Instruction Manual
Contents
1. Setting options m The TTL and PLC levels can be configured as switching levels Mode high level low level TTL gt 3 0 VDC lt 0 5V DC PLC gt 75VDC lt 2 0 V DC Operation with fixed speed fixed speed mode Fixed speed mode is possible for applications in which the flat brushless DC motor is to be operated with a specific speed only The target velocity to be set is fixed via a parameter see Chapter 4 4 Pa rameter Settings Setting options via speed setpoint value input Unsetpoint m Quick stop input low level Motor stops at Unsetpoint lt 0 1 V Motor stops if connection is open Motor runs at Unsetpoint gt 0 2 V m Quick stop input inverted high level Motor runs at Unsetpoint gt 2 0 V Motor runs if connection is open m No function The motor always runs Operation as voltage controller voltage mode The integrated speed controller can be configured for function as a voltage controller The motor voltage is then output proportionally to the voltage at the speed setpoint value input Unsetpoint The current limitation remains active With this configuration it is possible to use a master controller The speed controller is then only used as a power amplifier and for commutation only 15 AS FAULHABER Y 4 Function 4 3 Special configuration Digital output FG The digital output is a switch which switches to GND open collector with integrated pull up resistance of 22 kQ It can be config2. 822 rpm mNm Terminal inductance phase phase L 480 1 940 pH Mechanical time constant Tm 69 70 ms Rotor inertia J 8 1 8 1 gcm Angular acceleration OL max 9 5 9 5 10 rad s Thermal resistance Rth1 Rth2 33 27 K W Thermal time constant twi tw2 20 230 s Operating temperature range 25 80 C Shaft bearings ball bearing preloaded Shaft load max radial at 3 000 7 000 rpm 3 mm from mounting flange 4 0 3 5 N axial at 3 000 7 000 rpm push on only 3 5 3 4 N axial at standstill push on only 17 5 N Shaft play radial lt 0 015 mm axial 0 mm Housing material plastic Weight 20 1 g Direction of rotation electronically reversible Speed up to Ne max 7000 7000 rpm Torque up to 2 Me max 3 14 3 72 3 13 3 70 mNm Current up to 12 le max 0 403 0 475 0 201 0 236 A at 5 000 rpm 2 thermal resistance Rth 2 not reduced thermal resistance Rth 2 by 55 reduced Recommended areas for n rpm Watt i 5 D 2610T006BSC continuous operation 0 5 1 0 he iL I 2610T006BSC Rm 55 8 000 Note The diagram indicates the recommended 7 000 gUn E 2610T012BSC speed in relation to the available torque y 2610T012BSC Ruz 55 at the output shaft for a given ambient 6 000 4 Wee J temperature of 22 C 5 000 The diagram shows the motor in a completely insulated as well as thermally 4 000 coupled condition Rth2 55 reduced 3 000 The area of the curve is defined by the maximum allowable supply voltage of the 2 000 inte
3. Connector pin assignment 9 3 4 Connection diagram 10 4 Function 11 4 1 Connection functions 11 4 2 Configuration 13 4 3 Special configurations 14 4 4 Parameter settings 16 4 5 Technical information 18 5 Operation 20 5 1 Commissioning 20 6 Maintenance 21 6 1 Service Maintenance 21 6 2 Troubleshooting 21 7 Technical Data 22 7 1 Motor 2610 B with SC speed controller 22 7 1 1 Operating data 22 7 1 2 Product dimensions 23 7 1 3 Connection information 23 7 2 Motor 2622 B with SC speed controller 24 7 2 1 Operating data 24 7 2 2 Product dimensions 25 7 2 3 Connection information 25 7 3 Ambient conditions 26 8 EC Directives 27 9 Manufacturer s Declaration 28 10 Warranty 29 GY YX FAULHABER Y 1 Important Information This instruction manual describes the handling and operation of the following FAULHABER brushless flat frame pancake motors 2610 B SC 2622 B SC m Please read through the complete instruction manual before using the software m Keep this instruction manual in a safe place for later use The information given in this instruction manual refers to the standard version of the motors Please refer to any additional information sheet provided in the event of differences in information due to a customer specific motor modification 1 1 Symbols used in this instruction manual WARNING CAUTION REGULATION NOTE Warning This pictogram with the wording Warning indicates an potential danger which
4. ance of 22 kQ Error output m Output switches to high level if current limiting is activated The delay between activation of cur rent limiting and activation of the output can be adjusted m Output switches to low level if current limiting is deactivated 11 4 Function Y YX FAULHABER Y 4 1 Connection functions NOTE Frequency output Frequency output for reading out the actual motor speed Signal setup 6 pulses per motor revolu tion Ura 1 revolution Pull up resistance An additional external pull up resistance can be connected to increase the edge steepness The maximum loadability of the digital output must be noted and observed See circuit diagram re Up a s a N 1 ls 6 FG a e GND Due to the coupling of the internal pull up resistance between FG and the supply voltage Ur conducted electromagnetic RF interference which affect the supply voltage can drastically worsen the frequency signal If operated properly and as intended the speed and direct of rotation of the motor are not impaired by this interference PWM mode If Unsetpoint is specified as the voltage at the motor it is operated with speed control The speed is controlled by pulse width modulation PWM i e the motor tries to achieve a constant speed under fluctuating load D
