Related Manuals for Faulhaber MCDC 3603 Series
Summary of Contents for Faulhaber MCDC 3603 Series
- Page 1 Motion Controller 4-Quadrant PWM for DC-Micromotors and Brushless DC-Servomotors Series MCDC 3603 Series MCBL 3603 Operating Instructions Edition 20.02.2001...
- Page 2 Miniature Drive Systems Micro Drives DC-Micromotors Precision Gearheads Servo Components Drive Electronics Surf to the following Internet address and you will find the latest edition of the instruction www.minimotor.ch/uk/pr/ manual on-line: For direct Download: http://www.minimotor.ch/minicatalog/pdf/DriveCircuits/Manuals/IM_e_MCDC_MCBL_3603.pdf...
-
Page 3: Table Of Contents
Index Chapter Page Description Model overview Technical information Dimensions Start-up Procedure Connection diagram for MCBL 3603 Connection diagram for MCDC 3603 Software start-up 9-10 Pre-defined set up values 11-12 On line control 13-16 System parameter set-up Programming 18-24 Typical program example 25-29 Program loading, saving, verification and installation Loading an application program from the computer to the motion controller... -
Page 4: Description
Description 1. Description The MCBL 3603 and the MCDC 3603 are very compact motion controllers ideal for our brushless DC-Servomotors and brushed DC-Micromotors. Each model comprises a PWM servo amplifier. Technology Both motion controllers are based on a fast, powerful 16 bit microcomputer system. This guarantees high dynamics, precise positioning and quiet running, regardless of the motor type used. -
Page 5: Model Overview
Model overview 2. Model overview MCBL 3603 Integrated PWM Brushless DC-Servomotors servo amplifier 36V-3A with encoder REMOTE CONTROL PROPORTIONAL CURRENT LIMIT TEMP SENSOR PROGRAM 1-15 INTEGRAL I Peak ACCELERATION OVER VOLT DERIVATIVE VELOCITY RS232 I Nominal MENUE SPEED MONITOR RS485 SET UP POSITION RS485easy-Bus... -
Page 6: Technical Information
Technical information 3. Technical data MCBL 3603 MCDC 3603 Electrical data 12 ÷ 36 12 ÷ 36 Supply voltage V DC PWM switching frequency Max. continuous output current Max. peak output current Max. encoder frequency Software data Program memory (16 bit access) kbyte 256 x 8 256 x 8... -
Page 7: Dimensions
Dimensions 4. Dimensions for MCBL 3603 and MCDC 3603 Scale reduced 10,5 66,7 99,2 Connection for MCBL 3603 Connection for MCDC 3603 Power supply motor / motor connection Power supply motor / motor connection Encoder and Hall sensors Encoder Input for special function Input for special function RS232 RS232... -
Page 8: Start-Up Procedure
Start-up procedure 5. Start-up procedure Here we list a step-by-step start-up procedure for both the electrics and software. Also included are several examples in order to allow the user to test the unit and familiarise himself with programming. We therefore recommend that this sequence is followed for trouble-free installation: Start-up Procedure for MCBL 3603 •... -
Page 9: Connection Diagram For Mcbl 3603
Start-up procedure 6. Connection diagram for MCBL 3603 ENCODER HALL OPTIO COMPUTER INPUT Computer cable MOTOR RS232 / RS485 COM1 RS485easy-Bus 1 GND 9 Hall sensor A 11 Hall sensor B 13 Hall sensor C 15 Vcc logical (5 VDC) 1 GND 7 Z index (if no index NC) 3 B channel... -
Page 10: Connection Diagram For Mcdc 3603
Start-up procedure 7. Connection diagram for MCDC 3603 Computer cable MOTOR ENCODER COMPUTER INPUT OPTIO RS232 / RS485 COM1 RS485easy-Bus 1 GND 7 Z index (if no index NC) 3 B channel Encoder 5 A channel 2 Vcc logical (5 VDC) 1 GND 2 Power Supply (12-50 VDC) 3 Motor (-) -
Page 11: Software Start-Up
Start-up procedure 8. Software start-up The diskette supplied with the motion controller contains: installation program program xx36_yyy.S19 (basic motion controller software) terminal emulator for Windows program MM_WIN.TRM with the pre-defined terminal emulator parameters • To copy the software onto your hard disk using Windows, first of all start the installation program from the DOS prompt which copies the contents of the diskette into a directory MIMO_MC which is automatically created. - Page 12 General software information Terminal emulator description The computer is only used as a terminal. The terminal emulator therefore enables communication between the computer and motion controller software. The actual programming is made directly in the motion controller itself. Motion controller software organisation The software is constructed on three different levels.
