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3 Installation

3.5  Communication port

3.5.2  CAN port

Node 1

CAN Bus Line

Node n

GND

CAN_H

CAN_L

CAN is a bus system, to which all nodes are connected in parallel. A terminal resistance of 120 

 must 

be connected to each end of the bus line.
In addition to the two signal lines CAN_H and CAN_L, the nodes must also be connected to each 
other by a common GND line.

The maximum line length is limited by the transfer rate and the signal propagation times:

Baud rate

Max. line length (incl. stub)

1 000 kBit/s

25 m

500 kBit/s

100 m

250 kBit/s

250 m

125 kBit/s

500 m

50 kBit/s

1,000 m

20 kBit/s

2,500 m

10 kBit/s

5,000 m

Содержание Series MCBL 3002/03/06 RS/CF /CO

Страница 1: ...WE CREATE MOTION EN Motion Controller Series MCBL 3002 03 06 RS CF CO Series MCDC 3002 03 06 RS CF CO Series MCLM 3002 03 06 RS CF CO Technical Manual ...

Страница 2: ...pared with care Dr Fritz Faulhaber GmbH Co KG cannot accept any liability for any errors in this technical manual 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 ...

Страница 3: ... Motion Control Systems documents Document Contents Technical Manual Device installation safety specification Communication and function manual CANopen FAULHABER Communication and function manual CANopen CiA Communication and function manual RS232 Initial start up function overview protocol descripti on parameter description and notes on autonomous sequential programs only RS232 Motion Manager ins...

Страница 4: ... 3 3 3 Motor end connection MCBL MCLM 3002 16 3 3 4 Motor end connection MCDC 3003 3006 17 3 3 5 Motor end connection MCBL MCLM 3003 3006 17 3 3 6 Motor end connection examples 18 3 3 7 Shielding the motor wiring 19 3 3 8 Power supply 20 3 3 9 Analog input 21 3 3 10 Digital input 21 3 3 11 Error output 22 3 3 12 Interfaces 23 3 4 Connection examples 24 3 4 1 Command source via potentiometer 24 3 4...

Страница 5: ...information given in this technical manual refers to the standard versions of the respective equipment Please refer to any additional information sheet provided in the event of differences in information due to a customer specific modification 1 1 Symbols used in this technical manual WARNING Warning This pictogram with the wording Warning indicates an imminent danger which can result in physical ...

Страница 6: ...e connection options open up a broad field of application in all areas for example in decentralized automation technology systems as well as in handling devices and machine tools The Motion Controller s parametrisation can be individually adjusted to the respective application using a PC The FAULHABER Motion Manager PC software for Microsoft Windows is available for commissioning and configuration...

Страница 7: ...es contain ing substances 1 4 Servicing maintenance In principle the drives are maintenance free The air filters of cabinet units must be regularly checked and cleaned if required depending on the quantity of dust 1 5 Troubleshooting Due to their design if the parameters given in this technical manual are complied with the drives are trouble free Should a malfunction occur in spite of this please ...

Страница 8: ...th absolute encoders S F P Housing with screw type terminal strip Housing with LIF connector motor Board version with male connectors 02 03 06 Max continuous output current 2 A Max continuous output current 3 A Max continuous output current 6 A 30 Max supply voltage 30 V DC BL LM DC micromotors Brushless DC motors Linear DC servomotors MC Motion Controller ...

Страница 9: ...product family consists of the following products Motion Controllers for motors in the low power range MCxx 3002 S RS CF CO Motion Controller with hot melt housing and screw terminals on the supply and motor end 1 3 2 1 Fixing sockets 2 Screw type terminal strip motor end 3 Screw type terminal strip supply end MCxx 3002 F RS CF CO Motion Controller with hot melt housing and screw terminals at the ...

Страница 10: ... without housing board version with pin headers on the supply and motor end 2 1 1 Pin header motor end 2 Pin header supply end Motion Controllers for motors in the high power range MCxx 3006 S RS CF CO Motion Controller with metal housing and screw terminals on the supply and motor end 3 1 4 2 1 Mounting hole 2 Screw type terminal strip motor end 3 D Sub connector for serial connection RS or CAN c...

