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Operating Instructions - HNP Mikrosysteme GmbH

1. Operating Instructions CANopen 3564K024B CC FAULHABER GROUP MCBL 3003 06 C We create m tion P MCDC 3003 06 C SZ FAULHABER Table of Contents 1 1 General description 5 1 2 Quick start 6 1 2 1 Operation using FAULHABER Motion Manager 7 1 2 2 Operation using a custom interface 8 2 1 Connections and wiring 9 2 1 1 Installation instructions 10 2 1 2 Maintenance 10 2 1 3 Specialised staff 10 2 2 CAN wiring 11 2 3 Motor connection 12 2 4 Baud rate and node ID 13 2 5 Basic settings 14 3 1 Position control 16 3 2 Velocity control 17 3 2 1 Velocity control using CAN 17 3 2 2 Analog velocity control 18 3 3 Homing and limit switches 20 3 4 Extended operating modes 23 3 4 1 Stepper motor mode 23 3 4 2 Gearing mode electronic gearing 24 3 4 3 Analog positioning mode 25 3 4 4 Dual loop PID control mode 25 3 4 5 Voltage regulator mode 26 3 4 6 Analog control of current limit 26 3 4 7 IxR control for DC controllers 26 3 5 Special functions of the error connection 27 3 6 Technical information 28 3 6 1 Sinusoidal commutation 28 3 6 2 Current controller and lt current limitation 28 3 6 3 Over temperature protection 28 3 6 4 Undervoltage monitoring 29 3 6 5 Overvoltage regulation 29 3 6 6 Adjustment of controller parameters 29 4 1 Introduction 30 4 2 PDOs Process Data Objects 31 4 3 SDO Service Data Object 33 4 4 Emergency Object Error Message 35 4 5 NMT Network Management 36
2. Acceleration 30000 r s2 Deceleration ramp 30000 r s2 Sampling rate 100 us I term of velocity controller P term of velocity controller P term of position controller D term of position controller I term of current controller Limitation of maximum velocity to 30000 rpm Minimum analog velocity Minimum analog voltage Upper positioning range limit Lower positioning range limit Numeric value for pulse output Step width for special operation Step number for special operation Resolution of external encoder Deviation error not monitored Error delay 2 sec Target corridor for positionings Digital inputs PLC compatible Operating mode Profile Position Mode Motor resistance 3 3 Q Velocity constant 398 rpm V Power power stage deactivated Nominal speed value 0 rpm 75 FAULHABER SZ ZZ Notes 76 SZ FAULHABER with integrated Motion Controller and For combination with A Gearheads CAN interface 30 1 32 3 38 1 38 2 Series 3564K024B CC 3564 K 024 B CC 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
3. RxPDO3 Byte Function 0 Mode for parameter 1 1 Mode for parameter 2 255 No second parameter 2 Transmission with time code 1 With time code 0 Without time code Number of data packets to be transmitted per request Default 1 Time interval between packets ms Default 1ms The following values are available for parameters 1 and 2 0 Actual speed Integer16 rpm 1 Target speed Integer16 rpm 2 Controller output Integer16 4 Motor current Integer16 mA 44 Housing temperature Unsigned16 C 46 Coil temperature Unsigned16 C 200 Actual position Integer32 Inc 201 Target position Integer32 Inc 42 Data request Depending on the mode set for parameters 1 and 2 3 to 8 bytes are sent back on TxPDO3 after a request RTR on TxPDO3 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 The data are in Unsigned16 format Coding as in 1 3 Mode1 between 200 and 255 Mode2 at 255 inactive gt Sbyte 1st byte Lowest byte data 2nd byte Second byte data 3rd byte Third byte data 4th 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 b
4. 0x6084 profile deceleration Unsigned32 rw Braking ramp value 0x6085 quick stop deceleration Unsigned32 rw Quick stop braking ramp value 0x6086 motion profile type Integer16 ro Motion profile 0x6093 position factor ARRAY rw Position factor 0x6096 velocity factor ARRAY rw Speed factor 0x6097 acceleration factor ARRAY rw Acceleration factor 0x6098 homing method Integer8 rw Homing method 0x6099 homing speed ARRAY rw Homing speed 0x609A homing acceleration Unsigned32 rw Homing acceleration 0x60F9 velocity control parameter set ARRAY rw Parameters for speed controller Ox60FA control effort Integer32 ro Controller output 0x60FB position control parameter set ARRAY rw Parameters for position controller Ox60FF target velocity Integer32 rw Target speed 0x6510 drive data RECORD rw Drive information A detailed description of the individual objects is provided in section 6 39 4 CANopen SZ FAULHABER 4 7 Drive control Device control The FAULHABER motion controllers support drive control according to CiA DSP402 This device profile for drives is based on the CiA DS301 communication profile and provides standardised objects for drive control and configuration In addition to Device Control the operating modes Profile Position Mode Profile Velocity Mode and Homing Mode are also supported CAN network CAN node Application layer and communication profile DS 301 Drive Profile 402 Device Control state m
5. 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 inputs CANopen interface for integration into a CAN network with transfer rates up to 1Mbit s Connection diagram Programming made easy The MCDC 30003 06 C supports the CANopen communication profile according to DS301 V4 02 and DSP402 V2 0 in accordance with the CiA specification for slave devices with the following services 1 Server SDO 3 Transmit PDOs 3 Receive PDOs Static PDO Mapping NMT with Node Guarding Emergency Object The transfer rate and node no are set via the network in accordance with the LSS protocol according to DSP305 V1 11 and automatic baud rate detection is also implemented In addition all functions and parameters of the drive unit can be very easily activated via a special FAULHABER PDO channel For each FAULHABER command a corresponding CAN message frame is available on the PDO chan nel enabling the CAN unit to be operated analogously to the serial variant 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 d
6. Max Profile Velocity Index Subindex ETT Type Attrb Default value Meaning 0x607F 0 max profile velocity Unsigned32 rw see spec Maximum velocity 0x6081 0 profile velocity Unsigned32 rw see spec Maximum velocity Maximum velocity during a positioning The presetting occurs in user defined units according to the specified Velocity Factor The object corresponds to the FAULHABER command SP Profile Acceleration Index Subindex Name Type Attrb Default value Meaning 0x6083 0 profile acceleration Unsigned32 rw see spec Acceleration value The presetting occurs in user defined units according to the specified Acceleration Factor The object corresponds to the FAULHABER command AC Profile Deceleration Index Subindex AEG Type Attrb Default value Meaning 0x6084 0 profile deceleration Unsigned32 rw see spec Braking ramp value The presetting occurs in user defined units according to the specified Acceleration Factor The object corresponds to FAULHABER command DEC Quick Stop Deceleration Index Subindex AET Type Attrb Default value Meaning 0x6085 0 quick stop Unsigned32 rw 30000 Braking ramp value deceleration for Quick Stop The presetting occurs in user defined units according to the specified Acceleration Factor Motion Profile Type Index Subindex NEIS Type Attrb Default value Meaning 0x6086 0 motion profile type Integer16 ro 0 Type of motion profile Only Motion Profile type 0 is supported Linear ramp trapezoidal profil
7. Parameters of the velocity controller The object corresponds to the FAULHABER commands POR and 6 3 7 Common Entries Drive Data Index Subindex INET Type Attrb Default value Meaning 0x6510 0 number of entries Unsigned8 ro 1 Number of object entries 1 motor type Signed32 rw 8 Set motor type 0 9 BL motor 1 DC motor The motor type to which the control is set can be queried or set here MCDC only reading possible The object corresponds to the FAULHABER command MOTTYP GMOTTYP 61 SZ FAULHABER 6 Parameter Description 6 3 Objects of the DSP402 profile The acceleration setting in object 0x6083 section is also valid in both directions for the velocity control mode when the target velocity is changed Start drive in velocity controlled mode Prerequisite NMT state Operational drive state Operation enabled and Modes of Operation 0x6060 set to Profile Velocity Mode 3 Set Target Velocity Ox60FF to the desired velocity value Stop drive in velocity controlled mode Set Target Velocity Ox60FF to velocity value 0 or set bit 3 to 0 in the controlword Disable Operation 62 SZ FAULHABER 6 Parameter Description 6 4 FAULHABER commands The drive can be configured and controlled very easily with the FAULHABER commands All supported ASCII commands of the serial variant are available as CAN message frames on PDO2 The first byte always contains the HEX value of the command and the
8. 6 4 FAULHABER commands Command GMOD GENCRES GMOTTYP GKN GRM GSTW GSTN GMV GMAV GPL GNL GSP GAC GDEC GSR GPOR GI GPP GPD GCI GPC GCC GDEV GCORRIDOR Hex value 0x28 Ox1E 0x29 0x4D 0x4E 0x39 0x38 0x2A 0x27 0x31 Ox2C 0x36 0x15 0x1B 0x56 0x33 0x26 0x5D Ox5E 0x63 0x30 0x18 Ox1C 0x62 Data oo oooo oo ooo Function Get Mode Get Encoder Resolution Get Motor Type Get Speed Constant Get Motor Resistance 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 69 Description Set FAULHABER mode CONTMOD STEPMOD APCMOD ENCMOD HALLSPEED ENCMOD ENCSPEED GEARMOD VOLTMOD XRMOD 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 Set step width STW Set step number per revolution STN NOUBRWN AO Set minimum speed MV in rpm Set minimum start voltage value MAV in mV Set positive limit position LL Corresponds to object 0x607D
9. Set negative limit position LL Corresponds to object 0x607 Set maximum speed SP in rpm Corresponds to object 0x6081 Set acceleration value AC in r s Corresponds to object 0x6083 Set deceleration value DEC in r s2 Corresponds to object 0x6084 Set sampling rate of velocity controller in ms 10 Set amplification value of velocity controller POR Corresponds to object 0x60F9 Set integral term of velocity controller Corresponds to object 0x60F9 Set amplification value of position controller PP Corresponds to object 0x60FB Set D term of position controller PD Corresponds to object 0x60FB 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 Corresponds to object 0x6067 Uf 4 SZ FAULHABER 6 Parameter Description 6 4 FAULHABER commands 6 4 2 2 Configuration of fault pin and digital inputs Command Hex value Data Function Description IOC 0x5C 0 O Configuration Set input output configuration Return value binary coded LSB Bit 0 Bit 0 7 FAULHABER Hard Blocking 0 7 Function active for input 1 3 Bit 8 15 FAULHABER Hard Polarity 0 7 Rising edge at input 1 3 Bit 16 23 FAULHABER 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 24V Bit 26 28 Function of fault pi
10. The commands for executing state changes are executed through a special bit combination in the controlword The controlword is located in the Object dictionary under Index 0x6040 and is generally transmitted with PDO1 The meaning of the individual bits of the controlword is explained in section 6 3 1 In the event of state changes the FAULHABER motion controller in its default setting automatically sends the current statusword on PDO1 The current state can also be requested at any time via a remote request on PDO1 The statusword is located in the Object dictionary under Index 0x6041 The meaning of the individual bits of the statusword is explained in section 6 3 1 41 5 Extended CAN Functions SZ FAULHABER 5 1 The FAULHABER channel A special FAULHABER channel is available on PDO2 via which all commands of the motion controller can be simply executed For each FAULHABER command there is a corresponding CAN frame with which the CAN unit can be operated similarly to the serial variant All functions and parameters of this drive unit can be accessed via this channel Section 6 4 contains a complete description of the FAULHABER commands 5 2 Trace It is possible to trace operating data via PDO3 i e to read data out online in a resolution of up to 1 ms After setting the desired trace type via RxPDO3 the values can be requested in succession by means of requests to TxPDO3 see section 4 2 Trace configuration
11. as inverting the connection will destroy the internal fuse The fuse can only be replaced at the factory Analog input analog input analog GND AGND The analog input is executed as a differential input In order to prevent a voltage drop in the supply cable connect the analog GND to the power supply GND 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 E Current limitation value via analog voltage E 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 CAN connections The CAN wiring is established using the connections CAN H CAN L and the supply GND A serial PC inter face can also be connected with the same connections in order to perform a firmware update Error output The error output has the following characteristics Min the absence of an error the output pulls the output to GND Open Collector Hin the event of an error the output has a 100 kQ path to GND M The output current is limited to roughly 30 mA as the applied voltage should not exceed the power supply voltage maximum Us M Short circuit proof The error output is activated in the following situations E Current limiting activates E Over v
12. feed_constant The desired position unit for Profile Position Mode can be set with this factor default encoder resolution The internal position values are divided by the position_factor in order to produce the desired physical values SZ FAULHABER 6 Parameter Description 6 3 Objects of the DSP402 profile Velocity Factor Index Subindex AET Type Attrb Default value Meaning 0x6096 0 number of entries Unsigned8 ro 2 Number of object entries 1 numerator Unsigend32 rw 1 Dividend numerator of velocity factor 2 divisor Unsigend32 rw 1 Divisor denominator of velocity factor position_encoder_resolution velocity_factor velocity_encoder_resolution The desired velocity unit can be set with this factor default 1 min The internal velocity values are divided by the velocity_factor in order to produce the desired physical values Acceleration Factor Index Subindex INET Type Attrb Default value Meaning 0x6097 0 number of entries Unsigned8 ro 2 Number of object entries 1 numerator Unsigend32 rw 1 Dividend numerator of acceleration factor 2 divisor Unsigend32 rw 1 Divisor denominator of acceleration factor velocity_units velocity_encoder_factor acceleration_factor acceleration_units sec The desired acceleration unit can be set with this factor default 1 s2 Polarity Index Subindex INET Type Attrb Default value Meaning 0x607E 0 polarity Unsigned8 rw 0 Polarity direction of rotatio
13. Change to gearing mode Value range of STN and STW 0 to 65535 Command Function Description The two channels of an external encoder are connected to Anln and AGND which may need to be connected to the 5 V encoder supply using a 2 7 kQ pull up resistor The gear ratio can be set in accordance with the following formula STW Revolutions Pulses Revolutions Pulses STW STN Revolutions commanded of the motor Post quadrature encoder pulses Step width step width factor number of steps per encoder pulse Step number number of steps number of steps per revolution Circuit example gearing mode for MCBL 3003 06 C Circuit example Reference switch VDD STN1000 The direction of rotation can be predefined with the commands ADL and ADR or using an external signal at the fault pin DIRIN command STW Load Step Load step width for stepper Width motor and gearing mode STN Load Step Load number of steps per Number revolution for stepper motor and gearing mode Example Motor has to move one revolution at 1000 pulses of the external encoder STW1 The acceleration and speed parameters AC DEC SP are effective in gearing mode These permit gentle starting 10k 0 V5 Analog Evaluation reference mark V6 o 24V DC Protective functions Overtemperature REFIN O
14. Connection diagram Transfer rate and node no are set via the network in accordance with the LSS protocol according to DSP305 V1 11 and automatic baud rate detection is also implemented In addition all functions and parameters of the drive unit can be very easily activated via a special FAULHABER PDO channel For each FAUL HABER command a corresponding CAN message frame is available on the PDO channel enabling operation of the CAN unit analogously to the serial variant Drive parameters can be analysed very quickly via the integrated trace function For Windows 95 98 ME NT 2K XP the FAULHABER Motion Manager software 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 Fields of application Thanks to the integrated technology the drive can be used in a range of 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 as well as in pick and place machines and machine tools Options An adapter board can also be ordered to enable immediate commis sioning of the 3564K024B CC 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 i
15. 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 Speed 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 This is a preset value and can be changed thermal resistance Rnz by 55 reduced over the 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 JA 161 00 05 A pink 24V AL 0 02 brown Connection No 1 white Connection No 2 EET grey Analog GND yellow CAN_L RS232 RXD green CAN H RS232TXD red Connection No 3 Caution be sure to connect motor supply 14203 terminals to the correct polarity SA Motor electronics are protected 25 8215 PVC cable again
16. Integer32 ro 0 Preset value for demand value target position Position Actual Value Index Subindex AET Type Attrb Default value Meaning 0x6063 0 position actual value Integer32 ro 0 Current actual position increments The internal encoder increments are output The object corresponds to the FAULHABER command POS 59 SZ FAULHABER 6 Parameter Description 6 3 Objects of the DSP402 profile Position Actual Value Index Subindex Name Type Attrb Default value Meaning 0x6064 0 position actual value Integer32 ro 0 Current actual position scaled Output occurs in user defined units according to the specified position factor Position Window Index Subindex NET Type Attrb Default value Meaning 0x6067 0 position window Unsigned32 rw 40 Target position window Symmetrical area around the target position which is used for the Target Reached message Presetting is in user defined units according to the specified Position Factor The object corresponds to the FAULHABER command CORRIDOR Position Window Time Index Subindex NET Type Attrb Default value Meaning 0x6068 0 position Unsigned16 rw 200 Time in target window time position window If the drive stays within the range of the position window for at least the time set here in milliseconds bit 10 is set in the statusword Target Reached 6 3 6 Profile Velocity Mode The objects in this range are available for speed control operation Velocity sensor actua
