Operating Instructions Motion Controller 4-Quadrant PWM - Q-TECH
Contents
1. A channel Vcc logical 5 VDC NJAJO N GND Power Supply 12 50 VDC Motor Motor DC Micromotor 1 2 3 4 06290 ee optional adapter for optional digital I O RS 485easy Bus PLC I O 12 inputs 8 outputs PLC I O description The PLC I O port enables direct communication with the position control function without having to use a computer For example once a program has been created it can be executed by simply giving a command to the assigned input In the initial phases of installation and to allow the user to better understand the operation of the motion controller all instructions are given via computer It is therefore not necessary to connect this port RS232 description This port is the communication link between the motion controller and the external computer via the COM1 connection point Additional information regarding the connection and set up is given in chapter 29 The link is make with a standard computer cable which if necessary can be optionally supplied by Minimotor 8 Specifications subject to change without notice WZ FAULHABER General software information 8 General software information Terminal emulator description The computer is only used as a terminal The terminal emulator therefore enables communication between the computer and motion controller software The actual programming is made directly in the motio2. Power supply motor motor connection Encoder and Hall sensors Encoder Input for special function Input for special function RS232 RS232 Optional digital Input Output Optional digital Input Output 1 Line driver encoders for noisy environments or long distances can be used 5 Specifications subject to change without notice SZ FAULHABER Start up procedure 5 Start up procedure Here we list a step by step start up procedure for both the electrics and software Also included are several examples in order to allow the user to test the unit and familiarise himself with programming We therefore recommend that this sequence is followed for trouble free installation Start up Procedure for MCBL 3603 Connect the motor phases to MOTOR E Connect the encoder and the motor Hall sensor leads to ENCODER HALL Connect the RS232 or RS485 to the computer port COM E Connect the power supply to PWR Power the motion controller Software start up Start up Procedure for MCDC 3603 Connect the motor terminals to MOTOR Connect the encoder to ENCODER Connect the RS232 or RS485 to the computer port COM Connect the power supply to PWR Power the motion controller Software start up EEE I E The computer link is necessary to program the motion controller After programming has been completed the computer link can be disconnected since the programs can be started using the motion
3. or other RX RX TX TX RX RX TX TX eee RX RX TX TX control unit Motion controller 1 Motion controller 2 Motion controller n 18 Specifications subject to change without notice SZ FAULHABER 4 Advanced functions a ANT z aff ami gm m kl r m HOST w 2 w g COMPUTER 2 3 2 B w 3 w 35 a gt gt oO w w m m eo a IT IT RS 485 MINIMOTOR RS485easy MINIMOTOR RS485easy BUS CONVERTER BUS CONVERTER 2x RJ45 1 1 2x RJ45 1 1 m r To simplify the connection Minimotor offers a special RS485 easy Bus adapter and RJ45 cables Cable specification Modular RJ45 round shielded cable configuration 1 1 Twisted pairs 1 amp 2 3 amp 6 4 amp 5 7 amp 8 Start up Procedure Attention function only available with software version gt 3 00 1 2 3 Assign an adress number to each motion controller axis This operation is made by connecting the single motion controller to the RS232 interface and using the CI card identifier command Example CI 5 lt CR gt to assign the number 5 to a motion controller The number can be checked using the command CI lt CR gt Attention Each motion controller in the system must have a different number Once the number is assigned it is memorized even if the power supply is switched off The CI value goes from 0
