Faulhaber 3564K024B CS Instruction Manual Download

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MCDC 3003 / 06 S:

FAULHABER
command

Description

CONTMOD

Normal operation

APL0

Position limits deactivated

SOR0

Velocity presetting via RS232

ERROUT

Fault pin = error output

HP31

All inputs react to rising edge

HB0, HD0

No Hard Blocking limit switches

defined

HOSP100

Homing Speed = 100 rpm

SHA0, SHL0, SHN0

No FAULHABER homing defined

ADR

Analog direction of rotation right

LPC10000

Peak current limitation = 10 A

LCC5000

Continuous current limitation =

5 A

AC30000

Acceleration = 30 000 r/s²

DEC30000

Deceleration ramp = 30 000 r/s²

SR1

Sampling rate = 100 μs

I50

I-term of velocity controller

POR10

P-term of velocity controller

PP10

P-term of position controller

PD5

D-term of position controller

CI40

I-term of current controller

SP30000

Limitation of maximum speed to

30 000 rpm

MV0

Smallest analog speed

MAV25

Smallest analog voltage

LL1800000000

Upper positioning range limit

LL-1800000000

Lower positioning range limit

LPN16

Numerical value for pulse output

STW1

Step width for special mode

STN1000

Number of steps for special mode

ENCRES2048

Resolution of external encoder

DEV30000

Do not monitor deviation error

DCE200

Error delay 2 sec.

CORRIDOR20

Target corridor for positioning

SETPLC

Digital inputs PLC-compatible

NET0

Multiplex mode is deactivated

BAUD9600

Transfer rate 9 600 baud

NODEADR0

Node number = 0

COMPATIBLE0

Not in compatibility mode

ANSW2

Asynchronous responses activated

POHOSEQ0

No homing sequence after switch-

ing on

DIPROG

Sequence programs deactivated

RM200000

Motor resistance = 200



KN14000

Speed constant = 14 000 rpm/V

Power output stage deactivated

Target speed value = 0 rpm

5 Parameter description

5.7 Configuration at delivery

MCBL 3003 / 06 S:

FAULHABER
command

Description

CONTMOD

Normal operation

APL0

Position limits deactivated

SOR0

Velocity presetting via RS232

MOTTYP5

Motor type 2444S024B K1155

ERROUT

Fault pin = error output

HP7

All inputs react to rising edge

HB0, HD0

No Hard Blocking limit switches

defined

HOSP100

Homing Speed = 100 rpm

SHA0, SHL0, SHN0

No FAULHABER homing defined

ADR

Analog direction of rotation right

LPC5000

Peak current limitation = 5 A

LCC1370

Continuous current limitation =

1.37 A

AC30000

Acceleration = 30 000 r/s²

DEC30000

Deceleration ramp = 30 000 r/s²

SR1

Sampling rate = 100 μs

I40

I-term of velocity controller

POR7

P-term of velocity controller

PP16

P-term of position controller

PD9

D-term of position controller

CI50

I-term of current controller

SP30000

Limitation of maximum speed to

30 000 rpm

MV0

Smallest analog speed

MAV25

Smallest analog voltage

LL1800000000

Upper positioning range limit

LL-1800000000

Lower positioning range limit

LPN16

Numerical value for pulse output

STW1

Step width for special mode

STN1000

Number of steps for special mode

ENCRES2048

Resolution of external encoder

DEV30000

Do not monitor deviation error

DCE200

Error delay 2 sec.

CORRIDOR20

Target corridor for positioning

SIN1

Do not allow block commutation

SETPLC

Digital inputs PLC-compatible

NET0

Multiplex mode is deactivated

BAUD9600

Transfer rate 9 600 baud

NODEADR0

Node number = 0

COMPATIBLE0

Not in compatibility mode

ANSW2

Asynchronous responses activated

POHOSEQ0

No homing sequence after switch-

ing on

DIPROG

Sequence programs deactivated

Power output stage deactivated

Target speed value = 0 rpm

Summary of Contents for 3564K024B CS

Page 1: ...WE CREATE MOTION Instruction Manual EN Motion Control Systems Series 3564K024B CS Motion Controller Series MCBL 3003 06 S Series MCDC 3003 06 S RS232 ...

Page 2: ......

Page 3: ...epared with care Dr Fritz Faulhaber GmbH Co KG cannot accept any li ability for any errors in this instruction manual or for the consequences of such errors Equally no liability can be ac cepted for direct or consequential damages resulting from improper use of the equipment The pertinent regulations regarding safety engineering and interference suppression as well as the specifications in this in...

