Faulhaber 3564K024BC series Instruction Manual Download Page 55

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Appendix

Position Control

Goals:

■

Position control

■

Limit acceleration to 300 Rev/s

■

Reference point at falling edge

■

Controller Parameters: Proportional 25 and
integral 8

ASCII Command form:

AC300

HP0

POR25

SOR0

➔

Switches to receive commands
at the RS-232

LA0

➔

Loads new position

➔

Activates positioning mode and
positions

EEPSAV

➔

Saves configuration to the
EEPROM

Note:

The positioning should always
take place at the end so that it
runs with the desired parameters.

Stepper Motor Mode

Goals:

■

Operation as a stepper motor

■

Step Width: 3

■

Step Number per Revolution: 557

■

Active Power On Homing Sequence with
the fault pin as reference input

■

Reference point at falling edge

■

Homing sequence runs with direction of
rotation left and 300 rpm

ASCII Commands:

STEPMOD

STW3

STN557

REFIN

➔

Programs fault pin as the
reference input

HA2

➔

When edge triggers at limiter
switch 2 set the position to 0

HL2

➔

When edge triggers at limiter
switch 2 the motor stops

CAHOSEQ

➔

Programs the homing sequence
in the intermediate memory

POHOSEQ1

➔

Activate Power On Homing
sequence

HP0

➔

Sets falling edge at all reference
inputs

HOSP-300

➔

The negative velocity value
indicates direction of rotation left

EEPSAV

➔

Saves the configuration to the
EEPROM

Note:

The RS-232 is no longer necessary
after the configuration has been
saved to the EEPROM

Summary of Contents for 3564K024BC series

Page 1: ...Series 3564 K 024 BC Instruction Manual Sine Wave Commutated Brushless DC Servomotor with Integrated Motion Controller ...

Page 2: ...s 11 Saving Configurations 12 Changing the Baud Rate 12 Setting the Node Address 13 Configuring the Velocity Control 14 Sources for Velocity 14 Fine Tuning the Digital Filter 18 Position Control 19 Standard Positioning Sequences 20 Combined Motion Profiles 20 Setting the Digital Filter 20 Evaluating the Homing Points and Limiter Switch 21 Direct Programming with the HA HL and HN Commands 22 Progra...

Page 3: ...Error Output as a Digital Output 34 Pulse Output 35 Saving and Running Programs 36 Controlling a Program Sequence 37 More About Commands and Functions 38 Technical Information 40 Commutation with a Sine Wave 40 Current Controller and Current Limiting 40 Overtemperature Protection 41 Undervoltage Supervision 41 Overvoltage Protection 41 Appendix 42 Electromagnetic Compatability EMC 42 Starter Kit A...

Page 4: ... factory provided ASCII Command Set The motor can be programmed from the P C with a terminal program for example in Windows or through any other programmable host computer For users of Windows 95 98 NT we provide the FAULHABER Motion Manager a fully functional configurations and operations manager with on line graphic performance analysis The motor can also perform positioning and velocity control...

Page 5: ...perating Temperature Range 5 85 C Commutation Electronic Protection Classification IP 44 Shaft Bearings Preloaded Ball Bearing Shaft Load Max radial at 3000 rpm 6 mm from bearing 108 N axial at 3000 rpm 50 N axial static 131 N Shaft Play radial 0 015 mm axial 0 mm Magnet Material SmCo Casing Material Aluminum black anodized Weight with Electronics 440 g Direction of Rotation Electronically Reversi...

Page 6: ... Pulse Duty Ratio 50 0 rpm Pulse Duty Ratio 50 left turning Pulse Duty Ratio 50 right turning External Encoder Step Frequency fmax 150 kHz Fault Output Input No 2 Open collector max UB 30 mA No Error Switched to Ground Programmed as Input low 0 0 5 high 4 UB V Port RS 232 9600 1200 2400 4800 19 200 Baud Memory Serial EEPROM 7936 Bytes 3 Preset value Can be changed over the RS 232 port 4 Can be cha...