4. see below profile round 10 5ms 100 50 ms t t By setting to profile round the speed profile is smoothed out this reducing mechanical stress for better live performance 0 Input active low I Input active Analog function active with mode 3 or 13 for digital speed control 0 CW I CCW 2 Cw and CCW 10 Specifications subject to change without notice On line control SZ FAULHABER 4 10 On line control Command Parameter Description AC AIX ANF J JNZlletter NIX W SETlletter 1 000 4 000 000 lines s 10 50 000 x 1 000 lines s 0 2 0 100 1 8 0 1 2 000 000 000 lines 1 2 1 2 lines 0 50 1 000 5 000 000 lines s 0 100 000 increment 1 50 0 1 1 xx 1 8 1 xx 0 50 1 50 1 50 1 50 1 15 2 000 000 000 lines 1 50 1 100 0 100 1 99 1 10 000 1 10 000 1 10 000 Acceleration Overwrite acceleration index at preloaded NIX number by remote control Analog function mode 3 13 0 CW 1 CCW 2 CW and CCW Card identifier for RS485easy Bus Clear output Clear outputs after HOME function 0 no 1 yes Overwrite distance index at preloaded NIX number by remote control Direction of motor rotation for seeking coarse sensor 1 CW 2 CCW Direction of motor rotation for seeking Z mark sensor 1 CW 2 CCW Permitted position deviation in lines Differential closed loop parameter Encoder cou
5. NIX number by remote control SM Stop motion so 1 8 Set output SP 25 1 000 000 lines s Speed SR 1 100 10 Synchronisation ratio with optional second encoder TE Tell error codes 01 99 TGD 2 000 000 000 Trigger downward count absolute at output x 5 ms defined in output function TGU 2 000 000 000 Trigger upward count absolute at output x 5 ms defined in output function Tl or1 12 Tell status input O Low 1 High TP Tell actual position 2 10E9 TS Tell status 0 power OFF 1 power ON 2 moving 3 program active 9 error VL 1 50 Velocity closed loop parameter WA 2 000 000 000 lines Way relative WT x 10 ms Waiting time 12 Specifications subject to change without notice SZ FAULHABER 4 Set up values 11 System parameter set up Current limiter set up The current limits NOM and PEAK must be set according the motor used The value of NOM should not exceed the motor s recommended current for continuous operation NOM limit is only active during constant speed operation PEAK limit is only active during acceleration and deceleration There is a continuous monitoring of incremental feedback If the motor is blocked more than 0 5 seconds then the current will be automatic reduced Optimising the closed loop parameters The closed loop system can be optimised by running the motor including assembled mechanical parts directly on line and by adjusting the following parameters via
6. Switzerland Tel 41 0 91 611 31 00 Fax 41 0 91 611 31 10 Email info minimotor ch www minimotor ch MicroMo Electronics Inc 14881 Evergreen Avenue 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 MINIMOTOR SA Switzerland MA15011 english 3 issue 11 05 2005 Version 4 10
7. controller input functions For advanced functions such as E Analogue input command E Stepper motor emulation RS 485 serial interface Multi axis operation please refer to the specifique chapters 6 Specifications subject to change without notice 4 SZ FAULHABER Start up procedure 6 Connection diagram for MCBL 3603 m _ Computer cable RS232 RS485 coM1 RS485easy Bus Puo Hall sensor A 11 Hall sensor B 13 Hall sensor C 15 Vcc logical 5 VDC 1 GND gerettet 7 Zindex if no index NC 3 B channel 5 2 A channel Vcc logical 5 VDC GND Power Supply 12 50 VDC SMRhaserA Brushless 2 eE DC Servomotor 5 Phase C ORO a optional adapter for RS 485easy Bus EN optional digital I O PLC I O 12 inputs 8 outputs 7 Specifications subject to change without notice SZ FAULHABER Start up procedure 7 Connection diagram for MCDC 3603 7m m Computer cable 4 MOTOR PWR ENCODER OPTIO COMPUTER INPUT RS232 RS485 COM1 RS485easy Bus omoro PES Z index if no index NC B channel
8. encoder frequency Software data Program memory 16 bit access Sampling period Number of programs Lines per program Number of indexes Communication data Interface Status display Optional inputs 5V pull up standard 24V pull down on request Optional outputs 6 x 50V 500mA open collector 2 x TTL level Program and parameter editor Program up date Application and parameter save load Starting position function Temperature rating Operating temperature Storage temperature Weight Dimensions Weight Dimensions see diagram on page 5 SZ FAULHABER MCBL 3603 MCDC 3603 12 36 12 36 VDC 20 20 kHz 3 3 A 10 10 A 200 200 kHz 256 x8 256 x 8 kbyte 500 500 ps 15 15 50 50 50 50 RS232 RS485 RS485easy Bus 3 LED s 12 optional 8 optional integrated ASCII terminal via serial interface via serial interface via encoder Z index via external sensor 0 55 C 20 80 C 130 g 4 Specifications subject to change without notice SZ FAULHABER 4 Di 4 Dimensions for MCBL 3603 and MCDC 3603 Scale reduced 105 10 5 35 m 00000000 0000000 00000000 Connection for MCBL 3603 Connection for MCDC 3603 Power supply motor motor connection
