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Faulhaber MCLM 300x CO Series Communication Function Manual

Canopen motion control
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Communication /
Function Manual
Motion Control
MCLM 300x CO
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WE CREATE MOTION

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Summary of Contents for Faulhaber MCLM 300x CO Series

  • Page 1 Communication / Function Manual Motion Control MCLM 300x CO WE CREATE MOTION...
  • Page 2 Dr. Fritz Faulhaber GmbH & Co. KG. This document has been prepared with care. Dr. Fritz Faulhaber 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.

  • Page 3: Table Of Contents

    Symbols and markers ..................... 7 Quick start ......................... 8 Start with unconfigured controller ............... 8 Setting node number and baud rate ..............9 Operation using FAULHABER Motion Manager ..........10 Operation using own host application ............... 12 2.4.1 Activate CANopen nodes..............12 2.4.2...
  • Page 4 Content Functional description ....................35 Drive data ......................35 Device Control ...................... 37 4.2.1 State machine of the drive ..............37 4.2.2 Controlword ..................39 4.2.2.1 Example: Enable Operation ..........40 4.2.2.2 Example: Resetting the fault state ........40 4.2.3 Quick Stop .....................
  • Page 5 Content Query of the device state ..................70 4.10 Technical information ..................71 4.10.1 Ramp generator ..................71 4.10.1.1 Basic settings ................71 4.10.1.2 Ramp generator in Profile Velocity Mode ......72 4.10.1.3 Ramp generator in Profile Position Mode ......73 4.10.2 Sinus commutation ................

  • Page 6: About This Document

    Operating modes and functions  This document is intended for following persons:  Users who are commissioning a motor on the FAULHABER Motion Controller for the first time Software developers and project engineers with experience of interfaces  Technicians and engineers in the application of controlled electrical drives and indus- ...

  • Page 7: Using This Document

    About this document 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.  Pass the document on to any subsequent owner or user of the product. List of abbreviations Abbreviation Meaning...

  • Page 8: Quick Start

    1. Set node number and baud rate by means of LSS. The correct node number and baud rate is set via the LSS service according to CiA 305. The FAULHABER Motion Manager or another CANopen configuration tool can be used for this.

  • Page 9: Setting Node Number And Baud Rate

    CAN to an appropriate configuration tool, which supports the LSS protocol (layer set- ting services and protocol) according to CiA DSP305. FAULHABER Motion Manager installed on a PC with supported CAN interface can be used for this. The LSS compatible configuration tool can be used to set the node address and baud rate using the following methods (see chap.

  • Page 10: Operation Using Faulhaber Motion Manager

    Quick start Operation using FAULHABER Motion Manager The FAULHABER Motion Manager provides easy access to the CANopen state machines using menu entries, which can be opened either with the Node Explorer's context menu (right-click) or with the Commands menu. The required node must have been activated beforehand by double clicking in the Node Explorer.
  • Page 11 Quick start  Prepare the drive for switching on via the Device Control - Shutdown menu item or the SHUTDOWN command.  Switch on the output stage via the Device Control - Switch On menu item or the SWITCHON command. ...

  • Page 12: Operation Using Own Host Application

    Quick start  Move towards target position: – Select the Device Control - Enable Operation item via the context menu of the Node Explorer or via the Commands menu - or - enter the ENOP command in the command input field of the terminal window. –...

  • Page 13: Configure The Drives

    Configure the drives  Configure the drive by means of SDO transfer using the objects of the object dictionary. Use of the FAULHABER Motion Manager is recommended for the basic settings (see chap. 5.3.3.1, p. 85). 2.4.3 Operation in one of the CANopen CiA 402 drive profiles A drive in accordance with CiA402 must be activated according to a defined sequence of steps (see chap.

  • Page 14: Canopen Protocol Description

    CANopen protocol description CANopen protocol description Introduction CANopen CANopen is a standard software protocol. A CAN hardware environment is required for communication using CANopen. Up to 127 nodes can be addressed within a CANopen net- work. The maximum transmission speed is 1 MBit/s. CAN standardisation The CiA defines the following aspects in CiA 301: communications structure...

  • Page 15: Communication Services

    CAN message conveys the error code asynchronously so that the status of the CANopen slave need not be interrogated after an error (see chap. 3.6, p. 24). Communications profile FAULHABER Motion Controllers support the CANopen communications profile to CiA 301 V4: 4 transmission PDOs ...

