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Faulhaber MCLM 300 RS Series Communication Function Manual

Motion control
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Motion Control
Series MCLM 300x RS
Communication and
Function Manual
EN
WE CREATE MOTION

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Summary of Contents for Faulhaber MCLM 300 RS Series

  • Page 1 Motion Control Series MCLM 300x RS Communication and Function Manual WE CREATE MOTION...
  • Page 2 No part of this description may be duplicated, repro- duced, stored in an information system or processed or transferred in any other form without prior express writ- ten permission of Dr. Fritz Faulhaber GmbH & Co. KG. This communication and function manual has been pre- pared with care.
  • Page 3 Product data sheets Technical limit and operating data Guide to the Document Quick Start Notes on the initial start-up of a Faulhaber Motion Control System at the PC in the default configuration Page 8 Functional Description Overview of the possible operating modes...

  • Page 4: Table Of Contents

    Table of Contents 1 Important Information Symbols used in this manual Additional information 2 Quick Start 3 Functional Description Position control 3.1.1 Set value presetting via the serial interface 3.1.2 Analog positioning mode (APCMOD) 3.1.3 External encoder as actual position value (ENCMOD) Velocity control 3.2.1 Velocity presetting via the serial interface 3.2.2 Velocity presetting via an analog voltage or a PWM signal...
  • Page 5 Table of Contents 5 Commissioning Basic settings Configuration using Motion Manager 5.2.1 Connection setting 5.2.2 Motor selection 5.2.3 Drive configuration 5.2.4 Basic settings 5.2.5 Drive parameters 5.2.6 Controller settings 5.2.7 I / O connection and use 5.2.8 Data set management 5.2.9 Diagnosis 5.2.10 Trace Function 6 Sequence Programs...

  • Page 6: Important Information

    1 Important Information 1.1 Symbols used in this manual WARNING! Warning! This pictogram with the wording "Warning!" indicates an imminent danger which can result in physical injuries. f This arrow points out the appropriate action to take to prevent the imminent danger. CAUTION! Caution! This pictogram with the wording "Caution!"...

  • Page 7: Additional Information

    Keep this communication and function manual in a safe place for subsequent use. NOTE Always use the current version of the Faulhaber MotionManager. The respective current version is available to download from www.faulhaber.com/MotionManager. NOTE The information given in this instruction manual refers to the standard version of the drives.

  • Page 8: Quick Start

    The units are delivered as standard without a valid node address (NODEADR0) and with a transfer rate of 9 600 baud. The settings can be changed via the interface, e.g. with the FAULHABER Motion Manager (see Chapter 5.2.1 „Connection Parameters“).
  • Page 9 2 Quick Start 3. Activate drive: “EN” command. Enter in command input field and press “Send” button or select in “Commands – Motion control – Enable drive” menu and press “Send” button. Operate drive (examples): „ Move the motor by 10000 increments with a relative positive positioning speed of 100 mm/s: Command “SP100”...

  • Page 10: Functional Description

    The Motion Controllers can be configured for different operating modes. As standard the drive unit is delivered as a servomotor with set value presetting via the serial interface. The drive can be recon- figured by means of the corresponding FAULHABER commands. Command...

  • Page 11: Position Control

    3 Functional Description 3.1 Position control Guide Positioning mode with set value presetting via the serial interface: Set value presetting via the serial interface Page 11 Positioning mode with set value presetting via the analog input: Analog positioning mode (APCMOD) Page 14 Positioning mode with external encoder as actual value: External encoder as actual position value (ENCMOD)
  • Page 12 LPC and LCC can be used to protect the drive against overload (see Chapter 3.2 „Velocity control“). Motion control commands The positioning is executed via the FAULHABER motion control commands. An overview of all mo- tion control commands is given in Chapter 7.4 „Motion control commands“. Command...
  • Page 13 3 Functional Description 3.1 Position control Complex motion profiles More complex motion profiles can be generated through appropriate presetting of new values (max- imum speed, acceleration, end position) during positioning. After a value change, simply execute a new motion start command (M). The commands NP and NV can be used to control the sequence. Further information on compiling motion profiles is given in Chapter 3.6.1 „Ramp generator“.