9. 99 The number 0 is used as a default value for single axis application For multi axis operation a number from 1 99 should be used Number 1 must always be used see below Realise an RS485 connections and set the baud rate in the terminal emulator software to 19 200 To use the RS485 it is necessary to have a RS232 RS485 converter since PCs usually only offer a RS232 interface To operate a motion controller it is first necessary to adress it using the RI request identifier command Example RI 5 lt CR gt To make the prompt appear If it does not appear check the RS485 connection and baud rate Using the RI 0 command the host computer can control all the axis at the same time In this case the echo from Motion Controller number 1 in multi axis the number 1 must always be used will appear on the computer screen 19 Specifications subject to change without notice SZ FAULHABER Trouble shooting 18 Trouble shooting Error messages are shown with LED 3 blinking A detailed information on the error type can be obtained using the TE Tell Error command There are two types of error code one for input errors WH wait high or WL wait low and the other for controller errors DP deviation position or over heating Error code Description Remarks Continues if status has been reached or restart with HO SM or PQ PW Difference between the internal calculated position and actual motor position greater than the num
10. CD Ee DTR 206 DTR 4 e 23 Specifications subject to change without notice SZ FAULHABER ii RS485 set up Setting of the baud rate RS485 over 6 bit CONFIG switch S1 data 8bit stop bit 1 parity no bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 Function x OFF OFF x x x RS485 19 200 baud default x OFF ON X X x RS485 9600 baud x ON OFF x x x RS485 38 400 baud x ON ON x x x RS485 free By turning system off and back on the new baud rate will be activated Bus RS485easy MODULAR RJ45 Pin 1 NC Pin 2 NC Pin 3 NC Pin 4 RS485 Receiver R Pin 5 RS485 Receiver R Pin 6 NC Pin 7 RS485 Transmitter T Pin 8 RS485 Transmitter T PLC 12 Input 8 Output available to the user 26 pole HD DSUB Pin 1 Output 1 Pin 2 Output 2 Pin 3 Output 3 Active low open collector 50 V 500 mA on GND free Pin 4 Output 4 wheeling diode Pin 5 Output 5 Pin 6 Output 6 Pin 7 Output 7 Active low 0 V 50 mA high 5 V 50 mA Pin 8 Output 8 Active low 0 V 50 mA high 5 V 50 mA Pin 9 COMMON Joint cathodes of output free wheeling diodes 1 6 Pin 10 GND 2A Pin 11 GND 2A Pin 12 VOC 5 V 250 mA Pin 17 1 Pin 18 2 Pin 19 3 Pin 20 4 Pull up 2 7 k on VCC 5 V standard Pin 21 5 or optional 24 V for PNP sensors Pin 22 6 Pin 23 7 Pin 24 8 Pin 25 2A Pin 26 250 mA Pin 13 Input 92 Pin 14 Input 10 2 Pull up 2 7 k on VCC 5 V standard or optional 24 V Pin 15 Input 11 2 Bit for BCD program decoder Pin 16 Input 12 2 1 Pr
11. Motion Controller 4 Quadrant PWM for DC Micromotors and Brushless DC Servomotors FAULHABER GROUP Operating Instructions We create motion OC gt Wo Miniature Drive Systems a Micro Drives DC Micromotors 3 Precision Gearheads Servo Components 5 Drive Electronics Surf to the following Internet address and you will find the latest edition of the instruction manual on line SSS www minimotor ch uk pr o Netscape MINIMOTOR SA gt gt gt Miniature drive system Hea z a y gt 394 2 a as So 3 Back Forward Reload Home Search Netscape imag Print Security Shop Stop T Location A http www minimotor ch uk pr 7 Gail what s Related Wat FAULHABER FEST company profile Drive Electronics 5 Type Motortype Function Operating Current Speed Powersupply Current limit Instruction manual ystem mode control control VDE A Download FAULHABER 3 z LC3002 Brush comm 4Quadrant Linear Yes Yes 12 32 2 Elen ko gt Product design MCDC 2808 Brush comm 4Quadrant PWM No Yes 12 28 10 en Product range MCDC 3603 Brush comm 4Quadrant PWM No Yes 12 36 3 8258 KB ER MCDC 5004 i oa o Applications c Brush comm 4Quadrant PWM No Yes 12 50 10 Shear Te LD 3502 2 EE FAULHABER BLD 35i Brushless 2 Quadrant PWM No Yes 12 35 3 Elezo Key GROUP BLD5503 Brushless 4Quadrant PWM Yes Yes 14 56 4 Fler Ke EJ Sales