  • Page 16: Identifier Distribution

    CANopen protocol description The data assignment of the PDOs is pre-set to the “PDO set for servo drive” as specified in CiA 402 V3, but can be changed by the user (dynamic PDO mapping). Identifier distribution The Communication Object Identifier (COB-ID) consists of a 7-bit node address (Node-ID) and a 4-bit function code.

  • Page 17: Pdo (Process Data Object)

    The data assignment of PDOs can be changed via the objects 0x1600 to 0x1603 and  0x1A00 to 0x1A03. The mapping procedure necessary for this is described in CiA 301. A suitable tool (such as FAULHABER Motion Manager or System Manager for the PLC con- troller used) is necessary for the mapping procedure. ...
  • Page 18 The value of the Event Timer is specified in milliseconds. The time span that can be set is 5- 65 000 ms. FAULHABER recommends always setting the Event Timer >100 ms. The CAN bus will otherwise be overloaded with messages and the performance of the complete system no longer ensured.

  • Page 19: Pdo Mapping In The Standard Configuration (Status As Delivered)

    CANopen protocol description 3.4.2 PDO mapping in the standard configuration (status as delivered) RxPDO1: Controlword 11-bit identifier 2 bytes user data 0x200 (512d) + node ID The RxPDO1 contains the 16-bit Controlword to CiA DSP402. The Controlword controls the state machine of the drive unit and points to the object index 0x6040 in the object dictio- nary.

  • Page 20: Dealing With Mapping Errors

    CANopen protocol description RxPDO4: Controlword, target torque 11-bit identifier 6 bytes user data 0x400 (1024d) + node ID The RxPDO4 contains the 16-bit Controlword and in Profile Position mode (PP) the 32-bit value of the target position in internal units (Object 0x257A). TxPDO4: Statusword, torque actual value 11-bit identifier 6 bytes user data...

  • Page 21: Sdo (Service Data Object)

    CANopen protocol description SDO (Service Data Object) The SDO reads and describes parameters in the OV (object dictionary). The SDO accesses the object dictionary via the 16-bit index and the 8-bit subindex. At the request of the client (PC, PLC (programmable logic controller)) the Motion Controller makes data available (upload) or receives data from the client (download).
  • Page 22 CANopen protocol description The command specifier CS(0x2x) specifies the number of valid data bytes in D0 to D3 and the transfer code. The command specifier is coded as follows:  CS = 0x2F, 1 data byte in D0 CS = 0x2B, 2 data bytes in D0 to D1 ...

  • Page 23: Sdo Error Description

    CANopen protocol description 3.5.2 SDO error description If the SDO protocol on a page cannot be processed further, an SDO-Abort telegram is sent (see chap. 3.5.1, p. 21). The error types are coded as follows:  Error0: Additional error code HB Error1: Additional error code LB ...

  • Page 24: Emergency Object (Error Message)

    The object 0x1001 allows interrogation of the last value of the error register. Tab. 9 lists all the errors that have been reported by emergency messages, providing the respective error is included in the Emergency Mask (0x2321.01) for the FAULHABER error register (Tab. 13). Tab. 9:...
  • Page 25 Example: An emergency telegram with 8 data bytes is sent (see Tab. 10), if the following conditions apply: In Error Mask 0x2321 of the FAULHABER error register, bit 1 is set under subindex 1.   The continuous current limit value set by means of object 0x2333 was exceeded by lon- ger than the error delay time set by means of object 0x2322.

  • Page 26: Sync Object

    CANopen protocol description SYNC object The SYNC object is a message without any user data. The SYNC object is used to trigger syn- chronous PDOs and at the same time to start processes on various items of equipment. The identifier of the SYNC objects is set in the object dictionary under the index 0x1005 (by default 0x80).

  • Page 27: Nmt (Network Management)

    CANopen protocol description NMT (Network Management) The network management object governs the CiA 301 state machine of the CANopen device and monitors the network nodes. After switching on and initialising, the Motion Controller is automatically set to the Pre- Operational state. In the Pre-Operational state the device can communicate only with NMT messages and via SDOs.
  • Page 28 0x82 (130d) Performs a reset of the communications functions. tion FAULHABER Motion Controllers are equipped with a standard configuration for all objects. Once commissioning is complete the application-specific settings can be saved directly in the device. In most cases no further parametrisation is necessary at the sys- tem start.