17. LSS slave in the network into configuration mode Vendor ID product code revision number and serial number of the relevant node must be known The following baud rates Bit Timing Parameters can be set Baud rate Index 1000 kBit 0 800 kBit 500 kBit 250 kBit 125 kBit 50 kBit 20 kBit 10 kBit NO PWN 8 In addition an automatic baud rate detection can be activated by sending the index value OxFF The following node numbers can be set 1 255 Node ID 255 OxFF indicates that the node has yet to be configured in which case the node remains in LSS Init status until it receives a valid node number Only then may the NMT initialization continue The LSS protocol also supports the reading out of LSS addresses comprising vendor ID product code revision number and serial number of connected units as well as reading out of the set node ID The identifiers 0x7E5 Master and 0x7E4 Slave on which the protocol is processed are used for the LSS communication After configuration the set parameters are stored in the Flash memory so that they are available again after power cycling the drive 13 For activation of Switch Mode Selective FAULHABER controllers only use vendor ID product code and serial number The value 0 0 can always be assigned for revision number as this value is ignored in the protocol Vendor ID 327 Product code 3150 For a detailed description of the LSS protocol please see Ci
18. The international CAN organisation CAN in Automation e V CiA defines the communication profile in DS301 description of the communication structure and the methods for parameter access control and monitoring functions M Device profiles are specified for the various devices such as DSP402 for drives and DS401 for I O devices general device description from the user s viewpoint E Public data are managed via the object dictionary parameter table access to entries via index and sub index E There are two data communication objects PDOs process data objects for control and monitoring SDOs service data objects for access to the object dictionary E Further objects are available for network management node guarding and synchronisation m CANopen supports up to 127 nodes per network segment with transfer rates up to 1 MBit s E The communication is message related each communication object receives its own 11 bit identifier 30 The FAULHABER motion controllers support the CANopen communication profile according to CiA DS301 V4 The following communication objects are supported 3 transmit PDOs 3 receive PDOs 1 server SDO 1 emergency object NMT with node guarding no heartbeat No SYNC no time stamp object The identifier configuration of the CANopen objects is defined according to the Predefined Connection Set see section 4 5 The data assignment of the PDOs is perm
19. Unit rpm V Only necessary for MOTTYPO or DC motor Load motor resistance Rm according to specification in data sheet Unit mOhm Only necessary for MOTTYPO or DC motor Load step width for step motor and gearing mode Value range 0 65535 Load number of steps per revolution for step motor and gearing mode Value range 0 65535 Presetting of minimum velocity in rpm for velocity presetting via analog voltage SOR1 SOR2 Value range 0 32767 Presetting of minimum start voltage in mV for velocity presetting via analog voltage SOR1 SOR2 Value range 0 10000 Positive voltages at the analog input result in counter clockwise rotation of the rotor SOR1 SOR2 00 NI AU PWN O Positive voltages at the analog input result in clockwise rotation of the rotor SOR1 SOR2 1 No block commutation in the upper velocity range default 0 Block commutation in the upper velocity range full modulation not with MCDC Up GY SZ FAULHABER 6 Parameter Description 6 4 FAULHABER commands 6 4 1 3 General parameters Command Hex value Data Function Description LL 0xB5 Value Load Position Range Load limit positions the drive cannot be moved out of Limits these limits Positive values specify the upper limit and negative values the lower The range limits are only active if APL1 is set Value range 1 8 10 1 8 10 Corresponds to object 0x607D APL 0x03 0 1 Activate Deactivate Activate ra
20. applications this method represents a thermal motor protection device SZ FAULHABER 3 Functional Description 3 6 Technical information 3 6 4 Undervoltage monitoring If the supply voltage falls below the lower voltage threshold the power stage is switched off The motion controller remains active When the voltage returns within the permissible range the power stage is switched on again immediately 3 6 5 Overvoltage regulation If the motor is operated as a generator it produces energy Usually power supply units are not able to feed this energy back into the power line Consequently the supply voltage at the motor increases and depending on the speed the permissible maximum voltage may be exceeded In order to avoid severe damage to components the 3564K024B CC and the MCBL 3003 06 C contain a controller which adjusts the rotor displacement angle if a limit voltage 32 V is exceeded The MCDC 3003 06 C contains a ballast circuit which is activated if a limit volt age 32 V is exceeded As a result the energy generated in the motor is converted and the voltage of the elec tronics remains limited to 32 V This method protects the drive during generating operation and rapid braking 3 6 6 Adjustment of the controller parameters 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
21. equal distance but 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 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 paramaters AC DEC SP are effective in APCMOD These permit gentle starting and stopping Velocity control using a pulse width modulated PWM signal If SOR2 is set in APCMOD the pulse duty factor of a PWM signal can be used as command position Default duty cycle at the analog input E Greater than 50 commands a positive position E Equal to 50 commands target position 0 M Less than 50 commands a negative position Absolute positioning within one revolution Thanks to the linear Hall sensors the absolute position can be recorded within one revolution on brushless 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 vo
22. is only reactivated with the ROM values when the supply is reconnected 6 4 4 Motion control commands The commands executed here are only available in FAULHABER mode Modes of operation 1 Command Hex value Data Function Description DI 0x08 0 Disable Drive Deactivate drive EN 0xOF 0 Enable Drive Activate drive M 0x3C 0 Initiate Motion Activate position control and start positioning LA 0xB4 Value Load Absolute Position Load new absolute target position Value range 1 8 10 1 8 10 LR 0xB6 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 V 0x93 Value Select Velocity Mode Activate velocity mode and set specified value as target velocity Velocity control Value range 32767 32767 rpm U 0x92 Value Set Output Voltage Output PWM value in VOLTMOD Value range 32767 32767 corresponds to Uv Uv GOHOSEQ Ox2F 0 Go Homing Sequence Execute FAULHABER homing sequence A homing sequence is executed if programmed independently of the current mode GOHIX Ox2E 0 Go Hall Index Move BL motor to Hall zero point Hall index and set actual position value to 0 not for MCDC GOIX OxA3 0 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 0xB8 0 Value Define Home Position Data 0 Set actual position to 0 Ot
23. may need to be connected to the 5 V encoder supply using 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 Set ENCRES to the post quadrature value of the encoder resolution which is four times the resolution of one channel per revolution SZ FAULHABER 3 Functional Description 3 4 Extended operating modes 3 4 5 Voltage regulator mode To regulate the power supply to an effectively lower DC voltage configure the drive using the command VOLTMOD While current limiting is still active the drive will hold a constant voltage proportional to power supply This allows for example testing a brushed motor at different voltages with a fixed voltage power supply Command Function Description VOLTMOD Set Voltage Mode Activate voltage regulator mode U Set Output Output motor voltage Value 32767 32767 corresponds to Uv Uv Voltage Three options exist to control the output voltage CAN analog input voltage and PWM Using CAN requires first setting SORO T
24. mode Switch to position control via analog voltage Switch to encoder mode not for MCDC An external encoder serves as position detector the current position value is set to 0 Speed via Hall sensors in encoder mode not for MCDC Speed via encoder signals in encoder mode not for MCDC Switch to gearing mode Activate voltage regulator mode Activate IxR control only MCDC 6 Parameter Description Up GY SZ FAULHABER 6 4 FAULHABER commands 6 4 1 2 Parameters for basic settings Command ENCRES MOTTYP KN RM STW STN MV MAV ADL ADR SIN Hex value 0x70 0x84 Ox9E Ox9F 0x77 0x64 0x85 0x83 0x00 0x01 OxAO Data Value 0 9 Value Value Value Value Value Value 0 1 Function Load Encoder Resolution BL Motor Type Load Speed Constant Load Motor Resistance Load Step Width Load Step Number Minimum Velocity Minimum Analog Voltage Analog Direction Left Analog Direction Right Sinus Commutation 65 Description Load resolution from external encoder Value range 0 to 65535 4 times pulse rev Setting for connected BL motor MCBL only BL special motor according to KN and RM 1628T012B K1155 1628T024B K1155 2036U012B K1155 2036U024B K1155 24445024B K1155 3056K012B K1155 3056K024B K1155 3564K024B K1155 9 4490H024B K1155 Load speed constant Kn according to specifications in data sheet
25. moves to the next index pulse at which the Home position is set Methods 2 and 18 Homing at upper limit switch Positive Limit Switch If the limit switch is inactive the drive initially moves in the direction of the upper limit switch until its positive edge is detected If the limit switch is active the drive moves down out of the limit switch until the negative edge is detected With Method 2 the drive then moves to the next index pulse at which the Home position is set Methods 3 4 and 19 20 Homing at a positive Homing switch Positive Home Switch Depending on the status of the Homing switch the drive moves in one or the other direction until it reaches the falling 3 19 or rising 4 20 edge The Homing switch only has one rising edge in the direction of the upper limit switch The FAULHABER parameter HP for the limit switch used is simultaneously set to 1 rising edge Index Pulse Home ae Home Switch SZ FAULHABER 6 Parameter Description 6 3 Objects of the DSP402 profile Methods 5 6 and 21 22 Homing at a negative Homing switch Negative Home Switch Depending on the status of the Homing switch the drive moves in one or the other direction until it reaches the falling 5 21 or rising 6 22 edge The Homing switch only has one falling edge in the direction of the upper limit switch The FAULHABER parameter HP for the limit switch used is simultaneously set to 0 falling edge Methods 7 to 14 and 23 to 3
26. no FAULHABER commands are available in this status either In addition to the Network Manage ment functions only the setting of parameters in the object dictionary by means of SDO transfer is possible here see section 4 1 Overview SZ FAULHABER 1 2 Quick start 1 2 1 Operation using FAULHABER Motion Manager The FAULHABER Motion Manager offers easy access to the CANopen state machines using menus which can either be called up using the Node Explorer context menu right mouse button or using the Commands CANopen menu The desired node must have been activated beforehand by double clicking in Node Explorer The current statuses are always displayed in the status line at the bottom of the screen The FAULHABER commands described below can be entered directly in the command input line or selected from the Commands menu After sending the command a command interpreter is activated which converts the command into a corresponding CAN message frame on PDO2 In order to drive a motor using the Motion Manager follow the procedure below assuming a valid node number and matching baud rate 1 Start network node Start Remote Node The right mouse button in Node Explorer opens a context menu then select the entry CANopen Network Management NMT Start Remote Node or use menu Commands CANopen gt FAULHABER commands are now available 2 Configure drive functions A user friendly dialog that e
27. optimized Various theoretical and practical adjustment rules exist but these will not be described in more detail here A simple practical method of adjusting the controller is explained below The digital controller operates at a sampling rate of 100 us When needed the sampling rate can be increased up to 2 ms The following controller parameters are available Command Function Description POR Load Velocity Load velocity controller Proportional amplification Term Value range 1 255 Corresponds to object 0x60F9 l Load Velocity Load velocity controller Integral Term integral term Value range 1 255 Corresponds to object 0x60F9 PP Load Position Load position controller Proportional amplification Term Value range 1 255 Corresponds to object 0x60FB PD Load Position Load position controller D term D Term Value range 1 255 Corresponds to object 0x60FB SR Load Sampling Load sampling rate of the velocity Rate controller as a multiplier of 100 us Value Range 1 20 ms 10 Possible procedure a Set parameters of velocity controller 1 First of all you have to choose the right sampling rate for the velocity controller depending on the encoder resolution With less encoder pulses you need a lower sampling rate i e ENCRES256 gt SR18 For BL motors with internal encoder 3000 pulses the maximum sampling rate SR1 100 us is recommended Set initial configuration M Controller amplification 8 POR
28. the Flash memory can no longer be guaranteed Restore Default Parameters Index Subindex AET Type Attrb Default value Meaning 0x1011 0 largest subindex Unsigned8 ro 3 Number of supported restore options 1 restore all Unsigned32 rw 1 Loads all default parameters default parameters 2 restore default Unsigned32 rw 1 Only load default communication communication parameters parameters 3 restore default Unsigned32 rw 1 Only load application default application parameters parameters This object loads the default configuration parameters status at delivery A read access provides information on the restore options The restore process is triggered by writing the signature load to the relevant subindex Signature MSB LSB ASCII d a o l hex 64h 61h 6Fh 6Ch The parameters are only set to the default values at the next boot up reset If the default parameters are to be definitively saved a save command must be executed after the reset COB ID Emergency Message Index Subindex AET Type Attrb Default value Meaning 0x1014 0 COB ID EMCY Unsigned32 ro 0x80 CAN Object Identifier Node ID of the Emergency Object Identity Object Index Subindex INET UT Type Attrb Default value Meaning 0x1018 0 Number of entries Unsigned8 ro 4 Number of object entries 1 Vendor ID Unsigned32 ro 327 Manufacturer ID number Faulhaber 327 2 Product code Unsigned32 ro 3150 Product ID number 3 Revision number Unsigned32 ro Version numbe
29. type and is coded as follows for Expedited Transfer lt 4 data bytes 1 data byte in DO Byte0 0x2F 2 data bytes in DO D1 Byte0 0x2B 3 data bytes in DO D2 Byte0 0x27 4 data bytes in DO D3 Byte0 0x23 If no specification of the number of data bytes is necessary ByteO 0x22 Server gt Client Download Response 11 bit identifier 8 bytes user data 0x580 1408D Node ID 0x60 Index LB Index HB Subindex 0 0 0 0 Termination of the SDO protocol in the event of error Client gt Server 11 bit identifier 8 bytes user data 0x600 1536D Node ID 0x80 Index LB Index HB Subindex Error0 Error1 Error2 Error3 Server gt Client 11 bit identifier 8 bytes user data 0x580 1408D Node ID 0x80 Index LB Index HB Subindex Error0 Error1 Error2 Error3 Error3 Error class Error2 Error code Error1 Additional error code HB Error0 Additional error code LB Uf 4 SZ FAULHABER 4 CANopen 4 3 SDO Service Data Object Error class Error code Additional code Description 0x05 0x03 0x0000 Toggle bit unchanged 0x05 0x04 0x0001 SDO Command Specifier invalid or unknown 0x06 0x01 0x0000 Access to this object is not supported 0x06 0x01 0x0002 Attempt to write to a Read Only parameter 0x06 0x02 0x0000 Object not present in the object dictionary 0x06 0x04 0x0041 Object cannot be mapped in PDO 0x06 0x04 0x0042 Number and or length of mapped objects would exceed PDO length 0x06 0x04 0x0043 General parameter incompati
30. window time Unsigned16 rw 200 Time in end velocity window If the drive stays within the velocity range of the Velocity Window for at least the time set here in milliseconds bit 10 is set in the statusword Target Reached Velocity Threshold Index Subindex NET Type Attrb Default value Meaning 0x606F 0 velocity threshold Unsigned16 rw 20 Velocity threshold value Velocity range around 0 which is used to detect standstill Presetting occurs in user defined units in accordance with the specified Velocity Factor Velocity Threshold Time Index Subindex INET Type Attrb Default value Meaning 0x6070 0 velocity threshold Unsigned16 rw 0 Time below velocity time threshold value If the drive stays below the velocity threshold value for at least the time set here in milliseconds bit 12 is set in the statusword Speed 0 Target Velocity Index Subindex Name Type Attrb Default value Meaning 0x60FF 0 target velocity Integer32 rw 0 Target velocity Target velocity is a nominal speed for the velocity controller Presetting occurs in user defined units in accordance with the specified Velocity Factor The object corresponds to the FAULHABER command V Velocity Control Parameter Set Index Subindex INET Type Attrb Default value Meaning 0x60F9 0 number of entries Unsigned16 ro 2 Number of object entries 1 gain Unsigned16 rw see spec Velocity controller P term 2 integration Unsigned16 rw see spec Velocity controller I term time constant
31. 0 Homing at the Homing switch Home Switch These methods use a limit switch that is only active within a defined path range A distinction is made in respect of the reaction to the two edges With methods 7 to 14 after detection of the edge the drive continues until the index pulse at which the Homing position is set Methods 7 and 23 Homing at bottom of falling edge Start in positive direction if switch is inactive nn j Home Switch Positive Limit Switch gp Methode 8 and 24 Homing at the top of rising edge Start in positive direction if switch is inactive Methods 9 and 25 Homing at top of rising edge Start always in positive direction Methods 10 and 26 Homing at top of falling edge Start always in positive direction Methods 11 and 27 Homing at top of falling edge Start in negative direction if switch is inactive Methods 12 and 28 Homing at top of rising edge Start in negative direction if switch is inactive Methods 13 and 29 Homing at bottom of rising edge Start always in negative direction Methods 14 and 30 Homing at bottom of falling edge Start always in negative direction Methods 33 and 34 Homing at index pulse Drive moves in negative 33 or positive 34 direction until the index pulse Method 35 The position counter is reset at the current position 58 SZ FAULHABER 6 Parameter Description 6 3 Objects of the DSP402 profile Homing speed Index Subindex AET Type A
