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1st edition, 12.02.2021

7000.05071, 1st edition, 12.02.2021

7000.05071

Content

4.3.5

Sensor and encoder interfaces ............................................................. 72

4.3.5.1

Analogue sensors and analogue Hall sensors ...................... 73

4.3.5.2

Incremental encoders / Digital Hall sensors /

Digital sensors ........................................................................ 73

4.3.5.3

Encoders with absolute interface ......................................... 73

4.3.6

Using filters ........................................................................................... 73

4.3.6.1

EMC-compliant mounting of the Motion Controller with

motherboard.......................................................................... 74

4.3.6.2

PWM filter (motor-side) ........................................................ 74

4.3.6.3

Emission-reducing, ferrite-based filters (motor side) .......... 74

4.3.6.4

Input-side filters..................................................................... 75

4.3.6.5

Insulation resistance .............................................................. 75

4.3.6.6

Coiling ferrite ring ................................................................. 75

4.3.7

Error avoidance and troubleshooting ................................................. 76

Maintenance and diagnostics ........................................................................................ 78

5.1

Maintenance tasks ................................................................................................ 78

5.2

Diagnosis ............................................................................................................... 78

5.3

Troubleshooting ................................................................................................... 78

Accessories ...................................................................................................................... 79

Warranty ......................................................................................................................... 80

Additional documents .................................................................................................... 81

8.1

Declaration of Conformity ................................................................................... 81

8.2

Declaration of Incorporation ............................................................................... 83

Содержание MC 3001 B

Страница 1: ...WE CREATE MOTION Technical Manual MC 3001 B P EN ...

Страница 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 ...

Страница 3: ...rds 20 3 3 2 1 Instructions for using other motherboards 20 3 3 2 2 Motherboard 6500 01802 22 3 3 2 3 Motherboard 6500 01807 29 3 3 2 4 Motherboard 6500 01808 35 3 3 2 5 Motherboard 6500 01809 40 3 3 2 6 Motherboard 6500 01810 45 3 3 2 7 Motherboard 6500 01811 50 4 Installation 55 4 1 Mounting 55 4 1 1 Mounting instructions 55 4 1 2 Installation of Motion Controller PCBs 56 4 2 Electrical connecti...

Страница 4: ...ompliant mounting of the Motion Controller with motherboard 74 4 3 6 2 PWM filter motor side 74 4 3 6 3 Emission reducing ferrite based filters motor side 74 4 3 6 4 Input side filters 75 4 3 6 5 Insulation resistance 75 4 3 6 6 Coiling ferrite ring 75 4 3 7 Error avoidance and troubleshooting 76 5 Maintenance and diagnostics 78 5 1 Maintenance tasks 78 5 2 Diagnosis 78 5 3 Troubleshooting 78 6 Ac...

Страница 5: ...ional 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 accessible to the operating and if necessary maintena...

Страница 6: ...gue input CAN Controller Area Network CAN_L CAN Low CAN_H CAN High CLK Clock CS Chip Select DigIn Digital input DigOut Digital output EFM Electronics Filter Motor EFS Electronics Filter Supply EMC Electromagnetic compatibility ESD Electrostatic discharge GND Ground I O Input Output MC Motion Controller Mot Motor n c not connected PWM Pulse Width Modulation RxD Receive Data SGND Signal ground TxD T...

Страница 7: ...ces 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 ...

Страница 8: ...achine building Medical technology Laboratory technology When using the Motion Controllers the following aspects should be observed 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...

Страница 9: ...r withdraw connectors whilst supply voltage is applied at the device 2 3 Environmental conditions Select the installation location so that clean dry air is available for cooling the Motion Controller Select the installation location so that the air has unobstructed access to flow around the drive When installed within housings and cabinets take particular care to ensure adequate cooling of the Mot...

Страница 10: ...ompliance is documented by the Declaration of Incorporation for the product and by the EC Declaration of the Conform ity EMC Directive 2014 30 EU The directive concerning electromagnetic compatibility EMC applies to all electrical and electronic devices installations and systems sold to an end user In addition CE marking can be undertaken for built in components according to the EMC Directive Conf...

