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Operating Instructions - Q-TECH

1. Operating Instructions 3564K024B CS FAULHABER GROUP MCBL 3003 06 S We create motion P MCDC 3003 06 S SZ FAULHABER Table of Contents 1 1 General description 5 1 2 Quick start 6 1 2 1 Operation via FAULHABER Motion Manager 6 1 2 2 Operation via own host application 7 2 1 Connections and wiring 8 2 1 1 Installation instructions 9 2 1 2 Maintenance 9 2 1 3 Specialised staff 9 2 2 RS232 wiring 10 2 3 Motor connection 11 2 4 Baud rate and node number 12 2 5 Basic settings 13 3 1 Position control 15 3 2 Velocity control 16 3 2 1 Velocity control via RS232 16 3 2 2 Analog velocity presetting 17 3 3 Homing and limit switches 19 3 4 Extended operating modes 22 3 4 1 Stepper motor mode 22 3 4 2 Gearing mode electronic gear 22 3 4 3 Analog positioning mode 23 3 4 4 External encoder as absolute encoder 24 3 4 5 Voltage regulator mode 24 3 4 6 Analog target current presetting 25 3 4 7 IxR control for DC controllers 25 3 5 Special functions of the error connection 26 3 6 Sequence programs 27 3 7 Trace function 32 3 8 Technical information 33 3 8 1 Sinus commutation 33 3 8 2 Current controller and t current limitation 33 3 8 3 Over temperature protection 33 3 8 4 Undervoltage monitoring 34 3 8 5 Overvoltage regulation 34 3 8 6 Adjustment of controller parameters 34 SZ FAULHABER 4 Parameter Description 5 Appendix 4 1 Basic setting commands 4 1 1 Commands for special operating modes 4 1 2 Parameters
2. 32767 32767 rpm NV Value Notify Velocity When the specified speed is reached or passed a v is returned Value range 32767 32767 rpm NVOFF Notify Velocity Off A Notify Velocity command that has not yet been triggered is deactivated again Uv instead of Ur U Value Set Output Voltage Output PWM value in VOLTMOD Value range 32767 32767 rpm corresponds to Uv Uv GOHOSEQ Go Homing Sequence Execute FAULHABER homing sequence A homing sequence is executed if programmed independently of the current mode GOHIX Go Hall Index Move BL motor to Hall zero point Hall index and set actual position value to 0 not for MCDC GOIX Go Encoder Index Move to the Encoder Index at the fault pin and set actual position value to 0 DC motor or ext encoder HO Value Define Home Position Without argument Set actual position to 0 With argument Set actual position to specified value Value range 1 8 10 1 8 10 45 Uf 4 SZ FAULHABER 4 Parameter Description 4 5 General query commands Command Argument Function Description POS Get Actual Position Current actual position TPOS Get Target Position Target position of last M command GV Get Velocity Current target velocity in rpm GN Get N Current actual velocity in rpm GU Get PWM Voltage Set PWM value in VOLTMOD GRU Get Real PWM Voltage Current controller output value GCL Get Current Limit Current limitation current i
3. 22 1252 30 22 22 baud kQ kHz kQ mA kHz kHz kQ VDC kQ VDC kQ kQ Specifications subject to change without notice www faulhaber group com Uf SZ FAULHABER 4 Connection information Connection Mot Mot Motor connection Mot Motor Mot Motor Uout 0 Us V PWM switching freguency fewm 78 12 kHz Connection Ch A Ch B Hall sensor input CHA encoder channel A CHB encoder channel B Integrated pullup resistance 5V R 2 2 kQ f lt 400 kHz Connection SGND Signal GND signal ground Connection 5V Output voltage for external use Uout 5 VDC Load current lout 60 mA 1 E g encoder D SUB connector information Connection D SUB connector Pin 2 RxD RS232 RxD Pin 3 TxD RS232 TxD Pin 5 GND Ground Digital inputs general information PLC default high 12 5 Us V low 0 57 V TTL high 3 5 Us v low 0 0 5 V The signal level PLC or TTL of the digital inputs can be set over the interface see instruction manual Position control 2 24V DC Protection Overtemperature 10k x7 Current limit Overvoltage Motor M7 Example Ch Limit switch o Armature anne A position ChannelBg m4 calculation RS232 interface RS232 z EE It Current PC TXD Communication nA lt I i i limiting PC RXD o and configurations i GND lt module Signal GND M6 Micro Controller Specificat
4. Digital input input resistance 5 ko External encoder f max 400 kHz Step frequency input f max 400 kHz Connection No 2 white Fault output no error switched to GND Digital output open collector max Us 30 mA Digital input input resistance 100 kQ Connection No 3 red Digital input input resistance 22 kQ Electronic supply voltage Us 12 30 VDC Encoder Scanning rate 100 ps Resolution internal encoder 3000 per turn The signal level of the digital inputs can be set using the above commands Standard SPS Low 0 7V High 12 5V Us TTL Low 0 0 5V High 3 5V Us A separate supply for motor and drive electronic is optional available important for safety relevant applications here escapes the digital input connection 3 red 2 Preset value Can be changed over the interface Position control o 24V DC Protection Overtemperature Current limit Overvoltage 3 Phase Phase wm THT power Phase oe Sine wave ifier Phase C Pl Speed Pime amplifier ase iti controller Example Limit switch Evaluation pi H tbe all sensor A input limit Armature nuti Gaia switch position apes Interface K calculation Ss RS232 It Current Bete Communication limiting PC RXD o and configurations GND o module For notes on technical data and lifetime performance Specifications subject to change without notice refer to Technical Information Edition 2006 2007
5. Pos 5 1 Pos itive edge at limit switch 3 effective 0 Negative edge at limit switch 3 effective Pos 6 1 Release motion program 0 Motion program blocked Pos 7 1 Release automatic responses 0 No GES Get Enhanced Status 5 ASC Pos 0 1 Inp 0 Inp Pos 1 1 Inp 0 Inp Pos 2 automatic responses Report enhanced status Il characters 0 and 1 from left to right ut no 4 at high level MCDC ut no 4 at low level MCDC ut no 5 at high level MCDC ut no 5 at low level MCDC 1 Analog target current presetting active 0 No Pos 3 1 Pos 0 Pos Pos 4 analog target current presetting ition limits active in all modes ition limits inactive 1 Deviation error is present 0 No GAHS Get Actual Homing Status 5 ASC 0 1 2 Pos Pos Pos Pos 3 Pos 4 Settin 3 ASC Pos 0 Pos 1 Pos 2 GHSC Get Homing Seguence Configuration 42 deviation error present Current reference switch settings II characters 0 to 7 from left to right HA value HL value HN value HB value HD value g of homing sequence Il characters 0 to 7 from left to right SHA value SHL value SHN value SZ FAULHABER 4 Parameter Description 4 2 Query commands for basic settings 4 2 2 Configuration of fault pin and digital inputs Command Argument Function Description IOC V O Configuration Set input output configuration
6. 22 03 V7 GND v8 3 in DOOOOOOO Specifications subject to change without notice Edition 2006 2007 64 www faulhaber group com FAULHABER SZ ZZ Notes 65 G Y The FAULHABER Group Y N FAU LHAB R DR FRITZ FAULHABER GMBH amp CO KG DaimlerstraBe 23 71101 Sch naich Germany Tel 49 0 70 31 638 0 Fax 49 0 70 31 638 100 Email info faulhaber de www faulhaber group com MINIMOTOR SA 6980 Croglio Switzerland Tel 41 0 916113100 Fax 41 0 916113110 Email info minimotor ch www minimotor ch www faulhaber group com MicroMo Electronics Inc 14881 Evergreen Avenue h Clearwater FL 33762 3008 USA Phone 1 727 572 0131 Fax 1 727 573 5918 Toll Free 800 807 9166 Email info micromo com www micromo com More information Go online Feel free to browse through the latest pi lights inspirational application reports press information and order our catalogues ar documentations easily and conveniently at the click of a mouse button DR FRITZ FAULHABER GMBH amp CO KG MA05011 English 2nd edition 01 07 06
7. HBO HDO No Hard Blocking limit switch defined HBO HDO No Hard Blocking limit switch defined HOSP100 Homing Speed 100 rpm HOSP100 Homing Speed 100 rpm SHAO SHLO SHNO ADR No FAULHABER homing sequence defined Analog direction of rotation right SHAO SHLO SHNO ADR No FAULHABER homing sequence defined Analog direction of rotation right LPC8000 Peak current limitation 8 A LPC5000 Peak current limitation 5 A LCC2800 Continuous current limitation 2 8 A LCC1370 Continuous current limitation 1 37 A AC30000 Acceleration 30000 r s AC30000 Acceleration 30000 r s DEC30000 Deceleration ramp 30000 r s DEC30000 Deceleration ramp 30000 r s2 SR1 Sampling rate 100 us SR1 Sampling rate 100 us 140 I term of velocity controller 140 I term of velocity controller POR8 P term of velocity controller POR7 P term of velocity controller PP12 P term of position controller PP16 P term of position controller PD6 D term of position controller PD9 D term of position controller C150 I term of current controller CI50 I term of current controller SP12000 Limitation of maximum velocity to SP30000 Limitation of maximum velocity to 12000 rpm 30000 rpm MVO Minimum analog velocity MVO Minimum analog velocity MAV25 Minimum analog voltage MAV25 Minimum analog voltage LL1800000000 Upper positioning range limit LL1800000000 Upper positioning range limit LL 1800000000 Lower positioning range limit LL 1800000000 Lower positioning range limit
8. LPN16 Numeric value for pulse output LPN16 Numeric value for pulse output STW1 Step width for special operation STW1 Step width for special operation STN1000 Step number for special operation STN1000 Step number for special operation ENCRES2048 Resolution of external encoder ENCRES2048 Resolution of external encoder DEV30000 Do not monitor deviation error DEV30000 Do not monitor deviation error DCE200 Error delay 2 sec DCE200 Error delay 2 sec CORRIDOR20 Target corridor for positionings CORRIDOR20 Target corridor for positionings SIN1 Do not permit block commutation SIN1 Do not permit block commutation SETPLC Digital inputs PLC compatible SETPLC Digital inputs PLC compatible NETO Multiplex mode deactivated NETO Multiplex mode deactivated BAUD9600 Transfer rate 9600 baud BAUD9600 Transfer rate 9600 baud NODEADRO Node number 0 NODEADRO Node number 0 COMPATIBLEO Not in compatibility mode COMPATIBLEO Not in compatibility mode ANSW2 Asynchronous response activated ANSW2 Asynchronous response activated POHOSEQO No homing sequence after power on POHOSEQO No homing sequence after power on DIPROG Sequence programs deactivated DIPROG Sequence programs deactivated DI Power stage deactivated DI Power stage deactivated vo Nominal speed value 0 rpm vo Nominal speed value 0 rpm 50 Up GY SZ FAULHABER 5 Appendix 5 2 Configuration at delivery MCDC 3003 06 S FAULHABER Command Description CONTMOD Normal operation APLO
9. RS232 communication and configuration module p PC TXD PC RXD Pt current limitation controller GND t Microcontroller 5V controller Rs TN E Circuit example 3 4 3 Analog positioning mode In analog positioning mode the position set point can be preset via a potentiometer or an external analog voltage Command Function APCMOD Analog Position Control Mode Description Change to position control via analog voltage The maximum position to be approached with a voltage of 10 V can be preselected with the LL command With a voltage of 10 V the drive moves in the opposite direction Command Function Description LL Load Position Load limit positions the drive does Range Limits not move out of these limits in positioning mode positive values specify the upper limit and negative values specify the lower limit APCMOD Position value at 10 V Irrespective of the preset LL value the maximum position is limited to 3 000 000 COMPATIBLE1 1 000 000 in APCMOD Note The resolution of the analog input is limited to 12 bit 4096 steps The direction of rotation can be predefined with the commands ADL and ADR The acceleration and speed values AC DEC SP are also taken into account in APCMOD These permit gentle starting and deceleration 23 gearing mode for MCBL 3003 06 S Positioning via pulse width signal PWM at the
10. 3 5 Special functions of the error connection The error connection fault pin can be configured as input or output for different tasks Command Function Description ERROUT Error Output Fault pin as error output ENCOUT Encoder Output Fault pin as pulse output not MCDC DIGOUT Digital Output Fault pin as digital output The output is set to low level DIRIN Direction Input Fault pin as rotational direction input REFIN Reference Input Fault pin as reference or limit switch input The REFIN and DIRIN functions have already been explained in the relevant chapters Fault pin as error output In ERROUT mode the output is set as soon as one of the following errors occurs One of the set current limitation values LPC LCC is exceeded Set maximum permissible speed deviation DEV is exceeded Overvoltage detected Maximum coil or MOSFET temperature exceeded In order to hide the transient occurrence of errors during the acceleration phase for example an error delay can be set which specifies how long an error must be present before it is displayed at the error output Command Function Description DCE Delayed Current Delayed error output for Error ERROUT in 1 100 sec Example Only display error after 2 seconds DCE200 If one of the above errors occurs automatic notification with an r can be implemented by setting Notify Error provided that ANSW1 or ANSW2 is set Command Argument Function Descrip
11. 50 gt Stationary E Pulse duty factor lt 50 gt Anticlockwise rotation The commands SP MV MAV ADL and ADR can also be used here Make sure that APLO is set if you do not want the drive to stop at the set range limits LL Simple set point presetting via potentiometer circuit example with 3564K024B CS Note on input circuit The input circuit at the analog input is designed as a differential amplifier If the analog input is open an undefined velocity can be set The input must be connected to AGND with low impedance and set to the voltage level of the AGND in order to generate 0 rpm 18 3 Functional Description SZ FAULHABER 3 3 Homing and limit switches The connections E Anin H Fault E 3 4 5 In if present can be used as reference and limit switch inputs In BL motors the zero crossing of the Hall sensor signals is also available as index pulse occurring once per revolution The index pulse of an external encoder can also be connected to the fault pin enabling the actual position to be exactly zeroed The Anin and Fault connections are designed as inter rupt inputs which means that they are edge triggered All other inputs are not edge triggered so that the signal must be at least 500 us to be reliably detected The maximum reaction time to level changes at all inputs is 500 us Set levels of digital inputs Command Function Description SETPLC Set PLC Inputs Digital inputs P
12. 54 www faulhaber group com Up GY SZ FAULHABER Brushless DC Servomotor with integrated Motion Controller General description The 3564K024B CS combines an electronically commutated DC Ser vomotor a high resolution absolute encoder and a programmable position and speed controller based on a high capacity digital signal processor DSP within a complete drive unit This intelligent EC servomotor performs the following drive functions Speed control from 5 to 12 000 rpm with superior performance specifications in respect of synchronous operation and minimal torque fluctuations A PI controller ensures observance of set point speeds Speed profiles such as ramp triangular or trapezoidal movements are possible Gentle acceleration or deceleration can be implement ed without problem Positioning mode Positioning with a resolution of 1 3 000 revolu tions Acquisition of reference marks and end position switches Stepper motor mode electronic gear or operation with external incremental encoder for high precision applications Torque control through current regulation Self protection against excess temperature in the case of high loading against over voltage during generator operation and against under voltage Storage of the desired functions Storage and execution of motion programs Various inputs and outputs are available for implementation of these functions Set point input for speed presetting Analogue or