12. VE PLC LOGIC Pi DiGiTaL f RELAY INPUT FUNCTION EXTERNAL PLC BCD CODED PROGRAM I ECT 12INPUT La SWITCHES z i DIGITAL HOME SENSOR LIMIT SENSOR H EMERGENCY CIRCUIT POWER DC H gt SWITCHED POWER SUPPLY 5V 12V INTERNAL OPTIONAL EMERGENCY cl EOE ECT MCDC 3603 Integrated PWM Brushed DC Micromotors servo amplifier 36V 3A with encoder REMOTE CONTROL PROPORTIONAL CURRENT LIMIT PROGRAM 1 15 INTEGRAL ok TEMP SENSOR RS232 ACCELERATION DERIVATIVE VELOCITY I Nominal OVER VOLT R5485 lt gt MENUE SPEED MONITOR m RS485easy Bus SET UP POSITION BALLAST CIRCUIT d HOME FUNCTION A ANALOGUE H gt PROGRAM INDEX PN m PN cower saae PULSE DIR PROGRAM MOTION 4 De Micromotor AIB ENC 2 UP DATE PROGRAM FafelD Ze tv fu re E OPTIONAL SAVE LOAD APPLICATION wy A id J y j i CURRENT a SENSOR UADRATURE COUNTER DIFFERENTIATOR CHA ji JHB Encoder Co N i gouTPuT H VALVE PLC LOGIC i gt DIGITAL RELAY INPUT FUNCTION EXTERNAL PLC BCD CODED PROGRAM i i ECT i i 12 INPUT i SWITCHES i DIGITAL HOME SENSOR LIMIT SENSOR EMERGENCY CIRCUIT POWER DC H gt SWITCHED POWER SUPPLY 5V 12V INTERNAL optionaL EMERGENCY cl Beer ECT Specifications subject to change without notice 3 Technical data Electrical data Supply voltage PWM switching frequency Max continuous output current Max peak output current Max
13. ber of increments defined in DP deviation position 60 Power stage over heating gt 80 C detected by the temperature sensor Power supply voltage or retarding energy on ballast circuit to high If the ballast circuit is active for more than 5 seconds the power stage is switched off 01 to 12 Waiting for input low or high 50 Deviation position too great 61 Power supply over voltage 62 Ballast circuit active too long 19 Operating system error If the message user program corrupted appears on the screen the operating system has to be turned off and re started manually This is done as follows set the S1 switch from OFF to ON the SMD multiswitch is located be between the battery a the 9 poles D sub RS232 connector re load the xx36_yyy S19 program turn the S1 switch from ON to OFF position The system can now be switched on normally 20 Specifications subject to change without notice gt 72 FAULHABER 4 Notice of use 20 General usage instruction Power supply and fuse Any unstabilised DC power supply voltage within the motion controllers range e MCBL 3603 12V lt Vm lt 36V e MCDC 3603 12V lt Vm lt 36V may be used although it is advisable to keep this voltage as low as possible in order to minimize the EMI noise Thus the optimum power supply voltage is given by the following equation Vm V 5V R Q Imax A ke V rpm Nmax rpm Where R motor terminal resista
14. bject to change without notice Set up values SZ FAULHABER 9 Set up values Description MODE INOM I PEAK PROPORTIONAL INTEGRAL DERIVATIVE VELOCITY INC PER PULSE DEVIATE POS PROFILE ROUND INPUT H ACTIVE ANALOG FUNCTION 0 Programs and commands operated using the standard inputs see chapter 19 2 Programs and commands operated using the standard inputs PULSE DIRECTION input signal for stepper control emulation function active see chapter 23 3 Programs and commands operated using the standard inputs Analogue input signal for digital speed control function active see chapter 22 10 Programs operated using the 4 binary coded inputs and input 8 as starting trigger see chapter 20 12 Programs operated using the 4 binary coded inputs and input 8 as starting trigger Stepper control emulation function active see chapter 23 13 Programs operated using the 4 binary coded inputs and input 8 as starting trigger Analogue input signal for digital speed control function active see chapter 22 Nominal current Peak current Proportional closed loop parameter stiffness Integral closed loop parameter positioning precision Differential closed loop parameter stability dynamic Velocity closed loop parameter oscillation prevention Increment lines per pulse in MODE 2 or 12 for stepper emulation function see chapter 23 Permissible max position deviation in lines To smooths the speed profile out