Page 4: ...8 Compatibility mode 25 4 Functional description 26 4 1 Position control 27 4 2 Velocity control 29 4 2 1 Velocity presetting via RS232 29 4 2 2 Analog velocity presetting 30 4 3 Homing and limit switches 32 4 4 Enhanced operating modes 35 4 4 1 Stepper motor mode 35 4 4 2 Gearing mode electronic gear 36 4 4 3 Analog positioning mode 37 4 4 4 External encoder as actual value not MCDC 38 4 4 5 Volt...

Page 5: ... query commands 68 5 6 Commands for sequence programs 69 5 7 Configuration at delivery 71 6 Operation 73 6 1 Commissioning 73 7 Maintenance 74 7 1 Service Maintenance 74 7 2 Troubleshooting 74 8 Technical Data 75 8 1 Motor 3564K024B CS 75 8 1 1 Operating data 75 8 1 2 Product dimensions 76 8 1 3 Connection information 76 8 2 Motion Controller MCBL 3003 06 S 77 8 2 1 Operating data 77 8 2 2 Product...

Page 6: ... describes the handling and technical features of the following FAULHABER equipment 3564K024B CS The 3564K024B CS integrates a brushless DC Servomotor with a high resolution encoder to deter mine actual position and a motion controller in one complete drive unit MCBL 3003 06 S The MCBL 3003 06 S is an external motion controller for brushless DC servomotors with linear Hall sensors which can be ope...

Page 7: ...ols The Motion Controller s control parameters can be individually adjusted to the respective applica tion via a PC The FAULHABER Motion Manager PC software for Microsoft Windows is available for commissioning and configuration of the Motion Controller and can be downloaded free of charge from the FAULHABER Homepage www faulhaber com Subject to compliance with the conditions described in Chapter 9...

Page 8: ...osition switches Enhanced operating modes Stepper motor mode analog positioning mode voltage controller electronic gear operation with external incremental encoder Torque control via adjustable current limitation Storage of the set configurations Storage and execution of sequence programs Various inputs and outputs are available for implementation of these functions Set value input for target velo...

Page 9: ...s a high control quality precise positioning and very low speeds The Motion Controllers are designed for the following functions Velocity control with high requirements on synchronous operation and minimal torque fluctua tions A PI controller ensures observance of the target velocities Velocity profiles such as ramp triangular or trapezoidal movements can be realised Gentle start ing or decelerati...

Page 10: ...nterface for connection to PC or control with transfer rates of up to 115 kBaud An exten sive ASCII command set is available for programming and operation RS232 interface The drive can also be operated independently of the RS232 interface if the desired function such as velocity or position controller has been previously programmed via analog input stepper motor or electronic gear Options Separate...

Page 11: ...5 Set desired transfer rate and node address 6 Press Send button 7 The settings are transferred to the controller The Motion Manager then adjusts to the same baud rate and recalls the Scan function The node should now be displayed with the correct node number in Node Explorer 8 If the settings are to be permanently stored the EEPSAV button must then be pressed After switching off and on again the ...

Page 12: ...he drive via the PC the set value presetting must be set to digital SOR0 If the settings are to be permanently stored press the EEPSAV button 2 Activate drive EN command Enter in command input field and press Send button or select in Commands Motion control Enable drive menu and press Send button 3 Operate motor examples Drive motor with 100 rpm velocity control V100 command Enter in command input...

Page 13: ... are ignored and no distinction is made between upper and lower case The response to query commands or asynchronous events is also an ASCII character string followed by a CR character Carriage Return ASCII decimal code 13 and an LF character Line Feed ASCII decimal code 10 Example Actual position queries Transmit POS CR Receive 98956 CR LF Drive motor at 500 rpm Transmit V500 CR If ANSW2 is set yo...

Page 14: ...e Incorrect assembly or assembly with the wrong fixing materials can cause damage to the Motion Controller Observe the following assembly instructions 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 VD...

Page 15: ...essor circuit This table shows which additional EMC measures can be implemented to optimise the behaviour of the equipment in the intended environment with regard to emission and immunity The devices are intended for use in the industrial sector only If the devices are used in the home in business or in commerce or in a small business appropriate measures must be taken to ensure that the emitted i...

Page 16: ...uately dimensioned power pack is used If the supply leads are incorrectly connected polarity reversal the internal fuse trips This must be replaced in the factory The power pack should be adequately dimensioned for the connected motor Be sure to connect motor supply terminals to the correct polarity 3 3 1 3564K024B CS The connections are executed as coloured stranded wires and assigned as follows ...

Page 17: ...ated on the terminal strips and are assigned as follows Connector pin assignment supply end Connection Designation Meaning 1 TxD RS232 TxD 2 RxD RS232 RxD 3 AGND Analog GND 4 Fault Error output 5 AnIn Analog input 6 24 V 24 V 7 GND GND 8 3 In 3 input optional electronic supply UB Connector pin assignment motor end Connection Designation Meaning 1 Mot Motor 2 Mot Motor 3 SGND Encoder GND 4 5 V Enco...