13. Value 0 65535 TIMEOUT Value Timeout With Notify commands only wait for the specified time and then continue the sequence again A o on RS232 if Notify condition has not been fulfilled Argument in 1 100 seconds Value 0 65535 Can also be used via RS232 JMP Adr Jump Jump to specified address Can also be used via RS232 Address 0 255 JMPGx Adr Jump if greater than x Jump to specified address if result of last guery command is greater than the variable x A B C JMPLx Adr Jump if less than x Jump to specified address if result of last guery command is less than the variable x A B C JMPEx Adr Jump if egual x Jump to specified address if result of last guery command is egual to the variable x A B C JPH Adr Jump if Hard Input Jump to specified address if Analog Input is active activated HP defines the polarity Address 0 255 JPF Adr Jump if Fault Input Jump to specified address if Fault Pin Input is active activated HP defines the polarity Address 0 255 JPT Adr Jump if Jump to specified address if the 3rd Input is active 3 Input activated HP defines the polarity Address 0 255 JPD Adr Jump if Jump to specified address if 4th Input is active only MCDC 4 Input activated HP defines the polarity JPE Adr Jump if Jump to specified address if 5th Input is active only MCDC 5 Input activated HP defines the polarity SETx Value Set Variable x Set Variable x A B C to specified value V
14. predefined number of cycles Example Move by the same relative position 5 times SETA5 Set variable A to the value 5 A2 Define jump address 2 LR100 Load relative position NP Notify position M Start positioning DAJNZ2 Decrease A by 1 and jump to address 2 provided that variable A is not yet 0 The commands JPH JPF and JPT enable jumps that are only executed if the relevant input is active This means that programs can be called via external switches The commands JMPGx JMPLx JMPEx enable jumps that refer to the result of the last query command 29 Example SETA 100 GN JMPLA3 The command JMPLA3 jumps to address 3 if the velocity value returned with GN is less than 100 rpm value of variable A Entry addresses are defined via command A In the case of a jump the sequence is continued at this point The value range for jump commands extends from 0 to 255 Accordingly a maximum of 256 different entry points can be defined with JMP JPx ERI and CALL Error Interrupt During execution of the ERI command nothing happens initially Only if an error situation subsequently occurs does the sequence jump immediately to the specified address This enables sensible continuation of the program in the event of error The RETI command enables you to return to the position at which the sequence was interrupted Please note that the interrupted command is no longer executed but is continued with th
15. 3003 S 12 30 78 12 95 3 10 0 06 5 30 000 100 65 535 5 3 3 ca 1 000 0 70 25 85 without housing 18 For combination with DC Micromotors MCDC 3006 S 12 30 78 12 95 6 10 0 06 5 30 000 100 65 535 5 3 3 ca 1 000 0 70 25 85 aluminium black anodized 160 rpm us lines rev kWord intructions C cS g Connection information Connection TxD RxD Interface Communication profile Max transfer speed rate Connection AGND analog ground digital input external encoder Connection Fault digital input digital output open collector fault output Connection Anin analog input digital input set speed value external encoder step freguency input Connection 24V Connection GND Connection 3 In digital input electronic supply voltage Connection 4 In digital input Connection 5 In digital input 2 Optional on request Edition 2006 2007 PWM set speed value Rin f Rin U l clear set no error error Uin Rin Us Rin Rin 61 RS232 Faulhaber ASCII 115 200 analog GND channel B 10 400 channel B 100 s Us s30 switched to GND high impedance switched to GND high impedance AGND as GND 10 100 2 000 50 0 rpm channel A lt 400 400 5 12 30 ground
16. Function Description DIRIN Direction Input Fault pin as rotational direction input The drive moves one programmable angle further for each pulse at the analog input and thus simulates the function of a stepper motor There are a number of considerable advantages in comparison with a real stepper motor E The number of steps per revolution is freely programmable and of a very high resolution encoder resolution E The individual step widths are freely programmable E No detent torque M The full dynamics of the motor can be used M The motor is very quiet E Because of the absolute encoder there is no step loss even with maximum dynamics E No motor current flows in settled state actual position reached HM High efficiency E The control electronics are already integrated in the 3564K024B CS Input Maximum input frequency 400 kHz Level 5 V TTL or 24 V PLC compatible depending on configuration Stepper motor mode enables position accurate velocity control any rational ratios can be set for input frequency to motor speed via step width and step number in accordance with the following formula STI Revolutions pulses STN 22 Revolutions Revolutions that are generated on the drive Pulses Number of pulses at the frequency input number of steps STW Step width step width factor number of steps per encoder pulse at the frequency input STN Step number number of steps number
17. LL Set negative limit position LL Set maximum speed SP in rpm Set acceleration value AC in r s Set deceleration value DEC in r s Set sampling rate of velocity controller in ms 10 Set amplification value of velocity controller POR Set integral term of velocity controller Set amplification value of position controller PP Set D term of position controller PD Set integral term of current controller Cl Set peak current PC in mA Set continuous current CC in mA Set deviation value DEV Set window around target position Set node number 40 Uf 4 SZ FAULHABER 4 Parameter Description 4 2 Query commands for basic settings Query commands of predecessor models that are no longer supported for reasons of compatibility Command Argument Function Description GST Get Status Report current status 7 ASCII characters 0 and 1 from left to right Pos 0 1 Position controller active 0 Velocity controller active Pos 1 1 Velocity presetting analog or PWM 0 Velocity presetting via RS232 Pos 2 1 Velocity presetting via PWM Pos 1 1 0 Velocity presetting analog Pos 1 1 Pos 3 1 Drive is active enabled 0 Drive is inactive disabled Pos 4 1 Target position attained 0 Target position not attained Pos 5 1 Positive limit switch edge effective 0 Negative limit switch edge effective Pos 6 1 Limit switch at high level 0 Limit switch at low level GFS Get Fault Status Report s
18. PD Value Load Position Differential Load position controller D term Term Value range 1 255 cl Value Load Current Integral Load integral term for current controller Term Value range 1 255 LPC Value Load Peak Current Limit Load peak current Value range 0 12000 mA LCC Value Load Continuous Current Load continuous current Limit Value range 0 12000 mA DEV Value Load Deviation Load maximum permissible deviation of actual velocity from target velocity deviation Value range 0 32767 CORRIDOR Value Load Corridor Window around the target position Value range 0 65535 37 M 7 SZ FAULHABER 4 Parameter Description 4 1 Basic setting commands 4 1 4 Configuration of fault pin and digital inputs Command Argument Function Description ERROUT Error Output Fault pin as error output ENCOUT Encoder Output Fault pin as pulse output not with MCDC DIGOUT Digital Output Fault pin as digital output The output is set to low level DIRIN Direction Input Fault pin as rotational direction input REFIN Reference Input Fault pin as reference or limit switch input DCE Value Delayed Current Error Delayed error output for ERROUT in 1 100 sec Value range 0 65535 LPN Value Load Pulse Number Preset pulse number for ENCOUT Value range 1 255 co Clear Output Set digital output DIGOUT to low level SO Set Output Set digital output DIGOUT to high level TO Toggle Output Switch digital output DIGOUT SETPLC Set P
19. Position limits deactivated SORO Velocity presetting via RS232 ERROUT Fault pin Error output HP31 All inputs react to rising edge HBO HDO No Hard Blocking limit switch defined HOSP100 Homing Speed 100 rpm SHAO SHLO SHNO No FAULHABER homing sequence defined ADR Analog direction of rotation right LPC10000 Peak current limitation 10 A LCC5000 Continuous current limitation 5 A AC30000 Acceleration 30000 r s DEC30000 Deceleration ramp 30000 r s2 SR1 Sampling rate 100 us 150 I term of velocity controller POR10 P term of velocity controller PP10 P term of position controller PD5 D term of position controller cl40 I term of current controller SP30000 Limitation of maximum velocity to 30000 rpm MVO Minimum analog velocity MAV25 Minimum analog voltage LL1800000000 Upper positioning range limit LL 1800000000 LPN16 Lower positioning range limit Numeric value for pulse output STW1 Step width for special operation STN1000 Step number for special operation ENCRES2048 Resolution of external encoder DEV30000 Do not monitor deviation error DCE200 Error delay 2 sec CORRIDOR20 Target corridor for positionings SETPLC Digital inputs PLC compatible NETO Multiplex mode deactivated BAUD9600 Transfer rate 9600 baud NODEADRO Node number 0 COMPATIBLEO Not in compatibility mode ANSW2 Asynchronous response activated POHOSEQO No homing sequence after power on DIPROG Sequence programs deactivated RM3300 Motor resistance 3 3 0 KN398
20. Return value binary coded LSB Bit 0 Bit 0 7 Hard Blocking 0 7 Function active for input 1 3 Bit 8 15 Hard Polarity 0 7 Rising edge at input 1 3 Bit 16 23 Hard Direction 0 7 Clockwise rotation stored at input 1 3 Bit 24 State of digital output 0 Low 1 High Bit 25 Level of digital inputs 0 TTL level 5V 1 PLC level 24 V Bit 26 28 Function of fault pin 0 ERROUT 1 ENCOUT 2 DIGOUT 3 DIRIN 4 REFIN GDCE Get Delayed Current Error Set value of error output delay DCE GPN Get Pulse Number Set pulse number LPN 4 2 3 Configuration of homing Command Argument Function Description HOC Homing Configuration Set homing configuration Return values binary coded LSB Bit 0 Bit 0 7 SHA setting for input 1 8 Bit 8 15 SHN setting for input 1 8 Bit 16 23 SHL setting for input 1 8 input 6 8 Reserved Bit 24 Power On Homing Sequence 0 deactivated 1 activated homing after power on GHOSP Get Homing Speed Set homing speed in rpm 43 Uf 4 SZ FAULHABER 4 Parameter Description 4 3 Miscellaneous commands Command Argument Function Description NE 0 1 Notify Error Notification in the event of error 1 An r is returned if an error occurs 0 No notification in the event of error SAVE Save Parameters Save current parameters and configuration setting to Flash memory EEPSAV The drive will also start with these settings when next switched on Attention Command must not be execu
21. 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 aim of this so called 1 t current limitation is to prevent heating of the motor beyond the thermally permissible temperature through appropriate selection of the continuous current On the other hand a high load should be temporarily possible in order to enable very dynamic movements Functioning of the I t current limitation XI Limitation lt Duration Time p Toite ais seedise Time Load variation 3 8 3 Overtemperature protection If the MOSFET temperature of the external controllers or the coil temperature of the 3564K024B CS exceeds a preset limit value the motor is switched off The following conditions must be fulfilled in order to reactivate the motor E Temperature below a preset limit value E Target velocity set to 0 rpm E Actual motor speed less than 50 rpm Note on determination of the coil temperature The housing temperature is measured and the power loss concluded from the current measurement The MOSFET or coil temperature is calculated from these values via a thermal model In most applications this method represents a thermal motor protection device SZ FAULHABER 3 Functional Description 3 8 Technical information 3 8 4 Undervoltag
22. analog input SOR2 If SOR2 is set in APCMOD the pulse duty factor of a PWM signal can be used as position set point At delivery E Pulse duty factor E Pulse duty factor gt 50 positive target position 50 gt target position 0 E Pulse duty factor lt 50 gt negative target position Absolute positioning within one revolution Thanks to the linear Hall sensors the absolute position can be recorded within one revolution on BL motors This means that even if the power supply is disconnected the position determination supplies the correct position value after restarting if the rotor has only been turned within one revolution The following commands enable the drive to be accurately positioned in the voltage range 0 V to 10 V within one revolution and to return to the correct position even after the supply has been switched off without homing not MCDC APCMOD change to analog positioning LL3000 fix maximum position at 1 revolution COMPATIBLE1 LL1000 SZ FAULHABER 3 Functional Description 3 4 Extended operating modes 3 4 4 External encoder as absolute encoder not MCDC For high precision applications the actual values of BL motors can be derived from an external encoder E The resolution of the position values is dependent on the resolution of the encoder in this case E Depending on the application the velocity can be derived from the encoder or from the Hall sensors E The ext
23. delete at the set acceleration value when the edge occurs corresponding HL bit at edge of i e it goes beyond the reference mark The reference respective limit switch k b isel hed with b Setting is not saved mark can be precisely approached with a subsequent HN Hard Notify Send character to RS232 and delete positioning command command M corresponding HN bit at edge of Advantage No abrupt motion changes respective limit switch Setting is not saved These special commands can be used to define actions that are to be triggered at an edge of the relevant input independently of a homing sequence A programmed limit switch function will remain effective until the preselected edge occurs The programming can be changed with a new command before an edge occurs The settings are not saved with the SAVE command so all limit switches are inactive again after switch on 21 SZ FAULHABER 3 Functional Description 3 4 Extended operating modes Use the CONTMOD command to revert from an extended operating mode to normal mode 3 4 1 Stepper motor mode Command Function Description STEPMOD Stepper Motor Change to stepper Mode motor mode In stepper motor mode the analog input acts as frequency input The error output must be configured as rotational direction input if the direction of rotation is to be changed via a digital signal Alternatively the direction of rotation can also be preset via the commands ADL and ADR Command
24. inputs can be set over the interface see instruction manual Position control 24V DC Protection Overtemperature 10k Current limit Overvoltage Phase A M8 brown Phase B M7 orange Power amplifier Phase C M1 yellow Example ial Hallsensor A E Limit switch m Tri a 7 __ Hallsensor B agr alculation i Hallsensor C CANopen Interface veel CANopen 2 7 CANL o MST Connnunication I tcurrent 4 5V Control CANH o and configurations limiting Micro Controller BL Motor Eva inp luation ut3 module g Specifications subject to change without notice Edition 2006 2007 58 www faulhaber group com Up GY SZ FAULHABER Motion Controller General description The MCBL 3003 06 S is designed for brushless DC Servomotors with linear Hall sensors Ultra low speeds and high positioning resolu tions 1 3000 revolutions are thus possible without the need for an additional encoder The motors have a sinusoidal current resulting in a constant torque over the entire circumference This means that the motors run particularly quietly and efficiency is also increased Maximum performance PI speed controller with superior performance specifications in respect of synchronous operation and minimal torque fluctuations Speed profiles such as e g ramp triangular or trapezoidal move ments More complex profiles can also be implemented Positioning with
25. is reached GOHIX Go Hall Index The sequence stops at the GOHIX command until the Hall null position is reached If there are several Notify conditions the first fulfilled condition effects continuation of the program The following commands are available for sequence programs Defines the start and end of the sequence program All commands sent to PROGSEQ are not executed but transferred to the sequence program memory An END marks the end of the sequence program All commands after END are directly executed again There is no SAVE command neccessary for saving the programm sequence Attention Command must not be executed more than 10 000 times as otherwise the function of the Flash memory can no longer be guaranteed These commands do not have to be entered in the FAULHABER Motion Manager as they are automatically attached by the Transfer program file function Reads out and sends back the stored program sequence Each program line is output in lower case letters ending with a CR character At the end of the program the line end is sent with specification of the program length in bytes followed Execution of the program is released i e the sequence is started This status can be permanently stored with SAVE EEPSAY so that the drive starts up with the stored program Continue program sequence after DIPROG at the point at which it was interrupted Command Argument Function Description PROGSEQ
