Fagor Automation, S.Coop.

Brushless AC
Servodrives
(analog)
Ver. 0110

AC Brushless Servo Drive System Manual Ver: 0110 ACa - 1 / 32

 Index

Brushless AC Motors, FXM 4

1.1 INTRODUCTION ............................................................................................................ 4
1.2 MECHANICAL DIMENSIONS .......................................................................................... 6
1.3 POWER CONNECTORS AND ENCODER OUTPUT ............................................................ 8
1.4 BRAKE CHARACTERISTICS ........................................................................................... 9
1.5 MOTORS SALES REFERENCE .................................................................................... 10

A.C. Servodrive 11
2.1 INTRODUCTION ........................................................................................................... 11
2.2 AC SERVODRIVE DIMENSIONS .................................................................................... 11
2.3 GENERAL CHARACTERISTICS. .................................................................................... 12
2.4 CONNECTORS ........................................................................................................... 12
2.5 STATUS DISPLAY ....................................................................................................... 15
2.6 SPECIFICATIONS PLATE AND SALES REFERENCE ....................................................... 16
2.7 INTERNAL OPERATION DIAGRAM ................................................................................ 17

Identity Module, IM 18

Installation 22
4.1 GENERAL CONSIDERATIONS ...................................................................................... 22
4.2 ELECTRICAL CONNECTIONS ....................................................................................... 23
4.3 ELECTRICAL ENCLOSURE DIAGRAM ........................................................................... 29
4.4 INITIALIZATIONAND SETUP ......................................................................................... 30

ACa - 2 / 32 AC Brushless Servo Drive System Manual Ver: 0110

 Declaration of conformity
Manufacturer: Fagor Automation, S. Coop.
Barrio de San Andrés s/n, 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: ACS Series

AC Motors: FXM Series

mentioned on this declaration,

with the basic requirements of the European Directives 73/23/CE on Low Voltage (Basic Safety
Regulation, Machinery Electrical Equipment EN60204-1:95) and 92/31/CE on Electromagnetic
Compatibility (EN 61800-3:1996, Specific Regulation on Electromagnetic Compatibility for Servo
Drive Systems).

In Mondragón, September 22nd, 2000

Introduction
Fagor offers you a wide range of servo drive systems (AC brushless motor and Analog drive) for
applications requiring between 1.20 and 33.6 Nm at speeds between 1200 rpm and 4000 rpm.

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.

AC Brushless Servo Drive System Manual Ver: 0110 ACa - 3 / 32

 Brushless AC Motors, FXM
FXM1 FXM3 FXM5 FXM7
1.1 INTRODUCTION

FXM series synchronous servo motors

are AC Brushless, with permanent
magnets.

They are ideal for any application

requiring great positioning accuracy.

They have a smooth torque output, has

no brushes, high reliability and low
maintenance.

Its normal protection level Excitation Permanent rare earth magnets (SmCo)
Temperature sensor Thermistor
is IP64, being immune to
liquids and dirt. Shaft end Cylindrical with keyway. (Option: with no keyway)
Mounting Face flange
Mounting method B5-V1-V3 (as recommended by IEC-34-3-72)
The system incorporates a Mechanical tolerances Normal class (IEC-72/1971)
temperature sensor for Balancing Class N (Class R optional) (DIN 45665)
monitoring the internal (balanced with the whole key)
Roller bearings' life 20,000 hours
temperature. They also Noise DIN 45635
carry an optional Vibration resistance Withstands 1G along the shaft
and 3G sideways (G = 10 m/s² ).
electromechanical brake.
Electrical Insulation Class F (150°C) (302°F)
Isolating resistance 500 Vdc, 10 MOhms or greater
Dielectric Strength 1500 Vac, one minute

Degree of Protection Overall: IP64 standard

Axis: IP64 standard, IP65 with oil seal
Storage temperature From -20°C to +80°C (-4°F / 176°F)
Working ambient temp. From 0°C to +40°C (32°F / 74°F)
Working ambient humidity From 20% to 80% (non condensing)

Brake Optional on all models

See "Brake Characteristics"

Feedback Differential TTL Encoder

- Meaning of the
mounting codes.
- IP64 means that it 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).
B5 V1 V3

