Faulhaber MC 3001 B Manuel utilisateur
WE CREATE MOTION
Technical Manual
MC 3001 B/P
EN
Imprint
2
Version:
1st edition, 12.02.2021
Copyright
by Dr. Fritz Faulhaber GmbH & Co. KG
Daimlerstr. 23 / 25 · 71101 Schönaich
All rights reserved, including those to the translation.
No part of this description may be duplicated, reproduced,
stored in an information system or processed or
transferred in any other form without prior express written
permission of 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.
The relevant regulations regarding safety engineering
and interference suppression as well as the requirements
specified in this document are to be noted and followed
when using the software.
Subject to change without notice.
The respective current version of this technical manual is
available on FAULHABER's internet site:
www.faulhaber.com
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Content
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1 About this document ....................................................................................................... 5
1.1 Validity of this document ...................................................................................... 5
1.2 Associated documents ............................................................................................ 5
1.3 Using this document .............................................................................................. 5
1.4 List of abbreviations ............................................................................................... 6
1.5 Symbols and designations ...................................................................................... 7
2 Safety ................................................................................................................................ 8
2.1 Intended use ........................................................................................................... 8
2.2 Safety instructions .................................................................................................. 9
2.3 Environmental conditions ...................................................................................... 9
2.4 EC directives on product safety ........................................................................... 10
3 Product description ........................................................................................................ 11
3.1 General product description ................................................................................ 11
3.2 Product information ............................................................................................. 12
3.3 Product variants .................................................................................................... 13
3.3.1 Controller PCBs...................................................................................... 13
3.3.1.1 Standard PCB with micro board-to-board connectors
(MC3001 B) ............................................................................. 13
3.3.1.2 Standard PCB with plug connectors (MC 3001 P) ................ 17
3.3.2 Motherboards ....................................................................................... 20
3.3.2.1 Instructions for using other motherboards.......................... 20
3.3.2.2 Motherboard 6500.01802...................................................... 22
3.3.2.3 Motherboard 6500.01807...................................................... 29
3.3.2.4 Motherboard 6500.01808...................................................... 35
3.3.2.5 Motherboard 6500.01809...................................................... 40
3.3.2.6 Motherboard 6500.01810...................................................... 45
3.3.2.7 Motherboard 6500.01811...................................................... 50
4 Installation ...................................................................................................................... 55
4.1 Mounting .............................................................................................................. 55
4.1.1 Mounting instructions .......................................................................... 55
4.1.2 Installation of Motion Controller PCBs................................................ 56
4.2 Electrical connection ............................................................................................ 57
4.2.1 Notes on the electrical connection ...................................................... 57
4.2.2 Drive connections.................................................................................. 58
4.2.3 Connection of the power supply ......................................................... 59
4.2.3.1 Power supply.......................................................................... 59
4.2.4 I/O circuit diagrams ............................................................................... 60
4.2.5 External circuit diagrams ...................................................................... 62
4.3 Electromagnetic compatibility (EMC) .................................................................. 65
4.3.1 Considered systems ............................................................................... 65
4.3.2 Functional earthing .............................................................................. 67
4.3.3 Cable routing ........................................................................................ 67
4.3.4 Shielding................................................................................................ 69
4.3.4.1 Establishing the shield connection ....................................... 70
4.3.4.2 Establishing shield connection with cable lug ..................... 71
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4.3.5 Sensor and encoder interfaces ............................................................. 72
4.3.5.1 Analogue sensors and analogue Hall sensors ...................... 73
4.3.5.2 Incremental encoders / Digital Hall sensors /
Digital sensors ........................................................................ 73
4.3.5.3 Encoders with absolute interface ......................................... 73
4.3.6 Using filters ........................................................................................... 73
4.3.6.1 EMC-compliant mounting of the Motion Controller with
motherboard.......................................................................... 74
4.3.6.2 PWM filter (motor-side) ........................................................ 74
4.3.6.3 Emission-reducing, ferrite-based filters (motor side) .......... 74
4.3.6.4 Input-side filters..................................................................... 75
4.3.6.5 Insulation resistance .............................................................. 75
4.3.6.6 Coiling ferrite ring ................................................................. 75
4.3.7 Error avoidance and troubleshooting ................................................. 76
5 Maintenance and diagnostics ........................................................................................ 78
5.1 Maintenance tasks ................................................................................................ 78
5.2 Diagnosis ............................................................................................................... 78
5.3 Troubleshooting ................................................................................................... 78
6 Accessories ...................................................................................................................... 79
7 Warranty ......................................................................................................................... 80
8 Additional documents .................................................................................................... 81
8.1 Declaration of Conformity ................................................................................... 81
8.2 Declaration of Incorporation ............................................................................... 83
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About this document
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1 About this document
1.1 Validity of this document
This document describes the installation and use of the FAULHABER MC 3001 series.
