Related Manuals for Faulhaber MCBL 05002 Series
Summary of Contents for Faulhaber MCBL 05002 Series
- Page 1 Servo Amplifier Sine Controller for Micro Brushless DC-Motors Series Series MCBL 05002 MCBL 07002 Operating Instructions...
-
Page 2: Table Of Contents
Table of Contents Contents Page ABOUT THIS HANDBOOK GENERAL BASICS TECHNICAL DATA 1.2.1 MCBL 05002 1.2.2 MCBL 07002 CONNECTION OVERVIEW DESCRIPTION 2.2.1 Supply Voltages 2.2.2 Serial Interface 2.2.3 Analog Inputs 2.2.4 Digital Inputs 2.2.5 AUXIn as Fault Input 2.2.6 Power Outputs and Current Detector CONTROL ON THE MODULE EXTERNAL INPUTS (PINS) - Page 3 Contents Page POINTER MODE OVERCURRENT LIMIT INSTALLATION & VERIFICATION STARTING THE MODULE INSTALLATION WITH AN MCBL 07002 TROUBLESHOOTING 4.3.1 Drive stationary with analog input 4.3.2 Drive will not move 4.3.3 Faulty circuit or drive 4.3.4 Output voltage or speed incorrectly set 4.3.5 Other faults APPENDIX...
-
Page 4: About This Handbook
The data sheet in Chapter 1.2 is very important. In Chapter 5.1 the permitted limit values of the programming interface are listed. Readers who are already familiar with the principles of the Faulhaber MotionController are recommended to read Chapter 3, in which all the commands are described that are available via the Programmer Interface. -
Page 5: General
1. General 1.1 Basics The MCBL 05002 is a general-purpose controller for three-phase brushless motors. It has small external dimensions and can be plugged into a normal IC-socket. It is ideally suited for effec- tive operation of 0206 micromotors, but can also be used to control any other three-phase motor. - Page 6 Versatility Multiple voltage-controlled inputs to adjust speed, acceleration ramps and output voltage. Pulse input, permitting use as a stepper motor or alternatively as a rated-speed motor. Pointer instrument input, with which the rotor can be deflected from the zero-position in proportion to an applied analog voltage. Serial link (RS232, RS422), enabling all parameters to be adjusted from a PLC or a PC.
-
Page 7: Technical Data
1.2 Technical Data 1.2.1 MCBL 05002 Supply voltage: 4,5 – 5,5 V DC - Electronics 4,5 – 7,5 V DC - Power stage Current consumption: - Electronics - Power output (V+ = 7V, T = 25 °C) I+ max. current Analog inputs Digital input level low: 0 –... - Page 8 Dimensions of the MCBL 05002 ø3,5 15,25 5,73 1,94 7,69 DIL 28 Grid size RastermaB 2,54mm 15,23 24,62 33,41 39,6 Fig. 3 Remarks All pins are specified to a grid measurement RM 2,54 and therefore are only indicated in outline. The MCBL 05002 can thus be fitted into an ordinary DIL28-IC socket.
-
Page 9: Connection
2. Connecting Up 2.1. Overview Viewing the MCBL 05002 from the front: If the two big black ICs are on the top left and the plug on the right, Pin 1 will be located on the left below. It can also be recognized by a rectangular soldered patch. -
Page 10: Description
2.2 Description 2.2.1 Supply Voltages The supply voltage V to the electronics section must be + 5V stabilized, and for the power section it may be between V+ = + 5V DC and + 7,5V DC. The range of output voltage however is always at max. -
Page 11: Digital Inputs
2.2.4 Digital Inputs Start/Stop is a push-button input: If a 5V signal is applied for a short time, the on/off status of the drive is switched over. The switch occurs when the 5V signal drops again to 0V. The input is linked internally to a pull-up resistor so that only a pushbutton to ground (earth) needs to be connected. -
Page 12: Control
3. Control The module may be controlled using two different methods: Electrically via the pins or via the built-in potentiometers. The speed of the drive is proportional to either an applied analog voltage or an applied pulse train. The serial interface accepts user-generated commands. Simple externally generated commands permit a much more detailed control than is possible via the pins. -
Page 13: External Inputs (Pins)
3.2 External Inputs (Pins) The description of Start/Stop and Direction inputs is given in Chapter 2.2.4. Fig. 6 shows an example of external switching. Fig. 6: Input switching for Start/Stop and Direction Subject to change without notification... -
Page 14: Configuration And Programming
In Windows NT this is available under the name Hyperterminal. 2. With the program Faulhaber Motion Manager available from Dr. Fritz Faulhaber GmbH & Co. KG (can also be downloaded free of charge via the Internet at http://www.faulhaber.de), which allows particularly simple operation of drives. -
Page 15: Node Addresses And Additional Drives
3.3.3 Node Addresses and Additional Drives With the assistance of an RS-232 Multiplexer Board it is possible to control several drives from a single RS-232 interface. For this reason a feature has been included to address each drive individually, because otherwise every command would be implemented by every drive. This is achieved via the Node Number. -
Page 16: Saving The Settings