  • Page 14: Analog Positioning Mode (Apcmod)

    3 Functional Description 3.1 Position control 3.1.2 Analog positioning mode (APCMOD) Controller structure for set-point presetting via an analog voltage RS232 SOR0 Speed controller Pos. controller Ramp generator Target Pos. Motor AnIn APCMOD + SOR1 act. act. Hall APCMOD + SOR2 I²t current limitation act.
  • Page 15 3 Functional Description 3.1 Position control Positioning via pulse width signal (PWM) at the analog input (SOR2) If SOR2 is set in APCMOD, the pulse duty factor of a PWM signal can be used as position set-point. On delivery: „ Pulse duty factor > 50%  positive target position „...

  • Page 16: External Encoder As Actual Position Value (Encmod)

    3 Functional Description 3.1 Position control 3.1.3 External encoder as actual position value (ENCMOD) Controller structure for using and external encoder as the actual value encoder SOR0 RS232 Pos. controller Ramp engenerator Speed controller Target Pos. Motor AnIn act. act. Hall I²t current limitation act.
  • Page 17 3 Functional Description 3.1 Position control Settings for external encoder Command Argument Function Description ENCMOD Encoder Mode Change to encoder mode An external encoder serves as position transducer (the current position value is set to 0). ENCSPEED Encoder as speed Speed via encoder signals in encoder mode sensor HALLSPEED...
  • Page 18 3.1 Position control Motion control commands Positioning in the ENCMOD is executed in precisely the same way as in CONTMOD, using the FAULHABER motion control commands. An overview of all motion control commands is given in Chapter 7.4 „Motion control commands“.

  • Page 19: Velocity Control

    3 Functional Description 3.2 Velocity control In velocity control mode the velocity of the drive is controlled by a PI controller. Provided the drive is not overloaded, the drive follows the presetting without deviation. The current velocity of LM motors can be detected both from the Hall signals and via an additional encoder;...
  • Page 20 3 Functional Description 3.2 Velocity control Velocity input In LM motors the current velocity is determined in CONTMOD by evaluating the Hall sensor signals, which supply 3 000 pulses per magnetic pitch. Additional settings Movement limits The LL command can also be used to define a movement range limit for velocity mode. The APL1 command activates monitoring of these limits.
  • Page 21 3 Functional Description 3.2 Velocity control Complex motion profiles Reaching the given speed is indicated by a “v“, if “Notify Velocity” has been set before starting the speed mode and ANSW1 or ANSW2 is set: Command Argument Function Description Value Notify Velocity A “v”...

  • Page 22: Velocity Presetting Via An Analog Voltage Or A Pwm Signal

    3 Functional Description 3.2 Velocity control 3.2.2 Velocity presetting via an analog voltage or a PWM signal In this operating mode, the drive velocity can be controlled with set value presetting via an analog voltage or a PWM signal. Basic settings CONTMOD mode and SOR1 or SOR2.
  • Page 23 3 Functional Description 3.2 Velocity control Target value input Example: target The drive is only to start moving with voltages over 100 mV or below -100 mV at the analog input: „ MAV100 -MAV Advantage: As 0 mV is usually difficult to set at the analog input, 0 mm/s is also not easy to implement.

