2 - Fagor Automation

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Installation 8. INSTALLATION Connection of the control and communications signals 312 DDS HARDWARE Ref.1307 302 i CAN bus connection The ISO 11898 CAN interface is an international standard for digital communications between CNC's and servo drives of CNC machines. The communication protocol is CanOpen according to EN 50325-4. The CAN communication bus integrates several functions: It carries the velocity command from the CNC to the drive in digital format with greater accuracy and immunity against outside disturbances. It carries the feedback signal from the drive to the CNC. It communicates the errors and manages the basic control signals of the drive (enables). It allows setting, monitoring and diagnosis of the parameters from the CNC with simple and standard procedures. Its open standard structure provides compatibility between CNC's and servo systems from different manufacturers on the same machine. The different drive modules and the CNC are connected through CAN connector (X6) carried by each drive of the FAGOR catalog (see their front panel) through the CAN cable. See chapter 7. CABLES in this manual . It is a tree type connection where the 16-position rotary switch (0-15) of each drive permits selecting the address of each module integrated in it. NOTE. Remember that it is not possible to use both SERCOS and CAN interfaces at the same time. The hardware can only be used with one of the two boards in the drive. Particular Differentiate each drive with the 16-position rotary switch “NODE SELECT” with sequential numbers starting from 1. NOTE. The module must be reset in order for any change made on the rotary switch to be effective. INFORMATION. The DRIBUSID parameters of the CNC must have the same ID numbers as the ones assigned by means of the Node_Select switch. See figure F. H8/24. If the same motor is to be used as C axis and spindle, the two CNC tables must have the same value for the DRIBUSID parameter. If a drive is assigned the 0 identifier, the module will be ignored. Example. For example, a machine has four servo drives identified as 1, 2, 3 and 4. To ignore the second one, another one must be renamed so they are consecutive. The easiest solution for a situation like this will be 1, 0, 3 and 2. NOTE. Remember that the DRIBUSID parameters of the CNC can also be modified the same way. Interconnection Connect in the CAN field bus all the drives that will be governed by the CNC. Use the CAN cable to connect the first drive to the adjacent one (this one will then be the second drive) through their X6 connectors. Repeat this procedure with the second drive and so on up to the last drive. Use a CAN cable to connect the X6 connector of the first drive to the CAN connector of the CNC model being used. NOTE. Note that the CAN cable is supplied without connectors. Before connecting it, put the cable and connectors together as indicated in figure F. H8/33.
ISO GND CAN L SHIELD CAN H SHIELD Pin Pin 1 5 SHIELD 2 4 CAN H 3 3 SHIELD 4 2 CAN L 5 1 ISO GND F. H8/33 CAN cable to connect a CNC and two drives. NOTE. Note that the connectors of the intermediate modules (when connecting several drives in the bus) receive two wires, in each pin of the CAN connector, coming from each adjacent module. The connectors of the modules at either end only receive one. Making all these connections will conclude the connection process. See figure. ISO GND CAN L SHIELD CAN H SHIELD CNC Pay attention to this wire crossing when connecting the cables. 1 DRIVE MODULE 1 ADDRESS=1 LINE TERM=0 SHIELD CAN H SHIELD CAN L ISO GND Pin Pin 5 5 4 4 3 3 2 2 1 1 F. H8/34 General connection diagram for the CAN bus between the drives and the master device (CNC, etc.). CAN cable connection. NOTE. No more than six drive modules (axes + spindles) can be connected in the CAN bus. A 9 8 7 6 B C DE F 0 3 5 4 1 2 0 1 1 1 DRIVE MODULE 2 ADDRESS=2 LINE TERM=1 A 9 8 7 6 B C DE F 0 3 5 4 1 2 0 1 SHIELD CAN H SHIELD CAN L ISO GND WARNING. The bending radius of the CAN cable must always be more than 50 mm. F. H8/35 Minimum bending radius of the CAN cable. Installation INSTALLATION Connection of the control and communications signals 8. DDS HARDWARE Ref.1307 303
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DRIVE DDS Hardware manual Ref.1307
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GENERAL INDEX 1 DESCRIPTION .......
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Order example .....................