Страница 11: ... alternatively also be operated without communication interface The controllers can be plugged into a motherboard via 3 micro board to board connectors MC 3001 B or a 28 pin plug connector MC 3001 P With the integrated output stage with optimised current measurement DC BL and LM motors from the FAULHABER product line from 06 to 30 mm can be controlled The following connections are available on the...

Страница 12: ...escription 12 3 2 Product information Fig 1 Designation key MC RS CO P 0 1 MC 30 B Serial interface RS232 Interface CANopen PCB version with pin terminals Max continuous output current 1 A Max power supply 30 V Motion Controller PCB version with micro board to board connectors ...

Страница 13: ...h micro board to board connectors MC3001 B Fig 2 Isometric view left and rear view right of the standard PCB with micro board to board connectors State LED Tab 1 LED function Status LED A B C LED indicator Function Green continuous light Device active Green flashing Device active However the state machine has not yet reached the Operation Enabled state Red continuously flashing The drive has switc...

Страница 14: ...erboard pin assignment Pin Designation Meaning 1 GND Ground connection 2 3 Up Power supply of the electronics 4 CAN L CAN Low interface 5 CAN H CAN High interface 6 GND Ground connection 7 Reserved Do not connect 8 GND Ground connection 9 UDD 5V supply connection for sensors 10 DigIn 1 Digital input 11 DigIn 2 Digital input 12 DigIn 3 Digital input 13 DigOut 1 Digital output 14 DigOut 2 Digital ou...

Страница 15: ...ogue ground connection 11 AnIn 2 Analogue input 12 13 n c 14 16 GND Ground connection 17 Reserved Do not connect 18 GND Ground connection 19 Channel A Encoder channel A logically inverted signal 20 Channel B Encoder channel B logically inverted signal 21 Index Index channel logically inverted signal 22 Index Index channel 23 Channel B Encoder channel B 24 Channel A Encoder channel A 25 26 Reserved...

Страница 16: ... 14 17 GND Ground connection 18 28 Phase B Motor phase B 29 34 Reserved Do not connect 35 Phase C Motor phase C 36 Phase A Motor phase A The motor phase B signal is assigned multiple times to achieve sufficient current carry ing capacity For the motor phase A and motor phase C connections multiple assign ment is not necessary since sufficient current carrying capacity is achieved at pin 35 and pin...

Страница 17: ...SB X1 Connection of the USB communication USB micro B Status LED USB X1 Status LED USB X1 LED indicator Function Green continuous light Device active Green flashing Device active However the state machine has not yet reached the Operation Enabled state Red continuously flashing The drive has switched to a fault state The output stage will be switched off or has already been switched off Red error ...

Страница 18: ...assignment Pin Designation Meaning 1 GND Ground connection 2 Umot Power supply of the motor 3 Up Power supply of the electronics 4 CAN H TxD CAN High interface RS232 interface transmit direction 5 CAN L RxD CAN Low interface RS232 interface receive direction 6 DigIn 1 Digital input 7 DigIn 2 Digital input 8 DigIn 3 Digital input 9 DigOut 1 Digital output 10 DigOut 2 Digital output 11 EGND Earth co...

Страница 19: ...ically inverted signal 19 Index Index channel 20 Channel B Encoder channel B 21 Channel A Encoder channel A 22 Sens C Hall sensor C 23 Sens B Hall sensor B 24 Sens A Hall sensor A 25 UDD 5V supply connection for sensors 26 Phase C Motor phase C 27 Phase B Motor phase B 28 Phase A Motor phase A Pin Designation Meaning ...

Страница 20: ...with DC motors and encoders IE2 IEH2 IEH3 L chap 3 3 2 3 p 29 6500 01808 MB1 MC 3001 for combination with DC motors and encoders IE3 L IER3 L IERS3 L chap 3 3 2 4 p 35 6500 01809 MB1 MC 3001 for combination with DC motors and encoders PA2 100 HEM3 chap 3 3 2 5 p 40 6500 01810 MB1 MC 3001 for combination with BL motors and encoders AESM IEM3 chap 3 3 2 6 p 45 6500 01811 MB1 MC 3001 for combination ...