5. can result in physi cal injuries This arrow points out the appropriate action to take to prevent the potential danger Caution This pictogram with the wording Caution indicates an potential danger which can result in slight physical injuries or material damage gt This arrow points out the appropriate precautions Regulations guidelines and directives This pictogram with the wording Regulation indicates a statutory regulation guideline or directive which must be observed in the respective context of the text Note This Note pictogram provides tips and recommendations for use and handling of the component 4 SZ FAULHABER 1 Important Information 1 2 Safety instructions Observance of the following safety instructions is prerequisite for trouble free and safe operation of the products Therefore please carefully read through all the notes and follow them when using the motors Intended use The servomotor is designed as a drive for small mechanical systems and for applications with speed control in a minimum space m The motor contains magnetic and electromagnetic components Any effects as well as the specific relevant national regulations must be taken into account when using the motor m The motor may not be used in environments where contact with water chemicals and or dust is possible or in potentially explosive atmospheres m The forces torques and accelerations acting on the motor are limit
6. of the Machinery Directive Product name Micro drives DC micro motors step motors motion control sys tems precision gears servo components controls micro precision systems linear DC servomotors piezometric motors Brand names FAULHABER PRECIstep FTB penny motor smoovy FAULHABER BX4 FAULHABER motion control Quickshaft Smartshell PiezoMo tor It is prohibited to start up the motor until it has been established that the machine in which these components are to be installed is fully functional and conforms to the safety requirements of the Machinery Directive Schoenaich 04 02 2008 Dr Thomas Bertolini dl ed Executive Management Place Date Signature 28 4 SZ FAULHABER 10 Warranty Extract from our warranty conditions Dr Fritz Faulhaber GmbH amp Co KG products are produced to state of the art production methods and are subject to strict quality control Should contrary to all expectations defects occur we undertake to find a remedy within the war ranty period We shall make good or replace defective goods at our own discretion within a reasonable pe riod set by you and at our own cost Replaced goods become our property and are to be returned to us If improvement or replacement delivery is not possible or does not occur or fails for other reasons for which we are responsible within a period determined by you you can opt to withdraw from the contract for the defective delivery or
7. regulations and directives EMC Directive Low Voltage Directive Machinery Directive VDE Regulations or accident prevention regulations This user s manual should be carefully read before powering on the drive 4 SZ FAULHABER 3 Installation 3 2 EMC compatible installation CAUTION Length of the connection leads The maximum length of the connection leads is limited gt All connection leads may not exceed a length of 3 m Additional EMC measures are necessary to optimise the performance with respect to emission and immunity 3 3 Connector pin assignment CAUTION The 26 B SC motor is equipped with a six position connection cable AWG 28 Electronic damage ESD protection Electrostatic discharges at the connection pin assignment of the ribbon cable can result in irreparable damage to the motor gt It may only be processed in ESD protected workplaces Incorrect connection of the cores can cause damage to or destruction of the electronics gt Connect the connections in accordance with the connector pin assignment see table Please also note and follow the supplementary installation instructions on electromagnetic compat ibility in Chapter 8 EMC Connection pin assignment of the ribbon cable Core Function VEIG 1 red Up electronic supply 4V DC 18V DC 2 Umot coil supply 1 7V DC 18V DC 3 GND earth 4 Untarget target velocity 0 10 V DC gt 10 V DC max 18 V DC 5 DIR rotational direction to ea