26. operation activated 0 No network operation single drive on an RS232 Example Activate network operation NET1 In order to address the individual drives in the network the node number must be specified before each ASCII command to be sent e g 3V100 Commands without a node number are adopted by all drive nodes in the network Broadcast Important No unaddressed guery commands may be sent in network mode as otherwise all units will answer simultaneously and the message frames will mix resulting in communication errors It must also be ensured that no asynchronous responses are sent by several units simultaneously and that the command acknowledgement is switched off when using unaddressed transmit commands Use the ANSW command to set the response behaviour Command Function Description ANSW Answer Mode 0 No asynchronous responses 1 Permit asynchronous responses 2 All commands with confirmation and asynchronous responses Example Switch off asynchronous responses and command confirmation ANSWO 2 Installation SZ FAULHABER 2 5 Basic settings During initial commissioning of external Motion Controllers a number of basic settings must be made in order to adjust the controller to the connected motor Use the FAULHABER Motion Manager for easy execution of these adjustments Failure to observe these basic settings can result in destruction of components At delivery the MCBL 3003 06 S is set to mot
27. position Integer32 Inc 201 Target position Integer32 Inc 2 Setting of binary transmit mode for parameter 2 curve 2 2 binary characters are sent in direct succession Command Mode2 The relevant value is switched to depending on the value of Mode2 Command 202 Set binary transmit mode for parameter 2 Mode 2 0 Current velocity Integer16 rpm 1 Target velocity Integer16 rpm 2 Controller output Integer16 4 Motor current Integer16 mA 44 Housing temperature Unsigned16 C 46 Coil temperature Unsigned16 C 200 Current position Integer32 Inc 201 Target position Integer32 Inc 255 Nosecond parameter is sent basic setting at power on 32 Data request A binary character is sent Request Depending on the set modes Commands 200 and 202 3 5 7 or 9 bytes are sent back to the PC Request 201 Request for a data packet After setting a mode you must wait at least 2 ms before requesting valid data Received data after request 201 1 Mode1 between 0 and 15 Mode2 at 255 inactive gt 3 byte 1st byte Low byte data 2nd byte High byte data 3rd byte Time code The data are in Integer16 format 2 Mode1 between 16 and 199 Mode2 at 255 inactive gt 3 byte Coding as in 1 The data are in Unsigned16 format 3 Mode1 between 200 and 255 Mode2 at 255 inactive gt 5 byte 1st byte Lowest byte data 2nd byte Second byte data 3rd byte Third by
28. switches Configuration of homing and limit switches The following commands use the following bit mask for configuration of the limit switch functions aeee CEO analog input Fault pin 3rd input 4th input only MCDC 5th input only MCDC Set or delete the bit at the position of the required input for each command and assign the resulting numeric value to the commands described below Polarity and limit switch function Command Function Description HP Hard Polarity Define effective edge and polarity of respective limit switches 1 Rising edge and high level effective 0 Falling edge and low level effective Hard Blocking Activate Hard Blocking function for relevant limit switch Hard Direction Presetting of direction of rotation which is blocked by HB of the respective limit switch 1 Clockwise rotation blocked 0 Anticlockwise rotation blocked The Hard Blocking function provides reliable protection against overshooting of the range limit switch If the drive is located in an HB limit switch then the direction of rotation set with HD will be blocked i e the drive can only move further out of the limit switch The speed stays at 0 rpm if target velocities are preset in the wrong direction Example Setting of the Hard Blocking function for Fault pin and Ath input 2 23 2 8 10 gt HB10 20 Definition of homing behaviour Command Function Description SHA Set Home Arming Homing behaviou
29. the drive is to operate as a pure voltage regulator this can be configured with VOLTMOD The motor voltage is then output proportionally to the default value The current limitation remains active With this mode it is possible to use a higher level regulator The controller then serves only as a power amplifier Command Function Description VOLTMOD Set Voltage Activate Voltage Mode Regulator Mode U Set Output Output motor voltage Voltage Value 32767 32767 corresponds to Uv Uv only for SORO Three options exist to control the output voltage Interface analog input voltage and PWM Using interface requires first setting SORO The command U sets the output voltage proportional to the supply voltage A value of 32767 passes the full power supply voltage to the motor A value of 0 passes 0 V to the motor A value of 32767 passes the full power supply voltage inverted Using an analog voltage requires first setting SOR1 The input analog voltage will scale the output voltage to the motor A value of 10 V passes the full power supply voltage to the motor A value of 0 V passes 0 V to the motor A value of 10 V passes the full power supply voltage inverted Using a PWM signal requires first setting SOR2 A 100 duty cycle passes the full power supply voltage to the motor A 50 duty cycle passes 0 V to the motor A 0 duty cycle passes the full power supply voltage inverted SZ FAULHABER 3 Functional Des
30. with Notify at Anin SHN1 SHL1 HOSP200 gt Homing speed 200 rpm HP1 gt Rising edge at limit switch effective ENPROG gt Start motion program after power on ANSWO gt No asynchronous responses EEPSAV gt Save configuration Program Al JMP1 gt Endless loop A2 gt Entry point for homing sequence JMP2 GOHOSEO gt Homing to reference switch GOHIX gt Subsequent homing to Hall sensor zero point Hall index JMP1 gt Return to endless loop A3 gt Entry point for routine 1 JMP3 LAO gt Set target position to 0 NP gt Notify at target position sequence stops until target position is reached M gt Start positioning JMP1 gt Return to endless loop A4 gt Entry point for routine 2 JMP4 LPC500 gt Set current limitation values to 500 mA continuous current lt peak current LA1000000 NP TIMEOUT500 gt Continue sequence after 5 sec even if position has not yet been attained M Start positioning vo gt Stop motor LRO 3 Functional Descriptions SZ FAULHABER 3 6 Sequence programs M JMP1 A5 SETA1000 A6 LR30000 NP M DELAY100 LR 15000 NP M DELAY50 DAJNZ6 JMP1 Switch back to positioning mode Return to endless loop Entry point for routine 3 JMP5 Predefine variable A Entry point for loop VV VY gt Repeat loop 1000 times gt Return to endless loop Comment The individual routines are called from the serial interface by sending the commands JMP2 J
31. 0 gt Wait 0 5 seconds until input 2 is queried JPF1 gt Jump back to start in case of low level at input 2 LAO NP M gt Move to position 0 if high level at input 22 JMP1 Jump to start Comment With this program an RS232 interface is no longer reguired for operation stand alone application The desired sequence is started with short pulses at the input e g key and the return is triggered with a continuous signal e g switch 3 Functional Description SZ FAULHABER 3 7 Trace function An efficient trace function is available via an additional binary interface This allows up to 2 values to be read out online in a resolution of up to 3 ms In order to be able to use the binary interface it must first have been opened for the desired node with the command BINSEND1 Command Argument Function Description BINSEND 0 1 Open Binary 1 Open binary interface Interface 0 Close binary interface Trace configuration 1 Setting of binary transmit mode for parameter 1 curve 1 2 binary characters are sent in direct succession Command Mode1 The relevant value is switched to depending on the value of Mode1 Command 200 Set binary transmit mode for parameter 1 Mode 1 0 Current velocity Integer16 rpm 1 Target velocity Integer16 rpm 2 Controller output Integer16 4 Motor current Integer16 mA 44 Housing temperature Unsigned16 C 46 Coil temperature Unsigned16 C 200 Current
32. 32 if Notify condition was not fulfilled Argument in 1 100 seconds Value range 0 to 65535 can also be used via RS232 Jump to the specified address can also be used via RS232 Jump to the specified address if result of last query command is greater than variable x A B C Jump to the specified address if result of last query command is less than variable x A B C Jump to specified address if result of last query command is equal to variable x A B C Jump to the specified address if the analog input is active HP determines the polarity Jump to the specified address if the Fault Pin input is active HP determines the polarity Fault Pin must be configured as input REFIN Jump to the specified address if the 3rd input is active HP determines the polarity Jump to the specified address if the 4th input is active HP determines the polarity Jump to the specified address if the 5th input is active HP determines the polarity Set variable x A B C to the specified value Value range Int32 Without argument Result of last query command is loaded into the variable Query content of variable x A B C Decrease the value of variable x A B C by one and jump to specified address if the value is not 0 An error interrupt is activated from execution of this command This means that if an error subsequently occurs overvoltage current limitation then the sequence branches to the specified add
33. If the system does not function stably with these settings stability can be achieved Command Function Description by reducing the I term of the velocity controller or POR Load Velocity Load velocity controller e BP Proportional amplification reducing the P term of the position controller Term Value range 1 255 3 The P term of the position controller can now l Load Velocity Load velocity controller be increased until the system becomes unstable Integral Term integral term ake E s Value range 1 255 in order to optimise the motion profile PP Load Position Load position controller 4 The stability can then be restored through Proportional amplification he followi Term Value range 1 255 the following measures PD Load Position Load position controller D term M Increasing the D term of the position controller D Term Value range 1 255 example PD20 SR Load Sampling Load sampling rate of the velocity A A Rate controller as a multiplier of 100 ps M Reducing the term of the velocity controller Value Range 1 20 ms 10 34 SZ FAULHABER 4 Parameter Description All ASCII commands that are available for operation of the FAULHABER Motion Controllers are listed below The ASCII commands have the following structure Node no Argument The node number is optional and is only reguired if several drives are being operated on one interface The command consists of a letter character string The optiona
34. LC compatible 24 V level SETTTL Set TTL Inputs Digital inputs TTL compatible 5 V level The signal level of the digital inputs can be set using the above commands PLC Default Low 0 7 0 V High 12 5 V Us TTL Low 0 0 5 V High 3 5 V Us Configure fault pin as reference or limit switch input Command Function Description REFIN Reference Input Fault pin as reference or limit switch input The limit switch functions for the fault pin are only accepted if REFIN is activated setting must be saved with SAVE or EEPSAV Important Configure the fault pin as input before applying external voltage The function of the inputs and the homing behaviour is set with the FAULHABER commands described below A previously configured homing is then started with the following FAULHABER commands Command Function Description GOHOSEQ Go Homing Execute FAULHABER homing Sequence sequence A homing sequence is executed if programmed irrespective of the current mode GOHIX Go Hall Index Move BL motor to Hall zero point Hall index and set actual position value to 0 not with MCDC GOIX Go Encoder Move to the encoder index at the Index Fault pin and set actual position value to 0 DC motor or ext encoder POHOSEQ Power On Start homing automatically Homing after switch on Sequence 1 Power On homing sequence activated 0 No homing after switch on 19 3 Functional Description SZ FAULHABER 3 3 Homing and limit
35. LC inputs Digital inputs PLC compatible 24 V level SETTTL Set TTL inputs Digital inputs TTL compatible 5 V level 4 1 5 Configuration of homing and limit switches in FAULHABER mode Command Argument Function Description HP Value Hard Polarity Define valid edge and polarity of respective limit switches 1 Rising edge or high level valid 0 Falling edge or low level valid HB Value Hard Blocking Activate Hard Blocking function for relevant limit switch HD Value Hard Direction Presetting of direction of rotation that is blocked with HB of respective limit switch 1 Clockwise rotation blocked 0 Counterclockwise rotation blocked SHA Value Set Home Arming for Homing behaviour GOHOSEQ Homing Sequence Set position value to 0 at edge of respective limit switch SHL Value Set Hard Limit for Homing behaviour GOHOSEQ Homing Sequence Stop motor at edge of respective limit switch SHN Value Set Hard Notify for Homing behaviour GOHOSEQ Homing Sequence Send character to RS232 at edge of respective limit switch HOSP Value Load Homing Speed Load speed and direction of rotation for homing GOHOSEQ GOHIX GOIX Value range 32767 32767 rpm POHOSEQ 0 1 Power On Homing Start homing automatically after power on Sequence 1 Power On Homing Sequence activated 0 No homing after power on HA Value Home Arming Set position value to 0 and delete relevant HA bit at edge of respective limit switch Setting is not stored HL Value H
36. MP3 etc If the sequence is to wait until the end of a motion command M GOHOSEQ etc a Notify NP or SHN1 in the Homing Seguence configuration must be set first of all 2 Seguence controlled via digital input without RS232 E After power on the drive moves to the limit switch and then the Hall index E With a positive edge at the fault pin digital input the drive moves forward 5000 increments E f the level is still high after 5000 increments the drive moves to position 0 Configuration SORO gt Digital velocity presetting via RS232 LRO gt No motion M gt Switch to position control Motion 0 REFIN gt Reprogram error output to input SHA1 gt Homing Sequence with Notify at Anin SHN1 SHL1 HOSP 200 gt Homing velocity 200 rpm backwards HP1 gt Rising edge at limit switch effective POHOSEQ1 gt Execute Homing Sequence after power on ENPROG gt Start motion program after power on ANSWO gt No asynchronous responses EEPSAV gt Save configuration 31 Program GOHOSEQ gt Homing to reference switch GOHIX gt Subsequent homing to Hall sensor zero point Hall index Al HP3 gt High level at input 2 Fault pin input effective A2 JPF2 gt Endless loop until low level at input 2 HP1 gt Low level at input 2 Fault pin input effective A3 JPF3 gt Endless loop until high level at input 2 evaluation of positive edge LR5000 NP M gt Move forward 5000 increments DELAY5
37. PROGSEQ are not executed but transferred to the sequence program memory An END marks the end of the sequence program There is no SAVE command neccessary for saving the programm sequence Attention Command must not be executed more than 10 000 times as otherwise the function of the Flash memory can no longer be guaranteed All commands after END are directly executed again These commands do not have to be entered in the FAULHABER Motion Manager as they are automatically attached by the Transfer program file function Reads out and sends back the stored program sequence Each program line is output in lower case letters ending with a CR character At the end of the program the line end is sent with specification of the program length in bytes followed by a CR and LF character Execution of the program is released i e the sequence is started This status can be permanently stored with SAVE EEPSAV so that the drive starts up with the stored program sequence immediately after switch on Deactivate program execution Continue program sequence after DIPROG at the point where it was interrupted Send back available program memory in words 47 Up GY SZ FAULHABER 4 Parameter Description 4 6 Commands for sequence programs Additional commands for use within sequence programs Command Argument Function Description DELAY Value Delay Stop sequence for a defined period Argument in 1 100 seconds