15. k to 5V pull down 2k differential input 261532 Pin 13 Hall C Pull up 2 4k to 5V differential input 26LS32 Pin 14 Hall C middle level pull up 2 4k to 5V pull down 2k differential input 261532 Pin 15 5V Hall 150 mA Power supply Pin 1 GND Pin 2 POWER MCDC 12 36V over voltage limited with protection diode MCBL_ 12 36V over voltage limited with protection diode DC motor BL motor Pin 3 Motor Phase A Pin 4 Motor Phase B Pin 5 NC Phase C 25 Specifications subject to change without notice SZ FAULHABER PIN configuration Optional function 8 pole modular RJ45 Pin1 GND GND internal Pin2 10V 5V 10V default voltage 5V with option second Encoder on request Pin 3 Pulse ull up 2 4k to 5V differential input 261532 Pin 4 Direction ull up 2 4k to 5V differential input 26LS32 Pin5 Direction middle level Pull up 2 4k to 5V pull down 2k differential input 26LS32 Pin6 Pulse middle level Pull up 2 4k to 5V pull down 2k differential input 26LS32 Pin 7_ 10V analogue input reference range 10V Pin8 0 10V analogue input reference range 0 10V 26 Specifications subject to change without notice G 7A FAULHABER Y The FAULHABER Group DR FRITZ FAULHABER GMBH amp CO KG Daimlerstra e 23 71101 Sch naich Germany Tel 49 0 7031 638 0 Fax 49 0 7031 638 100 Email info faulhaber de www faulhaber de MINIMOTOR SA 6980 Croglio
16. n controller itself Motion controller software organisation The software is constructed on three different levels Operating system The operating system normally remains invisible to the user and is a background function for download functions back up in emergency situations For additional information see chapter 26 Program xx36_yyy S19 Is the basic working program which realises all described functions and programming possibilities This program is already installed within the unit and automatically goes into operation once the system is started up Actualy version 4 10 Application user programs Contains the complete set of customer defined data and parameters application LED status Display Description LED 1 Internal 5V power supply OK LED 2 Software OK LED 3 Servo OK system closed LED 3 blinking Error ask error code see troubleshooting chapter 27 General programming instructions General instructions on how to move insert delete etc within the program e Close every entry with the command lt ENTER gt e Text can be entered using either small or capital letters e Use the arrows to move up and or down the menu lines e To go back to the previous menu always use lt ESC gt e Close erroneous entries with lt ENTER gt and re enter data Delete characters Back Space Clear line lt CRTL C gt Insert line lt CRTL I gt Page down lt CRTL D gt Page up lt CRTL U gt 9 Specifications su
17. nce ke motor back EMF constant Imax max requested motor current for acceleration Ipeak Nmax max motor speed reach in the application Both motion controllers are provided with an internal fuse Braking energy When decelerating the motor brake energy is developed This energy increases the motion controller voltage supply Therefore the motion controllers supplied with an internal ballast circuit which converts this energy into heat Wiring A well known disadvantage of PWM pulse width modulation is that it generates a lot of interference In order to reduce the effect of the interference there are some basic rules to follow E Use wires as short as possible Avoid running signal wires logical and analog signal in close proximity to power lead wires power supply and motor power leads Use shielded wires 21 Specifications subject to change without notice SZ FAULHABER Hardware 21 Hardware Connector layout for MCBL 3603 PLC I O optional 11 00000 15 290 00 10 1 00000 5 RS 232 RS 485 Motor PWR Encoder Hall Optio RS 485easy Bus Function Power supply Motor phases 3 Hall effect sensors 8 Pulse dir analogue encoder2 9 Serial interface RS232 RS485 RS485easy Bus Nr Terminal 2 Connect WAGO Multiconnector 5 0mm D SUB High Density Modular RJ45 D SUB High Density D SUB no