Page 7: ...he effects of the voltage drop in the supply leads on the given speed value The analog input has according to configura tion various applications Velocity control with a voltage at the analog input factory installed setting Velocity control with PWM through the analog input Zero Referencing Limiter Switch when used as a motion controller Input for the external encoder in Encoder Mode Analog input ...

Page 8: ...he switch is open the LED is not lit Output current maximum 30 mA voltage in open condition may not exceed supply voltage The fault output is activated as a result of the following situations Dynamic current limiting active Low voltage by voltage under 10 V Overvoltage protection active by supply voltage over 32 V Overtemperature protection active The fault output port can also be configured to pe...

Page 9: ...ty control The command speed is given as a voltage at the analog input In this operating mode the RS 232 is not required but can be used to alter configurations More on the topic of Altering Configurations to come Diagram 2 Velocity control with voltage signal at the analog input ...

Page 10: ...hows a more precise circuit but note the following The analog GND is separate from the supply GND The RS 232 is available Some Comments about the Input Circuit The input circuit at the analog input is layed out as a differential amplifier If the analog input is open there is already a voltage of 2 V That means in this case that the motor would be turning at a speed of about 2000 rpm In order to se...

Page 11: ...des real time graphics generation for values like actual speed and position Building blocks of the ASCII Commands 1 Node Address option just necessary in a network 2 Command word a character string letters only 3 Number in many cases the command word is followed by a number 4 The conclusion is always a carriage return In a terminal program for example the enter or return key Example V 500 CR Switc...

Page 12: ...p can be lost in the case of a loss of power during programming Comments about the command table Commands that are marked in the instruction manual with a will be saved with the EEPSAV command Diagram 5 The operation of the EEPROM Changing the Baud Rate The baud rate can be set to the following values 1200 2400 4800 9600 19200 Baud Command Function Description Example BAUD Select BAUD Rate Sets th...

Page 13: ... may be connected at the time of addressing Otherwise multiple motors will receive the same node address Careful when hosting multiple motors If commands are sent without a node address all the motors in the network will receive the command If one calls up the status of a motor without entering the node address an error will occur because all the motors will attempt to answer at the same time Turn...

Page 14: ...ion Description Example SP Load Maximum Loads new maximum SP4000 Speed velocity Arguement in rpm from 0 to 30000 Settings apply to all modes GSP Get Maximum Calls up maximum speed GSP Speed 2500 Command Function Description Example MV Minimum Velocity Sets the minimum speed MV100 GMV Get Minimum Calls up the minimum speed GMV Velocity over the RS 232 port 0 a Command Velocity with Voltage at Analo...

Page 15: ... 100 mV is the necessary minimum starting voltage The motor will not turn if the voltage ranges from 99 mV to 99 mV Default Setting MAV25 Advantages While 0 mV at the analog input is normally very difficult to achieve 0 rpm can not be accurately set Setting the minimal analog voltage 0 prevents this from being a problem The resulting dead zone is also useful becasue the motor will not start up whe...

Page 16: ...d velocity 500 Default Setting ADR Right rotation with positive voltage b Command Velocity with Pulse Width Modulation PWM at the Analog Input The factory setting are Pulse Duty Ratio 50 Rotation Right Pulse Duty Ratio 50 Rotation Stop Pulse Duty Ratio 50 Rotation Left The commands SP MV MAV ADL and ADR can also be used in this mode c Command Velocity at the RS 232 Port Directly following the SOR0...

Page 17: ...scription Example DIRIN Direction Input Sets the fault output to DIRIN function as a direction of rotation input also activates the limit switch function Level and Direction Low 0 V to 0 5 V Rotation Left High 4 V to Supply Voltage Rotation Right The logic level at the direction of rotation input is dominant to changes made with the ADR and ADL commands When the Fault Output is used as a Direction...

Page 18: ...mum Application Speed only an example value V1000 enter Sets Acceleration to Maximum Application Value only an example value AC10000 enter 2 Proportional Term 13 Step Width 5 smaller later 3 Velocity jumps from 1 3 to 2 3 the Maximum Application Speed only an example value 4 Velocity jumps from 2 3 to 1 3 the Maximum Application Speed only an example value 5 Repeat steps 2 4 until the controller b...