  • Page 29: Boot Up

    CANopen protocol description 3.8.1 Boot up Immediately after the initialisation phase the Motion Controller sends a boot-up message. A boot-up message signals the end of the initialisation phase of a module after it has been switched on. A boot-up message is a CAN message with one data byte (byte 0 = 0x00) on the identifier of the node guarding message (0x700 + node ID).

  • Page 30: Node Guarding

    The response to a node guarding error is set by the FAULHABER error register (object 0x2321) (see Tab. 14). The default is to send the emergency message 0x8130.

  • Page 31: Heartbeat

    Heartbeat consumer: If within the heartbeat consumer time no heartbeat message is  received from the heartbeat producers that are being monitored, the Motion Control- ler responds with the behaviour specified in the FAULHABER error register (see Tab. 12). COB-ID = 0x700 + Node-ID Heartbeat...

  • Page 32: Settings For The Monitoring Functions

     message from the master, a heartbeat event is triggered. The response to a Heartbeat event is determined by the FAULHABER error register Error Mask (object 0x2321) (see Tab. 12). The default is to send the emergency message 0x8130. If whilst the Heartbeat Producer is activated an attempt is made to set a Node Guarding ...

  • Page 33: Error Handling

    If messages are lost, the controller sends the emergency message 0x8110. Bit 4 (communica- tion error) is set in the error register and Bit 7 (CAN overrun) is set in the FAULHABER error register. The emergency message is sent out after a delay. Issuing of the emergency mes- sage (0x000) does not retract the error.
  • Page 34 CANopen protocol description Error bit Error message Description 0x0100 Life Guard Or Heartbeat Error CAN monitoring error 0x0200 Recovered From Bus Off Exit CAN bus error "Bus off" 0x0800 Conversion Overflow Computing overflow 0x1000 Internal Software Internal software error 0x2000 PDO Length Exceeded PDO length too long, but is processed 0x4000...

  • Page 35: Functional Description

    Functional description Functional description Drive data Fundamental properties of the drive system are stored in the Motor Data (0x2350) and Encoder Data (0x2351) objects. Motor data For the motor monitoring models the following parameters are required:  Speed constant (derived from the generator voltage constants k Connection resistance ...
  • Page 36 Functional description  Sensor Type: The following combinations are supported as position encoder systems: Analogue Hall sensors (3 000 increments/τ , fixed)   Analogue Hall sensors + incremental encoder (resolution depends on the incremen- tal encoder) Resolution External Encoder: ...

  • Page 37: Device Control

    Functional description Device Control FAULHABER Motion Control Systems support Device Control according to CiA 402 and the operating modes Profile Position Mode, Profile Velocity Mode, Cyclic Synchronous Position Mode and Homing Mode. 4.2.1 State machine of the drive During the switch-on and switch-off process, the FAULHABER Motion Controller passes through a state machine with several steps.
  • Page 38 Functional description Command Transitions Enable Operation 4, 16 Fault Reset The Not Ready to Switch On state is passed through automatically. The Motion Control-  ler can be configured via the object 0x2503 so that the offsets for the current measure- ment are automatically readjusted.

  • Page 39: Controlword

    Functional description 4.2.2 Controlword The commands for performing a change of state are defined by combinations of bits 0–3 in the Controlword. The Controlword is located in the object dictionary under index 0x6040. Controlword Index Subindex Name Type Attr. Default value Meaning 0x6040 0x00 Controlword U16...

  • Page 40: Example: Enable Operation

    Functional description Function Description Enable Operation 0: Operation disabled 1: Operation enabled New Set-Point 0: No new target position specified 1: New target position specified Change Set Immediately Not used. New positioning jobs are always started immediately. Abs/Rel 0: Target position is an absolute value 1: Target position is a relative value 0 →...

  • Page 41: Quick Stop

    Functional description 4.2.3 Quick Stop The drive is decelerated with the deceleration ramp given under Quick Stop Deceleration (0x6085). It then maintains its current position in Profile Position Mode. 4.2.4 Statusword The current state of the drive is represented in bits 0–6 of the Statusword. The Statusword is located in the object dictionary under index 0x6041.
  • Page 42 Functional description Tab. 19: Meaning of the bits in the Statusword Function Description Ready to Switch On 0: Not ready to switch on 1: Ready to switch on Switched On 0: No voltage present 1: Drive is in the Switched On state Operation Enabled 0: Operation disabled 1: Operation enabled...

  • Page 43: Selecting The Operating Mode

    Functional description 4.2.5 Selecting the operating mode The Modes of Operation parameter is used to select the active drive profile. The Modes of Operation Display entry can be used to read back the current mode of operation. The active operating mode (0x6061) is not always the same as the configured oper- ating mode (0x6060).

