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Operating Instructions Motion Controller 2 - u
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1. Figure 7 Fianna aaa a Brown Sl a Phase B Dee Gee aun pae all 7 Phase C SN Sy ee rh Yellow ol 6 GN DS A a Black s DC Servomotor VCC sea een Red amp 4 A Hall sensor C fk ae sii hae Fee Grey ell 3 Hall sensorB en er Blue ol 2 Hall sensor A pata en ee ye oe Green ol 4 Connector X1 8 Specifications subject to change without notice SZ FAULHABER The FAULHABER Group DR FRITZ FAULHABER GMBH amp CO KG Daimlerstra e 23 71101 Sch naich Germany Tel 49 0 7031 638 0 Fax 49 0 7031 638 100 Email info faulhaber de www faulhaber de MINIMOTOR SA 6980 Croglio Switzerland Tel 41 0 91 611 31 00 Fax 41 0 91 611 31 10 Email info minimotor ch www minimotor ch MicroMo Electronics Inc 14881 Evergreen Avenue Clearwater FL 33762 3008 USA Phone 1 727 572 0131 Fax 1 727 573 5918 Toll Free 800 807 9166 Email info micromo com www micromo com MINIMOTOR SA Edition 29 05 2000
2. Vm v 5 v R 2 Imax A ke V rpm nmax rpm with R terminal resistance of the motor phases kE back EMF constant of the motor Imax maximum current reached by the motor in your specific application nmax maximum speed reached by the motor in your specific application 8 2 Wiring A well known disadvantage of pulse width modulation is the large amount of interferences generated This has two consequences namely perturbations to the environment and self perturbations The EMI are generated in the motor power leads and induced in the Hall effect sensor wires The smooth running of the motor is therefore perturbed and even in some cases the motor will not run at all In order to reduce the effect of these perturbations there are some basic rules to follow e use wires as short as possible e avoid to run signal wires logical and analog command Hall effect sensors signals in close proximity to power lead wires power supply and servomotor phases e connect shielded wires to ground at one end only to avoid ground loops A special care should be given to the motor connection The following table summarizes the different solutions 6 Specifications subject to change without notice SZ FAULHABER Notice of use Action From Self Length 1 No special care no no no 0 3m 2 Twisted wires see fig 5 slightly slightly slightly 1 0m 3 Shielded Hall effect sensor no yes yes 5 0m wires see fig 6 4 Shie
3. restarted with the BRAKE input 4 Specifications subject to change without notice AA FAULHABER Start up procedure 6 7 Basic circuit diagram Vm GND Analog speed command Phase A Fault output Phase B Phase C Brake Hall sensor A Hall sensor B Direction Hall sensor C i converte converter Excess temperature protection current limiting and protection against motor stall 7 Start up procedure 7 1 Procedure e Connect the servo amplifier according to the diagram see fig 4 e Only switch on the power once all wires have been connected e Verify the operation if the red LED is on then check the connections and reset via the BRAKE input 7 2 Connection diagram GND power supply x Brown Phase A Vm power supply Orange Phase B GND Logic Yellow Phase C Analog speed comm 2 Black GND Logic 5 V output Red 5 V output Fault output Grey Hall sensor C Brake Blue Hall sensor B Direction CWICCW Green Hall sensor A 5 Specifications subject to change without notice SZ FAULHABER Notice of use 8 1 Power supply Any unstabilized power supply voltage within the servo amplifier range 10V lt Vm lt 56 V may be used although it is advisable to keep this voltage as low as possible in order to minimize the electromagnetic interferences EMI Thus the optimum power supply is given by the following relation