Page 18: ...e RS232 wiring is established via the connections RxD TxD and the supply GND The integrated RS232 interface allows direct connection with a PC with use of a null modem cable in which the transmit cable TxD and the receive cable RxD are crossed Error output The error output is characterised by the following characteristics Switch that switches to GND Open Collector Output resistor in open state Hig...

Page 19: ...ble TxD and the receive cable RxD are crossed in order to connect the controller with the PC or control Wiring with one Motion Controller command NET0 1 2 3 4 5 9 8 7 6 1 2 3 4 5 9 8 7 6 1 2 3 4 5 9 8 7 6 GND TxD RxD GND TxD RxD GND TxD RxD PC Motion Controller n Motion Controller 1 1 2 3 4 5 9 8 7 6 1 2 3 4 5 9 8 7 6 GND TxD RxD GND TxD RxD PC Motion Controller 1 GND 4 7 1 2 3 4 5 9 8 7 6 1 2 3 4...

Page 20: ... length of the line increases MCDC 3003 06 S only The use of an encoder with complementary output e g line driver increases interference immunity A HEDL adapter no 6501 00064 from FAULHABER must be used in this case MCBL motor wiring Ph A Ph B Ph C Housing SGND 5 V Hall A Hall B Hall C Housing Phase A Phase B Phase C Hall sensor A Hall sensor B Hall sensor C Mot Mot Housing SGND 5 V CH A CH B Hous...

Page 21: ...or RS232 interface Example Change transfer rate to 19200 baud BAUD 19200 Baud rate PC and controllers must be set to the same baud rate to enable them to communicate with each other If the baud rate of the controller has been changed the baud rate of the PC or control must then also be set to the new baud rate If several drives are to be operated on a serial interface each drive unit must have a u...

Page 22: ... generation of Motion Controllers does not require a multiplexer board for serial network operation Multiplex mode is activated with a new command Command Function Description NET Set Network Mode Activate RS232 multiplex mode for network opera tion 0 No network operation single drive on an RS232 1 Network operation activated Example Activate network operation NET1 In order to address the individu...

Page 23: ...W command to set the response behaviour Command Function Description ANSW Answer Mode 0 No asynchronous responses 1 Allow asynchronous responses 2 All commands with confirmation and asynchro nous responses 3 Debug mode sent commands are returned cannot be used if configuring with Motion Manager 4 7 analogous to 0 3 but responses resulting from a command in the sequence program are not sent cannot ...

Page 24: ...6 25 12 2 40 3 000 770 2 1628T024B K1155 9 22 8 10 40 3 000 410 3 2036U012B K1155 6 45 10 14 50 3 000 980 4 2036U024B K1155 14 25 17 6 50 3 000 480 5 2444S024B K1155 7 40 16 9 50 5 000 1 370 6 3056K012B K1155 8 30 22 13 50 7 000 1 940 7 3056K024B K1155 10 40 22 12 50 3 000 930 8 3564K024B K1155 8 40 12 6 50 8 000 2 800 9 4490H024B K1155 8 40 12 6 20 10 000 6 000 0 Special motor 10 50 10 5 40 10 00...

Page 25: ...0 PP15 EN Depending on the application the controller parameters POR I PP PD and SR may need to be read justed see chapter 4 8 6 Adjusting the controller parameters Explanation of the COMPATIBLE command The following functions are executed by the COMPATIBLE command Command includes the following functions COMPATIBLE1 ANSW1 SR18 Automatic command acknowledgements deactivated Controller sampling at ...

Page 26: ...ABER Motion Manager enables simple setting of the configuration parameters and oper ating modes via corresponding dialogue windows The specified commands can be entered in plain text or selected from the Commands menu Circuit example 3564K024B CS with reference switch at analog input PI velocity controller MOSFET power output stage EC motor Rotor position calculation Phase A Phase B Phase C Hall s...

Page 27: ...00 2 Start positioning M Attainment of the target position or any intermediate position is indicated by a p if Notify Posi tion is set before the start of positioning provided that ANSW1 or ANSW2 is set Command Function Description NP Notify Position Without argument A p is returned when the target position is at tained With argument A p is returned when the specified position is over travelled NP...

Page 28: ...mmands NP and NV can be used to control the sequence Example Sequence respective command sequences after receipt of the Notify condition Start a b c d LA POS3 AC AC2 AC AC1 SP SP2 DEC DEC4 AC AC1 NV V2 NP POS1 DEC DEC3 NP POS3 SP SP1 M M NP POS2 M NV V1 M M The following diagram shows the described sequence Example of complex motion profile in comparison with trapezoidal profile Velocity SP1 V2 V1...

