Related Manuals for Faulhaber MCDC 3002/03/06 RS/CF/CO Series
Summary of Contents for Faulhaber MCDC 3002/03/06 RS/CF/CO Series
- Page 1 Technical Manual Motion Controller MCBL 3002/03/06 RS/CF/CO MCDC 3002/03/06 RS/CF/CO MCLM 3002/03/06 RS/CF/CO MCBL 3002/03/06 AES RS/CF/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.
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Page 3: Table Of Contents
Content About this document ....................... 5 Validity of this document ..................5 Associated documents .................... 5 Using this document ....................5 List of abbreviations ....................6 Symbols and designations ..................7 Safety ..........................8 Intended use ......................8 Safety instructions ....................8 Environmental conditions .................. - Page 4 Content Maintenance ........................35 Maintenance instructions ..................35 Maintenance tasks ....................35 Troubleshooting ....................35 Warranty ......................... 36 8th edition, 9-11-2018 7000.05038, 8th edition, 9-11-20187000.05038...
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Page 5: About This Document
All data in this document relate to the standard versions of the series listed above. Changes relating to customer-specific versions can be found in the data sheet. Associated documents For certain actions during commissioning and operation of FAULHABER products additional information from the following manuals is useful: Manual... -
Page 6: List Of Abbreviations
AnIn Analogue Input AGND Analogue Ground Controller Area Network CAN_L CAN-Low CAN_H CAN-High Controller with CANopen interface (Faulhaber channel) Clock Controller with CANopen interface acc. to CiA 402 Chip Select Cable Data Data cable DigIn Digital input DigOut Digital output... -
Page 7: Symbols And Designations
About this document Symbols and designations CAUTION! Hazards to persons. Disregard may lead to minor injuries. Measures for avoidance CAUTION! Hazards due to hot surfaces. Disregard may lead to burns. Measures for avoidance NOTICE! Risk of damage. Measures for avoidance Instructions for understanding or optimising the operational procedures Pre-requirement for a requested action... -
Page 8: Safety
Safety Safety Intended use The FAULHABER Motion Controllers described here are designed for the activation and con- trol of DC-micromotors (MCDC), linear DC servomotors (MCLM) and brushless DC motors (MCBL). They feature numerous functions and operating modes which facilitate flexible adaptation to the respective drive task. -
Page 9: Environmental Conditions
Therefore the Machinery Directive does not apply to our products. The products described here are not "incomplete machines". Therefore installation instructions are not normally issued by FAULHABER. Low Voltage Directive (2014/35/EU) The Low Voltage Directive applies for all electrical equipment with a nominal voltage of 75 to 1500 V DC and 50 to 1000 V AC. -
Page 10: Product Description
Product description General product description The FAULHABER Motion Controllers are based on a high-performance digital signal proces- sor (DSP) that enables high control accuracy, exact positioning and very low speeds. The Motion Controllers are designed for various drive applications, which can be config- ured using the respective communication interface. -
Page 11: Product Information
Product description Product information … … RS 232, serial interface CAN interface FAULHABER CAN interface CiA AES: Only for brushless DC motors with absolute encoders Housing with screw-type terminal strip Housing with LIF connector (motor) Board version with male connectors Max. -
Page 12: Product Variants
Product description Product variants 3.3.1 Motion Controllers for motors in the lower power range 3.3.1.1 MCxx 3002 S RS/CF/CO Motion Controller with hot-melt housing and screw terminals on the supply and motor side. Assembly sleeves Screw terminal block on the motor side Screw terminal block on the supply side 3.3.1.2 MCxx 3002 F RS/CF/CO... -