Страница 11: ...nput Incremental encoder connection Error output Usable as Digital output Pulse output Digital input for reference marks and limit switches Rotational direction input 1 additional digital input Usable as Digital input for reference marks and limit switches Communication interface Depending on the type as a serial RS232 or CAN interface for linking to PC or control The set configuration can be perm...

Страница 12: ...DE 0100 DIN VDE 0113 EN 0204 DIN VDE 0160 EN 50178 Accident Prevention Regulations may install and commission the units This description must be care fully read and heeded prior to commissioning Please also note the additional instructions on installation in Chapter 5 EC Product Safety Direc tives WARNING Risk of burns As the unit operates with surface cooling temperatures of up to 85 C can occur ...

Страница 13: ... edge Risk of pushing out the assembly sleeves Screw type terminal strips The maximum tightening torque of the screw type terminal strips must be noted and observed For series MCxx 3002 S min 0 12 Nm max 0 15 Nm For series MCxx 3006 S min 0 5 Nm max 0 6 Nm Flexboard connector The motors flexboards must be inserted into the connector flat The connector pin assignment and connection symbols must be ...

Страница 14: ...request NOTE The usability of a longer motor connection cable must be checked for each individual case Optimisation of performance with respect to emission and immunity requires the additional EMC measures Ensuring allowable emissions or necessary immunity in industrial environments may require the use of an EMC filter and or a shield or an EMC suppressor circuit Suppressor circuit MCxx 3002 GND U...

Страница 15: ...unity The devices are intended for use in the industrial sector only If the devices are used in the home in business or in commerce or in a small business appropriate measures must be taken to ensure that the emitted interference is below the permitted limits The EMC filter for MCDC 3006 S and MCBL 3006 S only The supply and motor supply cables must be laid directly on the unit each with two windi...

Страница 16: ... MCxx 3002 3003 3006 Pin Designation Meaning 1 TxD CAN_H RS232 CAN interface 2 RxD CAN_L RS232 CAN interface 3 AGND Analog Ground 4 Fault Error output 5 AnIn Analog input 6 UB Controller supply voltage 7 GND Controller ground connection 8 3 In 3 Input opt separated power supply 3 3 2 Motor end connection MCDC 3002 Pin Designation Meaning 9 4 In 4th input 10 Ch A Encoder channel A 11 Ch B Encoder c...

Страница 17: ...ltage motor 3 3 5 Motor end connection MCBL MCLM 3003 3006 Pin Designation Meaning 9 Sensor A Hall sensor A DATA for absolute encoder 10 Sensor B Hall sensor B CS for absolute encoder 11 Sensor C Hall sensor C CLK for absolute encoder 12 UCC Supply voltage for external loads 13 SGND Signal ground connection 14 Motor A Motor Phase A 15 Motor B Motor Phase B 16 Motor C Motor Phase C CAUTION Note on ...

Страница 18: ... SGND GND Mot Motor Mot Motor Encoder Motor C BL motor Phase C Sensor A Hall sensor A Sensor B Hall sensor B Sensor C Hall sensor C UCC 5 V supply SGND GND Motor A Phase A Motor B Phase B Assignment differs from that of MCDC 3003 3006 see Chapter 3 3 4 BL motor with absolute encoder Motor C BL motor Phase C Sensor A Data Sensor B CS Sensor C CLK UCC 5 V supply SGND GND Motor A Phase A Motor B Phas...

Страница 19: ...e that the cables between the Motion Controller and the motor are kept as short as possible since drive system properties such as smooth and concentric running dete riorate as the length of the cables increases MCBL motor wiring Shielding Shielding Motor A Phase A Sensor C Hall sensor C Sensor A Hall sensor A Motor B Phase B UCC Sensor B Hall sensor B Motor C Phase C Brushless DC servomotor SGND M...

Страница 20: ...if an inadequately dimensioned power pack is used If the supply leads are incorrectly connected polarity reversal the internal fuse trips This must be replaced in the factory not possible with encapsulated versions f f The power pack must be adequately dimensioned for the connected motor f f Ensure motor supply terminals are connected to the correct polarity ...