  • Page 44: Factor Group

    Functional description Factor Group The objects of the Factor Group are used to convert internal position values or speed values into user-defined units. Internal position values are entered in increments and are depend- ent on the resolution of the encoder used. User-defined units depend on the encoder reso- lution and on attached linear reduction.
  • Page 45 If an overflow occurs during subsequent calculations, the emergency telegram 0xFF01 is sent and bit 11 (Conversion overflow) is set in the FAULHABER error register. If there are no longer any conversion errors after correcting the factors, the error is deleted and the emer- gency telegram 0x0000 is sent.
  • Page 46 Functional description Position Encoder Resolution (0x608F) Index Subindex Name Type Attr. Default value Meaning 0x608F 0x00 Number of Entries Number of object entries 0x01 Encoder Incre- 3 000 Encoder increments ments 0x02 Motor Movement Travel in mm at the pulse rate named in subindex 0x01 The value of the encoder resolution is loaded from the settings in the Encoder Data (0x2351) object and cannot be changed here.

  • Page 47: Profile Position Mode And Position Control Function

     therefore the Minimum Limit becomes larger than the Maximum Limit. Functions that read in the complete object dictionary (e.g., the FAULHABER Motion Manager function Load CANopen configuration file) should be executed twice to ensure that Position Factor, Minimum Limit and Maximum Limit are correctly inter- preted.

  • Page 48: Notification Of The Higher Level Control

    Functional description The set maximum values for acceleration, braking ramp and speed are additionally taken into account. 4.4.2 Notification of the higher level control Attainment of the target position is signalled by bit 10 (Target Reached) in the Statusword of the drive. If the transmission type for the particular PDO is set to 255, the PDO is trans- mitted asynchronously, triggered by the change in state.

  • Page 49: Query Current Values / Position Control Function

    Functional description Position Window Time (0x6068) Index Subindex Name Type Attr. Default value Meaning 0x6068 0x00 Position Window Minimum residence time within the corri- Time dor in PP operating mode, until the tar- get position is reported as achieved. If the drive stays within the range of the Position Window for at least the time set here in milliseconds, bit 10 is set in the Statusword (Target Reached).

  • Page 50: Velocity Controller / Current Limitation

    Functional description Quick Stop Deceleration (0x6085) Index Subindex Name Type Attr. Default value Meaning 0x6085 0x00 Quick Stop Decel- 30 000 Braking ramp value at Quick stop [mm/s eration 4.4.5.3 Velocity controller / current limitation The controller parameters of the secondary velocity controller can also be adjusted (object 0x2331).
  • Page 51 Functional description 3. Reset Controlword bit 4 again.  Bit 12 in the Statusword is reset. As soon as bit 12 in the Statusword has been reset, new positioning can be started by changing the status of bit 4 (New Set-Point) in the Controlword from 0 to 1. Posi- tioning jobs are always executed immediately (Change Set Immediately).

  • Page 52: Homing Mode

    Functional description Homing Mode After switching on a homing sequence must be performed to reset the position value at the homing limit switch. Object 0x2310 can be used to set which inputs are to be used as homing limit switches (siehe chap. 4.8.1, p. 66). Homing Offset (0x607C) Index Subindex Name...
  • Page 53 Functional description Methods 2 and 18 Homing to the upper limit switch (positive limit switch): If the limit switch is inactive, the drive moves first in the direction of the upper limit  switch, until its positive flank is detected. Once the limit switch is active, the drive moves downwards away from the limit switch until the negative flank is detected.
  • Page 54 Functional description Methods 5, 6 and 21, 22 Homing to a negative homing switch (negative home switch). The initial direction of movement depends on the state of the home switch. The homing position is at the point where the state of the home switch changes. If during a reference run the direction of movement has to be reversed, this is always at the point where the state of the homing switch changes.
  • Page 55 Functional description  Methods 8 and 24: Homing at the rising flank at the bottom. Starts in a positive direction if the switch is inactive. Index Pulse Home Switch Home Switch Positive Positive Limit Switch Limit Switch Fig. 15: Homing methods 8 and 24 ...
  • Page 56 Functional description  Methods 10 and 26: Homing at the falling flank at the top. Always starts in the positive direction. Index Pulse Home Switch Home Switch Positive Positive Limit Switch Limit Switch Fig. 17: Homing methods 10 and 26 ...
  • Page 57 Functional description  Methods 12 and 28: Homing at the rising flank at the top. Starts in a negative direction if the switch is inac- tive. Index Pulse Index Pulse Home Switch Home Switch Negative Negative Limit Switch Limit Switch Fig.
  • Page 58 Functional description  Methods 14 and 30: Homing at the falling flank at the bottom. Always starts in the negative direction. Index Pulse Home Switch Home Switch Negative Negative Limit Switch Limit Switch Fig. 21: Homing methods 14 and 30 Methods 33 and 34 Homing at the index impulse.