Страница 21: ...ons and tolerances of the sockets for controller connectors A B and C Manufacturer Molex Series Slim Stack Details 34 pin 2 pin edge contact contact spacing 0 35 mm gold plated Manufacturer number 505413 3410 0 03 1 34 18 17 0 965 mm 1 9 mm 0 35 mm Pads 0 4 x 0 385 mm 35 36 1 28 mm 35 35 36 36 Pads 0 18 x 0 4 mm 1 34 0 03 0 03 0 03 0 03 0 03 0 03 0 03 0 03 0 18 0 35 B 1 28 0 58 0 385 0 4 B MIN 0 5...

Страница 22: ...3 2 2 Motherboard 6500 01802 With this motherboard it is possible to combine FAULHABER BL DC motors as well as Hall sensors and or encoders Fig 7 Side view top top view middle and isometric view bottom of the motherboard 6500 01802 65 40 X1 S1 X2 M3 S2 M2 M1 X3 A B C 1 1 1 2 1 28 1 2 1 1 1 MC ...

Страница 23: ...on of an incremental encoder with or without line driver Alternatively an absolute encoder can be connected with or without line driver X1 USB USB interface connection X2 COM CAN RS232 interface connection X3 I O Voltage supply of the controller and motor Inputs or outputs for external circuits S1 DIP switch COM Selection of the COM interface C CAN RS RS232 S2 DIP Switch Encoder Term Encoder termi...

Страница 24: ...5 Electrical data of the sensor connection M2 Pin Designation Meaning 1 Motor Connection of motor positive pole 2 Motor Connection of the motor negative pole Designation Value Motor power supply 0 Umot Max 5 A 100 kHz Pin Designation Meaning 1 UDD Power supply for sensors 2 GND Ground connection 3 Sens A Hall sensor A 4 Sens B Hall sensor B 5 Sens C Hall sensor C Pin Designation Meaning 1 UDD Powe...

Страница 25: ...driver M3 Pin Designation Meaning 1 UDD Power supply for incremental encoder 2 GND Ground connection 3 Channel A Encoder channel A logically inverted sig nal 4 Channel A Encoder channel A 5 Channel B Encoder channel B logically inverted sig nal 6 Channel B Encoder channel B 7 Index Encoder index logically inverted signal 8 Index Encoder index Designation Value Power supply for incremental encoder ...

Страница 26: ...ation Meaning 1 UDD Power supply for absolute encoder 2 GND Ground connection 3 CS Chip Select for absolute encoder logically inverted signal 4 CS Chip Select for absolute encoder 5 Data Data for absolute encoder logically inverted signal 6 Data Data for absolute encoder 7 CLK Clock for absolute encoder logically inverted signal 8 CLK Clock for absolute encoder Designation Value Absolute encoder p...

Страница 27: ...ication RS232 CANopen Tab 25 Pin assignment of the COM port X2 for RS232 Tab 26 Pin assignment of the COM port X2 for CANopen Designation Value Absolute encoder power supply 5 V 100 mA Connection Chip Select 5 V Connection data 5 V 5 kΩ Connection clock 5 V 1 MHz Designation Meaning USB communication USB micro B Pin Designation Meaning 1 TxD RS232 interface transmit direction 2 RxD RS232 interface...

Страница 28: ...Digital input 7 DigIn 3 Digital input 8 AnIn 1 Analogue input 9 AnIn 2 Analogue input 10 AGND Ground connection for analogue inputs 11 Up Power supply of the electronics 12 GND Ground connection 13 Umot Power supply of the motor 14 GND Ground connection Designation Value Power supply for external consum ers 5 V 100 mA DigOut low GND high high resistance 27 kΩ Max 0 7 A DigIn 30 V 27 kΩ 1 MHz TTL l...

Страница 29: ...ABER DC motors can be combined with encoders of types IE2 IEH2 or IEH3 L Motor connections M and M can be connected here either via con nector M1 or with combined cables via connector M3 Fig 8 Side view top top view middle and isometric view bottom of the motherboard 6500 01807 65 40 X1 S1 X2 M3 1 S2 M1 X3 A B C MC M3 2 M3 3 1 1 1 2 28 1 1 1 1 1 1 ...