8. 230 s Integrated Gearhead Housing material plastic Geartrain material metal Blacklash at no load 4 q Bearings on output shaft ball bearing Shaft load max IA radial 5 mm from mounting face lt 15 N axial lt 5 N Shaft press fit force max lt 10 N Shaft play radial 5 mm from mounting face lt 0 03 mm axial lt 0 25 mm Operating temperature range 25 80 C Technische Daten output torque Mmax mNm output speed up weight with mo direction of rota reduction ratio rounded to nmax rpm tor g continuous opera intermittent op tion reversible efficiency tion eration 8 1 635 25 9 30 81 22 1 223 26 23 75 73 33 1 151 26 30 100 60 112 1 44 27 93 180 59 207 1 24 27 100 180 53 361 1 14 27 100 180 53 814 1 6 28 100 180 43 1257 1 4 29 100 180 43 SZ FAULHABER 7 Technical Data 7 2 Motor 2622 B with SC speed controller 7 2 2 Product dimensions M1 1 Option 9 W connector variants Me B26 AWG 28 PVC ribbon 1 0 cable with connector 912 0 05 Picoblade 017 E 03 6 02 connector pin assignment 6x 60 LEN L 6 1 ape 321 48 150210 deep 1 0 2 Connection n No Function 1 Up Bin 10 4 0 2 Il _ 9 9203 2 Umot 5x1 TN a 3 GND 45 Be 22 20 3 10 9 20 3 au le 1 5 DIR 6 FG 7 2 3 Connection informati
9. SZ FAULHABER Series 2610 B SC 2622 B SC Instruction Manual WE CREATE MOTION Y YX FAULHABER Y Imprint Version 1st issue 06 11 2009 Copyright by Dr Fritz Faulhaber GmbH amp Co KG Daimlerstr 23 25 71101 Sch naich All rights reserved including translation rights No part of this description may be duplicated repro duced stored in an information system or processed or transferred in any other form without prior express written permission of Dr Fritz Faulhaber GmbH amp Co KG This instruction manual has been prepared with care Dr Fritz Faulhaber GmbH amp Co KG cannot accept any liability for any errors in this instruction manual or for the consequences of such errors Equally no liability can be accepted for direct or consequential damages resulting from improper use of the equipment The pertinent regulations regarding safety engineering and interference suppression as well as the specifications in this instruction manual must be complied with when using the equipment Subject to modifications The respective current version of this instruction manual is available on FAULHABER s internet site www faulhaber com Y SZ FAULHABER 4 Table of Contents 1 Important Information 5 1 1 Symbols used in this instruction manual 1 2 Safety instructions 6 2 Description 7 2 1 General product description 7 3 Installation 8 3 1 Assembly 8 3 2 EMCcompatible installation 9 3 3
10. e controller parameters are already preset for common applications However the controller pa rameters can be optimised to optimally adjust the controller to the respective application The digital controller operates with a sampling rate of approx 500 us Example of controller setting 1 Set the initial configuration 2 Increase controller gain proportional component V 3 Speed jump from 1 3 of the maximum speed to 2 3 specified 4 Speed jump from 2 3 to 1 3 and observe behaviour 5 Repeat steps 2 to 4 until the controller becomes unstable Then reduce controller amplification until stability is reliably ensured 6 Repeat steps 2 to 5 with proportional integral action component VI Effect of pulse width modulation PWM The power output stage of the integrated speed controller operates with so called pulse width modulation PWM At a fixed frequency the PWM frequency the duty cycle is set between the on time and the off time depending on the controller output value The advantage of this procedure is that the losses in the drive electronics are very low In contrast the losses in a linear output stage can be very large and it becomes hot When the PWM is used the motor s inductance is used as a filter for the current Therefore the PWM frequency should be high enough to adequately filter the current Pulse duty factor The PWM frequency of the speed controller is optimally matched to the connected motor Neverthe
11. e resolution of the digital hall sensors speeds from approx 500 rpm can be stably con trolled m PWM frequency at the power output stage approx 96 kHz m 2 guadrant operation with function for quick speed reduction The motor windings are short circuited for faster transition from higher to lower speeds Digital output Electronics supply Motor supply 3 Setpoint input Uni block BL Motor o towoc N commutator EE ae Evaluation Rotational direction input DIR tinal Hallsensor A direction Speed L of E Hallsensor B calculation y Hall sensor C VCC Ptcurrent 5V limitation Signal GND 13 4 Function Y YX FAULHABER Y 4 2 Configuration Setting options Pure 2 quadrant operation without active braking option If problems occur with the braking function in the default setting it can be deactivated Filtering averaging of the hall sensor signals If problems occur with the default setting the time of a complete electrical half motor revolu tion is evaluated to obtain a continuous speed signal This can cause instable motor running at low speeds as the control dynamics worsen Configuration of the digital output as error output Frequency output can be configured to 6 or 2 pulses Speed setpoint value input via PWM signal at th