  • Page 59: Homing Reference Run

    Functional description 4.5.2 Homing reference run NMT status Operational   Drive status Operation Enabled Modes of operation (object 0x6060) set to Homing mode (6)  1. Assign the desired values to the following objects: Homing limit switch (object 0x2310) ...

  • Page 60: Profile Velocity Mode

    Functional description Profile Velocity Mode Velocity window / Velocity window time Target reached Target velocity Ramp generator Speed controller (0x60FF) Motor act. Hall t current limitation act. Position and velocity calculation Velocity thresold / Velocity thersold time Speed = 0 Fig.

  • Page 61: Basic Settings

    Functional description 4.6.3 Basic settings The Velocity Control Parameter Set (0x2331) object can be used to set the proportional gain and the I term for the velocity controller. Velocity Control Parameter Set (0x2331) Index Subindex Name Type Attr. Default value Meaning 0x2331 0x00...

  • Page 62: Motion Control Commands

    Functional description 4.6.6 Motion control commands A velocity set-point is specified using the Target Velocity (0x60FF) object. Provided the drive is in Operation Enable state (see chap. 4.2, p. 37), the drive is accelerated directly to the new target velocity. The parameter Velocity Window (0x606D) is used to define a window around the target velocity, within which the target velocity is signalled as being reached, if the velocity remains within the target window for at least the time in using the parameter Velocity...

  • Page 63: Cyclic Synchronous Position Mode

    The Cyclic Synchronous Position Mode is provided in numerous FAULHABER controllers, e.g., in the separate controllers (MCLM 3002 CO). Whether a given controller actually sup- ports synchronous position mode CSP can be read in object 0x6502.

  • Page 64: Statusword And Controlword

    Functional description 4.7.3 Statusword and Controlword Statusword In Cyclic Synchronous Position operating mode the following operating mode-specific bits are assigned to the Statusword: Tab. 20: Operating mode-specific bits of the statusword (Cyclic Synchronous Position mode) Function Description Reserved 0: No function Drive Follows the 1: The drive follows the operating value, the target position is used as an input to Command Value...

  • Page 65: Settings

    Functional description 4.7.4 Settings The following objects must be set when using this operating mode: Target Position (0x607A)  Operating mode (0x6060 = 8)  Fig. 24 shows all the objects that are effective in this operating mode. The objects shown additionally permit optional settings within this operating mode.

  • Page 66: Inputs/Outputs

    Functional description Inputs/outputs 4.8.1 Limit switch connections and switching level The following connections can be used as reference and limit switch inputs:  AnIn Fault  3. Input  The zero crossing of the Hall sensor signals is also available as index pulse , which occurs once per magnetic polar pitch.
  • Page 67 Functional description Digital Input Settings (0x2310) Index Subindex Name Type Attr. Default value Meaning 0x2310 0x00 Number of Number of object entries Entries 0x01 Negative Selection of the lower limit switch Limit Switch 0x02 Positive Limit Selection of the upper limit switch Switch 0x03 Homing...

  • Page 68: Special Functions Of The Fault Pin

    4.8.2.1 Fault pin as error output In the Error Output function the output is set as soon as an error occurs in the FAULHABER error register and the Errout Mask (0x2321.03) is set to 1 for the corresponding error (see chap.

  • Page 69: Fault Pin As Reference Input

    Functional description Digital Output Status (0x2315.03) Value Function Description Clear Output Set digital output to low level Set Output Set digital output to high level Toggle Output Switch to digital output 4.8.2.3 Fault pin as reference input In the Reference Input function the fault pin has the function of a digital input and can be used as a limit switch or homing switch according to object 0x2310 or can be used to connect the index pulse of an incremental encoder..

  • Page 70: Query Of The Device State

    Functional description Analog Input Status Raw (0x2314) Index Subindex Name Type Attr. Default Meaning value 0x2314 0x00 Number of Entries Number of object entries 0x01 Input 1 ADC value raw Digital value at input 1 0x02 Input 2 ADC value raw Digital value at input 2 0x03 Input 3 ADC value raw...