ACa - 4 / 32 AC Brushless Servo Drive System Manual Ver: 0110

 Stall Current

inter-phases

inter-phases
Acceleration
Stall Torque

Resistance
Inductance
Constant

Inertia(*)
Current
Torque

Torque

Weight
Speed

Power
Rated
Peak

Peak

Time
Mo Mp nN Io Imáx Pow KT tac L R J P
-Nm- -Nm- -rpm- - A rms - - A rms - -kW- Nm/Arms -ms- -mHr- Ohms Kg.cm2 -Kg-
FXM11.40F.I0.xx0 1,20 6,0 4000 2,00 10,0 0,5 0,6 8,4 12,0 9,20 1,20 3,3
FXM12.40F.I0.xx0 2,30 11,0 4000 3,90 18,7 1,0 0,6 7,2 5,5 2,90 1,90 4,3
FXM13.40F.I0.xx0 3,30 16,0 4000 5,60 27,2 1,4 0,6 6,8 3,5 1,60 2,60 6,4
FXM14.20F.I0.xx0 4,10 20,0 2000 3,50 17,1 0,9 1,2 3,5 10,0 4,60 3,30 7,6
FXM14.40F.I0.xx0 4,10 20,0 4000 6,90 33,7 1,7 0,6 6,9 2,6 1,10 3,30 7,6
FXM31.20F.I0.xx0 2,60 13,0 2000 2,20 11,0 0,5 1,2 5,6 24,0 10,10 3,50 5,5
FXM31.40F.I0.xx0 2,60 13,0 4000 4,40 22,0 1,1 0,6 11,3 6,1 2,50 3,50 5,5
FXM32.20F.I0.xx0 5,10 25,0 2000 4,30 21,1 1,1 1,2 5,0 11,0 3,30 6,00 7,5
FXM32.40F.I0.xx0 5,10 25,0 4000 8,40 41,2 2,1 0,6 10,0 2,9 0,88 6,00 7,5
FXM33.20F.I0.xx0 7,30 36,0 2000 6,30 31,1 1,5 1,2 4,9 6,7 1,80 8,50 9,6
FXM33.40F.I0.xx0 7,30 36,0 4000 12,00 59,2 3,1 0,6 9,9 1,8 0,49 8,50 9,6
FXM34.20F.I0.xx0 9,30 46,0 2000 7,60 37,6 1,9 1,2 5,0 5,3 1,30 11,00 11,5
FXM34.40F.I0.xx0 9,30 46,0 4000 15,30 75,7 3,9 0,6 10,0 1,3 0,34 11,00 11,5
FXM53.20F.I0.xx0 11,90 59,0 2000 9,90 49,1 2,5 1,2 7,8 5,0 0,89 22,00 15,8
FXM53.40F.I0.xx0 11,90 59,0 4000 19,70 97,7 5,0 0,6 15,6 1,3 0,22 22,00 15,8
FXM54.20F.I0.xx0 14,80 74,0 2000 12,70 63,5 3,1 1,2 8,2 3,4 0,55 29,00 17,8
FXM54.30F.I0.xx0 14,80 74,0 3000 18,40 92,0 4,6 0,8 12,3 1,6 0,27 29,00 17,8
FXM55.12F.I0.xx0 17,30 86,0 1200 9,10 45,2 2,2 1,9 5,3 7,2 1,10 36,00 20,0
FXM55.20F.I0.xx0 17,30 86,0 2000 15,50 77,1 3,6 1,1 8,8 2,5 0,38 36,00 20,0
FXM73.12F.I0.xx0 20,80 104,0 1200 10,70 53,5 2,6 1,9 7,4 9,8 1,20 61,00 29,0
FXM73.20F.I0.xx0 20,80 104,0 2000 17,60 88,0 4,4 1,2 12,3 3,6 0,45 61,00 29,0
FXM74.12F.I0.xx0 27,30 135,0 1200 13,50 66,8 3,4 2,0 7,3 7,8 0,89 79,00 31,6
FXM75.12F.I0.xx0 33,60 165,0 1200 17,10 84,0 4,2 2,0 7,4 5,9 0,62 97,00 36,0
(*) when incorporating the brake (optional) to the motor, the inertia values (section 1.4) of the
brake will also to be taken into account

Peak Torque (Nm) for 0,5

seconds.

ACS-05 ACS-10 ACS-20 ACS-30

-Nm- -Nm- -Nm- -Nm-
FXM11.40F.I0.xx0 3 6
FXM12.40F.I0.xx0 6 11
FXM13.40F.I0.xx0 6 12
FXM14.20F.I0.xx0 12
FXM14.40F.I0.xx0 12 18
FXM31.20F.I0.xx0 6 12
FXM31.40F.I0.xx0 6 12
FXM32.20F.I0.xx0 12 24
FXM32.40F.I0.xx0 12 18
FXM33.20F.I0.xx0 24 36
FXM33.40F.I0.xx0 12 18
FXM34.20F.I0.xx0 24 36
FXM34.40F.I0.xx0 18
FXM53.20F.I0.xx0 24 36
FXM53.40F.I0.xx0 18
FXM54.20F.I0.xx0 24 36
FXM54.30F.I0.xx0 24
FXM55.12F.I0.xx0 38 57
FXM55.20F.I0.xx0 33
FXM73.12F.I0.xx0 38 57
FXM73.20F.I0.xx0 36
FXM74.12F.I0.xx0 60
FXM75.12F.I0.xx0 60

AC Brushless Servo Drive System Manual Ver: 0110 ACa - 5 / 32

1.2 MECHANICAL DIMENSIONS

AC MOTORS

ACa - 6 / 32 AC Brushless Servo Drive System Manual Ver: 0110

AC Brushless Servo Drive System Manual Ver: 0110 ACa - 7 / 32
1.3 POWER CONNECTORS AND ENCODER OUTPUT

The power connector includes the brake terminals (E, F). Voltages between 22 and 26 volts
release 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).

Encoder connector's terminals "I" and "J" correspond to the thermistor. It watches the motor
heating.

POWER CONNECTORS Example: MC 23

MOTOR CONNECTOR MC Straight

AMC Angled
CURRENT 23 Amperes

ACa - 8 / 32 AC Brushless Servo Drive System Manual Ver: 0110

1.4 BRAKE CHARACTERISTICS

Maximum On/Off Unlocking

Torque Power Inertia Weight
Motor Type RPM Delay voltage margin

Nm (in.lb) rpm W (HP) ms Vdc Kg.cm2 (lb.in 2) Kg (lbf)

FXM 1 2.5 (22.12) 10000 12 (0.016) 7/5 0,38 (0.13) 0,3 (0.66)
FXM 3 5 (44.25) 8000 16 (0.021) 15/7 1,06 (0.36) 0,6 (1.32)
22 - 26
FXM 5 12 (106.2) 6000 18 (0.024) 30/13 3,6 (1.23) 1.1 (2.42)
FXM 7 40 (354) 3600 35 (0.047) 100/30 31,8 (10.86) 3.5 (7.71)

The brake MUST NOT be used to stop the motor when it is turning.

The brake MUST NEVER exceed its maximum turning speed.

Voltages between 22 and 26 volts release the shaft. Watch that no voltage over 26 V
is applied. That would prevent the shaft from turning.

When installing the motor, verify that the brake releases the shaft completely before
turning it for the first time.

AC Brushless Servo Drive System Manual Ver: 0110 ACa - 9 / 32

1.5 MOTORS SALES REFERENCE

FXM MOTORS Example: FXM 34.20F . I0 . 0 0 0

FA G O R A X I S M O T O R

SIZE 1, 3, 5, 7

SHAFT HEIGHT 1, 2, 3, 4, 5

MAXIMUM 12 1200 rpm 2 0 2000 rpm

SPEED 30 3000 rpm 4 0 4000 rpm

WINDING F

FEEDBACK TYPE I0 Incremental Encoder

FLANGE AND 0 With Keyway

SHAFT 1 Without Keyway

BRAKE OPTION 0 Without brake

1 With standard brake (24 Vdc)

VENTILATION 0 Without Fan

ACa - 10 / 32 AC Brushless Servo Drive System Manual Ver: 0110

 A.C. Servodrive
2.1 INTRODUCTION

The A.C.Servo drive is a compact speed drive which includes the power supply and is designed to
control a single Brushless ACS motor.
There are four modules of different power offering peak currents of 5, 10, 20 and 30 Amps -rms-
and whose main characteristics are:

- Three-phase power supply from Mains.