Page 13: Mcxx 3003 P Rs/Cf/Co
Product description 3.3.1.4 MCxx 3003 P RS/CF/CO Motion Controller without housing (board version) with plug connectors on the supply and motor side. Plug connector on the supply side Plug connector on the motor side 3.3.2 Motion Controller for motors in the higher power range 3.3.2.1 MCxx 3006 S RS/CF/CO Motion Controller with metal housing and screw terminals on the supply and motor side. -
Page 14: Installation
Installation Installation This description must be carefully read and observed before commissioning. Observe the environmental conditions (see chap. 2.3, p. 9). Only trained experts and instructed persons with knowledge of the following fields may install and commission the motors with integrated Speed Controller: Automation technology ... -
Page 15: Install Motion Controller With Housing
Installation 4.1.2 Install Motion Controller with housing NOTICE! Pressing out of the assembly sleeves. On a soft or uneven surface, the assembly sleeves can be pushed out while screwing on the Motion Controller. Select a smooth and hard surface that supports the assembly sleeves against the screw- ing forces. -
Page 16: Electrical Connection
Installation Electrical connection 4.2.1 Notes on the electrical connection NOTICE! Electrostatic discharges to the Motion Controller connections can damage the electronic components Observe the ESD protective measures. NOTICE! Incorrect connection of the wires can damage the electronic components. Connect the wires as shown in the connection assignment. - Page 17 Installation Mot – Mot + Cable Shield DC-Motor with Encoder SGND Channel B Channel A Cable Shield Fig. 4: MCDC motor wiring Connect screen connections for the sensor systems and the motor cables to the Motion Controller to the earthed mounting plate or the screen connection screw on the Motion Controller by the shortest available route.
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Page 18: Electrical Connection Of The Motion Controller
3. Connect wires or flexboard according to pin assignment (see chap. 4.2.4, p. 21). 4. Connect the power supply as described in the explanation below. There are 2 options for supplying power to the motor and the FAULHABER Motion Control- ler: 8th edition, 9-11-2018 7000.05038, 8th edition,... - Page 19 Installation Power supply with common electronics supply In the case of power supply with common electronics supply, the controller and motor are switched off simultaneously if a fault occurs. After interruption of the power supply, the reference run must be performed again. Motor Int.
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Page 20: Emc Protective Measures
Installation 4.2.3.2 EMC protective measures To provide the required interference resistance in industrial applications, it may be necessary to use an EMC filter or a screen and an EMC suppressor circuit. To reduce the effects on the DC power supply network, L1 ferrite sleeves (such as WE 742 700 790) can be used on the supply cables. -
Page 21: Connections
Installation 4.2.4 Connections 4.2.4.1 Connections on the supply side (MCxx 3002/3003/3006) Designation Meaning TxD/CAN_H RS232/CAN interface RxD/CAN_L RS232/CAN interface AGND Analogue Ground Fault Fault output AnIn Analogue Input Power supply for controllers MCxx 3002 S MCxx 3002 F Ground connection for controllers 3. -
Page 22: Mcdc 3002 Connections On The Motor Side
Installation Designation Value 5 (AnIn) AGND as ground reference Analogue Input Speed set value/position = ±10 V set value Digital input Speed set value via PWM f = 100…2 000 Hz signal (not MCLM) T = 50% ≙0 rpm External encoders Channel A f ≤... - Page 23 Installation Tab. 6: Electrical data - connections of the MCDC 3002 Motion Controllers on the motor side Designation Value 9 (4. In) Input resistance = 22 kΩ Digital input PLC level Low: 0…4.5 V, High: 12.5 V…U TTL level Low: 0…0.5 V, High: 2.5 V…U 10 (Ch A) Encoder input Integrated pull-up resistor after +5 V: R = 2.2 kΩ...