38. PWM signal can be used The input can also read in a reference mark signal Depending on mode a frequency signal or external incremental encoder can also be connected Error output Open Collector Can also be reprogrammed as a rotational direction or reference mark input RS232 interface for connection to a PC with a transfer rate of up to 115k baud The information can be stored in the integrated memory FLASH The interface also offers the facility to retrieve online operating data and values Additional digital input Connection diagram An extensive ASCII command set is available for programming and operation This can be preset from the PC e g via any terminal pro gram as contained in Windows or via any other control computer For Windows 95 98 ME NT 2000 XP the Faulhaber Motion Manager program is available this considerably simplifies operation and con figuration of the units via the CAN interface and also enables graphic online analysis of the operating data Once programmed as a speed or position controller via the analogue input as a stepper motor or electronic gear the drive can be oper ated independently of the RS232 interface Fields of application Thanks to the integrated technology the drive can be used in many different areas with minimal wiring effort The flexible connection options open up a broad field of application in all areas for example in decentralised systems of automation technology
39. Program seal Seguence END GPROGSEO Get Program Sequence by a CR and LF character ENPROG Enable Program sequence immediately after switch on DIPROG Disable Deactivate program execution Program RESUME Resume MEM Memory Send back available program memory in bytes 27 Up GY SZ FAULHABER 3 Functional Description 3 6 Sequence programs Additional commands for use within sequence programs Command DELAY TIMEOUT JMP JMPGx JMPLx JMPEx JPH JPF JPT JPD only MCDC JPE only MCDC SETx GETx DxJNZ ERI RETI DIERI CALL RET Argument Value Value Address Address Address Address Address Address Address Address Address Value Address Address Address Address Function Delay Timeout Jump Jump if greater than x Jump if less than x Jump if equal x Jump if Hard Input activated Jump if Fault Input activated Jump if 3 Input activated Jump if 4 Input activated Jump if 5 Input activated Set Variable x Get Variable x Decrement x Jump if not Zero Error Interrupt Return Error Interrupt Disable Error Interrupt Call Subroutine Return from Subroutine Define Address Description Stop sequence for a defined period Argument in 1 100 seconds Value range 0 to 65535 In the case of Notify commands only wait for the preset time and then continue the sequence again Send a o to RS2
40. Thanks to the compact design the units can be integrated into diverse applications with minimal wiring The flexible connection options open up a broad field of application in all areas for example in decentralized automation technology systems as well as in handling devices and machine tools Options A separate supply for motor and control electronics is optionally available ex works important for safety relevant applications in which case the 3rd input is omitted Special preconfiguration of modes and parameters is possible on request The Motion Manager software can be downloaded free of charge from www faulhaber group com 1 Overview SZ FAULHABER 1 2 Quick start To facilitate introduction this chapter highlights the initial steps for commissioning and operation of FAULHABER Motion Controllers with serial interface However the detailed documentation must always be read and adhered to particularly chapter 2 5 The units are delivered as standard without a valid node address NODEADRO and with a transfer rate of 9600 baud The settings can be changed via the interface e g with the FAULHABER Motion Manager If the FAULHABER Motion Manager is to be used to change the connection parameters proceed as follows 1 Connect drive unit to a serial interface of the PC e g COM1 via null modem cable and switch on 2 Start FAULHABER Motion Manager 3 Activate serial interface as communication interface a
41. ULHABER 2 Installation 2 3 Motor connection 1 MCBL 3003 06 S The signal lines are susceptible to interference therefore a maximum cable length can not be specified For cable lengths gt 300 mm the use of shielded wires is recommended MCBL connection PhA _ BN A Phase A SELETA NJ PhB Ph C Housing Brushless SGND ee ee a DC Servomotor M Hall A Hall B Hall sensor B Hall C Housing 2 MCDC 3003 06 S The encoder lines are susceptible to interference therefore a maximum cable length can not be specified For cable lengths gt 300 mm the use of shielded wires is recommended When using an encoder with complementary outputs e g line driver please apply HEDL adapter board 6501 00064 from FAULHABER MCDC connection Mot Mot Housing SGND 5V CHA CHB Housing 7 11 2 Installation SZ FAULHABER 2 4 Baud rate and node number The serial interface must be configured as follows M 8 data bits E 1 stop bit E No parity The Xon Xoff protocol must be used for rapid command sequences or transmission of sequence programs The following transfer rates can be set 600 baud 1200 baud 2400 baud 4800 baud 9600 baud default 19200 baud 38400 baud 57600 baud 115200 baud The setting can be changed via the interface if a connection already exists with the drive node Command Function Description BAUD Select
42. Velocity constant 398 rpm V DI Power stage deactivated vo Nominal speed value 0 rpm 51 FAULHABER SZ ZZ Notes SZ FAULHABER with integrated Motion Controller For combination with and RS232 interface Sy ee ay ad Series 3564K024B CS 3564 K 024 B CS Nominal voltage Un 24 Volt Output power P2 max 90 W Efficiency N max 80 No load speed No 10 500 rpm No load current lo 0 28 A Peak torque for 8A Me 160 mNm Friction torque static Co 1 10 mNm dynamic G 2 4 104 mNm rpm Torque constant km 20 2 mNm A Current constant ki 0 05 A mNm Slope of n M curve An AM 31 rpm mNm Mechanical time constant Tm 11 ms Rotor inertia J 34 gcm Angular acceleration OL max 109 10 rad s Thermal resistance Rthi Rm2 2 5 6 3 K W Thermal time constant Tw Twz 23 1175 s Operating temperature range 5 85 C Shaft bearings ball bearings preloaded Shaft load max radial at 3000 rpm 7 4 mm from mounting flange 108 N axial at 3000 rpm push on only 50 N axial at standstill push on only 131 N Shaft play radial 0 015 mm axial 0 mm Housing material aluminium black anodized Weight with electronics 440 g Direction of rotation electronically reversible Recommended values S
43. alog Voltage voltage in mV Example The drive is only to start moving with voltages over 100 mV or below 100 mV at the analog input MAV 100 Advantage As 0 mV is usually difficult to set at the analog input 0 rpm is also not easy to implement The dead band produced by the minimum start voltage prevents the motor from starting as a result of small interference voltages 17 Setting the direction of rotation Command Function Description ADL Analog Positive voltages at the analog input Direction Left result in anticlockwise rotation of the rotor ADR Analog Positive voltages at the analog input Direction Right result in clockwise rotation of the rotor Example Clockwise rotation in the case of positive voltages ADR The error output fault pin can also be reconfigured as a digital rotational direction input Command Function Description DIRIN Direction Input Use fault pin as rotational direction input Level and direction Left hand rotation corresponding to ADL command High Right hand rotation corresponding to ADR command Low The level at the rotational direction input is dominant to the settings made with ADR and ADL ADR and ADL are thus ineffective 3 Functional Description SZ FAULHABER 3 2 Velocity control Set point presetting via pulse width signal PWM at the analog input SOR2 At delivery E Pulse duty factor gt 50 gt Clockwise rotation E Pulse duty factor
44. alue 0 65535 GETx Get Variable x Query content of Variable x A B C DxJNZ Adr Decrement x Jump Decrease the value of Variable x A B C by one and jump to specified if not Zero address if the value is not 0 Address 0 255 ERI Adr Error Interrupt An Error Interrupt is activated from execution of this command This means that whenever an error occurs after this overvoltage current limitation the sequence branches to the specified address Error handling mode is ended when a JMP or RETI command is executed Address 0 255 RETI Return Error Interrupt Return from an error handling routine Important The interrupted command will no longer be executed even if it had not been completed at the time of the interruption DIERI Disable Error Interrupt The ERI command is deactivated i e in the event of an error the sequence no longer jumps to the error handling routine CALL Adr Call Subroutine Call a subroutine at specified address Address 0 255 RET Return from Subroutine Return from a subroutine Please note that only one subroutine level is possible i e no subroutines may be called within subroutines A Adr Define Address Definition of the current position as entry address for jump commands Address 0 255 48 SZ FAULHABER 5 Appendix 5 1 Electromagnetic compatibility EMC The FAULHABER Motion Controllers MCBL 3003 06 S MCDC 3003 06 S and 3564K024B CS have been checked and tested in accordance
45. ard Limit Stop motor and delete relevant HL bit at edge of respective limit switch Setting is not stored HN Value Hard Notify Send character to RS232 and delete relevant HN bit at edge of respective limit switch Setting is not stored Limit switch bit mask Analog input Fault pin 3rd input 4th input MCDC only 5th input MCDC only 38 Uf 4 SZ FAULHABER 4 Parameter Description 4 2 Query commands for basic settings 4 2 1 Operating modes and general parameters Command Argument Function Description CST Configuration Status Set operating mode Return value binary coded LSB Bit 0 Bit 0 Compatible mode 0 COMPATIBLEO 1 COMPATIBLE1 Bit 1 2 Automatic responses 0 ANSWO no automatic responses 1 ANSW1 asynchronous responses 2 ANSW2 additional command acknowledgements Bit 3 4 Velocity presetting 0 SORO RS232 interface 1 SOR1 Analog voltage 2 SOR2 PWM signal 3 SOR3 current limitation value Bit 5 6 reserved Bit 7 9 FAULHABER mode 0 CONTMOD 1 STEPMOD 2 APCMOD 3 ENCMOD HALLSPEED 4 ENCMOD ENCSPEED 5 GEARMOD 6 VOLTMOD 7 XRMOD Bit 10 Power amplifier 0 Disabled DI 1 Enabled EN Bit 11 Position controller 0 Switched off 1 Switched on Bit 12 Analog direction of rotation Bit 13 Position Limits APL 0 Deactivated 1 Activated Bit 14 Sinus commutation SIN 0 Permit block commutation 1 Do not permit block commutation Bit 15 Network op
46. as well as in pick and place machines and machine tools Options An adapter board and serial null modem cable can also be ordered to enable immediate commissioning of the 3564K024B CS Separate supply of motor and control electronics is possible impor tant for safety relevant applications in this case the 3rd input is not required Special preconfiguration of modes and parameters is possible on request The Motion Manager program is available on request or on the Internet Note Detailed operating instructions on installation and commissioning are provided with the brushless DC Servomotor Power supply PC with RS232 interface zero modem cable RS232 For notes on technical data and lifetime performance refer to Technical Information Edition 2006 2007 3564K024B CS with serial RS232 interface Adapter Specifications subject to change without notice www faulhaber group com FAULHABER SZ ZZ Notes po SZ FAULHABER Motion Controller gt gt 4 Ouadrant PWM with RS232 interface Series MCBL 3003 06 S Power supply PWM switching frequency Efficiency Max continuous output current Max peak output current Total standby cu
47. at analog input 2 PWM signal at analog input 3 Current set point via analog input CONTMOD Continuous Mode Switch back from an extended mode to normal mode STEPMOD Stepper Motor Mode Switch to stepper motor mode APCMOD Analog Position Switch to position control via analog voltage Control Mode ENCMOD Encoder Mode Switch to encoder mode not for MCDC An external encoder serves as position detector the current position value is set to 0 HALLSPEED Hall sensor as Speed via Hall sensors in encoder mode Speed Sensor not for MCDC ENCSPEED Encoder as Speed via encoder in encoder mode Speed Sensor not for MCDC GEARMOD Gearing Mode Switch to gearing mode VOLTMOD Set Voltage Mode Activate voltage regulator mode IXRMOD Set IxR Mode Activate IxR control only MCDC 4 1 2 Parameters for basic settings Command Argument Function Description ENCRES Value Load Encoder Resolution Load resolution from external encoder Value 0 to 65535 4 times pulse rev MOTTYP 0 9 BL Motor Type Setting for connected BL motor only MCBL 0 BL special motor according to KN and RM 1 1628T012B K1155 2 1628T024B K1155 3 2036U012B K1155 4 2036U024B K1155 5 24445024B K1155 6 3056K012B K1155 7 3056K024B K1155 8 3564K024B K1155 9 4490H024B K1155 KN Value Load Speed Constant Load speed constant Kn according to specifications in data sheet Unit rpm V Only necessary for MOTTYPO or DC motor RM Value Load Motor Resistance Load motor re
48. baud Preset transfer rate for RS232 interface Example Change transfer rate to 19200 baud BAUD 19200 Important If the baud rate of the controller has been changed the baud rate of the PC and control must also be adjusted to the new baud rate to enable communication with the drive unit again If several drives are to be operated on a serial interface each drive unit must have a unique node number between 1 and 255 Command Function Description NODEADR _ Define Node Set node number Address Example Set drive unit to node number 3 NODEADR3 All units are delivered with node number 0 In order to prepare the units for network operation they must first be individually connected to the PC and set to the desired node address using the FAULHABER Motion Manager 12 A serial network can be constructed using the so called daisy chain technique in which the transmit cable of the Master PC PLC is connected to the receive cable of the first node from where it is looped through to the receive cable of the second node and so on The same procedure is followed with the receive cable of the Master which is looped through to all transmit cables of the drive node The current generation of Motion Controllers do not require a multiplexer board for serial network operation Multiplex mode is activated with a new command Command Function Description NET Set Netwerk Mode Activate RS232 Multiplex mode for network operation 1 Network
49. cription 3 4 Extended operating modes 3 4 6 Analog target current presetting You can switch to analog target current presetting with the SOR3 command The limitation current is then proportional to the voltage at the analog input and the internal I t current limitation is deactivated The set current is weighted with the maximum current LPC If 10 V are present at the analog input the current is accordingly limited to the maximum current set with LPC Even if negative voltages are present at the analog input the current is limited to the amount of the applied voltage Negative target current presettings therefore have no effect on the direction of rotation 25 3 4 7 IxR control for DC controllers For speed controlled applications with DC motors without an encoder an IxR control is available on the MCDC In this mode the motor speed is determined via an internal motor model Consequently the encoder and the associated wiring can be omitted However control quality and accuracy are considerably restricted This mode is mainly suited for higher speeds and larger motors in the FAULHABER range Command Function Description IXRMOD Set IxR Mode Activate IxR control only for MCDC RM Load Motor Load motor resistance Ru according Resistance to specification in data sheet Unit mOhm KN Load Speed Load speed constant kn according Constant to specifications in data sheet Unit rpm V 3 Functional Description SZ FAULHABER
