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Summary of Contents for Faulhaber 2232 BX4 IMC
- Page 1 Technical Manual Motion Control System (MCS) 2232 BX4 IMC 2250 BX4 IMC 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 2.2.1 Dangers in the event of damages and changes ........ - Page 4 Content Warranty ......................... 36 Additional documents ....................37 Declaration of Conformity 22xx...BX4 IMC ............37 Declaration of Incorporation 22xx...BX4 IMC ............. 40 1st edition, 9.04.2024 7000.05073, 1st edition, 9.04.20247000.05073...
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Page 5: About This Document
Motion Manager 7 Operating instructions for FAULHABER Motion Manager PC software Quick start guide Description of the first steps for commissioning and operation of FAULHABER Motion Control Systems Drive functions Description of the operating modes and functions of the drive... -
Page 6: List Of Abbreviations
About this document List of abbreviations Abbreviation Meaning AnIn Analog input AGND Analog Ground Controller Area Network CAN_H CAN-High CAN_L CAN-Low CANopen interface acc. to CiA 402 DigIn Digital input DigOut Digital output Electronics Filter Supply Electromagnetic compatibility Electrostatic discharge Ground Integrated motion controller Motion Control System... -
Page 7: Symbols And Designations
About this document Symbols and designations DANGER! Danger with high level of risk: if not avoided, death or serious injury will result. Measures for avoidance WARNING! Danger with medium level of risk: if not avoided, death or serious injury may result. ... -
Page 8: Safety
Safety Safety Intended use The Motion Control Systems described here consist of a combination of a base motor and an integrated Motion Controller. The Motion Control Systems are intended for use as slaves, and are particularly suitable for positioning tasks in the following application fields: Robotics ... -
Page 9: Dangers In The Event Of Damages And Changes
Safety 2.2.1 Dangers in the event of damages and changes Damage to the Motion Control Systems (MCS) can impair its functions. A damaged MCS can unexpectedly start, stop or jam. This can result in damage to other components and materi- als. -
Page 10: Heat Development
Safety 2.2.3 Heat development Active components may cause the MCS to heat up. If touched, there is a risk of burning. Protect the MCS against being touched and cool sufficiently. If necessary, affix a suitable warning sign in the immediate vicinity of the MCS. Fig. -
Page 11: Ec Directives On Product Safety
Safety EC directives on product safety The following EC directives on product safety must be observed. If the Motion Control Systems are being used outside the EU, international, national and regional directives must be also observed. Machinery Directive (2006/42/EC) The controllers with attached motor described in this technical manual may be drive sys- tems according to the Machinery Directive. -
Page 12: Product Description
The drive systems integrate a brushless DC servomotor, a high-resolution actual value encoder and a Motion Controller in a compact, complete drive unit. The motor commutation is achieved electronically so that the service life of a FAULHABER Motion Control Systems depends mainly on the service life of the motor bearings. FAUL- HABER uses high-precision, preloaded ball bearings in all of its systems with integrated Motion Controller. -
Page 13: Product Information
Depending on the cooling factor, operating point and ambient temperature, the current limitation parameter can be adapted using the FAULHABER Motion Manager. The specified values apply in the case of 22 °C ambient temperature and max. 60 °C MCS temperature and the nominal voltage for motor and electronics. Operating mode S2 for max. -
Page 14: Installation
Installation Installation Only trained experts and instructed persons with knowledge of the following fields may install and commission the MCS: Automation technology Standards and regulations (such as the EMC Directive) Low Voltage Directive Machinery Directive VDE regulations (DIN VDE 0100) Accident prevention regulations ... -
Page 15: Mounting The Motor
Tab. 2: Attachment specifications Motion Control Sys- Screw type Thread depth (mm) Max. tightening Radial motor load, max. torque (Ncm) 22xx BX4 IMC 2232 BX4 IMC 2250 BX4 IMC Ø17 6xM2 6x60° 10° Fig. 4: Flange details (example) 1st edition, 9.04.2024 7000.05073, 1st edition,... -
Page 16: Electrical Connection
Installation Electrical connection 4.2.1 Notes on the electrical connection NOTICE! Electrostatic discharges to the MCS connections can damage the electronic components Observe the ESD protective measures. Carry out work only at ESD-protected workstations. Connect the connections as per the pin assignment (see chap. 4.2.3.1, p. 19) NOTICE! Risk of damage caused by back-induced voltage. -
Page 17: Electrical Connection Of Motor
3. Connect the ribbon cable as per the pin assignment (see chap. 4.3, p. 26). 4. Connect the power supply as described in the explanation below. There are 2 options for supplying power to the motor and the FAULHABER MCS: Power supply with separate electronics supply (standard) In the case of power supply with separate electronics supply, the motor supply can be switched off (e.g. - Page 18 Installation Power supply with common electronics supply (option 7431) 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 19: Supply Connections
Installation 4.2.3 Supply connections 4.2.3.1 Pin assignment NOTICE! Incorrect polarity can cause irreparable damage to the electronics Connect the MCS in accordance with the pin assignment. The signal level of the digital inputs can be reconfigured to TTL via the interface. PLC level: low <... - Page 20 Installation Tab. 6: Electrical data 22xx BX4 IMC Wire Designation Meaning Value Power supply of the electronics 6…30 V DC Analog input Voltage signal 0…10 V AnIn2 Ground reference GND Power supply of the motor 6…30 V DC Power supply of the MCS 6…30 V DC Common ground Ground reference...
