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Faulhaber BLD 5603 Series, Руководство по эксплуатации

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Twisted wires

Shielded phase and Hall sensor wires

Figure 3

Brown

Orange

Yellow

Black

Red

Grey

Blue

Green

Phase A

Phase B

Phase C 

GND logical

Logical 5V

Hall sensor C

Hall sensor B

Hall sensor A

Shielded Hall sensor wires

Figure 1

Figure 2

Brown

Orange

Yellow

Black

Red

Grey

Blue

Green

Phase A

Phase B

Phase C 

GND logical

Logical 5V

Hall sensor C

Hall sensor B

Hall sensor A

Brown

Orange

Yellow

Black

Red

Grey

Blue

Green

Phase A

Phase B

Phase C 

GND logical

Logical 5V

Hall sensor C

Hall sensor B

Hall sensor A

Brushless

DC-Servomotor

Notice of Use

    Specifications subject to change without notice

Brushless

DC-Servomotor

Brushless

DC-Servomotor

Connector

Connector

Connector

Содержание BLD 5603 Series

Страница 1: ...BLD 5603 BLD 5606 Series Operating Instructions Servo Amplifier 4 Quadrant PWM for Brushless DC Servomotors Series ...

Страница 2: ... Surf to the following Internet address and you will find the latest edition of the instruction manual on line www minimotor ch uk pr For direct Download w w w f a u l haber com Miniature Drive Systems Micro Drives DC Micromotors Precision Gearheads Servo Components Drive Electronics ...

Страница 3: ...CC4P and BLD 5606 CC4P for current control 18 2 Servo amplifiers BLD 5603 SH4P and BLD 5606 SH4P for speed control 18 3 Servo amplifiers BLD 5603 SE4P and BLD 5606 SE4P for speed control with encoder 18 4 Offset adjustment 18 5 Selection of R7 for servo amplifiers BLD 5603 SH4P and BLD 5606 SH4P 18 6 Selection of R7 for servo amplifiers BLD 5603 SE4P and BLD 5606 SE4P 18 7 Current limiter 18 8 Opt...

Страница 4: ... analog current command The amplifiers are designed for use with a position controller or in constant torque applications Speed control two amplifier configurations are available BLD 5603 SH4P or BLD 5606 SH4P the type SH4P uses the Hall sensor signals of the brushless DC servomotor to allow precise regulation at speed above 1000 rpm BLD 5603 SE4P or BLD 5606 SE4P the type SE4P is able to regulate...

Страница 5: ...f brushless DC Servomotors with an additional encoder Current control Speed control The Servo Amplifiers type BLD 5603 CC4P and BLD 5606 CC4P are the basic board suitable for the current control torque control of brushless DC Servomotors The Servo Amplifiers type BLD 5603 SH4P and BLD 5606 SH4P are the basic board with an additional module for speed control of brushless DC Servomotors Application ...

Страница 6: ...CC4P SH4P SE4P 119 3 x 90 5 x 29 119 3 x 90 5 x 37 119 3 x 90 5 x 37 mm 195 225 225 g 4 Technical data Format L x W x H Weight Specifications subject to change without notice 4 Dimensions and weight ...

Страница 7: ...e 2 Input resistance Frequency bandwidth Logical input Ouptput voltage for external use Positive 50 mA max load Negative 5 mA max load Total stand by current typical Hall sensors included Speed range 3 to to Dynamic range 4 Temperature range Operating temperature Storage temperature Cycle by cycle current limiting Analog input command positive voltage CW negative voltage CCW may be set by an exter...

Страница 8: ...3 Current limiter type I2 t A brushless DC servomotor tolerates peak currents much higher than the maximum continuous current admissible though only for a limited period of time A current limiter type I2 t takes these characteristics into account and in addition provides excellent protection against a possible overload To illustrate the operation of this current limiter the following figure provid...

Страница 9: ...eriod longer than the maximum T period the servo amplifier will impose the current Ilim which will continue for the duration of the overload e g interval t4 t5 N B When the limiter is active the servo amplifier has no control on the motor speed 7 4 Enable The servo amplifier is disabled when contacts 7 and 11 are connected high level Opening this connection low level enables the power stage This i...