  • Page 24: External Encoder As Actual Velocity Value (Encmod)

    3 Functional Description 3.2 Velocity control 3.2.3 External encoder as actual velocity value (ENCMOD) Velocity control with external encoder as actual value RS232 SOR0 Ramp generator Speed controller target Motor AnIn SOR1 PWMIn act. Hall SOR2 I²t current limitation act. ENCSPEED ext.
  • Page 25 3 Functional Description 3.2 Velocity control Velocity input The external incremental encoder‘s resolution must be specified with 4 edge evaluation using the ENCRES parameter. In addition to ENCMOD mode, velocity evaluation on the basis of the encoder must be activated using the ENCSPEED command.
  • Page 26 3 Functional Description 3.2 Velocity control Complex motion profiles Reaching the given speed is indicated by a “v“, if “Notify Velocity” has been set before starting the speed mode and ANSW1 or ANSW2 is set: Command Argument Function Description Value Notify Velocity A “v”...

  • Page 27: Homing And Limit Switches

    3 Functional Description 3.3 Homing and limit switches Guide Limit switch connections and switching level Page 27 Motion control commands Page 28 Configuration of homing and limit switches Page 29 Homing on limit switches can be used to re-initialise the absolute position of an application after switching on.

  • Page 28: Motion Control Commands

    3 Functional Description 3.3 Homing and limit switches 3.3.2 Motion control commands The function of the inputs and the homing behaviour are set using the FAULHABER commands described in Chapter 3.3.3 „Configuration of homing and limit switches“. A previously configured homing is then started with the following FAULHABER commands.

  • Page 29: Configuration Of Homing And Limit Switches

    3 Functional Description 3.3 Homing and limit switches 3.3.3 Configuration of homing and limit switches The following commands use the following bit mask for configuration of the limit switch functions: Set or delete the bit at the position of the required input for each command and assign the resulting numeric value Analog input to the commands described below.
  • Page 30 3 Functional Description 3.3 Homing and limit switches Example: „ Homing with 3 input as reference input (rising edge): • Low level or falling edge was evaluated at AnIn and at the fault pin, the rising edge is evaluated at the 3rd input. SHA4 Activate a homing sequence for 3rd input (all others are in bit mask = 0) •...
  • Page 31 3 Functional Description 3.3 Homing and limit switches Advantage: No abrupt motion changes. Re. HN- / SHN command: Hard Notify (HN) and Set Hard Notify (SHN) return values to the RS232 interface: Connection Return value "AnIn" "Fault" "3 input"...

  • Page 32: Enhanced Operating Modes

    3 Functional Description 3.4 Enhanced operating modes Use the CONTMOD command to revert from an enhanced operating mode to normal mode. 3.4.1 Stepper motor mode Controller structure in stepper motor mode RS232 SOR0 AnIn Pos. controller Ramp generator Speed controller APCMOD Target pos.
  • Page 33 3 Functional Description 3.4 Enhanced operating modes Input Maximum input frequency: 400 kHz Level: 5 V TTL or 24 V PLC-compatible, depending on configuration. The number of steps of the emulated stepper motor can be set to virtually any required settings using the following formula: Traversing distance = τ...

  • Page 34: Gearing Mode (Electronic Gear)

    3 Functional Description 3.4 Enhanced operating modes 3.4.2 Gearing mode (electronic gear) Controller structure in gearing mode RS232 SOR0 AnIn Ramp generator Pos. controller Speed controller APCMOD Target pos. Motor Input act. act. Hall I²t current limitation cat. GEARMOD Counter Position and velocity calculation STEPMOD...
  • Page 35 3 Functional Description 3.4 Enhanced operating modes Example: Motor has to move one magnetic pitch at 1 000 pulses of the external encoder: „ STW1 „ STN1000 Additional settings Movement limits The range limits set with LL are also active in gearing mode with APL1. Ramp generator The slopes of the acceleration and deceleration ramps, and the maximum speed can be defined using the AC, DEC and SP commands (see...

  • Page 36: Voltage Regulator Mode

    3 Functional Description 3.4 Enhanced operating modes 3.4.3 Voltage regulator mode Controller structure in voltage regulator mode RS232 SOR0 Motor AnIn SOR1 PWMIn Hall SOR2 I²t current limitation act. Commutation In voltage regulator mode a motor voltage is output proportional to the preset value. Current limita- tion remains active.