12. e speed setpoint value input See Chapter 4 3 Special Configurations Operation with fixed speed fixed speed mode See Chapter 4 3 Special Configurations Operation as voltage controller volt mode See Chapter 4 3 Special Configurations 4 3 Special configurations Further setting options exist in addition to the configurations described in Chapter 4 2 Presetting of target velocity value via PWM signal The speed setpoint value input can take place via a PWM signal if the speed setpoint value input Unsetpoint Is appropriately configured The speed setpoint value is proportional to the duty cycle Basic parameter for the duty cycle PWM frequency range 500 Hz 18 kHz Motor stops at duty cycle lt 2 0 Motor runs at duty cycle gt 3 0 The target velocity is proportional to the duty cycle The maximum target velocity at 100 can be configured See Chapter 4 4 Operating Data 14 A FAULHABER Y 4 Function 4 3 Special configuration Digital output Electronics supply Motor supply J 3Phase PWM Setpoint input Ursol block Bann Signal a E commutator Rotational direction input DIR Hall sensor A Hall sensor B Hall sensor stt Amature position calculation VCC Ptcurrent 5V limitation Signal GND
13. e the digital output FG as a frequency output this is the default configura tion Parameter Meaning Possible values Units Pulses per revolution Number of pulses per revolution at the digital output 2 6 1 rev 16 AS FAULHABER Y 4 Function 4 4 Parameter settings Maximum speed value When inputting the speed setpoint value as an analog voltage or as a PWM signal the speed value which is input at 10 V DC or at 100 duty cycle can be set The maximum speed value can therefore be adjusted to the application Different resolutions of the maximum speed value and different maximum values are possible de pending on the operating mode and motor type Parameter Meaning Possible values Units Maximum speed value NsetMax Maximum speed setpoint value at 10 V or 100 duty 60 000 rpm cycle at the speed setpoint value input Unsetpoint Controller parameter The integrated speed controller is set in the factory so that problem free operation is usually possi ble The speed controller has an integrated feature for specifying appropriate parameters if ad justment of the drive to the controlled system is necessary for special applications see Chapter 4 5 Technical Information The targets set for the control s properties also depend on the application Above all a differentia tion is made between the stiffness of the control the uniformity of the speed within a revolution the allowed system deviation the a
14. ed See Chapter 7 Technical Data m Please ask the manufacturer for information about individual use under special ambient conditions Y S FAULHABER 4 2 Description 2 1 General product description CAUTION Product information With this instruction manual you receive instructions on installation and use of the Series 26 B SC drives and the drives technical data 26 T B SC SC Integrated Speed Controller B Brushless motor Supply voltage of the motor T Shaft diameter 1 5 mm 10 Motor length 10 mm 22 Motor length 22 mm 26 Motor diameter 26 mm The flat brushless DC motor described in this manual comes eguipped with integrated commutation electronics speed controller which provides many motor control possibilities The motor offers the following functions m Control of the speed through command value input or control of the speed through the motor voltage m The direction of rotation is reversable with the use of the given control signal input m The speed signal can be monitored at the frequency output Cover Ball bearing Electronic printed circuit board Steel yoke Part 1 Coil form Steel yoke Part 2 and rotor magnet Ball bearing oo U A W N Motor housing Risk of damage The control input for direction of rotation is not intended for dynamic 4 quadrant control Revers ing direction guickly over an extended period of time will damage the contr
15. ements is 1 year but it expires at least when the original limitation period for the de livered object expires The period for defects liability for a supplied object will be extended by the duration of the operational interruption caused by the making good work Provisions concerning a shorter life of the object supplied within the scope of its intended use remain unaffected by this limitation provision For further information please refer to our terms and conditions of supply which we will pleased to make available on request 29 FAULHABER LAN Sy Y Notes FAULHABER LAN Sy Y Notes Z A FAULHABER DR FRITZ FAULHABER GMBH amp CO KG Antriebssysteme Daimlerstra e 23 25 71101 Sch naich Germany Tel 49 0 7031 638 0 MA05026 English 1st issue 11 2009 u DR FRITZ FAULHABER GMBH amp CO KG info faulhaber de Subject to change without notice www faulhaber com
