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3rd edition, 6-11-2017

7000.05057, 3rd edition, 6-11-2017

7000.05057

About this document

6

1.4

List of abbreviations

Abbreviation

Meaning

AC

Alternating Current

AnIn

Analogue Input

AnOut

Analogue output

AGND

Analogue Ground

CAN_L

CAN-Low

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

Remote Request

OD

Object Dictionary

Содержание MC 5010

Страница 1: ...WE CREATE MOTION Technical Manual MC 5010 MC 5005 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: ...de 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 o...

Страница 4: ...3rd edition 6 11 2017 7000 05057 3rd edition 6 11 20177000 05057 Content 4 7 Warranty 44...

Страница 5: ...on 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 R...

Страница 6: ...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 Contro...

Страница 7: ...isregard 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...

Страница 8: ...l 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 b...

Страница 9: ...hdraw 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 Selec...

Страница 10: ...re 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...

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 ou...

Страница 12: ...ion 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 Conti...

Страница 13: ...y 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...

Страница 14: ...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...

Страница 15: ...ched 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 with...

Страница 16: ...r 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 attac...

Страница 17: ...d 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 Mo...

Страница 18: ...sory 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 countersun...

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 FAUL...

Страница 20: ...eet 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 puls...

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...

Страница 22: ...st 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 o...

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...

Страница 24: ...e 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 Conne...

Страница 25: ...al 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...

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 Encod...

Страница 27: ...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 l...

Страница 28: ...ly 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...

Страница 29: ...3 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 Hig...

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 k max 0 7 A TTL level low 0 5 V high 3 5 V PLC lev...

Страница 31: ...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 Pow...

Страница 32: ...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...

Страница 33: ...7 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...

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 Inde...

Страница 35: ...ncoder 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...

Страница 36: ...ion 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 con...

Страница 37: ...ound 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...

Страница 38: ...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 pu...

Страница 39: ...nd 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 t...

Страница 40: ...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 ins...

Страница 41: ...e 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...

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...

Страница 43: ...7 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...

Страница 44: ...ulhaber 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 C...

Страница 45: ...edition 6 11 2017 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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