Page 19: ...ates positioning mode and starts positioning M LA Load Absolute Position Loads the new value for the absolute position LA100000 Arguement 1000 indicates 1 revolution LR Load Relative Position Loads a new relative position LR5000 SP Load Maximum Speed Loads a new maximum velocity SP4000 Arguement rpm from 0 to 30000 AC Load Command Loads a new value for acceleration AC100 Acceleration Arguement U s...

Page 20: ...ing steps 2 and 3 one can set the motor to rotate to other positions one after the other Combined Motion Profiles Through well chosen values Maximum Velocity Acceleration end Position entered during a positioning sequence one can create complex motion profiles After any values have been changed during a positioning sequence a new motion start the M command must be initia ted The commands NP notify...

Page 21: ... Input 1 0 1 h Fault Pin 2 1 2 f A binary 1 usually means an activation of that input A 0 deactivates that input Example HA0 Deactivate Home Arming at all Limit Switches HA1 Activate Home Arming at Analog Input deactivate all others HA2 Activate Home Arming at the Fault Pin deactivate all others HA3 Activate Home Arming at both the Fault Pin and the Analog Input The command table describes only wh...

Page 22: ...en trigger edge is triggered The programming can be changed with a new command before triggering at an edge In the event of a power loss the HA HL and HN programming is erased and all limit switches are inactive Command Function Description Example HA Home Arming When edge triggers the HA1 position is set to 0 1 activate 0 deactivate HL Hard Limit When edge triggers the motor stops HL3 1 activate ...

Page 23: ...ther configuration commands if necessary 5 Save the commands to the EEPROM with the EEPSAV command The commands in the intermediate memory will be tranferred as well To make changes in the Homing Sequence repeat steps 1 5 with the new values POHOSEQ0 Power On Homing Sequence Inactive deactivates the Homing Sequence in the event of POWER ON Save the settings to the EEPROM with the EEPSAV command Co...

Page 24: ...es or deactivates HB3 hard blocking at a given limit switch 1 activate 0 deactivate HD Hard Direction Sets which direction will HD2 be blocked 1 Blocked right 0 Blocked left The logic level high low of the limit switch is set with the HP command The hard blocking function can be simultaneously active with the other limit switch commands Hall Indexing Sequence The motor will run to the Hall Zero Po...

Page 25: ...k to CONTMOD Mode Continuous Mode from any of the additional modes GMOD Get Mode Calls up current mode GMOD c Continuous Mode c s Stepper Motor Mode a Analog Positioning Mode e Encoder Mode actual speed registered with an external encoder h Encoder Mode actual speed registered with Hall Sensors g Gearing Mode v Voltage Regulator Mode Diagram 9 Operation as stepper motor with a direction of rotatio...

Page 26: ...mber of steps per pulse at the frequency input STN step number number of steps per revolution STN and STW range 0 to 65535 Command Function Description Example STEPMOD Stepper Switches to STEPMOD Motor Mode Stepper Motor Mode STW Load Step Sends the step STW1 Width width to the motor STN Load Step Loads the number STN1000 Number of steps per revolution GSTW Get Step Calls up the cur GSTW Width ren...

Page 27: ...mple GEARMOD Gearing Mode Switches to gearing mode GEARMOD The direction of rotation can be programmed with the ADR rotate right and ADL rotate left commands or it can be set by an external signal at the Fault Pin DIRIN command In gearing mode the AC and SP values see Position Control are also applicable making soft accele ration and braking possible The command APL1 applies position limits LL Com...

Page 28: ...Position Loads position limit LL10000 Range Limits Provides the maximum position at the maximum analog voltage of 10 V The LL command sets the position range limits A voltage of 10 V conforms to the predefined upper position limit At 10 V the motor will position at the maximum in the other direction Independent of the limits set with the LL command the outer positioning limit is set in APCMOD at 1...