16. grated speed controller as well as the control performance characteristics 1 000 0 M mNm 22 SZ FAULHABER 7 Technical Data 7 1 Motor 2610 B with SC speed controller 7 1 2 Product dimensions IO M11 Option 2 26 30 W connector variants Oa 6 0 05 F AWG 28 PVC ribbon P R1 5 B 0 KNN 2 1 cable with connector oe Q 1 5 0 01 Picoblade N Ei Olo 0 07 A i connector pin JA A 0 04 i i assignment L l E N E N o 19 u x M 1 0 2 6 0 2 Ez Connection al Ea 10210 j mij ll 1 Up 5x1 TON A 1 25 I 2 Umei it Te a tee 3 GND 1 5 X 10 4 0 2 7 0 25 1 6 241 A Uical 5 DIR 6 FG 7 1 3 Connection information Speed Controller 006 B 012 B SC PWM switching freguency 96 96 kHz Efficiency 95 95 Max continuous output current 0 8 0 8 A Max peak output current 1 6 1 6 A Total standby current 0 020 A Speed range electronic 500 60 000 rpm Scanning range 500 Hs 1 at 22 C ambient temperature and max 60 C motor temperature respectively 2 speed depend on motor operating voltage 006 B 012 B SC Connection 1 Ur power supply electronic Upr 4 18 V Connection 2 Umot power supply electronic coil Umot 1 7 18 V C
17. less it must be noted that with a low PWM duty cycle and larger motor load caused by short term high current flow in the motor substantially higher losses can occur than with a large duty cycle As large a duty cycle as possible should set in at the operating point The required control reserve must also be noted and observed To achieve this if necessary the motor operating voltage can be reduced Efficiency It is necessary to note that a reduction in the efficiency at the motor also reduces the maximum al lowable current and therefore the maximum continuous torque too 19 Y YX FAULHABER Y 5 Operation 5 1 Powering on CAUTION CAUTION Before starting up the flat brushless DC motor together with a mechanism the following points must be checked m The drive has been installed according to the specifications m The ribbon cable of the motor is connected according to the requirements risk of polarity reversal and is laid so that it cannot be damaged during operation The maximum load values must be noted and observed see Chapter 7 Technical Data m Lengthening the connection leads can affect the function and properties with respect to EMC All connection leads may not exceed a length of 3 m m The connected mechanism is installed free of blockages m The loads and stresses on the shaft axial radial and torgues are within the specified values see Chapter 7 Technical Data Risk of i
18. llowed overswing and the reguired stability reserves The control circuit must also satisfy these reguirements to that the controller parameters must also be adjusted with respect to these The PI speed controller used here enables two parameters to be set proportional and integral com ponent Parameter Meaning max value Units V Proportional component 32 767 Digit VI Proportional component multiplied by the integral 65 535 Digit action component Delayed Current Error with error output only Activation of the output can be delayed Even if the current is already limited the output is not acti vated until after the time input with DCE As a result short term exceeding of the limit current can be ignored Parameter Meaning max value Units Delayed Current Error DCE Delay of activation of the error output 5 100 ms Y YX FAULHABER Y 4 Function 4 5 Technical information 12t current limiting The flat brushless DC motor with integrated SC speed controller is equipped with current limiting which enables certain motor protection to be achieved m Peak current Imax The current is limited to the peak current provided that the thermal current model calculates a non critical temperature m Continuous current lont If the thermal current model reaches a critical temperature continuous current is switched to How the current limiting works When the motor starts the peak current is preset as the set point
19. njuries A risk of injuries can result from protruding rotating or moving parts of the driven mechanism gt Cover rotating and moving parts with appropriate devices Risk of injuries Depending on the load and ambient temperature very high temperatures can occur on the surface of the unit gt Contact protection must be provided if necessary 20 GY SZ FAULHABER 4 6 Maintenance 6 1 Service Maintenance The flat brushless DC motors are designed to be maintenance free however dust contamination should be avoided 6 2 Troubleshooting If operated as indicated in this manual the flat brushless DC motors will function trouble free Should a malfunction occur in spite of this please contact the manufacturer Switchboard 49 0 7031 638 0 E Mail info faulhaber de Internet www faulhaber com 21 SZ FAULHABER 7 Technical Data 7 1 Motor 2610 B with SC speed controller 7 1 1 Operating data 2610T 006 B 012 B Nominal voltage UN 6 12 Volt Terminal resistance phase phase R 7 0 28 2 V Output power P2 max 1 92 1 91 W Efficiency m max 78 78 No load speed No 6 200 6 200 rpm No load current lo 0 012 0 006 A Stall torque Mu 7 73 7 68 mNm Friction torque static Co 0 025 0 025 mNm dynamic Cv 1 35 105 1 35 10 mNm rpm Speed constant Kn 1055 528 rpm V Back EMF constant ke 0 948 1 895 mV rpm Torque constant km 9 05 18 1 mNm A Current constant k 0 111 0 055 AlmNm Slope of n M curve An AM 816