  • Page 71: Technical Information

    Functional description 4.10 Technical information 4.10.1 Ramp generator In all modes the set-point is controlled by the ramp generator. Profile Acceleration [mm/s²] Profile Deceleration Profile Velocity [mm/s] Fig. 25: Basic ramp generator function This can be used to separately set the parameters for maximum acceleration (Profile Accel- eration), maximum delay (Profile Deceleration) and maximum speed (Profile Velocity) for specific applications.

  • Page 72: Ramp Generator In Profile Velocity Mode

    Functional description 4.10.1.2 Ramp generator in Profile Velocity Mode profile acceleration [mm/s²] profile deceleration profile velocity Target velocity [mm/s] Downstream of the ramp generator Fig. 26: Intervention of the ramp generator in speed mode In speed mode the ramp generator acts like a filter on the target speed. The set value is limited to the Profile Velocity value and the set value changes are limited according to the Profile Acceleration and Profile Deceleration.

  • Page 73: Ramp Generator In Profile Position Mode

    Functional description 4.10.1.3 Ramp generator in Profile Position Mode Profile Acceleration [mm/s²] Profile Deceleration Profile Velocity [mm/s] Target Position Downstream of the ramp generator Fig. 27: Intervention of the ramp generator in positioning mode In positioning mode a preset speed is determined by the position controller from the differ- ence between the target position and actual position.

  • Page 74: Sinus Commutation

    4.10.2 Sinus commutation The outstanding feature of FAULHABER motion controllers for motors is their so-called sinus commutation. This means that the specified magnetic field is always ideally positioned relative to the cage bar. As a result, force fluctuations can be reduced to a minimum, even at very low speeds.
  • Page 75 Functional description The default values for CI limit the current to the allowable value after around 5 ms. Current Control Parameter Set (0x2333) Index Subindex Name Type Attr. Default value Meaning 0x2333 0x00 Number of Number of object entries Entries 0x01 Continuous Cur- Continuous current limit [mA]...

  • Page 76: Overtemperature Protection

    If the MOSFET temperature of the controller exceeds a preset limit value more than one second, the motor is switched off. The FAULHABER Error Mask (0x2321) can be used to set the further response to an overtem- perature error (EMCY, fault state or error output).

  • Page 77: Available Controller Parameters

    Functional description carefully and should typically be a maximum of 50% of the base value POR. Otherwise there is a risk of instability. 4.10.7.2 Available controller parameters Filter Settings (0x2330) Index Subindex Name Type Attr. Default value Meaning 0x2330 0x00 Number of Number of object entries Entries...

  • Page 78: Possible Procedure

    Functional description Position Control Parameter Set (0x2332) Index Subindex Name Type Attr. Default value Meaning 0x2332 0x00 Number of Number of object entries Entries 0x01 Proportional Proportional gain of position controller Term PP 0x02 Derivative Differential term of position controller Term PD Dependent on the configuration of the Motion Controller These values are suitably preassigned by selecting a motor type in the Motion Manager’s...

  • Page 79: Commissioning

    LSS protocol (Layer Setting Service and Protocol) to CiA 305 is required. The FAULHABER Motion Manager must be installed on a PC with a supported CAN interface. There are two ways of setting the communication parameters: An individual drive is connected at the CAN interface of the configuration tool: ...

  • Page 80: Setting The Node Number

    Commissioning After configuration, the Motion Controller saves the set parameters in the EEPROM. They remain available after switching off and on again. For a detailed description of the LSS protocol please refer to the document CiA 305. 5.1.1.1 Setting the node number Node numbers 1 to 127 can be set.

  • Page 81: Basic Settings

     Controller parameters, adjusted to the motor type and application In addition, FAULHABER Motion Manager can be used to synchronise the hall sensor signals for smooth start-up . The configuration must then be adjusted to the respective application for all motion cont- rollers .

  • Page 82: Configuration Using The Motion Manager

    Commissioning Configuration using the Motion Manager FAULHABER Motion Manager PC software provides a simple option for configuring the drive unit and for performing initial tests and optimisation. The software is available for Microsoft Windows and can be downloaded free of charge from the FAULHABER internet site: www.faulhaber.com/motionmanager...
  • Page 83 4. Select the type of connection and the baud rate. Information on the supported CAN interfaces is given in the instruction manual of the Motion Manager or you can contact FAULHABER for information. 5. Press Search... button. Devices which are already set to a suitable baud rate are then found and displayed by the Motion Manager.