-
Page 13: Pre-Defined Set Up Values
Set up values 9. Pre-defined set up values The SET UP VALUES menu contains all the necessary parameters for the unit to function according to the specific application. The motion controller has default parameters which allows it to run the majority of motors stably, allowing the user to fine-tune the unit’s operation without the risk of causing damage. - Page 14 Set up values Description MODE Programs and commands operated using the standard inputs (see chapter 19) Programs and commands operated using the standard inputs. PULSE/DIRECTION input signal for stepper control emulation function active (see chapter 23) Programs and commands operated using the standard inputs.
-
Page 15: On Line Control
On line control 10. On line control 10.1 Execute functions The EXECUTE FUNCTIONS menu only lists a selection of the most important available instructions. However, other functions can be executed via this menu. Specifications subject to change without notice... - Page 16 On line control Command Description Parameter Acceleration 1 000 - 4 000 000 lines/s Overwrite acceleration index at preloaded NIX 10 - 50 000 (x 1 000) lines/s number by remote control Card identifier for RS485easy-Bus 0-100 Clear output 1 - 8 ±...
- Page 17 On line control Here are some examples of how the system’s performance can be controlled: > PW <ENTER> The motor is stationery and maintains its position. > JP <ENTER> The motor runs at a constant CW speed. > SP10000 <ENTER> The motor runs at 2 500 lines/s. >...
-
Page 18: On Line Control
On line control ACCEL Acceleration in lines per second SPEED Speed in lines per second Way in lines (relative) for RR and RW instructions POSITION Position in lines (absolute) WAIT REPEAT Wait time for RR and RW instructions Parameters graphic explanation (example with RW) speed ACCEL = SPEED / T ACCEL... -
Page 19: System Parameter Set-Up
Set-up values 11. System parameter set-up Current limiter set up The current limits I NOM and I PEAK must be set according the motor used. The value of I NOM should not exceed the motor’s recommended current for continuous operation. I NOM limit is only active during constant speed operation. -
Page 20: Programming
Programming 12. Programming Here we look into the individual PROGRAMMING menus of the system. Practical examples of how the motion can be controlled are to be found at the end of this section. 12.1 Home function This is the fixed reference starting (home) position. The home command can be given when ever the system should return to the home position. - Page 21 Programming DIR_H Direction of rotation to go to external sensor SPE_H Speed for finding external sensor INP_H Assign external sensor input DIR_Z Direction of rotation to go to encoder Z index SPE_Z Speed for finding encoder Z index CLR OUT Clear all outputs after HOME (with optional I/O only) The home function runs from line 1 through line 5 and can be executed using either an external sensor or the encoder Z index.
- Page 22 Programming 12.2 Index The INDEX menu allows the definition of 50 different movements. To define each movement, the acceleration, maximum speed and the distance to be travelled must be programmed. ACCEL Acceleration k lines per second SPEED Speed in lines per second DIST Distance in lines TYPE...
- Page 23 Programming 12.3 Input function (only available with optional I/O module) The INPUT FUNCTION menu allows us to assign a specific function or instruction to an digital input on the PLC I/O port. The following is a list of the instructions that can be executed directly via the INPUT FUNCTION menu: Emergency exit with ramp and power quit * EE with ramp, stays in position, power on *...
- Page 24 Programming Note For a fast deceleration in emergencyes (LL, LR, EE, EE1) a predefined deceleration can be set using the ED command, refer to the command set page 14. The emergency exit function has high priority and is always executed immediately. As long as EE is active no other function can be executed.
