Faulhaber MCDC2805 series Instruction Manual
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Faulhaber MCDC2805 series Instruction Manual

Motion controller with sine wave commutation for ec-motors
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Motion Controller with
Sine Wave Commutation for EC-Motors
Series MCBL2805
Serie MCDC2805
Instruction Manual

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Summary of Contents for Faulhaber MCDC2805 series

  • Page 1 Motion Controller with Sine Wave Commutation for EC-Motors Series MCBL2805 Serie MCDC2805 Instruction Manual...

  • Page 2: Table Of Contents

    Table of Contents General Information Data Sheet Cables and Connections First Steps Analog Velocity Control Simple Possibilities to Set Command Velocity with a Potentiometer 10 RS-232 Port and the ASCII Commands Default Configuration of the RS-232 Port The ASCII Commands Saving Configurations Changing the Baud Rate Setting the Node Address...
  • Page 3 Additional Modes Stepper Motor Mode Gearing Mode Position Control with a Voltage at the Analog Input Using an External Encoder to Measure Actual Position Voltage Regulator Mode Handling Errors and the Error Output Show Deviation from Command Speed as Error Delayed Activation of the Error Display The Error Output as a Digital Output Pulse Output...

  • Page 4: General Information

    General Information I Fault Output (Open Collector): This output can The MCBL2805 was designed for Faulhaber brushless motors with linear hall sensors. This also be programmed as a direction of rotation means that, even without an external encoder, input, a digital input, or reference mark input.
  • Page 5 General Information Area of Application Options I FAULHABER offers the optional Multiplexer Ease of installation, integrated technology, Board to operate multiple motion controllers compatability, size, stand-alone capability and from one RS-232 port. the numerous connection possibilities allow this motion controller to perform to the highest...

  • Page 6: Data Sheet

    Data Sheet General Specifications Supply Voltage 12 ... 28 V DC PWM Switching Frequency 31,25 Efficiency Max. Continuous Current cont Max. Peak Current Current Consumption in the Electronics 0,06 Velocity Range 10 ... 15000 Out put Voltage for External Use V DC –...

  • Page 7: Cables And Connections

    Cables and Connections Power Supply Requirements Fault Output The power supply should deliver at least 5 A. The system is outfitted with a fault output It is important to be careful and connect the through which system errors are signalled. controller with the correct polarity.

  • Page 8: First Steps

    First Steps Upon delivery the MCBL2805 is configured for When operating the MCBL2805 in one of the the motor type 5 (2444S024B K1155). Additional Modes please read the corresponding chapters carefully. In particular the folllowing: Important: For successful operation of the I Operating Mode: Using an External Encoder motion controller with the motor of choice please read the following chapters carefully:...

  • Page 9: Analog Velocity Control

    Analog Velocity Control The standard MCBL2805 is In this operating mode the layed out as a Velocity RS-232 is not required but can Controller. The command be used to alter configurations. velocity is given as a voltage More on the topic of “Altering signal at the analog input.

  • Page 10: Simple Possibilities To Set Command Velocity With A Potentiometer

    Analog Velocity Control Simple Possibilities to Set Command Velocity with a Potentiometer + 24V DC + 24V DC 2,7k 2,7k 4,7k Analog Analog Input Input AGND AGND 4,7k Diagram 2 Diagram 3 Diagram 2 shows the simplest possibility, but Some Comments about the Input Circuit note the following: The input circuit at the analog input is layed out I The command velocity depends on the supply...

  • Page 11: Rs-232 Port And The Ascii Commands

    RS-232 Port and the ASCII Commands The RS-232 port allows the MCBL2805 to be Building blocks of the ASCII Commands connected to a personal computer as well as 1.) Node Address (option...just necessary in a various digital controllers, like for example an network) SPS or an IPC.

  • Page 12: Saving Configurations

    RS-232 Port and the ASCII Commands Saving Configurations Parameters and configurations can be saved in an on board EEPROM chip. That means that saved programs and configura- tions are not lost in case of a loss of power. Upon connec- tion to the supply voltage the motor runs under the setup saved in the EEPROM.

  • Page 13: Setting The Node Address

    RS-232 Port and the ASCII Commands Setting the Node Address Command Function Description Example NODEADR *) Define Node Defines the node address NODEADR5 With the assistance of the Address from 0 to 255 RS-232 Multiplexer Board it GNODEADR Get Node Calls up node address GNODEADR ➔...

  • Page 14: Optional Motor Types And Parameters

    RS-232 Port and the ASCII Commands Optional Motor Types and Parameters No. Motor Type P-portion (POR) I-portion (I) Peak Current (mA) Continuous Current (mA) 1628T012B K1155 3000 1628T024B K1155 3000 2036U012B K1155 3000 2036U024B K1155 3000 2444S024B K1155 5000 1370 3056K012B K1155 7000 1940...