Страница 30: ...ntal encoder M3 2 motor and controller Connection of a motor with IEH3 incremental encoder M3 3 motor and controller Connection of a motor with IEH3L incremental encoder X1 USB USB interface connection X2 COM CAN RS232 interface connection X3 I O Voltage supply of the controller and motor Inputs or outputs for external circuits S1 DIP switch COM Selection of the COM interface C CAN RS RS232 S2 DIP...

Страница 31: ...pole 3 GND Ground connection 4 UDD Power supply for incremental encoder 5 Channel B Encoder channel B 6 Channel A Encoder channel A Designation Value Motor power supply 0 Umot Max 1 A 100 kHz Power supply for incremental encoder 5 V 100 mA Connection of the incremental encoder 5 V 2 MHz 5 kΩ Pin Designation Meaning 1 n c 2 Motor Connection of the motor negative pole 3 Motor Connection of motor pos...

Страница 32: ... supply for incremental encoder 3 GND Ground connection 4 Motor Connection of motor positive pole 5 Channel A Encoder channel A logically inverted sig nal 6 Channel A Encoder channel A 7 Channel B Encoder channel B logically inverted sig nal 8 Channel B Encoder channel B 9 Index Encoder index logically inverted signal 10 Index Encoder index Designation Value Motor power supply 0 Umot Max 5 A 100 k...

Страница 33: ...ion is made between the following types of communication RS232 CANopen Tab 39 Pin assignment of the COM port X2 for RS232 Tab 40 Pin assignment of the COM port X2 for CANopen Pin Designation Meaning 1 TxD RS232 interface transmit direction 2 RxD RS232 interface receive direction 3 GND Ground connection Pin Designation Meaning 1 CAN H CAN High interface 2 CAN L CAN Low interface 3 GND Ground connec...

Страница 34: ...Digital input 7 DigIn 3 Digital input 8 AnIn 1 Analogue input 9 AnIn 2 Analogue input 10 AGND Ground connection for analogue inputs 11 Up Power supply of the electronics 12 GND Ground connection 13 Umot Power supply of the motor 14 GND Ground connection Designation Value Power supply for external consum ers 5 V 100 mA DigOut low GND high high resistance 27 kΩ Max 0 7 A DigIn 30 V 27 kΩ 1 MHz TTL l...

Страница 35: ...3 3 2 4 Motherboard 6500 01808 With this motherboard FAULHABER DC motors can be combined with encoders of types IE3 L IER3 L or IERS3 L Fig 9 Side view top top view middle and isometric view bottom of the motherboard 6500 01808 65 40 X1 S1 X2 M1 X3 A B C M3 1 S2 M3 2 MC 1 1 1 8 28 1 1 1 1 1 ...

Страница 36: ...3 1 encoder Connection of an IE3 incremental encoder M3 2 encoder Connection of an IE3L incremental encoder X1 USB USB interface connection X2 COM CAN RS232 interface connection X3 I O Voltage supply of the controller and motor Inputs or outputs for external circuits S1 DIP switch COM Selection of the COM interface C CAN RS RS232 S2 DIP Switch Encoder Term Encoder terminal resistance Encoder witho...

Страница 37: ...al encoder 5 Channel B Encoder channel B 6 Channel A Encoder channel A Designation Value Power supply for incremental encoder 5 V 100 mA Connection of the incremental encoder 5 V 2 MHz 5 kΩ Pin Designation Meaning 1 n c 2 UDD Power supply for incremental encoder 3 GND Ground connection 4 n c 5 Channel A Encoder channel A logically inverted sig nal 6 Channel A Encoder channel A 7 Channel B Encoder ...

Страница 38: ...tween the following types of communication RS232 CANopen Tab 51 Pin assignment of the COM port X2 for RS232 Tab 52 Pin assignment of the COM port X2 for CANopen Designation Meaning USB communication USB micro B Pin Designation Meaning 1 TxD RS232 interface transmit direction 2 RxD RS232 interface receive direction 3 GND Ground connection Pin Designation Meaning 1 CAN H CAN High interface 2 CAN L C...

Страница 39: ...Digital input 7 DigIn 3 Digital input 8 AnIn 1 Analogue input 9 AnIn 2 Analogue input 10 AGND Ground connection for analogue inputs 11 Up Power supply of the electronics 12 GND Ground connection 13 Umot Power supply of the motor 14 GND Ground connection Designation Value Power supply for external consum ers 5 V 100 mA DigOut low GND high high resistance 27 kΩ Max 0 7 A DigIn 30 V 27 kΩ 1 MHz TTL l...