18. ndows operating system can be used as an input terminal Program up dates are made directly via the serial interface without changing the hardware Communication is made via the serial port RS232 or RS485 We advise the use of the software WINMOTION for an easy programming of Motion Controllers provided with Firmware 4 10 2 Specifications subject to change without notice Mod el overview AA FAULHABER 2 Model overview MCBL 3603 Integrated PWM Brushless DC Servomotors servo amplifier 36V 3A with encoder REMOTE CONTROL PROPORTIONAL CURRENT LIMIT PROGRAM 1 15 INTEGRAL Pa TEMP SENSOR RS232 ACCELERATION DERIVATIVE VELOCITY Nominal OVER VOLT R5485 lt gt MENUE SPEED MONITOR RS485easy Bus SET UP POSITION BALLAST CIRCUIT N HOME FUNCTION T PHA E ANALOGUE H gt PROGRAM INDEX x FIR AAE EOWERTSTAGE Brushless PULSE DIR PROGRAM MOTION K A N PHEN Epeservomator AIB ENC 2 UP DATE PROGRAM BI Fade tV gt f commutation PHC OPTIONAL SAVE LOAD APPLICATION gt Locic HAA u i i il HAB i CURRENT HAB gt QUADRATURE sson Es COUNTER DIFFERENTIATOR d N CHA f lt I BCE Encoder pa zn i d I 8ouTPuUT Li VAL
19. network BLD 5604 Brushless 2 Quadrant PWM No Yes 10 56 4 2 661 KB 8 Exhibitions BLD5608 Brushless 4Quadrant PWM Yes Yes 14 56 8 Fler Key IEH nes BLD5608 Brushless 2 Quadrant PWM No Yes 10 58 8 Elect Ko MCBL2805 Brushless 4Quadrant PWM No Yes 12 28 10 DElzos ka Catalogue en ae MCBL3603 Brushless 4Quadrant PWM No Yes 12 38 3 El e250 Ko MCBL 5004 Brushless 4Quadrant PWM No Yes 12 50 10 4 AUT KB FAULHABER GROUP We create motion Mrimotor SA 6980 Crogio Switzerland Teal 41 0 91 611 31 00 Fax 41 0 91 6113110 Errail info rrinimoter ch_ For direct Download http www minimotor ch minicatalog pdf DriveCircuits Manuals IM_e_MCDC_MCBL_3603 pdf 4 Index AA FAULHABER Chapter 10 11 12 13 14 15 16 17 18 19 20 21 22 Description Model overview Technical information Dimensions Start up Procedure Connection diagram for MCBL 3603 Connection diagram for MCDC 3603 General software information Set up values On line control System parameter set up Call up program from normal inputs Call up program from binary coded digital inputs Example of sequential multi axis application Analogue input command Stepper motor emulation RS485easy Bus Trouble shooting Operating system error General usage instructions Hardware Pin configuration Note Page 10 11 12 13 14 15 16 17 18 18 19 20 20 21 22 23 26 27 29 SZ FAULHABER 1 Desc
20. nter on line diagnosis Emergency deceleration with Exit function EE and Limit switch function LL and LR Go to position absolute Go way relative Go to Z index encoder HOME function according to program Offset after edge coarse sensor no stop same direction if HOF is not 0 this value is indicated on HOME menu Inc per pulse mode 2 12 pulse direction control 0 input low active 1 input high active Nominal current HOME sensor input number Peak current Integral closed loop parameter Run index according to program Jog run positive constant speed Jog run negative constant speed Indicate loop reference letter from A to E Decrements the loop repeats whereby if not zero jump to line xx Number index pre load for changing index parameters by remote control Run program Position absolute Proportional closed loop parameter Rounding of speed profile should be value smooth start and smooth stop Servo amplifier power OFF Power ON reset position counter Power ON continue keep position counter Required identifier for RS485easy Bus Get back identifier position and status complete Repeat way CW CCW Repeat way same direction Set loop reference letter five possibilies from A to E and number of repeats xxxx 11 Specifications subject to change without notice SZ FAULHABER On line control Command Parameter Description SIX 25 1 000 000 lines s Overwrite speed index at preloaded