Page 29: ...the armature has only moved within one revolution With the following commands it is possible to position the motor inside one revolution with a voltage ranging from 0 10 V even after the power has been turned off and then on again ADL With a positive voltage the motor will rotate to a negative position after power is restored to the motor it is at a negative position value ranging from 0 to 1000 A...

Page 30: ...From RES2048 0 to 65535 4 x Pulses Revolution GENCRES Get Encoder Calls up current encoder GENCRES Resolution resolution 2048 Default Setting ENCRES2048 Important Because four edges are measured for every pulse the pulse number programmed with the ENCRES command must be multiplied by four That means for example that an encoder with a resolution of 1024 pulses translates to 4096 steps per revolutio...

Page 31: ...he motor than functions as a power amplifier It is important to keep in mind that the sampling frequency of the regulator is 1 866 ms and the resolution at the analog input is 10 Bit Voltage Regulator Mode The motor can be configured with the VOLTMOD command to serve as a voltage regulator The motor voltage is propor tional to the input voltage at the analog input The current limiting remains acti...

Page 32: ...n can be programmed Command Function Description Example DEV Load Deviation Loads the allowable DEV500 degree of deviation of the actual to the command speed value GDEV Get Deviation Calls up the programmed GDEV degree of deviation 200 Default Setting DEV30000 This degree of deviation cannot possibly be reached It represents the deactivation of deviation error display The standard error functions ...

Page 33: ...eeds the given limits for a short period of time Command Function Description Example DCE Delayed Current Delayed activation of the DCE100 Error error display for current limiting over voltage pro tection and deviation error Given in 1 100th seconds GDCE Get Delayed Calls up the delayed GDCE Current Error current error value 200 Default Setting DCE200 2 second delay Example DCE400 The delay time i...

Page 34: ...put This makes it possible for example to control a valve directly or to send a signal as a reaction to a certain event Command Function Description Example DIGOUT Digital Output Programs the error output DIGOUT a digital output The output is set to logic level LOW CO Clear Output Sets digital output CO to logic level LOW SO Set Output Sets digital output SO to logic level HIGH The last setting wi...

Page 35: ...ecause the output has only one channel the direction of rotation cannot be registered Command Function Description Example LPN Load Pulse Number Sets pulse number with LPN16 a range of 1 to 255 GPN Get Pulse Number Calls up current GPN number of pulses 16 ERROUT Error Output Switches to Fault ERROUT Output Mode ENCOUT Encoder Output Switches to Pulse ENCOUT IOutput Mode Example LPN64 Sets 64 pulse...

Page 36: ...ing The command END defines the end of the program All commands given after the END will be immediately carried out by the motor GPROGSEQ Get Program Calls up the program sequence GPROGSEQ Sequence at the host PC Prog ENPROG Enable Starts the program This ENPROG Program command can also be saved with the EEPSAV command and the program will then run directly after turning the power to the motor on ...

Page 37: ...UT Timeout The motor waits a defined period of time when notify TIMEOUT5 commands are being carried out and then the asynch o sequence will continue Arguement 1 100th of a second Range 0 to 65535 An answer of o at the RS 232 host means that the notify requirements were not met The command can also be programmed with the RS 232 JMP Jump Jumps to a given address The command JMP5 can also be used wit...

Page 38: ...ommand can also be used while connected at the RS 232 port This becomes useful when different programs are to be called up on the computer Example PROGSEQ A1 JMP1 continuous loop A2 Program sequence 2 can only be called up with the JMP2 command at the RS 232 LA10000 NP M JMP1 jumps back to continuous loop A3 Program sequence 3 can only be called up with the JMP3 command at the RS 232 LA 10000 NP M...

Page 39: ...n reached In order to be able to use the GOHOSEQ command effectively during a program the HN command must be set correctly in the Homing Sequence This is especially important when a Power On Homing sequence is to be run POHOSEQ1 About the Notify Commands With the Notify commands it is possible to create very complex motion profiles Example La100000 SP5000 AC50 NV1000 M AC100 NV2000 M AC50 NP M The...

Page 40: ...or will automatically switch from the peak to the continuous current value Diagram 13 The I2t current limiting Operating Mode of the Current Controller When the power is turned on to the motor the current controller sends the value for peak current as the command current value With increasing load the current will increase until the peak current has been reached The current controller then limits ...

