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Version:
1st edition, 20.04.2021

Copyright
by Dr. Fritz Faulhaber GmbH & Co. KG
Daimlerstr. 23 / 25 · 71101 Schönaich

All rights reserved, including those to the translation.
No part of this description may be duplicated, reproduced,
stored in an information system or processed or
transferred in any other form without prior express written
permission of Dr. Fritz Faulhaber GmbH & Co. KG.

This document has been prepared with care.
Dr. Fritz Faulhaber 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
when using the software.

Subject to change without notice.

The respective current version of this technical manual is
available on FAULHABER's internet site:
www.faulhaber.com

1st edition, 20.04.2021

7000.05072, 1st edition, 20.04.2021

7000.05072

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Содержание MC 3603 S

Страница 1: ...WE CREATE MOTION Technical Manual MC 3603 S EN...

Страница 2: ...ber 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 fro...

Страница 3: ...Connection option 6889 for DC motors with encoders IE2 IEH2 IEH3 IEH3 L 21 3 3 1 3 Connection option 6890 for DC motors with encoders IE3 IE3 L 26 3 3 2 MC 3603 S ET 30 3 3 2 1 Connector pin assignmen...

Страница 4: ...interface 67 4 3 6 Using filters 67 4 3 6 1 Mounting arrangement example top hat rail DIN rail 68 4 3 6 2 PWM filter motor side 68 4 3 6 3 Emission reducing ferrite based filters motor side 68 4 3 6 4...

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 bef...

Страница 6: ...Digital input DigOut Digital output EFC Electronics Filter Conformity EFM Electronics Filter Motor EFS Electronics Filter Supply EMC Electromagnetic compatibility ESD Electrostatic discharge ET EtherC...

Страница 7: ...avoided death or serious injury may result Measures for avoidance CAUTION CAUTION Danger with low level of risk if not avoided minor or moderate injury may result Measures for avoidance NOTICE NOTICE...

Страница 8: ...on Robotics Toolbuilding Automation technology Industrial equipment and special machine building Medical technology Laboratory technology When using the Motion Controllers the following aspects should...

Страница 9: ...or defective connections immediately replaced by an electrician After replacing a defective or damaged Motion Controller test and document the cor rect function 2 2 2 Correct installation and commissi...

Страница 10: ...hown in the connection assignment 2 2 3 Heat development Active components may cause the Motion Controller to heat up If touched there is a risk of burn ing Protect the Motion Controller against being...

Страница 11: ...ance is documented by the Declara tion of Incorporation for the product and by the EC Declaration of the Conformity EMC Directive 2014 30 EU The directive concerning electromagnetic compatibility EMC...

Страница 12: ...sories mounting is also possible on a DIN rail The output stages are exchangeable and are matched to the various sizes and types of motors i e DC BL and LM motors from 13 42 mm as listed in the FAULH...

Страница 13: ...ons MC 3603 S RS CO with connection option 6889 for DC motors with encoders IE2 IEH2 IEH3 IEH3L see chap 3 3 1 2 p 21 MC 3603 S RS CO with connection option 6890 for DC motors with encoders IE3 IE3 L...

Страница 14: ...3 1 MC 3603 S RS CO The MC 3603 S RS CO Motion Controllers can be addressed via either the RS232 interface or via the CANopen interface The USB interface is available in all devices Fig 3 MC 3603 S RS...

Страница 15: ...roller and motor inputs or outputs for external circuits S1 DIP switch COM Selection of the COM interface C CAN Otherwise RS232 S2 DIP switch Encoder Term Encoder terminal resistance Encoder with line...

Страница 16: ...ors or BX4 motors in sin cos special version Tab 9 Electrical data of the sensor connection M2 Pin Designation Meaning 1 Motor Connection of motor positive pole 2 Motor Connection of the motor negativ...

Страница 17: ...encoder with line driver M3 Tab 12 Pin assignment for incremental encoder without line driver M3 Pin Designation Meaning 1 UDD Power supply for incremental encoder 2 GND Ground connection 3 Channel A...

Страница 18: ...tion 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 absol...

Страница 19: ...he interface is selected with DIP switch S1 Tab 19 Pin assignment of the COM port X2 for RS232 Tab 20 Pin assignment of the COM port X2 for CANopen Designation Value Absolute encoder power supply 5 V...

Страница 20: ...alog input 9 AnIn 2 Analog input 10 AGND Ground connection for analog inputs 11 Up Power supply of the electronics 12 GND Ground connection 13 Umot Power supply of the motor 14 GND Ground connection D...

Страница 21: ...description 21 3 3 1 2 Connection option 6889 for DC motors with encoders IE2 IEH2 IEH3 IEH3 L Fig 4 MC 3603 S RS CO with connection option 6889 for DC motors with encoders IE2 IEH2 IEH3 IEH3 L M1 M3...