Страница 40: ...n 40 3 3 2 5 Motherboard 6500 01809 With this motherboard FAULHABER DC motors can be combined with encoders of types PA2 100 or HEM3 Fig 10 Side view top top view middle and isometric view bottom of the motherboard 6500 01809 65 40 M3 1 M3 2 X1 S1 X2 S2 M2 M1 X3 A B C MC 1 1 1 2 28 1 1 ...

Страница 41: ...mental encoder M3 2 motor and controller Connection of a motor with PA2 100 incremental encoder X1 USB USB interface connection X2 COM CAN RS232 interface connection X3 I O Voltage supply of the controller and motor Inputs or outputs for external circuits S1 DIP switch COM Selection of the COM interface C CAN RS RS232 Pin Designation Meaning 1 Motor Connection of the motor negative pole 2 GND Grou...

Страница 42: ...otor Connection of motor positive pole 2 Motor Connection of motor positive pole 3 UDD Power supply for incremental encoder 4 Channel A Encoder channel A 5 Channel B Encoder channel B 6 GND Ground connection 7 Motor Connection of the motor negative pole 8 Motor Connection of the motor negative pole Designation Value Motor power supply 0 Umot Max 1 A 100 kHz Power supply for incremental encoder 5 V...

Страница 43: ...ion is made between the following types of communication RS232 CANopen Tab 61 Pin assignment of the COM port X2 for RS232 Tab 62 Pin assignment of the COM port X2 for CANopen Pin Designation Meaning 1 TxD RS232 interface transmit direction 2 RxD RS232 interface receive direction 3 GND Ground connection Pin Designation Meaning 1 CAN H CAN High interface 2 CAN L CAN Low interface 3 GND Ground connec...

Страница 44: ...Digital input 7 DigIn 3 Digital input 8 AnIn 1 Analogue input 9 AnIn 2 Analogue input 10 AGND Ground connection for analogue inputs 11 Up Power supply of the electronics 12 GND Ground connection 13 Umot Power supply of the motor 14 GND Ground connection Designation Value Power supply for external consum ers 5 V 100 mA DigOut low GND high high resistance 27 kΩ Max 0 7 A DigIn 30 V 27 kΩ 1 MHz TTL l...

Страница 45: ... 45 3 3 2 6 Motherboard 6500 01810 With this motherboard FAULHABER 0824B and 1028B BL motors can be combined with encoders of types AESM or IEM3 Fig 11 Side view top top view middle and isometric view bottom of the motherboard 6500 01810 66 40 X1 S1 X2 X3 A B C M3 1 MC M3 2 1 1 1 2 28 1 ...

Страница 46: ...ncoder X1 USB USB interface connection X2 COM CAN RS232 interface connection X3 I O Voltage supply of the controller and motor Inputs or outputs for external circuits S1 DIP switch COM Selection of the COM interface C CAN RS RS232 Pin Designation Meaning 1 Motor C Connection of motor phase C 2 Motor B Connection of motor phase B 3 Motor A Connection of motor phase A 4 GND Ground connection 5 UDD P...

Страница 47: ...in Designation Meaning 1 Motor C Connection of motor phase C 2 Motor B Connection of motor phase B 3 Motor A Connection of motor phase A 4 GND Ground connection 5 UDD Power supply for absolute encoder 6 CLK Clock for absolute encoder 7 n c 8 Data Data for absolute encoder Designation Value Motor power supply 0 Umot Max 1 A 100 kHz Absolute encoder power supply 5 V 100 mA Connection data 5 V 5 kΩ C...

Страница 48: ...ion is made between the following types of communication RS232 CANopen Tab 71 Pin assignment of the COM port X2 for RS232 Tab 72 Pin assignment of the COM port X2 for CANopen Pin Designation Meaning 1 TxD RS232 interface transmit direction 2 RxD RS232 interface receive direction 3 GND Ground connection Pin Designation Meaning 1 CAN H CAN High interface 2 CAN L CAN Low interface 3 GND Ground connec...