3.3.4 Saving the Settings When it is delivered, the drive has no parameters recorded. The controller selects velocity control mode. However, the current setup configuration can be saved with the command save by storing it in a non-volatile memory (an EEPROM). This configuration will then be recalled when the drive is next switched on. -
Page 17: Description Of Operating Modes
3.4 Description of the Operating Modes The unit can be set up in either Speed Mode or Positioning Mode. An additional Pointer Mode is available. These modes can be controlled from a variety of input sources. The following diagram shows how the interaction between inputs and drive modes is influenced. -
Page 18: Continuous Mode
Mode Input source sor 0 sor 1 sor 2 No external input Input via pot. 1) Input is AUXin 1) Contmod Speed via v-command Speed via pot. Pulse train dictates speed contmod and Position via m-command No effect (speed via pot.) No effect (pulse train m-command dictates speed) Stepmod... -
Page 19: Stepper Motor Mode
3.4.2 Stepper Motor Mode In stepper motor mode stepmod only a single input source is used, AUXin, which is connected with sor 2. If sor 0 or sor 1 are used, the drive will not receive a signal and will remain stationary. Note that if a pulse train is applied to AUXin when operating in these modes the internal counter will continue operating. -
Page 20: Velocity Control
3.5 Velocity Control There are several ways to set the velocity, i.e. the rotational speed: external control may be selected via analog voltage (Chapter 3.5.1) or a pulse train input (Chapter 3.5.2). Presetting of a rotational speed value via the programmable interface is described in Chapter 3.5.3. The selected mode also has an indirect effect on the rotational speed: Positioning Mode (3.6), Stepper Motor Mode (3.7) and Pointer Mode (3.8). - Page 21 When using the commands to increase voltage, mav and maxav, it should be noted that the voltage is measured on two inputs, which are then multiplied together internally. Their product is mV · V, or mV . In order to set the minimum increase, so that it will switch when one input reads 0,5V and the other reads 0,25V, the value 0,5V ·...
-
Page 22: Setting Velocity Via Pulse Train
3.5.2 Setting Velocity via Pulse Train This mode is selected via the commands contmod and sor 2. The drive interprets the pulse train input to AUXin as a speed preset, in which 1 Hz corresponds exactly to 1 RPM. If the frequency of this input signal changes too rapidly, the drive will accelerate or decelerate only at the maximum rates permitted by the ramps (cf section 3.5.3). -
Page 23: Speed And Ramps
3.5.3 Speed and Ramps If the command velocity is not to be determined by an external input (either an analog volt- age or a pulse train), this can be achieved via sor 0. Then the rotational speed is set via the v-command, whose units are revolutions per minute (rpm or 1/ For all drive operating modes: The speed limit is not set directly, but approached via an acceleration ramp. -
Page 24: Output Voltage And Back-Emf Compensation
3.5.4 Output Voltage and Back-EMF Compensation Whereas a DC motor is normally current-controlled, this controller works by voltage-control. The command ov defines the voltage; the argument is the effective voltage. In a three-phase system this is 1 V ≈ 1,63 V (where V is the peak-to-peak voltage of one phase). -
Page 25: Start/Stop And Direction Of Rotation
3.5.5 Start/Stop and Direction of Rotation In analog speed mode, the direction of rotation and Start/Stop are preset via the two digital inputs Start/Stop and Direction, as described in Chapter 2.2.4. In all other operating modes, the direction of rotation is preset via adl and adr. The direction can be verified by the command gd. -
Page 26: Positioning
3.6 Positioning In this operating mode a position is preset, to which the drive will then travel. The position will be given in 1/256ths of a revolution. If the value 1 is to be reached, the rotor is set back through an angle of about 1,4°. - Page 27 Using the command np, a position can be set up which sends back the letter “p” when that position is reached. A higher-ranking control system can thus initiate various actions depend- ent on the position of the drive, for example to carry out complex compound movement sequences.
-
Page 28: Stepper Motor Mode
3.7 Stepper Motor Mode In stepper-motor mode the drive moves proportionally to an pulse train into the control input AUXin. In general terms a pulse at the input corresponds to one step – or 1/256th of a revolu- tion – of the drive. Since the drive’s rotor may not be driven at very high acceleration rates, the speed reference given by the pulse train must be modified according to the circumstances. - Page 29 Therefore, in stepper-motor mode the acceleration ramp should be set to the lowest possible value, in order to avoid speed oscillations. Warning: If stepper-motor mode is selected and the drive is switched off with di, the internal pulse counter will still continue to run. If it is switched on again with en, the drive will im- mediately activate, and will travel to the position indicated by the pulse count which it had already registered up to the instant when it was switched.