32. 0 Error1 0x82 Error 0x8210 PDO not processed due to length error Emergency Error Codes 0000 no error 1000 generic error 2000 current 2300 current device output side 2310 continuous over current 3000 voltage 3200 voltage inside the device 3210 over voltage 4000 temperature 4200 device temperature 4210 over temperature 5000 device hardware 5500 data storage 5530 flash memory error 6000 device software 6100 internal software 8000 monitoring 8100 communication 8110 CAN overrun objects lost 8120 CAN in error passive mode 8130 life guard error or heartbeat error 8140 recovered from bus off 8150 transmit COB ID collision 8200 protocol error 8210 PDO not processed due to length error 8220 PDO length exceeded 8400 velocity speed controller deviation 8600 positioning controller 8611 following error SZ FAULHABER 4 CANopen 4 5 NMT Network Management After power on and successful initialisation the FAULHABER motion controllers are automatically in Pre Operational state In this state communication with the device can only occur via service data objects SDOs as well as NMT messages in order to make or request parameter settings The FAULHABER motion controllers are supplied with sensible default settings for all objects so that as a rule no further parameterisation is necessary at system start Usually any necessary parameter settings are performed once e g with the help of the FA
33. 003 C MCDC 3006 C Power supply Us 12 30 12 30 VDC PWM switching freguency fewm 78 12 78 12 kHz Efficiency n 95 95 Max continuous output current Idauer 3 6 A Max peak output current Imax 10 10 A Total standby current lei 0 06 0 06 A Speed range 5 30 000 5 30 000 rpm Scanning rate N 100 100 us Encoder resolution with Hall Sensors s65 535 s65 535 lines rev Input output partially free configurable 5 5 Operating temperature range 0 70 0 70 e Storage temperature 25 85 25 85 AG Housing material without housing aluminium black anodized Weight 18 160 g at 22 C ambient temperature Connection information Connection CANH CANL Interface CAN High CAN Low CAN Communication profile CANopen Max transfer speed rate 1 Mbit s Connection AGND analog ground analog GND digital input external encoder channel B Rin 10 kQ f 400 kHz Connection Fault digital input Rin 100 kQ digital output open collector U s Us V l s30 mA clear switched to GND set high impedance fault output no error switched to GND error high impedance Connection Anln AGND as GND analog input set speed value Uin 10 V digital input PWM set speed value f 100 2 000 Hz T 50 0 rpm external encoder channel A f lt 400 kHz step freguency input f lt 400 kHz Rin 5 kQ Connection 24V Us 12 30 VDC Connection GND ground Connection 3 In digital inp
34. 020208 Reference to 8 bit error code to be mapped Transmit PDO3 Mapping Parameters Index Subindex NETO Type Attrb Default value Meaning 0x1A02 0 Number of entries Unsigned8 ro 3 Number of object entries 1 1st object Unsigned32 ro 0x23040120 Reference to 32 bit to be mapped Trace value of Parameter 1 2 2nd object Unsigned32 ro 0x23040220 Reference to 32 bit to be mapped Trace value of Parameter 2 3 3rd object Unsigned32 ro 0x23040308 Reference to 8 bit time code to be mapped SZ FAULHABER 6 Parameter Description 6 2 Manufacturer specific objects FAULHABER command Index Subindex AET Type Attrb Default value Meaning 0x2301 0 Number of entries Unsigned8 ro Number of object entries 1 command Unsigned8 rw 0 Command byte for FAULHABER channel 2 argument Unsigned32 rw 0 Argument for FAULHABER command This object is written via RxPDO2 and always contains the last transmitted FAULHABER command Return value of FAULHABER command Index Subindex NETO Type Attrb Default value Meaning 0x2302 0 Number of entries Unsigned8 ro Number of object entries 1 value Unsigned32 ro 0 Return value of FAULHABER command 2 error Unsigned8 ro 0 Error code 1 OK for further errors see The content of this object is reguested by means of a Reguest RTR on TxPDO2 and supplies the return value for commands on the FAULHABER channel Trace configuration Index Subindex NETO Type Attrb Default value Meaning 0x2303 0 Number of entries Uns
35. 08 VAR manufacturer device name Vis String const 0x1009 VAR manufacturer hardware version Vis String const 0x100A VAR manufacturer software version Vis String const 0x100C VAR guard time UNSIGNED16 rw 0x100D VAR life time factor UNSIGNED8 rw 0x1010 ARRAY store parameters UNSIGNED32 rw 0x1011 ARRAY restore default parameters UNSIGNED32 rw 0x1014 VAR COB ID EMCY UNSIGNED32 ro 0x1018 RECORD Identity Object Identity 23h ro Server SDO Parameter 0x1200 RECORD 1st Server SDO parameter SDO Parameter 22h ro Receive PDO Communication Parameter 0x1400 RECORD 1st receive PDO Parameter PDO CommPar 20h rw 0x1401 RECORD 2nd receive PDO Parameter PDO CommPar 20h rw 0x1402 RECORD 3rd receive PDO Parameter PDO CommPar 20h rw Receive PDO Mapping Parameter 0x1600 RECORD 1st receive PDO mapping PDO Mapping 21h ro 0x1601 RECORD 2nd receive PDO mapping PDO Mapping 21h ro 0x1602 RECORD 3rd receive PDO mapping PDO Mapping 21h ro Transmit PDO Communication Parameter 0x1800 RECORD 1st transmit PDO Parameter PDO CommPar 20h rw 0x1801 RECORD 2nd transmit PDO Parameter PDO CommPar 20h rw 0x1802 RECORD 3rd transmit PDO Parameter PDO CommPar 20h rw Transmit PDO Mapping Parameter 0x1A00 RECORD 1st transmit PDO mapping PDO Mapping 21h ro 0x1A01 RECORD 2nd transmit PDO mapping PDO Mapping 21h ro 0x1A02 RECORD 3rd transmit PDO mapping PDO Mapping 21h ro 38 M Y YHA FAULHABER 4 CANopen 4 6 Entries in the object dictionary b Drive prof
36. 0x1600 0 Number of entries Unsigned8 ro 1 Number of object entries 1 1st object Unsigned32 ro 0x60400010 Reference to 16 bit to be mapped controlword 0x6040 Receive PDO2 Mapping Parameters Index Subindex ETT Type Attrb Default value Meaning 0x1601 0 Number of entries Unsigned8 ro 2 Number of object entries 1 1st object Unsigned32 ro 0x23010108 Reference to 8 bit to be mapped FAULHABER command 2 2nd object Unsigned32 ro 0x23010220 Reference to 32 bit to be mapped command argument 46 G Y S 3 FAULHABER 6 Parameter Description 6 1 Communication Objects according to DS301 Receive PDO3 Mapping Parameters Index Subindex NET Type Attrb Default value Meaning 0x1602 0 Number of entries Unsigned8 ro Number of object entries 1 1st object Unsigned32 ro 0x23030108 Reference to 8 bit to be mapped Trace Mode for Parameter 1 2 2nd object Unsigned32 ro 0x23030208 Reference to 8 bit to be mapped Trace Mode for Parameter 2 3 3rd object Unsigned32 ro 0x23030308 Reference to 8 bit to be mapped Trace time code setting 4 4th object Unsigned32 ro 0x23030408 Reference to 8 bit Trace value to be mapped Number of packets 5 5th object Unsigned32 ro 0x23030508 Reference to 8 bit Trace value to be mapped Time interval Transmit PDO1 Communication Parameters Index Subindex INET Type Attrb Default value Meaning 0x1800 0 Number of entries Unsigned8 ro Number of object entries 1 COB ID Unsigned32 ro 0x180 CAN Object Identifier Nod
37. 4 6 Entries in the object dictionary 38 4 7 Drive control Device control 40 SZ FAULHABER 5 Extended CAN Functions 5 1 The FAULHABER channel 5 2 Trace 6 Parameter Description 6 1 Communication objects according to DS301 6 2 Manufacturer specific objects 6 3 Objects of the DSP402 drive profile 6 3 1 Device Control 6 3 2 Factor Group 6 3 3 Profile Position Mode 6 3 4 Homing Mode 6 3 5 Position Control Function 6 3 6 Profile Velocity Mode 6 3 7 Common Entries 6 4 FAULHABER commands 6 4 1 Basic setting commands 6 4 1 1 Commands for special FAULHABER operating modes 6 4 1 2 Parameters for basic settings 6 4 1 3 General parameters 6 4 1 4 Configuration of the fault pin and digital inputs 6 4 1 5 Configuration of homing and limit switches in FAULHABER mode 6 4 2 Query commands for basic settings 6 4 2 1 Operating modes and general parameters 6 4 2 2 Configuration of fault pin and digital inputs 6 4 2 3 Configuration of homing in FAULHABER mode 6 4 3 Miscellaneous commands 6 4 4 Motion control commands 6 4 5 General query commands 7 Appendix 7 1 Electromagnetic compatibility EMC 7 1 1 Intended use 7 1 2 CE marking 7 2 Default configuration 7 3 Data sheets 42 42 43 49 51 51 53 54 57 59 60 61 63 64 64 65 66 67 67 68 68 70 70 71 71 72 73 73 73 74 76 SZ FAULHABER Version 2nd edition 01 07 2006 Firmware versions BL 605 3150 510 DC 605 3150 520 Copyright by Dr F
38. 5 7 40 6 3056K012B K1155 8 30 7 3056K024B K1155 10 40 8 3564K024B K1155 8 40 9 4490H024B K1155 8 40 14 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 3 Functional Description SZ FAULHABER The motion controllers can be configured for different operating modes The drive unit is delivered as standard as servomotor in Profile Position Mode according to CiA DSP402 The drive can be reconfigured by means of the corre sponding configuration commands If the settings are to be permanently stored the command SAVE formerly EEPSAV must be executed after the configuration this saves the current settings in the flash memory from where they will be reloaded when the unit is next switched on The prerequisite for operation of the drive in one of the operating modes specified here is that the unit is in Operational NMT status and the power stage is activated Switched On or EN All commands and objects listed below are summarized and explained in section 6 The FAULHABER commands which are transferred as CAN message frames as described in section 6 4 to PDO2 are specified for each operating mode Circuit example 3564K024B CC with reference switch The FAULHABER Motion Manager 3 enables simple setting of the configuration parameters and operating modes using corr
39. 8 E Integral term 20 120 E Speed at 1 3 of the maximum application speed example V1000 M Set acceleration to highest value of application example AC10000 2 Increase controller amplification step width 5 less subsequently POR 13 3 Preset velocity jump from 1 3 of maximum speed to 2 3 example V2000 4 Velocity jump from 2 3 to 1 3 and monitor behaviour example V1000 5 Repeat steps 2 to 4 until the controller becomes unstable Then reduce controller amplification until stability is reliably ensured 6 Follow steps 2 to 5 with integral term b Set parameters of position controller 1 Set initial configuration M Default value for P term 8 PP8 M Default value for D term 15 PD15 2 Motion profiles appropriate for the application must now be run If the system does not function stably with these settings stability can be achieved by reducing the term of the velocity controller or reducing the P term of the position controller 3 The P term of the position controller can now be increased until the system becomes unstable in order to optimise the motion profile 4 The stability can then be restored through the following measures E Increasing the D term of the position controller example PD20 M Reducing the term of the velocity controller 29 SZ FAULHABER 4 CANopen 4 1 Introduction m CANopen is a standard software protocol based on CAN hardware Controller Area Network E
40. A DEV Ox6F Value Load Deviation Load maximum permissible deviation of actual velocity from target velocity deviation Value range 0 32767 CORRIDOR 0x9D Value Load Corridor Window around the target position Value range 0 65535 Corresponds to object 0x6067 66 6 Parameter Description Uf 4 SZ FAULHABER 6 4 FAULHABER commands 6 4 1 4 Configuration of fault pin and digital inputs Command ERROUT ENCOUT DIGOUT DIRIN REFIN DCE LPN co SO TO SETPLC SETTTL Hex value 0x14 0x11 0x0A 0x0C 0x41 0x6B 0x82 0x05 0x45 0x55 0x51 0x52 Data 0 0 0 Value Value oo e o Function Error Output Encoder Output Digital Output Direction Input Reference Input Delayed Current Error Load Pulse Number Clear Output Set Output Toggle Output Set PLC inputs Set TTL inputs Description Fault pin as error output Fault pin as pulse output not with MCDC Fault pin as digital output The output is set to low level Fault pin as rotational direction input Fault pin as reference or limit switch input Delayed error output for ERROUT in 1 100 sec Value range 1 65535 Preset pulse number for ENCOUT Value range 1 255 Set digital output DIGOUT to low level Set digital output DIGOUT to high level Switch digital output DIGOUT Digital inputs PLC compatible 24 V level Digital inputs TTL compatible 5 V level 6 4 1 5 Configuration of homing and limit switches in FAULHAB
41. A document DSP 305 If automatic baud rate detection is activated the drive can be used in a network with any transfer rate in accordance with the above table the network baud rate is detected after 3 message frames on the bus line at the most and the drive adjusts accordingly Please note that the first message frames may be lost and booting will take a little longer 2 Installation SZ FAULHABER 2 5 Basic settings During initial set up of MCDC or MCBL motion controllers a number of basic settings must be made to configure the controller for 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 C is set to motor type 5 2444S024B K1155 as standard If you wish to connect another motor you must configure the motion controller for the connected motor 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 set up Optimization for 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 rele
42. AULHABER trace data RTR 31 RxPDO1 Controlword 11 bit identifier 2 bytes user data 0x200 512D Node ID LB HB Contains the 16 bit controlword according to CiA DSP402 which controls the state machine of the drive unit The PDO refers to the object index 0x6040 in the object dictionary The bit division is described in section 6 3 1 TxPDO1 Statusword 11 bit identifier 2 bytes user data 0x180 384D Node ID LB HB Contains the 16 bit statusword according to CiA DSP402 which displays the status of the drive unit The PDO refers to the object index 0x6041 in the object dictionary The bit division is described in section 6 3 1 SZ FAULHABER 4 CANopen 4 2 PDOs Process Data Objects RxPDO2 FAULHABER command 11 bit identifier 5 bytes user data 0x300 768D Node ID Command LLB LHB HLB HHB Provides the FAULHABER channel for the transmission of manufacturer specific commands All parameters and control commands of the drive unit can be transmitted using this PDO 5 bytes are always transferred the first byte specifies the command and the following 4 bytes specify the argument as a Long Integer value A description of the commands is given in section 6 4 TxPDO2 FAULHABER data 11 bit identifier 6 bytes user data 0x280 640D Node ID Command LLB LHB HLB HHB Error FAULHABER channel for request commands A request RTR on this PDO provides the data requested with the previously sent command 6 bytes are a
43. All of the motion controllers are based on a high performance digital signal processor DSP which enables tight control precise positioning and very low speeds The following drive tasks can be performed m Velocity control with tight requirements on synchronous operation and minimal torque fluctuations A PI controller maintains target velocities M Velocity profiles such as ramp triangular or trapezoidal movements can be realised Gentle starting or deceleration 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 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 C IxR control E Torque control with adjustable current limitation M Storage of the set configurations Various inputs and outputs are available for the implementation of these tasks E 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 CANopen
44. ER mode Command HP HB HD SHA SHL SHN HOSP HA HL HN Limit switch bit mask Hex value 0x79 0x73 0x74 0x8A 0x90 0x9A 0x78 0x72 0x75 0x76 Data Value Value Value Value Value Value Value Value Value Value Function Hard Polarity Hard Blocking Hard Direction Set Home Arming for Homing Sequence Set Hard Limit for Homing Sequence Set Hard Notify for Homing Sequence Load Homing Speed Home Arming Hard Limit Hard Notify Analog input Fault pin 3rd input Description Define valid edge and polarity of respective limit switches 1 Rising edge or high level valid 0 Falling edge or low level valid Activate Hard Blocking function for relevant limit switch Presetting of direction of rotation that is blocked with HB of respective limit switch 1 Clockwise rotation blocked 0 Counterclockwise rotation blocked Homing behaviour GOHOSEQ Set position value to 0 at edge of respective limit switch Homing behaviour GOHOSEQ Stop motor at edge of respective limit switch Homing behaviour GOHOSEQ Send message to Master at edge of respective limit switch statusword bit 14 1 Load speed and direction of rotation for homing GOHOSEQ GOHIX GOIX Value range 32767 to 32767 rpm Set position value to 0 and delete relevant HA bit at edge of respective limit switch Setting is not stored Stop motor and delete relevant HL
45. Enabled X xX X X xX X X xX 5 Quick Stop X X 1 1 1 0 X X 6 Switch On Disabled 0 1 0 0 0 0 0 0 7 Warning 8 0 9 Remote 10 Target Reached 11 Internal limit active 12 Set point acknowledge Speed Homing attained 13 Homing Error 14 Hard Notify 15 0 Warning not used Remote not used Target Reached 0 Target Position Target Velocity not yet reached 1 Target Position Target Velocity reached Halt 1 Drive has reached speed 0 Set point acknowledge 0 No new target position adopted yet Profile Position Mode 1 New target position adopted Homing attained 0 Homing sequence not yet complete 1 Homing sequence successfully completed Speed 0 Speed unequal to 0 Profile Velocity Mode 1 Speed 0 Homing Error 0 No error 1 Error Hard Notify 0 No limit switch has triggered 1 A Notify switch has triggered see Object 0x2311 for which input has triggered SZ FAULHABER 6 Parameter Description 6 3 Objects of the DSP402 profile Bit 10 Target Reached is set when the drive has reached its target position in Profile Position Mode or has reached its target velocity in Profile Velocity Mode Presetting a new set point deletes the bit Bit 11 Internal Limit Active indicates that a range limit has been reached Position Range Limit or Limit Switch Bit 12 Set point acknowledge Speed is set after receipt of a new positioning command controlword with New Set Point and reset when New Set Point is reset in the controlword handshake f