  • Page 37: Current Control With Analog Current Presetting

    3 Functional Description 3.4 Enhanced operating modes 3.4.4 Current control with analog current presetting Fixed direction (SOR3) Controller structure for analog current presetting with fixed preset direction Ramp generator Speed controller Uxxx Motor Vxxx target Hall AnIn SOR3 act. Commutation Velocity calculation You can switch to analog target current presetting with the SOR3 command.
  • Page 38 3 Functional Description 3.4 Enhanced operating modes Direction depending on current target value (SOR4) Ramp generator Speed controller Uxxx Motor Vxxx tar. Hall AnIn SOR4 act. Commutation Velocity calculation You can switch to analog target current presetting with the SOR4 command. In this way, both in velocity mode and in voltage regulator mode, current amount can be limited proportional to the voltage at the analog input.

  • Page 39: Special Fault Output Functions

    3 Functional Description 3.5 Special fault output functions The error connection (fault pin) can be configured as input or output for different tasks: Command Function Description ERROUT Error Output Fault pin as error output (default) ENCOUT Encoder Output Fault pin as pulse output DIGOUT Digital Output Fault pin as digital output.
  • Page 40 3 Functional Description 3.5 Special fault output functions Fault pin as pulse output: In the ENCOUT mode the fault pin is used as pulse output, which outputs an adjustable number of pulses per magnetic pitch. The pulses are derived from the Hall sensor signals of the LM motors and are limited to 4000 pulses per second.

  • Page 41: Technical Information

    3 Functional Description 3.6 Technical information 3.6.1 Ramp generator In all modes, apart from voltage regulator mode and current control, the set-point is controlled by the ramp generator. Basic ramp generator function [mm/s²] [mm/s] is can be used to separately set the parameters for maximum acceleration (AC), maximum delay (DEC) and maximum speed (SP) for specific applications.
  • Page 42 3 Functional Description 3.6 Technical information Ramp generator in velocity mode Intervention of the ramp generator in velocity mode [mm/s²] Target value e. g, trough V200 [mm/s] Downstream of the ramp generator In velocity mode the ramp generator acts like a filter on the target velocity. The target value is lim- ited to the maximum speed value (SP) and target value changes are limited according to the decel- eration and acceleration ramps (AC and DEC).
  • Page 43 3 Functional Description 3.6 Technical information Ramp generator in positioning mode Intervention of the ramp generator in positioning mode [mm/s²] [mm/s] Target value e. g, trough LR 1000 Downstream of the ramp generator In positioning mode a preset speed is determined by the position controller from the difference between the target position and actual position.
  • Page 44 3 Functional Description 3.6 Technical information Notification of the higher level control Attainment of the target position or any intermediate position is indicated by a “p” on the serial interface if “Notify Position” is set before the start of positioning, provided that ANSW1 or ANSW2 is set.

  • Page 45: Sinus Commutation

    3.6 Technical information 3.6.2 Sinus commutation The outstanding feature of FAULHABER motion controllers for Linearmotoren is their so-called sinus commutation. This means that the preset 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. In ad- dition, the motor runs particularly quietly.
  • Page 46 3 Functional Description 3.6 Technical information Basic settings Command Argument Function Description Value Load Peak Current Load peak current Limit Value: 0 … 12 000 mA Value Load Continuous Load continuous current Current Limit Value: 0 … 12 000 mA Value Load Current Integral Load integral term for current controller...

  • Page 47: Overtemperature Protection

    In order to avoid irreparable damage to components, FAULHABER motion controllers for linear motors contain a controller which adjusts the rotor displacement angle if a limit voltage (32 V) is ex- ceeded.
  • Page 48 3 Functional Description 3.6 Technical information Default behaviour: Without further settings, the gain set in the parameter POR is effective for the speed controller. In Positioning Mode the gain set via the parameter POR is increased within the target corridor by the value of the parameter PD.
  • Page 49 3 Functional Description 3.6 Technical information Special mode for position control The SR command can be used to activate a special position control mode (Gain Scheduling). To this end, the value 100 must be added to the required SR setting. Example: Required setting SR10 with special mode: SR110.