- Page 25 Programming 12.4 Output function (only available with optional I/O module) We have seen that functions or instructions can be assigned to inputs. The outputs can also be similarly programmed, but with different possibilities. The following is a list of the instructions that can be executed directly via the OUTPUT FUNCTION menu: EDPG End of program...
-
Page 26: Programming
Programming 12.5 Program motion This menu allows us to program up to 15 separate programs with a maximum of 50 lines each. The system selects and executes the instructions line by line. The system considers the program as finished when it comes to an empty line (refere to page 10 for general programming instructions). -
Page 27: Typical Program Example
Program example 13. Typical program example Description of the application For this example, using the MCBL 3603 we want to control the rotation of the Brushless DC-Servomotor type 3564 K 024 B. The speed and position are measured by the HEDS 5540 (2 channel, 500 lines with Z index) encoder. - Page 28 Program example Entering the first displacement parameters Go to the INDEX menu Total distance to be travelled = REV − ⋅ 4 ⋅ CPR DIST lines lines Equation: shaft encoder = 5 ⋅ 4 ⋅ 500 = 10000lines DIST lines Therefore: The distance can also be measured using the encoder counter command, EC, in the execute function menu when the servo amplifier is unpowered (7-segment display at zero).
- Page 29 Program example The acceleration (deceleration) time is calculated as follows: DIST lines − > Equation: ACCEL ACCEL SPEED lines s 10000lines = 5s − = 0.122s Therefore: ACCEL 2050 lines s Note: The minimum acceleration accepted by the system is 10 000 lines/s Entering the second displacement parameters This is also programmed via the INDEX menu in the same way as the first displacement.
- Page 30 Program example Absolute displacement Absolute displacement takes its reference point from the program’s home position. In this case to make three CCW rotations the instruction is given to go to the 4 000 line position. In other words, to “return” to the 4 000 line position, the motor has to go back 6 000 lines from its actual position at 10 000 lines.
- Page 31 Program example Test By going to the EXECUTE FUNCTION menu, the whole program (PG1) and the single lines can be tested in practice. For the above example, the lines are tested by entering HO to go to home, IX1 to execute the first displacement, IX2 for the second displacement. Entering PG1 executes the complete program.
-
Page 32: Program Loading, Saving, Verification And Installation
Loading, saving, verification and installation 14. Program loading, saving, verification and installation These functions are accessed by first exiting the main menu. Press <CR> until the prompt sign appears on a blank screen. At this point, the following procedures can be implemented: 15. -
Page 33: Saving The Motion Controller Application On Disk
Press <CR> to return to the motion controller program. > 17. Verification of installed version > VER <ENTER> The following text will appear on the screen: FAULHABER GROUP MCxx Program Version yyy © Copyright MINIMOTOR SA 2000 Specifications subject to change without notice... -
Page 34: Installation Of New (Up-Date) Basic Program
Loading, saving, verification and installation 18. Installation of new (up-date) basic program > LPROG <ENTER> Important: With LPROG the existing program xx36_yyy.S19 will be deleted !! The user’s application, parameters and data will remain unchanged. Ready for receiving program PLEASE TRANSMIT xx36_yyy.S19 User program terminated ! ... -
Page 35: Call Up Program From Normal Inputs
Call up program 19. Call up program from normal inputs (Optional I/O) The procedure to execute a program or another instruction via the 8 normal inputs is as follows. • assign the instruction to the desired input via the INPUT FUNCTION menu •... - Page 36 Call up program 20. Call up program from BCD coded digital inputs (Optional I/O) When the application uses more than 8 digital inputs, the user should call them up via the BCD coded digital inputs. In this case, the MODE in SET-UP VALUES menu should be set to 10 (or 12 or 13).