- Independent Power and Control supplies
- Dynamic braking in case of Mains fault.
- PWM IGBTs.
- Incremental TTL Encoder feedback with 2500 ppt.
- Programmable encoder output 2/n (n, from 2 to 16)
- Velocity or Torque command.
- Velocity command filtered with ramps.
- Logic inputs to control the motor (Speed and Drive Enable).
- Galvanic isolation between power and control.
- Analog outputs to monitor speed and current.
- Control against excessive acceleration/deceleration.
- 7-segment display to monitor the status of the servo drive system.
- Internal fan activation depending on the Drive_Enable signal.
- Protection against feedback loss.
- Protection against excessive drive temperature.
- Protection against Bus overvoltage or undervoltage.
- i2t protection in the motor.
- Protection of the internal Ballast resistor (i 2t).
- Short-circuit protection in the motor output terminals.
- Protection against a phase drop.

2.2 AC SERVODRIVE DIMENSIONS

ACS 67 mm (2.63") 245 mm (9.64")

280 mm (11.02")
330 mm (12.99")
300 mm (11.8")

6 mm (0.23")

11 mm (0.43")

AC Brushless Servo Drive System Manual Ver: 0110 ACa - 11 / 32

2.3 GENERAL CHARACTERISTICS.

Fagor A.C.S. Drive

ACS-05 ACS-10 ACS-20 ACS-30

Rated output current Amp-rms- 2,5 5 10 15

Peak output current (0.5 sec) Amp-rms- 5 10 20 30

Power supply Three-phasic mains 50/60 Hz, from

220Vac -15% to 240Vac +10%
Consumption, Amp-rms- 2,5 5 10 15

Overvoltage protection 430 Vdc

Internal Ballast Ohms 112 56 28 18

Internal Ballast power 150 W
Ballast turn-on 416 Vdc
Heat-sink thermal protection 90°C (194°F)

Working Ambient temperature 5°C / 45°C (41°F / 113°F)

Storage temperature -20°C / 60°C (-4°F / 140°F)
Protection degree IP20 (*)

Module dimensions 67 x 280 x 245 mm

(2.48 x 11.8 x 9.05 inches)
Module weigth 3,85 Kg (8,5 lbs)

(*) IP20 means that it is protected against particles with a diameter greater than 12.5 mm but
it doesn't against water splashes. The module must be located into the electrical cabinet.

2.4 CONNECTORS

Power Terminals

POWER INPUTS 220Vac, L1, L2, L3: Main Power Supply terminals.

POWER OUTPUTS, U, V, W: Motor power output terminals.

Current control through PWM. Carry wave frequency of 10 kHz.
Connect the phases between the motor and drive this way, U-U, V-V and W-W.

L+, Ri, Re: External Ballast terminals.

CONTROL POWER INPUTS 220Vac, L, N, Ground: Auxiliar Power Supply terminals.

The maximum cable section at these power terminals is: 2.5 mm2.
Total isolation between power and control circuits.

ACa - 12 / 32 AC Brushless Servo Drive System Manual Ver: 0110

 INTERNAL FAN ACTIVATION: The internal fan cools the power electronics. The fan turns on
when the Drive_Enable signal is activated. The fan will turn-off two minutes after the Drive_Enable
signal has turned-off. This procedure reduces the stress of the fan and lengthens its life span.

Control Signals.

±10V voltages, Pins 1,2,3 of X1: Internal power supply so the user can easily generate a
velocity command. It offers a maximum current of 20mA limited internally.

Velocity command. Pins 4,5,6 of X1: It allows a range voltage of ±10V and offers an
impedance of 22 kOhms.

Current command. Pins 4,7 of X1: It allows a range voltage of ±6.2V and offers an impedance
of 10 kOhms. The motor torque is directly proportional to the current, and therefore to this
command.

Speed monitoring. Pins 8, 10 of X1: ±10V voltage range.

Current monitoring. Pins 9, 10 of X1: ±6.2V voltage range.

Warning output, Pins 1, 2 of X2: Open-collector output to set a warning when the motor i2t or
the internal Ballast vigilance is activated.

Common, Pin 5 of X2: Reference point for the following Enable signals:
Drive Enable, Pin 4 of X2: At 0Vdc, disables current through the motor which loses its torque.
Speed Enable, Pin 3 of X2: A 0Vdc, forces a "zero speed" command.
These control signals are activated at +24Vdc.

Drive OK. Pines 6, 7 of X2: Relay contact that closes when the internal status of the drive is OK.
It must be included in the electrical maneuver.

Encoder Input + Motor Sensor Temp: Encoder signal input from the motor for velocity
feedback, and Motor thermistor signals.
Encoder Output + Ratio Select: Encoder output for closing the loop at the CNC. They are
splited by the factor selected through the B3-B0 dip-switches.

The maximum section for these cables is 0.5 mm2.

See Installation chapter.

AC Brushless Servo Drive System Manual Ver: 0110 ACa - 13 / 32

 Connectors
and front panel. RESET

CROWARD (ON)

AC Servodrive
VBUS (OK)

Identification Module IM.

-See correspondent section-
Acc/Dec.
Ramps
Max.
Current

ADJUST
Limit

PI.Gain

Max. Status Display.

Status and Alarm Speed
messages from
the Status Display. Offset
STATUS MESSAGES
. DRIVE DISABLED
L WAITING P. SUPPLY ??
0 SPEED DISABLED
1 RUNNING

ALARM MESSAGES (BLINKING)

STATUS
2 MOTOR OVERTEMPERATURE
3 ENCODER FAULT
4 DRIVE OVERTEMPERATURE
Dividing factor
5 MOTOR OVERLOAD
6 DRIVE OVERCURRENT
of the encoder signal.
7 DRIVE OVERVOLTAGE
8 BALLAST OVERLOAD
B3 RATIO
SELECT

9 INTERNAL FAULT
RATIO

A POWER SUPPLY FAULT

B2 SELECT
B1
B0 0 1
B3
More significant Bit (MSB)
B2
Connector for B1
B0 Less significant Bit (LSB)
encoder signal
output to CNC.
ENCODER
OUTPUT