4. Motion Controller 2 Ouadrant PWM for Brushless DC Servomotors Operating Instructions We create motion e S m Miniature Drive Systems gt Micro Drives DC Micromotors 5 Precision Gearheads Servo Components 5 Drive Electronics Surf to the following Internet address and you will find the latest edition of the instruction manual on line www minimotor ch uk pr Oo Netscape MINIMOTOR SA gt gt gt Miniature drive system B amp s 3 4 ua sd 8 Back Forward Reload Home Search Netscape Images Print Security Shop Stop r Location d http www minimotor ch uk pr I What s Related BIS FAULHABER Drive Electronics Company profile A Type Motortype Function Operating Current Speed Powersupply Current limit Instruction manual Ea System mode control control VDE A Download FAULHABER LC3002 Brush comm 4 Ouadrant Linear Yes Yes 12 32 2 Benk Product design MCDC 2805 Brush comm 4Quadrant PWM No Yes 12 28 1 lera EJ Product range MCDC 3603 Brush comm 4Quadrant PWM No Yes 12 38 3 T 2258 KB EA Fn MCDC 6004 Brush comm 4Quadrant PWM No Yes 12 50 10 lag Key m arr BLD 3502 Brushless 2 Quadrant PWM No Yes 12 35 2 Bezk A Group BLD5603 Brushless 4Quadrant PWM Yes Yes 14 58 4 Plisexz Kp BLD 5604 Brushless 2 Quadrant PWM No Yes 10 56 4 l si Ke BLD S608 Bruhles udun PAM Ye Yes 1 8 n BLO 5908 Brus
5. he Hall sensors without the need of an encoder regulator type PI proportional plus integral The combination of MOSFET power stage and PWM technologies enables both compact design and high power efficiency Both amplifiers are provided with thermal and motor stall protection and pulse by pulse current limitation For the BLD 5604 SH2P the current limit is set to 4A without additional heat sink the maximum continuous output power is 150W The BLD 5608 SH2P is set to 8A the maximum continuous output power is 250 W 2 Illustration Connector X2 Connector X1 to connect power supply to connect the brushless and command signal DC servomotor LED signals a protection intervention and the servo amplifier desactivation Heat sink with four mounting slots Big 2 Specifications subject to change without notice SZ FAULHABER Technical data 3 Maximum ratings 5604 sH2p 5608 SH2P Power supply 60 60 VDC Analog and logical inputs 0 3 to 5 0 3 to 5 VDC Voltage for the pull up fault output 8 mA max sink current 12 12 V DC Continuous output current Ta 22 C 3 5 A 14 Specific characteristics Pt Power supply 10 56 10 56 VDC PWM switching frequency 25 25 kHz Current limit pulse by pulse current limiting 4 8 A Total standby current Hall effect sensors supply included 120 120 mA Efficiency max 95 95 Analog speed command 0 voltage range 0 5 0 5 VDC frequency bandwidth 10 10 Hz input
6. hless 2 Quadrant PWM No Yes 10 56 8 El 6681 KB MCBL 2805 Brushless 4Quadrant PWM No Yes 12 28 10 ire MCBL3603 Brushless 4Quadrant PWM No Yes 12 38 3 Bless we MCBL 5004 Brushless 4Quadrant PWM No Yes 12 50 10 2 8407 KB FAULHABER GROUP We create motion Mriroter SA 6980 Crogio Switzerland Tal 41 091 611 31 00 Fax 41 0 91 611 31 10 Email inio miriroter ch ir SP ES G For direct Download http www minimotor ch minicatalog pdf DriveCircuits Manuals IM_e_BLD_5604_5608 pdf SS SZ FAULHABER Index General information ile Description 2 Illustration Technical data 3 Maximum ratings 4 Specific characteristics 5 Dimensions and weight General characteristics 6 1 Speed command 6 2 Speed regulator type Pl 6 3 Direction 6 4 Brake 6 5 Protection against motor stall 6 6 Excess temperature protection 6 7 Basic circuit diagram Start up procedure Tol Procedure A Connection diagram 8 1 Power supply 8 2 Wiring ce YHA FAULHABER Linf The BLD 5604 and the BLD 5608 are 2 quadrant PWM Pulse Width Modulation servo amplifiers ideal for the speed control of our three phase brushless DC servomotors e 5604 for motor types 1628 2036 and 2444 e 5608 for motor types 3056 and 3564 The commutation sequence of the servomotor phases is made electronically by the servo amplifier A specially designed frequency to voltage converter allows precise speed regulation via t