20. oller Do not reverse the motor dynamically Y A FAULHABER Y 3 Installation 3 1 Assembly CAUTION The flat brushless DC servomotor must be installed according to certain specifications to prevent mal functions and damage Material damage Incorrect installation or installation using the wrong fixing materials can disrupt the motor s function and or damage the motor gt Observe the following assembly instructions Ambient conditions Depending on the method of use the flat brushless DC servomotor can become hot Appropriate cooling must be provided Shaft loads When mounting parts on the motor shaft it may have to be supported on the opposite side Oth erwise the maximum allowable load values axial at a standstill must be noted and observed See Chapter 7 Technical Data Mounting flange The drive may only be fixed using the screw bushings on the front flange We recommend locking the screws Due to the square front flange the drive is not suited for assembly in a cylinder Electrical connection It is necessary to ensure that the ribbon cable is laid without risk of damage during installation and operation e g through chafing squeezing or bending The maximum load of the cable must be noted and observed See Chapter 7 Technical Data Specialised staff These products are intended for use by trained professionals or experts in the use of small motors who are familiar with the relevant
21. on Speed Controller 006 B 012 B SC PWM switching freguency 96 96 kHz Efficiency 95 95 Max continuous output current 0 8 0 8 A Max peak output current 1 6 1 6 A Total standby current 0 020 A Speed range electronic 500 60 000 gt rem Scanning range 500 Hs at 22 C ambient temperature and max 60 C motor temperature respectively 2 speed depend on motor operating voltage 006 B 012 B SC Connection 1 Ur power supply electronic UP 4 18 V Connection 2 Umot power supply electronic coil Umot 1 7 18 V Connection 3 GND ground ground Connection 4 Unsoll analog input input voltage Uin 0 10 max Up V input resistance Rin gt 8 kQ set speed value per 1V 1 000 1 000 rpm Uin lt 0 15 V motor stops Uin gt 0 3 V motor starts Connection 5 DIR analog input direction of rotation to ground or level lt 0 5 V counterclockwise open or level gt 3 V clockwise max Up input resistance Rin gt 10 kQ Connection 6 FG with max UP Imax 15 mA open collector mit 22 k pull up resistor digital output frequency output 6 lines per revolution Uf SZ FAULHABER 7 Technical Data 7 3 Ambient conditions CAUTION NOTE CAUTION Shock loads The noise emitted is increased and the life of the ball bearings and therefore of the motor becomes limited if they are exposed to impacts m The motor can still function if it is not exposed to higher
22. onnection 3 GND ground ground Connection 4 Unsoli analog input input voltage Uin 0 10 max Up Vv input resistance Rin gt 8 kQ set speed value per 1V 1 000 1 000 rpm Uin lt 0 15 V motor stops Uin gt 0 3 V motor starts Connection 5 DIR analog input direction of rotation to ground or level lt 0 5 V counterclockwise open or level gt 3 V clockwise max UP input resistance Rin gt 10 kQ Connection 6 FG with max Up Imax 15 mA open collector with 22 kQ pull up resistor digital output frequency output 6 lines per revolution SZ FAULHABER 7 Technical Data 7 2 Motor 2622 B with SC speed controller 7 2 1 Operating data 2622 S 006 B 012 B SC Nominal voltage UN 6 12 Volt Terminal resistance phase phase R 7 0 28 2 Q Output power P2 max 1 92 1 91 W Efficiency Y max 78 78 No load speed No 6 200 6 200 rpm No load current lo 0 012 0 006 A Stall torque Mu 7 73 7 68 mNm Friction torque static Co 0 025 0 025 mNm dynamic Cv 1 35 105 1 35 10 mNm rpm Speed constant Kn 1055 528 rpm V Back EMF constant ke 0 948 1 895 mV rpm Torque constant km 9 05 18 1 mNm A Current constant k 0 111 0 055 A mNm Slope of n M curve An AM 816 822 rpm mNm Terminal inductance phase phase L 480 1 940 pH Mechanical time constant Tm 69 70 ms Rotor inertia J 8 1 8 1 gcm Angular acceleration OL max 9 5 95 103rad s Thermal resistance Rth 1 Rth2 33 27 K W Thermal time constant twi tw2 20
23. ontrol of the speed through the coil voltage E Control of the direction of rotation at the switch input m Reading out the speed signal at the frequency output UP core 1 red Supply voltage for the electronics For voltage range see Chapter 7 Technical Data Umot core 2 Supply voltage for the motor winding For voltage range see Chapter 7 Technical Data GND core 3 Common ground Unsetpoint core 4 Control voltage for the target velocity Voltage range 0 10 V DC 10 V DC max 18 V DC Resolution See Chapter 7 Technical Data The defined control range for Unsetpoint lies between 0 10 V DC If the motor s nominal voltage is applied the maximum speed can be reached before the control limit of 10 V In this case the actual speed is limited by the motor properties Full modulation occurs If at Unsetpoint 10 V the motor voltage is increased to such an extent that a higher speed than the set target velocity results the Speed Controller limits the speed to the set value In these cases the maximum speed value can be adjusted as described in Chapter 4 3 Special Configurations The input impedance of this cable is approx 8 9 k DIR core 5 Switch input for the motor s direction of rotation To earth or U lt 0 5 V anti clockwise U gt 3 0 V clockwise FG core 6 Digital output The digital output is a switch which switches to GND open collector with integrated pull up resist
