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Summary of Contents for Faulhaber AEMT-12 L
- Page 1 Technical Manual Multiturn Absolute encoder AEMT-12/16 L 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 ....................... 4 Validity of this document ..................4 Associated documents .................... 4 Using this document ....................4 List of abbreviations ....................5 Symbols and designations ..................5 Safety ..........................6 Intended use ......................6 Safety instructions ....................6 Environmental conditions .................. -
Page 4: About This Document
Description Motion Manager 6 Operating instructions for FAULHABER Motion Manager PC software Quick start guide Description of the first steps for commissioning and operation of FAULHABER Motion Controllers Drive functions Description of the operating modes and functions of the drive... -
Page 5: List Of Abbreviations
About this document List of abbreviations Abbreviation Meaning Absolute encoder BiSS-C Bidirectional, serial, synchronous interface in continuous mode Line Driver Multiturn Interface pin Synchronous Serial Interface for Position Encoder Battery voltage Power supply Symbols and designations CAUTION! Hazards due to hot surfaces. Disregard may lead to burns. ... -
Page 6: Safety
Safety Safety Intended use The encoder described here has been designed as a sensor system that delivers angle infor- mation used for actuating and positioning the following motors: Brushless DC-servomotors The encoder is suitable in particular for tasks in the following fields of application: Robotics ... -
Page 7: 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 8: Product Description
Product description Product description General product description The AEMT-12/16 L series encoder is a magnetic multiturn absolute encoder. The encoder provides the absolute angle information within one revolution (singleturn position) and the current revolution count (multiturn count). The absolute position, relative to the entire drive system, can be determined from the multiturn count and the singleturn position. -
Page 9: Product Variants - Resolution
20 bit 24 bit 32 bit In combination with a FAULHABER Motion Controller of Generation V3.0, an overall resolution (multiturn + singleturn) of maximum 32 bit is possible. With an singleturn resolution of 12 bits, a maximum multiturn resolution of 20 bits is possible. -
Page 10: Interpretation Of Position Values And Handling Of Position Overrun
Product description Interpretation of position values and handling of position over- In the standard configuration of the AEMT-12/16 L, there is a number range from 0 to ∙ 2 268 435 455 positions (2 – 1). Then the count starts again from the beginning. Multiturn resolution Position... -
Page 11: Description Of The Interface
Product description The value to which the count of the encoder is reset via the preset pin is not unambig- uously 0, but instead lies within a range of ±8192 increments, depending on the singleturn position. The preset value is set at the factory to a signed interpretation of the position data, see chap. -
Page 12: Installation
Installation Installation Only trained experts and instructed persons with knowledge of the following fields may install and commission the encoder: Automation technology Standards and regulations (such as the EMC Directive) Low Voltage Directive Machinery Directive VDE regulations (DIN VDE 0100) Accident prevention regulations ... -
Page 13: Mounting The Motor
Installation 4.1.2 Mounting the motor Fig. 5: Mounting example – 22xxBX4 AEMTL series NOTICE! Excessive radial loads on the servomotor or excessively tightened fastening screws can cause irreparable damage to the mounting flange. Do not apply a radial force exceeding 30 N at the rear end of the motor. Make sure that the screws are tightened to max. -
Page 14: Electrical Connection
Installation Electrical connection 4.2.1 Notes on the electrical connection NOTICE! Installation and connection of the encoder when the power supply is applied can damage the encoder. Prior to all aspects of installation and connection work on the encoder, switch off the power supply. -
Page 15: Electrical Data
Installation 4.2.3 Electrical data Tab. 3: Encoder supply Power supply U 4.5…5.5 V Typical: 25 mA Rated current consumption Maximum: 35 mA Typical: 90 mA Standby current under load Set-up time after power on 20 ms = 5 V on non-loaded outputs = 120 Ω... -
Page 16: Electrical Circuit Diagrams And External Wiring
When connecting the line driver interface on the controller side: Use transceiver module. The transceiver is already integrated in FAULHABER Motion Controllers of genera- tion V3.0. Recommended transceiver components: iC-HF, SN65LBC179, SN75179B, DS90LV019 Use a terminating resistor between data and data starting at a cable length of 1 m. - Page 17 Installation Data Data Data Data Data Data Fig. 7: Termination types Standard AC termination Split termination = 100…130 Ω Standard: Terminating resistor R = 60 Ω). Split termination: The terminating resistor is split symmetrically (e. g. R The capacitor C (4.7...10 nF) discharges common-mode currents to ground. This leads to an increased interference resistance of the signal transmission.
