pink 4 Grey 5 Brown 6 White 7 Purple 8 Black 11 TO 8040 CNC TO 8055i CNC Twisted pair. Overall shield. Metallic shield connected to CHASSIS pin (at the CNC end and at the Drive end) [ HD,Sub-D, M15]

(HD, Sub-D, Signal F15)

Pin 11

A *A B *B Z *Z

CHASSIS [ HD,Sub-D, F15 ]

MCP-43/116

TTL encoder connecting cables, IECD
The IECD cable transfers the motor feedback signals from the incremental TTL encoder to the drive.

(HD,Sub-D,M26)

Signal Pin
Brown/Green White/Green Purple Black Red Blue Yellow/Brown White/Grey Red/Blue Grey/Pink Pink Grey White/Pink Grey/Brown Yellow White
Pin A B E F G H K L M N O P I J D C Q
A+ 1 A- 10 B+ 2 B- Z+ Z- 12 U+ 13 U- 4 V+ 1 V- 6 W+ 14 W- 5 STM1 or KTY84 (-) 21 STM2 or KTY84 (+) 22 TO DRIVE GND 25 + 5 VDC 24 (HD,Sub-D,M26)

IOC-17 Front View

K A J I P L B Q M C H O N D G F E

TO MOTOR

Ready Made Cable IOC-17 IECD- 5/7/10/15/20/25/30 Cable 15 x 0.14+ 4 x 0.5 Length in meters, connectors included
Sinusoidal encoder connecting cable, EEC
The EEC cable transfers the motor feedback signals from the sinusoidal encoder to the drive. It has overall shield and twisted pairs.
Ready Made Cable EEC 1A/3/5/7/10/15/20/25/30/35/40/45/50 (Length in meters; including connectors) (HD, Sub-D, M26)

Front view

Signal COS REFCOS SIN REFSIN +485 -485 GND +8 V

Pin 25 23

Cable 4x 2x 0.14+2x 0.5 Green Yellow Blue Pink Grey Brown Black Red White Purple

Pin 3 4

E0C 12

Front view 4 8

temp/kty84- 21 temp/kty84+ 22 Chassis 26
to MOTOR Twisted pair. Overall shield. The shield must be connected to pin 26 of the chassis at the drive end and to the metallic housing at the motor end.

to DRIVE

Note. The EEC-1A cable is 1.25 meters long.
Sinusoidal encoder connecting cable, EEC-SP
The EEC-SP cable transfers the motor feedback signals from the sinusoidal encoder to the drive. It has overall shield and shielded twisted pairs. This cable improves the system immunity against disturbances and provides more flexibility that the previous EEC cable.
Note that type I and II of the EEC-SP extension cables are the same except the color of their wires. The user must check which one of them matches the one being installed.

MCP-44/116

TYPE I.
Ready Made Cable EEC-SP 5/10/15/20/25/30/35/40/45/50 (Length in meters; including connectors) (HD, Sub-D, M26)
Signal COS REFCOS SIN REFSIN +485 -485 GND +8V
Cable 3x2x0.14+2x0.14+2x0.5 Green Yellow Orange Red Black Brown Brown - Blue [ 0.5 mm2 ] Brown - Red Blue Grey

[ 0.5 mm2 ]

Pin 9 E0C 12

Front View 4 8

TEMP/KTY84 (-) 21 TEMP/KTY84 (+) 22 CHASSIS 26
TO DRIVE Shielded by pairs of cables, and overall shield. All the shields of the twisted pairs must be connected to each other and to the common pin of Chassis (only at the drive end). The overall shield is connected to both connector housings The 26-pin connector housing must be conductive (metallic).

TYPE II.

