WE CREATE MOTION
Technical Manual
MC 5010
MC 5005
EN
Страница 1: ...WE CREATE MOTION Technical Manual MC 5010 MC 5005 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: ...ide of the extended format 14 3 3 2 2 Supply side of the extended format 15 4 Installation 16 4 1 Mounting 16 4 1 1 Mounting instructions 16 4 1 2 Attachment via the side plates 17 4 1 3 Installation on a top hat rail 18 4 1 4 Installation with top hat rail clips 19 4 2 Electrical connection 20 4 2 1 Instructions for the electrical connection 20 4 2 2 Connections at the motor side 21 4 2 3 Screeni...
Страница 4: ...3rd edition 6 11 2017 7000 05057 3rd edition 6 11 20177000 05057 Content 4 7 Warranty 44 ...
Страница 5: ...ion 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 Retain the document throughout the entire working life of the product Keep the document accessible to the operating personnel at all times ...
Страница 6: ...w CAN_H CAN High CLK Clock CS Command Specifier DC Direct Current DigIn Digital input DigOut Digital output EMC Electromagnetic compatibility ESD Electrostatic discharge ET EtherCAT Ethernet for Control Automation Technology GND Ground PLC Programmable Logic Controller PWM Pulse Width Modulation RxD Receive data TTL Transistor Transistor Logic TxD Transmit data NMT CANopen network management RTR R...
Страница 7: ...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: ...al machine 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 Mo...
Страница 9: ...thdraw 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 Motion ...
Страница 10: ...ere are not incomplete machines Therefore installation instructions are not normally issued by FAULHABER Low Voltage Directive 2014 35 EU The Low Voltage Directive applies for all electrical equipment with a nominal voltage of 75 to 1500 V DC and 50 to 1000 V AC The products described in this technical manual do not fall within the scope of this directive since they are intended for lower voltages...
Страница 11: ... without any communi cations interface The controller is mounted on a flat baseplate using the installation holes Optional accesso ries also permit the controller to be mounted on a top hat 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 12 44 mm as listed in the FAULHABER product portfolio The following connections are ...
Страница 12: ...tion 12 3 2 Product information Fig 1 Designation key RS Serial Interface RS 232 CO Interface CANopen ET Interface EtherCAT S Housing with Connectors Terminals 05 Continuous Output Current 5 A 10 Continuous Output Current 10 A 50 Max Supply Voltage 50 V MC Motion Controller 50 S MC ...
Страница 13: ...ly side of the standard format Fig 3 Supply side of the standard format Tab 2 Connector overview on the supply side Designation Function M1 motor Connection of the motor phases M2 sensor Connection of the Hall sensors M3 encoder Connection of an incremental encoder with or without line driver Alternatively an absolute encoder can be connected with or without line driver Motor M1 Sensor M2 Encoder ...
Страница 14: ...r 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 code Boot procedure failed Please contact FAULHABER Support Power LED Green Power supply within the permissible range Off Power supply not within the permissible range Designation Funct...
Страница 15: ...tched to a fault state The output stage will be switched off or has already been switched off Red Error code Boot procedure failed Please contact FAULHABER Support Power LED all Green Power supply within the permissible range Off Power supply not within the permissible range RUN LED EtherCAT Green continuous Connection available Device is ready for operation Green flashing Device is in the Pre Ope...
Страница 16: ...er 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 Controller Comply with the installation instructions NOTICE Installation and connection of the Motion Controller when the power supply is applied can damage the ...
Страница 17: ...nd connection work on the Speed Controller switch off the power supply 4 1 2 Attachment via the side plates NOTICE Installation of the Motion Controller on a surface that is not flat can lead to the Motion Controller becoming damaged Install the Motion Controller on a flat surface Fig 6 Attachment via the side plates Attach the Motion Controller 2 to the mounting plate with screws 1 as described i...
Страница 18: ...ssory see the Accessories Manual Fig 7 Installation on a top hat rail 1 Using countersunk screws 3 screw the top hat rail adapter 2 onto the Motion Con troller 1 The tightening torque of the countersunk screws is max 60 Nm 2 Click the Motion Controller with the top hat rail adapter onto the top hat rail 3 Motion Controller 4 Top hat rail adapter 5 Countersunk screw ...
