Drive Electronics Support

High voltage, backwards induced from the motor, is measured from the controller. The controller tries to reduce the energy if the value which is set in the controller is exceeded. Via the motor or by reducing the deceleration.

Alternatively a brake choppers can be connected to the DC-supply

All FAULHABER Controllers do calculate an estimated winding temperature based on the environmental temperature and the measured current. If the calculated winding temperature is higher than a first threshold, the current is limited to the configured continuous current. If the estimated winding temperature is increasing further the power-stage will finally be shut off.

Yes of course. Using the motor selection wizard all control loops are preset for the selected motor. After this it's the speed loop and the position loop that might be tuned to the application.

So in a second step the connected inertia can be identified by means of a step response test – if possible. Alternatively you can enter a best guess for the inertia of the system compared to the motor. In both cases the control parameters for the speed- and the position loop are adjusted. Same for the profile parameters. Further tuning might be necessary and is supported by our interactive tuning tool.

Try to select a controller where the continuous current of the motor is not less than 30% of the continuous current of the controller. So for a 3268 BX4 with a cont. current of around 2A, the MC 5005 is fine, the MC 5010 might not be the best selection.

The reason is the limited resolution of the current measurement. But anyway: it always depends of the type of operation. Position control is usually fine even for a 1A motor at a 10A driver, torque control might be somehow dissatisfying.

Parameterization and duplication requires the Motion Manager software. The configuration can be send and saved via the Object browser. This parameter file (XDC) can be loaded in the same way into the unconfigured device.

The command „restore_all“ must be send via the terminal. A power cycle is needed after this command.

Yes we do. In the end it's a matter of the feedback-system and the parameter range of the motor. FAULHABER controllers are optimized for coreless motors. Electrical time-constants of these motors are as low as 50µs. But even state of the art standard servo-motors with an electrical time constant of around 1ms are supported. In the end we will have to check the parameters. So either try to add your motor to the database of the FAULHABER MotionManager or send a request to mcsupport[at]faulhaber.com.

There are various feedback options. BLDC-servo-motors will typically have either digital or analog hall signals. Additionally they can have an incremental encoder. Alternatively FAULHABER motors using an AES absolute encoder can easily be used.

DC-motors will require an incremental encoder.

The MC5010, MC5005 and MC5004 do implement an SSI encoder interface. Single turn and multi-turn encoders can be configured using either SSI or BiSS interfacece. There are some restrictions however. You might want to check with our AppNote 158 or send a request to mcsupport[at]faulhaber.com.

Parameterization and duplication requires the Motion Manager software. A parameter file (.MCP) can be generated via the menu tab "Receive file". This parameter file can be downloaded in the same way on the unconfigured device.

- RS232:

The command „fconfig“ must be send via the terminal. A power cycle is needed after this command.

- CAN:

The command „restore_all“ must be send via the terminal. A power cycle is needed after this command.

Parameterization and duplication requires the Motion Manager software.

In the “drive configuration” (last tab) a parameter file can be created (.BIN) This parameter file can be downloaded in the same way into the unconfigured device.

In the drive configuration (last tab) you will find the button "Load factory settings".

It is not possible with Motion Controllers. The feedback signal is needed for the commutation.

The Speed Controller (except SC5004 / 8) can control BL motors without sensors feedback. The commutation point is determined by the back EMF

For the MC2 / 3, a voltage level of -5.5 volts can be expected on the TxD line. The MCxx 3002 x RS and the 22xx BX4 CSD deliver -4 volts. Depending on the master system, different voltages are possible on RxD (typically a PC delivers between -5V ... -9V).

Baud rate might be anywhere between 125kBit and 1Mbit. We recommend to use node-guarding. Guard time could be 100ms, life time factor of the guarding = 3. Use a Synch with a minimum of 10ms. Add 1ms to the synch cycle for every node. To reduce the bus traffic send the RxPDOs only if a value has changed (transmission type 255). In most cases actual values are monitored cyclically though. So change their transmission type to 1 – every SYNCH cycle.

Check the termination resistors. The standard configuration is a 120 Ohm termination at the two ends of the bus. So if the devices are switched off, you should be able to measure a resistance of 60 Ohm between CAN_H and CAN_L.

There is no strict rule. The overall value has to be in the range of 40 Ohm to 80 Ohm. But the places with the best effect have to be identified my minimization of bus errors. Start with a 60 Ohm in the central connection.

There is a sequence for the PDO mapping. Even dynamic mapping should be done while the nodes are still in the pre-operational stage of the CAN communication. It can be done in the operational stage too. To do this, the invalid bit of the PDO has to be set first. This is the MSB of the COB-ID parameter of the PDO. Then change the mappings and reset the invalid bit again.

The minimum update rate is 500µs, typical values could be 1ms … 2ms depending on the type of operation. For a system using server based interpolation 1ms is a good choice.

Profile based modes (PP, PV) are used if only a single axis is moved or if the different axes to be moved don't need a tight synchronization. These modes are ideally suited for a bus system, with limited update rate such as RS232 or CAN. Controller based scripts are the same.

Cyclic modes (CSP, CSV, CST) are used, if the trajectory of the movement is calculated in the master. This can be for a single axis or for a multi-axis configuration. In these cases even some of the control loops (most probably the pos loop only) might be closed in the master. A typical configuration is a master using NC-I interpolation and a number of slaves in CSP mode like our milling cutter demo.

Analog modes (APC, AVC, ATC) are used, if the ref-value is not to be received via bus system but via one of the discrete inputs. This can be torque-, speed- or position control using an analog ref like a potentiometer or an analog output of a PLC. It can be a PWM-ref or a ref-encoder in gear-mode.