Страница 49: ...Digital input 7 DigIn 3 Digital input 8 AnIn 1 Analogue input 9 AnIn 2 Analogue input 10 AGND Ground connection for analogue inputs 11 Up Power supply of the electronics 12 GND Ground connection 13 Umot Power supply of the motor 14 GND Ground connection Designation Value Power supply for external consum ers 5 V 100 mA DigOut low GND high high resistance 27 kΩ Max 0 7 A DigIn 30 V 27 kΩ 1 MHz TTL l...

Страница 50: ...n 50 3 3 2 7 Motherboard 6500 01811 With this motherboard FAULHABER BL DC motors can be combined with encoders of types PA2 50 or HXM Fig 12 Side view top top view middle and isometric view bottom of the motherboard 6500 01811 66 40 X1 S1 X2 X3 A B C M3 1 MC M3 2 M3 3 S2 1 1 1 2 28 1 1 ...

Страница 51: ...2 50 incremental encoder X1 USB USB interface connection X2 COM CAN RS232 interface connection X3 I O Voltage supply of the controller and motor Inputs or outputs for external circuits S1 DIP switch COM Selection of the COM interface C CAN RS RS232 S2 DIP Switch HXM config HXM_CFG2 configuration High 16 pulse S2 1 in ON position S2 2 and S2 3 in OFF position Open 32 pulse S2 2 in ON position S2 1 ...

Страница 52: ...annel B Encoder channel B 5 Channel A Encoder channel A 6 Index Encoder index 7 UDD Power supply for incremental encoder 8 Motor Connection of motor positive pole Designation Value Motor power supply 0 Umot Max 1 A 100 kHz Power supply for incremental encoder 5 V 100 mA Connection of the incremental encoder 5 V 2 MHz 5 kΩ Pin Designation Meaning 1 Motor Connection of motor positive pole 2 UDD Powe...

Страница 53: ...tween the following types of communication RS232 CANopen Tab 83 Pin assignment of the COM port X2 for RS232 Tab 84 Pin assignment of the COM port X2 for CANopen Designation Meaning USB communication USB micro B Pin Designation Meaning 1 TxD RS232 interface transmit direction 2 RxD RS232 interface receive direction 3 GND Ground connection Pin Designation Meaning 1 CAN H CAN High interface 2 CAN L C...

Страница 54: ...Digital input 7 DigIn 3 Digital input 8 AnIn 1 Analogue input 9 AnIn 2 Analogue input 10 AGND Ground connection for analogue inputs 11 Up Power supply of the electronics 12 GND Ground connection 13 Umot Power supply of the motor 14 GND Ground connection Designation Value Power supply for external consum ers 5 V 100 mA DigOut low GND high high resistance 27 kΩ Max 0 7 A DigIn 30 V 27 kΩ 1 MHz TTL l...

Страница 55: ...ssioning Also comply with the supplementary instructions for installation see chap 2 3 p 9 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 Co...

Страница 56: ...mple motherboard MB1 MC3001 6500 01802 NOTICE Incorrect installation can damage the Motion Controller Note orientation of the Motion Controller PCB acc to Fig 13 MC 3001 B Connect the Motion Controller PCB 3 to the motherboard 1 using the 3 micro board to board connectors 2 MC 3001 P Connect the Motion Controller PCB 5 to the motherboard 1 using the plug connections 4 3 5 1 2 4 ...

Страница 57: ...reby protect the power supply For more detailed information see the data sheet for the Braking Chopper The Motion Controller contains a PWM output stage for controlling the motors Power losses arising during operation and alternating electrical fields arising due to the pulsed control of the motors must be dissipated and damped by appropriate installation Connect the Motion Controller to a groundi...

Страница 58: ...ur in respect of transient emission and interference resistance may require additional EMC measures see chap 4 3 p 65 Motion Controller Neutral point Drive Encoder type Unshielded length Shielded length a a applies to cables separately shielded from the motor phase power cables Digital Hall sensors 0 5 m 2 5 m Analogue Hall sensors 0 5 m 2 5 m Incremental encoders without line driver 0 5 m 2 5 m I...

