Faulhaber MCBL 05002 Series Скачать руководство пользователя

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Subject to change without notification

Explanation of the Command Table

Commands marked with

are stored with

save

An example of the response to an error feedback is indicated with an arrow.

Commands which are given automatically as the response to specific events are preceded

by “async“.

5.2 Command Set

Command

Function Description Example

aca

acb

acr

adl

adr

ang

answ

base

comp

contmod

echo

eepsav

Load

Acceleration

(Accelerating)

Acceleration

(Breaking)

Acceleration

Revolutions

Analog Direction

Left

Analog Direction

Right

Move to Angle

Asynchronous

Answers

Revert to Base

Configuration

Compensation

Continuous

Mode

Disable Drive

Terminal Echo

Save Parameters

Enable Drive

AC100

ADL

ADR

ANG 180

ANSW 1

BASE

COMP 600

CONTMOD

ECHO 1

Load new ramp rate [1/s

]

Slope of acceleration ramp [1/s

]

Slope of deceleration ramp [1/s

]

Load acceleration ramp. Units are RPM per

millisecond. [1/min/ms]

Positive voltages at analog inputs mean that

rotor will rotate to the left

Positive voltages at analog inputs mean that

rotor will rotate to the right

Set rotor angle [°]

0 = no automatic response

1 = automatic response

Safe demonstration mode: drive rotates

slowly at 100 1/min, with an output voltage

of 1 000 mV

eff

Voltage compensation at higher rotational

speeds [mVeff]

Switch back from an extended mode to

normal mode (position target values via

RS-232)

Deactivate the drive

With “1”, all commands sent to the drive

are indicated prior to processing

(for information purposes). Important

for terminal program.

Same command as

save

Activate the drive

Содержание MCBL 05002 Series

Страница 1: ...MCBL 05002 Series MCBL 07002 Series Servo Amplifier Sine Controller for Micro Brushless DC Motors Operating Instructions ...

Страница 2: ...D PROGRAMMING 3 3 1 Setup of the Programmable Interface 3 3 2 Command Syntax 3 3 3 Node Addresses and Additional Drives 3 3 4 Saving the Settings 3 4 DESCRIPTION OF OPERATING MODES 3 4 1 Continuous Mode 3 4 2 Stepper Motor Mode 3 4 3 Pointer Mode 3 5 VELOCITY CONTROL 3 5 1 Analog Speed Setup 3 5 2 Setting Velocity via Pulse Train 3 5 3 Speed and Ramps 3 5 4 Output Voltage and Back EMF Compensation...

Страница 3: ... 3 1 Drive stationary with analog input 4 3 2 Drive will not move 4 3 3 Faulty circuit or drive 4 3 4 Output voltage or speed incorrectly set 4 3 5 Other faults 5 APPENDIX 5 1 LIMIT VALUES 5 2 COMMAND SET 5 3 FACTORY CONFIGURATION 5 4 CONNECTING TO A COMPUTER 5 5 STARTER KIT MCBL 07002 5 5 1 Overview 5 5 2 Operation Contents Page 26 27 28 28 29 30 30 30 31 31 31 32 32 33 38 39 40 40 41 ...

Страница 4: ...rogramming interface are listed Readers who are already familiar with the principles of the Faulhaber MotionController are recommended to read Chapter 3 in which all the commands are described that are available via the Programmer Interface The Appendix in Chapter 5 2 gives an alphabetical overview with brief examples of each type of command A summary of which input to use with which operating mod...

Страница 5: ... as a stepper motor via a serial interface the drive can be connected to a PC or a PLC and operated accordingly All drive parameters can be adjusted via this programmer interface Parameters can be stored and retained for re use once the unit is switched on again Technology Extremely silent running due to control via a three phase sinewave signal not PWM Drives with low moment of inertia also run s...

Страница 6: ...atures Small footprint 42 x 24 mm Enormous speed range from 21 rpm to 120 000 rpm with fine resolution Powerful 200 mA running current Selectable common bus or individual supply for electronics and motor Non volatile memory all parameters such as speed drive mode target position etc can be stored as required and are immediately available again after power on The processing performance is achieved ...

Страница 7: ... V Current consumption Electronics Is Power output V 7V Tamb 25 C I max current Analog inputs Digital input level all except AUXin Vs 5V TTL level Analog input level Input resistance AUXin Input level max input frequency Input resistance Output signals Speed Deviation from defined values Voltage range Veff Ammeter Range max error Temperature range in service freely ventilated in storage Interface ...