Страница 10: ... logical Current amplifier Controller Brushless DC Servomotor Power stage Current feedback Thermal shutdown Ph A Ph B Ph C Hs A Hs B Hs C Dimensional drawing GND Enable Vm For combination with Brushless DC Servomotors 2036 2444 3056 3564 Basic circuit diagram Scale reduced Female terminal block type Pot Offset trimmer adjustment Specifications subject to change without notice Servo Amplifiers for ...

Страница 11: ...nsor C Hall sensor B Hall sensor A Enable Supply 5V Current command Before connecting it is recommended to read chapter 17 Special considerations Logical supply output Power supply Phase output Hall sensors Logical command Analog command Brushless DC Servomotor Brown Orange Yellow Black Red Grey Blue Green Specifications subject to change without notice For combination with Brushless DC Servomotor...

Страница 12: ...ol For combination with Brushless DC Servomotors 2036 2444 3056 3564 Speed command Controller Brushless DC Servomotor Power stage Current feedback Thermal shutdown Ph A Ph B Ph C Hs A Hs B Hs C GND Speed amplifier Current limiter Current amplifier F V converter GND logical Enable Motor Speed Monitor Vm Speed feedback Scale reduced Pot Offset trimmer adjustment Pot Current Limiter Female terminal b...

Страница 13: ...ll sensor B Hall sensor A Enable Supply 5V Speed command Motor Speed Monitor Before connecting it is recommended to read chapter 17 Special considerations Logical supply output Power supply Phase output Hall sensors Logical command Analog command Brushless DC Servomotor Brown Orange Yellow Black Red Grey Blue Green Specifications subject to change without notice For combination with Brushless DC S...

Страница 14: ... contact Pot Offset trimmer adjustment Female terminal block type MC 1 5 4 G 3 81 Phoenix contact Scale reduced GND logical Controller Power stage Current feedback Thermal shutdown GND Speed amplifier Current limiter Current amplifier F V converter Ch A Ch B Brushless DC Servomotor Encoder Vm Speed command Ph A Ph B Ph C Hs A Hs B Hs C Enable Motor Speed Monitor Dimensional drawing Servo Amplifier...

Страница 15: ...ommand Motor Speed Monitor Before connecting it is recommended to read chapter 17 Special considerations Logical supply output Power supply Phase output Hall sensors Logical command Analog command Encoder Encoder Encoder cable supply on request GND logical Channel B Channel A Vcc Brown Orange Yellow Black Red Grey Blue Green Black Brown White Red Specifications subject to change without notice For...

Страница 16: ...motor Imax nmax Maximum current and speed reached by the motor in your specific application 17 3 Wiring A well known disadvantage of Pulse Width Modulation PWM is the large amount of interferences generated This has two consequences namely perturbations to the environment and self perturbations The EMI is generated in the motor power leads and induced in the Hall sensor wires The smooth running of...

Страница 17: ...length In case of wires longer than the standard product 0 3 m it is recommended to use the following cable sections Phase brushless DC servomotors type 2036 B 2444 B 1 0 mm2 AWG 18 Phase brushless DC servomotors type 3056 B 3564 B 1 5 mm2 AWG 16 Hall sensors brushless DC servomotors 2036 2444 3056 and3564 0 5 mm2 AWG 20 Note If wires longer than 5 m please consult us Notice of Use Specifications ...

Страница 18: ...l sensor A Shielded Hall sensor wires Figure 1 Figure 2 Brown Orange Yellow Black Red Grey Blue Green Phase A Phase B Phase C GND logical Logical supply 5V Hall sensor C Hall sensor B Hall sensor A Brown Orange Yellow Black Red Grey Blue Green Phase A Phase B Phase C GND logical Logical supply 5V Hall sensor C Hall sensor B Hall sensor A Brushless DC Servomotor Notice of Use Specifications subject...

Страница 19: ...gram 18 4 Offset adjustment 18 5 Selection of R7 for servo amplifier BLD 5603 06 SH4P 7 3 and 18 7 Current limiter Procedure Connect the servo amplifier Adjust offset Select R7 R1 C1 and C2 Set current limit Offset adjustment The offset is adjusted changing potentiometer Pot the position is indicated in chapters 9 12 and 15 Dimensional drawing Important This setting is made by Minimotor potentiome...