1 A
2 *A
3 B
4 *B
5 Z
6
MOTOR SENSOR

*Z X1
7
ENCODER

8 1
INPUT

TEMP

11 -10 V
0V ±10 V
+

2
+10 V
3 power
4
1 A 5
2 *A X1 Vel +
3 B -10V
1 Vel -
6 Commands
4
20mA out

*B 2 CURRENT
7
5 Z
6 3
*Z +10V
VELOCITY 8
7 U 4 Monitoring.
8 9
COMMANDS

*U 5 CURRENT
10 V
Vel+
10
14 Vel-
6
12 *V 7
CONTROL - SIGNALS

W CURRENT
13 *W 8 X2
15
MONITOR

VELOCITY
Tp
9 +5 Vdc 9
CURRENT C 1
11 GND:Tp 10 Warning
E 2
16 Chassis
X2
1 SPEED 3
WARNING
OUTPUT

C
2 DRIVE 4 Enables
E
Connector for SPEED
3 COMMON 5
ENABLES

the encoder input DRIVE

4 6
DR.OK Drive OK.
DISCHARGE TIME = 1 min.

signals. 5 7
310Vdc

COMMON
6
DR.OK

7
HIGH VOLTAGE

Auxiliar Power
DANGER

CONTROL
Supply input

X3
CONTROL POWER

POWER
terminals.
220 Vac
INPUTS

L INPUTS L

N N

ACa - 14 / 32 AC Brushless Servo Drive System Manual Ver: 0110

2.5 STATUS DISPLAY

It is a 7-segment display for monitoring the Drive status.

Powering the equipment the Status Display shows a four digit sequence:

Drive identification, Ballast resistor configuration, Number of encoder pulses per turn,
Current threshold for motor i2t protection.

ACS-05 Internal Reserved / 1 Amp / 9 Amp

Ballast

ACS-10 External 2500 ppt 10 Amp 11 Amp

Ballast

ACS-20 12 Amp 13 Amp

ACS-30 14 Amp 15 Amp

After that, a digit is shown steady (status message) or blinking (warning).

Status messages: (steady)

The unit is under power, Drive_Enable and Speed_Enable pins are deactivated, (0 Volts at
pins 3 and 4 of X2). The motor has no torque.
Waiting. The drive is waiting for the Bus charge. The control circuits are powered. If this status
lasts too long, review the power connection to Mains and the Ballast resistor one.
Speed_Enable off (0 Volts at pin 3 of X2), and Drive_Enable on (+24V at pin 4 of X2).
The motor has torque with no velocity command.
Everything is OK. Drive_Enable and Speed_Enable are active and the Motor responds to
the command.

Warning: (blinking)

Motor overtemperature.
Solutions: Smooth the duty cycle. Improve its cooling.
No Feedback.
Solutions: Check that the feedback cable and connectors are properly connected.
Drive overtemperature.
Solutions: Smooth the duty cycle. Improve its cooling.
Motor overload warning. (fast blinking)
The motor i 2t protections is been exceeded. This event activates the digital output "Warning
output" (1 and 2 pins of X2). 60 seconds later, the error will be activated.
Motor overload error. After the previous warning, the motor i 2t protection has gone off. The
motor has maintained an average current greater than the maximum allowed for too long. The
motor has been working beyond its rated current.

AC Brushless Servo Drive System Manual Ver: 0110 ACa - 15 / 32

 Drive Overcurrent. There has been an instantaneous current peak greater than the maximum
allowed. Get in contact with Fagor Automation.
Drive Overvoltage. The internal Bus voltage has exceeded 430 Vdc.
Solutions: The Ballast circuit may be defective or the supply voltage is too high. The external
Ballast hasn`t been installed correctly, or its value is not right.
Internal Ballast overload warning (fast blinking)
The Internal Ballast i 2t protection is activated. If it goes on, the error will be activated.
Internal Ballast overload error. After the previous warning, the Internal Ballast i 2t protection
has gone off.
Solutions: Install an external Ballast resistance, and set the RAPT < 100 Ohms.
Internal fault. Internal control error, or the RIT value is wrong.

Phase droped. Any of the main phases has droped, or a mains microcut has been longer than
10 ms.

Note: All the alarms are latched, the unit (control and power supply) must be powered off and
turned back on after 30 seconds. Or push the Reset button.

2.6 SPECIFICATIONS PLATE AND SALES REFERENCE

Examples of the Fagor Automation S. Coop.(Spain)

specs plate that comes with AC SERVODRIVE
each Fagor ACS drive. MODEL: ACS-10 INPUT : 3 X 220 VAC / 50-60 Hz
S.N.: 202-1904001 OUTPUT: 0-200 VAC
PC PP VAR FR Io 5 Amp W: 3,85 Kg
00A 00A 00A Imax 10 Amp

"PC", "PP", "VAR" and "FR" indicate manufacturing related aspects (hardware design versions)
that are useful for technical consultations and repairs.

Codes of the sales

reference of Fagor ACS A.C.S. DRIVES Example: ACS - 05
drives.
A.C. SERVODRIVE
CURRENT Rated Peak (0.5 sec)
05 2,5 Amp 5 Amp
10 5 Amp 10 Amp
20 10 Amp 20 Amp
30 15 Amp 30 Amp

ACa - 16 / 32 AC Brushless Servo Drive System Manual Ver: 0110

 2.7

L+ Ri Re
DIAGRAM
INTERNAL
OPERATION

X1
Pin 1 -10V
L1 Bus Power U
POWER L2 Rectifer Internal Pin 2 stage. V
Ballast. Voltage
INPUT L3 supply Pin 3 PWM W
+10V
MOTOR
Power-down OUTPUT
detection
Pin 4, X2
Pin 3, X2
SPEED DRIVE
COMMON COMMON
Pin 5, X2 Overspeed

AC Brushless Servo Drive System Manual Ver: 0110

Control Pin 5, X2
J2 a b c
b
Pin 5, X1 J3
a Current Control
VEL Speed PI
Ramp PI de PWM
RAD1 RAP1 c
VEL generator
CAD1 CAI1 b Pin 9, X1
Pin 6, X1 a
J4 CURRENT
Max. Current
Acc/Dec Max. Offset PI. Gain Pin 8, X1
Pin 7 , X1 Limit
Ramps Speed
CURRENT VELOCITY
A
Pin 4 , X1
Pin 10, X1
B3-B0
ENCODER Protections:
A
OUTPUT Feedback Error Bus
Frequency / Voltage STATUS
ENCODER RTV1 Drive Overtemperature Voltage DISPLAY
INPUT RAJFV RIT Motor Overload
Drive Overcurrent
RAPT Pin 6, X2
Drive Overvoltage
Pin 1, X2 Undervoltage Logic circuits for
DR.OK
WARNING Balast overload diagnosis & control.
OUTPUT RTV1 Internal Fault
Pin 7, X2
Power Supply Fault
Pin 2, X2

ACa - 17 / 32
 Identity Module, IM
This card is inserted into the ACS drive module. Its passive components and jumpers adjust the
drive electronics to the FXM motor it governs. There is an IM card for each correct combination of
FXM motor and ACS drive as shown on the next page.