Страница 8: ... All pins are specified to a grid measurement RM 2 54 and therefore are only indicated in outline The MCBL 05002 can thus be fitted into an ordinary DIL28 IC socket RastermaB 2 54mm DIL 28 7 69 5 73 6 12 15 25 1 94 39 6 33 41 24 62 15 23 2 6 1 6 5 4 2 42 24 ø3 5 Fig 3 Grid size ...

Страница 9: ... of the drive frequency of the voltage Reset IN 7 Reset the controller Direction IN 6 Direction of rotation of the drive Start Stop IN 5 To start and stop the drive Vcc IN 4 Digital section supply voltage 5V stabilized GND IN 3 Ground earth V IN 2 Power section supply voltage 7 5V Isense OUT 1 Current detector output AUXin IN 15 Multi function input Phase C OUT 16 Power output to drive Phase B OUT...

Страница 10: ...interfaces is described in Chapter 3 3 1 2 2 2 Serial Interface The analog inputs are suitable for voltage levels between 0V and 5V Ramp Slope A voltage of 0V corresponds to a ramp of 0 revs s2 and 5V corresponds to about 700 rpm ms 11 700 1 s2 This input is shown in Fig 5 connected via a 5 kΩ potentiometer If the pin is externally connected the potentiometer should be set in the middle of its ran...

Страница 11: ...ion of the rotor is set via this input It expects a voltage level between 0 and 5V This input is triggered internally via a zener diode When functioning as an analog input this may lead to a distortion of the transfer function close to 5V If this happens and the program mer interface is set to a somewhat greater amplification factor then the full voltage range can no longer be exploited See Chapte...

Страница 12: ...put Voltage and Speed can be set manually The outputs of these potentiometers are connected via 1 kΩ resistors to the analog inputs of the microcontroller Hence these inputs can also be controlled via external potentiometers in this situation the crosstalk will be minimized if the potentiometers on the module are set to the middle of their range The relevant external pins are RPM 1 Output Voltage ...

Страница 13: ...without notification 3 2 External Inputs Pins The description of Start Stop and Direction inputs is given in Chapter 2 2 4 Fig 6 shows an example of external switching Fig 6 Input switching for Start Stop and Direction 9 ...

Страница 14: ...is event the MCBL can send these symbols back to the PC to be displayed to the user This is accomplished by the command echo 1 3 3 Configuration and Programming Communication is carried out via commands The user types in a command to the terminal program When the ENTER key is pressed the command will be sent to the MCBL and imple mented by it If the command requires a feedback from the MCBL to the...

Страница 15: ...rive Command Function Description nodeadr Define Node Address Assign a node address 0 to 255 gnodeadr Get Node Address Send back the node address to the system save Save Configuration Record all drive parameters in a non volatile memory Disconnect Asynchronous Response Some commands send a response straight back to the user However a few commands do not do this immediately but only when a certain ...

Страница 16: ...ommand until this response is received the power supply must not be interrupted otherwise the drive will be reset to its original state The command fconfig resets the drive to its as delivered state i e factory configuration in the event that all the parameters become so out of adjustment that a functioning system can no longer be set up In this event further assistance may also be obtained using ...

Страница 17: ...ing diagram shows how the interaction between inputs and drive modes is influenced Fig 7 Inputs and drive modes The as delivered MCBL application runs from analog inputs and is set to Normal Mode This corresponds to the commands sor 1 and contmod The user can control speed output voltage and ramp rate either from built in or external potentiometers If the external interface is deselected via sor 0...

Страница 18: ...able interface sor 0 must be used In this case the drive s external inputs will not function 3 If sor 2 is used the speed is determined by a pulse train input to AUXin A more detailed description of this option is given in the following chapters A special case is positioning with lr la und m whilst contmod is active It functions only when sor 0 is used Positioning is deselected in the other two in...

Страница 19: ...he accumu lated pulse count will be processed and the drive will be activated immediately 3 4 3 Pointer Mode Pointer Mode is selected by the command ptrmod in which the rotor angle of the drive is maintained proportional to a voltage input to AUXin sor 2 or alternatively to the position of the potentiometer velocity 1 sor 1 15 Command Function Description sor Source 2 AUXin is used as input 1 Anal...

Страница 20: ... Fig 8 Transfer characteristic of the analog speed setup The drive s rotational speed will correspond to the analog voltage at the inputs Velocity 1 and Velocity 2 The voltage must lie between 0V and 5V In order to guarantee flexible control the relationship between the analog voltages and the rotational speed can be varied Direc tion of rotation is determined by the Direction input not by negativ...