50. e monitoring Possible procedure If the supply voltage falls below the lower voltage a Set parameters of velocity controller threshold the power stage is switched off The Motion 1 First of all you have to choose the right sampling Controller remains active When the voltage returns rate for the velocity controller depending on the within the permissible range the power stage is switched encoder resolution With less encoder pulses you on again immediately need a lower sampling rate i e ENCRES256 gt i SR18 For BL motors with internal encoder 3000 3 8 5 Overvoltage regulation pulses the maximum sampling rate SR1 100 us is If the motor is operated as a generator it produces recommended energy Usually power supply units are not able to feed this Set initial configuration energy back into the power line Conseguently the supply voltage at the motor increases and depending on the speed the permissible maximum voltage may be exceeded E Controller amplification 8 POR8 E Integral term 20 120 In order to avoid severe damage to components the m Speed at 1 3 of the maximum application speed 3564K024B CS and the MCBL 3003 06 S contain a controller example V1000 which adjusts the rotor displacement angle if a limit E Set acceleration to highest value of the application voltage 32 V is exceeded The MCDC 3003 06 S contains a example AC10000 ballast circuit which is activated if a limit voltage 32 V 2 Increase control
51. e next command No new error interruption can take place within the error handling routine The error handling status is cancelled as soon as the RETI or JMP command is executed After this the commands are interrupted again if an error occurs It should therefore be ensured that the error situation disappears in the error handling routine Otherwise the error handling call will be repeated Homing The HN SHN command enables you to stop the sequence until the limit switch is reached In order to correctly execute the GOHOSEQ command within a sequence it is essential to set the SHN command accordingly when defining the homing sequence This is necessary particularly if you wish to use the Power On Homing sequence POHOSEO1 Notify commands Notify commands enable you to generate complicated motion profiles SZ FAULHABER 3 Functional Description 3 6 Sequence programs Example LA100000 SP5000 AC50 NV1000 M AC100 NV2000 M AC50 NP M With this sequence the acceleration is increased during boot up at 1000 rpm It is decreased again at 2000 rpm Note The NP command without argument stops the sequence until the target position is reached The CALL command The CALL command enables subroutines to be called from different points any number of times You can only jump back from a subroutine again with the RET command All commands are permitted within a subroutine except for a repeated CALL command Gene
52. ed 4x1 5 x45 7x5 35 0 5 Connection fat lt pin Function 1 PhC 2 HallA 3 5V 4 SGND 5 HallB 6 HallC 04 5 0 2 7 PhB 7 a 8 PhA J C 9 TxD td Sse t 10 RxD 1 11 AGND M aa 12 Fault Max recommended current 13 Anin ee for continuous operation 3A 14 24V 39 8 0 5 at 22 C ambient temperature 15 GND CAUTION Thermal shutdown is 16 3 1n NOT guaranted Dimensional drawing and connection information MCBL 3006 S Scale reduced Motor connection 0 03 5 403 6 MI PhC 7 5 20 3 M2 Hall A M3 5V M4 SGND M5 Hall B M6 Hall C M7 PhB M8 PhA i 40 50 58 Supply connection VI TxD V2 RxD V3 AGND v4 Fault 9 8 20 3 v5 Anin ri jr V6 24V tt V7 GND V8 3 in DOOOOOOO Specifications subject to change without notice Edition 2006 2007 60 www faulhaber group com po SZ FAULHABER Motion Controller o gt 4 Quadrant PWM with RS232 interface Series MCDC 3003 06 S Power supply PWM switching frequency Efficiency Max continuous output current Max peak output current Total standby current Speed range Scanning rate Encoder resolution with Hall Sensors Input output partially free configurable Program memory memory size Number of instructions Operating temperature range Storage temperature Housing material Weight at 22 C ambient temperature Us fewm n Idauer Imax lei MCDC
53. enu The parameters Rm and kn must be set to protect the power stage of the MCDC 3003 06 S during braking operation The values are indicated in the datasheet of the connected motor In addition the controller parameters and the current limitation values must be adapted to the connected motor and application If using the Fault Pin as input REFIN DIRIN the desired function must be programmed before applying external voltage MOTTYP Motor type 1 1628T012B K1155 12 25 24 2 1628T024B K1155 12 22 8 3 2036U012B K1155 6 45 10 4 2036U024B K1155 14 25 17 5 24445024B K1155 7 40 16 6 3056K012B K1155 30 22 7 3056K024B K1155 10 40 22 8 3564K024B K1155 8 40 12 9 4490H024B K1155 8 40 12 13 Peak current Continuous mA current mA 2 40 3000 770 10 40 3000 410 14 50 3000 980 6 50 3000 480 9 50 5000 1370 13 50 7000 1940 12 50 3000 930 6 50 8000 2800 6 20 10000 6000 SZ FAULHABER 3 Functional Description The Motion Controllers can be configured for different operating modes As standard the drive unit is delivered as a servomotor with set value presetting via the serial interface The drive can be reconfigured by means of the corresponding FAULHABER commands If the settings are to be permanently stored the command SAVE EEPSAV must be executed after the configuration this saves the current settings in the Flash data memory from where they are reloaded when the unit is next switched on The prerequisite for operat
54. eration 0 NETO Single device on an RS232 1 NET1 Multiplex mode activated GMOD Get Mode MCDC MCBL Set FAULHABER 3564K024B CS mode c CONTIMOD STEPMOD APCMOD ENCMOD ENCSPEED GEARMOD VOLTMOD IxRMOD I pug lt 0 lt eosoa 39 4 Parameter Description GY SZ FAULHABER 4 2 Query commands for basic settings Command GENCRES GMOTTYP GKN GRM GTYP GSER GSTW GSTN GMV GMAV GPL GNL GSP GAC GDEC GSR GPOR GI GPP GPD GCI GPC GCC GDEV GCORRIDOR GNODEADR Function Get Encoder Resolution Get Motor Type Get Speed Constant Get Motor Resistance Get Controller Type Get Serial Number Get Step Width Get Step Number Get Minimum Velocity Get Minimum Analog Voltage Get Positive Limit Get Negative Limit Get Maximum Speed Get Acceleration Get Deceleration Get Sampling Rate Get Velocity Prop Term Get Velocity Integral Term Get Position Prop Term Get Position D Term Get Current Integral Term Get Peak Current Get Continuous Current Get Deviation Get Corridor Get Node Address Description Set encoder resolution ENCRES Set motor type 0 9 MOTTYP 1 DC motor Speed constant for MOTTYPO or DC motor in rpm V Motor resistance for MOTTYPO or DC motor in mOhm Query controller designation Query serial number Set step width STW Set step number per revolution STN Set minimum speed MV in rpm Set minimum start voltage value MAV in mV Set positive limit position
55. ernal encoder can be mounted directly on the motor shaft but an encoder that is mounted to the application output e g glass scale is particularly advantageous This allows the high precision to be set directly at the output M Commutation still occurs via the analog Hall sensors Command Function Description ENCMOD _ Encoder Change to encoder Mode mode not for MCDC External encoder serves as position transducer the current position value is set to 0 HALLSPEED Hall sensor as Speed via Hall sensors in speed sensor encoder mode not for MCDC ENCSPEED Encoder as Speed via encoder in speed sensor encoder mode not for MCDC The two channels of the external encoder are connected to connections AnIn and AGND which may need to be connected to the 5 V encoder supply via a 2 7 kQ pull up resistor The maximum limit position value preset with the LL command covers the value range from 0 to 1800000000 for the positive and 0 to 1800000000 for the negative limit position Input Maximum input frequency 400 kHz Level low 0 0 5 V high 3 5 V Us Set encoder resolution Command Function Description ENCRES Load Encoder Load resolution of external Resolution encoder Value range 0 to 65535 4 times pulse rev Example External encoder with 512 pulses ENCRES2048 Because of the quadrature signal processing four times the number of pulses must always be specified for ENCRES 24 3 4 5 Voltage regulator mode If
56. ets An extensive set of ASCII commands is available for operating the FAULHABER Motion Controllers The ASCII commands are structured as follows Node nol argument The node number is optional and is only required if several drives are being operated on one interface The command consists of a letter character string The optional argument consists of an ASCII numeric value The end is always a CR character Carriage Return ASCII decimal code 13 Space characters are ignored and no distinction is made between upper and lower case The response to query commands or asynchronous events is also an ASCII character string followed by a CR character Carriage Return ASCII decimal code 13 and an LF character Line Feed ASCII decimal code 10 Example Actual position queries Transmit POS CR Receive 98956 CR LF Drive nodes at 500 rpm Transmit V500 CR If ANSW2 is set you will receive an OK for pure transmit commands if the command has been successfully executed or one ofthe following character strings Unknown command Invalid parameter Command not available Overtemperature drive disabled Example Transmit V500 CR Receive OK CR LF The EEPSAV command always responds with the character string EEPROM writing done after successful saving of the current settings in the data Flash memory or with Flash defect if the save has failed All commands are listed i
57. for basic settings 4 1 3 General parameters 4 1 4 Configuration of the fault pin and digital inputs 4 1 5 Configuration of homing and limit switches 4 2 Query commands for basic settings 4 2 1 Operating modes and general parameters 4 2 2 Configuration of fault pin and digital inputs 4 2 3 Configuration of homing 4 3 Miscellaneous commands 4 4 Motion control commands 4 5 General query commands 4 6 Commands for sequence programs 5 1 Electromagnetic compatibility EMC 5 1 1 Intended use 5 1 2 CE marking 5 2 Configuration at delivery 5 3 Data sheets 35 36 36 37 38 38 39 39 43 43 44 45 46 47 49 49 49 50 53 SZ FAULHABER Version 2nd edition 01 07 2006 Firmware versions BC 605 3150 010 DC 605 3150 020 Copyright by Dr Fritz Faulhaber GmbH amp Co KG Daimlerstr 23 71101 Sch naich Germany All rights reserved including translation rights No part of this description may be duplicated reproduced 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 Although all due care has been taken in the compilation of this description Dr Fritz Faulhaber GmbH amp Co KG cannot accept any liability for any errors in this description or for the consequences of such errors Equally no liability can be accepted for direct or consequential damages resulting from misuse of the equipment T
58. he pertinent regulations regarding safety engineering and interference suppression must be complied with Subject to modifications 1 Overview SZ FAULHABER 1 1 General description This documentation describes the function and operation of the following devices with serial interface 3564K024B CS The 3564K024B CS integrates a brushless DC Servomotor with a high resolution absolute encoder and a motion controller in one complete drive unit MCBL 3003 06 S The MCBL 3003 06 S is an external motion controller for brushless DC servomotors with linear Hall sensors which can be operated without additional encoders MCDC 3003 06 S The MCDC 3003 06 S is an external motion controller that is designed for the entire range of FAULHABER DC micro motors All of the Motion Controllers are based on a high performance digital signal processor DSP which enables a high control quality precise positioning and very low speeds The following tasks can be performed m Velocity control with high requirements on synchronous operation and minimal torque fluctuations A PI con troller ensures observance of the target velocities E Velocity profiles such as ramp triangular or trapezoidal movements can be realised Gentle starting or de celeration can easily be implemented E Positioning mode Starting from defined positions with high resolution 1 3000 revolutions using linear Hall sensors of BL motors M Acquisition of reference
59. he units in order to comply with the Machinery Directive Depending on loading temperatures above 85 C can occur on the device surface There are no requirements from the Low Voltage Directive as the operating voltage may not reach 50 V or over at any point in time In order to fulfil the necessary standards for CE marking the line lengths from and to the Motion Controller must not exceed 3 meters All connecting lines must comply with the state of the art and all additional connection and installation regulations in this description Additional circuits and measures such as e g ferrite tube suppressor diodes and shield connection may be required to comply with special requirements M 7 SZ FAULHABER 5 Appendix 5 2 Configuration at delivery The standard configuration parameters with which the units are delivered are listed below These settings can also be reloaded at any time with the command FCONFIG followed by a hardware reset 3564K024B CS MCBL 3003 06 S FAULHABER Command Description FAULHABER Command Description CONTMOD Normal operation CONTMOD Normal operation APLO Position limits deactivated APLO Position limits deactivated SORO Velocity presetting via RS232 SORO Velocity presetting via RS232 MOTTYP8 Motor type 3564K024B K1155 MOTTYP5 Motor type 24445024B K1155 ERROUT Fault pin Error output ERROUT Fault pin Error output HP7 AIl inputs react to rising edge HP7 All inputs react to rising edge
60. high resolution including limit switches and zero referencing Operation as torque controller through current regulation Storage and execution of motion programs for stand alone positioning mode or to relieve the HOST computer Extended operating modes Stepper motor mode Gearing mode electronic gear Analogue positioning mode position control with analogue voltage Voltage regulator mode Analogue target current presetting External encoder as absolute encoder Latest technology in micro format High efficiency Power amplifier with very high PWM frequency Power MOSFETs with minimal on resistance Unique thermal protection device determines MOSFET silicon temperature High capacity 16 bit signal processor Versatile communication Set point input for speed presetting Processes analogue and PWM signals The input can also be used for a frequency or reference mark signal Error output Open Collector Can also be programmed as a rotational direction or reference mark input Additional digital input RS232 interface for connection to PC or control Operation of several drives on a single RS232 interface Multiplex mode Connection diagram Programming made easy An extensive ASCII command set is available for programming and operation This can be preset from the PC e g via any terminal pro gram or via any other control computer Once programmed as a stepper motor electronic gear or as speed positio
61. ignal processor Versatile communication Set point input for speed presetting Processes analogue and PWM signals The input can also be used for a frequency or reference mark signal Error output Open Collector Can also be programmed as a rotational direction or reference mark input Additional digital inputs RS232 interface for connection to PC or control Operation of several drives on a single RS232 interface Multiplex mode Connection diagram Programming made easy An extensive ASCII command set is available for programming and operation This can be preset from the PC e g via any terminal pro gram or via any other control computer Once programmed as a stepper motor electronic gear or as speed position controller via the analogue input the drive can be operated independently of the RS232 interface For Windows operating systems the FAULHABER Motion Manager software is available This considerably simplifies opera tion and configuration and also enables graphic online analysis of the operating data Fields of application The Motion Controller can be used in many different areas Thanks to the highly flexible connection options this device is suitable for a diverse range of applications for example in decentralisied systems of automation technology as well as in pick and place machines and machine tools Options Adapter for IE2 or HEDL encoder Serial null modem cable for RS232 interface Separate s