7. impedance 460 460 kQ Logic inputs we TTL VDC Output voltage for external use 100 mA max load 5 5 VDC Speed gain 12 000 6 000 rpm V Maximum controllable speed 60 000 30 000 rpm Minimum controllable speed 800 800 rpm Operating temperature range 0 70 ON Ee Storage temperature range 20 120 20 120 C 1 analog speed command may be set by an external potentiometer or an external voltage 2 the maximum speed depends on the power supply the motor type and the load 3 the minimum speed depends on the motor type the inertia and the viscous friction of the load 5 Dimensions and weight 114 3 Scale reduced a Sp Dimensions length 114 3 mm width 100 mm height 28 7 mm x2 e ae al a gt IE g Weight 200 g e a e mg s S 1 a a its 6 102 3 i 28 7 Fig 2 3 Specifications subject to change without notice SZ FAULHABER ct A 6 General characteristics 6 1 Analog speed command The speed command is given by an external voltage from 0 to 5V or by a potentiometer connected directly to the servo amplifier see fig 4 The total potentiometer resistance must be between 10 kQ and 47 kQ Furthermore a PWM signal with a maximum amplitude of 5V and a minimum frequency of 1 kHz can be used as a speed command 6 2 Speed regulator type Pl A Proportional plus Integral PI speed regulator controls a brushless DC servomotor with no steady state error step inp
8. lded Hall effect sensor yes yes yes 5 0 m and phases wires see fig 7 with To perturbations to environment reduced From perturbations from environment reduced Self self perturbations reduced Length maximum cable length In case of wires longer than the standard product 0 3 m it is recommended to use the following cable sections Phase DC Servomotor type 1628 B 0 5 mm AWG 20 Phase DC Servomotor type 2036 B 1 0 mm AWG 18 Phase DC Servomotor type 2444 B 1 0mm AWG 18 Phase DC Servomotor type 3056 B 1 5 mm AWG 16 Phase DC Servomotor type 3564 B 1 5 mm AWG 16 Hall effect sensors all DC Servomotor types 0 5 mm AWG 20 Note If wires are longer than 5 m please consult us 7 Specifications subject to change without notice SZ FAULHABER Twisted wires Figure 5 Phase A Brown Phase C Yellow sl 6 Brushless nl j pak sl 5 DC Servomotor Ol 4 Hall sensor C Grey Hall sensor B Blue 3 Hall sensor A Green J Connector X1 Shielded Hall sensor wires Figure 6 Phase A Brown Phase B Orange Ol 8 Phase C Yellow i 2 coocoo lt GND logic SS Blak s DC Servomotor VCC Te ae ee ee eee Red ol 4 Hall sensor C Grey r e a s a HallsensorB Far name an Blue el gt HallsensorA Green all 4 Connector X1 Shielded phase and Hall sensor wires
9. ut command 6 3 Direction The direction of rotation is changed using either a high or low input signal TTL compatible When a high input signal is given or the input is unconnected internal pull up resistance the motor turns in the clockwise direction CW When a low input command is given or the input is connected to GND the motor turns in the counterclockwise direction CCW 6 4 Brake This feature allows the motor to brake dynamically by applying a low input signal to the BRAKE input The braking torque is proportional to the speed at standstill there is no torque applied to the motor This logical input also has the function to reset the servo amplifier when an error message is given via the red LED We recommend using this feature at speeds below 10 000 rpm 6 5 Protection against motor stall This protection is a special feature to preserve the motor in case of mechanical blocking or motor stall The servo amplifier will be disactivated after few seconds when the motor is powered it does not turn At the same time this intervention will be signalled by the red LED and with the activation of the Fault Output open collector To reset and reactivate the servo amplifier it is necessary to turn the BRAKE input low and then high 6 6 Excess temperature protection The servo amplifier automatically shuts off if the heat sink temperature exceeds 75 C When the temperature is below 70 C the servo amplifier can be
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