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DECLARATION OF CONFORMITY Manufactu
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Title DRIVE DDS. Hardware manual. T
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- SHIPPING CONDITIONS, STORAGE AND
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- VERSION HISTORY - The history of
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- SAFETY CONDITIONS - Read the foll
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Precautions during repairs Do not
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- ADDITIONAL NOTES - Install the DD
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DESCRIPTION 1 The DDS servo drive s
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1.2 General diagram See the schemat
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1.4 Environmental and operating con
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POWER SUPPLIES 2 The FAGOR power su
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PS-65A module Technical data T. H2/
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PS-65A. Connector description The n
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PS-25B4 module Technical data T. H2
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PS-25B4. Connector description The
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PS-25B4 Model currently in the cata
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Terminal strip to connect the Balla
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i WARNING. Before handling these le
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The internal circuits of the non-re
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Module power-up 1. For PS-65A power
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XPS modules Technical data T. H2/14
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Block diagram X1 ( RIBON CABLE ) X2
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i Lights indicating the status of t
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i Lights indicating the status of t
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Terminal strip to connect the Balla
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i F. H2/22 Version label of the APS
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The next table shows the signals an
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Module power-up 1. For the XPS-25 a
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i However: The RPS-80 supplies 80 k
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Power diagram Mains Mains Mains Mai
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Power derating graph / RPS-45 T. H2
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Block diagram LINE FEEDBACK L1' L2'
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RPS-75. Connector description The f
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RPS-20. Connector description The f
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ON STATUS DISPLAY Other elements B
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1x Terminal strip for connecting th
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i i WARNING. Never install an APS-2
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i 1x Other connectors X1 and X2 con
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1x NOTE. It is important to know th
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The next table shows the signals an
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2. The power supply checks the syst
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NOTE. When detecting an error, it w
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DRIVE MODULES 3 The drives that mak
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X3 X4 X5 X6 SL2 SL1 X3 X4 X5 X6 SL2
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T. H3/5 Technical characteristics o
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Current derating Drives for an sync
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I (Arms) Imax 70 60 50 40 In 30 20
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I (Arms) 80 70 60 50 40 30 Imax In
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For a switching frequency fc = 4 kH
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Power derating The following graph
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Connector layout AXD/SPD 1.08/1.15
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AXD/SPD 1.35 These drive modules ha
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AXD/SPD 3.100/3.150 These drive mod
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MMC 1.08/1.15 These drive modules h
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MMC 1.35 These drive modules have t
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MMC 3.100/3.150 These drive modules
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FUSE (250V) 2,5A(F) STATUS DISPLAY
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X1 connector This connector may be
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Deactivation of the Speed Enable in
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X3. Direct feedback Having installe
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V A V B F. H3/68 Characteristics of
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X5 connector X5. RS-232 serial line
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i i The description of the pinout o
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Digital inputs characteristics Digi
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Dip-Switches (DS1, DS2) DS1 DS2 F.
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Characteristics of the digital inpu
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3.2 Compact drives When referring t
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The following table shows other ele
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Current derating Drives for an sync
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40 30 20 10 I (Arms) F. H3/102 Curr
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Connector layout The connectors of
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ACD/SCD 1.25 These drive modules ha
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SCD 2.75 These drive modules have t
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CMC 1.25 These drive modules have t
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24V ON STATUS DISPLAY BALLAST DC BU
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x1 x1 The following table shows the
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x1 X1 connector Compact drives inte
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i Other functions The “Prog. Out
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X3 connector This connector of the
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With external incremental feedback
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X4 connector X4. Motor feedback Con
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i X6 connector This connector of th
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x1 X7 connector X7. Status of the s