46. FAULHABER PDO channel For each FAULHABER command a corresponding CAN message frame is available on the PDO chan nel enabling the CAN unit to be operated analogously to the serial variant 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 Separate supply of motor and control electronics is optionally possible important for safety relevant applications in this case the 3rd input is not reguired Special preconfiguration of modes and parameters is possible on reguest The FAULHABER Motion Manager software is available on reguest or on the Internet Note Detailed operating instructions on installation and commissioning are provided with the Motion Controller PC with CAN interface Note The FAULHABER Motion manager software supports at the moment all Up to 127 CANopen devices nodes can be CAN interface of the company IXXAT connected Extensions for CAN interfaces of other e g digital inputs or a manufacturers are possible driv
47. FAULHABER channel see section 6 All features of the drive can also be operated without in depth CANopen knowledge such as Device Control SDO protocol and object dictionary The FAULHABER channel on PDO2 provides an easy means of executing all supported commands For drive control using the FAULHABER channel you must first set the operating mode to Modes of Operation 1 by using the following FAULHABER command and argument RxPDO2 FAULHABER command OPMOD 1 11 bit identifier 5 bytes user data 0x300 768D OxFD OxFF OxFF OxFF OxFF Node ID All FAULHABER commands can then be used for drive control in accordance with the following protocol RxPDO2 FAULHABER command 11 bit identifier 5 bytes user data 0x300 768D Command LLB LHB HLB HHB Node ID Example Drive node 1 at 500 rpm command V500 ID 301 93 F4 01 00 00 All available commands are listed in section 6 4 2 Installation Uf VA Y FAULHABER 2 1 Connections and wiring 1 3564K024B CC The connections are indicated by colored wires and assigned as follows Wire Designation Meaning blue GND GND pink 24V 24 V brown Anin Analog input white Fault Error output grey AGND Analog GND yellow CAN_L CAN Low RS232 RxD green CAN_H CAN High RS232 TxD red 3 In 3rd input optional electronics supply 2 MCBL 3003 06 C The connections are indicated on the terminal strips and are assigned as follows Supply side C
48. ULHABER Motion Manager and then stored permanently in the data flash memory These settings are then available immediately after system start A single CAN message is sufficient to start a CANopen device Start Remote Node 11 bit identifier 2 bytes user data 0x000 0x01 Node ID Or to start the entire network Start All Remote Nodes 11 bit identifier 2 bytes user data 0x000 0x01 0x00 The devices are then in Operational state The device is now fully functional and can be operated via PDOs The status diagram is shown below Power on or Hardware Reset 1 At Power on the initialisation state is entered autonomously Initialisation Initialisation finished enter PRE OPERATIONAL 2 automatically 3 6 Start_Remote_Node indication tal s AM 4 7 Enter PRE OPERATIONAL State indication KEI 5 8 Stop_Remote_Node indication Stopped 3 6 up 9 10 11 Reset_Node indication 12 7 9 Ces ie 12 13 14 Reset_Communication indication In Stopped Prepared state the device is in error status and can no longer be operated via SDO and PDOs Only NMT messages are received in order to produce a status change Status changes can be performed with the help of the NMT services An NMT message frame always consists of 2 bytes on the identifier 0x000 11 bit identifier 2 bytes user data 0x000 cs Node ID CS Command Specifier Node ID N
49. achine Modes of operation Homing Profile Profile Position Velocity Mode Mode The drive behaviour is mapped in CANopen via a state machine The states can be controlled with the control word and displayed with the statusword Power Disabled Fault Reaction Active Not Ready to Switch On Switch On Disabled Ready to Switch On Enabled Quick Stop Active After switch on and successful initialisation the FAULHABER drive is immediately in Switch On Disabled state A state change can only be performed when the device is in Operational state see section 4 5 The Shutdown command puts the drive in the Ready to Switch On state transition 2 The Switch On command then switches on the power stage The drive is now enabled and is in Switched On state transition 3 The Enable Operation commands puts the drive in the Operation Enabled state the drive s normal operating mode transition 4 The Disable Operation command returns the drive to the Switched On state and serves e g to terminate a running operation transition 5 40 SZ FAULHABER 4 CANopen 4 7 Drive control Device control The state changes shown in the diagram are executed by the following commands Command Transitions Shutdown 2 6 8 Switch on 3 Disable Voltage 7 9 10 12 Quick Stop 7 10 11 Disable Operation 5 Enable Operation 4 16 Fault Reset 15
50. anently preset static PDO Mapping Many manufacturers offer CANopen libraries for PC and PLC systems through which the individual objects can be easily accessed without having to deal with the internal structure FAULHABER Motion Manager 3 also enables easy access to the individual objects via a graphic user interface SZ FAULHABER 4 CANopen 4 2 PDOs Process Data Objects PDOs correspond to a CAN message frame with up to 8 bytes and are used for the transfer of process data i e control and monitoring of the device behaviour The PDOs are designated from the viewpoint of the field device Receive PDOs RxPDOs are received by the field device and contain e g control data while Transmit PDOs TxPDOs are sent by the field device and contain e g monitoring data PDOs can only be transmitted if the device is in Operational status see section 4 5 PDO communication modes Event controlled Data are sent by the device automatically after a change Remote Request RTR Data are sent after a request message frame Synchronised not supported Data are sent after receipt of a SYNC object FAULHABER motion controllers provide the following PDOs Receive PDO1 controlword according to DSP402 Transmit PDO1 statusword according to DSP402 Receive PDO2 FAULHABER command Transmit PDO2 FAULHABER request data RTR Receive PDO3 FAULHABER trace configuration Transmit PDO3 F
51. ary Parameters at Index EMER 0001 129 81h 1014h 1015h GENCY 255 FFh PDO1 0011 385 181h 1800h tx 511 1FFh PDO1 0100 513 201h 1400h rx 639 27Fh PDO2 0101 641 281h 1801h tx 767 2FFh PDO2 0110 769 301h 1401h rx 895 37Fh PDO3 0111 897 381h 1802h tx 1023 3FFh PDO3 1000 1025 401h 1402h rx 1151 47Fh SDO 1011 1409 581h 1200h tx 1535 5FFh SDO 1100 1537 601h 1200h rx 1663 67Fh NMT 1110 1793 701h Error 1919 77Fh Control Up GY SZ FAULHABER 4 CANopen 4 6 Entries in the object dictionary The configuration parameters are managed in the CANopen Object dictionary The Object dictionary is divided into three areas 1 Communication parameters Index 0x1000 0x1FFF 2 Manufacturer specific area Index 0x2000 Ox5FFF 3 Standardised device profiles 0x6000 0x9FFF The 1st area contains the objects according to DS301 the 2nd area is reserved for manufacturer specific objects and the 3rd area contains the objects according to DSP402 supported by the FAULHABER motion controllers Each object can be referenced via its index and sub index SDO protocol Overview of the available objects a Communication objects according to DS301 Index Object Symbolic Name Name Type Attrb 0x1000 VAR device type UNSIGNED32 ro 0x1001 VAR error register UNSIGNED8 ro 0x1003 ARRAY pre defined error field UNSIGNED32 ro 0x10
52. at the set range limits LL Note on input circuit The circuit for the analog input is designed as a differential amplifier If the analog input is open an unexpected velocity may be possible The input must be set to the voltage level of AGND or rather be connected to AGND with low impedance in order to generate 0 rpm Simple velocity control using a potentiometer circuit example with 3564K024B CC 19 SZ FAULHABER 3 Functional Description 3 3 Homing and limit switches Available inputs for homing and limit switches E Anin H Fault E 3 In E 4 In and 5 In MCDC only In brushless motors the zero crossing of the Hall sensor signals is also available as index pulse appearing once per revolution The index pulse of an external encoder can also be connected to the fault pin this allows for a very repeatable system 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 should last at least 100 us long to be reliably detected The maximum reaction time to level changes at all inputs is 100 us Set levels of digital inputs Command Function Description SETPLC Set PLC Inputs Digital inputs PLC 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 Hig
53. ata 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 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 PC with CAN interface Note The FAULHABER Motion manager software supports at the moment all Up to 127 CANopen devices nodes can be CAN interface of the company IXXAT connected Extensions for CAN interfaces of other e g digital inputs or a manufacturers are possible drive circuit Edition 2006 2007 E g 3x FAULHABER Motion Controller MCDC 3006 C Node 0 E g 3x FAULHABER DC Micromotor with encoder External resistor on the last node must be set Specifications subject to change without notice www faulhaber group com SZ FAULHABER Dimensional drawing and connection information MCDC 3003 C 39 S
54. ation enables the complete speed range of the motor to be utilised Command Function Description SIN Sinus 1 Only sinusoidal commutation Commutation 0 Block commutation in the upper speed range full modulation possible 3 6 2 Current controller and I2t 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 limit is set to continuous current 28 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 reaches the peak current The current controller then comes into operation and limits
55. available on MCDC GOIX Go Encoder Move to the encoder index at Index the fault pin and set actual position value to 0 DC motor or ext encoder 3 Functional Description SZ FAULHABER 3 3 Homing and limit switches Configuration of homing and limit switches in FAULHABER mode The following commands use the following bit mask for configuration of the limit switch functions Analog input Fault pin 3rd input 4th input MCDC only 5th input MCDC only Set or delete the bit at the position of the required input for each command 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 HD Hard Direction Presetting of direction of rotation which is blocked by HB of the respective limit switch 1 Clockwise rotation blocked 0 Counterclockwise rotation blocked The Hard Blocking function provides reliable protection against overshooting of the range limit switch If the HB limit switch is activated then the direction of rotation set with HD will be blocked i e the drive can only move out of the limit switch The speed stays at 0 rpm if target velocities are in the wrong direction Example Setting of the Hard Blocking function for fault pin and 4th
56. bility 0x06 0x04 0x0047 General internal error in device 0x06 0x06 0x0000 Access terminated due to hardware error 0x06 0x07 0x0010 Data type or parameter length do not agree or are unknown 0x06 0x07 0x0012 Data type does not agree parameter length too large 0x06 0x07 0x0013 Data type does not agree parameter length too small 0x06 0x09 0x0011 Subindex not available 0x06 0x09 0x0030 General value range error 0x06 0x09 0x0031 Value range error Parameter value too large 0x06 0x09 0x0032 Value range error Parameter value too small 0x06 0x0A 0x0023 Resource not available 0x08 0x00 0x0021 Access not possible due to local application 0x08 0x00 0x0022 Access not possible due to current device status 34 Uf 4 SZ FAULHABER 4 CANopen 4 4 Emergency Object Error Message The Emergency Object informs other bus subscribers of errors that have occurred The Emergency Object is always 8 bytes in size and structured as follows 11 bit identifier 8 bytes user data 0x80 128D Node ID ErrorO LB Error1 HB Error Reg 0 0 0 0 0 The first two bytes contain the 16 bit error code the third byte contains the error register the following 5 bytes can contain a manufacturer specific additional code The error register identifies the error type The possible error Typees are described in the OD under Index 0x1001 e g Bit 4 Communication Error The general errors are listed in the following error code table e g Error0 0x1
57. bit at edge of respective limit switch Setting is not stored Send message to Master statusword bit 14 1 and delete relevant HN bit at edge of respective limit switch Setting is not stored 4th input MCDC only 5th input MCDC only Uf Y JA FAULHABER 6 Parameter Description 6 4 FAULHABER commands 6 4 2 Query commands for basic settings 6 4 2 1 Operating modes and general parameters Command Hex value Data Function Description GOPMOD OxFE 0 Get Operation Mode Display current CANopen operating mode 1 FAULHABER mode 1 Profile Position Mode 3 Profile Velocity Mode 6 Homing Mode Corresponds to object 0x6061 modes of operation display CST 0x58 0 Configuration Status Set operating mode Return value binary coded LSB Bit 0 Bit 0 2 Reserved Bit 3 4 Velocity presetting 0 SORO CAN 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 1XRMOD Bit 10 Power amplifier 0 Disabled Dl 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 68 6 Parameter Description M GY SZ FAULHABER
58. cale reduced 4x1 5 x45 7x5 35 0 5 Connection Si pin Function 1 Sin 4 in ChA ChB 5V SGND 4x 04 5 0 2 Viks 8 Mot 9 CANH t i 10 CANL 43 8 0 1 56 6 0 5 62 5 0 5 ONSE WN 1 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 MCCD 3006 C Scale reduced Motor connection 0 03 5 1293 6 M1 5S in 795 20 3 M2 4 In M3 ChA M4 ChB M5 5V M6 SGND M7 Mot M8 Mot 40 50 58 Supply connection VI CANH V2 CANL V3 AGND v4 Fault 9 8 03 V5 Anin ere ant ames ret V6 24V 22203 V7 GND v8 3 in DOOOOOOO Specifications subject to change without notice Edition 2006 2007 88 www faulhaber group com A FAULHABER SFG ZZ 89 Notes 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 C
59. ce 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 M The supply line must be led through a suitable ferrite tube with two windings e g W rth Elektronik no 742 700 90 as close as possible to the control Supporting measures for conducted interferences Further suppression measures are reguired in order to comply with the limit 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 W rth Elektronik no 744 825 605 with electrolytic capacitor 470 uF must be installed in the supply line as close as possible to the control 73 7 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 o
60. chieved 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 3 Functional Description SZ FAULHABER 3 6 Technical information 3 6 1 Sinusoidal commutation The 3564K024B CC and the MCBL 3003 06 C are charac terised 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 modul
61. d 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 ERROUT Error in 1 100 sec Example Only display error after 2 seconds DCE200 If one of the above errors occurs a corresponding Emergency Object is sent to the CAN network Please consider the error mask in object 0x2320 Only it is set at 1 the error status will be send See also chapter 6 2 under FAULHABER fault register 27 Fault pin as pulse output not for MCDC In the ENCOUT mode the fault pin is used as pulse output 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 a
62. ds 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 set configuration Various inputs and outputs are available for implementation of these functions Set point input for speed presetting Analogue or 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 Additional digital input CAN interface for integration into a CAN network with transfer rates up to 1Mbit s The CANopen communication profile according to DS301 V4 02 and DSP402 V2 0 in accordance with the CiA specification is supported for slave devices with the following services 1 Server SDO 3 Transmit PDOs 3 Receive PDOs Static PDO Mapping NMT with Node Guarding Emergency Object
63. e Control Effort Index Subindex INET Type Attrb Default value Meaning Ox60FA 0 control effort Integer32 ro 0 Controller output The object corresponds to FAULHABER command GRU Position Control Parameter Set Index Subindex NET Type Attrb Default value Meaning 0x60FB 0 number of entries Unsigned16 ro 2 Number of object entries 1 gain Unsigned16 rw see spec Position controller P term 2 D constant Unsigned16 rw see spec Position controller D term Position controller parameters The object corresponds to FAULHABER commands PP and PD Parameters P and of the speed controller in object 0x60F9 section also influence the behaviour of the position controller 55 SZ FAULHABER 6 Parameter Description 6 3 Objects of the DSP402 profile Two methods can be used to preset target positions E Individual set points After reaching the target position the drive informs the Master that it has reached the target and can then move to a new target position The speed is usually 0 before a new positioning is started HA sequence of set points After reaching one target position the drive immediately moves to the next previously assigned target position This results in a continuous movement without the need to decelerate the drive to speed 0 in between Both methods are controlled by the temporal sequence of bits 4 and 5 New Set point Change Set immediately of the controlword and bit 12 Set point acknowledge of the sta
64. e 3 Command POS Transmit Id 303 40 00 00 00 00 Request Id 283 Receive Id 283 40 AO 86 01 00 01 gt Actual position 100000D 6 Parameter Description Up GY SZ FAULHABER 6 4 FAULHABER commands 6 4 1 Basic setting commands The commands listed here are used for the configuration of basic setting parameters which are stored in the Flash data memory with the SAVE EEPSAV command and reloaded from here after switch on 6 4 1 1 Commands for special FAULHABER operating modes Only available in FAULHABER mode Modes of operation OPMOD 1 Command OPMOD SOR CONTMOD STEPMOD APCMOD ENCMOD HALLSPEED ENCSPEED GEARMOD VOLTMOD IXRMOD Hex value OxFD Ox8E 0x06 0x46 0x02 0x10 0x3B 0x12 0x1D 0x49 0x50 Data 0 0 3 Function Operation Mode Source For Velocity Continuous Mode Stepper Motor Mode Analog Position Control Mode Encoder Mode Hall Sensor as Speed Sensor Encoder as Speed Sensor Gearing Mode Set Voltage Mode Set IxR Mode 64 Description CANopen operating mode 1 FAULHABER mode 1 Profile Position Mode 3 Profile Velocity Mode 6 Homing Mode Corresponds to object 0x6060 modes of operation Source for velocity presetting 0 CAN interface default 1 Voltage at analog input 2 PWM signal at analog input 3 Current limitation value via analog input Switch back from an extended mode to normal mode Switch to stepper motor