Страница 20: ...he amplifier allows to calculate the min controllable speed for this application i e 10 000 rpm 40 250 rpm However this min speed of 250 rpm is not reachable the min speed reachable with the SH4P module is approx 700 rpm and depends on a large extent of the specific application In general for applications for a speed below 1 000 rpm the use of servo amplifier BLD 5606 SE4P or BLD 5603 SE4P is reco...

Страница 21: ...he denominator this was chosen intentionally since the CPR value normally exceeds 100 and in such a way the max speed and the gain are obtained by a simple calculation N B The max motor speed must not exceed the encoder speed range i e nmax rpm R7 kΩ Gain rpm V Table 2 Values of components R1 C1 and C2 recommended for different speed ranges R7 For detailed description of components R7 R1 C1 and C2...

Страница 22: ...fier allows to calculate the min controllable speed i e 7 800 rpm 40 195 rpm there are no problems since the value is below 340 rpm 4 The gain value allows to calculate the analog input command for a given speed speed command speed gain Example For 3 500 rpm the speed command is approx 2 2V speed command 3 500 800 000 512 Current limiter The current limiter is a protection if the motor stalls or i...

Страница 23: ...tical with those of the type of application to be optimized 4 Apply rectangular low frequency signal e g 0 2 Hz 2V 5 Display the output signal Motor Speed Monitor contact 15 on an oscilloscope Part 2 Procedure References Optimizing procedure Specifications subject to change without notice 6 Optimizing R7 18 8 2 Optimizing R7 7 Optimizing response 18 8 3 Load influence 18 8 4 Function of R1 C1 and ...

Страница 24: ...btain a max speed of 35 000 rpm is between 8 2 kΩ and 11 kΩ 4 Determine by way of experiment the value of R7 corresponding to a max speed of 35 000 rpm choicing a resistance value between those as determined above Load influence Before beginning note that this optimizing procedure is necessary only if a faster response of the system is required This chapter shows by means of an extremly practical ...

Страница 25: ...fier components R7 33 kΩ R1 120 kΩ C1 1 µF C2 33 nF Speed command Diagram 1 Measurement 1 input signal Comment The speed command is applied to contact 14 of the connector Time sec Absolute Speed command V Motor without load Diagram 2 Measurement 2 output signal Comment The output signal corresponds to the speed of the motor it is measured on contact 15 of the connector Motor Speed Monitor Motor Sp...

Страница 26: ...d thus it increases the system stability positive effect The load slows down the response negative effect Time sec Motor Speed Monitor V Motor with load and optimization Diagram 4 Comment This measument shows the result of an optimization varying the components R1 and C1 of the regulator the influence of the load is compensated and the response accelerated Measurement 4 output signal Values of ser...

Страница 27: ... the function of the regulator components R1 C1 and C2 in such a way to allow an intervention in the stability of the system Starting data are identical to those in Application 4 The speed command corresponds to Measurement 1 while the output signal corresponds to Measurement 2 Comparing Measurements 5 to 8 vs Measurement 2 the influence of each single component is evidenced on the system reponse ...

Страница 28: ...stem to stabilize is increased Measurement 6 output signal Diagram 6 Decrease of R1 R1 56 kΩ Time sec Motor Speed Monitor V Diagram 7 Comment compare against Measurement 2 Increasing capacity C1 increases the damping reduction of oscillations before achieving stability Increase of C1 C1 4 7 µF Measurement 7 output signal Time sec Motor Speed Monitor V Specifications subject to change without notic...

Страница 29: ...ree components R1 C1 and C2 are closely interlinked If e g there are problems when setting up the system at low speed varying only the capacity C2 it is also necessary to change the values of the components R1 and C1 Comment compare against Measurement 2 Reducing capacity C1 reduces the damping increase of oscillations before achieving stability Decrease of C1 C1 0 47 µF Time sec Motor Speed Monit...

Страница 30: ...28 Notes ...

Страница 31: ...29 Notes ...

Страница 32: ...ber 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 Switzerland MA15004 english 2 edition 20 08 2003 ...

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