21. ogram start of the sequential follow on motion controllers are specified through the output of the lined up motion controller PIN Function PIN Function PIN Function 1 OUT1 1 OUT1 1 OUT 1 2 OUT2 2 OUT2 2 OUT2 3 OUT3 3 OUT3 3 OUT3 4 OUT4 4 OUT4 4 OUT4 5 OUT5 5 OUT5 5 OUT5 6 OUT6 6 OUT6 6 OUT6 7 OUT7 7 OUT7 7 OUT7 8 OUT8 IL 8 OUT8 8 OUT8 9 COM 9 COM 9 COM 10 GND 10 GND 10 GND 11 GND 11 GND 11 GND 12 VCC 12 VCC 12 VCC 17 IN1 17 IN1 17 IN1 18 IN2 18 IN2 18 IN2 19 IN3 19 IN3 19 IN3 20 IN4 20 IN4 20 IN4 21 IN5 21 IN5 21 IN5 22 IN6 22 IN6 22 IN6 S 23 IN7 23 IN7 23 IN7 24 IN8 24 IN8 24 IN8 13 INQ 13 INQ e 13 IN9 141614 IN 10 1614 IN 10 14 IN 10 u 15 IN 11 15 IN 11 15 IN 11 cn 16 IN 12 16 IN 12 16 IN 12 BCD Motion Motion Motion Controller 1 Controller 2 Controller 3 16 Specifications subject to change without notice WZ FAULHABER Advanced functions 15 Analogue input command To activate the analogue input command function the MODE parameter in the SET UP VALUES menu must be set to 3 or 13 and the ANALOG FUNCT to 0 for CW operation 1 for CCW operation 2 for CW and CCW operation The maximum speed is defined with the SP command For high dynamic
22. ogram start trigger with BCD coded input MODE 10 2 BCD coded input for program 1 15 selection MODE 10 24 Specifications subject to change without notice SZ FAULHABER PIN configuration Input and output internal electrical circuit Input Output 1 6 Optional input available on request MCxx 5004 VCC MCxx 5004 24V MCxx 5004 p VCC 5V Common Input 2 7kQ i 10ko IN 500 mA IN 1 gt OUT gt Input v4 2 7kQ GND GND GND FA END GND GND i 1 i Encoder Hall 15 Pole HD DSUB Pin 1 GND GND for both encoder and Hall Pin 2 5V Encoder 150 mA Pin 3 Encoder B Pull up 2 4k to 5V differential input 261532 Pin 4 Encoder B middle level pull up 2 4k to 5V pull down 2k differential input 261532 Pin 5 Encoder A Pull up 2 4k to 5V differential input 261532 Pin 6 Encoder A middle level pull up 2 4k to 5V pull down 2k differential input 261532 Pin 7 Encoder Z Pull up 2 4k to 5V differential input 261532 Pin 8 Encoder Z middle level pull up 2 4k to 5V pull down 2k differential input 261532 Pin 9 Hall A Pull up 2 4k to 5V differential input 261532 Pin 10 Hall A middle level pull up 2 4k to 5V pull down 2k differential input 261532 Pin 11 Hall B Pull up 2 4k to 5V differential input 261532 Pin 12 Hall B middle level pull up 2 4
23. ription The MCBL 3603 and the MCDC 3603 are very compact motion controllers ideal for our brushless DC Servomotors and brushed DC Micromotors Each model comprises a PWM servo amplifier Technology Both motion controllers are based on a fast powerful 16 bit microcomputer system This guarantees high dynamics precise positioning and quiet running regardless of the motor type used The well thought out design and consistent application of SMD technology ensures a very compact device The specially developed user software offers high flexibility and simple handling Application field Developed with the use of state of the art technology the motion controllers are suitable for a wide range of applications insertion and handling machines machine tools robots X Y tables drive and automation systems in medical technology chemical and food industry etc Programming One of the most important objectives in the development of these units was to keep its operation as simple as possible This has been attained with the use of just a few highly efficient functions Manual balancing or potentiometers are no longer required Menu guided program and parameter editing functions are already integrated for operation with an ASCII terminal In place of internal menu management the clearly structured command set can be simply integrated into a customer specific interface e g with Visual Basic Lab View Pascal C etc Any PC with Wi
24. rmal Connector layout for MCDC 3603 PLC I O optional RS 232 RS 485 RS 485easy Bus Motor PWR Encoder Connect Function Power suppl Encoder Input encoder 1 Serial interface RS232 RS485 RS485easy Bus Nr Terminal WAGO Multiconnector 5 0 mm Encoder i Modular RJ45 2 a a BEE 9 D SUB normal 22 Specifications subject to change without notice SZ FAULHABER PIN configuration 22 PIN configuration Serial interface RS 232 or RS 485 9 POLE D SUB Pin 1 NC Not connected Pin2 RS232 Receiver Rx Pin 3 RS232 Transmitter Tx Pin 4 NC Not connected Pin 5 RS232 GND Pin 6 RS485 Receiver R Pin 7 RS485 Receiver R Pin 8 RS485 Transmitter T Pin 9 RS485 Transmitter T RS232 set up Set the baud rate RS232 via 6 bit CONFIG switch 1 6 bit SMD multiswitch data 8bit stop bit 1 parity no bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 Function x x x OFF OFF x RS232 9600 baud default x x x OFF ON x RS232 2 400 baud x x x ON OFF x RS232 4800 baud x x x ON ON x RS232 19 200 baud By turning the system off and back on the new baud rate will be activated RS232 electrical connection Computer Motion Controller Computer Motion Controller 25 pol D Sub 9 pol D Sub 9 pol D Sub 9 pol D Sub TX 2e e2 RX TX Ze 2 RX RX oe ae TX RX 2 o 5 3 TX GND 7e 5 GND GND 5 e gt GND RTS 4 RTS _ M CTS E CTS Be DSR 6 DSR De DCD D
