Faulhaber MCDC 3603 Series Manuale utente
MCDC 3603 MCBL 3603
Series
Operating Instructions
Brushless DC-Servomotors
Motion Controller
4-Quadrant PWM for DC-Micromotors and
Series
Edition 20.02.2001
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address and you will find the
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manual on-line: www.minimotor.ch/uk/pr/
For direct Download:
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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
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
4
256 x 8 256 x 8
500 500
15 15
50 50
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
33
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 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
A
A
kHz
kbyte
µs
°C
°C
g
Specifications subject to change without notice
5
Dimensions
4. Dimensions for MCBL 3603 and MCDC 3603
105
75
3,2
35
10,5
7,5
99,2 2,9
3
66,7
1234
5
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
1
2
3
4
5
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
1
2
3
4
5
6
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
7
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
11
515
610
11 15
Specifications subject to change without notice
8
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
1
1
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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