  • Page 15: Configuring The Velocity Control

    Configuring the Velocity Control Upon delivery the controller is Sources for Velocity set up as a velocity controller. Command Function Description Example The input signal is a voltage at SOR *) Source for Sources for the Velocity SOR1 Velocity SOR 0: Command velocity at the the analog input, for example, RS-232 port a potentiometer.
  • Page 16 Configuring the Velocity Control Setting the Minimal Analog Voltage Command Function Description Example MAV *) Minimum Sets the minimum analog voltage. MAV500 Analog Voltage GMAV Get Minimum Calls up the minimum analog GMAV ➔ 25 Analog Voltage voltage over the RS-232 port. Example: MAV100 [return] ➔...
  • Page 17 Configuring the Velocity Control Setting the Direction of Rotation Command Function Description Example ADL *) Analog Armature rotates left with positive Direction voltage at the analog input Left ADR *) Analog Armature rotates right with positive ADR Direction voltage at the analog input Right Default Setting: ADR ...
  • Page 18 Configuring the Velocity Control Setting an Acceleration Command Function Description Example AC *) Load Loads a new value for AC100 Command acceleration. Acceleration Arguement in Rev/s GAC ➔ 1000 Calls up current acceleration value Acceleration Default Setting: 30000 Rev/s This acceleration value makes soft acceleration and braking in Velocity Control Mode possible.

  • Page 19: Fine Tuning The Digital Filter

    Configuring the Velocity Control Fine Tuning the Digital Filter The digital filter parameters can be adjusted to improve the dynamic performance. These parameters should be carefully chosen to fit the application because they have a great influence on performance. Command Function Description Example...

  • Page 20: Position Control

    Position Control The following Command Sequence is necessary to switch from Speed Control Mode (factory setting) to Positioning Mode: SOR0 [enter] ➔ Switches to RS-232 Communication in Speed Control Mode ➔ Load Relative Position 0 LR0 [enter] ➔ Switches to Positioning Mode M [enter] Positioning commands: Command...

  • Page 21: Standard Positioning Sequences

    Position Control Standard Positioning Sequences Combined Motion Profiles 1.) Enter the acceleration and the maximum Through well chosen values (Maximum Velocity, velocity (rpm) Acceleration, end Position) entered during a AC50 [enter] ➔ Sets acceleration to 50 Rev/s positioning sequence one can create complex motion profiles.

  • Page 22: Evaluating The Homing Points And Limit Switch

    Evaluating the Homing Points and Limit Switch The following are the available Allocation : inputs and signals: Name of Limit Switch Input Binary Number Answer and Input Address Number Symbol I Analog Input Analog Input I Fault Pin (programmed as Fault Pin Input No.

  • Page 23: Direct Programming With The Ha, Hl, And Hn Commands

    Evaluating the Homing Points and Limit Switch Setting the Edge and Polarity Example circuit diagrams for the Fault Pin Limit Switch and the Analog Input are pictured in Diagram 2 and Diagram 5. The trigger edge and polarity must be chosen depending on how the limit switch is connected.

  • Page 24: Programmable Homing Sequence

    Evaluating the Homing Points and Limit Switch Programmable Homing Configuring the Homing Sequence Sequence 1. Set the special homing sequence actions with the HA, HL, HN commands. The programmable homing sequence has the following 2. Save the special actions in the intermediate memory with the advantages: CAHOSEQ (Capture Homing Sequence) command I When programmed the...

  • Page 25: Hard Blocking Function

    Evaluating the Homing Points and Limit Switch Hard Blocking Function Command Function Description Example HB *) Hard Blocking Activates or deactivates hard To ensure that the motor does blocking at a given limit switch. not run past the limit switch, it is 1: activate possible to program the limit 0: deactivate...

  • Page 26: Additional Modes

    Additional Modes Additional “special modes” Command Function Description Example CONTMOD*) Continuous Switches motor back to Continuous CONTMOD were developed in order to Mode Mode from any of the additional fulfill the requirements of as modes. many different applications as GMOD Get Mode Calls up current mode: GMOD...
  • Page 27 Additional Modes Advantages over a conventional stepper motor: Command Function Description Example STEPMOD*) Stepper Switches to STEPMOD I The step count per revolution is programmable Motor Stepper Motor and has very high resolution Mode Mode STW *) Load Step Sends the step STW1 I The step width is programmable Width...

  • Page 28: Gearing Mode

    Additional Modes Gearing Mode In Gearing Mode it is possible to connect an external encoder to provide the command position value. + 24V DC Fault Output Evaluation Limit Switch Protection: Overtemperature Undervoltage ∆ϕ Current Limit Overvoltage Phase A brown 3 Phase MOSFET 2,7k REFIN...