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Page 21: I/O Circuit Diagrams
Installation 4.2.3.2 I/O circuit diagrams AGND – AnIn Fig. 7: Analog input circuit diagram (internal) So that the voltage drop on the supply side does not affect the speed specification value, connect the analog input ground (AGND) to the power supply ground (GND). The analog inputs are executed as differential inputs. -
Page 22: External Circuit Diagrams
Installation The digital output has the following properties: Open collector switch to ground Monitored output current (switch opens in the event of an error) The digital output can be configured for the following purposes: Fault output Actuation of an externally installed brake Digital output (freely programmable) ... - Page 23 Installation Analog set-point specification via potentiometer with internally set offset and scaling 10 V Motion Control System AnIn 10 k AGND – Interface Fig. 11: Analog set-point specification via potentiometer with internally set offset and scaling Connection of reference and limit switches Motion Control System 1x10 1x10...
- Page 24 Installation Connection of an external incremental encoder Encoder Supply 2,7k DigIn1 DigIn2 Encoder Quadrature DigIn3 Counter Index Index Interface Fig. 13: Connection of an external incremental encoder Depending on the type of encoder it may be necessary to use additional pull-up resis- tors.
- Page 25 Installation Wiring with several Motion Control Systems in RS232 network operation PC or Node 1 Node n High Level Control 4,7k Fig. 15: Wiring with several Motion Control Systems in RS232 network operation Depending on the number of networked Motion Control Systems, a smaller value may be necessary for the pull-down resistor.
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Page 26: Electromagnetic Compatibility (Emc)
Installation Electromagnetic compatibility (EMC) Follow the instructions in the following chapters to perform an EMC-compliant installa- tion. WARNING! The MCS can cause high-frequency interference which can affect the function of electronic implants and other electronic devices. Take appropriate interference suppression measures, particularly during use in residen- tial environments. -
Page 27: Cable Routing
Installation 4.3.2 Cable routing WARNING! Voltages >25 V AC are generated and transmitted in the drive system. Set up the wiring of the drive system in a touch-proof manner. Only operate the drive system on an SELV or PELV power supply network. The cable routing depends on various factors, such as: Is the cable shielded, twisted? ... -
Page 28: Shielding
Installation 4.3.3 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 29: Establishing The Shield Connection
Installation 4.3.3.1 Establishing the shield connection The best results when establishing a shield connection on the cable are achieved in the fol- lowing way: Fig. 20: Motor cable shield connection Outer cable shield Heat-shrink tubing Braided shield Crimp-sleeve Shield clamp 1. -
Page 30: Establishing Shield Connection With Cable Lug
Installation 4.3.3.2 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. 21: Shield connection with cable lug Screw Lock washer Wall Spring washer Wire eyelet... -
Page 31: Using Filters
DC power supply 4.3.4.2 Insulation resistance The filters from FAULHABER are not intended for an insulation resistance test. Discharging of the common-mode interference with capacitors prevents a meaningful result from an insulation resistance test. -
Page 32: Error Avoidance And Troubleshooting
5. Again secure the motor phase cables, e.g., with cable ties (2), on the ferrite ring. 4.3.5 Error avoidance and troubleshooting 1. Can the problem clearly be traced back to the FAULHABER drive system? a) Switch the output stage off and on. The voltage controller mode is suitable here. - Page 33 Installation Conformity measurements The following points must be observed during the conformity measurement: Conducted interference voltage measurement Radiated interference voltage measurement When laying cables, remove all loops. Where possible, lay cables over a grounding plate. Lay the cables with a meandering shape. ...
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Page 34: Maintenance
Maintenance Maintenance Maintenance instructions NOTICE! Damage to the MCS caused by contact with solvents. During operation and maintenance protect the housing against contact with solvents or substances containing solvents. Maintenance tasks The MCS is generally maintenance-free. Where the device is mounted in a cabinet, depend- ing on the deposition of dust the air filter should be regularly checked and cleaned if neces- sary. -
Page 35: Accessories
Accessories Accessories A contact adapter for direct connection to a CAN or RS232 network is available under the article number 6501.00391. For IMC RS, a contact adapter with integrated USB-RS232 converter for direct connection to the USB is available under the article number 6500.00392. Details on configuration can be found in the Motion Manager manual (see chap. -
Page 36: 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 www.faulhaber.com/en/contact/gtc... -
Page 37: Additional Documents
Additional documents Additional documents Declaration of Conformity 22xx...BX4 IMC 1st edition, 9.04.2024 7000.05073, 1st edition, 9.04.20247000.05073... - Page 38 Additional documents 1st edition, 9.04.2024 7000.05073, 1st edition, 9.04.20247000.05073...
- Page 39 Additional documents 1st edition, 9.04.2024 7000.05073, 1st edition, 9.04.20247000.05073...
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Page 40: Declaration Of Incorporation 22Xx
Additional documents Declaration of Incorporation 22xx...BX4 IMC 1st edition, 9.04.2024 7000.05073, 1st edition, 9.04.20247000.05073... - Page 41 DR. FRITZ FAULHABER GMBH & CO. KG Antriebssysteme Faulhaberstraße 1 71101 Schönaich • Germany Tel. +49(0)7031/638-0 Fax +49(0)7031/638-100 info@faulhaber.de www.faulhaber.com 7000.05073, 1st edition, 9.04.2024 © Dr. Fritz Faulhaber GmbH & Co. KG...
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