Page 29: ... Mode Activate velocity mode and set specified value as target velocity velocity control Unit rpm Example Drive motor at 100 rpm V100 In order to change the direction of rotation simply assign a negative velocity value e g V 100 V0 will stop the drive Make sure that APL0 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...

Page 30: ... SP Load Maximum Speed Load maximum speed Setting applies to all modes except VOLTMOD Unit rpm Example Set maximum speed so that with 10 V at the analog input the target velocity is 5 000 rpm SP5000 Setting the minimum velocity Minimum velocity that is preset when the start voltage is present Command Function Description MV Minimum Velocity Specifies the lowest velocity Unit rpm Example Set minimu...

Page 31: ...s made with ADR and ADL ADR and ADL are thus ineffective Set point presetting via pulse width signal PWM at the analog input SOR2 At delivery pulse duty factor 50 Clockwise rotation pulse duty factor 50 Stoppage pulse duty factor 50 Anticlockwise rotation The commands SP MV MAV ADL and ADR can also be used here Make sure that APL0 is set if you do not want the drive to stop at the set range limits...

Page 32: ...t 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 Configure before applying a voltage The electronics can be damaged if a voltage is applied to the fault pin while it is not configured a...

Page 33: ...es reliable protection against overshooting of the range limit switch If the drive is located in an HB limit switch then the direction of rotation set with HD will be blocked i e the drive can only move further out of the limit switch The speed stays at 0 rpm if target velocities are preset in the wrong direction Example Setting of the Hard Blocking function for Fault pin and 4th input 21 23 2 8 1...

Page 34: ...spective 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 rel evant 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 comman...

Page 35: ...dths are freely programmable No detent torque The full dynamics of the motor can be used The motor is very quiet The motor monitors actual position so that no steps are lost even with maximum dynamics No motor current flows in settled state actual position reached High efficiency The control electronics are already integrated in the 3564K024B CS Input Maximum input frequency 400 kHz Level 5 V TTL ...

Page 36: ...the following formula Revolutions pulses STW STN Revolutions Revolutions that are generated on the drive Pulses actually counted pulses which result in quadrature signal processing STW Step width step width factor number of steps per encoder pulse STN Step number number of steps number of steps per revolution Value range of STN and STW 1 to 65 535 Command Function Description STW Load Step Width L...

Page 37: ...analog voltage The maximum position to be approached with a voltage of 10 V can be preselected with the LL com mand With a voltage of 10 V the drive moves in the opposite direction Command Function Description LL Load Position Range Limits Load limit positions the drive does not move out of these limits in positioning mode positive values specify the upper limit and negative values specify the low...

Page 38: ...tly on the motor shaft but an encoder that is mount ed to the application output e g glass scale is particularly advantageous This allows the high precision to be set directly at the output Commutation still occurs via the analog Hall sensors Command Function Description ENCMOD Encoder Mode Change to encoder mode not for MCDC An external encoder serves as position transducer the current position v...

Page 39: ...ly voltage inverted Using a PWM signal to specify the speed requires setting SOR2 first 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 4 4 6 Analog target current presetting You can switch to analog target current presetting with the SOR3 command The limitation current is then p...

Page 40: ...econds before displaying error DCE200 If one of the above errors occurs automatic notification with an r can be implemented by setting Notify Error provided that ANSW1 or ANSW2 is set Command Argument Function Description NE 0 1 Notify Error Error notification 1 An r is returned if an error occurs 0 No error notification Fault pin as pulse output not for MCDC In the ENCOUT mode the fault pin is us...

Page 41: ...on CO Clear Output Set digital output DIGOUT to low level SO Set Output Set digital output DIGOUT to high level TO Toggle Output Switch to digital output DIGOUT 4 Functional Description 4 5 Special functions of the error connection ...

Page 42: ...the program sequence Command must not be executed more than 10 000 times as otherwise the function of the Flash memory can no longer be guaranteed These commands do not have to be entered in the FAULHABER Motion Manager as they are automatically attached by the Transfer program file function Note The Xon Xoff protocol must be used to transfer lengthy program sequences GPROGSEQ 1 Get Program Sequen...

Page 43: ...d HN Hard Notify The sequence stops at the GOHOSEQ command or at the next M or V command until the limit switch is overtravelled NV Notify Velocity The sequence stops at the next M or V command until the relevant speed is reached GOHIX Go Hall Index The sequence stops at the GOHIX command until the Hall null position is reached If there are several Notify conditions the first fulfilled condition e...