25. s we recommend increasing the AC value AC gt 2 000 000 External voltage fo aule PIN Function GND 5V or 10V PULSE ch B DIRECTION ch A DIRECTION ch A PULSE ch B 10V 0 10V e ONOUBWDN Potentiometer 0 aure PIN Function GND 10V PULSE ch B DIRECTION ch A DIRECTION ch A PULSE ch B 10V 0 10V ry ONaOUBWN 17 Specifications subject to change without notice SZ FAULHABER Advanced functions 16 Stepper motor emulation To activate the stepper motor emulation function the MODE parameter in the SET UP VALUES menu must be set to 2 or 12 and the INC PER PULSE according to the application requirements 0 ante PIN Function 1 GND Stepper controller 2 5Vor10V Pulse uut SECUS EENE CWICCW 4 DIRECTION ch A 5 DIRECTION ch A 6 PULSE ch B 7 10V 8 0 10V 17 RS485easy Bus With this feature up to 32 motion controllers can be adressed and controlled by one host computer using a simple RS485 interface The connection principle is show below RS485easy Bus full duplex RX 6 e RX 7 TX 8 e TX 9 t l l l l l l l I I t 6 7 8 9 6 7 8 9 6 7 8 9 PC PLC
26. the SET UP VALUES menu PROPORTIONAL 1 50 INTEGRAL 0 50 DERIVATIVE 0 50 VELOCITY 0 50 This optimisation is best carried out by running the motor with the RW and or RR instructions When executing these instructions all parameters even set up can be changed on line thus enabling the user to see the reaction of the system whilst making changes One helpful function is the EC encoder counter which gives information on the actual motor shaft position Improved dynamics If your application requires more dynamics this can be obtained by increasing the PROPORTIONAL DERIVATIVE and VELOCITY LOOP values e g to 10 20 and 20 If the motor is noisy or vibrates indicating system instability these parameters should be reduced Precise positioning If you need to improve the motor s position holding an INTEGRAL value should be given e g 5 The INTEGRAL value is only activated when the motor reaches the requested position In this way the system s dynamic is not influenced by this value To control the exact position of the motor the EC encoder counter command is used via the ON LINE CONTROL menu 13 Specifications subject to change without notice SZ FAULHABER Call up program 12 Call up program from normal inputs Optional I O The procedure to execute a program or another instruction via the 8 normal inputs is as follows assign the instruction to the desired input via the INPUT FUNCTION men
27. u activate the input via an external circuit see example below PLC I O PIN Function 1 OUT 1 2 OUT2 3 OUT3 4 OUT4 5 OUT5 6 OUT6 7 OUT7 8 OUT8 9 COM 10 GND 11 GND 12 VCC 17 IN1 18 IN2 19 IN3 20 INA oe 21 IN5 22 IN6 23 IN 24 IN8 13 INQ 14 IN 10 15 IN 11 16 IN 12 14 Specifications subject to change without notice SZ FAULHABER Call up program 13 Call up program from BCD coded digital inputs Optional 1 0 When the application uses more than 8 digital inputs the user should call them up via the BCD coded digital inputs In this case the MODE in SET UP VALUES menu should be set to 10 or 12 or 13 The input lines 9 12 are used as binary coded program numbers The trigger to start the pre selected program is input line 8 Program number 0 is not used Therefore pre select program number with binary switch numbers 1 15 start program with start button S PLC I O PIN Function 1 OUT 1 2 OUT2 3 OUT3 4 OUT4 5 oUT5 6 OUT6 7 OUT7 8 OUT8 9 COM 10 GND 11 GND 12 VCC 17 IN1 18 IN2 19 IN3 20 IN4 21 IN5 22 IN6 23 IN 24 INS 13 INO 14 IN 10 15 IN 11 216 IN 12 15 Specifications subject to change without notice SZ FAULHABER Call up program 14 Example of sequential multi axis application optional I O The program number and pr
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