  • Page 29: Position Control With A Voltage At The Analog Input

    Additional Modes Position Control with a Command Function Description Example APCMOD *) Analog Position Switches to analog APCMOD Voltage at the Analog Control Mode positioning mode Input LL *) Load Position Loads position limit: LL10000 In this mode the command Range Limits Provides the maximum position at the maximum...

  • Page 30: Using An External Encoder To Measure Actual Position

    Additional Modes The direction of rotation is set with the ADR and ... With a positive voltage the motor will ADL commands. rotate to a negative position (after power is restored to the motor it is at a ADR ➔ with a positive voltage the motor negative position value ranging rotates in the positive direction (right).
  • Page 31 Additional Modes + 24V DC Fault Output Evaluation Limit Switch Protection: Overtemperature Undervoltage ∆ϕ Current Limit Overvoltage Phase A brown 3 Phase MOSFET REFIN Phase B orange Power EC-Motor Sine Wave Phase C yellow Command Position PI-Speed Amplifier Commutator Position Controller Controller 2,7k...

  • Page 32: Voltage Regulator Mode

    Additional Modes Voltage Regulator Mode Command Function Description Example VOLTMOD*) Set Voltage Mode Activates voltage VOLTMOD The controller can be regulator mode configured with the VOLTMOD command to serve as a voltage In this mode it is possible to use an external controller. regulator.

  • Page 33: Handling Errors And The Error Output

    Handling Errors and the Error Output The standard error functions Show Deviation from Command Speed as Error and the way that these errors In certain applications a greater degree of deviation from the can be rectified are described given command speed is unacceptable. Therefore the unit should in detail in the chapter be programmed to react by displaying an error.

  • Page 34: The Error Output As A Digital Output

    Handling Errors and the Error Output Command Function Description Example DCE*) Delayed Current Delayed activation of the DCE100 Error error display for current limiting, over voltage protection, and deviation error. Given in 1/100th seconds. GDCE Get Delayed Calls up the delayed current GDCE ➔...

  • Page 35: Pulse Output

    Handling Errors and the Error Output Pulse Output Pulses from the Hall Sensor are processed and are then sent out at the fault output. Properties of the pulse output: I Maximum Pulse Frequency: 2000 Pulses per second I At speeds in excess of the maximum pulses per second the maximum pulse frequency will be transmitted I The programmed number of pulses will be reached exactly.

  • Page 36: Saving And Running Programs

    (Windows-Editor, Word) and Note: The FAULHABER MOTION MANAGER program provides sent to the drive with a termi- a comfortable way to program sequences and configure nal program. The programs are the motor.

  • Page 37: Controlling A Program Sequence

    Saving and Running Programs Controlling a Program Sequence The following are added commands for controlling a program sequence while it is running. These commands are only available while the program sequence is running. When the following commands are used the current program is interrupted until a certain criteria is fulfilled: ...

  • Page 38: More About Commands And Functions

    Saving and Running Programs Continuation: Additional Commands Command Function Description Example RETI Return Error Jumps back from the error subroutine to the main RETI Interrupt program. Important: The interrupted command will not repeat upon jumping back to the main program even if it hadn’t fully been carried out before the interrupt.
  • Page 39 Saving and Running Programs About the ERI Command Example: At first after entering the ERI command nothing LA10000 happens. The command only takes effect after SP5000 an error occurs. The program then jumps to the AC50 given address. NV1000 In this way a continuation of the program even AC100 after an error occurs is possible.

  • Page 40: Technical Information

    Technical Information Commutation with a Sine Wave Operating Mode of the Current Controller When the power is turned on to the motor, the Sine wave commutation means that the rotating current controller sends the value for peak magnetic field is always ideally positioned to the current as the command current value.

  • Page 41: Overtemperature Protection

    Technical Information Analog command current About Measuring the Temperature of the MOSFET I The SOR3 command can be used to switch to the analog command current input. The The temperature of the Motion Controller is current limit is proportional to the voltage at measured on the casing and compared to the the analog input.

  • Page 42: Appendix

    Appendix Electromagnetic The System fulfills the following requirements (norms) during Compatability (EMC) operation at nominal values: EMC emissions according to the range defined by VDE 0839 part 81-2 The motion controller (EN50081-2) MCBL2805 was tested and measured for EMC according to EMC immunity according to VDE 0839 part 82-2 (EN50082-2): the european guideline I Electrostatic discharges of 4kV (through contact) and 8 kV...

  • Page 43: The Rs-232 Multiplexer Board

    It is possible to chain up to 255 motors. It is also possible to chain the 3564K024B C with other Faulhaber motion controllers, for example, the MCDC2805 and the MCBL2805. It is important to remember that when controlling multiple...