Page 44: ...0 255 JPT Adr Jump if 3 Input activated Jump to the specified address if the 3rd input is active HP determines the polarity Address 0 255 JPD only MCDC Adr Jump if 4 Input activated Jump to the specified address if the 4th input is active HP determines the polarity Address 0 255 JPE only MCDC Adr Jump if 5 Input activated Jump to the specified address if the 5th input is active HP determines the p...

Page 45: ... interruption DIERI Disable Error Interrupt The ERI command is deactivated i e in the event of an error the program does not jump to the error handling routine CALL Adr Call Subroutine Call a subroutine at specified address Address 0 255 RET Return from Subroutine Return from a subroutine Please note that only one subroutine level is possible i e no subroutines can be called within subroutines A A...

Page 46: ...according to A2 or A3 can only be called by a JMP2 or JMP3 command from the RS232 A JMP2 from the RS232 results in the drive moving to position 10000 and stopping there The DxJNZ commands serve to form loops with a predefined number of cycles Example Move by the same relative position 5 times SETA5 Set variable A to the value 5 A2 Define jump address 2 LR100 Load relative position NP Notify Positi...

Page 47: ... command No new error interruption can take place within the error handling routine The error handling sta tus is cancelled as soon as the RETI or JMP command is executed After this the commands are inter rupted again if an error occurs It should therefore be ensured that the error situation disappears in the error handling routine Otherwise the error handling call will be repeated Homing The HN S...

Page 48: ... RS232 The program enables the calling of different routines from the RS232 interface JMP2 Homing Sequence First move to a limit switch and then to the Hall sensor zero point Hall index in order to obtain the most precise reference point possible JMP3 Move to position 0 and stop there JMP4 Attempt to approach a position with low current limitation As there may be an obstacle in the way in the appl...

Page 49: ...t LA1000000 NP TIMEOUT500 Continue sequence after 5 sec even if position has not yet been attained M Start positioning V0 Stop motor LR0 M Switch back to positioning mode JMP1 Return to endless loop A5 Entry point for routine 3 JMP5 SETA1000 Predefine variable A A6 Entry point for loop LR30000 NP M DELAY100 LR 15000 NP M DELAY50 DAJNZ6 Repeat loop 1000 times JMP1 Return to endless loop The individ...

Page 50: ...NSW0 No asynchronous responses EEPSAV Save configuration Program GOHOSEQ Homing to reference switch GOHIX Subsequent homing to Hall sensor zero point Hall index A1 HP3 High level at input 2 Fault pin input and input 1 AnIn effective A2 JPF2 Endless loop until low level at input 2 HP1 Low level effective at input 2 Fault pin input input 1 AnIn continued high level A3 JPF3 Endless loop until high le...

Page 51: ...t binary transmit mode for parameter 1 Mode 1 0 Actual velocity Integer16 rpm 1 Target velocity Integer16 rpm 2 Controller output Integer16 4 Motor current Integer16 mA 44 Housing temperature Unsigned16 C 46 Coil temperature Unsigned16 C 200 Current position Integer32 Inc 201 Target position Integer32 Inc 2 Setting of binary transmit mode for parameter 2 curve 2 2 binary characters are sent in dir...

Page 52: ...etween 16 and 199 Mode2 at 255 inactive 3 byte Coding as in 1 The data are in Unsigned16 format 3 Mode1 between 200 and 255 Mode2 at 255 inactive 5 byte 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 5 9 Byte Byte 1 to 2 4 Data bytes...

Page 53: ...mited to sinusoidal form basic setting 4 8 2 Current regulator and I2 t current limitation The FAULHABER Motion Controllers are equipped with an integral current controller which enables implementation of moment limitation The following parameters can be set Command Function Description LPC Load Peak Current Limit Load peak current Value 0 to 12 000 mA LCC Load Continuous Current Limit Load contin...

Page 54: ...ation Imax IDuration Time IMotor ILimitation 4 8 3 Overtemperature protection If the MOSFET temperature of the external controllers or the coil temperature of the 3564K024B CS exceeds a preset limit value the motor is switched off The following conditions must be fulfilled in order to reactivate the motor Temperature below an internal preset limit value Target velocity set to 0 rpm Actual motor sp...

Page 55: ... the controller parameters The controller parameters are already preset for common applications However in order to opti mally adapt the controller to the respective application the controller parameters must be opti mized 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 b...

Page 56: ...erm 8 PP8 Default value for D term 15 PD15 2 Motion profiles appropriate for the application must now be run If the system does not func tion stably with these settings stability can be achieved by reducing the I 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 t...