  • Page 50: Protocol Description

    Page 52 Trace Function Page 54 An extensive set of ASCII commands is available for configuring and operating FAULHABER Motion Controllers. The structure of the command telegrams is described in the following. Command frame The ASCII commands have the following structure: [Node No.]...
  • Page 51 4 Protocol Description Response behaviour settings As a default, the send commands are not acknowledged. However, the ANSW command can be used to change the response behaviour: Command Argument Function Description ANSW Value Answer Mode 0: No asynchronous responses 1: Allow asynchronous responses 2: All commands with confirmation and asynchronous responses 3: Debug mode, sent commands are returned...

  • Page 52: Baud Rate And Node Number

    4 Protocol Description 4.1 Baud rate and node number The serial interface must be configured as follows: „ 8 data bits „ 1 stop bit „ No Parity The Xon/Xoff protocol must be used for rapid command sequences or transfer of sequence programs and parameter sets.
  • Page 53 PC and set to the required node address, e.g. with help of the FAULHABER Motion Manager. In order to address the individual drives in the network, the node number must be specified before each ASCII command to be sent (e.g.

  • Page 54: Trace Function

    4 Protocol Description 4.2 Trace Function An efficient trace function is available via an additional binary interface. This allows up to 2 values to be read out online in a resolution of up to 3 ms. In order to be able to use the binary interface, it must first have been opened for the desired node with the command BINSEND1.
  • Page 55 4 Protocol Description 4.2 Trace Function Data request A binary character is sent: [Request] Depending on the set modes (Commands 200 and 202), 3,5,7 or 9 bytes are sent back to the PC. Request: 201: Request a data package Following a mode adjustment it is necessary to wait for at least 2 ms before requesting valid data. Received data (after request 201): Mode1 between 0 and 15, Mode2 at 255 (inactive)  3 byte …...

  • Page 56: Commissioning

    For the communication setup, ensure that the same transfer rate is set for all nodes (see Chapter 5.2.1 „Connection Parameters“). FAULHABER Motion Management provides a convenient device configuration option using graphic dialogs. The configuration can also be carried out using your own PC program, a terminal program or a PCS program.

  • Page 57: Basic Settings

    „ Current limitation values (LCC, LPC), adjusted to the motor type and application „ Controller parameters (POR, I, PP, PD), 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.

  • Page 58: Configuration Using Motion Manager

    5 Commissioning 5.2 Configuration using 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.

  • Page 59: Connection Setting

    5 Commissioning 5.2 Configuration using Motion Manager 5.2.1 Connection setting If no drive nodes were found after starting the Motion Manager, a connection wizard appears which, following selection of the “Motion Controller with RS232 interface” product group, can be used to set the PC COM port and the transfer rate.

  • Page 60: Motor Selection

    The Motor Wizard is provided for this purpose; it can be opened via the Wizard bar of the Motion Manager. 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 limit- ing values, suitable controller parameters are also determined and transferred to the drive.
  • Page 61 NOTE Ensure that the cage bar can freely move before starting the encoder optimisation. Controller mode FAULHABER motion controllers support both main types of operation „ Position control as servo drive. „ Velocity control The controller mode is partly automatically selected depending on the chosen operating mode.
  • Page 62 5 Commissioning 5.2 Configuration using Motion Manager ENCMOD with HALLSPEED Position control with evaluation of the Hall signals for the actual velocity ENCMOD for position control: see Chapter 3.1.3 „External encoder as actual position value (ENCMOD)“ GEARMOD Position control The target position is determined using the number of steps of an external encoder GEARMOD, see Chapter 3.4.2 „Gearing mode (electronic gear)“...