  • Page 44: The Ascii Command Set

    Appendix I In the following list, examples of possible The ASCII Command Set answers to request commands are indicated I All commands that are marked with a *) will with an arrow. be saved with the EEPSAV command. I Answering Commands, whitch take effect only after a certain criteria has been met, are marked by the word “asynch”.
  • Page 45 Appendix Commands for Motion Control Command Function Description Example M *) Initiate Motion Activates positioning mode and starts positioning Load Absolute Position Loads new absolute position. LA100000 Arguement: 1000 is one rotation. Load Relative Postion Loads a new relative position LR5000 V *) Select Velocity Mode...
  • Page 46 Appendix Commands For Evaluating Homing Points and Limit Switches Command Function Description Example Define Home Position With no Arguement: Sets the actual position to 0 With Arguement: Sets actual position to the given value HP *) Hard Polarity Sets the trigger edge and the polarity for the limiter switches: 1**): rising edge and high level 0**): falling edge and low level...
  • Page 47 Appendix Continuation: Commands For Evaluating Homing Points and Limit Switches Command Function Description Example GAHS ➔ 33300 GAHS Get Actual 5 numbers with values between 0 and 7 are sent to Homing Status the host over the RS-232. They indicate the status of the homing switches.
  • Page 48 Appendix Commands for Additional Modes Command Function Description Example CONTMOD *) Continuous Mode Switches from the present further mode back to CONTMOD continuous operating mode. (Hall Sensor gives actual position. Communication over the RS-232) STEPMOD *) Steppermotor Mode Switches to stepper motor mode. STEPMOD STW *) Load Step Width...
  • Page 49 Appendix Commands for Configuration of the Error Functions and Error Output: Command Function Description Example DIRIN *) Direction Input Programs the fault output as a direction of DIRIN rotation input. (The limiter switch is also thereby activated) REFIN *) Reference Input Programs the fault pin as a limit switch REFIN ERROUT *)
  • Page 50 Appendix More Request Commands Command Function Description Example POS ➔ 500000 Get Actual Position Calls up the actual position GN ➔ 4000 Get N Calls up the actual speed GCL ➔ 2800 Get Current Limit Calls up the actual current limit value GRC ➔...
  • Page 51 Appendix Continuation: More Request Commands Command Function Description Example GSCS ➔ 00000001 GSCS Get Special Calls up configuration at the host RS-232 (8 Bits) Configuration Set From left to right: Bit 0: 1 ... Power On Homing Sequence is active 0 ...

  • Page 52: Example Configurations And Programs

    Appendix Example Configurations and Programs Velocity Control: Command value received at the RS-232 port The following examples are programmed from Goals: the basis of the factory settings. I Velocity control at the RS-232 port. Velocity Control: Command value received as a PWM signal at the analog input.
  • Page 53 Appendix Position Control Stepper Motor Mode Goals: Goals: I Position control I Operation as a stepper motor I Limit acceleration to 300 Rev/s I Step Width: 3 I Reference point at falling edge I Step Number per Revolution: 557 I Controller Parameters: Proportional 25 and I Active Power On Homing Sequence with the integral 8 fault pin as reference input...
  • Page 54 Appendix Program Sequence: Calling up Various Configuration: Positioning Routines at the RS-232 ➔ Switches to receive command SOR0 This program makes it possible to call up various speed at the RS-232 ➔ Motion stop programs at the RS-232 port. ➔ Switches to position control I Homing: The motor first runs to a limiter (no motion) switch then to the Hall index zero.
  • Page 55 Appendix ➔ Jump-in address for sequence 2 Commentary: ➔ Set peak current to 500mA... LPC500 I The homing sequence is called up by sending (continuous current ≤ peak the JMP2 command from the RS-232. The current) other routines are called up in a similar LA1000000 manner.
  • Page 56 Appendix ➔ Loads homing speed (backward) HOSP-200 ➔ Rising edge will be registered at the limit switch ➔ Run to position 0 if high logic ➔ Program will activate after ENPROG level at input 2 power on ➔ Jump to the beginning JMP1 ➔...

  • Page 57: Factory Configuration

    Appendix ➔ Factory Configuration ➔ The commands in the factory configuration are as follows: ➔ Deavctivate homing sequence CAHOSEQ ➔ Drive is active ➔ Power on homing sequence is POHOSEQ0 ➔ Command speed 0 deactivated ➔ Homing speed is 100 with ➔...
  • Page 58 Notes...
  • Page 59 Notes...
  • Page 60 GMBH & CO. KG Antriebssysteme Daimlerstraße 23 71101 Schönaich · Germany Tel. +49(0)70 31/638-0 Fax +49(0)70 31/638-100 From Software Version 305010A and upwards info@faulhaber.de © DR. FRITZ FAULHABER GMBH & CO. KG www.faulhaber.de MA05002, english, 1. Edition, 13. 06. 01...

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