Страница 59: ...upply Connect the Motion Controller to a sufficiently dimensioned power supply unit During acceleration procedures current peaks with values up to the peak current limit setting of the motor can occur for multiples of 10 ms During braking procedures energy can be regenerated and fed back into the DC power supply network If this energy cannot be taken up by other drives the voltage in the DC power ...

Страница 60: ...ition Use as a free measurement input queried via the interface Fig 17 Digital input circuit diagram internal The digital inputs are switchable from the input level PLC TTL The digital inputs can be configured for the following purposes see the Drive Functions Digital input for reference and limit switches Connection of an external encoder PWM Pulse Width Modulation set point specification for cur...

Страница 61: ... 18 Digital output circuit diagram internal The digital output has the following properties Open collector switch to ground Monitored output current switch opens in the event of an error A digital output can be assigned to an error output It can be freely programmed DigOut 27k UP DigOut ...

Страница 62: ...polar analogue set point specification via potentiometer Analogue set point specification via potentiometer with internally set offset and scaling Fig 20 Analogue set point specification via potentiometer with internally set offset and scaling 20 V 10k 4 7k 1k Motion Controller AnIn AGND Interface Ref UP GND GND UP 10 V 10k Motion Controller AnIn AGND Interface Ref UP GND GND UP UDD ...

Страница 63: ...cremental encoder Fig 22 Connection of an external incremental encoder Depending on the type of switch it may be necessary to use additional pull up resistors No internal pull up resistors are incorporated in the Motion Controller 1k 1k Interface Limit Switch Motion Controller DigIn X DigIn Y GND GND GND UP UP 2 7k Interface Quadrature Counter A A B Index B Index DigIn2 DigIn3 Encoder UDD GND UP D...

Страница 64: ... up resistors are incorporated in the Motion Controller If the CAN wiring is not laid in a straight line it may be necessary 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...

Страница 65: ...tions that can be described with the following circuit diagrams Fig 25 Circuit diagrams of the considered systems AC mains system Fig 26 Interference sources in an AC mains system ZN Mains impedance of mains transformer power supply connection ZE1 Common mode impedance of electronics on DC side ZE2 Common mode impedance of electronics on AC side power supply connection ZM1 Impedance of motor housi...

Страница 66: ... are effective only if the following chapters are followed correctly The qualitative assessment of a power supply can be performed with an interference voltage test and a resistive load e g fanless heater hot plate Solution Mode of action Benefits Disadvantages 3 phase common mode choke ferrite ring around all motor phases Removes common mode interference of the motor Removes RF common mode interf...

Страница 67: ...l necessary parts e g mains supply motor controller Keep earthing cable as short as possible For functional earthing Use a braided shield that is meshed as tightly as possible Direct contact with the earth plate is to be preferred Therefore avoid contact with the controller and then with the earth plate Connections made over a large surface area are to be preferred 4 3 3 Cable routing The cable ro...

Страница 68: ...ion 12 02 20217000 05071 Installation 68 Fig 27 Laying in the cable duct Fig 28 Grouping and shielding of the cables 1 High current cable 2 Digital cable 3 Sensor cable 1 Shielding 2 Motor phase 3 Hall sensor 1 2 3 1 5 cm 2 3 1 2 3 1 2 3 1 1 1 ...

Страница 69: ...oder signals and connect on at least the motor side see 1 or 2 in Fig 29 Fig 29 Various possibilities for the shield connection The sensor signals can optionally be laid with the motor phases in a shared cable insula tion hose using another outer braided shield This outer braided shield must be con nected at both ends e g 4 in Fig 29 A solution such as 2 in Fig 29 is not functional in every case f...

Страница 70: ...ove approx 50 100 mm from the outer cable shield 1 Make certain that none of the fibres of the braided shield 2 are destroyed 2 Either push back the shield or roll it up and fasten with heat shrink tubing 4 3 Optionally fit crimp sleeves on the cable ends 5 and attach to the plug connectors 4 Fasten the shield and the fixed end of the heat shrink tubing with a cable tie 3 1 Outer cable shield 2 Br...

Страница 71: ...s Fig 31 Shield connection with cable lug 1 Scrape the surface around the hole to remove as much of the oxide layer as possible 2 Guide screw with washers through the cable lug 3 Place lock washer on the screw Depending on the screw length also position the lock washer against the roughened surface 4 Fix screw with nut on the bottom side or screw into the thread 1 Screw 2 Nut 3 Spring washer 4 Was...