-
Page 30: Pointer Mode
3.8 Pointer Mode Operation in pointer mode is selected by the command ptrmod (ptr = pointer). This mode is used to simulate an analog pointer instrument. In this case, the rotor moves in steps of 1/256th of a revolution, to a position proportional to the analog voltage applied at the control input. In this way, an applied voltage of 0V corresponds to a rotor position of about 0 degrees. -
Page 31: Overcurrent Limit
3.9 Overcurrent Limit The MCBL 05002 continuously monitors the total current via the power electronics section and the drive. If the measured value crosses a presettable level, the following countermeasures are put into effect to return the current to a safe level: 1. -
Page 32: Installation & Verification
4 Installation & Verification 4.1 Starting the Module Make all the required connections. If you have the Faulhaber Starterkit MCBL 07002 for the micromotor, proceed as described in Chapter 4.2. This instruction only applies to the MCBL 05002 module. Turn the module so that you have the two big black ICs on upper left, see Fig. 4 on Page 5. -
Page 33: Installation With An Mcbl 07002
4.2 Installation with an MCBL 07002 Dr. Fritz Faulhaber GmbH & Co. KG provides a Starterkit, which contains the necessary compo- nents to put a micromotor into service immediately. These are chiefly a control of the current supply, switch and speed regulator of the drive controller, plus an RS232 serial interface driver. -
Page 34: Troubleshooting
4.3 Troubleshooting 4.3.1 Drive stationary with analog input Symptom: The drive was operational, but after making some adjustments to the mode it can- not be started up again. Cause 1: The drive has been changed to a different mode and all required settings have been made. -
Page 35: Faulty Circuit Or Drive
4.3.3 Faulty circuit or drive Symptoms: All other causes have been eliminated. There is a serious likelihood that the circuit or the drive has failed, for example by overcurrent or overheating. Diagnosis: For this test you need an oscilloscope. Input the command base if you have a serial link to the drive. -
Page 36: Appendix
5 Appendix 5.1 Limit Values After the power supply is switched on, the MCBL takes about 130 ms before the drive accelerates to speed. Until that time, the three outputs are undefined. Hint: Some values are internally represented in a different form than that in which the user sees them. If these values are then processed, there is a rounding error. -
Page 37: Command Set
5.2 Command Set Explanation of the Command Table Commands marked with are stored with save. An example of the response to an error feedback is indicated with an arrow. Commands which are given automatically as the response to specific events are preceded by “async“. - Page 38 Command Function Description Example fconfig Factory All configurations and values will be reset to FCONFIG the factory settings. Configuration After this command, the drive must be reset or the power supply briefly interrupted in order for these values to take effect. Get Acceleration Feed back value of acceleration ramp [1/s →...
- Page 39 Command Function Description Example gmottyp Get Motor Type Indicates the drive type number MOTTYP → 101 Get Minimum Indicates minimum speed via RS-232 [1/ Velocity → 0 Get Current Feedback of present speed [1/ Speed → 4000 gnodeadr Get Node Address Indicates node address GNODEADR →...
- Page 40 Command Function Description Example Get Status Indicates the current status (7 Bits) From left to right: → 0101011 Bit 0: 1 = position control selected 0 = speed control selected Bit 1: 1 = analog speed reference 0 = speed reference via RS-232 Bit 2: –...
- Page 41 Command Function Description Example Notify Velocity A “v” will be output when the preset speed NV5000 is reached async → v Notify Velocity Deactivates a Notify Velocity command which NVOFF nvoff has not yet been completed Output Voltage Specifies the effective value of the output OV 1000 voltage [mV Get Position...
-
Page 42: Factory Configuration
5.3 Factory Configuration The MCBL will be configured as follows in the as-delivered condition. It can be restored to this state again with the command fconfig. If a different start-up configuration is required, this must be specifically set up and stored via the command save. Type Value/Effect Command... -
Page 43: Connecting To A Computer
The MCBL 05002 may also be controlled from a separate computer, via a drive component such as the one available on the Faulhaber Starterkit MCBL 07002. The only requirements are that the control computer must have an RS232 serial interface and include a terminal program. -
Page 44: Starterkit Mcbl 07002
5.5 Starterkit MCBL 07002 5.5.1 Overview The MCBL 05002 is constructed like an IC, and it can be built into a circuit fast and effectively. To make it even easier to try out, the Starterkit MCBL 07002 is available. When coupled to a 7V power supply, the starter kit is immediately ready for use. -
Page 45: Operation
This is still possible. The other features of the MCBL 07002 are identical to those of the MCBL 05002. The FAULHABER Group wishes you every success! Subject to change without notification... - Page 46 Email: info@minimotor.ch www.minimotor.ch MicroMo Electronics, Inc. 14881 Evergreen Avenue Clearwater · FL 33762-3008 · USA Phone: +1 (727) 572-0131 Fax: +1 (727) 573-5918 Toll-Free: (800) 807-9166 Email: info@micromo.com www.micromo.com © DR. FRITZ FAULHABER GMBH & CO.KG MA05009, english, 2. issue, 07.05.2003...
Need help?
Do you have a question about the MCBL 05002 Series and is the answer not in the manual?
Questions and answers