The potentiometers accessible from the outside allow a final adjustment of the servo drive system.

The component layout of this card and their functions are described next.

- IM Board -

Acc/Decc Ramps abc

Max. Current Limit J2

ab abc
PI Gain

RAJFV
J3 J4

RAPT

RAP1
RAD1
CAD1
RTV1

CAI1
RIT
NC
Max. Speed

Offset

Passive components:

NC: Empty.

RIT: It sets the current value from which the i2t protection starts integrating. RIT has different
values for each motor.

RAJFV: It sets the relationship between the frequencies of the encoder pulses and the equivalent
voltage in the internal drive circuits.

RAPT: It determines if the Ballast is an internal or external resistor. If an external Ballast is

installed RAPT should be < 100 Ohms. An open RAPT means internal Ballast. The protection
against i 2t exceeding doesn't work with external Ballast.

RTV1: (not available yet) It sets the drive acording to the encoder pulses per turn used. If RTV1
is short-circuited the drive will be set for 3000 ppt, if RTV1 is openned it will be set for 2500 ppt.

RAD1, CAD1: They set the derivative compensation at the velocity PI.
RAP1, CAI1: They set the proportional and integral action of the velocity PI.

Jumpers (in bold, default position):

J2: Ramp generator, active (ab), or not (bc).
J3: Activates the acceleration overshooting control. Active (ab).
J4: Selector for the type of command. Current command (ab) or velocity (bc).

ACa - 18 / 32 AC Brushless Servo Drive System Manual Ver: 0110

 These are the names of the identity
modules (IM) for each Motor-Drive set.

IM Board
ACS-05 ACS-10 ACS-20 ACS-30
FXM11.40F.I0.xx0 IM-1140F-05 IM-1140F-10
FXM12.40F.I0.xx0 IM-1240F-10 IM-1240F-20
FXM13.40F.I0.xx0 IM-1340F-10 IM-1340F-20
FXM14.20F.I0.xx0 IM-1420F-10
FXM14.40F.I0.xx0 IM-1440F-20 IM-1440F-30
FXM31.20F.I0.xx0 IM-3120F-05 IM-3120F-10
FXM31.40F.I0.xx0 IM-3140F-10 IM-3140F-20
FXM32.20F.I0.xx0 IM-3220F-10 IM-3220F-20
FXM32.40F.I0.xx0 IM-3240F-20 IM-3240F-30
FXM33.20F.I0.xx0 IM-3320F-20 IM-3320F-30
FXM33.40F.I0.xx0 IM-3340F-20 IM-3340F-30
FXM34.20F.I0.xx0 IM-3420F-20 IM-3420F-30
FXM34.40F.I0.xx0 IM-3440F-30
FXM53.20F.I0.xx0 IM-5320F-20 IM-5320F-30
FXM53.40F.I0.xx0 IM-5340F-30
FXM54.20F.I0.xx0 IM-5420F-20 IM-5420F-30
FXM54.30F.I0.xx0 IM-5430F-30
FXM55.12F.I0.xx0 IM-5512F-20 IM-5512F-30
FXM55.20F.I0.xx0 IM-5520F-30
FXM73.12F.I0.xx0 IM-7312F-20 IM-7312F-30
FXM73.20F.I0.xx0 IM-7320F-30
FXM74.12F.I0.xx0 IM-7412F-30
FXM75.12F.I0.xx0 IM-7512F-30

Codes of the sales reference

of Fagor ACS Identity Modules.

IDENTITY MODULE Example: IM - 3420F - 30

IDENTITY MODULE
MOTOR TYPE
DRIVE TYPE

AC Brushless Servo Drive System Manual Ver: 0110 ACa - 19 / 32

 Adjustment potentiometers:

Acc/Dec Ramps: To adjust the ramp filtering the velocity command. Ramps with a duration of up
to 10 seconds may be applied for a 10 volt step of analog voltage.
Turning this pot clockwise means smoother behavior (longer ramp).
WATCH OUT! If jumper J2 of the identity module is set in the (bc) position, no ramps will be
applied.

Max. Current Limit: Each drive is factory set to provide the maximum current to the motor which
corresponds to the maximum value of the current command. This adjustment may be used to
decrease (-100%) the value of that current limit.
Turning this pot clockwise allows more current to flow through the motor.

PI Gain: For adjusting the overall gain of the velocity PI.

Turning this pot clockwise increases the gain and, therefore, makes the system perkier.

Max. Speed: Every drive is factory set so the motor turns at its maximum speed when applied
maximum velocity command.
In this case, this pot will be turned 3/4 of its full travel. Therefore, it may be used to limit or force
slightly the maximum motor speed.
Turning this pot clockwise allows greater speed.

Offset: To compensate for the difference between the velocity command and the actual motor
speed.

ACa - 20 / 32 AC Brushless Servo Drive System Manual Ver: 0110

 User notes:

AC Brushless Servo Drive System Manual Ver: 0110 ACa - 21 / 32

 Installation
4.1 GENERAL CONSIDERATIONS

About the Motor:

Remove the anti-corrosion paint of the shafts before mounting them on to the machine.
The motor may be mounted as described in the first chapter
Watch for the ambient conditions shown in the general characteristics:
Mount it somewhere that is dry, clean and accessible for maintenance.
-remember that it meets the IP64 degree of protection.
It must be easily cooled. Avoid corrosive or flammable environments.
Guard the motor with a cover if it is exposed to splashes.
Use flexible couplings for direct transmission.
Avoid radial and axial loads on the motor shaft.

Avoid hitting the shaft.

Use some tool that is supported in the

threaded hole on the shaft to insert the
pulley or the gear.

About the Drive:

The module must be installed in an electrical enclosure that is clean, dry free of dust, oil or other
pollutants - remember that its degree of protection is IP20-. Never install it exposing it to flammable
gases. Avoid excessive heat and humidity. The ambient temperature must never exceed 45°C
(113°F). Mount the modules vertically (as shown on the photos). Avoid vibrations.
Leave at least 30 cm of clearance above and below the module for better air flow.