62. ile POS3 Time 15 SZ FAULHABER 3 Functional Description 3 2 Velocity control 3 2 1 Velocity presetting via RS232 Reaching the nominal speed is indicated by a v if In this operating mode the drive velocity can be controlled Notify Velocity has been Ser before starting the speed with set value presetting via RS232 mode and ANSW1 or ANSW2 is set Setting CONTMOD or ENCMOD and SORO operating mode i NV Notify A v is returned when the Profile and controller parameters are set with the Velocity nominal speed is reached FAULHABER basic setting commands Value range 32767 32767 In particular the acceleration values AC and DEC the NVOFF Notify An untriggered Notify Velocity er eee Velocity Off command will be deactivated again current limitation values LPC and LCC as well as the controller parameters POR and I must be adapted to the Example respective application When a speed of 1000 rpm is reached or passed The velocity control is executed with the following a v is sent NV1000 FAULHABER motion control command Command Function Description V Select Activate velocity mode and set Velocity Mode specified value as target velocity velocity control Unit rpm Example Drive motor at 100 rpm V100 In order to change the direction of rotation simply assign a negative velocity value e g V 100 VO will stop the drive Make sure that APLO is set if you do not want the drive to st
63. interface FAULHABER operating mode as position transducers 3564K024B CS MCBL 3003 06 S CONTMOD or ENCMOD and SORO are set 3000 pulses per revolution are supplied The COMPATIBLE1 Profile and controller parameters are executed via the command can be used to switch to 1000 pulses per FAULHABER basic setting commands revolution in order to retain compatibility with the In particular the acceleration values AC and DEC the predecessor models 3564K024B C MCBL 2805 maximum speed SP the current limitation values LPC and IN COMPATIBLE1 mode when the AC value is changed the DEC value is also set to the same value and the positioning range limits divided by 3 additional the parameter SR will be changed from 1 to 18 1 8 ms scanning rate from MC 2805 Independent for them the user can readjust SR LCC as well as the controller parameters POR PP and PD must be adapted to the respective application The positioning range limits can be set via the command LL and activated via APL The positioning is executed via the FAULHABER motion control commands In the case of APLO relative positionings can also Command Function Description be executed beyond the range limits If the upper LA Load Absolute Load new absolute target position 1800000000 or lower limit 1800000000 is exceeded iti Em P 2 9 A A A kaston Value range 1 8 10 1 8 i counting is continued at 0 without loss of increments LR Load Relative Load new relat
64. ion Description STW Load Step Load step width for stepper motor Width and gearing mode STN Load Step Load number of steps per revolution Number for stepper motor and gearing mode Example Motor has to move one revolution at 1000 pulses of the external encoder STW1 STN1000 The direction of rotation can be predefined with the commands ADL and ADR or via an external signal at the fault pin DIRIN command The acceleration and speed values AC DEC SP are also taken into account in gearing mode These permit gentle starting and deceleration The position range limits set via LL can also be activated with the APL1 command 10k Evaluation 24V DC V6 Circuit example Reference switch reference mark Protective functions E VDD Overtemperature ES Overcurrent Overvoltage 3 phase PWM sinus REFIN Target position Position Marget Ei controller PI velocity controller commutator Phase A M8 Phase B M7 Phase C M1 calculation Set point encoder Ta Velocity Evaluation Hall sensor A M2 calculation L Ll input 3 RS232 Rotor position calculation Hall sensor B M5 Hall sensor C M6 blue Interface
65. ion of the drive in one of the operating modes specified here is that the power stage is activated EN All commands and objects listed below are summarised and explained in the chapter Circuit example 3564K024B CS with reference switch at analog input The FAULHABER Motion Manager 3 enables simple setting of the configuration parameters and operating modes via corresponding dialogue windows The specified commands can be entered in plain text or selected from the Commands menu o 24V DC 3 phase PWM sinus MOSFET Power output stage EC motor commutator Hall sensor A Rotor lt position Hall sensor B calculation Hall sensor C Protective functions 10k Overtemperature Overcurrent Overvoltage Target Position target Pi velocity Ua postien controller controller x F n red Evaluation t actual input 3 Velocity brown calculation em Evaluation Ie ott re grey reference mark RS232 Bus yellow RS232 kez RD reen communication TxD and configuration GND o module Pt curr limitation contro 14 SZ FAULHABER 3 Functional Description 3 1 Position control In this operating mode target positions can be preset If the linear Hall sensors of the brushless motors are used via the serial
66. ions subject to change without notice Edition 2006 2007 62 www faulhaber group com M W YAA FAULHABER Motion Controller General description The MCDC 3003 06 S is the perfect controller for the entire range of FAULHABER DC Micromotors In conjunction with the proven lE2 512 encoders they are capable of achieving a positioning resolution of 0 18 A special ballast circuit protects the electronics from over volt age during braking in generator mode Maximum performance PI speed controller with superior performance specifications in respect of synchronous operation and minimal torque fluctuations Speed profiles such as e g ramp triangular or trapezoidal move ments More complex profiles can also be implemented Positioning with high resolution including limit switches and zero referencing Operation as torque controller through current regulation Storage and execution of motion programs for stand alone positioning mode or to relieve the HOST computer Extended operating modes Stepper motor mode Gearing mode electronic gear Analogue positioning mode position control with analogue voltage Voltage regulator mode Analogue target current presetting IxR control Latest technology in micro format High efficiency Power amplifier with very high PWM frequency Power MOSFETs with minimal on resistance Unique thermal protection device determines MOSFET silicon temperature High capacity 16 bit s
67. ition a 9 pin SUB D connector is attached with the following assignment 2 RxD TxD GND 2 Installation SZ FAULHABER 2 1 Connections and wiring Power supply connections 24 V GND The power supply should be adequately dimensioned for the connected motor Please pay attention to the polarity connection An incorrect polarity connection will blow the internal fuse This must be replaced in the factory Analog input analog input analog GND AGND The analog input is executed as a differential input The analog GND should be connected to the power supply GND in order to prevent a voltage drop in the supply cable from affecting the target velocity value The analog input has various uses depending on the configuration E Presetting of target velocity value via analog voltage E Presetting of target velocity value via PWM signal M Current limitation value via analog voltage M Presetting of target position via analog voltage M Digital input for reference and limit switches E Connection for an external encoder Analog input to GND Channel A Analog GND to GND Channel B in gearing or BL encoder mode RS232 connections The RS232 wiring is established via the connections RxD TxD and the supply GND The integrated RS232 interface allows direct connection with a PC with use of a null modem cable in which the transmit cable TxD and the receive cable RxD are crossed Error output The error output is characte
68. ive target position Position in relation to last started target fil position The resulting absolute Complex motion profiles E PRA Aa Pal Complicated motion profiles can be generated through M Initiate Motion Activate position control skilful presetting of NEW values maximum speed and start positioning acceleration end position during positioning After a value change simply execute a new motion start Example command M The commands NP and NV can be used 1 Load target position LA40000 to control the sequence 2 Start positioning M Attainment of the target position or any intermediate Example position is indicated by a p if Notify Position is set Sequence respective command sequences after receipt before the start of positioning provided that ANSW1 of the Notify condition or ANSW2 is set Start a b ic d Commana Funcion Description LAIPOS3 AC AC2 AC AC1 SP SP2 DECIDEC4 NP Notify Without argument Position A p is returned when the target ACIAC1 NV V2 NP POS1 DEC DEC3 NP POS3 position is attained SP SP1 M M NP POS2 M With argument A p is returned when the specified NVIV1 M position is over travelled M NPOFF Notify A Notify Position command that has eee Of ane been triggered is deactivated The following diagram shows the described sequence Example of complex motion profile in comparison with trapezoidal profile Composed profile Comparison trapezoidal prof
69. l clear set no error error f resolution Uin Rin Us RS232 Faulhaber ASCII 115 200 analog GND channel B 10 400 100 s Us s 30 switched to GND high impedance switched to GND high impedance s2 1 255 AGND as GND 10 100 2 000 50 0 rpm channel A s 400 400 5 12 57 30 ground 22 12 30 57 baud kQ kHz kQ mA kHz lines rev kHz kHz kQ V DC kQ voc Specifications subject to change without notice www faulhaber group com GY SZ FAULHABER 4 Connection information Connection Ph A Ph B Ph C Motor connection Ph A Phase A brown Ph B Phase B orange Ph C Phase C yellow Uout 0 Us V PWM switching freguency few 78 12 kHz Connection Hall A Hall B Hall C Hall sensor input Hall A Hall sensor A green Hall B Hall sensor B blue Hall C Hall sensor C grey Uin s5 V Connection SGND Signal GND Signal ground black Connection 5V Output voltage for external use Uout 5 red VDC Load current lout 60 mA Color identification for brushless DC Servomotor 2 E g Hall sensor D SUB connector information Connection D SUB connector Pin 2 RxD RS232 RxD Pin 3 TxD RS232 TxD Pin 5 GND Ground Digital inputs general information PLC default high 12 5 Us V low 0 57 V TTL high 3 5 Us v low 0 0 5 V The signal level PLC or TTL of the digital
70. l argument consists of an ASCII numeric value The end is always a CR character Carriage Return ASCII decimal code 13 Space characters are ignored and no distinction is made between upper and lower case The response to query commands or asynchronous events is also an ASCII character string followed by a CR character Carriage Return ASCII decimal code 13 and an LF character Line Feed ASCII decimal code 10 Example Actual position queries Transmit POS CR Receive 98956 CR LF Drive nodes at 500 rpm Transmit V500 CR 35 If ANSW2 is set you will receive an OK for pure transmit commands if the command has been successfully executed or one of the following character strings Unknown command Invalid parameter Command not available Overtemperature drive disabled Example Transmit V500 CR Receive OK CR LF The SAVE EEPSAV command always responds with the character string EEPROM writing done after successful saving of the current settings in the data Flash memory or with Flash defect if the save has failed Uf 4 SZ FAULHABER 4 Parameter Description 4 1 Basic setting commands The commands listed here are used for the configuration of basic setting parameters 4 1 1 Commands for special operating modes Command Argument Function Description SOR 0 3 Source For Velocity Source for velocity presetting 0 Serial interface default 1 Voltage
71. ler amplification step width 5 is exceeded As a result the energy generated in the less subsequently POR 13 motor is converted and the voltage of the electronics tl A 3 Preset velocity jump from 1 3 of maximum speed remains limited to 32 V This method protects the drive to 2 3 example V2000 during generating operation and rapid braking ian A 4 Velocity jump from 2 3 to 1 3 and monitor behaviour 3 8 6 Adjustment of the controller parameters example V1000 5 Repeat steps 2 to 4 until the controller becomes unstable Then reduce controller amplification until stability is reliably ensured The controller parameters are already preset for common applications However in order to optimally adapt the controller to the respective application the controller parameters must be optimized Various theoretical and 6 Follow steps 2 to 5 with integral term practical adjustment rules exist but these will not be b Set parameters of position controller described in more detail here A simple practical en 1 Set initial configuration method of adjusting the controller is explained below Default value for P term 8 PP8 The digital controller operates at a sampling rate of M Default value for D term 15 PD15 100 us When needed the sampling rate can be increased up to 2 ms via the command SR 2 Motion profiles appropriate for the application The following controller parameters are available must now be run
72. marks and limit switches m Extended operating modes Stepper motor mode Analog positioning mode Voltage regulator Electronic gear operation with external incremental encoder MCDC 3003 06 S IxR control E Torque control via adjustable current limitation E Storage of the set configurations m Storage and execution of sequence programs Various inputs and outputs are available for the implementation of these tasks m Set value input for target velocity Analog or PWM signals can be used The input can also be used as digital or reference input A frequency signal or an external incremental encoder can also be connected here E Error output Open Collector Can also be reprogrammed as rotational direction digital or reference mark input and as pulse or digital output E 1 to 3 additional digital inputs RS232 interface for connection to PC or control with transfer rates of up to 115 kBaud An extensive set of ASCII commands is available for programming and operation FAULHABER Motion Manager 3 software is available for Windows 95 98 ME NT 2K XP this considerably simplifies operation and configuration of the units and also offers a graphic online analysis function for operating data The drive can also be operated independently of the RS232 interface if the desired function such as velocity or position controller has been previously programmed via analog input stepper motor or electronic gear Fields of application
73. mit values on the DC connecting line that are prescribed for AC supply points in accordance with the above specified standard EN 61000 6 4 In addition to the ferrite tube a current compensated choke e g Wurth Elektronik no 744 825 605 with electrolytic capacitor 470 uF must be installed in the supply line as close as possible to the control 49 5 1 1 Intended use The units are developed manufactured tested and documented in compliance with the pertinent standards If used as intended the units do not give rise to any risks for people or property Intended use assumes that the units are used exclusively as described here and that all safety instructions and regulations are complied with Intended use also includes observance of the pertinent regulations in respect of safety Machinery Directive and radio shielding EMC Directive when using the units Electronic devices are not fail safe in principle The user must ensure that in the event of failure of the device the drive is put into a safe condition Dr Fritz Faulhaber GmbH amp Co KG cannot accept any liability for direct or consequential damages resulted from misuse of the units 5 1 2 CE marking The devices fulfil the requirements of DIN EN 61000 6 2 regarding immunity to interference in the industrial sector and of DIN EN 61000 6 4 in relation to emitted interference in the industrial sector Protection against contact may need to be provided around t
74. n Chapter 4 Uf Y JA FAULHABER 2 Installation 2 1 Connections and wiring 1 3564K024B CS 3 MCDC 3003 06 S The connections are executed as coloured stranded wires The connections are executed as terminal strips and are and assigned as follows assigned as follows Wire Designation Meaning Supply side Blue GND GND Connect Meaning Pink 24V 24 V TxD RS232 TxD Brown Anin Analog input RxD RS232 RxD White Fault Error output AGND Analog GND Grey AGND Analog GND Fault Error output Yellow RxD RS232 RxD Anin Analog input Green TxD RS232 TxD 24V 24 V Red 3 In 3rd input GND GND optional electronics supply 3 In 3rd input optional electronics supply 2 MCBL 3003 06 S Motor side The connections are indicated on the terminal strips and Connect Meaning are assigned as follows uot Moto Supply side Mot Motor Connect Meaning SGND Encoder GND TxD RS232 TxD 5V Encoder VCC RxD RS232 RxD Ch B Encoder channel B AGND Analog GND ChA Encoder channel A Fault Error output alr Hin input Anin Analog input 2n 5th input kaid maid In addition a 9 pin SUB D connector is attached with GND GND A P 3 In 3rd input optional electronics supply the following assignment Pin Meaning Motor side 2 RxD Connect Meaning 3 TxD Pha Motor phase A brown 5 GND PHB Motor phase B orange Hall C Hall sensor C grey Hall B Hall sensor B blue SGND GND signal black 5V VCC red Hall A Hall sensor A green PHC Motor phase C yellow In add