-
Page 37: Example Of Sequential Multi-Axis Application
Call up program 21. Example of sequential multi-axis application (optional I/O) The program number and program start of the sequential follow-on motion controllers are specified through the output of the lined up motion controller. PLC I/O PLC I/O PLC I/O Function Function Function... -
Page 38: Analogue Input Command
Advanced functions 22. Analogue input command To activate the analogue input command function the MODE parameter in the SET UP VALUES menu must be set to 3 or 13 and the ANALOG FUNCT to: 0 for CW operation 1 for CCW operation 2 for CW and CCW operation The maximum speed is defined with the SP command. -
Page 39: Stepper Motor Emulation
Advanced functions 23. Stepper motor emulation To activate the stepper motor emulation function the MODE parameter in the SET UP VALUES menu must be set to 2 or 12 and the INC PER PULSE according to the application requirements. OPTIO PIN Function Stepper controller 5V or 10V... -
Page 40: Rs485Easy-Bus
Advanced functions HOST COMPUTER RS 485 MINIMOTOR RS485easy MINIMOTOR RS485easy BUS CONVERTER BUS CONVERTER 2x RJ45 1:1 2x RJ45 1:1 To simplify the connection Minimotor offers a special RS485 easy-Bus adapter and RJ45 cables. Cable specification: Modular RJ45 round shielded cable configuration 1:1. Twisted pairs 1&2, 3&6, 4&5, 7&8 Start-up Procedure Attention: function only available with software version ≥... -
Page 41: Trouble-Shooting
Trouble-shooting 25. Trouble-shooting Error messages are shown with LED 3 blinking. A detailed information on the error type can be obtained using the TE (Tell Error) command. There are two types of error code: one for input errors (WH wait high or WL wait low) and the other for controller errors (DP deviation position or over-heating). -
Page 42: General Usage Instructions
Notice of use 27. General usage instruction Power supply and fuse Any unstabilised DC power supply voltage within the motion controllers range: 12 V ≤ Vm ≤ 36V • MCBL 3603 12 V ≤ Vm ≤ 36V • MCDC 3603 may be used, although it is advisable to keep this voltage as low as possible in order to minimize the EMI noise. -
Page 43: Hardware
Hardware 28. Hardware Connector layout for MCBL 3603 PLC I/O (optional) RS 232 RS 485 Motor PWR Encoder Hall Optio RS 485easy-Bus Connect Type Nr. Terminal Function Power supply WAGO Multiconnector 5,0mm Motor Motor phases Encoder Encoder input, encoder 1phases, D-SUB High-Density Hall effect sensors Optio... -
Page 44: Pin Configuration
PIN configuration 29. PIN configuration Serial interface RS 232 or RS 485, 9 POLE D-SUB Pin 1 Not connected RS232 Pin 2 Receiver Rx RS232 Pin 3 Transmitter Tx Pin 4 Not connected RS232 Pin 5 RS485 Pin 6 Receiver R RS485 Pin 7 Receiver R... - Page 45 PIN configuration RS485 set up Setting of the baud rate RS485 over 6-bit CONFIG switch S1: data 8bit, stop bit 1, parity no bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 Function RS485 19 200 baud (default) RS485 9 600 baud RS485 38 400 baud RS485 free...
- Page 46 PIN configuration Input and output internal electrical circuit Input Output (1-6) Optional input (available on request) + VCC MCxx 5004 +24V MCxx 5004 MCxx 5004 50 VDC max. VCC 5V Common Input kΩ kΩ 500 mA – – Input kΩ Encoder Hall, 15 Pole HD DSUB Pin 1 GND for both, encoder and Hall...
-
Page 47: Pin Configuration
PIN configuration Optional function, 8 pole modular RJ45 Pin 1 GND internal Pin 2 10V (5V) 10V default voltage (5V with option second Encoder on request) Pin 3 Pulse pull up 2,4k to 5V, differential input 26LS32 Pin 4 Direction pull up 2,4k to 5V, differential input 26LS32 Pin 5 Direction... - Page 48 The FAULHABER Group: DR. FRITZ FAULHABER GMBH & CO. KG Daimlerstraße 23 71101 Schönaich · Germany Tel.: +49 (0)7031/638-0 Fax: +49 (0)7031/638-100 Email: info@faulhaber.de www.faulhaber.de MINIMOTOR SA 6980 Croglio · Switzerland Tel.: +41 (0)91 611 31 00 Fax: +41 (0)91 611 31 10 Email: info@minimotor.ch...