(HD, Sub-D, M26)
Ready Made Cable EEC-SP 5/10/15/20/25/30/35/40/45/50 [ Length in meters; including connectors ] Signal COS REFCOS SIN REFSIN +485 -485 GND +8V Pin Cable 3x2x0.14 +4x0.14+2x0.5 Green Yellow Blue Purple Black Brown Black [ 0.5 mm2 ] Red [ 0.5 mm2 ] White Grey Pin 9 E0C 12

Front View 5 4

TEMP or KTY84 (-) 21 TEMP or KTY84 (+) 22 CHASSIS 26 TO DRIVE
Shielded by pairs of cables, and overall shield. All the shields of the twisted pairs must be connected to each other and to the common pin of Chassis (only at the drive end). The overall shield is connected to both connector housings The 26-pin connector housing must be conductive (metallic).

Incremental positioning mode. The axis will move to the relative INCREMENTAL position indicated in POS_VAL and at the feedrate given in VELPOS. + INFINITE - INFINITE STOP Infinite movement in positive direction. The axis moves without a target at the feedrate given in VELPOS. Infinite movement in negative direction. The axis moves without a target at the feedrate given in VELPOS. The motor shaft does not turn and it changes to the next block depending on the event selected.

MCP-51/116

Pos_val
This field determines the target position of the movement. This value may be either positive or negative. The base unit is a tenth of a micron (for linear movements) or a tenththousandth of a degree (for rotary movements).

vel_pos

This field determines the feedrate for the movement. This value has no sign. The base units are mm/min (for linear movements) or degrees/min (for rotary movements).

even_type

This field determines the type of event that must take place so the commands and conditions indicated in the following fields are taken into account: TIME, PROGOUT, LOOP and NEXT. Possible events: EVENTS INRPOS FUNCTION The axis is in real position. This event is triggered when the position reached by the axis is inside the in-position zone (dead band) indicated by parameter PP57 < PositioningWindow >. The axis is in theoretical position. The event is triggered when the position command generated by the command generator is in the theoretical position of the block. The event is triggered when the axis is inside the in-position zone indicated by parameter LP49 < InBand Position >. See the warning on the next page. This event is triggered when in the acceleration process of the movement, it has reached the positioning feedrate indicated in VEL_POS of the current block. It has the same functionality as a feedrate reached function. See figure below. This event is triggered when in the block transition process it reaches the feedrate indicated in the next block; this transition is established in POS_VAL of the current block. Its purpose is to make a movement transition so the feedrate does not have to go through zero. See figure below. No event expected.

LP49 FAGOR Function. Valid values. Default value. LP143 FAGOR Function.
BIT Nr. Meaning 15 (MSB),., 2 (reserved) 1, 0 (LSB) = 00. Clockwise rotation = 01. Counterclockwise rotation = 10. Rotation via the shortest path (by default) = 11. Reserved Valid values. Default value. LV13 FAGOR, RW Function. Valid values. 0, 1 and 2. 2. KernelOperationMode It indicates which is the operating mode of the kernel. 0. Automatic mode (by default after starting up the drive). 1. Jog mode. LV14 FAGOR, RW Function. Valid values. KernelAutoMode It indicates which is the execution mode of the kernel for the automatic mode and for the jog mode. 0. Continuous (by default). 1. Single block.

MCP-80/116

LV15 FAGOR, RW Function.
KernelStartSignal Digital signal whose up flank (transition from 0 to 1) starts the execution of the MC program in automatic or jog mode. Using the START signal to start the execution is always necessary after powering the system up or after activating the STOP or RESET signals. It is also necessary to generate an up flank of this signal to resume the execute when using the single block mode or the instruction by instruction mode. 0. Continuous (by default). 1. Single block.

LV16 FAGOR, RW Function.

KernelStopSignal Digital signal whose up flank (transition from 0 to 1) momentarily interrupts the motion block and stops the motor. This signal does not complete the block, it only interrupts it so when the START LV15 < KernelStartSignal > is activated again, it goes on with the remaining portion of the block. KernelResetSignal Digital signal whose up flank (transition from 0 to 1) resets the execution of the Motion Control program. This signal stops the execution, restores the initial conditions and the drive is ready waiting for a new start-up signal LV15 < KernelStart Signal >. KernelManMode It indicates which is the operating submode within the jog mode (LV13 = 1). 0. Continuous submode (by default). 1. Incremental submode.