24. reduce the purchase price We are not liable for damage to the goods caused by natural wear and tear wear unsuitable improper or non contractual use incorrect assembly installation or putting into service excessive loading or improper change improvement or repair work by you or third parties or incorrect or negligent treatment provided these are not through our fault Further claims in particular claims for compensation instead of the performance and for com pensation of other direct or indirect losses including accompanying or consequential loss for whatever legal reason are excluded This does not apply if a we are maliciously silent with regard to a legal or material defect or have issued a guarantee for the nature of the goods b the loss is due to deliberate intent or gross negligence by us our legal representatives or vi carious agents or are based on negligent breach of fundamental contract obligations by these persons or c culpable violation of duty by us our legal representatives or vicarious agents which have resulted in physical injuries or damage to health In the case of simple negligence however our obligation to pay damages is limited to the amount of typical foreseeable losses for the type of contract All defect claims including the claims for compensation covered by our terms and conditions of supply expire one year after delivery of the goods to your The limitation period for replacements and improv
25. rth or U lt 0 5 V anti clockwise U gt 3 V clockwise 6 FG frequency output max Up Imax 15 mA 6 pulses per revolution o vu BWN Uf SB FAULHABER 3 Installation 3 4 Connection diagram Flat brushless DC motor with integrated SC speed controller Two examples are given and are intended to clearly explain the operating modes of the brushless flat frame motor with SC Speed controller The figures given refer to a motor with a nominal voltage of 12 V Electronic speed control gt Up 12 V Be N gt e Umot 3VDC I O gt Unsoll gt DIR O 0 lt e FG ca 300 Hz The motor rotates counter clockwise with approx 3000 rpm The speed is electronically controlled External speed control 12V a DC 0 WDC Ea Umot max 18 V DC e GND 10 V DC dess anta Unsoll DIR O lt e FG ca 190 Hz The motor rotates e g with approx 1900 rpm in a clockwise direction The speed is controlled via the motor voltage Umot Approx 190 Hz 6 pulses per revolution is measured at the frequency output FG 190 pulses sec 31 6 U sec 31 6 U sec 1900 rpm 10 Y YX FAULHABER Y 4 Function 4 1 Connection functions The flat brushless DC motor with integrated SC speed controller supports the following functions and or operating modes E Control of the speed through the voltage at the command value input E C
26. s non operational machines a manufacturer s declaration is submit ted according to Annex II B of the Machinery Directive 98 37 EC Low Voltage Directive 2006 95 EC It applies to all electrical eguipment with a nominal voltage from 75 to 1 500 V DC or from 50 to 1 000 V AC The products described in this instruction manual do not fall within the scope of this Directive as they are designed for smaller voltages EMC Directive 2004 108 EC The Electromagnetic Compatibility EMC Directive applies to all electronic and electrical eguipment plant and systems sold to end users consumers In addition CE marking can be undertaken for built in components according to the EMC Directive Compliance is documented by the Declaration of Conformity 27 Y AS FAULHABER Y 9 Manufacturer s Declaration Manufacturer s Declaration according to the Machinery Directive 98 37 EC Annex II B The manufacturer Dr Fritz Faulhaber GmbH amp Co KG Daimlerstr 23 25 D 71101 Sch naich Germany herewith declares that the products named in the following are built in components and therefore in the definition of Article 4 2 of the Directive of the European Parliament and the Council dated 22 June 1998 on the harmonisation of the legal regulations of Member States for Machinery 98 37 EC in short the Machinery Directive are not themselves functioning machines and for this reason do not yet comply with all parts of the relevant provisions
