Faulhaber MCBL 3002/03/06 AES RS/CF/CO Series Technical Manual Download Page 6

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8th edition, 9-11-2018

7000.05038, 8th edition, 9-11-2018

7000.05038

About this document

1.4

List of abbreviations

Abbreviation

Meaning

AnIn

Analogue Input

AGND

Analogue Ground

CAN

Controller Area Network

CAN_L

CAN-Low

CAN_H

CAN-High

Controller with CANopen interface (Faulhaber channel)

CLK

Clock

Controller with CANopen interface acc. to CiA 402

Chip Select Cable

Data

Data cable

DigIn

Digital input

DigOut

Digital output

EMC

Electromagnetic compatibility

ESD

Electrostatic discharge

FAULT

Fault output

GND

Ground

PLC

Programmable Logic Controller

PWM

Pulse Width Modulation

Controller with serial RS232 interface

RxD

Receive data

TTL

Transistor Transistor Logic

TxD

Transmit data

Summary of Contents for MCBL 3002/03/06 AES RS/CF/CO Series

Page 1: ...WE CREATE MOTION Technical Manual Motion Controller MCBL 3002 03 06 RS CF CO MCDC 3002 03 06 RS CF CO MCLM 3002 03 06 RS CF CO MCBL 3002 03 06 AES RS CF CO EN ...

Page 2: ...aber GmbH Co KG cannot accept any liability for any errors in this document or for the consequences of such errors Equally no liability can be accepted for direct or consequential damages resulting from improper use of the equipment The relevant regulations regarding safety engineering and interference suppression as well as the requirements specified in this document are to be noted and followed ...

Page 3: ... 13 3 3 2 1 MCxx 3006 S RS CF CO 13 4 Installation 14 4 1 Mounting 14 4 1 1 Mounting instructions 14 4 1 2 Install Motion Controller with housing 15 4 2 Electrical connection 16 4 2 1 Notes on the electrical connection 16 4 2 2 Screening 16 4 2 3 Electrical connection of the Motion Controller 18 4 2 3 1 Connecting the supply 18 4 2 3 2 EMC protective measures 20 4 2 4 Connections 21 4 2 4 1 Connec...

Page 4: ...8th edition 9 11 2018 7000 05038 8th edition 9 11 20187000 05038 Content 4 5 Maintenance 35 5 1 Maintenance instructions 35 5 2 Maintenance tasks 35 5 3 Troubleshooting 35 6 Warranty 36 ...

Page 5: ...ning and operation of FAULHABER products additional information from the following manuals is useful These manuals can be downloaded in pdf format from the web page www faulhaber com manuals 1 3 Using this document Read the document carefully before undertaking configuration in particular chapter Safety Retain the document throughout the entire working life of the product Keep the document accessi...

Page 6: ...r with CANopen interface Faulhaber channel CLK Clock CO Controller with CANopen interface acc to CiA 402 CS Chip Select Cable Data Data cable DigIn Digital input DigOut Digital output EMC Electromagnetic compatibility ESD Electrostatic discharge FAULT Fault output GND Ground PLC Programmable Logic Controller PWM Pulse Width Modulation RS Controller with serial RS232 interface RxD Receive data TTL ...

Page 7: ...avoidance CAUTION Hazards due to hot surfaces Disregard may lead to burns Measures for avoidance NOTICE Risk of damage Measures for avoidance Pre requirement for a requested action 1 First step for a requested action Result of a step 2 Second step of a requested action Result of an action Request for a single step action Instructions for understanding or optimising the operational procedures ...

Page 8: ...ed to ensure that the motors are used as intended The Motion Controller contains electronic components and should be handled in accordance with the ESD regulations Do not use the Motion Controller in environments where it will come into contact with water chemicals and or dust nor in explosion hazard areas The Motion Controller should be operated only within the limits specified in the data sheet ...

Page 9: ... directives must be also observed Machinery Directive 2006 42 EC Because of their small size no serious threats to life or physical condition can normally be expected from electric miniature drives Therefore the Machinery Directive does not apply to our products The products described here are not incomplete machines Therefore installation instructions are not normally issued by FAULHABER Low Volt...

Page 10: ...th version RS Various inputs and outputs are available for implementing these tasks The set configuration can be stored permanently Input output Possible applications Analogue input Setpoint specification via analogue or PWM signal Digital input for reference marks and limit switches Pulse input Incremental encoder connection Fault output Digital output Pulse output Digital input for reference mar...

Page 11: ... continuous output current 2 A Max continuous output current 3 A Max continuous output current 6 A Max supply voltage 30 V DC micromotors Brushless DC motors Linear DC servomotors Motion Controller MC 30 RS CF CO S F P 02 03 06 30 MC DC BL LM Housing with screw type terminal strip Housing with LIF connector motor Board version with male connectors Only for brushless DC motors with absolute encoder...

Page 12: ...er with hot melt housing and screw terminals on the supply side and with flexboard connection on the motor side 3 3 1 3 MCxx 3002 P RS CF CO Motion Controller without housing board version with plug connectors on the supply and motor side 1 Assembly sleeves 2 Screw terminal block on the motor side 3 Screw terminal block on the supply side 1 Assembly sleeves 2 LIF plug connector on the motor side f...