Page 57: ... commands or asynchronous events is also an ASCII character string followed by a CR character Carriage Return ASCII decimal code 13 and an LF character Line Feed ASCII decimal code 10 Examples Actual position queries Transmit POS CR Receive 98956 CR LF Drive nodes at 500 rpm Transmit V500 CR If ANSW2 is set you will receive an OK when the command has been successfully executed If an execution erro...

Page 58: ...35 MOTTYP 0 9 BL motor type Set to connected BL motor MCBL only 0 BL special motor according to KN and RM 1 1628T012B K1155 2 1628T024B K1155 3 2036U012B K1155 4 2036U024B K1155 5 2444S024B K1155 6 3056K012B K1155 7 3056K024B K1155 8 3564K024B K1155 9 4490H024B K1155 KN Value Load Speed Con stant Load speed constant Kn in accordance with information in the data sheet Unit rpm V Only necessary for ...

Page 59: ...tivate Deacti vate Position Limits Activate range limits LL valid for all operating modes except VOLTMOD 1 Position limits activated 0 Position limits deactivated SP Value Load Maximum Speed Load maximum speed Setting applies to all modes rpm Value 0 to 30 000 AC Value Load Command Acceleration Load acceleration value r s2 Value 0 30 000 DEC Value Load Command Deceleration Load braking value r s2 ...

Page 60: ...HB Value Hard Blocking Activate Hard Blocking function for relevant limit switch HD Value Hard Direction Presetting of direction of rotation that is blocked with HB of respective limit switch 1 Clockwise rotation blocked 0 Anticlockwise rotation blocked SHA Value Set Home Arm ing for Homing Sequence Homing behaviour GOHOSEQ Set position value to 0 at edge of respective limit switch SHL Value Set H...

Page 61: ...2 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 IXRMOD Bit 10 Power amplifier 0 Disabled DI 1 Enabled EN Bit 11 Position controller 0 Switched off 1 Switched on Bit 12 Analog direction of rotation 0 ADL 1 ADR Bit 13 Position Limits APL 0 deactivated 1 activated Bit 14 Sinus ...

Page 62: ... LL GSP Get Maximum Speed Set maximum speed in rpm SP GAC Get Acceleration Set acceleration value in r s AC GDEC Get Deceleration Set deceleration value in r s DEC GSR Get Sampling Rate Set sampling rate of the speed controller ms 10 SR GPOR Get Velocity Pro portional Term Set amplification value of the speed controller POR GI Get Velocity Integral Term Set integral term of the speed controller I ...

Page 63: ...ched 0 Target position not reached Pos 5 1 Positive limit switch edge effective 0 Negative limit switch edge effective Pos 6 1 Limit switch at high level 0 Limit switch at low level GFS Get Fault Status Return status of the error output 4 ASCII characters 0 and 1 from left to right 0 no error 1 error Pos 0 Overtemperature protection Pos 1 Current limiting controller Pos 2 Reserved always 0 Pos 3 O...

Page 64: ... edge effective at limit switch 3 Pos 6 1 Release drive program 0 Drive program blocked Pos 7 1 Release automatic responses 0 No automatic responses GES Get Enhanced Status Return enhanced status 5 ASCII characters 0 and 1 from left to right Pos 0 1 Input no 4 at high level MCDC 0 Input no 4 at low level MCDC Pos 1 1 Input no 5 at high level MCDC 0 Input no 5 at low level MCDC Pos 2 1 Analog targe...

Page 65: ...te of digital output 0 Low 1 High Bit 25 Level of digital inputs 0 TTL level 5V 1 PLC LEVEL 24 V Bit 26 28 Function of fault pin 0 ERROUT 1 ENCOUT 2 DIGOUT 3 DIRIN 4 REFIN GDCE Get Delayed Current Error Set value of the error output delay DCE GPN Get Pulse Number Set pulse number LPN 5 2 3 Configuration of homing Command Argument Function Description HOC Homing Configura tion Set homing configurat...

Page 66: ...herwise the function of the Flash memory can no longer be guaran teed RESET Reset Restart drive node RN Reset Node Set application parameters to original values ROM values current ac celeration controller parameters maximum speed limit positions Communication parameters operating mode and hardware configura tion are retained FCONFIG Factory Configuration All configurations and values are reset to ...

Page 67: ...d is deactivated again V Value Select Velocity Mode Activate velocity mode and set specified value as target velocity veloc ity control Unit rpm NV Value Notify Velocity A v is returned when the nominal speed is reached or travelled through Value 30 000 30 000 NVOFF Notify Velocity Off Velocity command that has not yet been triggered is deactivated again U Value Set Output Voltage Output motor vol...