27. shock loads than defined according to EN 60068 2 27 m The motor may not be exposed to higher vibratory stresses than defined according to EN 60068 2 6 Risk of damage If the motor is installed on the mounting flange the mounting flange can be damaged by high radial loads or stresses on the motor or by screws tightened with excessive torque gt Tighten the screws with maximum 40 Ncm Note the strength of the screws Service life The full life is reached if the motor is not exposed to shock or vibration loads Risk of damage The ribbon cables may be damaged if the static or dynamic load is too high gt The tension exerted on the cable may not exceed 20 N in each direction If the cable is exposed to constant tensile loads the limit is 11 N gt In case of frequent bending the recommended minimum bending radius is 10 mm The possible number of bending cycles increases with increasing bending radius gt If the radii are small the cable may not be bent several times as otherwise the Litz wires will break The bending radii if laid once must be larger than 1 2 mm gt The cable may not be bent at temperatures lt 10 C 26 Y YX FAULHABER Y 8 EC Directives REGULATION The following EC Directives are important for users of the described products Machinery Directive 98 37 EC It applies to independently functioning machines or a chain of machines forming whole plants or systems For built in component
28. ue to the technical requirements for a motor with SC speed controller if the allowable maximum housing temperature is adhered to the maximum possible continuous torque in PWM mode may be lower than under full modulation The maximum thermally allowable continuous current reduces accordingly 12 4 Function 4 R FAULHABER 4 2 Configuration CAUTION The control parameters of the SC speed controller integrated in the motor can be individually adjusted to the respective application via a PC This reguires a programming adapter which can be ordered separately as well as a version of the FAULHABER Motion Manager PC software suitable for the speed controller The software is available on reguest or from the FAULHABER homepage www faulhaber com MotionManager Risk of damage Before starting up the parameters configured in the control must be checked and if necessary ad justed Incorrectly set values can cause irreparable damage to the motor and or the speed controller In particular the following parameters must be correctly set Duration and maximum current value Generator voltage constant ke and connected resistance R gt Controller parameter The flat brushless DC motor is equipped with digital Hall sensors with which the commutation signals can be determined The actual speed value is determined via the time interval between the edges of the hall sensor signals Preset default basic parameters m Due to th
29. ured for different tasks E Error output m Frequency output The detailed properties of the configurations are described in Chapter 4 1 Connection Functions 4 4 Parameter settings The following parameters can be used to adjust the integrated speed controller to the respective application Several parameters have a function in certain configurations only or with specific settings only Current limiting values For Pt current limiting the peak current Imax and the motor current kont must be specified see also Chapter 4 5 Technical Information The allowable values of the speed controller used as well as of the connected motor must be noted and observed Parameter Meaning max value Units Peak current Imax Value for the maximum current allowed for a short 2 600 mA time transient maximum current Motor continuous current Icont Value for the continuous current which is the limit 1 300 mA value Values depend on motor type The given values correspond to the default values used by the Motion Manager if a motor specific parameter set has not been loaded Fixed speed value For operation with a fixed speed the speed setpoint value is input via an adjustable parameter see Chapter 4 3 Special Configurations Parameter Meaning max value Units Fixed speed value NsetFix Speed setpoint value which is input in operation with 120 000 rpm fixed speed Pulses per motor revolution It is possible to configur
30. value for the current controller As the load increases the current in the motor constantly increases until it finally reaches the peak cur rent The current controller then comes into operation and limits the current to this set point A thermal current model operating in parallel calculates a temperature from the actual flowing current If this model temperature exceeds a critical value continuous current is switched to and the motor current is regulated to this Only when the load becomes so small that the temperature falls below the critical model temperature is peak current permitted again The following diagram shows how the current limiting functions by means of an envelope curve limit ing The current may not rise above the values along this envelope curve The aim of this so called I t current limiting is not to heat the motor above the thermally allowable temperature by selecting a suitable continuous current On the other hand a high load should be temporarily possible in order to enable very dynamic movements N limitation envelope curve TModel Overtemperature cut off The motor is deactivated if the temperature of the electronics exceeds the limit value of 100 C The following condition must be fulfilled to reactivate the motor m Temperature below the specified limit value 18 4 Function GY AS FAULHABER Y 4 5 Technical information NOTE NOTE Adjustment of the controller parameters Th
Download Pdf Manuals
Related Search