LV17 FAGOR, RW Function.

LV19 FAGOR, RW Function. Valid values.

LV20 FAGOR, RW Function.

JogPositiveSignal Digital signal used in the JOG module of the MC application (*.mc) to activate the jog movement in the positive direction. JogNegativeSignal Digital signal used in the JOG module of the MC application (*.mc) to activate the jog movement in the negative direction.

For example, if 5 turns of the encoder shaft of the direct feedback are due to 3 turns of the machine leadscrew, the value of these parameters must be: NP131 = 5, NP132 = 3 Valid values. Default value. NP133 FAGOR Function. 1,., 65535 turns. 1 turn in both parameters (direct coupling). FeedConstant2 It defines the lineal displacement per each turn of the direct feedback encoder. For a rotary machine: NP133 = 0 (it makes no sense in this application). For a linear machine with direct linear feedback:: NP133 = 0 (it makes no sense in this application). For a linear machine with direct rotary feedback:: If R1=R2, NP133 = 0 The linear movement versus the number of turns of both encoders is the same. If R1R2, NPNP133 must be set so the feedback is properly defined. If NP133 = 0 Assume the value given in NP123 as the leadscrew pitch. Valid values. Default value. 0,., 214768 mm. 5 mm.
Example I. Motor with toothed belt and gear ratio of 1: 2, leadscrew pitch of 10 mm and external encoder mounted on the leadscrew. NP121 = 1, NP122 = 2, NP123 =10 mm NP131 = 1, NP132 = 1, NP133 =10 mm (it may be left as zero)
Example II. Motion Control application (cylindrical rollers) with measuring wheel. Moving distance for the rollers: NP121 = 5, NP122 = 2, NP123 =100 mm Moving distance for the wheel: NP131 = 1, NP132 = 1, NP133 =314.15 mm MOTOR FEEDBACK and TABLE LEADSCREW

MCP-85/116

Example III. Rotary axis with 40:1 gear reduction and external encoder attached with a toothed belt whose gear ratio is 2:1. NP121 = 40, NP122 = 1, NP123 = 360 per turn NP131 = 2, NP132 = 1, NP133 = 360 per turn There is no need to enter values in NP123 or in NP133 when using rotary axes. Internally, they will both assume the values of 360 per turn.
O group. Analog and digital outputs
OP1 OP2 Function. USER USER DA1IDN DA2IDN They identify the internal analog variables of the drive that will be reflected at the electrical outputs and will be affected by the OP3 and OP4 gains respectively. Channel 1 (pin 8 of X1) and channel 2 (pin 9 of X1). Name of any parameter or variable of the table. 04 for OP1 and 07 for OP2. OP13 VARIABLE SV15 SV1 SV6 SV7 SV2 TV1 TV2 CV3 IV1 IV2 RV1 RV2 PV189 dNm cA mV bits dm or m rev/min UNITS DigitalVelocityCommand VelocityCommand VelocityCommandFinal VelocityFeedback TorqueCommand TorqueFeedback CurrentFeedback AnalogInput1 AnalogInput2 FeedbackSine FeedbackCosine FollowingError
Valid values. Default value. OPSV15 SV1 SV6 SV7 SV2 TV1 TV2 CV3 IV1 IV2 RV1 RV2 PV189

VARIABLE NAME

VelocityCommandAfterFilter 02

MCP-86/116

OP3 OP4 Function.

USER USER

DA1ValuePer10Volt DA2ValuePer10Volt They define the gain of channel 1 (pin 8 of X1) and channel 2 (pin of X1). There are 10 V at these outputs when the selected variable reaches this value. m (linear axis), m (rotary axis). 0,., 9999. 4000 and 3000 respectively. If OP1= 04 (SV2) (VelocityFeedback), in rev/min & OP3=3000. It means that when the value of SV2 is 3000 rev/min the analog output will be 10 V and it maintains this rpm/V ratio throughout its full range 10V.

Units. Valid values. Default value. Example.

OP6 Function.