Page 68: ...t the given input value Scaling 1000 digits 1 V Return value input 1 10 000 10 000 Return value input 3 4 5 0 10 000 Value 1 3 4 5 4 and 5 for MCDC only OST Operation Status Display current operating status Return value binary coded LSB Bit 0 Bit 0 Homing running Bit 1 Program sequence running Bit 2 Program sequence stopped because of DELAY command Bit 3 Program sequence stopped because of NOTIFY ...

Page 69: ... program file function Note The Xon Xoff protocol must be used to transfer lengthy program sequences GPROGSEQ 1 Get Program Sequence Reads out and sends back the stored program sequence Each program line is output in lower case letters ending with a CR character At the end of the program the line end is sent with specification of the program length in bytes followed by a CR and LF character GPROGS...

Page 70: ...the polarity Address 0 255 JPE only MCDC Adr Jump if 5 Input activated Jump to the specified address if the 5th input is active HP determines the polarity Address 0 255 SETx Value Set Variable x Set variable x A B C to the specified value Value Int32 Without argument Result of last query command is loaded into the variable Value 2147483648 2147483647 GETx Get Variable x Query content of variable x...

Page 71: ... µs I40 I term of velocity controller POR8 P term of velocity controller PP12 P term of position controller PD6 D term of position controller CI50 I term of current controller SP12000 Limitation of maximum speed to 12 000 rpm MV0 Smallest analog speed MAV25 Smallest analog voltage LL1800000000 Upper positioning range limit LL 1800000000 Lower positioning range limit LPN16 Numerical value for pulse...

Page 72: ...4 000 rpm V DI Power output stage deactivated V0 Target speed value 0 rpm 5 Parameter description 5 7 Configuration at delivery MCBL 3003 06 S FAULHABER command Description CONTMOD Normal operation APL0 Position limits deactivated SOR0 Velocity presetting via RS232 MOTTYP5 Motor type 2444S024B K1155 ERROUT Fault pin error output HP7 All inputs react to rising edge HB0 HD0 No Hard Blocking limit sw...

Page 73: ...nnection cable does not exceed 30 cm or has been laid with appropri ate shielding see chapter 3 5 Motor wiring Terminals and connectors are protected against ESD The Motion Controller s parameters are suitably configured for the connected motor The power supply unit is designed according to the requirements Power supply Due to the PWM of the power output stage the motor current is always larger or...

Page 74: ...f dust In the event of heavy soiling the units themselves must be cleaned with halogen free agents 7 2 Troubleshooting Due to their design if the parameters given in this instruction manual are complied with the Motion Controllers are trouble free Should a malfunction occur in spite of this please contact the manufacturer Switchboard 49 0 7031 638 0 E Mail info faulhaber de Internet www faulhaber ...

Page 75: ... K W Thermal time constant w1 w2 23 1 175 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 440 g Direction of rotation electronically reversibl...

Page 76: ...Low 0 7 V High 12 5 V UB TTL Low 0 0 5 V High 3 5 V UB 1 A separate supply for motor and drive electronic is optional available important for safety relevant applications here escapes the digital input connection 3 red 2 Preset value Can be changed over the interface 8 1 2 Product dimensions 8 1 3 Connection information 3564 K 024 B CS M2 5 22 40 0 3 45 5 54 1 5 20 25 8 1 5 83 3 3 1 4 12 6 0 3 14 ...

Page 77: ...emory Memory size 3 3 3 3 kWord Number of instructions approx 1 000 approx 1 000 Commands Operating temperature range 0 70 0 70 C Storage temperature 25 85 25 85 C Housing material without housing aluminium black anodized Weight 18 160 g 1 at 22 C ambient temperature 1 8 16 9 ø1 3 ø4 5 8 6 0 5 39 8 0 5 38 0 5 33 0 5 35 0 5 0 2 4x 1 5 x45 4x 7x5 1 85 0 5 10 55 0 5 43 8 0 1 56 6 0 5 62 5 0 5 1 Ph C ...

Page 78: ...d Connection AGND analog ground Analog GND digital input external encoder Channel B RIn 10 k f 400 kHz Connection Fault digital input RIn 100 k digital output open collector U UB V I 30 mA clear switched to GND set high impedance Fault output no error switched to GND Error high impedance Signal output f 2 kHz resolution 1 255 pulses rev Connection Anln AGND as GND analog input Set speed value UIn ...

Page 79: ...Hall sensor C grey 1 UIn 5 V Connection SGND Signal GND Signal ground black 1 Connection 5V Output voltage for external use 2 UOut 5 red 1 V DC Load current IOut 60 mA 1 Colour identification for brushless DC Servomotor 2 E g Hall sensors Description of the D SUB connector Connection D sub connector Pin 2 RxD RS232 RxD Pin 3 TxD RS232 TxD PIn 5 GND Ground Digital inputs general information PLC def...