Page 13: ... 3 3 2 Motion Controller for motors in the higher power range 3 3 2 1 MCxx 3006 S RS CF CO Motion Controller with metal housing and screw terminals on the supply and motor side 1 Plug connector on the supply side 2 Plug connector on the motor side 1 Mounting holes 2 Screw terminal block on the supply side 3 D sub connector for serial connection RS or CAN connection CF CO 4 Screw terminal block on ...

Page 14: ...ctive Machinery Directive VDE regulations DIN VDE 0100 Accident prevention regulations 4 1 Mounting 4 1 1 Mounting instructions CAUTION The Motion Controller can become very hot during operation Place a guard against contact and warning notice in the immediate proximity of the controller NOTICE Improper installation or installation using unsuitable attachment materials can damage the Motion Contro...

Page 15: ...e that supports the assembly sleeves against the screw ing forces Fig 2 Mounting example 1 Secure the Motion Controller at the assembly sleeves or mounting holes with fastening screws on a flat and hard surface for screw size and torque see Tab 1 2 Protect the fastening screws to prevent displacement due to the effect of heat Tab 1 Attachment specifications Motion Controller Min tightening torque ...

Page 16: ...n the connection assignment NOTICE Excessive force can damage the flexboard Do not press in the plug connectors by force Use a suitable tool tweezers flat nose pliers if necessary Do not pinch the flexboard 4 2 2 Screening Fig 3 MCBL motor wiring The encoder and signal cables are susceptible to interference Therefore a maximum cable length cannot be specified Shielded wires must always be used wit...

Page 17: ...oller by the shortest available route The best screening effect is achieved if the braiding is laid flat for instance on a screen terminal If the installation ensures potential equalisation the braid can also be attached to an earthed surface on the motor Alternatively equalisation currents can also be suppressed by connected the cable screen at the motor end via a capacitor approx 1μF 2μF 50 V Mo...

Page 18: ...tive measures see chap 4 2 3 2 p 20 2 Take the appropriate ESD protective measures 3 Connect wires or flexboard according to pin assignment see chap 4 2 4 p 21 4 Connect the power supply as described in the explanation below There are 2 options for supplying power to the motor and the FAULHABER Motion Control ler With the exception of the power supply all connection cables on the supply side must ...

Page 19: ...power supply with separate electronics supply the motor supply can be switched off e g by means of a safety relay in the event of a fault while the controller continues to be supplied As a result the reference run does not need to be performed again after a fault because the sensor supply of the motor was maintained during the fault In the case of a separate electronics supply power is supplied us...

Page 20: ...rmissible limit value Tab 3 shows which additional EMC measures can be implemented to optimise the behav iour of the equipment in the intended environment with regard to transient emission and interference resistance Tab 3 EMC measures EMC filter MCDC 3006 S and MCBL 3006 S only The supply and motor supply cables must be installed directly at the device with two windings through a suitable ferrite...

Page 21: ...eparated power supply Pin Use Designation Value 1 TxD CAN_H 2 RxD CAN_L Connection of the com munication 3 AGND Analogue Ground Analogue ground refer ence Digital input exter nal encoder Input resistance Channel B Rin 10 kΩ Frequency f 400 kHz 4 fault Digital input Input resistance Rin 100 kΩ Digital output open collector Voltage limit Umax UB Current limitation Imax 30 mA Switch states digital ou...

Page 22: ...ep frequency input f 400 kHz Rin 5 kΩ 6 UB Power supply UB 8 30 V DC MCxx 3002 UB 12 30 V DC MCxx 3003 and MCxx 3006 7 GND Ground 8 3 In Digital input Input resistance Rin 22 kΩ Power supply of the electronics Power supply UEL 8 30 V DC MCxx 3002 UEL 12 30 V DC MCxx 3003 and MCxx 3006 Pin Use Designation Value Pin Designation Meaning 9 4 In 4 Input 10 Ch A Encoder channel A 11 Ch B Encoder channel...

Page 23: ... 10 Ch A 11 Ch B Encoder input Integrated pull up resistor after 5 V R 2 2 kΩ f 400 kHz 12 UCC Output voltage for external use e g encoders Uout 5 V Load current Iout 60 mA 13 SGND Signal ground 14 Mot 15 Mot Motor connection Clockwise rotation with homopolar connection Anticlockwise rotation with oppositely poled connec tion Output voltage Uout 0 UB PWM switching frequency fPWM 78 12 kHz 16 5 In ...

Page 24: ...he motor 16 Mot Power supply of the motor Pin Designation Value 9 5 In Digital input Input resistance Rin 22 kΩ PLC level Low 0 7 V High 12 5 V UB TTL level Low 0 0 5 V High 3 5 V UB 10 4 In Digital input Input resistance Rin 22 kΩ PLC level Low 0 7 V High 12 5 V UB TTL level Low 0 0 5 V High 3 5 V UB 11 Ch A 12 Ch B Encoder input Integrated pull up resistor after 5 V R 2 2 kΩ f 400 kHz 13 UCC Out...