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Page 18: Preset Input
Installation 4.2.4.2 Preset input During commissioning and after a battery change, a voltage pulse must be applied to the preset input (pin 1) to reset the revolution count. Encoder internal Switch Dig-In 1...4.7 kW Fig. 8: Preset electrical circuit diagram ... -
Page 19: Electromagnetic Compatibility (Emc)
Electromagnetic compatibility (EMC) Follow the instructions in the following chapters and in the technical manual of the FAULHABER Motion Controller of generation V3.0 to perform an EMC-compliant instal- lation. 4.3.1 Cable routing... - Page 20 Installation >10 cm Fig. 11: Grouping and shielding of the cables Shielding Encoder cables Motor phase Motor C Phase C Motor B Phase B Motor A Phase A Cable Shield Brushless DC-Servomotor Data Data Cable Shield Fig. 12: Cables twisted and shielded in function groups for connection of BL servomotor with AEMT-12/16 L 1st edition, 17-09-2020 7000.05070, 1st edition,...
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Page 21: Shielding
Installation 4.3.2 Shielding Shield cables in all cases. Shield cables that are longer than 3 m with tightly meshed copper braiding. Shield all supply lines according to current guidelines/standards (e.g., IPC-A-620B) and connect using (round) shield clamp. In special cases (e.g., with pigtail) or after qualification, the shield can be omitted for the following cables: Cables with length <50 cm ... -
Page 22: Establishing The Shield Connection
Installation 4.3.3 Establishing the shield connection The best results when establishing a shield connection on the cable are achieved in the fol- lowing way: Fig. 14: Motor cable shield connection Outer cable shield Heat-shrink tubing Braided shield Crimp-sleeve Shield clamp 1. -
Page 23: Establishing Shield Connection With Cable Lug
Installation 4.3.4 Establishing shield connection with cable lug A shield connection with cable lug should be avoided whenever possible. If it is necessary, however, the connection should be established as follows. Fig. 15: Shield connection with cable lug Screw Lock washer Wall Spring washer Wire eyelet... -
Page 24: Commissioning And Battery Change
Installation Commissioning and battery change The drive system is properly mounted and wired. NOTICE! Damage to mechanics The multiturn function is only guaranteed if the data of the AEMT-12/16 L are used directly for position determination. Do not set the position at the reference position on the software side in the controller to 0. -
Page 25: Troubleshooting
Installation The nERROR error bit can only be reset together with the revolution count of the encoder. After the battery voltage drops to U < 2.8 V and following battery change, repeat steps 2 to 4. When selecting an appropriate battery with a battery voltage of 3.6 V and a capacity of 1 Ah, a typical service life of 10 years is possible with the standard configuration. -
Page 26: Accessories
Accessories Accessories For combining the encoder with other products of the FAULHABER portfolio, the available accessories are described in chapter "Accessories": Article no. Description 6501.00368 Battery adapter AEMTL - MC50xx, consisting of: Connection options for the controller and encoder ... -
Page 27: Binary Numbers With And Without Sign
Binary numbers with and without sign Binary numbers with and without sign Binary numbers can be interpreted in a number range without sign (unsigned) and with sign (signed): Unsigned With 28 bit (16 bit multiturn + 12 bit singleturn) there is a number range from 0 to 2 –... -
Page 28: Warranty
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 https://www.faulhaber.com/gtc and... - Page 29 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 7000.05070, 1st edition, 17-09-2020 © Dr. Fritz Faulhaber GmbH & Co. KG...