DigitalOutputPolarity Polarity (inverted or not inverted) of the programmable digital input (pins 1 and 2 of X2). 0 / 1. Not inverted / inverted 0. Not inverted.

OP14 Function.

DigitalOutputFunctionSelector They determine the activation of the various outputs of the digital functions available.
FUNCTION OutFunc0 OutFunc1 OutFunc2 OutFunc3
FUNCTION OutFunc4 OutFunc5 OutFunc6 OutFunc7
OV10 as output of function Nr

MCP-87/116

OP15 Function.
DigitalOutputWarningSelector Selector of the warning that will be displayed by the programmable output when function OutFunc7 is selected. 0 I2tMotor (by default) 1 I2tBallast 2 I2tDrive
I2t Motor I2t Ballast I2t Drive
OV10 Function. Valid values. OV11 Function. USER, RW USER, RO DigitalOutputs
It contains the value of the output status of the various functions that may be selected with OP14. 0 and 1. DigitalOutputsCh2 Depending on the value of bit 12 of parameter LP48: LP48.bit 12 = 0 OV11 contains a number whose binary code (low portion only, the high portion is reserved) represents the status of the digital outputs (connector X5). LP48.bit 12 = 1 OV11 governs the status of the digital outputs (connector X5). See parameter LP48 for further detail.

P group. Position loop

PP1 Function. FAGOR HomingVelocitySlow It sets the low speed of the homing process controlled from the drive itself. This parameter is necessary when the home search is controlled from the drive, PC148<Drive ControlledHoming > active. 0,., 6000 rev/min of the motor. 100 rev/min of the motor.

MCP-88/116

PP41 Function.

HomingVelocityFast

It sets the high speed of the homing process controlled from the drive itself. This parameter is necessary when the home search is controlled from the drive, PC148 < Drive ControlledHoming > active. 0,., 6000 rev/min of the motor. 200 rev/min of the motor.

HomingAcceleration

Valid values. Default value. PP42 Function. FAGOR
It sets the acceleration applied in the homing process controlled from the drive itself. This parameter is necessary when the home search is controlled from the drive, PC148 <DriveControlled Homing > active. 0,., 65535 rad/s2. 20 rad/s2.

PositivePositionLimit NegativePositionLimit
Valid values. Default value. PP49 PP50 Function. FAGOR FAGOR
They delimit the area permitted for the movements of the axis. These limits are only taken into account if a home search has been carried out before; in other words, bit 0 of PV203 <PositionFeedbackStatus> is set to 1 (the PC148 <DriveControlledHoming> command has been executed). If the PV47 < PositionCommand> variable generates an axis movement that takes it beyond the permitted zone, it will activate the warnings 500 (if beyond the positive limit) or 501 (if beyond the negative limit). If the LV158 < TargetPosition > variable exceeds the position limits, the drive activates bit 13 (TargetPosition OutsideTheTravelZone) of DV158 <Class2Diagnostics (Warnings)>.
Valid values. Default values.
- 214748,., 214748 mm. For linear axes:
PP49 = 214748 mm y PP50 = - 214748 mm For rotary axes: PP49 = 214748 y PP50 = - 214748

PP52 Function.

ReferenceDistance1
With motor feedback, this parameter sets the distance between the machine reference zero and the machine reference point. It is similar to parameter REFVALUE (P53) of the axes of the 8055/55i CNC

MCP-89/116

Valid values. Default value. PP54 Function. FAGOR
- 214748,., 214748 mm. 0.

ReferenceDistance2

With direct feedback, this parameter sets the distance between the machine reference zero and the machine reference point. It is similar to parameter REFVALUE (P53) of the axes of the 8055/55i CNC - 214748,., 214748 mm. 0.
PositionPolarityParameters
Valid values. Default value. PP55 Function. FAGOR
16-bit register that may be used to activate or deactivate the position limits and invert or not the sign of the position command value. On rotary motors, if the sign of the position command variations is positive, the motor will turn clockwise.
BIT Nr. Meaning 15 (MSB),., 5 (reserved) 4 Status of the position limits. = 0. Not active = 1. Active (by default). See PP49 and PP50. 3 Reserved 2 Reserved 1 Reserved 0 (LSB) Sign of the position command value = 0. Not inverted = 1. Inverted (by default) PP57 Function. FAGOR PositionWindow
It sets the difference allowed between the actual position and the target position LV158 <TargetPosition> so the motordrive system may be considered to be in position. - 214748,., mm for linear axes and degrees for rotary axes. 2 mm for linear and 2 degrees for rotary over 360.