Page 41: ... lower than 50 rpm About Measuring the Temperature of the Winding The temperature of the motor is measured on the casing and compared to the measured current value to calculate the power loss With the help of a thermal model the motor calculates the winding temperature In most cases this method performs as overtemperature protection for the motor Undervoltage Supervision If the supply voltage fall...

Page 42: ...082 2 Electrostatic discharges of 4 kV through contact and 8 kV through air according to VDE 0847 part 4 2 EN61000 4 2 HF fields according to VDE 0847 part 4 3 EN61000 4 3 Fast transients according to VDE 0847 part 4 4 EN61000 4 4 Cable bourne HF currents according to VDE 0847 part 4 6 EN61000 4 6 The forementioned requirements are met when the following conditions are fulfilled Operation accordin...

Page 43: ...ole SUB D connector to connect directly to a PC a SPS or an IPC The board can be connected with a zero modem cable which is also available for order The adapter board has built in supports and can be attat ched to 35 mm tracking Four mounting holes make it possible to mount the board with screws A LED is connected at the fault output and remains lit as long as no errors are registered Diagram 14 T...

Page 44: ...he board The jumpers located on the board have the following functions Analog Poti The analog input is controlled with the on board potentiometer Analog Extern The analog input is controlled with a voltage at the Analog In screw clips RS232 Mode The RS 232 Port is active Voltage range over the potentiometer is 0 to 9 V direction of rotation is limited to right rotation Poti Mode RS 232 is inactive...

Page 45: ...up to 255 motors It is also possible to chain the 3564K024B C with other Faulhaber motion controllers for example the MCDC2805 and the MCBL2805 It is important to remember that when controlling multiple motors from one host a strict master slave structure must be applied That means that the host PC sends the commands to the motors and motors only answer when called Therefore asynchronus answers mu...

Page 46: ...imits even while in APL1 Position Limits speed control and stepper motor mode APL0 Deactivate Limits default GPL Get Positive Limit Calls up the upper positioning limit at the RS 232 GPL 60000000 GNL Get Negative Limit Calls up the lower positioning limit at the RS 232 GNL 30000000 RN Reset Node Resets the parameter at the node address to RN the original settings current acceleration controller pa...

Page 47: ...t NVOFF Notify Velocity Off Deactivates a given Notify Velocity Command NVOFF that has not yet been carried out Commands for Velocity Control Command Function Description Example MV Minimum Velocity Sets the minimum speed in rpm MV100 GMV Get Minimum Calls up the minimum velocity on the host GMV 0 Velocity terminal MAV Minimum Analog Sets the minimum analog voltage MAV500 Voltage GMAV Get Minimum ...

Page 48: ...quence memory Actions that are defined with the HL HN and HA commands will be saved POHOSEQ Power On Homing Activate the homing sequence upon turning the POHOSEQ1 Sequence motor on POHOSEQ1 activate POHOSEQ0 deactivate GOHOSEQ Go Homing Executes the programmed homing sequence GOHOSEQ Sequence without regard to the current mode HOSP Load Homing Speed Loads the homing speed HOSP100 Range 30000 to 30...

Page 49: ... SP4000 Speed Arguement in rpm Range 0 to 30000 For use in all modes GSP Get Maximum Speed Calls up actual maximum velocity GSP 10000 AC Load Command Load new acceleration Acceleration Arguement in Rev s2 Range 0 to 30000 AC100 GAC Get Acceleration Calls up acceleration GAC 500 POR Load Proportional Load controller amplification Range 0 to 255 POR8 Term GPOR Get Proportional Term Calls up the cont...

Page 50: ...rol Mode ENCMOD Encoder Mode Switches to encoder mode Uses external ENCMOD encoder for actual position Upon switching the position is automatically set to 0 HALLSPEED Hallsensor as Actual speed is given by the Hall Sensors HALLSPEED Speedsensor ENCSPEED Encoder as Actual speed is given by the external ENCSPEED Speedsensor encoder ENCRES Load Encoder Sends the encoder resolution to the motor ENCRES...