  • Page 84: Selecting The Motor

    Motion Manager or via Configuration under Initial Startup - Select motor. After selecting the required FAULHABER motor from a list and setting the sensor type used, as well as entering an inertia factor for the load to be operated, in addition to the motor and current limiting values, suitable controller parameters are also determined and trans- ferred to the drive.

  • Page 85: Performing The Basic Settings

    Velocity range limit Encoder settings  Commutation settings for LM motors  Operating modes The FAULHABER Motion Controller supports the following operating modes:  Profile Position Mode (position control) Cyclic Synchronous Position Mode (position control)  Homing Mode (reference run) ...

  • Page 86: Factor Group

    CI. If using the default values for your motor, the current is limited to the allowable value after around 5 ms. If a FAULHABER motor was selected via the Motor Wizard, parameters are already set with which the motor can be operated safely.

  • Page 87: Error Handling

    Commissioning If the motor is exposed to additional loads, the inertia of the load must be compensated for by a higher proportional term and if necessary slower sampling. In most applications the integral term can remain unchanged. Further notes see chap. 4.10.7, p. 76. Ramp generator The ramp generator limits the velocity change at the input of the velocity controller via the Profile Acceleration and Profile Deceleration parameters and the maximum default speed...

  • Page 88: Setting Inputs/Outputs And Homing

    Commissioning 5.3.3.5 Setting inputs/outputs and homing The Inputs/outputs and Homing tab of the drive configuration dialog can be used to spec- ify the function of the digital inputs and outputs and to define the homing settings. Input level and edge The switching thresholds of the digital inputs are either directly 5 V TTL compatible or are adjusted to the switching level of 24 V PCS outputs.

  • Page 89: Managing The Data Set

    Commissioning 5.3.4 Managing the data set Saving parameters The settings of a drive can be saved as a backup or as a file for configuration of other drives. The Motion Manager provides the option of reading out the current drive configuration via the object browser and saving it as an XDC file (XML device configuration file).

  • Page 90: Parameter Description

    Error before last The error log contains the coding of the last errors that occurred.  MSB byte: error code, FAULHABER error LSB byte: error code, FAULHABER error  The meaning of the error codes is described in chap. 3.6, p. 24.
  • Page 91 Parameter description Manufacturer’s Hardware Version Index Subindex Name Type Attr. Default value Meaning 0x1009 0x00 Manufacturer’s const – Hardware version Hardware Version string Use the segmented SDO protocol to read out the Manufacturer Hardware Version. Manufacturer’s Software Version Index Subindex Name Type Attr.
  • Page 92 Parameter description NOTICE! The flash memory is designed to accommodate 10,000 write cycles. If this command is exe- cuted more than 10,000 times, the correct operation of the flash memory can no longer be guaranteed.  Avoid performing frequent saves. ...
  • Page 93 Index Subindex Name Type Attr. Default value Meaning 0x1018 0x00 Number of entries Number of object entries 0x01 Vendor ID Manufacturer’s code number (FAULHABER: 327) 0x02 Product Code 3 150 Product code number 0x04 Serial number – Serial number Error Behaviour...
  • Page 94 Parameter description Receive PDO2 Parameter Index Subindex Name Type Attr. Default value Meaning 0x1401 0x00 Number of entries Number of object entries 0x01 COB ID Used by 0x300 + node CAN object identifier for the server RxP- RxPDO2 0x02 Transmission Type 255 (asynchr.) Type of PDO transmission Receive PDO3 Parameter Index...
  • Page 95 Parameter description Receive PDO3 Mapping Index Subindex Name Type Attr. Default value Meaning 0x1602 0x00 Number of Mapped Number of mapped objects Objects 0x01 RxPDO3 Mapping 0x60400010 Pointer to the 16-bit Controlword Entry 1 (0x6040) 0x02 RxPDO3 Mapping 0x60FF0020 Pointer to the 32-bit Target Velocity Entry 2 (0x60FF) 0x03...
  • Page 96 Parameter description Transmit PDO3 Parameter Index Subindex Name Type Attr. Default value Meaning 0x1802 0x00 Number of entries Number of object entries 0x01 COB ID Used by 0x380 + node CAN object identifier of the TxPDO3 TxPDO3 0x02 Transmission Type 255 (asynchr.) Type of PDO transmission 0x05...
  • Page 97 Parameter description Transmit PDO3 Mapping Index Subindex Name Type Attr. Default value Meaning 0x1A02 0x00 Number of Mapped Number of mapped objects Objects 0x01 TxPDO3 Mapping 0x60410010 Pointer to the 16-bit Statusword Entry 1 (0x6041) 0x02 TxPDO3 Mapping 0x606C0020 Pointer to the 32-bit Velocity Actual Entry 2 Value (0x606C) 0x03...