75. n controller via the analogue input the drive can be operated independently of the RS 232 interface For Windows operating systems the FAULHABER Motion Manager software is available This considerably simplifies opera tion and configuration and also enables graphic online analysis of the operating data Fields of application The Motion Controller can be used in many different areas Thanks to the highly flexible connection options this device is suitable for a diverse range of applications for example in decentralisied systems of automation technology as well as in pick and place machines and machine tools Options Serial null modem cable for RS232 interface Separate supply of motor and control electronics is optionally possible important for safety relevant applications in this case the 3rd input is not required Special preconfiguration of modes and parameters is possible on request The FAULHABER Motion Manager software is available on request or on the Internet Note Detailed operating instructions on installation and commissioning are provided with the Motion Controller Power supply PC witch RS232 interface Motion Controller Brushless DC Servomotor with linear Hall sensor option K1155 Edition 2006 2007 Specifications subject to change without notice 59 www faulhaber group com SZ FAULHABER Dimensional drawing and connection information MCBL 3003 S 39 Scale reduc
76. n mA GRC Get Real Current Current actual current in mA TEM Get Temperature Current housing temperature in C VER Get Version Current software version OST Operation Status Display current operating status Return value binary coded LSB Bit 0 Bit 0 Homing running Bit 1 Program sequence running Bit 2 Program sequence stopped because of DELAY command Bit 3 Program sequence stopped because of NOTIFY command Bit 4 Current limitation active Bit 5 Deviation error Bit 6 Overvoltage Bit 7 Overtemperature Bit 8 Status input 1 Bit 9 Status input 2 Bit 10 Status input 3 Bit 11 Status input 4 Bit 12 Status input 5 Bit 13 15 Reserved for further inputs Bit 16 Position attained SWS Switch Status Temporary limit switch settings Return value binary coded LSB Bit 0 Bit 0 7 HA setting for input 1 8 Bit 8 15 HN setting for input 1 8 Bit 16 23 HL setting for input 1 8 Bit 24 31 Specifies which limit switch 1 8 has already switched is reset again when the respective input is reset 46 4 Parameter Description Uf 4 SZ FAULHABER 4 6 Commands for sequence programs Commands for generating and executing sequence programs Command PROGSEQ END GPROGSEQ ENPROG DIPROG RESUME MEM Function Program Sequence Get Program Sequence Enable Program Disable Program Resume Memory Description Defines the start and end of a sequence program All commands sent to
77. nctional Descriptions 3 6 Sequence programs Sequence programs that are stored directly in the data flash memory of the controller and executed from there can be created for stand alone applications or for partially autonomous sequences The sequence programs can be created and transferred with the FAULHABER Motion Manager but it is also possible to use a standard text editor and to subsequently transfer the programs with the Motion Manager or a terminal program During a program sequence commands can still be sent via the RS232 Almost all ASCII commands can be used in motion programs The command PROGSEQ can also be used in the network with a preceding node number The subsequent command must be send also with a preceding node number The addressed node stores all received instructions thereby between the commands PROGSEQ and END Control of sequence programs There are a number of additional commands for controlling programs which are only useful within sequence programs and are consequently only available there The following commands stop the sequence until the relevant position is reached NP Notify Position The sequence stops at the next M command until the relevant position is reached HN Hard Notify The sequence stops at the GOHOSEO command or at the next M or V command until the limit switch is overtravelled NV Notify Velocity The sequence stops at the next M or V command until the relevant speed
78. nd configure via the menu item Terminal Connections 4 Select menu item Configuration Connection parameters 5 Set desired transfer rate and node address 6 Press Send button 7 The settings are transferred to the controller The Motion Manager then adjusts to the same baud rate and recalls the Scan function The node should now be displayed with the correct node number in Node Explorer After switching off and on again the drive will operate with the set configuration 8 If the settings are to be permanently stored the EEPSAV button must then be pressed After switching off and on again the drive will operate with the set configuration 1 2 1 Operation via FAULHABER Motion Manager The FAULHABER Motion Manager offers easy access to the Motion Controller s command set The desired node must have been activated beforehand by double clicking in Node Explorer in the case of network operation The FAULHABER commands described below can be entered directly in the command input line or selected from the Commands menu In order to drive a motor via the Motion Manager follow the procedure below assuming a matching baud rate 1 Configure drive functions A user friendly dialog that enables the desired settings to be made is available under the menu item Configuration Drive functions For external Motion Controllers MCBL 3003 06 S and MCDC 3003 06 S you must check that
79. odulation Commutation 1 Limitation to sinus form 3 8 2 Current controller and I t current limitation The FAULHABER Motion Controllers are equipped with an integral current controller which enables implementation of a moment limitation The following parameters can be set Command Function Description LPC Load Peak Load peak current Current Limit Value range 0 to 12000 mA LCC Load Continuous Load continuous current Current Limit Value range 0 to 12000 mA cl Load Current Load integral term for current controller Value range 1 255 Integral Term 1 Peak current FAULHABER command LPC8000 gt set peak current to 8000 mA The current is limited to the peak current provided that the thermal current model calculates a non critical temperature 2 Continuous current FAULHABER command LCC2800 gt set continuous current to 2800 MA If the thermal current model reaches a critical temperature continuous current is switched to Mode of operation of the current controller When the motor starts the peak current is preset as the set point for the current controller As the load increases the current in the motor constantly increases until it finally 33 reaches the peak current The current controller then comes into operation and limits the current to this set point A thermal current model operating in parallel calculates a model temperature from the actually flowing current If this model temperature exceeds
80. of steps per revolution Value range of STN and STW 0 to 65535 Command Function Description STW Load Step Load step width for step motor Width and gearing mode STN Load Step Load number of steps per revolution Number for step motor and gearing mode Example Motor should turn 1 1000th of a revolution for each input pulse STW1 STN1000 The acceleration and speed values AC DEC SP are also taken into account in step motor mode These permit gentle starting and deceleration The position range limits set via LL can also be activated with the APL1 command 3 4 2 Gearing mode electronic gear Gearing mode enables the use of an external encoder as set point source for the position Command Function Description GEARMOD Gearing Change to Mode gearing mode The two channels of an external encoder are connected to connections Anin and AGND which may need to be connected to the 5 V encoder supply via a 2 7 kQ pull up resistor The gear ratio can be set in accordance with the following formula Revolutions pulses STN Revolutions Revolutions that are generated on the drive Impulse Actually counted pulses resulting from a four edge evaluation STW Step width step width factor number of steps per encoder pulse STN Step number number of steps number of steps per revolution 3 Functional Description SZ FAULHABER 3 4 Extendend operating modes Value range of STN and STW 0 to 65535 Command Funct
81. oling temperatures of up to 85 C can occur Perfect functioning is only guaranteed if the supply voltage lies within the defined tolerance ranges Wiring work may only be carried out on terminal strips and connections if the units are voltage free 2 1 2 Maintenance The units are maintenance free in principle The air filters of cabinet units must be regularly checked and cleaned if required depending on the quantity of dust In the event of heavy soiling the units themselves must be cleaned with halogen free agents 2 1 3 Specialised staff Only trained specialised staff and instructed persons with knowledge in the field of automation technology and standards and regulations such as EMC Directive Low Voltage Directive Machinery Directive VDE Regulations such as DIN VDE 0100 DIN VDE 0113 EN 0204 DIN VDE 0160 EN 50178 Accident Prevention Regulations may install and commission the units This description must be carefully read and heeded prior to commissioning UY K YHA FAULHABER 2 Installation 2 2 RS232 Wiring Use a null modem cable in which the transmit cable TxD and the receive cable RxD are crossed in order to connect the controller with the PC or control Wiring with one Motion Controller parameter NETO Motion Controller 1 Wiring with more Motion Controllers parameter NET1 Motion Controller 1 Motion Controller n s N 6 O kl RxD ma O RxD ks Ont S 10 SZ FA
82. op at the set range limits LL Also check that the maximum speed SP is not set below the desired target velocity 16 SZ FAULHABER 3 Functional Descriptions 3 2 Velocity control 3 2 2 Analog velocity presetting Setting CONTMOD and SORO operating mode velocity presetting via voltage at analog input or SOR2 velocity presetting via PWM signal at analog input Profile and controller parameters are executed via the FAULHABER basic setting commands General Parameters In particular the acceleration values AC and DEC the current limitation values LPC and LCC as well as controller parameters POR and I must be adapted to the respective application The analog velocity control can be further configured using the parameters described below Setting the scaling factor maximum speed Target velocity at 10 V Command Function Description SP Load Load maximum speed Maximum Setting applies for all modes Speed except VOLTMOD Unit rom Example Set maximum speed so that with 10 V at the analog input the target velocity is 5000 rpm SP5000 Setting the minimum velocity Minimum velocity that is preset when the start voltage is present Command Function Description MV Minimum Presetting of minimum velocity Velocity in rpm Example Set minimum velocity to 10 rpm MV10 Setting the start voltage Voltage from which the drive is to start Command Function Description MAV Minimum Presetting of minimum start An
83. or type 5 2444S024B K1155 as standard If you wish to connect another motor you must set the correct motor type first of all The FAULHABER Motion Manager then enables the Hall sensor signals to be synchronised for smooth starting and the phase angle to be optimised for best efficiency This process should also be carried out whenever the motor is replaced and during initial commissioning Optimisation to connected motor in the Configuration Drive functions menu The controller parameters and current limitation values must also be adapted to the connected motor and the application The MOTTYP command adjusts the controller to the relevant motor Internal parameters are also changed for the specified values The values set with the MOTTYP command can be individually changed later With the RN command the default parameters are set according to the set motor type If you wish to connect a motor that is not specified in the motor type list select motor type 0 MOTTYP0 and set the parameters kn velocity constant and Rm ferrule resistor in accordance with the specifications in the data sheet using the commands KN and RM The MCDC 3003 06 S is set to an encoder resolution of 512 pulses ENCRES 2048 as standard at delivery 4 times the encoder resolution is entered quadrature signal processing via the ENCRES command or the Drive Parameters dialogue in the Motion Manager Configuration Drive functions m
84. peed range Ne 5 12000 rpm Torque up to Me max 50 mNm Current up to le max 2 80 3 A Power rating of 44 Watt at 8 400 rpm and 50 mNm 3 This is a preset value and can be changed thermal resistance Rnz by 55 reduced over the RS232 interface scale reduced J Orientation with respect to connecting cable 45 5 Connection M25 deep 035 0 1 MM 16 0 008 04 0 002 blue GND A 121 20 05 A pink 24V 24 0 02 brown Analog input white Fault output 1 grey Analog GND yellow RS232 RXD green RS232TXD red Connection No 3 Caution be sure to connect motor supply 14203 terminals to the correct polarity E Motor electronics are protected PVC cable against polarity reversal by an AI 8 conductors AWG 24 internal fuse In case of damage Conneting cable 1 meter due to polarity reversal this internal fuse can only be 3564K024B CS replaced at the factory JE 25 8215 E 83 3 3 For notes on technical data and lifetime performance Specifications subject to change without notice refer to Technical Information Edition 2006 2007 53 www faulhaber group com SZ FAULHABER Motion Controller Supply voltage Us 12 30 VDC Peak current I max 8 A Input output see connection No 1 2 and 3 3 Connection No 1 brown Speed command analog input voltage range 10 V Speed command PWM input frequency range 100 2 000 Hz pulse duty factor 50 0 rpm
85. r GOHOSEQ for Homing Set position value to 0 at edge of Sequence respective limit switch SHL Set Hard Limit Homing behaviour GOHOSEQ for Homing Stop motor at edge of respective Sequence limit switch SHN Set Hard Notify Homing behaviour GOHOSEQ for Homing Send a character to RS232 at edge Sequence of respective limit switch In order to be able to execute a homing sequence with the command GOHOSEQ a homing sequence must be defined for a specific limit switch If the drive is already located in the limit switch when GOHOSEQ is invoked first of all it moves out of the switch in the opposite direction to that specified for HOSP Example Homing with 3rd input as reference input rising edge HP4 SHA4 SHL4 SHN4 Alternatively the homing sequence can also be set with the command CAHOSEQ in conjunction with the commands HA HL and HN Homing Speed Command Function Description HOSP Load Homing Load speed and direction of Speed rotation for homing GOHOSEQ GOHIX Unit rpm Example HOSP 100 SZ FAULHABER 3 Functional Description 3 3 Homing and limit switches Direct programming via HA HL and HN commands HL SHL command HA Home Arming Set the position value to 0 and positions itself on the reference mark with maximum delete corresponding HA bit at edge acceleration of respective limit switch Setting is not saved Velocity controller mode The motor is decelerated HL Hard Limit Stop motor and
86. ral If a sequence program is completely processed no jump at the end of a program then an n is sent to the RS232 if ANSW1 or ANSW2 is set In order to generate an endless program useful for stand alone operation a jump command is required at the end of the program Memory size The sequence programs are stored in binary coding in the Flash memory 2 bytes are stored for each command and 0 to 4 bytes for the argument The maximum storage size available for sequence programs is 6656 bytes 3328 words Examples 1 Positioning routines called via RS232 The program enables the calling of different routines from the RS232 interface E JMP2 Homing Sequence First move to a limit switch and then to the Hall sensor zero point Hall index in order to obtain the most precise reference point possible m JMP3 Move to position 0 and stop there 30 E JMP4 Attempt to approach a position with low current limitation As there may be an obstacle in the way in the application the target position may not be attained The motor should be stopped after 5 seconds in any event Further evaluation occurs in the higher level control m JMP5 1000 cycles with following sequence 10 revolutions forwards 1 second pause 5 revolutions back again and then 0 5 seconds pause Configuration SORO gt Digital velocity presetting via RS232 LRO gt Nomotion M gt Switch to position control Motion 0 SHA1 gt Homing Sequence