Страница 22: ...l 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...

Страница 23: ...IEH2 encoder connection M3 1 Designation Value Motor power supply 0 Umot Max 9 A 100 kHz Pin Designation Meaning 1 Motor Connection of the motor negative pole 2 Motor Connection of motor positive pol...

Страница 24: ...ection M3 2 Pin Designation Meaning 1 n c 2 Motor Connection of the motor negative pole 3 Motor Connection of motor positive pole 4 GND Ground connection 5 UDD Power supply for incremental encoder 6 C...

Страница 25: ...the motor negative pole 2 UDD Power 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...

Страница 26: ...05072 Product description 26 3 3 1 3 Connection option 6890 for DC motors with encoders IE3 IE3 L Fig 5 MC 3603 S RS CO with connection option 6890 for DC motors with encoders IE3 IE3 L M1 M3 1 S1 X1...

Страница 27: ...erface 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...

Страница 28: ...Tab 40 Electrical data of the IE3 encoder connection M3 1 Designation Value Motor power supply 0 Umot Max 9 A 100 kHz Pin Designation Meaning 1 n c 2 Index Encoder index 3 GND Ground connection 4 UDD...

Страница 29: ...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 En...

Страница 30: ...on Controller MC 3603 S ET offers a direct EtherCAT interface for networking On con nector X2 only the RS232 interface is supported by the firmware The USB interface is avail able in all devices Fig 6...

Страница 31: ...and S2 3 in ON position Encoder without line driver S2 1 S2 2 and S2 3 in OFF position Designation Interface Function State LED all Green continuous light Device active Green flashing Device active H...

Страница 32: ...1 Tab 47 Pin assignment of the DC motor connection M1 Tab 48 Electrical data of the DC motor connection M1 Pin Designation Meaning 1 Motor A Connection of motor phase A 2 Motor B Connection of motor p...

Страница 33: ...sin cos sensors on FAULHABER LM motors or BX4 motors in sin cos special version Tab 51 Electrical data of the sensor connection M2 Pin Designation Meaning 1 UDD Power supply for sensors 2 GND Ground c...

Страница 34: ...encoder with line driver M3 Tab 54 Pin assignment for incremental encoder without line driver M3 Pin Designation Meaning 1 UDD Power supply for incremental encoder 2 GND Ground connection 3 Channel A...

Страница 35: ...incremental encoder 5 V 100 mA Connection of the incremental encoder 5 V 2 MHz 5 k Pin Designation Meaning 1 UDD Power supply for incremental encoder 2 GND Ground connection 3 Channel A n c 4 Channel...

Страница 36: ...COM port X2 Tab 61 Pin assignment of the COM port X2 for RS232 Designation Value Absolute encoder power supply 5 V 100 mA Connection Chip Select 5 V Connection data 5 V 5 k Connection clock 5 V 1 MHz...

Страница 37: ...alog input 9 AnIn 2 Analog input 10 AGND Ground connection for analog inputs 11 Up Power supply of the electronics 12 GND Ground connection 13 Umot Power supply of the motor 14 GND Ground connection D...

Страница 38: ...20217000 05072 Product description 38 EtherCAT port IN OUT Tab 64 Pin assignment EtherCAT IN OUT Designation Meaning IN OUT EtherCAT communication Pin 1 TxD Transmission Data Pin 2 TxD Transmission D...

Страница 39: ...39 3 3 2 2 Connection option 6889 for DC motors with encoders IE2 IEH2 IEH3 IEH3 L Fig 7 MC 3603 S ET with connection option 6889 for DC motors with encoders IE2 IEH2 IEH3 IEH3 L M1 M3 1 S1 X1 X2 X3 1...

Страница 40: ...terface connection X3 I O Voltage supply of the controller and motor inputs or outputs for external circuits IN OUT Connection of the EtherCAT communication S1 DIP switch COM The firmware of the MC 36...

Страница 41: ...IEH2 encoder connection M3 1 Designation Value Motor power supply 0 Umot Max 9 A 100 kHz Pin Designation Meaning 1 Motor Connection of the motor negative pole 2 Motor Connection of motor positive pol...

Страница 42: ...ection M3 2 Pin Designation Meaning 1 n c 2 Motor Connection of the motor negative pole 3 Motor Connection of motor positive pole 4 GND Ground connection 5 UDD Power supply for incremental encoder 6 C...

Страница 43: ...the motor negative pole 2 UDD Power 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...

Страница 44: ...t description 44 3 3 2 3 Connection option 6890 for DC motors with encoders IE3 IE3 L Fig 8 MC 3603 S ET with connection option 6890 for DC motors with encoders IE3 IE3 L M1 M3 1 S1 X1 X2 X3 1 S2 1 2...