Страница 72: ...rfaces Absolute encoder Fig 32 Useful frequency ranges of the encoders To evaluate the interference on the signal transmission quality measure the signals Make certain that no parasitic effects are measured Select the reference potential cor rectly and measure directly on the controller if possible The following statement applies to all mentioned sensor systems Differential signal trans mission wi...

Страница 73: ...ce resistance See also technical manual AEMTL manual no 7000 0x070 4 3 6 Using filters The filters are divided into various function and current ranges Filter types Input side filters filters on the power supply side Motor side filters filters that are connected between controller and motor in the motor phases Fig 33 Filter categories from FAULHABER The signal quality can be improved with a capaci...

Страница 74: ...g conductive base plate Fig 34 Example for installation in a top hat rail housing 4 3 6 2 PWM filter motor side Measures are provided in the device that come close to the effect of a PWM filter Thus an external PWM filter is only necessary in exceptional cases 4 3 6 3 Emission reducing ferrite based filters motor side These filters can be found in similar form and mode of action on the motherboard...

Страница 75: ...filters from FAULHABER are not intended for an insulation resistance test Discharging of the common mode interference with capacitors prevents a meaningful result from an insulation resistance test 4 3 6 6 Coiling ferrite ring Ideally ferrites made of manganese zinc material are used that are active in the 1 10 MHz range Typical diameters are between 25 and 35 mm onto which two to three windings w...

Страница 76: ...is correct 3 Were the recommended cables used a Select motor cables in the accessory catalog b Motor cables must be shielded as they otherwise act as an antenna Unshielded cables could cause interference in the surrounding area If uncertain the shield can be doubled for further information see FAULHABER accessories catalog and chap 4 3 4 p 69 4 Are the contacts correctly screwed down or properly p...

Страница 77: ...te Connect the shield of the motor cable on the motor side and as close as possible on the controller side The shield is to be connected over a large area ide ally with a round connection The connection of the motor cable shield is to be as short as possible Keep the motor cable as short as possible Use an input filter When selecting pay attention to the difference of filter attenuation between 50...

Страница 78: ...ew 5 3 Troubleshooting If unexpected malfunctions occur during operation according to the intended use please contact your support partner Status LED Status LED Designation Function State LED Green continuous light Device active Green flashing Device active However the state machine has not yet reached the Operation Enabled state Red continuously flashing The drive has switched to a fault state Th...

Страница 79: ...00 05071 1st edition 12 02 20217000 05071 Accessories 79 6 Accessories Details of the following accessory parts can be found in the Accessories Manual Connection cables Connector sets Additional equipment Motherboards see Tab 7 ...

Страница 80: ...lhaber 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 https www faulhaber com gtc and downloaded from it ...

Страница 81: ...chtlinie 2014 30 EU EMC Directive 2014 30 EU Die Einhaltung dieser Richtlinie n setzt die Umsetzung aller in der technischen Dokumentation genannten Maßnahmen voraus The measures indicated in all technical documents must be fulfilled in order to meet the requirements of this directive Diese Erklärung gilt für alle Exemplare die in verschiedenen Leistungsdaten in dieser Serie hergestellt werden Thi...

Страница 82: ... Document No Month Year Die Übereinstimmung mit den genannten EG Richtlinien wurde durch Überprüfung gemäß nach folgender Fachgrundnorm nachgewiesen The conformity with the EC guidelines was proven according to the following standards Fundstelle Document Ausgabedatum Date of issue Richtlinienbezug Related to directive EN 61800 3 2018 EMV Richtlinie EMC directive EG 00016 0001 04 2021 ...

Страница 83: ... service until it has been proven that the machine as a whole in which this component is to be installed meets the basic safety requirements of the here mentioned EC Machinery Directive 2006 42 EC Produkttyp Product type Motion Controller mit angeschlossenem Antrieb Motion Controller with attached electrical drive Gemäß Anhang VII Teil B der EG Maschinenrichtlinie 2006 42 EG wurden spezielle techn...

Страница 84: ...edition 12 02 2021 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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