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Page 24: Mcdc 3003 Connections On The Motor Side
Installation 4.2.4.3 MCDC 3003 connections on the motor side Tab. 7: Pin assignment of the plug connector on the motor side Designation Meaning 5. In 5. Input 4. In 4. Input Ch A Encoder channel A Ch B Encoder channel B Power supply for external consumer loads SGND... -
Page 25: Mcdc 3006 Connections On The Motor Side
Installation 4.2.4.4 MCDC 3006 connections on the motor side Tab. 9: Pin assignment of the screw terminal block on the motor side Designation Meaning 5. In 5. Input 4. In 4. Input Ch A Encoder channel A Ch B Encoder channel B Power supply for external consumer loads SGND... -
Page 26: Mcbl/Mclm 3002 Connections On The Motor Side
Installation 4.2.4.5 MCBL/MCLM 3002 connections on the motor side Tab. 11: Pin assignment of the plug connector/screw terminal block on the motor side Designation Meaning Sensor A Hall sensor A / DATA for absolute encoders Sensor B Hall sensor B / CS for absolute encoders Sensor C Hall sensor C / CLK for absolute encoders... -
Page 27: Mcbl/Mclm 3003/3006 Connections On The Motor Side
Installation 4.2.4.6 MCBL/MCLM 3003/3006 connections on the motor side Tab. 13: Pin assignment of the plug connector/screw terminal block on the motor side Designation Meaning Sensor A Hall sensor A / DATA for absolute encoders Sensor B Hall sensor B / CS for absolute encoders Sensor C Hall sensor C / CLK for absolute encoders... -
Page 28: Mcxx 3006 D-Sub Connector
Installation 4.2.4.7 MCxx 3006 D-sub connector Tab. 15: Pin assignment of the D-sub connector RS232 CAN-L – – CAN-H 8th edition, 9-11-2018 7000.05038, 8th edition, 9-11-20187000.05038... -
Page 29: I/O Circuit Diagrams
Installation 4.2.5 I/O circuit diagrams 4.2.5.1 Analogue input AGND – AnIn Fig. 8: Analogue input circuit diagram (internal) The analogue input is a differential input. The analogue GND should be connected to the power supply GND. This prevents the voltage drop in the supply conductor from affecting the speed specification value. -
Page 30: Error Output
Installation 4.2.5.3 Error output The fault output is factory-configured as an output. Before being wired as an input, the FAULT pin must be configured accordingly (see Communications Manual). NOTICE! Damage to electronics The electronics of the fault connection can be damaged in the following cases: Fault output is not configured as an input and a voltage is being applied to the fault output. -
Page 31: External Circuit Diagrams (Examples)
Installation Recommendation: If the fault output is used as an input, connect an external resistor (1 kΩ/0.25 W) in series. 4.2.6 External circuit diagrams (Examples) Bipolar analogue set value specification via potentiometer Motion Controller 4,7k AnIn AGND – 20 V 4,7k Interface Fig. - Page 32 Installation Connection of an external incremental encoder 2,7k AnIn Quadrature Counter Encoder AGND Interface Fig. 13: Connection of an external incremental encoder 8th edition, 9-11-2018 7000.05038, 8th edition, 9-11-20187000.05038...
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Page 33: Communication Port
Installation 4.2.7 Communication port The setting of the baud rate and node number necessary for the communication con- nection is made via the Motion Manager or as a direct command input (see Communi- cations and Functional Manual and Software Manual). Wiring with several Motion Control Systems in RS232 network operation PC or Node 1... - Page 34 Installation Connection to the CANopen network Node 1 Node n CAN_H CAN Bus Line CAN_L Fig. 16: Connection to the CANopen network If the CAN wiring is not laid in a straight line it may be necessary to individually opti- mise the amount and location of the terminating resistors.
- Page 35 Maintenance Maintenance Maintenance instructions NOTICE! The housing of the Motion Controller is not resistant to solvents such as alcohols or ace- tone. During operation and maintenance the housing must be protected against contact with solvents or substances containing solvents. Maintenance tasks The drive is generally maintenance-free.
- Page 36 Warranty Warranty Products of the company Dr. Fritz Faulhaber GmbH & Co. KG are produced using the most modern production methods and are subject to strict quality inspections. All sales and deliv- eries are performed exclusively on the basis of our General Conditions of Sale and Delivery which can be viewed on the FAULHABER home page www.faulhaber.com/gtc and down-...
- Page 37 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 7000.05038, 8th edition, 9-11-2018 © Dr. Fritz Faulhaber GmbH & Co. KG...