65. e ID for TxPDO1 2 transmission type Unsigned8 rw 255 PDO transmission type asynchronous Transmit PDO2 Communication Parameters Index Subindex INET Type Attrb Default value Meaning 0x1801 0 Number of entries Unsigned8 ro Number of object entries 1 COB ID Unsigned32 ro 0x280 CAN Object Identifier Node ID for TxPDO2 2 transmission type Unsigned8 rw 253 PDO transmission type asynchronous only on request RTR Transmit PDO3 Communication Parameters Index Subindex ETT Type Attrb Default value Meaning 0x1802 0 Number of entries Unsigned8 ro 2 Number of object entries 1 COB ID Unsigned32 ro 0x380 CAN Object Identifier Node ID for TxPDO3 2 transmission type Unsigned8 ro 253 PDO transmission type asynchronous only on request RTR 47 Uf JA FAULHABER Y 6 Parameter Description 6 1 Communication Objects according to DS301 Transmit PDO1 Mapping Parameters Index Subindex NET Type Attrb Default value Meaning 0x1A00 0 Number of entries Unsigned8 ro 1 Number of object entries 1 1st object Unsigned32 ro 0x60410010 Reference to 16 bit to be mapped statusword 0x6041 Transmit PDO2 Mapping Parameters Index Subindex Name Type Attrb Default value Meaning 0x1A01 0 Number of entries Unsigned8 ro 3 Number of object entries 1 1st object Unsigned32 ro 0x23010108 Reference to 8 bit to be mapped FAULHABER command 2 2nd object Unsigned32 ro 0x23020120 Reference to 32 bit value to be mapped 3 2nd object Unsigned8 ro 0x23
66. e circuit Edition 2006 2007 E g 3x FAULHABER Motion Controller MCBL 3006 C E g 3x FAULHABER brushless DC Servomotor with linear Hall sensor option K1155 Node 0 p External resistor on the last node must be set Specifications subject to change without notice www faulhaber group com SZ FAULHABER 4 Dimensional drawing and connection information for MCBL 3003 C Scale reduced 4x1 5 x45 7x5 35 0 5 n i A Connection f 1 PhC 2 HallA 3 5V 4 SGND 43 8 0 1 56 6405 62 5 0 5 Stale f n 6 Hallc 04 5 20 2 studi 7 VA 8 PhA A 9 CANH TA 4 a t 10 CANL 1 11 AGND JA 12 Fault Max recommended current 13 Anin ee 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 for MCBL 3006 C Scale reduced Motor connection 50 03 5 1203 6 _ MI PhC 7x 5 20 3 M2 Hall A M3 5V a M4 SGND E M5 Hall B i M6 Hall C M7 PhB M8 PhA i 40 50 58 Supply connection VI CANH V2 CANL V3 AGND v4 Fault 9 8 03 V5 Anin c a V6 24V 22203 V7 GND v8 3 in DOOOOOOO Specifications subject to change without notice Edition 2006 2007 84 www faulhaber group com SZ FAULHABER Motion Controller gt 4 Ouadrant PWM with CAN interface For combination with DC Micromotors Series MCDC 3003 06 C MCDC 3
67. e default values of the CANopen objects not listed here please see the Parameter Description Baud rate and Node ID are each set to OxFF i e automatic baud rate recognition and invalid node number 3564K024B CC FAULHABER command CONTMOD APLO SORO MOTTYP8 ERROUT HP7 HBO HDO HOSP100 SHAO SHLO SHNO ADR LPC8000 LCC2800 AC30000 DEC30000 SR1 140 POR8 PP12 PD6 CI50 SP12000 MVO MAV25 LL1800000000 LL 1800000000 LPN16 STW1 STN1000 ENCRES2048 DEV30000 DCE200 CORRIDOR20 SIN1 SETPLC OPMOD1 DI vo CANopen object 0x6083 0x6084 0x60F9 0x60F9 0x60FB 0x60FB 0x607F 0x607D 0x607D 0x6067 0x6060 Description Normal operation Position limits deactivated Velocity presetting via CAN Motor type 3564K024B Fault pin Error output All inputs react to rising edge No Hard Blocking limit switch defined Homing Speed 100 rpm No FAULHABER homing sequence defined Analog direction of rotation right Peak current limitation 8 A Continuous current limitation 2 8 A Acceleration 30000 r s Deceleration ramp 30000 r s2 Sampling rate 100 us I term of velocity controller P term of velocity controller P term of position controller D term of position controller I term of current controller Limitation of maximum velocity to 12000 rpm Minimum analog velocity Minimum analog voltage Upper positioning range limit Lower positioning range limit Numeric value f
68. e frames on PDO2 The identifiers of the individual objects are allocated according to the Predefined Connection Set and are dependent on the node number see section 4 5 These are the most important objects Object Function Identifier TxPDO1 Statusword 0x180 node no RxPDO1 Controlword 0x200 node no TxPDO2 FAULHABER data 0x280 node no RxPDO2 FAULHABER command 0x300 node no TxSDO Read object 0x580 node no RxSDO Write object 0x600 node no In delivery status the drives are in the operating mode Modes of operation 1 Profile Position Mode when switched on In this operating mode the drive control is performed using the Device Control state machine which is operated using the controlword Object 0x6040 or RxPDO1 and queried using the statusword Object 0x6041 or TxPDO1 The following command sequence is prescribed to activate the power output stage 1 Shutdown Controlword 0x06 2 Switch on Enable Operation Controlword 0x0F The drive is then in Operation Enabled status in which it can be operated using the corresponding objects of the Profile Position Mode see section 4 7 and section 6 3 3 The drive can be configured both by means of SDO transfer using the objects of the object dictionary and using PDO2 with the commands of the FAULHABER channel Not all configuration options are accessible using the object dictionary many extended operating modes are only accessible using the
69. esponding dialog windows The specified commands can be entered in plain text or selected from the Commands menu The CANopen state machines can be conveniently operated using menu selections The current statuses are automatically displayed in the status line Please note that the FAULHABER commands can only be received in Operational status Motion Manager menu Commands CANopen Network Management NMT Start Remote Node o 24V DC MOSFET Power output stage Phase B sinusoidal commutator Hall sensor A Roton Hall sensor B position calculation Hall sensor C Protective functions 10k Overtemperature Overcurrent Overvoltage 9 3 phase PWM Target Position target pi velocity position controller controller A n z red Evaluation actual input 3 Velocity brown calculation i Evaluation JE re grey reference mark CAN Bus yellow CANopen o CAN_L A communication CAN H 9 and configuration GND module It current limitation controller 15 SZ FAULHABER 3 Functional description 3 1 Position control In this operating mode target positions can be loaded with the CAN interface Positioning can be performed in two different ways a In Profile Position Mode accord
70. et Velocity to the desired value using the object dictionary Ox60FF and is checked with the statusword The drive can be stopped with the contro word Disable Operation or by writing the value 0 to the object Target Velocity see section 6 3 6 b In FAULHABER mode Modes of Operation or OPMOD must be set to 1 FAULHABER operating mode CONTMOD or ENCMOD and SORO must be set Profile and controller param eters are executed with the FAULHABER basic setting commands In particular the acceleration values AC and DEC the current limitation values LPC and LCC as well as the controller param eters POR and must be configured for the respective application 17 The velocity control is executed with the following FAULHABER motion control command Command Function Description V Select Velocity Activate velocity mode and Mode set specified value as target velocity velocity control Unit rom 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 stop at the set range limits LL Also check that the maximum speed SP is not set below the desired target velocity SZ FAULHABER 3 Functional Description 3 2 Velocity control 3 2 2 Analog velocity control This operating mode is only available in FAULHABER mode Modes of Operation or OPMOD must be s
71. et to 1 FAULHABER operating mode CONTMOD and SOR1 velocity commanded with a voltage at the analog input or SOR2 velocity commanded with a PWM signal at analog input must be set Profile and controller parameters are configured with the FAULHABER basic setting commands 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 configured for 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 Velocity commanded at the minimum analog voltage Command Function Description MV Minimum Minimum velocity Velocity in rpm Example Set minimum velocity to 10 rpm MV10 Setting the start voltage Minimum analog voltage which will cause the motor to spin at the minimum velocity Command Function Description MAV Minimum Minimum starting voltage Analog 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 anal
72. f 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 7 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 the 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 7 Appendix Up GY SG FAULHABER 7 2 Default configuration 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 For th
73. following 4 bytes can contain data RxPDO2 FAULHABER command 11 bit identifier 5 bytes user data 0x300 768D Command LLB LHB HLB HHB Node ID To configure the drive via the FAULHABER channel the device must be in Operational NMT state Some of the parameters can also be set via the object dictionary but others only via the FAULHABER channel Certain parameters can only be set and used in the FAULHABER operating mode Modes of Operation 1 object 0x6060 or command OPMOD as they have a direct influence on the drive behaviour The reaction to FAULHABER commands depends on the transmission type set for TxPDO2 OD index 0x1801 a transmission type 253 After sending the command on RxPDO2 a request RTR must be executed on TxPDO2 to get the answer of query commands or to check transmit commands b transmission type 255 The commands are immediately answered on TxPDO2 6 bytes are always returned the first byte specifies the command and the following 4 bytes the desired value as a Long Integer for transmit commands 0 followed by an error code 63 TxPDO2 FAULHABER data 11 bit identifier 5 bytes user data 0x280 Command LLB LHB HLB HHB Error 640D Node ID Error Explanation Command successfully executed 2 EEPROM writing done 4 Overtemperature drive disabled 5 Invalid parameter 7 Unknown command 8 Command not available 13 Flash defect Example Query actual position of nod
74. gs 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 SZ FAULHABER 7 Appendix 7 1 Electromagnetic compatibility EMC The FAULHABER motion controllers MCBL 3003 06 C MCDC 3003 06 C and 3564K024B CC have been checked and tested in accordance 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 tested for 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 M Conducted disturbance variables induced by high frequency fields in accordance with EN 61000 4 6 December 2001 m Magnetic field with power engineering frequencies in accordan
75. h 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 an input before applying external voltage 20 Homing can be performed in two different ways a In Homing mode according to DSP402 Modes of operation or OPMOD must be set to 6 Homing Method Homing Offset Homing Speed and Homing Acceleration are set using the object dictionary objects 0x6098 0x607C 0x6099 and 0x609A The homing sequence is started with the controlword and checked with the statusword see section 6 3 4 The function of the inputs is set using object 0x2310 see section 6 2 b In FAULHABER Mode Modes of operation or OPMOD must be set to 1 The function of the inputs and the homing behaviour is set with the FAULHABER commands described below A previously stored homing seguence 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 brushless motor to Hall zero point Hall index and set actual position value to 0 not
76. he 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 26 3 4 6 Analog control of current limit The command SOR3 allows the drive to change current limiting by using the analog input A 10 V signal allows the drive to induce as much current as is limited by the setting for LPC In this mode the I t calculation stops and the LCC setting has no effect Setting LPC beyond what the motor can sustain may cause permanent damage The motion controller only measures the magnitude of the input voltage A negative input voltage will not cause reverse direction of rotation 3 4 7 IxR control for DC controllers For speed controlled applications with DC motors with out an encoder an IxR control is available on the MCDC In this mode the motor s
77. herwise Set actual position to specified value Value range 1 8 10 1 8 10 6 Parameter Description Up GY SZ FAULHABER 6 4 FAULHABER commands 6 4 5 General query commands Command POS TPOS GV GN GU GRU GCL GRC TEM OST SWS Hex value 0x40 0x4B 0x3A 0x2B Ox5F 0x60 0x10 0x34 0x47 0x57 0x5A Data Function 0 Get Actual Position 0 Get Target Position 0 Get Velocity 0 Get N 0 Get PWM Voltage 0 Get Real PWM Voltage 0 Get Current Limit 0 Get Real Current 0 Get Temperature 0 Operation Status 0 Switch Status 72 Description Current actual position Corresponds to object 0x6063 Target position of last started positioning Corresponds to object 0x6062 Current target velocity in rpm Corresponds to object 0x60FF Current actual velocity in rpm Corresponds to object 0x6069 Set PWM value in VOLTMOD Current controller output value Current limitation current in mA Current actual current in mA Current housing temperature in C Display current operating status Return value binary coded LSB Bit 0 Bit 0 Homing running Bit 1 3 Reserved 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 Res for further inputs Bit 16 Position attained Temporary limit switch settin
78. igned8 Number of object entries 1 mode1 Unsigned8 rw 0 Trace mode for Parameter 1 2 mode2 Unsigned8 rw 0 Trace mode for Parameter 2 3 time code Unsigned8 rw 1 Data with time code 4 packets Unsigned8 rw 1 Number of packets to be transmitted per request 5 period Unsigned8 rw 1 Time interval between packets This object is written via RxPDO3 and always contains the last transmitted Trace setting Trace data Index Subindex NET Type Attrb Default value Meaning 0x2304 0 Number of entries Unsigned8 ro 3 Number of object entries 1 value1 Unsigned32 ro 0 Last value of Parameter 1 2 value2 Unsigned32 ro 0 Last value of Parameter 2 3 time code Unsigned8 ro 0 Last time code value The content of this object is reguested by means of a Reguest RTR on TxPDO3 and supplies the Trace data for the set parameters The last reguested values are always temporarily stored 49 SZ FAULHABER 6 Parameter Description 6 2 Manufacturer specific objects Limit switch setting Index Subindex NET Type Attrb Default value Meaning 0x2310 0 Number of entries Unsigned8 ro 5 Number of object entries 1 Negative Limit Unsigned8 rw 0 Lower limit switch 2 Positive Limit Unsigned8 rw 0 Upper limit switch 3 Homing Unsigned8 rw 0 Homing switch 4 Notify Unsigned8 rw 0 Notify switch 5 Polarity Unsigned8 rw 7 Polarity of switch 1 Pos edge valid 0 Neg edge valid The function of the digital inputs can be set according to the following bit mask Analog input Fa
79. ile objects according to DSP402 Index WET Type Attrb Meaning 0x6040 controlword Unsigned16 rw Drive control 0x6041 statusword Unsigned16 ro Status display 0x6060 modes of operation Integer8 wo Operating mode changeover 0x6061 modes of operation display Integer8 ro Set operating mode 0x6062 position demand value Integer32 ro Last target position 0x6063 position actual value Integer32 ro Actual position in increments 0x6064 position actual value Integer32 ro Actual position scaled 0x6067 position window Unsigned32 rw Target position window 0x6068 position window time Unsigned16 rw Time in target position window 0x6069 velocity actual sensor value Integer32 ro Current speed value 0x606B velocity demand value Integer32 ro Target speed 0x606C velocity actual value Integer32 ro Current speed value 0x606D velocity window Unsigned16 rw End speed window 0x606E velocity window time Unsigned16 rw Time in end speed window 0x606F velocity threshold Unsigned16 rw Speed threshold value 0x6070 velocity threshold time Unsigned16 rw Time below speed threshold value 0x607A target position Integer32 rw Target position 0x607C homing offset Integer32 rw Reference point offset 0x607D software position limit ARRAY rw Area limits 0x607E polarity Unsigned8 rw Polarity direction of rotation 0x607F max profile velocity Unsigned32 rw Maximum speed 0x6081 profile velocity unsigned32 rw Maximum speed 0x6083 profile acceleration Unsigned32 rw Acceleration value
80. ines 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 C 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 12 2 Installation S YHA FAULHABER 2 4 Baud rate and Node ID Node address and transfer rate are set using the network in accordance with the LSS protocol as per CiA DSP305 Layer Setting Services and Protocol A configuration tool which supports the LSS protocol such as FAULHABER Motion Manager is required The configuration tool is the LSS Master and the drives act as LSS slaves LSS slaves can be configured in two ways 1 Switch Mode Global switches all connected LSS slaves into configuration mode However only one LSS slave may be connected to set baud rate and node ID Switch Mode Selective switches just one
81. ing to DSP402 Modes of operation or OPMOD must be set to 1 Target Position profile and controller parameters are set using the object dictionary or using FAULHABER commands In particular the acceleration values AC 0x6083 and DEC 0x6084 the maximum speed SP 0x607F the current limitation values LPC and LCC as well as the controller parameters POR I PP and PD 0x60FB and 0x60F9 must be configured for the respective application The positioning range limits can be set using the command LL or object 0x607D Positioning is started with the contro word and checked with the statusword see section 6 3 3 b In FAULHABER mode Modes of operation or OPMOD must be set to 1 FAULHABER operating mode CONTMOD or ENCMOD and SORO must be set Profile and controller parameters are configured using the FAULHABER basic setting commands In particular the acceleration values AC and DEC the maximum speed SP the current limitation values LPC and LCC as well as the controller parameters POR PP and PD must be configured for the respective application The positioning range limits can be set using the command LL and activated with APL Position moves are made using the FAULHABER commands for motion control Command Function Description LA Load Absolute Load new absolute target position Position Value range 1 8 10 1 8 10 LR Load Relative Load new relative target position Position in relation to last started ta
82. input 2 23 2 8 10 gt HB10 21 Definition of homing behaviour Command Function Description SHA Set Home Arming Homing behaviour 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 message to Master statusword Sequence bit 14 1 at edge 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 called it attempts to move out of the switch As the speed defined in HOSP would only drive the mechanics further into the switch the same velocity as set in HOSP is used but in the opposite direction Example The following commands configure the drive to stop the motor set the actual position to 0 and notify the Master when input 3 transitions to a high state HP4 SHA4 SHL4 SHN4 Homing Speed Command Function Description HOSP Load Homing Load speed and direction Speed of rotation for homing GOHOSEQ GOHIX Unit rom Example HOSP 100 3 Functional Description SZ FAULHABER 3 3 Homing and limit switches Direct programming using HA HL and HN commands Command Function Description HA Home Arming Set the p