Page 25: ...of the motor 16 Mot Power supply of the motor Pin Designation Value 9 5 In Digital input Input resistance Rin 22 kΩ PLC level Low 0 7 V High 12 5 V UB TTL level Low 0 0 5 V High 3 5 V UB 10 4 In Digital input Input resistance Rin 22 kΩ PLC level Low 0 7 V High 12 5 V UB TTL level Low 0 0 5 V High 3 5 V UB 11 Ch A 12 Ch B Encoder input Integrated pull up resistor after 5 V R 2 2 kΩ f 400 kHz 13 UCC...

Page 26: ...bsolute encoders 11 Sensor C Hall sensor C CLK for absolute encoders 12 UCC Power supply for external consumer loads 13 SGND Ground connection of the signal 14 Motor A Motor phase A 15 Motor B Motor phase B 16 Motor C Motor phase C Pin Designation Value 9 Sensor A 10 Sensor B 11 Sensor C Hall sensor input voltage Uin 5 V 12 UCC Output voltage for external use e g Hall sensors Uout 5 V Load current...

Page 27: ...l sensor C CLK for absolute encoders 12 UCC Power supply for external consumer loads 13 SGND Ground connection of the signal 14 Motor A Motor phase A 15 Motor B Motor phase B 16 Motor C Motor phase C The pin assignment on the motor side is not compatible with previous controller ver sions Pin Designation Value 9 Sensor A 10 Sensor B 11 Sensor C Hall sensor input voltage Uin 5 V 12 UCC Output volta...

Page 28: ...ion 9 11 2018 7000 05038 8th edition 9 11 20187000 05038 Installation 28 4 2 4 7 MCxx 3006 D sub connector Tab 15 Pin assignment of the D sub connector Pin RS232 CAN 2 RxD CAN L 3 TxD GND 5 GND 7 CAN H 9 6 1 5 ...

Page 29: ... the supply conductor from affecting the speed specification value Depending on options and configuration the analogue input serves different purposes see Communications and Functional Manual 4 2 5 2 Digital output Fig 9 Internal circuit 3rd input This connection can be used as a reference or digital input The drives are optionally avail able ex works with separate electronics supply at this conne...

Page 30: ...inactive Check the settings of the fault output before applying a voltage Match the power supply of the sensors and of the Motion Controller to each other The supply voltage of the sensors must not be greater than the power supply of the Motion Controller Fig 10 Internal circuit fault Dig I O The fault output has the following features Open collector switch to ground Output resistance in open stat...

Page 31: ...logue set value specification via potentiometer Connection of reference and limit switches Fig 12 Connection of reference and limit switches Recommendation If the fault output is used as an input connect an external resistor 1 kΩ 0 25 W in series 20 V 10k 4 7k 1k Motion Controller AnIn AGND Interface Ref UP GND GND UP 4 7k 1k 1k Interface Limit Switch Motion Controller AnIn Fault GND GND GND UB UB...

Page 32: ...00 05038 8th edition 9 11 20187000 05038 Installation 32 Connection of an external incremental encoder Fig 13 Connection of an external incremental encoder 2 7k Interface Quadrature Counter A A B B AGND Encoder UCC GND UB AnIn ...

Page 33: ...example MCBL 3006 S RS The setting of the baud rate and node number necessary for the communication con nection is made via the Motion Manager or as a direct command input see Communi cations and Functional Manual and Software Manual PC or High Level Control 4 7k Node 1 Node n TxD TxD RxD RxD RxD TxD GND GND GND D Sub9 Pin 2 D Sub9 Pin 3 D Sub9 Pin 5 Pin header Pin 1 Pin header Pin 2 Pin header Pi...

Page 34: ...ary to individually opti mise the amount and location of the terminating resistors For instance in a star net work a central 60 Ohm terminating resistor may be more suitable When the optimum arrangement of terminating resistors is fitted no accumulation of error frames should be evident Baud rate Maximum cable length including stub cable 1 000 kBit s 25 m 500 kBit s 100 m 250 kBit s 250 m 125 kBit...

Page 35: ...maintenance the housing must be protected against contact with solvents or substances containing solvents 5 2 Maintenance tasks The drive is generally maintenance free Where the device is mounted in a cabinet depending on the deposition of dust the air filter should be regularly checked and cleaned if necessary 5 3 Troubleshooting If unexpected malfunctions occur during operation according to the ...

Page 36: ...aulhaber GmbH Co KG are produced using the most modern production methods and are subject to strict quality inspections All sales and deliv eries are performed exclusively on the basis of our General Conditions of Sale and Delivery which can be viewed on the FAULHABER home page www faulhaber com gtc and down loaded from it ...

Page 37: ... edition 9 11 2018 Dr Fritz Faulhaber GmbH Co KG DR FRITZ FAULHABER GMBH CO KG Antriebssysteme Daimlerstraße 23 25 71101 Schönaich Germany Tel 49 0 7031 638 0 Fax 49 0 7031 638 100 info faulhaber de www faulhaber com ...

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