MarkerPositionA

Valid values. PV173 USER, RO Function.
In the home searching process, when the drive detects the I0 signal, it saves the value of the PositionFeedback1/2 (not yet homed) in this variable - 214748,., 214748 mm (linear) or degrees (rotary).

FollowingError

Valid values. PV189 FAGOR, RO Function.
This variable registers the difference between the position command and the position feedback. PV189 = PV47 - PV51/53 FollowingError = PositionCommand - PositionFeedback1/2
dm for linear movements and tenth-thousandths of a degree for rotary movements.

HomeSwitch

PV200 FAGOR, RO Function.
This binary parameter represents the logic state of the home switch. For that, this variable must be associated with one of the digital inputs of the drive that will be connected to the switch. 0. Switch inactive. 1. Switch on. The axis is positioned on the switch.
PV208 FAGOR, RO Function. Valid values. PC148 USER Function. PC150 BASIC Function.
ReferenceMarkerPulseRegistered
This binary variable is activated when the drive detects the reference mark (I0) during home search. 0 and 1.

DriveControlledHoming

Command that activates the home search.

ChangePosFB12

Feedback changing command.

MCP-94/116

Only effective if:
The control of the digital inputs (see parameter LP48) is all hardware but the IP14 value is other than zero. The control of the digital inputs is individual (see parameter LP48), but bit 8 is set to "1" (control by software).

Q group. Communication

QP14 Function. USER ProtocolTypeSelector
Determines which hardware communication mode has been established (RS232, RS485, RS422) with ModBus communication protocol and it is established through the serial COMMUNICATIONS. line connector. 2, 3 and 4.
Value 4 ModBus RTU & RS232 RTU & RS485 RTU & RS422
Default value: QP16 Function. USER

2. RTU & RS232.

SerialSetting
Sets the communications parameters of the UART (Universal Asynchronous Receiver/Transmitter) of the serial line: baudrate, parity, Nr of bits, Nr of stop bits.
BIT Nr. Meaning 15 (MSB),., 12 (reserved). 11, 10 Stops bits = 1. Stop bit = 2. Stop bit 9,., 6 Data bits = 7. Data bits = 8. Data bits 5, 4 Parity = 0. No parity = 1. Even parity = 2. Odd parity

MCP-95/116

3,., 0 (LSB)
Communication speed (baudrate) = 0. Reserved = 4. 9600 = 1. Reserved = 5. 19200 = 2. Reserved = 6. 38400 = 3. Reserved
1540 (9600, no parity, 8 data bits, 1 stop bit).
Warning. The communication rate cannot be lower than 9600 baud; therefore the minimum value for QP16 is 4. QV22 Function. FAGOR, RO IDNListOfInvalidOperationDataForCP3
Variable containing the parameters that are readjusted by the drive when it issues the error E.502 (incompatible parameters). The parameters are listed by their bus identifier. Any parameter bus identifier.

SlaveArrangement

Valid values. QV96 USER, RW Function. Valid values. Value 0 1,., 127
It contains the number of the node assigned to the drive for communication. 0,., 127.
ModBus protocol Number Nr 0 (normally cannot be used ) Node Nr assigned to the unit in a bus type communication

R group. Rotor sensor

RP1 RP2 Function. FAGOR FAGOR FeedbackSineGain FeedbackCosineGain
Compensation (proportional gain mode) of the amplitude of the sine/cosine signal that goes from the motor feedback to the drive. Entering 4096 is the same as multiplying by 1. To assign a gain of 1.5 to the sine signal, set RP1 to 6144 (= 4096 x 1.5). 0 (0 %),., 8192 (200 %). 4096 (100 %).