About the connections:

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
voltage reference at the module (pins 2, 4 or 10 of X1).
Keep the signal cables away from the power cables.

All the pins with the GND symbol (2, 4, 10) are the same electrical point and are interchangeable.

ACa - 22 / 32 AC Brushless Servo Drive System Manual Ver: 0110

4.2 ELECTRICAL CONNECTIONS
Ballast
(optional)
FXM

Basic interconnection diagram CNC

ACS
SEC Cable
IEC Cable
Mains

Mains MPC Cable

Power connection: Mains-Drive.

The drive power supply must be three-phase. The use of a transformer is not a must.

Autotransformer.
Fuses (*)
Secondary: 3x220 Vac 3 x 2.5 mm 2 ACS Drive
ACS-05 4 Amp
ACS-10 8 Amp

POWER
L1

INPUT
Mains

L2 ACS-20 16 Amp
L3 ACS-30 25 Amp
Fuses
L
220 Vac
N

Transformer.

Secondary: 3x220 Vac 3 x 2.5 mm2

Mains

Fuses

(*) Recommended values. 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.

A thermal switch may optionally replace the fuses.

Important: The secondary windings must have a star connection with its middle point connected
to ground.

AC Brushless Servo Drive System Manual Ver: 0110 ACa - 23 / 32

 Power connection: External Ballast resistor.

If the application requires a Ballast resistor with more than 150W:

- remove the cable joining the terminals Ri and L+
- install the External Resistor between the terminals Re and L+. Check that its Ohm value is the
one shown in the general characteristic table.
- In the Identyti Module, make RAPT < 100 Ohms. The protection against i 2t exceeding won't work
with external Ballast.

ACS Drive ACS Drive

Internal Ballast External Ballast
Re Re
Ri Ri
L+ L+
2.5 mm 2

Power connection: Drive-Motor.

Ready Made Cables

MPC-4x1.5+(2x1) , MPC-4x1.5
MOTOR MPC-4x2.5+(2x1) , MPC-4x2.5
OUTPUT
Holding Brake
CONNECTOR
F (Option)
E 24V Released
A U 0V Holding
U M
B V
V 3
W C W
D

E
MC-23 base. D A
F
AC Drive FXM Motor C B

ACa - 24 / 32 AC Brushless Servo Drive System Manual Ver: 0110

 Power Cables.

The next table shows the

recommended cable section for
each motor.

Stall Current

Stall Current
1.5 mm2

2.5 mm2

1.5 mm2

2.5 mm2
MPC Cable

(Arms )

(Arms )
FXM11.40F.I0.xx0 2,0 FXM54.20F.I0.xx0 12,7
FXM12.40F.I0.xx0 3,9 FXM54.30F.I0.xx0 18,4
FXM13.40F.I0.xx0 5,6 FXM55.12F.I0.xx0 9,1
FXM14.20F.I0.xx0 3,5 FXM55.20F.I0.xx0 15,5
FXM14.40F.I0.xx0 6,9 FXM73.12F.I0.xx0 10,7
FXM31.20F.I0.xx0 2,2 FXM73.20F.I0.xx0 17,6
FXM31.40F.I0.xx0 4,4 FXM74.12F.I0.xx0 13,5
FXM32.20F.I0.xx0 4,3 FXM75.12F.I0.xx0 17,1
FXM32.40F.I0.xx0 8,4
FXM33.20F.I0.xx0 6,3 Best Option
FXM33.40F.I0.xx0 12,0
FXM34.20F.I0.xx0 7,6
FXM34.40F.I0.xx0 15,3 no brake wIth brake
FXM53.20F.I0.xx0 9,9
FXM53.40F.I0.xx0 19,7 MPC-4x1,5 MPC-4x1,5+(2x1)
MPC-4x2,5 MPC-4x2,5+(2x1)

The length of these power cables

must be specifically ordered (in meters)

Codes of the sales reference MOTOR POWER CABLE Example: MPC - 4x2.5 +(2x1)
of Fagor Motor Power Cables.
MOTOR POWER CABLE
nr LINES x SECTION (mm2)
nr LINES x SECTION (mm2) 2x1
No

AC Brushless Servo Drive System Manual Ver: 0110 ACa - 25 / 32

 Connection of the monitoring and control signals.

Monitoring: The drive offers +10Vdc at its "velocity" output when, receiving the maximum
command of +10Vdc, the motor turns at the calculated speed. The "current" output offers
+6.2Vdc when the drive provides its peak current.

Enable signals using ±10V voltage: Drive OK switch:

X1
To the safety X2
1 -10 V DR.OK
2 chain. 6
3 7
+10 V

X2
3
SPEED
4 DRIVE Drive OK: 0.6A - 125Vac
5
COMMON 0.6A - 110Vdc
2A - 30Vdc

Enable signals: Monitoring signals:

X1
X2
10
3 V
ty 8
24 V SPEED oci ±10V VELOCITY
4 DRIVE Vel 9 CURRENT
0V 5 COMMON V
t
ren ±6.2V
Cur

Warning Output: + 24 Vdc + 24 Vdc

X2
1 C
2
E
Maximum current 100 mA X2
Maximum voltage 50 Volts 1 C
2
E

ACa - 26 / 32 AC Brushless Servo Drive System Manual Ver: 0110

 Encoder feedback connection.

The encoder signals must be taken to the ENCODER INPUT of the ACS.
The ACS amplifies these signals and it is able to divide its frequency. The dividing factor comes
from the B3-B0 dip-switches. The ACS drive offers these signal through the ENCODER OUTPUT
connector.
The encoder must turn with the motor shaft and it must not be installed anywhere else in the
transmission chain. The FXM's encoder outputs 2500 pulses per turn of 5V incremental signals.
Fagor supplies these full connections (cable + connectors), SEC and IEC.