Страница 19: ... 1 Push the clamping pins 2 for the two top hat rail clips 3 into the side plates as far as they will go 2 Click the top hat rail clips onto the top hat rail Top hat rail clips are not part of the FAULHABER product portfolio they must be pro vided by the user recommendation Mounting foot WAGO item number 209 188 3 Motion Controller 4 Clamping pin 5 Top hat rail clip ...
Страница 20: ...heet 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 grounding system This should be done preferably by mounting it on an earthed base...
Страница 21: ... permissible but must be validated for the target installation Optimisation of the behaviour in respect of transient emission and interference resistance may require additional EMC measures see chap 4 2 3 p 22 Motion Controller Neutral point Drive Sensor type Unscreened length Screened length a a applies to cables separately screened from the motor phase power cables Digital Hall sensors 0 5 m 2 5...
Страница 22: ...est 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 Cable Shield Motor A Phase A Sensor C Hall Se...
Страница 23: ... 4 1 Power supply Connect the Motion Controller to a sufficiently well 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...
Страница 24: ...de Motor connection M1 Tab 8 Pin assignment at the BL motor connection M1 Tab 9 Electrical data for the motor connection M1 Pin Designation Meaning 1 Motor A Connection to motor phase A 2 Motor B Connection to motor phase B 3 Motor C Connection to motor phase C Designation Value Power supply for motor 0 Umot max 5 15 A type MC 5005 or 10 30 A type MC 5010 100 kHz Motor M1 Sensor M2 Encoder M3 ...
Страница 25: ...cal data for the sensor connection M2 Pin Designation Meaning 1 Motor Connection to the motor plus pole 2 Motor Connection to the motor minus pole Designation Value Power supply for motor 0 Umot max 5 15 A type MC 5005 or 10 30 A type MC 5010 100 kHz Pin Designation Meaning 1 UDD Power supply for the sensor 2 GND Ground 3 Sens A Hall sensor A 4 Sens B Hall sensor B 5 Sens C Hall sensor C Designati...
Страница 26: ...e driver M3 Pin Designation Meaning 1 UDD Power supply for the incremental encoder 2 GND Ground 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 5 V 1...
Страница 27: ...1 UDD Power supply for absolute encoder 2 GND Ground 3 CS Command Specifier for absolute encoder logically inverted signal 4 CS Command Specifier 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 power supply 5...
Страница 28: ...ply side Fig 14 Connector overview on the supply side USB port X1 Tab 22 Pin assignment at the USB port X1 Designation Value Absolute encoder power supply 5 V 100 mA Command Specifier connection port 5 V Connection port for data 5 V 5 kΩ Connection port for clock 5 V 1 MHz Designation Meaning USB USB communication USB X1 COM X2 I O X3 Up X4 LA LA Power IN OUT RUN Status ERR Umot X5 ...
Страница 29: ...X3 Tab 25 Pin assignment at the I O port X3 Pin Designation Meaning 1 TxD RS232 interface transmit direction 2 RxD RS232 interface receive direction 3 GND Ground Pin Designation Meaning 1 CAN H CAN High interface 2 CAN L CAN Low interface 3 GND Ground Pin Designation Meaning 1 UDD Supply voltage for external consumer load 2 GND Ground 3 DigOut 1 Digital output open collector 4 DigOut 2 Digital out...
Страница 30: ...8 Electrical data for the power supply X4 Designation Value Power supply for external consumer load 5 V 100 mA DigOut low GND high high resistance 47 kΩ max 0 7 A TTL level low 0 5 V high 3 5 V PLC level low 7 V high 11 5 V DigIn 50 V 47 kΩ 1 MHz AnIn 10 V AGND Pin Designation Meaning 1 GND Ground 2 UP Supply voltage of the controller Designation Value Power supply for controller 12 50 V 100 mA wi...
Страница 31: ...5 Tab 30 Electrical data for the power supply X5 EtherCAT port IN OUT Tab 31 Pin assignment EtherCAT IN OUT Pin Designation Meaning 1 GND Ground 2 Umot Supply voltage of the motor Designation Value Power supply for motor 50 V Designation Meaning IN OUT EtherCAT communication Pin 1 TxD Transmit data Pin 2 TxD Transmit data Pin 3 RxD Receive data Pin 6 RxD Receive data ...