Page 80: ...eely configurable 5 5 Program memory Memory size 3 3 3 3 kWord Number of instructions approx 1 000 approx 1 000 instructions Operating temperature range 0 70 0 70 C Storage temperature 25 85 25 85 C Housing material without housing aluminium black anodized Weight 18 160 g 1 at 22 C ambient temperature 1 8 16 9 ø1 3 ø4 5 8 6 0 5 39 8 0 5 38 0 5 33 0 5 35 0 5 0 2 4x 1 5 x45 4x 7x5 1 85 0 5 10 55 0 5...

Page 81: ...ection 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 400 kHz step frequency input f 400 kHz RIn 5 k Connection 24V UB 12 30 V DC Connection GND Ground Connection 3 In digital input RIn 22 kHz electronic supply voltage 1 UB 12 30 V DC Connection 4 In digital input RIn 22 k Connection 5 In digital input...

Page 82: ...gnal GND Signal ground Connection 5V Output voltage for external use 1 UOut 5 V DC Load current IOut 60 mA 1 E g Encoder Description of the D SUB connector Connection D sub connector Pin 2 RxD RS232 RxD Pin 3 TxD RS232 TxD PIn 5 GND Ground Digital inputs general information PLC Standard high 12 5 UB low 0 7 TTL high 3 5 UB low 0 0 5 The signal level PLC or TTL of the digital inputs can be set over...

Page 83: ...EC It applies to all electrical equipment with a nominal voltage from 75 to 1 500 V DC or from 50 to 1 000 V AC The products described in this instruction manual do not fall within the scope of this Directive as they are designed for smaller voltages EMC Directive 2004 108 EC The Electromagnetic Compatibility EMC Directive applies to all electronic and electrical equipment plant and systems sold t...

Page 84: ...ation devices or other equipment cannot be operated as intended they are adequately insensitive to the electromagnetic faults to be expected under intended use to enable them to function as intended without unreasonable impairment The Directive does not state how high the disturbance level generated by a unit may be and how high the expected disturbances are at which the unit must function It mere...

Page 85: ...emitted interference and interference immunity tests Due to the connections on the Motion Controller the following tests are required Generic Standard on Emitted Interference EN 55011 Class A Radiated emission Radio disturbance characteristics EN 61000 4 2 Electrostatic discharge ESD EN 61000 4 3 Conducted el magnet HF fields EN 61000 4 4 Burst EN 61000 4 5 Surge EN 61000 4 6 Conducted el magnet H...

Page 86: ... safety requirements specified in the following Directive s EMC Directive 2004 108 EC Conformity is declared with reference to the following applied harmonised standards EN 61000 6 4 Generic standards Emission standard for industrial environments EN 61000 6 2 Generic standards Immunity for industrial environments Further information The complete declaration of conformity is available on the intern...

Page 87: ...the relevant provisions of the Machinery Directive Product name Micro drives DC micro motors step motors motion control sys tems precision gears servo components controls micro precision systems linear DC servomotors piezometric motors Brand names FAULHABER PRECIstep FTB penny motor smoovy FAULHABER BX4 FAULHABER motion control Quickshaft Smartshell PiezoMotor It is prohibited to start up the moto...

Page 88: ...son are excluded This does not apply if a we are maliciously silent with regard to a legal or material defect or have issued a guarantee for the nature of the goods b the loss is due to deliberate intent or gross negligence by us our legal representatives or vicari ous agents or are based on negligent breach of fundamental contract obligations by these persons or c culpable violation of duty by us...

Page 89: ...NL GNODEADR GOHIX GOHOSEQ GOIX GPC GPD GPL GPN GPOR GPP GPROGSEQ GRC GRM GRU GSCS GSER GSP GSR GST GSTN GSTW GTYP GU GV HA HALLSPEED HB HD HL HN HO HOC HOSP HP I IOC IXRMOD JMP JMPEx JMPGx JMPLx JPD JPE JPF JPH JPT KN LA LCC LL LPC LPN LR M MAV MEM MOTTYP MV NE NET NODEADR NP NPOFF NV NVOFF OST PD POHOSEQ POR POS PP PROGSEQ REFIN RESET RESUME RET RETI RM RN SAVE SETPLC SETTTL SETx SHA SHL SHN SIN ...

Page 90: ...90 Notes ...

Page 91: ...91 Notes ...

Page 92: ...ntriebssysteme Daimlerstraße 23 25 71101 Schönaich Germany Tel 49 0 7031 638 0 Fax 49 0 7031 638 100 info faulhaber de www faulhaber group com MA05011 English 4th edition 04 2009 DR FRITZ FAULHABER GMBH CO KG Subject to modifications ...

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