Green (Sub-D, M15)

A 1 Yellow 1
*A 2 Blue 2
(HD,Sub-D,F15) B 3 3
Pink
*B 4 Grey 4 1
Z 5 5 9
Brown
*Z 6 White 6
1 11 7 Purple 7
8 Black 8 15 8
0 V 11 11
5 15

To Drive (HD, Sub-D, F15) Ready Made Cable (Sub-D, M15) To Control
SEC 1/3/5/10/15/20
4x2x0,14+2x0,5 Cable

IOC-17
Brown/Green Front view K A
A 1 A J
White/Green
*A 2 Purple
B I P L B
(HD,Sub-D,M15) B 3 Black
E Q M C
*B 4 F H O
Red N D
Z 5 G G
*Z 6 Blue H F E
U 7 Yellow/Brown K
5 15 *U 8 White/Grey L
V 10 Red/Blue M
*V 14 Grey/Pink N
1 11 Pink
W 12 O
*W 13 Grey P
Tp 15 White/Pink I
Grey/Brown J
To Drive GND:Tp 11 Yellow D
+5 Vdc 9 White C

Ready Made Cable IOC-17

(HD,Sub-D,M15) (Length in meters, To Motor
IEC- 5/10/15/20 connectors included)
14x0,25+2x0,5 Cable

B3 B2 B1 B0 K ppt out Example: A

RATIO ENCODER
0 0 0 1 2/2 2500
SELECT INPUT B
0 0 1 0 2/3 1667
0 0 1 1 2/4 1250 2500 ppt
(MSB) B3 Z
0 1 0 0 2/5 1000
B2 t
0 1 0 1 2/6 833
B1
0 1 1 0 2/7 714 B3 0
(LSB) B0
0 1 1 1 2/8 625 B2 0 K = 2/4
1 0 0 0 2/9 555 B1 1
1 0 0 1 2/10 500 B0 1
1 0 1 0 2/11 454
1 0 1 1 2/12 417 A
= ON (1) 1 1 0 0 2/13 385
1 1 0 1 2/14 357 ENCODER B
= OFF (0) 1 1 1 0 2/15 333 OUTPUT
1 1 1 1 2/16 312 Z
1250 ppt
t

AC Brushless Servo Drive System Manual Ver: 0110 ACa - 27 / 32

 Codes of the sales references for the cables supplied by Fagor:

MOTOR ENCODER CABLE Example: IEC - 20 CNC ENCODER CABLE Example: SEC - 20

INCREMENTAL ENCODER CABLE SIMULATOR ENCODER CABLE

LENGTH (m) 5, 10, 15, 20. LENGTH (m) 1, 3, 5, 10, 15, 20.

SUB-D SUB-D
SUB-D
IOC-17 M15 HD F15
HD M15

Command signal connection.

The command governing the motor may be a velocity or current command.

All the command signal lines must be shielded twisted pairs and the shield must be connected to
the voltage reference at the module (pins 2, 4 or 10 of X1).
The input impedance of the velocity command is 22 kOhms (a range of ±10 V).
The input impedance of the current command is 10 kOhms (a range of ±6.2 V).

Inverted velocity command input: Current command input:

shortcircuit RAPT on the IM. Jumper J4 (ab)
Velocity command

range: ± 10V 4
Current command

5
0V VEL+
6 0V 4
Uref VEL-

7
Input impedance: 22 k? Jumper J4 (bc) Uref CURR

range: ± 6.2 Vdc

Uninverted velocity command input: Input impedance: 10 k?
Velocity command

range: ± 10V 4
Uref 5 VEL+ Generation of the inverted velocity command
6
0V VEL- and application to the drive:

1 -10 V
Input impedance: 22 k? Jumper J4 (bc) 2
10 k?
3
+10 V
Differential velocity command input:
4
Velocity command

range: ± 10V
Velocity command

5 VEL+ 4
Uref
6 5
0V VEL- VEL+
6
Uref VEL-

Input impedance: 22 k ? Jumper J4 (bc) Jumper J4 (bc)

ACa - 28 / 32 AC Brushless Servo Drive System Manual Ver: 0110

4.3 ELECTRICAL ENCLOSURE DIAGRAM
This is a sample diagram for an
electrical enclosure. It may be
modified to meet the needs of a
particular application.

It includes a simple circuit to power

the brake of the FXM.

Warning: When using an

autotransformer, the secondary must
have a star connection with its
middle point connected to ground.
Fuses are MANDATORY.

The delay when disconnecting the D3 contacts

serves for:
- the "Drive_Enable" to stay active while the motor
is braking at maximum torque.
- for the brake to hold the motor after it has
stopped.

If the system moves a vertical axis, it should be

compensated for (with counterweight).

AC Brushless Servo Drive System Manual Ver: 0110 ACa - 29 / 32

4.4 INITIALIZATION AND SETUP

Verify that the identity card IM is the right one. The name of the card itself indicates which motor
and drive combination it has been designed for.

Select whether Ramps are to be generated or not using jumper J2.

Yes (J2-ab). No (J2-bc).

To cancel the control of excessive acceleration, change the jumper J3 position. Active (J3-ab).

Verify that jumper J4 selects the type of command to govern the motor and that it is applied at the
right pins. Current (J4-ab). Velocity (J4-bc).

Measure the motor speed. Apply the maximum velocity command. Then, turn the Max.Speed
potentiometer until reaching the desired speed for that command. For 10V of velocity command
with the motor turning at the maximum speed, the monitoring output (pins 8 and 10 of X2) will
provide 10V.

Use the Max.Current.Limit potentiometer to adjust the maximum peak current (maximum motor
torque). To monitor the peak current, the motor may be turned back and forth at full torque and
without generating ramps.

Adjust the gain of the velocity PI with the PI.Gain potentiometer until the desired behavior is
obtained.

Adjust the velocity offset.

Send to the drive an analog voltage of 0 Volts (by jumpering pins 4,5 and 6 of X1 connector).
Measure the motor speed and turn the Offset potentiometer on the identity card until the motor
stops. But, CAREFUL, by this method, only the drive offset is eliminated, the CNC may have an
offset of its own. Now the CNC offset should be adjusted.

To adjust the offset in the complete control loop, set the CNC in DRO mode, but with the
Drive_Enable and Speed_Enable signals active. Turn the offset potentiometer until stopping the
motor. Another way could be to set a position for the axis with the CNC and turn this
potentiometer until a symmetrical following error is obtained.

Adjust the ramp value. If the generation of ramps has been activated with J2, turn the Acc/Dec
Ramps potentiometer until obtaining the desired behavior.

ACa - 30 / 32 AC Brushless Servo Drive System Manual Ver: 0110

 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 the product
has left our warehouse so long as the warranty control sheet has been sent back to us. This
translates into the extension of warranty period to two years since 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 committed to repairing or replacing its products from the time when the first such
product was launched up to 8 years after such product has disappeared from the 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.