83. interface for integration in a CAN network with transfer rates up to 1Mbit s The CANopen communication profile according to DS301 V4 02 and DSP402 V2 0 accord ing to CiA specification for slave equipment with the following services is also supported E 1 server SDO H3 transmit PDOs 3 receive PDOs E Static PDO mapping H NMT with Node Guarding E Emergency object Transfer rates and node number are set using the network in accordance with the LSS protocol as per DSP305 V1 1 and automatic baud rate detection is also implemented In addition all functions and parameters of the drive unit can be activated very easily using a special FAULHABER PDO channel For each FAULHABER command a corresponding CAN message frame is available on the PDO channel which enables the CAN unit to be operated similarly to the serial version Drive parameters can be analysed very guickly with the integrated Trace function The FAULHABER Motion Manager 3 software is available for Windows 95 98 ME NT 2K XP this also considerably simplifies the operation and configuration of units using the CAN interface and in addition offers a graphic online analysis function Fields of application 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 a
84. itched 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 81 Mbit s kQ kHz kQ mA kHz lines rev kHz kHz kQ V DC kQ VDC Specifications subject to change without notice www faulhaber group com Uf 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 CAN_L CAN Low Pin 3 GND Ground Pin7 CAN_H CAN High 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 24V DC v6 Us Protection Overtemperature 10k Current limit amp Phase A M8 brow
85. l value Index Subindex NETO Type Attrb Default value Meaning 0x6069 0 velocity sensor Integer32 ro 0 Current velocity value actual value The output occurs in user defined units in accordance with the specified Velocity Factor The object corresponds to the FAULHABER command GN Velocity demand value Index Subindex INET Uy Type Attrb Default value Meaning 0x606B 0 velocity Integer32 ro 0 Target velocity demand value The output occurs in user defined units in accordance with the specified Velocity Factor The object corresponds to the FAULHABER command GV Velocity actual value Index Subindex AET Type Attrb Default value Meaning 0x606C 0 velocity Integer32 ro 0 Current velocity value actual value Identical value to 0x6069 with use of the integrated analog Hall sensors for velocity recording The output occurs in user defined units in accordance with the specified Velocity Factor The object corresponds to the FAULHABER command GN 60 SZ FAULHABER 6 Parameter Description 6 3 Objects of the DSP402 profile Velocity Window Index Subindex NET Type Attrb Default value Meaning 0x606D 0 velocity window Unsigned16 rw 20 End velocity window Velocity range around the target speed which is used to identify the attained end velocity The presetting occurs in user defined units in accordance with the specified Velocity Factor Velocity Window Time Index Subindex AET Type Attrb Default value Meaning 0x606E 0 velocity
86. ll Sensors Resolution with external encoder Input output partially free configurable Operating temperature range Storage temperature Housing material Weight at 22 C ambient temperature Us fewm n Idauer Imax lei For combination with Brushless DC Servomotors with option K1155 MCBL 3003 C 12 30 78 12 95 3 10 0 06 5 30 000 100 3000 65535 3 0 70 25 85 without housing 18 MCBL 3006 C 12 30 78 12 95 6 10 0 06 5 30 000 100 3000 65535 3 0 70 25 85 rpm HS lines rev lines rev KG C aluminium black anodized 160 g Connection information Connection CANH CANL 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 l clear set no error error f resolution Uin Rin Us CAN High CAN Low CAN CANopen 1 analog GND channel B 10 400 100 s Us s 30 switched to GND high impedance sw
87. load and receives data from the client download Byte0 Byte1 2 Byte3 Byte4 Command Specifier 16 bit index 8 bit subindex 1 4 byte parameter data gt Entry in the object dictionary There are 2 different SDO transfer modes Expedited Transfer Transfer of maximum 4 bytes Segmented Transfer Transfer of more than 4 bytes As a maximum of 4 data bytes are transferred with FAULHABER motion controllers except for version and device name reguests only Expedited Transfer is described here The message frames are always 8 bytes and structured as follows Reading OD entries Client gt Server Upload Reguest 11 bit identifier 8 bytes user data 0x600 1536D Node ID 0x40 Index LB Index HB Subindex 0 0 0 0 Server gt Client Upload Response 11 bit identifier 8 bytes user data 0x580 1408D Node ID 0x4x Index LB Index HB Subindex LLB DO LHB D1 HLB D2 HHB D3 Byte0 0x4x specifies the number of valid data bytes in DO D3 and the transfer type and is coded as follows for Expedited Transfer lt 4 data bytes 1 data byte in DO Byte0 0x4F 2data bytes in DO D1 Byte0 0x4B 3 data bytes in DO D2 Byte0 0x47 4 data bytes in DO D3 Byte0 0x43 Writing OD entries Client gt Server Download Request 11 bit identifier 8 bytes user data 0x600 1536D Node ID Ox2x Index LB Index HB Subindex LLB DO LHB D1 HLB D2 HHB D3 Byte0 0x2x specifies the number of valid data bytes in DO D3 and the transfer
88. ltage range 0 V to 10 V within one revolution and to return to the correct position even after the power has been cycled without homing not available with the MCDC APCMOD change to analog positioning LL3000 fix maximum position at 1 revolution 25 3 4 4 Dual loop PID control mode not available on MCDC For high precision applications an external encoder on the end effector may be used to accurately control the system A word of caution is in order Any backlash in the system may lead to an unstable system causing damage to mechanical components E The resolution of the system is dependent upon the resolution of the external encoder E The motor velocity may be controlled by using the Hall sensors or the external encoder E The external encoder may be directly linked to the motor shaft but systems using an encoder on the end effector will realize even more significant benefits like higher precision E Hall sensors are still used for commutation Command Function Description ENCMOD Encoder Change to encoder signals mode Mode not for MCDC An external encoder signal serves as position transducer the current position value is set to 0 HALLSPEED Hall sensor as Hall sensors used to control motor speed sensor speed not for MCDC ENCSPEED Encoder as External encoder used to control speed sensor motor speed not for MCDC The two channels of the external encoder signals are connected to Anln and AGND which
89. lways transferred the first byte specifies the command and the following 4 bytes the desired value as a Long Integer followed by an error code The Error byte can also be used to check whether a Transmit command has been successfully executed 1 command successfully executed for further error codes see section 6 4 RxPDO3 Trace configuration 11 bit identifier 5 bytes user data 0x400 1024D Node ID Mode1 Mode2 TC Packets Period This PDO serves for setting Trace mode which allows internal parameters to be read out quickly The data configuration looks like this Byte 0 Mode for Parameter 1 Byte 1 Mode for Parameter 2 Byte 2 Transfer with time code 1 0 Byte 3 Number of packets to be transmitted per request default 1 Byte 4 Time interval between packets default 1 ms The possible operating modes for parameters 1 and 2 are described in section 5 2 TxPDO3 Trace data 11 bit identifier 3 to 8 bytes user data 0x380 896D Node ID Data0 Data1 Data2 Data3 Datad Data5 Data6 Data7 A reguest RTR on this provides the Trace data according to the setting made via RxPDO3 see section 5 2 32 SZ FAULHABER 4 CANopen 4 3 SDO Service Data Object The Service Data Object allows parameters to be read and written in the object dictionary OD Access occurs via the 16 bit index and the 8 bit subindex The motion controller acts as server in this case i e it provides data at the client s PC PLC request up
90. mode enables position accurate velocity control any rational ratios can be set for input freguency to motor speed using step width and step number in accordance with the following formula STW Revolutions Pulses STN 23 Revolutions Revolutions commanded of the motor Pulses Number of pulses at the frequency input number of steps STW Step width step width factor number of steps per pulse at frequency input STN Step number number of steps number 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 direction of rotation can be predefined with the commands ADL and ADR or using an external signal at the fault pin DIRIN command The acceleration and speed parameters AC DEC SP are effective in stepper motor mode These permit gentle starting and stopping The position range limits set using LL can also be activated with the APL1 command SZ FAULHABER 3 Functional Description 3 4 Extended operating modes 3 4 2 Gearing mode electronic gearing Using gearing mode forces the attached motor to follow an external encoder Command GEARMOD Function Gearing Mode Description
91. n The direction of rotation can generally be changed with this object Bit 7 1 Neg direction of rotation in positioning mode Bit 6 1 Neg direction of rotation in velocity mode 6 3 3 Profile Position Mode The objects in this range are available for Positioning Mode Target Position Index Subindex NET Type Attrb Default value Meaning 0x607A 0 target position Integer32 rw 0 Target position The Target Position is the position to which the drive is to move in Profile Position Mode To do this it uses the current settings for velocity acceleration etc The presetting occurs in user defined units according to the specified Position Factor The Target Position can be interpreted relatively or absolutely depending on the type of positioning that is preset via the controlword The object corresponds to the FAULHABER command LA or LR Software Position Limit Index Subindex NET Type Attrb Default value Meaning 0x607D 0 number of entries Unsigned8 ro 2 Number of object entries 1 min position limit Integer32 rw see spec Lower positioning range limit 2 max position limit Integer32 rw see spec Upper positioning range limit The range limits specified here in relation to the reference position cannot be exceeded The presetting occurs in user defined units according to the specified Position Factor The object corresponds to the FAULHABER command LL 54 SZ FAULHABER 6 Parameter Description 6 3 Objects of the DSP402 profile
92. n 0 ERROUT 1 ENCOUT 2 DIGOUT 3 DIRIN 4 REFIN GDCE OX1A 0 Get Delayed Current Error Setvalue of error output delay DCE GPN 0x32 Get Pulse Number Set pulse number LPN 6 4 2 3 Configuration of homing in FAULHABER mode Command Hex value Data Function Description HOC 0x5B 0 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 GHOSP 0x24 0 Get Homing Speed Set homing speed in rpm 70 Up GY SZ FAULHABER 6 Parameter Description 6 4 FAULHABER commands 6 4 3 Miscellaneous commands Command Hex value Data Function Description SAVE 0x53 0 Save Parameters Save current parameters and configuration setting to Flash EEPSAV memory The drive will also start with these settings when next switched on Corresponds to object 0x1010 Attention Command must not be executed more than 10 000 times as otherwise the function of the Flash memory can no longer be guaranteed RESET 0x59 0 Reset Restart drive node Corresponds to NMT Reset Node RN 0x44 0 Reset Node Set parameters to original values ROM values current acceleration controller parameters maximum speed limit positions FCONFIG OxDO 0 Factory Configuration AIl configurations and values are reset to the delivery status The drive is deactivated after this command The drive
93. n s aa R MOSEET Phase B M7 rari e 2 Power BL Motor amplifier Phase C M1 yellow M2 green position calculation Halisensor C g z se t Current lt 5V Control limiting U v7 Example Limit switch Evaluation CANopen interface limit switch CAN L CAN H e GND CANopen Communication and configurations module Micro Controller Specifications subject to change without notice Edition 2006 2007 82 www faulhaber group com SZ FAULHABER Motion Controller General description The MCBL 3003 06 C 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 high resolution including limit switches and zero referencing Operation as torque controller through current regulation Extended operating modes Stepper motor mode Gearing mode electro
94. n can now be started New set point with relative positionings the new target position is added to the last target position The drive then moves to the new target position immediately 5 The end of positioning is indicated by the statusword with set bit 10 Target reached velocity V2 Vi to t t time 56 SZ FAULHABER 6 Parameter Description 6 3 Objects of the DSP402 profile 6 3 4 Homing Mode The objects in this range are available for Homing Mode After switch on a homing sequence must generally be executed in order to reset the position value on the homing limit switch Homing Offset Index Subindex INET Type Attrb Default value Meaning 0x607C 0 Homing Offset Integer32 rw 0 Zero point displacement from the reference position Homing Method Index Subindex INET Type Attrb Default value Meaning 0x6098 0 Homing Method Integer8 rw 20 Homing Method All Homing Methods defined in DSP402 V2 are supported 1 to 14 Homing with index pulse if present 17 to 30 Homing without index pulse 33 34 Homing at index pulse if present 35 Homing at current position Methods 1 and 17 Homing at lower limit switch Negative Limit Switch If the limit switch is inactive the drive initially moves in the direction of the lower limit switch until its positive edge is detected If the limit switch is active the drive moves up out of the limit switch until the negative edge is detected With Method 1 the drive then
95. nables the desired settings to be made is available under the menu item Configuration Drive functions For external motion controllers MCBL 3003 06 C and MCDC 3003 06 C you must check that the correct basic settings have been made for the connected motor see section 2 5 For brushless motors the correct motor type must be set for brushed motors the correct post guadrature resolution must be specified for the encoder ENCRES under Drive parameters Depending on whether you wish to operate the drive using the standard CANopen objects or the simpler FAULHABER commands go into the desired mode Modes of Operation OPMOD 1 3 6 or 1 If the settings are to be permanently stored press the EEPSAV button 3 Activate drive a FAULHABER Mode OPMOD 1 1 EN command Input in command input field and press Send button or select in Commands Motion control Enable drive menu and press Send button b Modes of Operation OPMOD gt 0 1 Shutdown Select entry Device Control Shutdown using the context menu in Node Explorer or using the Commands CANopen menu 2 Switch On Select entry Device Control Switch On using the context menu in Node Explorer or using the Commands CANopen menu 4 Drive motor examples Drive motor with 100 rpm velocity control a FAULHABER Mode OPMOD 1 V100 command Enter in command input field and
96. nd machine tools Options A separate supply for motor and control electronics is optionally available important for safety critical applications in which case the 3rd input is omitted Special preconfiguration of modes and parameters is possible on reguest 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 section highlights the initial steps for commissioning and operation of FAULHABER motion controllers with CANopen interface However the detailed documentation must always be read and adhered to particularly section 2 5 The units are delivered as standard without a valid node address node ID OxFF and with automatic baud rate detection set In order to set the baud rate and node address the unit must first be configured for CAN using an appropriate configuration tool which supports the LSS protocol according to CIA DSP305 FAULHABER Motion Manager 3 installed on a PC with supported CAN interface can also be used for this purpose The node address and baud rate can be set using the LSS compatible configuration tool either in Global mode if only one drive is connected or in Selective mode with the serial number if a drive is to be configured on the network see section 2 4 If the FAULHABER Motion Manager is to be used as a configuration tool proceed as follows 1 Connect drive u
97. nge limits LL valid for all operating modes Position Limits 1 Position limits activated 0 Position limits deactivated SP Ox8F Value Load Maximum Speed Load maximum speed Value range 0 to 32767 rpm Setting applies for all modes Corresponds to object 0x607F AC 0x65 Value Load Command Load acceleration value Acceleration Value range 0 to 30000 r s Corresponds to object 0x6083 DEC 0x6D Value Load Command Load deceleration value Deceleration Value range 0 to 30000 r s Corresponds to object 0x6084 SR OxA4 Value Sampling Rate Load sampling rate of the velocity controller as a multiplier of 100 ps Value Range 1 20 ms 10 POR 0x89 Value Load Velocity Load velocity controller amplification Proportional Term Value range 1 255 Corresponds to object 0x60F9 l 0x7B Value Load Velocity Integral Load velocity controller integral term Term Value range 1 255 Corresponds to object 0x60F9 PP 0x9B Value Load Position Load position controller amplification Proportional Term Value range 1 255 Corresponds to object 0x60FB PD 0x9C Value Load Position Differential Load position controller D term Term Value range 1 255 Corresponds to object 0x60FB cl OxA2 Value Load Current Integral Load integral term for current controller Term Value range 1 255 LPC 0x81 Value Load Peak Current Limit Load peak current Value range 0 to 12000 mA LCC 0x80 Value Load Continuous Current Load continuous current Limit Value range 0 to 12000 m
98. nic 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 CANopen interface for integration into a CAN network with transfer rates up to 1Mbit s Connection diagram Programming made easy The MCBL 30003 06 C supports the CANopen communication profile according to DS301 V4 02 and DSP402 V2 0 in accordance with the CiA specification for slave devices with the following services 1 Server SDO 3 Transmit PDOs 3 Receive PDOs Static PDO Mapping NMT with Node Guarding Emergency Object The transfer rate and node no are set via the network in accordance with the LSS protocol according to DSP305 V1 11 and automatic baud rate detection is also implemented In addition all functions and parameters of the drive unit can be very easily activated via a special