Page 51: ...tion error Given in 1 100th seconds GDCE Get Delayed Calls up the delayed current error value GDCE Current Error 200 DEV Load Deviation Loads the allowable degree of deviation of the DEV500 GDEV Get Deviation Calls up the programmed degree of deviation GDEV 200 Commands for Programming Sequences Command Function Description Example PROGSEQ Program Sequence Defines the beginning of a program PROGSE...

Page 52: ... given at the RS 232 Bit 2 1 Velocity is PWM Bit 1 1 0 Velocity is analog Bit 1 1 Bit 3 1 Drive enabled 0 Drive disabled Bit 4 1 Command position has been reached 0 Command position has not yet been reached Bit 5 1 Positive edge at limiter switch is active 0 Negative edge at limiter switch is active Bit 6 1 Limiter switch set to high level 0 Limiter switch set to low level GFS Get Fault Status Cal...

Page 53: ... pin is limiter switch input 2 Bit 1 0 Fault pin is not a digital output Bit 4 1 Rising edge at limiter switch 2 is active 0 Falling edge at limiter switch 2 is active Bit 5 1 Rising edge at limiter switch 3 is active 0 Falling edge at limiter switch 3 is active Bit 6 1 Program sequence is active 0 Program sequence is inactive Bit 7 1 Automatic answering is active 0 Automatic answering is inactive...

Page 54: ... POR30 I15 EEPSAV Saves configuration in EEPROM Velocity Control Command value received at the RS 232 port Goals Velocity control at the RS 232 port Two active limiter switches high level active cannot be passed Set peak current to 3 A and continuous current 1 A ASCII Command form SOR0 REFIN Defines the fault pin as a limiter switch input HP3 Both limiter switches are set to high level HB3 Both li...

Page 55: ...volution 557 Active Power On Homing Sequence with the fault pin as reference input Reference point at falling edge Homing sequence runs with direction of rotation left and 300 rpm ASCII Commands STEPMOD STW3 STN557 REFIN Programs fault pin as the reference input HA2 When edge triggers at limiter switch 2 set the position to 0 HL2 When edge triggers at limiter switch 2 the motor stops CAHOSEQ Progr...

Page 56: ...equence 1000 times 10 revolutions forward 1 second pause 5 revolutions backward than 0 5 second pause Configuration SOR0 Switches to receive command speed at the RS 232 LR0 Motion stop M Switches to position control no motion HA1 HL1 Analog input is limiter switch HN1 CAHOSEQ Saves homing sequence in the intermediate memory HOSP200 Loads homing speed HP1 Rising edge is trigger edge ENPROG Run prog...

Page 57: ...mand without an arguement makes sure that the sequence stops at the M command until the command position has been achieved Program Sequence Controlled by the Digital Input Goals After power on the motor should run first to the limiter switch and then the Hall index zero At a rising edge at the digital input fault pin has been reprogrammed the motor will make 5 forward revolutions Then stop if the ...

Page 58: ...ogic level low is registered at input 2 Fault Pin Input A3 JPF3 Continuous loop until logic level is high at input 2 evaluation of the positive edge LR5000 NP M 5 revolutions forward DELAY50 0 5 second delay then evaluate input 2 JPF1 When low logic is registered at input 2 jump to the beginning of the program LA0 NP0 M Run to position 0 if high logic level at input 2 JMP1 Jump to the beginning Co...

Page 59: ...o hard blocking HD0 Left direction of rotation is blocked at all limit switches HA0 HL0 HN0 CAHOSEQ Deavctivate homing sequence POHOSEQ0 Power on homing sequence is deactivated HOSP100 Homing speed is 100 with direction of rotation right ANSW1 Asynchronus answering is active DIPROG Program will not start when power is turned on BAUD9600 Baud rate is 9600 NODEADR0 Sets node address to 0 RN Represen...

Page 60: ...0 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 From Software Version 305010A and upwards DR FRITZ FAULHABER GMBH CO KG MA05003 english 1 Edition 29 04 02 ...

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