Faulhaber 2232***BX4 series, Instruction Manual

Page 1: ...EN Brushless DC servo motors Series 2232 BX4 S Series 2250 BX4 S Instruction Manual WE CREATE MOTION ...

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Page 3: ...ue care Dr Fritz Faulhaber GmbH Co KG cannot accept any liability for any errors in these operating instructions or for the consequences of such errors Equally no liability is ac cepted for direct losses or consequential damages resulting from improper use of the devices The pertinent regulations regarding safety engineering and interference suppression as well as the specifications in these opera...

Page 4: ...IE3 L 15 3 3 3 Motor with SC speed controller 16 3 4 Connection examples 17 3 4 1 Motor without attachment 17 3 4 2 Motor with encoder IE3 17 3 4 3 Motor with encoder IE3 L 18 3 4 4 Motor with SC speed controller 19 4 Functional Description 20 4 1 Motor without attachment 20 4 1 1 Connection functions 20 4 2 Motor with encoder IE3 or IE3 L 22 4 2 1 Connection functions 22 4 3 Motor with SC speed c...

Page 5: ... 2 Product dimensions 45 7 4 3 Connection information 45 7 5 Motor 2250 BX4 without attachment 46 7 5 1 Operating data 46 7 5 2 Product dimensions 47 7 5 3 Connection information 47 7 6 Motor 2250 BX4 with encoder IE3 48 7 6 1 Operating data 48 7 6 2 Product dimensions 49 7 6 3 Connection information 49 7 7 Motor 2250 BX4 with encoder IE3 L 50 7 7 1 Operating data 50 7 7 2 Product dimensions 51 7 ...

Page 6: ...in these operating instructions refers to the standard version of the motors Please refer to any additional information sheet provided in the event of differences in information due to a customer specific motor modification Symbols used in these operating instructions 1 1 WARNING Warning This pictogram with the wording Warning indicates an imminent danger which can result in phy sical injuries Thi...

Page 7: ...tering technology External control electronics are required to operate the motors without integrated speed controllers The motor contains magnetic and electromagnetic components Any effects as well as the specific relevant national regulations must be taken into account when using the motor The motor may not be used in environments where contact with water chemicals and or dust is possible or in p...

Page 8: ...lly con sists of a three phase winding stator and a four pole permanent magnet rotor The commutation takes place via an additional external control The rotor position is detected by 3 Hall signals FAULHABER s SC 2804 control is recommended for operation of the servomotor 1 2 5 4 6 7 8 9 10 11 12 13 14 3 1 Cover 2 Adapter board 3 Ribbon cable 4 Press ring 5 Spring 6 Rear motor bearing 7 Winding wit...

Page 9: ... designation Example Motor 2232 BX4S IE3 128 L Features Motor 2232 BX4S with encoder 128 pulses rotation line driver Line driver Encoders with an L in the encoder designation have differential encoder signal outputs Therefore common mode interferences are suppressed and longer supply connectors are enabled The precise function is described in section 4 2 Motor with encoder IE3 or IE3 L 1 2 3 6 5 4...

Page 10: ...irection of rotation via switch input Reading out the speed signal via the frequency output CAUTION Risk of damage Switching over the motor s direction of rotation reversing duty too quickly can cause damage Do not use the speed controller for reversing duty f f 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 1 Cover 2 Sealing disc 3 Heat transfer pad 4 Built on housing 5 Ribbon cable 6 Controller bo...

Page 11: ...l Data Mounting flange When fixing the servomotor to the front flange the screws must be locked as they can loosen at high temperatures The maximum length of the fixing screws must be noted and observed as otherwise the motor will be destroyed The depth of engagement in the motor may not exceed be exceeded See section 7 Technical Data The maximum tightening torques are usually limited by the stren...

Page 12: ...f the equipment in the intended environment with regard to immunity The units are intended for industrial use only If the devices are used in the home in business or in commerce or in a small business appropriate measures must be taken to ensure that the emitted interference is below the permitted limits Description of the EMC measures 3 2 1 The EMC suppressor circuit motor with Speed Controller S...

Page 13: ...icient D1 and D2 e g P6KE33A from STMicroelectronics NOTE Exceptions It may not be necessary to implement the additional EMC measures named If the motor is fed e g from a CE conforming power supply unit the EMC suppressor circuit can be dispensable In this case the power supply unit takes on the function of the EMC suppressor circuit according to circuit diagram 2 NOTE Motor without attachment A C...

Page 14: ...at the connection pin assignment of the ribbon cable can result in irreparable damage to the motor It may only be processed in ESD protected workplaces f f Incorrect connection of the cores can cause damage to or destruction of the electronics Connect the ribbon cable in accordance with the connector pin assignment see table f f Connection pin assignment of the ribbon cable Core Function Value 1 r...