This 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 au-
thorized by FAGOR.

If once the service call or repair has been completed, the cause of the failure is not to be blamed the
FAGOR product, the customer must cover all generated expenses 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

Service and Maintenance Contracts are available for the customer within the warranty period as well as
outside of it.

AC Brushless Servo Drive System Manual Ver: 0110 ACa - 31 / 32

 Overview of FAGOR
SWITZERLAND CHINA, P.R.
subsidiaries:
FAGOR AUTOMATION SUISSE S.à r.l. Beijing:
SPAIN Rue B.- Vuilleumier 11 Beijing FAGOR AUTOMATION Equipment
CH-2616 RENAN (BE) Co.,Ltd.
Headquarters: Tel.: 41-329631863 Room No. B-202, Guo Men Building, Nº 1
FAGOR AUTOMATION S.COOP. Fax: 41-329631864 ZuoJiaZhuang, Chaoyang District
Bº San Andrés s/n, Apdo. 144 E-mail: [email protected] BEIJING 100028
E-20500 ARRASATE-MONDRAGON Tel: 86-10-6464 1951/1952/1953
www.fagorautomation.mcc.es PORTUGAL Fax: 86-10-6464 1954
[email protected] [email protected]
Tel: 34-943-719200 FAGOR AUTOMATION LTDA.
Fax: 34-943-791712 Sucursal Portuguesa
34-943-771118 (Service Dept.) Rua Gonçalves Zarco nº 1129-B-2º Shanghai:
Salas 210/212 Beijing FAGOR AUTOMATION Equipment
Usurbil: 4450 LEÇA DA PALMEIRA Ltd., Nanjing Office
FAGOR AUTOMATION S.COOP. Tel : 351 22 996 88 65 Holiday Inn (Nanjing)
Planta Usurbil Fax: 351 22 996 07 19 45 North Zhong Shan Road Nanjing
San Esteban s/n Txoko-Alde [email protected] 210008, Jiangsu Provence, P.R.China
20170 USURBIL Tel: 86-25-3328259
Tel: 34-943-366332 USA Fax: 86-25-3328260
Fax: 34-943-360527 [email protected]
[email protected] Chicago:
FAGOR AUTOMATION CORP. Guangzhou:
Barcelona: 2250 Estes Avenue Beijing FAGOR AUTOMATION Equipment
FAGOR AUTOMATION, Catalunya ELK GROVE VILLAGE, IL 60007 Co.Ltd., Guangzhou Rep.Office
Pg. Ferrocarrils Catalans, Tel: 1-847-9811500 No. 423, Plotio Plaza.
117-119 1ª Pl. Local 12 1-847-9811595 (Service) No. 18 Airport Road, Baiyun district
CORNELLÀ DE LLOBREGAT Fax: 1-847-9811311 GUANGZHOU 510405
08940 BARCELONA [email protected] Tel: 86-20-86553124
Tel.: 34-93-4744375 Tlx: 285273 86-20-86577228 Ext. 2423
Fax: 34-93-4744327 Fax: 86-20-86553124
[email protected] California: [email protected]
FAGOR AUTOMATION West Coast
FRANCE 3176 Pullman Suite 110 HONG KONG
Costa Mesa CA 92626
AUTOMATION SYSTÈMES Tel: 1-714-9579885/9892 FAGOR AUTOMATION (ASIA) LTD.
Parc Technologique de La Pardieu Fax: 1-714-9579891 M4, Sunbeam Centre
16 Rue Patrick Depailler [email protected] 27 Shing Yip St. Kwun Tong
63000 CLERMONT FERRAND KOWLOON, HONG KONG
Tel.: 33-473277916 New Jersey: Tel: 852-23891663
Fax: 33-473150289 FAGOR AUTOMATION East Coast Fax: 852-23895086
E-mail: [email protected] Tel: 1-973-7733525 [email protected]
Fax: 1-973-7733526
GERMANY [email protected] KOREA,Republic of

FAGOR INDUSTRIECOMMERZ GMBH CANADA FAGOR AUTOMATION KOREA, LTD.

Postfach 604 D-73006 GÖPPINGEN 304 Bomi Bldg., 661 Deungchon-Dong
Nördliche Ringstrasse, 100 Ontario: Kangseo-Ku, Seoul 157-030, Korea
D-73033 GÖPPINGEN FAGOR AUTOMATION ONTARIO Tel: 82-2-36652923/4
Tel.: 49-716120040 Unit 3, 6380 Tomken Road Fax: 82-2-36652925
Fax: 49-716113327 MISSISSAUGA L5T 1Y4 [email protected]
E-mail: [email protected] Tel: 1-905-6707448
Fax: 1-905-6707449 TAIWAN R.O.C.
ITALY [email protected]
[email protected] FAGOR AUTOMATION (ASIA) LTD.,TWN
FAGOR ITALIA S.R.L. BRANCH (H.K.)
Centro Direzionale Lombardo Montreal: 11F-2 No.61, SEC.2, KUNG YI ROAD
Pal. CD3 P.T. - Via Roma, 108 FAGOR AUTOMATION QUEBEC TAICHUNG, TAIWAN R.O.C.
20060 CASSINA DE PECCHI (MI) Tel.: 1-450-2270588 Tel: 886-4-3271282
Tel.: 39-0295301290 Fax: 1-450-2276132 Fax: 886-4-3271283
Fax: 39-0295301298 Cellular phone: 1-450-9517160 [email protected]
E-mail: [email protected] E-mail: [email protected]
SINGAPORE
UNITED KINGDOM BRAZIL
FAGOR AUTOMATION (S) PTE.LTD.
FAGOR AUTOMATION UK Ltd. FAGOR AUTOMATION DO BRASIL 240 MacPherson Road
Unit T4, Dudley Court North COM.IMP. E EXPORTAÇAO LTDA. 03-01 Pines Industrial Building
Waterfront East Rua Säo Sebastião 825 SINGAPORE 348574
Level Street, Brierley Hill CEP 04708-001 Tel: 65-8417345/8417346
West Midlands DY5 2HU. SAO PAULO-SP Fax: 65-8417348
Tel: 44-1384 572550 Tel.: 55-11-51841414 [email protected]
Fax: 44-1384 572025 Fax: 55-11-51819898
Cellular phone: 44-836 653 701 [email protected]
[email protected]

ACa - 32 / 32 AC Brushless Servo Drive System Manual Ver: 0110