Страница 21: ...nds adl and adr are ineffective the motor s direction is determined at the Direction input Command Function Description sor Source For Velocity Source for presetting rotational speed sor 0 desired speed via RS 232 v command sor 1 desired speed via voltage at analog input sor 2 desired speed via pulse train at AUXin mav Minimum Analog Voltage Sets minimum analog voltage mV2 gmav Get MAV Feedback of...

Страница 22: ... 10 second rectangular pulse is applied at a frequency of 10 kHz The drive will accelerate slowly to 10 000 RPM After 10 seconds the signal has disappeared and the drive slows down again to standstill With the command stw the pulse width can be set up in line with analog pulses based on the following formula v rpm stw input frequency Hz Using stw 3 a 200 Hz pulse train corresponds to a speed of 60...

Страница 23: ...safe value storing a positive value for the acceleration ramp and a negative value for the deceleration ramp This applies to aca and acb but not for ac The gaca command returns the value of the slope of the acceleration ramp and the gacb command gives the value of the slope of the deceleration ramp The command gac returns the two values the first being the acceleration ramp rate and the second the...

Страница 24: ... determined empirically and calculated according to the following where n is the speed and Vc is the compensation voltage preset by the user with the command comp The standard setup is Vc 600 mVeff However for each motor the optimum setting may be marginally different from this value Set up the value so that the current consumption over the desired speed range is as constant as possible Example Th...

Страница 25: ...ot in analog mode With smd 1 the user can ensure that the direction switch is monitored The commands adl or adr then have no further effect because the switch determines the direction at the direction input With smd 0 the external check is disconnected and the direction can once more be set via adl and adr With sor 0 the direction can be set via the sign of the v command The command sms 1 serves t...

Страница 26: ...mmand m The command ho is used to set the numerical value of the position to a specific value If no argument is specified the current rotor position will be taken as position 0 If an argument is added the current position of the rotor will be assigned this value The maximum speed which can be achieved during positioning can be set via sp the accelera tion ramp is set via the command ac and the oth...

Страница 27: ...lowing commands are available for positioning actions Command Function Description m Initiate Motion Activate position control and start positioning action la Load Absolute Position Load a new requirement for absolute position lr Load Relative Position Load a new requirement for relative position ho Set Home Position Set the current position value gp Get Position Read the current position location...

Страница 28: ...ubtract 1 256th of a revolution to from the posi tion reference The acceleration in stepper motor mode should in general be set as low as possible so as to avoid large speed perturbations ac 500 is a recommended value Continued pulse signals which are intended to add to the position count should follow each other as closely as possible Depending on the setting of the direction preset see Chapter 3...

Страница 29: ...un If it is switched on again with en the drive will im mediately activate and will travel to the position indicated by the pulse count which it had already registered up to the instant when it was switched If this is not what is wanted the pulse train must be interrupted Exactly the same result is obtained if the input source is switched internally with the command sor With sor 0 or sor 1 the dri...

Страница 30: ... to about 350 degrees Using ptrfac and ptroff the angular deflection is linearly modulated ptrfac sets the factor by which the measured analog signal will be multiplied before the rotor position is calculated from it The value 100 corresponds to an amplification of 1 00 ptroff is added to the rotor position This leads to the following formula Limits The input AUXin is protected by grounding with a...

Страница 31: ...will be reduced to zero This condition will be maintained until the user resets the overcurrent bit An overcurrent fault will be indicated by a bit in the fault register gfs returns the third bit from the right as 1 As long as this bit in the fault register is set to 1 the output voltage will be reduced and cannot be raised by altering the Output Voltage Potentiometer The output voltage however ma...

Страница 32: ...l link option available proceed in line with the following steps 6 Turn the right hand potentiometer Ramp Slope 1 a quarter turn clockwise This corresponds to an acceleration ramp of about 1 000 1 s2 7 Turn the left hand potentiometer RPM 1 approximately one eighth of a turn clockwise This sets a speed of about 1 000 rpm 8 Turn the central potentiometer Output voltage 1 a quarter turn clockwise If...

Страница 33: ...bs on the MCBL 07002 anti clockwise back to the end stop All settings are now set to zero The three small potentiometers on the module on the casing of the MCBL 07002 are all deactivated with the exception of the voltage setting output voltage 1 4 Connect a 7V supply capable of delivering a current of at least 500 mA to the power sockets 5 Turn the dial which is labeled Ramp about a quarter turn c...