Page 15: ...otected workplaces f f Incorrect connection of the cores can cause damage to or destruction of the electronics Connect the ribbon cable in accordance with the connector pin assignment see table f f Connection pin assignment of the ribbon cable for encoders without line driver IE3 Core Function Value 1 red n c 2 Channel I index 3 GND Enc 4 UDD Enc 4 5 5 5 V DC 5 Channel B 6 Channel A 1 2 3 4 5 6 Ad...

Page 16: ...ble damage to the motor It may only be processed in ESD protected workplaces f f Incorrect connection of the cores can cause damage to or destruction of the electronics Connect the ribbon cable in accordance with the connector pin assignment see table f f Connection pin assignment of the ribbon cable for motor with commutation electronics Core Function Value 1 red UP 5 28 V DC 2 Umot 6 2 UN max 28...

Page 17: ...CC SGND Mot A Mot B Mot C Sens A Sens B Sens C In the example the servomotor is operated with the FAULHABER control SC 2804 S Motor with encoder IE3 3 4 2 UDD GND Phase A Phase B Phase C motor controller Hall sensor A Hall sensor B Hall sensor C VCC SGND Mot A Mot B Mot C Sens A Sens B Sens C GND Enc Channel I Channel A Channel B UDD Enc Channel I Channel A Channel B ...

Page 18: ...all sensor C VCC SGND Mot A Mot B Mot C Sens A Sens B Sens C GND Enc Channel B Channel A Channel A UDD Enc Channel I Channel B Channel A Channel I Channel I Channel B ST26C32A GND VCC BIN1 AIN2 AIN1 CIN2 CIN1 BIN2 COUT BOUT AOUT The differential encoder signals are joined with a TIA 422 compatible receiver module on the con nection side here ST26C32A ...

Page 19: ...ic speed control FG DIR Unsoll GND Umot Up 12 V DC 3 V DC ca 300 Hz The motor rotated anti clockwise with approx 3000 rpm the speed is controlled electronically External speed control FG DIR Unsoll GND Umot Up 12 V DC 0 V DC 2 x UN max 28 V DC 10 V DC ca 190 Hz The motor rotates e g with 1900 rpm in a clockwise direction the speed is controlled by the motor voltage Umot Approx 190 Hz is measured a...

Page 20: ...ponents can arise as a result of which the emission behaviour of the motor can worsen Ensured operation of the motor within the EMC requires a harmonic free rotating field or the f f suggested FAULHABER control see section 3 4 Connection Examples GND core 4 Joint ground of the hall sensors UDD core 5 Joint power supply of the hall sensors Voltage range 2 2 18 V DC Input current 18 mA Output signal...

Page 21: ... t 120 UHall A 1 revolution 360 t T T T NOTE The outputs of the Hall sensors are designed as open collectors Therefore pull up resistances are required for operation Phase B Phase A GND UDD Hall sensor C 2 2 18 V DC Phase C Hall sensor B Hall sensor A Rpull Rpull Rpull Rpull 820 ...

Page 22: ...core 2 Output signal index signal Pulse rate 1 pulse revolution GND Enc core 3 Ground connection for the encoder isolated from the motor UDD Enc core 4 Supply voltage for the encoder isolated from the motor For voltage range see section 7 Technical Data Channel B core 5 Output signal B of the pulse generator 90 offset from Channel A COMES and TTL compatible Pulse rate depending on the encoder setu...

Page 23: ...l Description 4 Motor with encoder IE3 or IE3 L 4 2 Channel I t 90 e Channel B t 90 e Channel A 360 e t t The display of the signals and phase displacement relates to a clockwise rotating motor intended for output ...

Page 24: ...d connection for the encoder isolated from the motor Kanal A core 5 Inverted output signal A of the pulse generator TIA 422 compatible Pulse rate depending on the encoder setup 32 64 128 or 256 pulses revolution Channel A core 6 Output signal A of the pulse generator TIA 422 compatible Pulse rate depending on the encoder setup 32 64 128 or 256 pulses revolution Channel B core 7 Inverted output sig...

Page 25: ...or with encoder IE3 or IE3 L 4 2 Channel I t 90 e Channel I t 90 e Channel B t Channel B t 90 e Channel A t Channel A 360 e t The display of the signals and phase displacement relates to a clockwise rotating motor intended for output ...

Page 26: ...Supply voltage for the motor winding For voltage range see section 7 Technical Data GND core 3 Common earth Untarget core 4 Control voltage for the target velocity Voltage range 0 10 V DC V DC max UP not defined For resolution see section 7 Technical Data If Untarget 10 V DC the speed is regulated to the value corresponding to 10 V DC This value is above the nominal speed so that full control occu...

Page 27: ...miting is deactivated Frequency output Frequency output for reading out the actual motor speed Signal setup 6 pulses per motor revolution 1 revolution NOTE Pull up resistance An additional external pull up resistance can be connected to increase the edge steepness The ma ximum loadability of the digital output must be noted and observed See circuit diagram UP FG 1 6 3 GND Ω 22 kΩ Due to the coupli...

