Faulhaber MCDC 3603 Series User manual

MCDC 3603 MCBL 3603

Series

Operating Instructions

Brushless DC-Servomotors

Motion Controller

4-Quadrant PWM for DC-Micromotors and

Series

Edition 20.02.2001

Surf to the following Internet

address and you will find the

latest edition of the instruction

manual on-line: www.minimotor.ch/uk/pr/

For direct Download:

Miniature Drive Systems

Micro Drives

DC-Micromotors

Precision Gearheads

Servo Components

Drive Electronics

http://www.minimotor.ch/minicatalog/pdf/DriveCircuits/Manuals/IM_e_MCDC_MCBL_3603.pdf

Index

Chapter Page

1. Description 2

2. Model overview 3

3. Technical information 4

4. Dimensions 5

5. Start-up Procedure 6

6. Connection diagram for MCBL 3603 7

7. Connection diagram for MCDC 3603 8

8. Software start-up 9-10

9. Pre-defined set up values 11-12

10. On line control 13-16

11. System parameter set-up 17

12. Programming 18-24

13. Typical program example 25-29

14. Program loading, saving, verification and installation 30

15. Loading an application program from the computer to the motion controller 30

16. Saving the motion controller application on disk 31

17. Verification of installed version 31

18. Installation of new (up-date) basic program 32

19. Call up program from normal inputs 33

20. Call up program from binary coded digital inputs 34

21. Example of sequential multi-axis application 35

22. Analogue input command 36

23. Stepper motor emulation 37

24. RS485easy-Bus 37-38

25. Trouble-shooting 39

26. Operating system error 39

27. General usage instructions 40

28. Hardware 41

29. Pin configuration 42-45

2Specifications subject to change without notice

Description

1. Description

The MCBL 3603 and the MCDC 3603 are very compact motion controllers ideal for our

brushless DC-Servomotors and brushed DC-Micromotors.

Each model comprises a PWM servo amplifier.

Technology

Both motion controllers are based on a fast, powerful 16 bit microcomputer system.

This guarantees high dynamics, precise positioning and quiet running, regardless of the

motor type used.

The well thought-out design and consistent application of SMD technology ensures a very

compact device. The specially developed user software offers high flexibility and simple

handling.

Application field

Developed with the use of state-of-the-art technology, the motion controllers are suitable

for a wide range of applications: insertion and handling machines, machine tools, robots,

X/Y tables, drive and automation systems in medical technology, chemical and food

industry, etc.

Programming

One of the most important objectives in the development of these units was to keep its

operation as simple as possible. This has been attained with the use of just a few, highly

efficient functions.

Manual balancing or potentiometers are no longer required. Menu-guided program and

parameter-editing functions are already integrated for operation with an ASCII terminal.

In place of internal menu management, the clearly structured command set can be simply

integrated into a customer-specific interface, e.g. with Visual Basic, Lab View, Pascal, C++,

etc.

Any PC with Windows operating system can be used as an input terminal. Program up-

dates are made directly via the serial interface without changing the hardware.

Communication is made via the serial port RS232 or RS485.

Model overview

2. Model overview

MCBL 3603 Integrated PWM

servo amplifier 36V-3A Brushless DC-Servomotors

with encoder

MCDC 3603 Integrated PWM

servo amplifier 36V-3A Brushed DC-Micromotors

with encoder

MENUE

SET UP

HOME FUNCTION

PROGRAM INDEX

PROGRAM MOTION

UP DATE PROGRAM

SAVE/LOAD APPLICATION

SWITCHED POWER SUPPLY 5V, 12V INTERNAL

PLC LOGIC

INPUT FUNCTION

BCD-CODED PROGRAM

POWER DC

QUADRATURE

COUNTER

REMOTE CONTROL

PROGRAM 1-15

ANALOGUE,

PULSE DIR,

A/B ENC 2

(OPTIONAL)

RS232

RS485easy-Bus

ACCELERATION

SPEED

POSITION

PROPORTIONAL

INTEGRAL

DERIVATIVE

f(P,I,D)

POWER STAGE

COMMUTATI ON

LOGIC

CURRENT

SENSOR

12 INPUT

DIGITAL

DIFFERENTIATOR

8 OUTPUT

DIGITAL

CH B

HA B

HA C

CH A

SWITCHES

HOME SENSOR

LIMIT SENSOR

EMERGENCY CIRCUIT

EXTERNAL PLC

ECT

VALVE

RELAY

EXTERNAL PLC

ECT.

CURRENT LIMIT

I Peak

I Nominal

VELOCITY

f(V) f(I)

TEMP SENSOR

OVER VOLT

MONITOR

BALLAST CIRCUIT

HA A

PH A

PH B

PH C

SERVOMOTOR

BRUSHLESS

Brushless

DC-Servomotor

Encoder

RS485

OPTIONAL

MENUE

SET UP

HOME FUNCTION

PROGRAM INDEX

PROGRAM MOTION

UP DATE PROGRAM

SAVE/LOAD APPLICATION

SWITCHED POWER SUPPLY 5V, 12V INTERNAL

PLC LOGIC

INPUT FUNCTION

BCD-CODED PROGRAM

POWER DC

QUADRATURE

COUNTER

REMOTE CONTROL

PROGRAM 1-15

ANALOGUE,

PULSE DIR,

A/B ENC 2

(OPTIONAL)

RS232

RS485easy-Bus

ACCELERATION

SPEED

POSITION

PROPORTIONAL

INTEGRAL

DERIVATIVE

f(P,I,D)

POWER STAGE

CURRENT

SENSOR

12 INPUT

DIGITAL

DIFFERENTIATOR

8 OUTPUT

DIGITAL

CH B

CH A

SWITCHES

HOME SENSOR

LIMIT SENSOR

EMERGENCY CIRCUIT

EXTERNAL PLC

ECT

VALVE

RELAY

EXTERNAL PLC

ECT.