87. ress The error handling mode is ended if a JMP or RETI command is executed Return from an error handling routine Important the interrupted command is not continued even if it was not completed at the time of interruption The ERI command is deactivated i e in the event of an error the program does not jump to the error handling routine Call a subroutine at specified address Return from a subroutine Please note that only one subroutine level is possible i e no subroutines can be called within subroutines Definition of current position as entry address for jump commands 28 SZ FAULHABER 3 Functional Descriptions 3 6 Sequence programs Explanations of the commands and functions Jump commands The program sequence can be specifically controlled with the jump commands The JMP command can also be used from the RS232 This is useful in cases where different program routines are to be called from the computer Example Al JMP1 Endless loop A2 Program sequence 2 can only be called by JMP2 from the RS232 LA10000 NP M JMP1 Return to endless loop A3 Program sequence 3 can only be called by JMP3 from the RS232 LA 10000 NP M JMP1 Return to endless loop The program sequences according to A2 or A3 can only be called by a JMP2 or JMP3 command from the RS232 A JMP2 from the RS232 results in the drive moving to position 10000 and stopping there The DxJNZ commands serve to form loops with a
88. rised by the following characteristics E Switch that switches to GND Open Collector M Output resistor in open state High Level 100 kQ E The switch is open in the event of error High Level M Output current limited to approx 30 MA voltage in open state must not exceed the power supply maximum Us E Short circuit proof The error output is activated in the following situations M Current limitation active HM Over voltage controller active power supply over 32 V E Power stage switched off due to over temperature The error output connection can also be reconfigured for other functions E Pulse output only MCBL 3564 B CS E Digital output E Limit switch input M Rotational direction input 3rd input This connection can be used as reference or digital input The drive can also be optionally provided with separate electronics supply at this connection ex works enabling the motor voltage to be switched off independently of the electronics supply 4th 5th input MCDC only These inputs can be used as digital inputs 2 1 1 Installation instructions The place of installation must be selected so that clean and dry cooling air is available for cooling the unit The units are intended for indoor operation Large amounts of dust and high concentrations of chemical pollutants must be avoided Cooling of the unit must be guaranteed especially when installing in housings and cabinets As the unit operates with surface co
89. rrent Speed range Scanning rate Encoder resolution with Hall Sensors Resolution with external encoder Input output partially free configurable Program memory memory size Number of instructions Operating temperature range Storage temperature Housing material Weight at 22 C ambient temperature Us fewm n Idauer Imax lei MCBL 3003 S 12 30 78 12 95 3 10 0 06 5 30 000 100 3000 65 535 3 3 3 ca 1 000 0 4 70 25 85 without housing 18 For combination with Brushless DC Servomotors with option K1155 MCBL 3006 S 12 30 78 12 95 6 10 0 06 5 30 000 100 3000 65 535 3 3 3 ca 1000 0 70 25 85 rpm HS lines rev lines rev kWord intructions SC 6 aluminium black anodized 160 g Connection information Connection TxD RxD Interface Communication profile Max transfer speed rate Connection AGND analog ground digital input external encoder Connection Fault digital input digital output open collector fault output signal output Connection Anin analog input digital input set speed value PWM set speed value external encoder step freguency input Connection 24V Connection GND Connection 3 In digital input electronic supply voltage 2 Optional on request Edition 2006 2007 Rin f Rin U
90. sistance Rm according to specification in data sheet Unit mOhm Only necessary for MOTTYPO or DC motor STW Value Load Step Width Load step width for step motor and gearing mode Value range 0 65535 STN Value Load Step Number Load number of steps per revolution for step motor and gearing mode Value range 0 65535 MV Value Minimum Velocity Presetting of minimum velocity in rpm for presetting via analog voltage SOR1 SOR2 Value range 0 32767 MAV Value Minimum Analog Voltage Presetting of minimum start voltage in mV for velocity presetting via analog voltage SOR1 SOR2 Value range 0 10000 ADL Analog Direction Left Positive voltages at the analog input result in counter clockwise rotation of the rotor SOR1 SOR2 36 Uf SZ FAULHABER 4 Parameter Description 4 1 Basic setting commands ADR Analog Direction Right Positive voltages at the analog input result in clockwise rotation of the rotor SOR1 SOR2 SIN 0 1 Sinus Commutation 1 No block commutation in the upper velocity range default 0 Block commutation in the upper velocity range full modulation not with MCDC NET 0 1 Set Network Mode Activate RS232 multiplex mode for network operation 1 Network operation activated 0 No network operation single drive on an RS232 BAUD Value Select Baud Rate Preset transfer rate for RS232 interface NODEADR Value Define Node Address Set node number Value range 0 255 COMPATIBLE 0 1 Set Compa
91. tatus of error output 4 ASCII characters 0 and 1 from left to right O no error 1 error Pos 0 Overtemperature protection Pos 1 Current limitation controller Pos 2 Reserved always 0 Pos 3 Overvoltage regulator GAST Get Actual Status Report current status 4 ASCII characters 0 and 1 from left to right Pos 0 1 Limit switch 2 at high level 0 Limit switch 2 at low level Pos 1 1 Limit switch 3 at high level 0 Limit switch 3 at low level Pos 2 1 Clockwise rotation with positive values 0 Counter clockwise rotation with positive values Pos 3 1 Homing still active 0 Homing ended 41 4 Parameter Description Up GY JA FAULHABER 4 2 Query commands for basic settings Command Function GSCS Argument Get Special Configuration Set 8 ASC Pos 0 Description Report special settings II characters 0 and 1 from left to right 1 Release homing after power on 0 Homing blocked after power on Pos 1 1 Fault pin is input 0 Fault pin is output Pos 2 1 Pulse output at fault pin Pos 1 0 0 Error signal at fault pin Pos 1 0 Pos 3 1 Pos Pos 0 Pos Pos Fault pin is rotational direction input Fault pin is digital output Fault pin is limit switch input 2 15 15 1 1 0 Fault pin is not digital output O 0O Pos 4 1 Pos itive edge at limit switch 2 effective 0 Negative edge at limit switch 2 effective
92. te data Ath byte Highest byte data 5th byte Time code The data are in Integer32 format 4 Mode1 corresponding to 1 2 or 3 and Mode2 less than 255 gt 5to8 byte Byte 1 to 2 4 Data bytes of Mode1 Byte 3 5 to 4 6 8 Data bytes of Mode2 Byte 5 7 Time code The data bytes of Mode2 are coded as for Mode1 The time code corresponds to a multiple of the time basis of 1 ms and defines the time interval to the last transmission In Compatibility Mode COMPATIBLE1 the time basis is 9 ms 3 Functional Description SZ FAULHABER 3 8 Technical information 3 8 1 Sinus commutation The 3564K024B CS and the MCBL 3003 06 S are characterised by a so called sinus commutation This means that the preset rotating field is always ideally positioned in relation to the rotor As a result torque fluctuations can be reduced to a minimum even at very low speeds In addition the motor runs particularly quietly In the current version the sinus commutation has been extended by a so called flat top modulation which enables 15 more modulation As a result higher no load speeds are possible With the SINO command the system can even be set so that over 30 more modulation is possible In this mode the sinus commutation in the upper speed range switches over to a block commutation This full modulation enables the complete speed range of the motor to be utilised Command Function Description SIN Sinus 0 Full m
93. ted more than 10 000 times as otherwise the function of the Flash memory can no longer be guaranteed RESET Reset Restart drive node RN Reset Node Set parameters to original values ROM values current acceleration controller parameters maximum speed limit positions FCONFIG Factory Configuration All configurations and values are reset to the delivery status The drive is deactivated after this command Uf 4 SZ FAULHABER 4 Parameter Description 4 4 Motion control commands Command Argument Function Description DI Disable Drive Deactivate drive EN Enable Drive Activate drive M Initiate Motion Activate position control and start positioning LA Value Load Absolute Position Load new absolute target position Value range 1 8 10 1 8 10 LR Value Load Relative Position Load new relative target position in relation to last started target position Resulting absolute target position must be between 2 14 10 and 2 14 10 NP Value Notify Position Without argument A p is returned when the target position is attained With argument When the specified position is over travelled a p is returned Value range 1 8 10 1 8 10 NPOFF Notify Position Off A Notify Position command that has not yet been triggered is deactivated again V Value Select Velocity Mode Activate velocity mode and set specified value as target velocity Velocity control Value range
94. the correct basic settings have been made for the connected motor see chapter 2 5 For brushless motors the correct motor type must be set for DC motors the correct pulse number must be specified for the encoder ENCRES under Drive parameters For operating the drive via the PC the set value pre setting must be set to digital SORO If the settings are to be permanently stored press the EEPSAV button 2 Activate drive EN command Enter in command input field and press Send button or select in Commands Motion control Enable drive menu and press Send button 3 Operate motor examples Drive motor with 100 rpm velocity control V100 command Enter in command input field and press Send button or select in Commands Motion control Initiate velocity mode menu enter value 100 in dialogue box press OK and Send button Stop motor V0 command Move motor relatively by 10000 increments LR10000 command to load the relative target position M command to move to loaded target position 1 Overview SZ FAULHABER 1 2 Quick start 1 2 2 Operation via own host application Set your host application to the controller transfer rate default 9600 baud with the following configuration M 8 data bits E 1 stop bit E No Parity The Xon Xoff protocol must be used for rapid command sequences or transfer of sequence programs and parameter s
95. tible Mode Set compatibility with predecessor models 1 Compatible mode activated 0 Compatible mode deactivated ANSW 0 2 Answer Mode 0 No asynchronous responses 1 Permit asynchronous responses 2 All commands with confirmation and asynchronous responses 4 1 3 General parameters Command Argument Function Description LL Value Load Position Range Load limit positions the drive cannot be moved out of these limits Limits Positive values specify the upper limit and negative values the lower The range limits are only active if APL1 is Value range 1 8 10 1 8 10 APL 0 1 Activate Deactivate Activate range limits LL valid for all operating modes Position Limits 1 Position limits activated 0 Position limits deactivated SP Value Load Maximum Speed Load maximum speed Value range 0 to 32767 rpm Setting applies for all modes AC Value Load Command Load acceleration value Acceleration Value range 0 30000 r s DEC Value Load Command Load deceleration value Deceleration Value range 0 30000 r s SR Value Load Sampling Rate Load sampling rate of the velocity controller as a multiplier of 100 ps Value Range 1 20 ms 10 POR Value Load Velocity Load velocity controller amplification Proportional Term Value range 1 255 l Value Load Velocity Integral Load velocity controller integral term Term Value range 1 255 PP Value Load Position Load position controller amplification Proportional Term Value range 1 255
96. tion NE 0 1 Notify Error notification Error 1 An r is sent back if an error occurs 0 No error notification Fault pin as pulse output not for MCDC In the ENCOUT mode the fault pin is used as pulse out put which outputs an adjustable number of pulses per revolution The pulses are derived from the Hall sensor signals of the BL motors and are limited to 4000 pulses per second Command Function Description LPN Load Pulse Preset pulse number for ENCOUT Number Value range 1 to 255 Example Output 16 pulses per revolution at the fault pin LPN16 In the case of 5000 rpm 5000 60 16 1333 pulses per second are output For speeds that would generate more than the maximum possible pulse number at the set LPN value the maximum number is output The set pulses are precisely achieved but the timing does not necessarily have to exactly agree delays possible Position determination via pulse counting is therefore possible provided that no change occurs in the direction of rotation and the maximum possible pulse number is not exceeded Fault pin as digital output In DIGOUT mode the error connection can be used as universal digital output The digital output can be set or deleted via the following commands Command Function Description co Clear Output Set digital output DIGOUT to low level SO Set Output Set digital output DIGOUT to high level TO Toggle Output Switch digital output DIGOUT SZ FAULHABER 3 Fu
97. upply of motor and control electronics is optionally possible important for safety relevant applications in this case the 3rd input is not required Special preconfiguration of modes and parameters is possible on request The FAULHABER Motion Manager software is available on request or on the Internet Note Detailed operating instructions on installation and commissioning are provided with the Motion Controller Power supply PC witch RS232 interface Motion Controller Edition 2006 2007 DC Micromotor with encoder Specifications subject to change without notice www faulhaber group com SZ FAULHABER 4 Dimensional drawing and connection information MCDC 3003 S 39 Scale reduced 4x1 5 x45 7x5 35 0 5 Connection r f pin Function 99 1 Sin 2 4in 3 ChA 43 820 1 56 6205 62 5205 ae 5 5V 6 SGND 4x 04 5 0 2 a Moti 8 Mot 9 TxD t 10 RxD 11 AGND 12 Fault Max recommended current 13 Anin Tie i aM for continuous operation 3A 14 24V 39 8 0 5 at 22 C ambient temperature 15 GND CAUTION Thermal shutdown is 16 3 1n NOT guaranted Dimensional drawing and connection information MCDC 3006 S Scale reduced Motor connection 0 03 5 403 6 M1 5S in 795 20 3 M2 4 In M3 ChA M4 ChB M5 5V M6 SGND M7 Mot M8 Mot i 40 50 58 Supply connection VI TxD V2 RxD V3 AGND v4 Fault 9 8 20 3 v5 Anin SF EN V6 24V
98. with EMC directive 89 336 EEC for compliance with EMC protective requirements In nominal operation the system fulfils the requirements of the following standards EMC emissions within the limits of the basic technical standards for emitted interference in the industrial sector EN 61000 6 4 August 2002 EMC immunity in accordance with the basic technical standards for interference resistance in the industrial sector EN 61000 6 2 August 2002 E Electrostatic discharges ESD with 4 kV contact discharge and 8 kV atmospheric discharge in accordance with EN 61000 4 2 December 2001 E HF fields in accordance with EN 61000 4 3 November 2003 M Rapid transients in accordance with EN 61000 4 4 July 2002 E Transient voltages in accordance with EN 61000 4 5 December 2001 E Conducted disturbance variables induced by high freguency fields in accordance with EN 61000 4 6 December 2001 E Magnetic field with power engineering frequencies in accordance with EN 61000 4 8 December 2001 The following conditions must be fulfilled for compliance with the requirements M Operation in accordance with the technical data and the operating instructions E The supply line must be led through a suitable ferrite tube with two windings e g Wurth Elektronik no 742 700 90 as close as possible to the control Supporting measures for conducted interferences Further suppression measures are required in order to comply with the li

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