Страница 34: ...ause 3 AUXin is set up as an input by the command sor 2 but there is no signal on this pin Alternatively Pointer Mode ptrmod or Stepper Motor Mode stepmod were selected without the corresponding AUXin input set via sor 2 being active Remedy Choose a correct setup combination as shown in Table 1 Otherwise proceed exactly as described in Chapter 4 1 4 3 2 Drive will not move Symptoms The drive will ...

Страница 35: ...ed incorrectly set Symptoms The rotational speed or the output voltage reduce of their own accord although the user has not reset the values Or it is not possible to set the values of rotational speed and output voltage correctly using the potentiometers Cause The overcurrent protection has tripped and reduced the output voltage or alternatively has set the rotational speed to zero Diagnosis The o...

Страница 36: ...age 0 2 500 10 mV Interval will be forced comp compensation 2 500 2 500 1 mV Interval will be forced stw stepwidth 0 30 000 1 Value will not be checked sor source for 0 2 1 Value will not be checked 1 input 32 5 Appendix 5 1 Limit Values After the power supply is switched on the MCBL takes about 130 ms before the drive accelerates to speed Until that time the three outputs are undefined Hint Some ...

Страница 37: ...ho Save Parameters Enable Drive AC100 ADL ADR ANG 180 ANSW 1 BASE COMP 600 CONTMOD DI ECHO 1 EN Load new ramp rate 1 s2 Slope of acceleration ramp 1 s2 Slope of deceleration ramp 1 s2 Load acceleration ramp Units are RPM per millisecond 1 min ms Positive voltages at analog inputs mean that rotor will rotate to the left Positive voltages at analog inputs mean that rotor will rotate to the right Set...

Страница 38: ...of the acceleration ramp 1 s2 Indicates the slope of the deceleration ramp 1 s2 Indicates acceleration in units of RPM per mil lisecond 1 min ms Indicates whether or not asynchronous signals are permitted Bit 1 second bit from the right indicates whether the motor is currently rotating to the right in stepper motor and analog mode Indicates the voltage compensation at higher speeds mVeff Indicates...

Страница 39: ...icates the value of peak current limit mA Indicates the target position Indicates the position to which the drive will travel when the m command is given Feed back the multiplicand for the pointer mode Feed back the summand of the pointer mode Indicates present value of current mA Bit 0 far right indicates whether asynchro nous response is switched on Indicates whether the direction switch setting...

Страница 40: ...on Specifies permitted peak current mA Loads new relative target position Selects position control and start positioning movement Minimum starting voltage mV2 The voltages of both inputs one in V one in mV will be multiplied and compared Voltage at which the drive reaches its final speed mV2 Calculated as for MAV above Preset of the minimum rotational speed 1 min Defines node address 0 to 255 Feed...

Страница 41: ... be added to the analog input voltage 255 corresponds to one revolution Save current parameters When the drive is next switched on it will run with these parameters In stepper motor mode 1 checks the direction of rotation switch In stepper motor mode 1 checks the Start Stop button Selects source for speed reference sor 0 speed reference via RS 232 V command sor 1 speed reference via voltage at ana...

Страница 42: ...er modes in which these two switches are not normally recognized Input source Drive type Direction of rotation Overcurrent limit Asynchronous signals Node number Direction switch in non analog modes 1 Start Stop button in non analog modes 1 Voltage compensation Maximum rotational speed Step width in stepper motor mode Multiplication factor in pointer mode Zero point shift in pointer mode Analog th...

Страница 43: ...ial interface and include a terminal program This may be either a PC or a PLC The cable between the computer and the MCBL 07002 must be a special null modem cable obtainable from computer stockists or from Dr Fritz Faulhaber GmbH Co KG In addition the program MotionManager is available from http www faulhaber de an extremely user friendly operator interface for Faulhaber drives For control of micr...

Страница 44: ... Fig 9 Connections of the MCBL 07002 Commissioning the MCBL 07002 and putting it into service is described in Chapter 4 2 The MCBL 07002 should not be thought of as a complete finished product but rather as a tool to be utilized in a laboratory environment The client must take suitable precautions to ensure that no disturbances from other electrical equipment can affect it 5 5 1 Overview RS232 7 5...

Страница 45: ...0 rpm sec2 and the drive will be unable to change speed Two potentiometers are provided to allow the output voltage to be set The first of these is located on the MCBL 07002 and is available to the user The second is located in the MCBL 07002 cabinet on the MCBL 05002 board itself and is set up in such a way that it permits a maximum of 1500 mVeff to be set by the external speed regulator It is th...

Страница 46: ...r 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 DR FRITZ FAULHABER GMBH CO KG MA05009 english 2 issue 07 05 2003 ...

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