CURRENT LIMIT

I Peak

I Nominal

VELOCITY

f(V) f(I)

TEMP SENSOR

OVER VOLT

MONITOR

BALLAST CIRCUIT +

SERVOMOTOR

BRUSHLESS

DC-Micromotor

Encoder

RS485

OPTIONAL

Specifications subject to change without notice

3. Technical data

Technical information

Communication data

Temperature rating

Operating temperature

Storage temperature

Weight / Dimensions

Weight: 130

Dimensions: see diagram on page 5

0 ... + 55

-20 ... + 80

256 x 8 256 x 8

500 500

15 15

50 50

Supply voltage

PWM switching frequency

Max. continuous output current

Max. peak output current

Max. encoder frequency

Electrical data

12 ÷36 12 ÷36

20 20

10 10

200 200

Software data

Program memory (16 bit access)

Sampling period

Number of programs

Lines per program

Number of indexes

MCBL 3603 MCDC 3603

RS232 / RS485 / RS485easy-Bus

3 LED's

12 (optional)

8 (optional)

integrated ASCII terminal

via serial interface

via encoder Z-index / via external sensor

Interface

Status display

Optional inputs (5V pull-up standard,

24V pull-down on request)

Optional outputs (6 x 50V/500mA open

collector, 2 x TTL level)

Program and parameter editor

Program up-date

Application and parameter save / load

Starting position function

V DC

kHz

kbyte

µs

°C

Specifications subject to change without notice

Dimensions

4. Dimensions for MCBL 3603 and MCDC 3603

105

3,2

10,5

7,5

99,2 2,9

66,7

1234

Scale reduced

Connection for MCBL 3603

Power supply motor / motor connection

Encoder 1) and Hall sensors

Input for special function

RS232

Optional digital Input / Output

Connection for MCDC 3603

Power supply motor / motor connection

Encoder 1)

Input for special function

RS232

Optional digital Input / Output

1) Line driver encoders for noisy environments or long distances can be used.

Specifications subject to change without notice

Start-up Procedure for MCBL 3603

Start-up procedure

Here we list a step-by-step start-up procedure for both the electrics and software.

Also included are several examples in order to allow the user to test the unit and

familiarise himself with programming.

We therefore recommend that this sequence is followed for trouble-free installation:

• Connect the motor phases to MOTOR

• Connect the encoder and the motor Hall sensor leads to ENCODER HALL

• Connect the RS232 (or RS485) to the computer port COM

• Connect the power supply to PWR

• Power the motion controller

• Software start-up

Start-up Procedure for MCDC 3603

• Connect the motor terminals to MOTOR

• Connect the encoder to ENCODER

• Connect the RS232 (or RS485) to the computer port COM

• Connect the power supply to PWR

• Power the motion controller

• Software start-up

The computer link is necessary to program the motion controller.

After programming has been completed, the computer link can be disconnected since the

programs can be started using the motion controller input functions.

5. Start-up procedure

For advanced functions such as:

• Analogue input command

• Stepper motor emulation

• RS 485 serial interface

• Multi-axis operation

please refer to the specifique chapters

Specifications subject to change without notice

Start-up procedure

6. Connection diagram for MCBL 3603

PWR

MOTOR COM1

Computer cable

RS232 / RS485

RS485easy-Bus*

PLC I/O (12 inputs / 8 outputs)

1 GND

9 Hall sensor A

11 Hall sensor B

13 Hall sensor C

15 Vcc logical (5 VDC)

1 GND

7 Z index (if no index NC)

3 B channel

5 A channel

2 Vcc logical (5 VDC)

Encoder

1 GND

2 Power Supply (12-50 VDC)

3 Phase A

4 Phase B

5 Phase C

Brushless

DC-Servomotor

ENCODER HALL OPTIO

optional digital I/O

COMPUTER INPUT

*optional adapter for

RS 485easy-Bus

515

610

11 15

Specifications subject to change without notice

Start-up procedure

PWR

MOTOR COM1

Computer cable

RS232 / RS485

RS485easy-Bus

PLC I/O (12 inputs / 8 outputs)

1 GND

7 Z index (if no index NC)

3 B channel

5 A channel

2 Vcc logical (5 VDC)

Encoder

1 GND

2 Power Supply (12-50 VDC)

3 Motor (-)

4 Motor (+) DC-Micromotor

ENCODER OPTIO

optional digital I/O

COMPUTER INPUT

optional adapter for

RS 485easy-Bus

515

610

11 15

PLC I/O description

The PLC I/O port enables direct communication with the position control function without

having to use a computer. For example, once a program has been created, it can be

executed by simply giving a command to the assigned input. In the initial phases of

installation, and to allow the user to better understand the operation of the motion

controller, all instructions are given via computer. It is therefore not necessary to connect

this port.

RS232 description

This port is the communication link between the motion controller and the external

computer via the COM1 connection point. Additional information regarding the

connection and set-up is given in chapter 29. The link is make with a standard

computer cable which, if necessary, can be optionally supplied by Minimotor.

7. Connection diagram for MCDC 3603

Specifications subject to change without notice

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