Страница 45: ...ly of the controller and motor inputs or outputs for external circuits IN OUT Connection of the EtherCAT communication S1 DIP switch COM The firmware of the MC 3603 S ET Motion Controller supports onl...

Страница 46: ...Tab 82 Electrical data of the IE3 encoder connection M3 1 Designation Value Motor power supply 0 Umot Max 9 A 100 kHz Pin Designation Meaning 1 n c 2 Index Encoder index 3 GND Ground connection 4 UDD...

Страница 47: ...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 En...

Страница 48: ...ctions CAUTION 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 see chap 2 2 3 p 10 DANG...

Страница 49: ...e Motion Controller DANGER DANGER During operation the drive system produces mechanical forces and movements Protect the drive system and components driven by the drive system from being touched 4 1 2...

Страница 50: ...op hat rail clips to Motion Controller Examples a Top hat rail clips from LogiLink Fasten top hat rail clips 2 to the side plates 1 with the clamp screws 3 b WAGO top hat rail clips Push the clamping...

Страница 51: ...g 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 ground...

Страница 52: ...resistance may require additional EMC measures see chap 4 3 p 59 Encoder type Unshielded length Shielded length a a applies to cables separately shielded from the motor phase power cables Digital Hall...

Страница 53: ...pply 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...

Страница 54: ...on Use as a free measurement input queried via the interface Fig 14 Digital input circuit diagram internal The digital inputs are switchable from the input level PLC TTL The digital inputs can be conf...

Страница 55: ...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 4 2 5 External circuit diagrams Bipolar analog se...

Страница 56: ...internally set offset and scaling Connection of reference and limit switches Fig 18 Connection of reference and limit switches Depending on the type of switch it may be necessary to use additional pul...

Страница 57: ...and a drive Fig 20 Wiring between PC controller and a drive Depending on the type of encoder it may be necessary to use additional pull up resis tors No internal pull up resistors are incorporated in...

Страница 58: ...t laid in a straight line it may be necessary to individually opti mize the amount and location of the terminating resistors For instance in a star net work a central 60 Ohm terminating resistor may b...

Страница 59: ...cularly during use in residen tial environments Observe the notices for EMC compliant setup NOTICE NOTICE Drive electronics with qualified limit values in accordance with EN 61800 3 Category C2 can ca...

Страница 60: ...e and the PWM drive Depending on the design quality and effectiveness of the integrated filters where present the power supply can also cause interference DC mains system Prerequisite for connecting t...

Страница 61: ...ins supply motor controller Keep grounding cable as short as possible For functional earthing Use a braided shield that is meshed as tightly as possible Direct contact with the grounding plate is to b...

Страница 62: ...Over what surface is the cable routed Observe the following when laying the cables Use a full surface u shaped and if possible metal cable duct Lay the cables near the corners of the cable duct Separ...

Страница 63: ...shield separate from the sensor or encoder signals and connect on at least the motor side see 1 or 2 in Fig 26 Fig 26 Various possibilities for the shield connection The sensor signals can optionally...

Страница 64: ...ve 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 tub...

Страница 65: ...Fig 28 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 t...

Страница 66: ...aces Absolute encoder Fig 29 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 meas...

Страница 67: ...ious 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 30...

Страница 68: ...0 V connection which should be con nected as short as possible to the 0 V voltage GND of the motor supply connection X3 of the supply side 4 3 6 3 Emission reducing ferrite based filters motor side T...

Страница 69: ...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...

Страница 70: ...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 interfere...

Страница 71: ...plate 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 conne...

Страница 72: ...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 Diagnosis Fig 33 LEDs on the suppl...

Страница 73: ...tate The output stage will be switched off or has already been switched off Red error code Booting has failed Please contact FAULHABER Support RUN LED EtherCAT Green continuous light Connection presen...

Страница 74: ...5072 1st edition 20 04 20217000 05072 Accessories 74 6 Accessories Details of the following accessory parts can be found in the Accessories Manual Connection cables Connectors Connector sets Installat...

Страница 75: ...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...

Страница 76: ...tive 2014 30 EU Die Einhaltung dieser Richtlinie n setzt die Umsetzung aller in der technischen Dokumentation genannten Ma nahmen voraus The measures indicated in all technical documents must be fulfi...

Страница 77: ...hr Document No Month Year Die bereinstimmung mit den genannten EG Richtlinien wurde durch berpr fung gem nach folgender Fachgrundnorm nachgewiesen The conformity with the EC guidelines was proven acco...

Страница 78: ...to 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 P...

Страница 79: ...dition 20 04 2021 Dr Fritz Faulhaber GmbH Co KG DR FRITZ FAULHABER GMBH CO KG Antriebssysteme Daimlerstra e 23 25 71101 Sch naich Germany Tel 49 0 7031 638 0 Fax 49 0 7031 638 100 info faulhaber de ww...

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