Страница 21: ... via analog voltage Presetting of target velocity value via PWM signal Current limitation value via analog voltage Presetting of target position via analog voltage Digital input for reference and limit switches Connection for an external encoder analog input to GND Channel A Analog GND to GND Channel B in gearing or BL encoder mode 3 3 10 Digital input Internal protective circuit 3rd input 3 In Di...

Страница 22: ...ge of the sensors must never be switched on while the supply voltage of the Motion Controller is switched off f f Ensure that the supply voltage of the sensors cannot be switched on independently of the supply voltage of the Motion Controller Internal protection circuit Fault Dig I O Fault Dig In Dig Out Current sink 0 mA 30 mA Pin Designation Meaning 4 Fault Error output The error output is chara...

Страница 23: ...direct connection with a higher level control Pin header Terminal strip D Sub connector Designation Meaning Pin 7 5 GND GND Pin 2 2 RxD RS232 RxD Pin 1 3 TxD RS232 TxD CAN The CAN wiring is established via the connections CAN H CAN L and the supply GND alternatively the installed D sub connector can be used not available for all variants Pin header Terminal strip D Sub connector Designation Meanin...

Страница 24: ...r Bipolar analog command source via potentiometer 20 V 10k 4 7k 4 7k 1k Motion Controller AnIn AGND Interface nsoll UB UB GND GND 3 4 2 Homing and limit switches Connection of homing and limit switches 1k 1k Interface Limit switches Motion Controller AnIn Fault AGND UB UB GND GND ...

Страница 25: ...25 3 Installation 3 4 Connection examples 3 4 3 External incremental encoder Connection of an external encoder 2 7k Inter face 4 edges Encoder UB A A B B AnIn AGND Encoder UCC GND ...

Страница 26: ...e Wiring between PC control and a drive PC or higher level control Node 1 MCBL 3006 S RS TxD RxD RxD TxD GND GND D Sub Pin 3 D Sub9 Pin 2 D Sub Pin 2 D Sub9 Pin 3 D Sub Pin 5 D Sub9 Pin 5 Wiring with several Motion Control systems in RS232 network mode 4 7k Node 1 MCBL 3003 P RS Node n TxD TxD RxD RxD RxD TxD GND GND GND Pin header Pin 1 D Sub9 Pin 2 Pin header Pin 2 D Sub9 Pin 3 Pin header Pin 7 ...

Страница 27: ...connected to each end of the bus line In addition to the two signal lines CAN_H and CAN_L the nodes must also be connected to each other by a common GND line The maximum line length is limited by the transfer rate and the signal propagation times Baud rate Max line length incl stub 1 000 kBit s 25 m 500 kBit s 100 m 250 kBit s 250 m 125 kBit s 500 m 50 kBit s 1 000 m 20 kBit s 2 500 m 10 kBit s 5 ...

Страница 28: ...er node ID NOTE The baud rate and node number necessary for the communication link are set via the Motion Man ager or as a direct command input Please read the relevant function and communication manual and the Motion Manager s instruction manual ...

Страница 29: ...and connectors are protected against ESD The power supply unit is designed according to the requirements CAUTION Power supply Due to the PWM of the power output stage the motor current is always larger or equal to the cur rent that can be measured at the supply connection Umot The current information continuous peak current in the data sheets and the adjustable parameters of the I t current limiti...

Страница 30: ...ovide a standard Declaration of Incorporation Low Voltage Directive 2006 95 EC It applies to all electrical equipment with a nominal voltage from 75 to 1 500 V DC or from 50 to 1 000 V AC The products described in this instruction manual do not fall within the scope of this Directive as they are designed for smaller voltages EMC Directive 2004 108 EC The Electromagnetic Compatibility EMC Directive...

Страница 31: ...nying or consequential loss for whatever legal reason are excluded This does not apply if a we are maliciously silent with regard to a legal or material defect or have issued a guarantee for the nature of the goods b the loss is due to deliberate intent or gross negligence by us our legal representatives or vi carious agents or are based on negligent breach of fundamental contract obligations by t...

Страница 32: ...triebssysteme Daimlerstraße 23 25 71101 Schönaich Germany Tel 49 0 7031 638 0 Fax 49 0 7031 638 100 info faulhaber de www faulhaber com MA05038 English 3rd edition 03 2013 DR FRITZ FAULHABER GMBH CO KG Subject to change without notice ...

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