99. nit to the CAN interface of the PC and switch on or connect PC to the CAN network 2 Start FAULHABER Motion Manager 3 3 Activate CAN interface as communication inter face and configure with the menu item Terminal Connections 4 Select menu item Configuration Connection parameters 5 Select Configuration mode a Globally configure individual drive LSS Switch Mode Global if only one LSS node is connected and you do not wish to input further data b Selectively configure specified node LSS Switch Mode Selective if a node is to be configured in the network If the node has not been found in Node Explorer the serial number of the drive node to be configured must be entered otherwise the data fields are already correctly preconfigured 6 In the next dialogue select the desired transfer rate or Auto and enter the desired node address 7 Press Send button 8 The settings are transferred and permanently stored in the controller The Motion Manager then recalls the Scan function and 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 A CANopen node is always in Pre Operational status after being switched on and must be transferred to Operational status before it is fully operational No PDO communication is possible in Pre Operational status therefore
100. ode address 0 all nodes The possible values for the Command Specifier CS are listed in the following table State transition Command specifier cs Explanation 1 The initialisation state is entered autonomously at power on 2 The Pre Operational state is entered automatically after initialisation and the boot up message is sent 3 6 cs 0x01 1D Start_Remote_Node Starts the device and releases PDO transmission 4 7 cs 0x80 128D Enter_Pre Operational Stops PDO transmission SDO still active 5 8 cs 0x02 2D Stop_Remote_Node Device goes into error state SDO and PDO switched off 9 10 11 cs 0x81 129D Reset_Node Performs a reset All objects are reset to Power On defaults 12 13 14 cs 0x82 130D Reset_Communication Performs a reset of the communication functions 4 CANopen SZ FAULHABER 4 5 NMT Network Management Boot Up message After the initialisation phase the FAULHABER motion controller sends the boot up message a CAN message with one data byte Byte0 0x00 on the identifier of the Node Guarding message 0x700 Node ID 11 bit identifier 1 byte user data 0x700 1792D Node ID 0x00 The Boot Up message signals the end of the initialisation phase of a newly activated module which can then be configured and started Node Guarding The current device status can be requested with the Node Guarding Object The Master sends a request request message frame
101. og 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 18 Setting the direction of rotation Command Function Description ADL Analog Positive voltages at the analog Direction Left input result in counterclockwise rotation of the rotor ADR Analog Positive voltages at the analog Direction Right input 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 SZ FAULHABER 3 Functional Description 3 2 Velocity control Velocity control using a pulse width modulated PWM signal at the analog input SOR2 Default duty cycle at the analog input E Greater than 50 causes clockwise rotation E Equal to 50 keeps the motor stationary M Less than 50 causes counterclockwise 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
102. oltage protection activates internal power bus exceeds 32 V E Power stage shuts down due to over temperature M The actual velocity differs from the target by an amount greater than the set acceptable deviation DEV 10 The error output connection can also be reconfigured for other functions E Encoder pulse output only MCBL C 3564 B CC E Digital output E Limit switch input M Rotational direction input 3rd input This connection can be used as reference or digital input The unit is also available with a separate logic and output stage power sections During an emergency situation disconnecting the supply voltage will shut down the output stage de powering the motor Supplying voltage independently to the third input will keep the logic section powered 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 cools passively with surface heat sinks case temperatures up to 85 C may occur Operation is only guaranteed if the supply voltage lies within the defined tolerance ranges Wiring should only be altered with no voltage a
103. onnection Meaning CAN_H CAN High RS232 TxD CAN_L CAN Low RS232 RxD AGND Analog GND Fault Error output Anin Analog input 24V 24 V GND GND 3 In 3rd input optional electronics supply Motor side Connection Meaning Ph A Motor phase A brown 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 addition a 9 pin SUB D connector is attached with the following assignment 2 CAN_L RS232 RxD GND 7 CAN_H RS232 TxD 3 MCDC 3003 06 C The connections are indicated on the terminal strips and are assigned as follows Supply side Connection Meaning CAN_H CAN High RS232 TxD CAN_L CAN Low RS232 RxD AGND Analog GND Fault Error output Anin Analog input 24V 24 V GND GND 3 In 3rd input optional electronics supply Motor side Connection Meaning Mot Motor Mot Motor SGND Encoder GND 5V Encoder VCC ChB Encoder channel B ChA Encoder channel A 4 In Ath input 5 In 5th input In addition a 9 pin SUB D connector is attached with the following assignment Pin Meaning 2 CAN L RS232 RxD 3 GND 7 CAN_H RS232 TxD only for software update available 2 Installation SZ FAULHABER 2 1 Connections and wiring Power supply 24 V GND The power supply should provide ample current for the connected motor Please pay attention to the polarity
104. ontroller Limitation of maximum velocity to 30000 rom Minimum analog velocity Minimum analog voltage Upper positioning range limit Lower positioning range limit Numeric value for pulse output Step width for special operation Step number for special operation Resolution of external encoder Do not monitor deviation error Error delay 2 sec Target corridor for positionings Do not permit block commutation Digital inputs PLC compatible Operating mode Profile Position Mode Power power stage deactivated Nominal speed value 0 rpm Up GY SZ FAULHABER 7 Appendix 7 2 Default configuration MCDC 3003 06 C FAULHABER command CONTMOD APLO SORO ERROUT HP31 HBO HDO HOSP100 SHAO SHLO SHNO ADR LPC10000 LCC5000 AC30000 DEC30000 SR1 150 POR10 PP10 PD5 cl40 SP30000 MVO MAV25 LL1800000000 LL 1800000000 LPN16 STW1 STN1000 ENCRES2048 DEV30000 DCE200 CORRIDOR20 SETPLC OPMOD1 RM3300 KN398 DI vo CANopen object 0x6083 0x6084 0x60F9 0x60F9 0x60FB 0x60FB 0x607F 0x607D 0x607D 0x6067 0x6060 Description Normal operation Position limits deactivated Velocity presetting via CAN Fault pin error output AIl inputs react to rising edge No Hard Blocking limit switch defined Homing speed 100 rpm No FAULHABER homing seguence defined Analog direction of rotation right Peak current limitation 10 A Continuous current limitation 5 A
105. or positioning command The bit is set at velocity 0 in Profile Velocity Mode Modes of operation Index Subindex NET Type Attrb Default value Meaning 0x6060 0 Modes of operation Integer8 wo 1 Operating mode changeover The following values are available 1 Profile Position Mode Position Control 3 Profile Velocity Mode Velocity Control 6 Homing Mode Homing 1 FAULHABER Specific Operating Mode The individual operating modes are described in more detail later in this section Modes 1 to 6 automatically switch the drive into Normal Mode CONTMOD with digital set point presetting SORO The object corresponds to the FAULHABER OPMOD command Modes of operation display Index Subindex NETIGI Type Attrb Default value Meaning 0x6061 0 Modes of Integer8 ro 1 Display of set operation display operating mode The set operating mode can be queried here The return value corresponds to the values of Object 0x6060 The object corresponds to the FAULHABER GOPMOD command 6 3 2 Factor Group The objects in this range serve for conversion between internal values and user defined physical values Position Factor Index Subindex Name Type Attrb Default value Meaning 0x6093 0 number of entries Unsigned8 ro 2 Number of object entries 1 numerator Unsigned32 rw 1 Dividend numerator of position factor 2 feed_constant Unsigned32 rw 1 Divisor denominator of position factor position_encoder_resolution gear_ratio position_factor
106. or pulse output Step width for special operation Step number for special operation Resolution of external encoder Do not monitor deviation error Error delay 2 sec Target corridor for positionings Do not permit block commutation Digital inputs PLC compatible Operating mode Profile Position Mode Power power stage deactivated Nominal speed value 0 rpm 74 FAULHABER command CONTMOD APLO SORO MOTTYP5 ERROUT HP7 HBO HDO HOSP100 SHAO SHLO SHNO ADR LPC5000 LCC1370 AC30000 DEC30000 SR1 140 POR7 PP16 PD9 CI50 SP30000 MVO MAV25 LL1800000000 LL 1800000000 LPN16 STW1 STN1000 ENCRES2048 DEV30000 DCE200 CORRIDOR20 SIN1 SETPLC OPMOD1 DI vo MCBL 3003 06 C CANopen object 0x6083 0x6084 0x60F9 0x60F9 0x60FB 0x60FB 0x607F 0x607D 0x607D 0x6067 0x6060 Description Normal operation Position limits deactivated Velocity presetting via CAN Motor type 2444S024B K1155 Fault pin Error output All inputs react to rising edge No Hard Blocking limit switch defined Homing Speed 100 rpm No FAULHABER homing seguence defined Analog direction of rotation right Peak current limitation 5 A Continuous current limitation 1 37 A Acceleration 30000 r s Deceleration ramp 30000 r s Sampling rate 100 us I term of velocity controller P term of velocity controller P term of position controller D term of position controller I term of current c
107. ored errors 1 standard error field Unsigned32 ro No Last error 2 standard error field Unsigned32 ro No Further error The error memory contains the description of the last occurring error The standard error field is divided into two 16 bit fields Byte MSB LSB Additional Information Error Code Errors are reported by the Emergency Object The meaning of the individual error codes is described in section 4 4 The error memory is deleted by writing a 0 to Subindex 0 If no error has occurred since switch on then the object only consists of Subindex 0 with the entry 0 43 SZ FAULHABER 6 Parameter Description 6 1 Communication Objects according to DS301 Manufacturer Device Name Index Subindex AET Type Attrb Default value Meaning 0x1008 0 manufacturer device Vis String const No Device name name Use the Segmented SDO protocol to read out the device name as it can be larger than 4 bytes Manufacturer Hardware Version Index Subindex INET Type Attrb Default value Meaning 0x1009 0 manufacturer Vis String const No Hardware version hardware version Use the Segmented SDO protocol to read out the hardware version as it can be larger than 4 bytes Manufacturer Software Version Index Subindex NETIGI Type Attrb Default value Meaning 0x100A 0 manufacturer Vis String const No Software version software version Use the Segmented SDO protocol to read out the software version as it can be larger than 4 by
108. osition value to 0 and delete corresponding HA bit at edge of respective limit switch Setting is not saved HL Hard Limit Stop motor and delete corresponding HL bit at edge of respective limit switch Setting is not saved HN Hard Notify Send message to Master statusword bit 14 1 and delete corresponding HN bit at edge of 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 power cycling 22 HL SHL command Positioning mode When the edge occurs the motor positions itself on the reference mark with maximum acceleration Velocity controller mode The motor is decelerated at the set deceleration value when the edge occurs i e it goes beyond the reference mark Using a positioning command LAO M allows the system to return gracefully to the reference mark This method has the advantage of no abrupt changes in motion S YHA FAULHABER 3 Functional Description 3 4 Extended operating modes The extended operating modes are only available in FAULHABER mode Modes of Operation or OPMOD must be set to 1 U
109. peed 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 MCDC only RM Load Motor Load motor resistance Ru as found Resistance on the spec sheet Unit mOhm KN Load Speed Load speed constant kn as found on Constant the spec sheet Unit rpm V 3 Functional Description SZ FAULHABER 3 5 Special functions of the error connection The fault output pin can be configured to act as an input or an output Use the appropriate command found in the following table to configure the pin for the desired functionality Command Function Description ERROUT Error Output Fault pin as error output ENCOUT Encoder Output Fault pin as pulse output not available on the MCDC DIGOUT Digital Output Fault pin as digital output The output initializes to low logic pulled to GND 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 sections 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 exceede
110. pplied to the unit 2 1 2 Maintenance The units are maintenance free in principle The air filters of cabinet units must be regularly checked and cleaned if reguired depending on the guantity 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 should be carefully read and heeded prior to commissioning SZ FAULHABER 2 Installation 2 2 CAN wiring CAN Bus Line 120 Q CAN_L CAN is a 2 wire bus system to which all nodes are connect in parallel A terminal resistance of 120 2 must be connected to each end of the bus line In addition to the two signal lines CAN_H and CAN_L the nodes must be connected together by a common GND line The maximum line length is limited by the transfer rate and the signal propagation time Baud rate Max line length 1000 kBit s 25m 500 kBit s 100 m 250 kBit s 250m 125 kBit s 500 m 50 kBit s 1000 m 20 kBit s 2500 m 10 kBit s 5000 m 11 SZ FAULHABER 2 Installation 2 3 Motor connection 1 MCBL 3003 06 C The signal l
111. press Send button or select in Commands Motion control Initiate velocity mode menu enter value 100 in dialogue box press OK and Send button b Profile Velocity Mode OPMOD3 Set Target Velocity to the value 100 Object Ox60FF Stop motor a FAULHABER Mode OPMOD 1 Command V0 b Profile Velocity Mode OPMOD3 Set Target Velocity to the value 0 Object Ox60FF or Disable Operation Move motor relatively by 10000 increments c FAULHABER Mode OPMOD 1 LR10000 command to load the relative target position M command to move to loaded target position d Profile Position Mode OPMOD1 Set Target Position to the value 10000 Object 0x607A Move to Target Position New set point and set rel in statusword 1 Overview SZ FAULHABER 1 2 Quick start 1 2 2 Operation using a custom interface Start of CANopen node Either an individual node or the entire network is started and set to Operational status using the broadcast command Start Remote Node 11 bit identifier 2 bytes user data 0x000 01 00 The first data byte contains the start command Start Remote Node the second data byte contains the node address or 0 for the entire network After the node has been started all functions can be activated The drive can now be activated and operated using the Device Control functions according to CiA DSP402 or using the FAULHABER messag
112. r 4 Serial number Unsigned32 ro Serial no Uf Y JA FAULHABER 6 Parameter Description 6 1 Communication Objects according to DS301 Server SDO Parameters Index Subindex NET Type Attrb Default value Meaning 0x1200 0 Number of entries Unsigned8 ro 2 Number of object entries 1 COB ID Client gt Unsigned32 ro 0x600 CAN Object Identifier Server rx Node ID for Server RxSDO 2 COB ID Server gt Unsigned32 ro 0x580 CAN Object Identifier Client tx Node ID for Server TxSDO Receive PDO1 Communication Parameters Index Subindex AET Type Attrb Default value Meaning 0x1400 0 Number of entries Unsigned8 ro 2 Number of object entries 1 COB ID Unsigned32 ro 0x200 CAN Object Identifier Node ID for RxPDO1 2 transmission type Unsigned8 ro 255 PDO transmission type Receive PDO2 Communication Parameters Index Subindex INET Type Attrb Default value Meaning 0x1401 0 Number of entries Unsigned8 ro 2 Number of object entries 1 COB ID Unsigned32 ro 0x300 CAN Object Identifier Node ID for RxPDO2 2 transmission type Unsigned8 ro 255 PDO transmission type Receive PDO3 Communication Parameters Index Subindex NET Type Attrb Default value Meaning 0x1402 0 Number of entries Unsigned8 ro 2 Number of object entries 1 COB ID Unsigned32 ro 0x400 CAN Object Identifier Node ID for RxPDO3 2 transmission type Unsigned8 ro 255 PDO transmission type Receive PDO1 Mapping Parameters Index Subindex AET Type Attrb Default value Meaning
113. rget position The resulting absolute target position must lie between 2 14 10 and 2 14 10 M Initiate Motion Activate position control and start positioning 16 Example 1 Load target position LA40000 2 Start positioning M Attainment of the target position is indicated in both operating modes by the statusword on TxPDO1 Bit 10 Target reached provided that the transmission type for RxPDO is set to 255 Object 0x1800 The linear Hall sensors used as position transducers on the brushless motors 3564K024B CC MCBL 3003 06 C effectively produce 3000 pulses per revolution In the case of APLO relative moves can also be executed beyond the range limits If the upper 1800000000 or lower limit 1800000000 is exceeded counting rolls over to 0 without loss of positional information SZ FAULHABER 3 Functional Description 3 2 Velocity control 3 2 1 Velocity control using CAN Velocity can be controlled using CAN in two different ways a In Profile Velocity Mode according to DSP402 Modes of Operation or OPMOD must be set to 3 Profile and controller parameters are set using the object dictionary or using FAULHABER commands In particular the acceleration values AC 0x6083 and DEC 0x6084 the current limitation values LPC and LCC as well as the controller parameters POR and 0x60F9 must be configured for the respective application The velocity control mode is started by setting Targ
114. ritz 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 The pertinent regulations regarding safety engineering and interference suppression must be complied with Subject to modifications 1 Overview SZ FAULHABER 1 1 General description This document describes the functionality and operation of the following equipment with CANopen interface 3564K024B CC The 3564K024B CC integrates a brushless DC Servomotor with a high resolution absolute encoder and a motion controller in one complete drive unit MCBL 3003 06 C The MCBL 3003 06 C is an external motion controller for brushless DC servomotors with linear Hall sensors which can be operated without additional encoders MCDC 3003 06 C The MCDC 3003 06 C is an external motion controller that is designed for the entire range of FAULHABER DC micro motors
115. roglio 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 MA05012 English 2nd edition 01 07 06