  • Page 98: Manufacturer-Specific Objects

    Parameter description Manufacturer-specific objects Digital Input Settings (0x2310) Index Subindex Name Type Attr. Default value Meaning 0x2310 0x00 Number of Number of object entries Entries 0x01 Negative Selection of the lower limit switch Limit Switch 0x02 Positive Limit Selection of the upper limit switch Switch 0x03 Homing...
  • Page 99 0x2316 0x00 Input Thresh- Switching level old Level  0: 5V-TTL 1: 24V-PLC  FAULHABER error register (0x2320) Index Subindex Name Type Attr. Default value Meaning 0x2320 0x00 Fault Register – FAULHABER error register 2nd edition, 9-11-2018 7000.05039, 2nd edition,...
  • Page 100 0x03 Errout Mask 0x00FF Errors for which the error output pin is The error coding described in chap. 3.10, p. 33 applies for the FAULHABER error register and the Error Mask. Error Handling (0x2322) Index Subindex Name Type Attr. Default value...
  • Page 101 Parameter description Velocity Control Parameter Set (0x2331) Index Subindex Name Type Attr. Default value Meaning 0x2331 0x00 Number of Number of object entries Entries 0x01 Proportional Proportional gain of speed controller Term POR 0x02 Integral Term I Integral term of speed controller Dependent on the configuration of the Motion Controller Parameters of speed controller.
  • Page 102 Parameter description General Settings (0x2338) Index Subindex Name Type Attr. Default value Meaning 0x2338 0x00 Number of Number of object entries Entries  0: Full modulation 0x01 Pure Sinus Com-  1: Limitation to sinus form mutation 0x02 Activate Posi- 1: Also use set positioning limits in speed tion Limits in mode...
  • Page 103 Parameter description Velocity Actual Value Unfiltered (0x2361) Index Subindex Name Type Attr. Default value Meaning 0x2361 0x00 Velocity Actual – Unfiltered actual speed Value Unfiltered Baudrate Set (0x2400) Index Subindex Name Type Attr. Default value Meaning 0x2400 0x00 Baudrate Set 0xFF Set baud rate This object can be used to query which baud rate is set.

  • Page 104: Objects Of The Drive Profile Acc. To Cia 402

    Parameter description Objects of the drive profile acc. to CiA 402 Controlword (0x6040) Index Subindex Name Type Attr. Default value Meaning 0x6040 0x00 Controlword Controlword The bits in the Controlword are described in chap. 4.2, p. 37. Statusword (0x6041) Index Subindex Name Type Attr.
  • Page 105 Parameter description Position Window Time (0x6068) Index Subindex Name Type Attr. Default value Meaning 0x6068 0x00 Position Window Minimum residence time within the corri- Time dor in PP operating mode, until the tar- get position is reported as achieved. Velocity Demand Value (0x606B) Index Subindex Name Type Attr.
  • Page 106 Parameter description Position Range Limit (0x607B) Index Subindex Name Type Attr. Default value Meaning 0x607B 0x00 Number of Entries Number of object entries 0x01 Min Position –1.8 · 10 Lower limit of the position range in user- Range Limit defined units 0x02 Max Position 1.8 ·...
  • Page 107 Parameter description Profile Deceleration (0x6084) Index Subindex Name Type Attr. Default value Meaning 0x6084 0x00 Profile Decelera- 30 000 Maximum braking rate [mm/s tion Quick Stop Deceleration (0x6085) Index Subindex Name Type Attr. Default value Meaning 0x6085 0x00 Quick Stop Decel- 30 000 Braking ramp value at Quick stop [mm/s eration...
  • Page 108 0x6502 0x00 Supported Drive 0x25 Supported operating modes Modes The Supported Drive Modes object indicates the operating modes supported by the FAULHABER Motion Control Systems: Bit 0: Profile Position Mode (PP)  Bit 2: Profile Velocity Mode (PV)  ...
  • Page 109 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 7000.05039, 2nd edition, 9-11-2018 © Dr. Fritz Faulhaber GmbH & Co. KG...

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