Страница 32: ...A M2 3 4 2 1 5 Sens A Hall Sensor A Motor B Motor C GND GND Sens B Hall Sensor B Sens C Hall Sensor C 5 V Power Supply DD U Motor Phase A Motor Phase B Motor Phase C 1 2 1 2 3 4 5 6 7 8 PIN M1 M3 1 3 5 7 2 4 6 8 1 2 DC Motor Index Encoder Index Index Encoder Index Channel B Encoder Channel B Channel B Encoder Channel B Channel A Encoder Channel A Channel A Encoder Channel A Motor Motor Motor Motor...
Страница 33: ...57 Installation 33 Fig 17 BL motor with absolute encoder 2 3 1 2 3 4 5 6 7 8 PIN M1 M3 1 3 5 7 2 4 6 8 1 2 3 BL Motor CLK CLK CLK CLK Data Data Data Data CS CS CS CS Motor B Motor Phase A Motor C U 5 V Power Supply DD GND GND 1 Motor A Motor Phase B Motor Phase C ...
Страница 34: ... 3 4 2 1 5 Sens A Hall Sensor A Motor B Motor C GND GND Sens B Hall Sensor B Sens C Hall Sensor C 5 V Power Supply DD U Motor Phase A Motor Phase B Motor Phase C 1 2 3 4 5 6 7 8 M3 1 3 5 7 2 4 6 8 Index Encoder Index Index Encoder Index Channel B Encoder Channel B Channel B Encoder Channel B Channel A Encoder Channel A Channel A Encoder Channel A Encoder U 5 V Encoder Supply DD GND GND ...
Страница 35: ...encoder 1 2 3 1 2 3 4 5 PIN M1 1 2 3 BL Motor Motor A M2 3 4 2 1 5 Sens A Hall Sensor A Motor B Motor C GND GND Sens B Hall Sensor B Sens C Hall Sensor C 5 V Power Supply DD U Motor Phase A Motor Phase B Motor Phase C 1 2 3 4 5 6 7 8 M3 1 3 5 7 2 4 6 8 CLK CLK CLK CLK Data Data Data Data CS CS CS CS U 5 V Power Supply DD GND GND ...
Страница 36: ...tion Use as a free measurement input queried via the interface Fig 21 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 value specification for curr...
Страница 37: ...round Monitored output current switch opens in the event of an error A digital output can be assigned to an error output It can be programmed freely 4 2 8 External circuit diagrams Bipolar analogue set value specification via potentiometer Fig 23 Bipolar analogue set value specification via potentiometer DigOut 33k UP DigOut 20 V 10k 4 7k 1k Motion Controller AnIn AGND Interface Ref UP GND GND UP ...
Страница 38: ...h internally set offset and scaling Connection of reference and limit switches Fig 25 Connection of reference and limit switches 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 10k Motion Controller AnIn AGND Interface Ref UP GND GND UP UDD 1k 1k Interface Limit Switch Motion Controller ...
Страница 39: ...and a drive Fig 27 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 the Motion Controller 2 7k Interface Quadrature Counter A A B Index B Index DigIn2 DigIn3 Encoder UDD GND UP DigIn1 PC or High Level Control Node 1 TxD RxD RxD TxD GND GND D Sub9 Pin 2 D Sub9 Pin 3 D ...
Страница 40: ...e may be necessary for the pull down resistor 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 evident P...
Страница 41: ...he deposition of dust the air filter should be regularly checked and cleaned as nec essary 5 3 Diagnostics Fig 30 LEDs on the supply side of the standard format Tab 32 LED overview Designation Function Status LED Green continuous 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...
Страница 42: ... Error code Boot procedure failed Please contact FAULHABER Support Power LED all Green Power supply within the permissible range Off Power supply not within the permissible range RUN LED EtherCAT Green continuous Connection available Device is ready for operation Green flashing Device is in the Pre Operational state Green single flash Device is in the Safe Operational state Off Device is in the In...
Страница 43: ...57 3rd edition 6 11 20177000 05057 Accessories 43 6 Accessories Details of the following accessory parts can be found in the Accessories Manual Connection cables Connectors Connector sets Installation materials Additional equipment ...
Страница 44: ...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 ...
Страница 45: ... edition 6 11 2017 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 ...