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Pinout X7-ANALOG I/O, digital input
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Analog outputs Associated with pins
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Digital outputs characteristics Nam
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i 3. Final stages: They display err
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AUXILIARY MODULES 4 Besides the pow
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4.2 Chokes The chokes (inductances
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4.3 External Ballast resistors NOTE
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ER+TH-18/x+FAN resistors with inter
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Ohm value WARNING. When connecting
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4.4 Capacitor module This module st
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i INFORMATION. In case of micro-sur
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RESET OVER VOLTAGE OVER CURRENT ON
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SELECTING CRITERIA 5 5.1 Selection
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Motor speed calculation (rev/min) T
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Third motor pre-selection Calculati
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5.2 Asynchronous spindle motor and
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In the case of a drill, the bit is
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T. H5/3 Different accelerations dep
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5.3 Drive selection When selecting
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Then, depending on the power for S3
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T. H5/8 Power supply selection when
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Non-FAGOR asynchronous spindle moto
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2. The power supply module must be
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T. H5/14 Selection of the mains con
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5.6 Ballast resistor selection guid
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When using compact drive modules th
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POWER LINE CONNECTION 6.1 Mains con
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6.2 Protection fuses i i To protect
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6.3 Differential breaker i On a DDS
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i MANDATORY. For machines whose ser
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6.6 Line inductance Line inductance
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i TN type mains Distribution diagra
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i IT type mains Distribution diagra
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CABLES 7 This chapter describes the
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7.2 Power cable. Motor-drive connec
Page 251 and 252: 7.3 Motor feedback cables i i The a
Page 253 and 254: 7.4 Direct feedback cable The direc
Page 255 and 256: 7.5 Signal cables for control and c
Page 257 and 258: Their sales reference is: SFO-V-FLE
Page 259 and 260: 7.6 RS232/RS422 BE adapter Before s
Page 261 and 262: PC-VT connection using an RS-232 ca
Page 263 and 264: RS-232 serial line cable between a
Page 265 and 266: RS-422 serial line cable between a
Page 267 and 268: INSTALLATION 8.1 Location 8 This ch
Page 269 and 270: Auxiliary modules Dissipated power
Page 271 and 272: EMC instructions for equipment inst
Page 273 and 274: See example of electrical installat
Page 275 and 276: A. Fan. Air output. It is recommend
Page 277 and 278: 8.3 System installation Preparation
Page 279 and 280: 8.4 Connection between modules Powe
Page 281 and 282: Ground connection MANDATORY. It is
Page 283 and 284: Connection to the external Ballast
Page 285 and 286: How to install an external Ballast
Page 287 and 288: How to install an external Ballast
Page 289 and 290: Ohm values WARNING. The Ohm value o
Page 291 and 292: 8.5 Power supply connections i See
Page 293 and 294: 8.6 Connection of the control and c
Page 295 and 296: i SERCOS ring connection The SERCOS
Page 297 and 298: Handling fiber optic cables FAGOR s
Page 299 and 300: Values that may be assigned to the
Page 301: SERCOS connection with a FAGOR 8055
Page 305 and 306: Once the display shows the desired
Page 307 and 308: CAN connection with a FAGOR 8055i C
Page 309 and 310: RS-232/422 serial line connection w
Page 311 and 312: 8.7 Check the installation Check th
Page 313 and 314: FUNCTIONAL SAFETY 9 See section on
Page 315 and 316: 9.2 Interface X3 X4 X5 X6 NODE OUT
Page 317 and 318: Considerations to bear in mind in t
Page 319 and 320: 9.5 Risk analysis The machine manuf
Page 321 and 322: 9.7 Response time FAGOR recommends
Page 323 and 324: 9.9 Commissioning Check that each o
Page 325 and 326: 9.11 Decommission and disposal The
Page 327 and 328: CONNECTION DIAGRAMS 10 10.1 SPD mod
Page 329 and 330: 10.4 SCD compact drive with FM7 asy
Page 331 and 332: 10.6 ACD compact drive with FXM syn
Page 333 and 334: i NOTE. Observe that a push-button
Page 335 and 336: i Brake control In some application
Page 337 and 338: BLOCK DIAGRAM OF THE DDS SYSTEM STA
Page 339 and 340: OPERATION DIAGRAM. PS-65A EMERG. ST
Page 341 and 342: OPERATION DIAGRAM. PS-25B4 EMERG. S
Page 343 and 344: OPERATION DIAGRAM. XPS-XX EMERG. ST
Page 345 and 346: OPERATION DIAGRAM. RPS-XX EMERG. ST
Page 347 and 348: 10.13 Compact system diagrams with
Page 349 and 350: 10.14 Diagrams of a mixed (combined
Page 351 and 352: OPERATION DIAGRAM Note 1. - KA3 is
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10.17 On-the-fly start/delta connec
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DIMENSIONS 11 When designing and bu
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11.3 Modular drive modules 255 (10.
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11.5 Mains filter 50 mm C L-1 C 50
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11.7 RPS chokes F. H11/7 Chokes RPS
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11.9 External Ballast resistors wit
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SALES REFERENCES 12 This chapter in
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Sales reference of the synchronous
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12.3 References of modular drives S
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12.5 References of positioning driv
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12.7 References of other elements S
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Sales reference of the SERCOS inter
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12.10 Module identification Each el
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COMPATIBILITY 13.1 Mains voltage 13
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13.6 VECON-3 board 13.7 VECON-4 boa
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13.15 CAPMOTOR-2 board and type of
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FAGOR AUTOMATION Fagor Automation S
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