This document is intended for use by trained experts authorised to perform installation and
electrical connection of the product.
All data in this document relate to the standard versions of the series listed above. Changes
relating to customer-specific versions can be found in the corresponding data sheet.
1.2 Associated documents
For certain actions during commissioning and operation of FAULHABER products additional
information from the following manuals is useful:
These manuals can be downloaded in pdf format from the web page
www.faulhaber.com/manuals.
1.3 Using this document
Read the document carefully before undertaking configuration, in particular chapter
“Safety”.
Retain the document throughout the entire working life of the product.
Keep the document accessible to the operating and, if necessary, maintenance person-
nel at all times.
Pass the document on to any subsequent owner or user of the product.
Manual 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
Accessories manual Description of the accessories
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About this document
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1.4 List of abbreviations
Abbreviation Meaning
AC Alternating Current
AES Absolute encoder
AGND Analogue Ground
AnIn Analogue input
CAN Controller Area Network
CAN_L CAN-Low
CAN_H CAN-High
CLK Clock
CS Chip Select
DigIn Digital input
DigOut Digital output
EFM Electronics Filter Motor
EFS Electronics Filter Supply
EMC Electromagnetic compatibility
ESD Electrostatic discharge
GND Ground
I/O Input/Output
MC Motion Controller
Mot Motor
n.c. not connected
PWM Pulse Width Modulation
RxD Receive Data
SGND Signal ground
TxD Transmit data
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About this document
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1.5 Symbols and designations
CAUTION!
Hazards due to hot surfaces. Disregard may lead to burns.
Measures for avoidance
NOTICE!
Risk of damage.
Measures for avoidance
Pre-requirement for a requested action
1. First step for a requested action
Result of a step
2. Second step of a requested action
Result of an action
Request for a single-step action
Instructions for understanding or optimising the operational procedures
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Safety
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2 Safety
2.1 Intended use
The Motion Controllers described here are designed for use as slaves for control and posi-
tioning tasks for the following motors:
DC-Micromotors
Linear DC-Servomotors
Brushless DC-motors
The Motion Controller is suitable in particular for tasks in the following fields of applica-
tion:
Robotics
Toolbuilding
Automation technology
Industrial equipment and special machine building
Medical technology
Laboratory technology
When using the Motion Controllers the following aspects should be observed:
The Motion Controller contains electronic components and should be handled in
accordance with the ESD regulations.
Do not use the Motion Controller in environments where it will come into contact with
water, chemicals and/or dust, nor in explosion hazard areas.
The Motion Controller is not suitable for use in combination with stepper motors.
The Motion Controller should be operated only within the limits specified in the data
sheet.
Please ask the manufacturer for information about use under individual special
environmental conditions.
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Safety
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2.2 Safety instructions
NOTICE!
Electrostatic discharges can damage the electronics.
Wear conductive work clothes.
Wear an earthed wristband.
NOTICE!
Foreign bodies can damage the electronics.
Keep foreign objects away from the electronics.
NOTICE!
Inserting and withdrawing connectors whilst supply voltage is applied at the device can
damage the electronics.
Do not insert or withdraw connectors whilst supply voltage is applied at the device.
2.3 Environmental conditions
Select the installation location so that clean dry air is available for cooling the Motion
Controller.
Select the installation location so that the air has unobstructed access to flow around
the drive.
When installed within housings and cabinets take particular care to ensure adequate
cooling of the Motion Controller.
Select a power supply that is within the defined tolerance range.
Protect the Motion Controller against heavy deposits of dust, in particular metal dust
and chemical pollutants.
Protect the Motion Controller against humidity and wet.
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Safety
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2.4 EC directives on product safety
The following EC directives on product safety must be observed.
If the Motion Controller is 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 these installation instructions may be
drive systems according to the Machinery Directive. They are therefore to be considered
incomplete machines according to the Machinery Directive. Compliance is documented by
the Declaration of Incorporation for the product and by the EC Declaration of the Conform-
ity.
EMC Directive (2014/30/EU)
The directive concerning electromagnetic compatibility (EMC) applies to all electrical and
electronic devices, installations and systems sold to an end user. In addition, CE marking can
be undertaken for built-in components according to the EMC Directive. Conformity with
the directive is documented in the Declaration of Conformity.
Applied standards
Various harmonised standards were applied to the products described in this technical
manual; these standards are documented in the EC Declaration of Conformity. You can find
the Declaration of Incorporation for the product and the EC Declaration of Conformity in
chap. 8, p. 81.
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