  • Page 63: Drive Parameters

    5 Commissioning 5.2 Configuration using Motion Manager 5.2.5 Drive parameters The Drive Parameters tab is used to make additional settings for the encoder and chosen type of operation. Additional settings for the chosen type of operation Encoder resolution If an incremental encoder attached to the motor is to be evaluated its effective resolution for 4 edge evaluation must be given.

  • Page 64: Controller Settings

    5 Commissioning 5.2 Configuration using Motion Manager Positioning range limits In various types of operation the movement range can be monitored and limited. The limits of this movement rage can be given in increments of the actual position using the parameter LL. Range monitoring is activated by the APL1 command.
  • Page 65 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 here with which the motor can be operated safely.

  • Page 66: I / O Connection And Use

    5 Commissioning 5.2 Configuration using Motion Manager Ramp generator (AC, DEC, SP) The ramp generator limits the velocity change at the input of the velocity controller using the parameters AC and DEC and the maximum preset speed using the parameter SP. The parameters AC and SP can be freely selected depending on the application;...

  • Page 67: Data Set Management

    5 Commissioning 5.2 Configuration using Motion Manager Input level and edge The switching thresholds of the digital inputs are either directly 5V-TTL compatible or are adjusted to the switching level of 24V PCS outputs. In addition, it is also possible to select which level is to be used as the active level for each input and to what extent the input is to be used as a limit switch (HB / HD).

  • Page 68: Diagnosis

    5 Commissioning 5.2 Configuration using Motion Manager 5.2.9 Diagnosis The status display is used for continuous checking of the main operating states. Internal states, error flags and the state of the digital inputs are signalled. In addition, the internally measured housing temperature is also displayed here. The display is updated by Motion Manager by means of cyclical querying of the internal states.

  • Page 69: Sequence Programs

    The sequence programs can be created and transferred with the FAULHABER Motion Manager, but it is also possible to use a standard text editor and to subsequently transfer the programs with the Motion Manager or a terminal program.
  • Page 70 6 Sequence Programs „ NV … Notify Velocity The sequence stops at the next M or V command, until the relevant speed is reached. „ GOHIX … Go Hall Index The sequence stops at the GOHIX command, until the Hall null position is reached. If there are several Notify conditions, the first fulfilled condition effects continuation of the program.
  • Page 71 6 Sequence Programs Command Argument Function Description RETI Return Error Interrupt Return from an error handling routine. Important: the interrupted command is not continued, even if it was not completed at the time of interruption! DIERI Disable Error Interrupt The ERI command is deactivated, i.e. in the event of an error the program does not jump to the error handling routine.
  • Page 72 6 Sequence Programs The DxJNZ commands serve to form loops with a predefined number of cycles. Example: Move by the same relative position 5 times. SETA5 ;Set variable A to the value 5 ;Define jump address 2 LR100 ;Load relative position ;Notify Position ;Start positioning DAJNZ2...
  • Page 73 6 Sequence Programs Notify commands Notify commands enable you to generate complicated motion profiles. Example: LA6000 SP1000 AC20 NV100 AC100 NV800 AC50 With this sequence, the acceleration is increased during boot-up at 100 mm/s. It is decreased again at 800 mm/s. The NP command without argument stops the sequence until the target position is reached.
  • Page 74 6 Sequence Programs Example: Positioning routines called via RS232. The program enables the calling of different routines from the RS232 interface: „ JMP2: Homing Sequence. First move to a limit switch and then to the Hall sensor zero point (Hall index), in order to obtain the most precise reference point possible.
  • Page 75 6 Sequence Programs TIMEOUT500 ;Continue sequence after 5 sec., even if position has not yet been attained ;Start positioning ;Stop motor ;Switch back to positioning mode JMP1 ;Return to endless loop ;Entry point for routine 3 (JMP5) SETA1000 ;Predefine variable A ;Entry point for loop LR300 DELAY100...

  • Page 76: Parameter Description

    General query commands Page 84 Commands for sequence programs Page 85 All ASCII commands that are available for operation of the FAULHABER Motion Controllers are listed below. The structure of the ASCII commands is explained in Chapter 4 „Protocol Description“.