116. rtant for safety relevant applications here escapes the digital input connection 3 red 2 Preset value Can be changed over the interface Position control 24V DC Example Limit switch interface CAN Bus CANL o pink Protection Overtemperature Current limit lt Overyoltage 3 Phase Phase A pwm fi Menase 87 Sine wave lt _ amplifier Phase C commutator ft Hall sensor A Hall sensor B Evaluation limit Armature switch position CANH o GND Communication limiting and configurations a module calculation CANopen It Current A For notes on technical data and lifetime performance refer to Technical Information Edition 2006 2007 Specifications subject to change without notice 78 www faulhaber group com Uf SZ FAULHABER 4 Brushless DC Servomotor with integrated Motion Controller General description The 3564K024B CC combines an electronically commutated DC Servo motor a high resolution absolute encoder and a programmable position and speed controller with CAN interface 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 as regards synchronous operation and minimal torque fluctuations A PI controller ensures observance of set point spee
117. s 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 PC with CAN interface Note The FAULHABER Motion manager Up to 127 CANopen software supports at the moment all devices nodes can be CAN interface of the company IXXAT connected Extensions for CAN interfaces of other e g digital inputs or a manufacturers are possible drive circuit For notes on technical data and lifetime performance refer to Technical Information Edition 2006 2007 3 x 3564K024B CC with CAN interface e g 3 x adapter optional for connection Node 0 assistance Node 8 Node Resistance on the adapter must be set Specifications subject to change without notice 79 www faulhaber group com A FAULHABER SFG ZZ 80 Notes po SZ FAULHABER Motion Controller gt 4 Ouadrant PWM with CAN interface Series MCBL 3003 06 C Power supply PWM switching frequency Efficiency Max continuous output current Max peak output current Total standby current Speed range Scanning rate Encoder resolution with Ha
118. se 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 using a digital signal Alternatively the direction of rotation can also be preset using the commands ADL and ADR Command Function Description DIRIN Direction Input Fault pin as rotational direction input The drive moves a configurable number of degrees 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 easily programmable and is only limited by the resolution of the encoder E The individual step is easily configurable E There is no detent torque E The full dynamics of the motor can be used E The motor is very quiet E Because of the encoder there is no loss of steps even under extreme loads H There is no current draw when the motor reaches position E The system only consumes the energy it needs E The control electronics are already integrated in the 3564K024B CC Input Maximun input freguency 400 kHz Level 5 V TTL or 24 V PLC compatible depending on configuration Stepper motor
119. st polarity reversal by an E e a 8 conductors AWG 24 internal fuse In case of damage 2333 ME Conneting cable 1 meter due to polarity reversal this internal fuse can only be 3564K024B CC replaced at the factory For notes on technical data and lifetime performance Specifications subject to change without notice refer to Technical Information Edition 2006 2007 77 www faulhaber group com Uf SZ FAULHABER 4 Motion Controller Supply voltage Us Peak current max Input output see connection No 1 2 and 3 Connection No 1 brown Speed command analog input Speed command PWM input Digital input External encoder fmax Step frequency input f max Connection No 2 white Fault output Digital output Digital input Connection No 3 red Digital input Electronic supply voltage Us Encoder Scanning rate Resolution internal encoder 12 30 VDC 8 A 3 voltage range 10 V freguency range 100 2 000 Hz pulse duty factor 50 0 rpm input resistance 5 kQ 400 kHz 400 kHz no error switched to GND open collector max Us 30 mA input resistance 100 kQ input resistance 22 kQ 12 30 VDC 100 HS 3 000 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 impo
120. tes Guard Time Index Subindex NETO Type Attrb Default value Meaning 0x100C 0 guard time Unsigned16 rw 0 Monitoring time for Node Guarding Specification of Guard Time in milliseconds 0 switches the monitoring off Life Time Factor Index Subindex AET Type Attrb Default value Meaning 0x100D 0 Life time factor Unsigned8 rw 0 Time factor for lifeguarding The Life Time Factor multiplied by the Guard Time gives the Life Time for the Node Guarding Protocol see section 4 5 0 switches Lifeguarding off Store Parameters Index Subindex NETO Type Attrb Default value Meaning 0x1010 0 largest sub Unsigned8 ro 3 Number of index supported storage options save all parameters Unsigned32 rw 1 Saves all parameters 2 save communication Unsigned32 rw 1 Only save communication parameters parameters 3 save application Unsigned32 rw 1 Only save application parameters parameters This object stores configuration parameters in the non volatile flash memory A read access provides information on the storage options SZ FAULHABER 6 Parameter Description 6 1 Communication Objects according to DS301 The storage process is triggered by writing the signature save to the relevant subindex Signature MSB LSB ISO 8859 7 R ASCII hex 65h 76h 61h 73h The object corresponds to the FAULHABER command SAVE Attention The command may not be executed more than 10 000 times as otherwise the function of
121. 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 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 l 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 1 t current limitation Ri Limitation lt Duration Time yf Toite Time Load variation 3 6 3 Overtemperature protection If the MOSFET temperature of the external controllers or the coil temperature of the 3564K024B CC 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
122. to the Guarding Identifier of the monitored node by setting a remote frame The node then responds with the Guarding message which contains the current node status and a toggle bit The following diagram describes the Node Guarding protocol NodelLife Guarding COB ID 1792 Node ID Remote transmit request NMT Master NMT Slave indication request confirm response Node i Guard Time COB ID 1792 Node ID Remote transmit request indication Node i request Life Time confirm response Node Guarding Event Life Guarding Event indication indication if guarding error t Toggle Bit Initially 0 changes its value in each Guarding frame s Status s 0x04 4D Stopped Prepared s 0x05 5D Operational s 0x7F 127D Pre Operational Identifier distribution CANopen provides default identifiers for the most important objects in the Predefined Connection Set These consist of a 7 bit node address Node ID and a 4 bit function code in accordance with the following diagram Bit No 10 0 COB identifier gt Function Code Node ID The FAULHABER motion controllers only operate with these default identifiers Object Function Resulting COB ID Communication code binary Parameters at Index NMT 0000 0 SYNC 0001 128 80h 1005h TIME 0010 256 100h 1012h STAMP Object Function code Resulting COB ID Communication bin
123. ttrb Default value Meaning 0x6099 0 Number of entries Unsigned32 ro 2 Number of entries 1 Speed during search Unsigned32 rw 400 Speed during search for switch for switch 2 Speed during search Unsigned32 rw 100 Speed during search for zero for zero point The data are provided in user defined units according to the specified Velocity Factor Homing acceleration Index Subindex INET Type Attrb Default value Meaning 0x609A 0 Homing acceleration Unsigned32 rw 50 Acceleration during homing The presetting is made in user defined units according to the specified Acceleration Factor Procedure for a homing sequence Prerequisite NMT state Operational drive state Operation enabled and Modes of Operation 0x6060 set to Homing Mode 6 1 Set Homing Mode 0x6098 Homing Speed 0x6099 and Homing Acceleration 0x609A to the desired value 2 In the controlword set bit 4 Homing operation start to 1 to start the homing sequence 3 Drive responds with bit 12 Homing attained set in the statusword when the homing sequence is complete If an error occurs during the homing sequence bit 13 Homing error is set in the statusword An in progress homing sequence can be interrupted by writing a 0 to bit 4 in the controlword 6 3 5 Position Control Function The objects in this range are used to monitor positioning operation Position Demand Value Index Subindex AET Type Attrb Default value Meaning 0x6062 0 position
124. tusword These bits enable preparation of a new set point while an old movement instruction is still being executed via a handshake mechanism Procedure for individual positionings Prerequisite NMT state Operational drive state Operation enabled and Modes of Operation 0x6060 set to Profile Position Mode 1 1 Set Target Position 0x607A to the desired value 2 In the controlword set bit 4 New set point to 1 bit 5 Change set immediately to 0 and bit 6 abs rel depending on whether absolute or relative positioning is required 3 Drive responds with bit 12 Set point acknowledge set in the statusword and commences positioning 4 The drive indicates that it has reached the target position via the statusword with bit 10 set Target reached An existing or new positioning instruction can now be started New set point velocity V2 Vy t o i i time Procedure for a sequence of set points Prerequisite NMT state Operational drive state Operation Enabled and Modes of Operation 0x6060 set to Profile Position Mode 1 1 Set Target Position 0x607A to the desired value 2 In the controlword set bit 4 New set point and bit 5 Change set immediately to 1 and bit 6 abs rel depending on whether absolute or relative positioning is required 3 Drive responds with bit 12 Set point acknowledge set in the statusword and commences positioning 4 Anew positioning instructio
125. ult pin 3rd input 4th input MCDC only 5th input MCDC only Upon reaching the upper or lower limit switch the drive is stopped and can only be moved out of the limit switch again in the opposite direction Hard Blocking Homing switches are only active in DSP402 Homing Mode Polarity and Notify are not taken into account here and the position value is reset after execution of homing Notify switches indicate activation with the statusword and setting of bit14 You can then query which switch has triggered with Object 0x2311 The settings of this object change simultaneously with the settings of the FAULHABER parameters HB HD HA HN and HP Notify switch Index Subindex ET Type Attrb Default value Meaning 0x2311 0 Triggered switch Unsigned8 ro 0 Triggered switch This object can be used to query which switch has triggered in accordance with the above bit mask after receipt of a statusword message with bit14 set Reading the object resets bit14 in the statusword again FAULHABER fault register Index Subindex ET Type Attrb Default value Meaning 0x2320 0 Number of entries Unsigned8 ro 3 Number of object entries 1 Internal fault register Unsigned16 ro 0 Current internal fault 0 No fault 2 Emergency mask Unsigned16 rw OxFF Faults that trigger an emergency message frame 3 Fault mask Unsigned16 rw 0 Faults that are treated as DSP402 errors and influence the state machine error state 4 Errout mask Unsigned16 rw OxFF Fa
126. ults that set the error output This object describes the treatment of internal faults The errors are coded as follows and can be masked by adding the required error Types 0x1000 Software overflow 0x0004 Overvoltage 0x0001 Current limit active 0x0100 CAN error 0x0008 Temperature error 0x0002 Speed deviation 0x0010 NVRAM error M JA FAULHABER 7 6 Parameter Description 6 3 Objects of the DSP402 profile Set baud rate Index Subindex WET Type Attrb Default value Meaning 0x2400 0 Baud rate Unsigned8 ro OxFF Set baud rate You can use this object to query which baud rate is set The index of the set baud rate or OxFF is returned if AutoBaud is set Baud rate Index Baud rate Index 1000 KBit 0 125 KBit 4 800 KBit 1 50 KBit 6 500 KBit 2 20 KBit 7 250 KBit 3 10 KBit 8 AutoBaud OxFF 6 3 1 Device Control The objects in this range serve to control and display the drive behaviour Controlword Index Subindex Name Type Attrb Default value Meaning 0x6040 0 controlword Unsigned16 rw 0 Drive control The controlword serves to control the drive state machine and is generally transmitted by means of RxPDO1 The individual bits of the controlword have the following meaning Bit Function Commands for Device Control State Machine g lt 2 eg o se 8 Se 25 25 z 58 85 AS 68 aS 56 2 0 Switch on 0 1 xX X 1 1 X 1 Enable Voltage 1 1 0 1 1 1 X 2 Quick Stop 1 1 X 0 1 1 x 3 Enable Operation x X x xX 0 1 X 4 Ne
127. unication lt CANH o 2 and configurations limiting GND gt Micro Controller module Signal GND M6 Specifications subject to change without notice Edition 2006 2007 86 www faulhaber group com SZ FAULHABER Motion Controller General description The MCDC 3003 06 C is the perfect controller for the entire range of FAULHABER DC Micromotors In conjunction with the proven IE2 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 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
128. ut Rin 22 kQ electronic supply voltage Us 12 24 30 VDC Connection 4 In digital input Rin 22 kQ Connection 5 In digital input Rin 22 kQ 2 Optional on request Edition 2006 2007 85 Specifications subject to change without notice www faulhaber group com GY SZ FAULHABER 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 CAN_L CAN Low Pin 3 GND Ground Pin7 CAN_H CAN High 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 lt 24V DC Fault output Protection Overtemperature 10k Current limit Overvoltage MOSFET Power amplifier Motor M7 Example Armature Limiit switch position 1 hanen fms p calculation CANopen Interface SANSPERIA 1 Current CAN L Comm
129. vant motor Internal parameters are also changed for the specified values I term I Motor type The values set with the MOTTYP command can be individ ually 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 para meters kn speed constant and Rm motor resistance in accordance with the specifications in the data sheet using the commands KN and RM The MCDC 3003 06 C is configured for an encoder reso lution of 512 pulses ENCRES 2048 as default Use the command ENCRES or the Drive Parameters dialogue in the Motion Manager Configuration Drive functions menu to configure the post guadrature encoder reso lution which is four times the resolution of one channel per revolution The parameters Rm and kn must be set to protect the power stage of the MCDC 3003 06 C during braking operation The values are indicated in the data sheet of the connected motor In addition the controller parameters and the current limit values must be configured for the connected motor and application If using the Fault Pin as an input REFIN DIRIN the desired function must be programmed before applying external voltage to prevent destroying the input output 1 1628T012B K1155 12 25 2 1628T024B K1155 12 22 3 2036U012B K1155 6 45 4 2036U024B K1155 14 25 5 24445024B K115
130. vercurrent Overvoltage Set point encoder input V3 AGND Target position Position controller CAN bus Interface CAN L o CAN H o GND V8 input 3 gt jcalculation et PI velocity ri controller t N actual Evaluation V2 CAN L input 3 Velocity calculation L and deceleration The position range limits set via LL can also be activated with the APL1 command V1 CAN H CANopen communication and configurati module on 3 phase Phase A M8 brown PWM Phase B M7 orange sinusoidal Phase C M1 yellow commutator Hall sensor A M2 green Rator Hall sensorB M5 bl position all sensor ue calculation Hall sensor C M6 grey Pt current 5V VCC M3 red limitation controller controller R S signaieno w4 back GND 24 3 Functional Description SZ FAULHABER 3 4 Extended operating modes 3 4 3 Analog positioning mode In analog positioning mode the position can be commanded using a potentiometer or an external analog voltage Command Function Description APCMOD Analog Position Change to position control via Control Mode analog voltage The full scale deflection at 10 V is set using the LL command At 10 V the drive will move the motor an
131. w set point Homing operation start 5 Change set immediately 6 abs rel 7 Fault reset 0 gt 1 8 Halt 9 0 10 0 11 0 12 0 13 0 14 0 15 0 New set point 0 Do not set new target position 1 Set new target position Change set 0 Finish current positioning and start a new positioning immediately 1 Interrupt current positioning and start a new positioning abs rel 0 Target Position is an absolute value 1 Target Position is a relative value Fault reset 0 gt 1 Reset fault Halt 0 Motion can be executed 1 Stop drive The necessary command sequence at the start of a positioning a speed control operation or a homing sequence is explained subsequently in the section for the respective operating mode JA FAULHABER Y Uf 6 Parameter Description 6 3 Objects of the DSP402 profile Statusword Index Subindex Name Type Attrb Default value Meaning 0x6041 0 Statusword Unsigned16 ro 0 Status display The statusword serves to display the current state of the drive state machine and is generally transmitted automatically in the event of status changes by means of TxPDO1 The individual bits of the statusword have the following meaning Bit Function Commands for Device Control State Machine Ss 6 kel 5 as 5 5 lt es 088 33 bS Se sL Sc 2 Sie e ae St ast Z 250 AA 50 AO Ow On LS 6 ind 0 Ready to Switch On 0 0 1 1 1 1 1 0 1 Switched On 0 0 0 1 1 1 1 0 2 Operation Enabled 0 0 0 0 1 1 1 0 3 Fault 0 0 0 0 0 0 1 1 4 Voltage
132. ytes 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 If 2 Integer32 parameters are requested there is no more space for the time code in the CAN frame and configuration parameter 2 must therefore be set to 0 transfer without time code The time measurement must then occur in the Master SZ FAULHABER 6 Parameter Description 6 1 Communication Objects according to DS301 Device Type Index Subindex NET Type Attrb Default value Meaning 0x1000 0 device type Unsigned32 ro No Specification of the device type Contains information on the device type divided into two 16 bit fields Byte MSB LSB Additional Information Device Profile Number Device Profile Number 0x192 402D Error Register Index Subindex AET Type Attrb Default value Meaning 0x1001 0 error register Unsigned8 ro No Error register Internal device errors are displayed in this byte as follows Bit M O Meaning generic error current voltage temperature communication error overrun error state device profile specific reserved always 0 NOU BWN O OoO0O000 00 2 manufacturer specific Pre defined Error Field error memory Index Subindex INET Type Attrb Default value Meaning 0x1003 0 number of errors Unsigned8 ro No No of st

Operating Instructions - HNP Mikrosysteme GmbH

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