MCP-96/116

RP3 RP4 Function.

FAGOR FAGOR

FeedbackSineOffset FeedbackCosineOffset
Compensation (offset mode) of the sine/cosine signal that goes from the motor feedback to the drive. - 2000,., 2000. 0.
FeedbackSine FeedbackCosine
Valid values. Default value. RV1 RV2 USER, RO USER, RO
Function. Valid values. RV3 FAGOR, RO
Sine and cosine of the feedback that goes from the motor to the drive as internal system variables. - 512,., 511.

FeedbackRhoCorrection

Corrects the phase shift between the encoder shaft and the motor shaft. The motors are factory set and the value of this variable is stored in the encoder memory. 0,., 6553.
EncoderParameterStoreCommand
Valid values. RC1 Function. FAGOR
Command that could be used to store the content of MP1 and RV3 in the E2PROM of the SinCos or SinCoder encoder.

S group. Velocity

SP1 SP2 Function. Valid values. Default value. BASIC BASIC VelocityProportionalGain VelocityIntegralGain
Value of the proportional / integral action of the velocity PI.
SP1: 0,., 999.9 mArms/rpm. SP2: 0.1,., 999.9 ms.
Depends on the motor-drive combination.

SP1, SP2 SP1 SP2

Ej: A drive governs a 4000 rev/min motor with its parameters already adjusted (e.g. speed limit SP10=4400).
Now, another 2000 rev/min motor is connected to the same drive. The SP10 value set previously is higher than the one allowed for this new motor. The drive notices this incompatibility and readjusts (in RAM memory) certain parameters and issues E.502. The QV22 variable indicates the parameters that are incompatible with each other so they can be set properly. Observe that resetting the unit without saving the parameters causes the error to come up again. To avoid this, execute the GC1 command that permanently saves into E2PROM memory the parameters readjusted by the drive in RAM memory with their proper values.
E.506 Solution. E.510 Cause. Motor table missing
Incoherent combination of motor and feedback
The drive does not accept the motor that has been connected to it. Motor's power voltage is different from that of the drive it is connected to. For example, connecting the motor FXM34.40A.E1.000 , with A winding (400 V AC) to drive MCP-20L (220 V AC).

Solution. E.605

Check that the selected motor-drive combination is coherent.
Excessive damping of the analog signals of the motor feedback.

Cause.

One of the sine or cosine signals of the encoder has reached a peak level lower than 150 mV.

+ 0.15 V

- 0.15 V

MCP-109/116

E.801 Cause. Solution.

Encoder not detected

The drive has not detected the rotor sensor. Match the selected sensor with the feedback installed and, if the error persists, contact Fagor Automation.

Defective encoder

E.802 Cause.
Communication error when using a SinCosTM or SinCoderTM encoder. Incoherent U, V, W signals when using an incremental I0 encoder.
Solution. E.803 Solution.

Encoder not initialized

MCP-110/116

WARNINGS

The warnings indicate that the drive is approaching an error limit. Thus:
Before the drive display shows errors E.201, E.202 and E.314, it will issue a warning with fast flashing (0.5 s) of the BUS ACTIVITY indicator. If this behavior continues for longer than 5 s, the display will show one of the errors mentioned earlier. Warning W.003. Warning due to a drive power-up failure. It will appear in the following circumstances. When a unit is powered up and:
The connector of the Crowbar resistor has not been installed. The Crowbar resistor is open. Only two phases of the unit have been powered. A 380 V unit has been powered at 220 V.
Warning W.157. Null or wrong starting block. This warning comes up when activating the START signal to execute a starting block while the switches are pointing to an empty block number. It applies to any block. Warning W.911. Absolute motion block to be executed without searching home or incremental motion block while the software limits are activated. Warning. The block may be executed even if home search has not been carried out as long as the software limits are not activated. Warning W.917. "Software travel limit approaching" warning. This indication indicates that it is getting close to the that limit.