  • Page 77: Parameters For Basic Setting

    7 Parameter Description 7.1 Basic setting commands 7.1.2 Parameters for basic setting Command Argument Function Description ENCRES Value Load Encoder Resolu- Load resolution of external encoder (4 times pulse/rev). tion Value: 8 … 65 535 Value Load Speed Constant Load speed constant K in accordance with information in the data sheet.

  • Page 78: General Parameters

    7 Parameter Description 7.1 Basic setting commands 7.1.3 General parameters Command Argument Function Description Value Load Position Range Load limit positions (the drive cannot be moved out of these Limits limits). Positive values specify the upper limit and negative values the lower.

  • Page 79: Configuration Of Homing And Limit Switches In

    7 Parameter Description 7.1 Basic setting commands 7.1.5 Configuration of homing and limit switches in Command Argument Function Description Bit mask Hard Polarity Define valid edge and polarity of respective limit switches: 1: Rising edge and high level effective. 0: Falling edge and low level effective. Bit mask Hard Blocking Activate Hard Blocking function for relevant limit switch.

  • Page 80: Query Commands For Basic Setting

    2: SOR2 (PWM signal) 3: SOR3 (current limitation value) 4: SOR4 (current limitation value with presetting of direction via input polarity) Bit 6, reserved Bit 7-9, FAULHABER mode: 0: CONTMOD 1: STEPMOD 2: APCMOD 3: ENCMOD / HALLSPEED 4: ENCMOD / ENCSPEED...

  • Page 81: Configuration Of Fault Pin And Digital Inputs

    7 Parameter Description 7.2 Query commands for basic setting Command Argument Function Description – Get Minimum Velocity Set minimum velocity in mm/s (MV) GMAV – Get minimum analog Set minimum start voltage value voltage Unit; mV (MAV) – Get Positive Limit Set positive limit position (LL) –...

  • Page 82: Configuration Of Homing

    7 Parameter Description 7.2 Miscellaneous commands 7.2.3 Configuration of homing Command Argument Function Description – Homing Configuration Set homing configuration. Return value binary coded (LSB = Bit 0): Bit 0-7, SHA setting Bit 8-15, SHN setting Bit 16-23, SHL setting Bit 24, Power-On Homing Sequence 0: deactivated 1: activated (homing after power-on)

  • Page 83: Motion Control Commands

    Value: –32 767 … 32 767 GOHOSEQ – Go Homing Sequence Execute FAULHABER homing sequence. A homing sequence is executed (if programmed) irrespective of the current mode. FHIX Find Hall Index BL 4-pol Motor auf Hall-Nullpunkt (Hall-Index) fahren und Istpo- sitionswert auf 0 setzen.

  • Page 84: General Query Commands

    7 Parameter Description 7.5 General query commands Command Argument Function Description GTYP – Get Controller Type Query designation (name) of the controller GSER – Get Serial Number Query the serial number – Get Version Current software version – Get Actual Position Current actual position TPOS –...

  • Page 85: Commands For Sequence Programs

    Command must not be executed more than 10,000 times, as otherwise the function of the Flash memory can no longer be guaranteed. These commands do not have to be entered in the FAULHABER Motion Manager, as they are automatically attached by the “Transfer program file…” function.
  • Page 86 7 Parameter Description 7.6 Commands for sequence programs Additional commands for use within sequence programs: Command Argument Function Description DELAY Value Delay Stop sequence for a defined time Argument: in 1/100 seconds Value: 0 … 65 535 TIMEOUT Value Timeout With Notify commands, only wait for the specified time and then continue the sequence again.
  • Page 87 Notes...
  • Page 88 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 MA7000.05041 English, 3rd issue, 11.2013 info@faulhaber.de © DR. FRITZ FAULHABER GMBH & CO. KG Subject to change without notice www.faulhaber.com...

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