Page 28: ... suitable for the speed controller The software is available on request or from the FAULHABER homepage http www faulhaber group com CAUTION Risk of damage Before starting up check the parameters configured in the control and if necessary adjust to the con nected motor Incorrectly set values can cause fatal damage to the motor and or the speed controller In particular the following parameters must ...

Page 29: ... active braking option If problems occur during operation with the braking function in the default setting it can be deactivated Filtering averaging of the hall sensor signals If problems occur with the default setting the time of a complete electrical half motor revoluti on is evaluated to obtain a continuous speed signal This can cause instable motor running at low speeds as the control dynamics...

Page 30: ...tional to the pulse duty factor The maximum target velocity at 100 can be configured See section 4 3 4 Parameter Settings Example block diagram BL motor with Hall sensors DIR Rotationaldirectioninput Evaluation rotational direction Unsoll nsoll Setpointinput Digitaloutput FG 22 kΩ Electronicssupply Up Motorsupply Umot GND MOSFET Power output stage Protectionfunction Overtemperature Microcontroller...

Page 31: ...pen Motor stops at Untarget 2 4 V No function The motor always runs Operation as voltage controller volt mode The integrated speed controller can be configured for function as a voltage controller The motor voltage is then output proportionally to the voltage at the nominal speed value input Untarget The current limitation remains active With this configuration it is possible to use a master contr...

Page 32: ... the motor Fixed speed value For operation with a fixed speed the nominal speed value is input via an adjustable parameter See section 4 3 3 Special Configurations Parameter Meaning max value Units Fixed speed value NsetFix Nominal speed value which is input in operation with fixed speed 65 535 rpm Pulses per motor revolution It is possible to configure the digital output FG as a frequency output ...

Page 33: ...iation the allowed overswing and the required stability reserves The control circuit must also satisfy these requirements to that the controller parameters must also be adjusted with respect to these The PI speed controller used here enables two parameters to be set proportional and integral action component Parameter Meaning max value Units V Proportional component 32 767 Digit VI Proportional co...

Page 34: ... then comes into operation and limits the current to this set point A thermal current model operating in parallel calculates a model temperature from the actually flowing current If this model temperature exceeds a critical value continuous current is switched to and the motor current is regulated to this Only when the load becomes so small that the tempera ture falls below the critical model temp...

Page 35: ...f the integrated speed controller operates with so called pulse width mo dulation PWM At a fixed frequency the PWM frequency the pulse duty factor is set between the on time and the off time depending on the controller output value The advantage of this procedure is that the losses in the drive electronics are very low In contrast the losses in a linear output stage can be very large and it become...

Page 36: ...ads can affect the function and properties with respect to EMC All connection leads may not exceed a length of 3 m The connected mechanism is installed free of blockages The loads and stresses on the shaft axial radial and torques are within the specified values see section 7 Technical Data CAUTION Risk of injuries A risk of injuries can result from protruding rotating or moving parts of the drive...

Page 37: ... are necessary Troubleshooting 6 2 The servomotor is designed to be fault free provided the parameters given in these operating inst ructions are complied with Should a malfunction occur in spite of this please contact the manufacturer Switchboard 49 0 7031 638 0 E Mail info faulhaber de Internet www faulhaber com ...

Page 38: ... Thermal time constant w1 w2 4 1 360 4 1 370 s Operating temperature range 40 100 40 100 C Shaft bearings ball bearings preloaded Shaft load max radial at 3 000 rpm 4 mm from mounting flange 20 N axial at 3 000 rpm 2 N axial at standstill 20 N Shaft play radial 0 015 mm axial 0 mm Housing material stainless steel Weight 70 g Direction of rotation electronically reversible Number of pole paires 2 R...

Page 39: ...with respect to motor cable 10 Connection information 7 1 3 UDD UDD UDD N N S S UDD 2 0 5 1 8 Coil winding 3 x 120 Function Phase C Phase B Phase A GND UDD 2 2 18V DC Hall sensor C Hall sensor B Hall sensor A Connection Cable Jacket Material PVC 8 conductors AWG 26 grid 1 27 mm wires tinned No 1 2 3 4 5 6 7 8 1 5 2 4 3 6 7 8 Options connector variants Motor AWG 26 PVC ribbon cable 8 conductors wit...

Page 40: ...t w1 w2 4 274 4 283 s Operating temperature range 40 85 40 85 C Shaft bearings ball bearings preloaded Shaft load max radial at 3 000 rpm 4 mm from mounting flange 20 N axial at 3 000 rpm 2 N axial at standstill 20 N Shaft play radial 0 015 mm axial 0 mm Housing material stainless steel Weight 81 g Direction of rotation electronically reversible Number of pole paires 2 Recommended values mathemati...

Page 41: ... 67 6 162 10 Amplitude Rotation Output signals with clockwise rotation as seen from the shaft end No Function 1 n c 2 Channel I Index 3 GND Enc 4 UDD Enc 5 Channel B 6 Channel A Caution Incorrect lead connec tion will damage the motor electronics No Function 1 Phase C 2 Phase B 3 Phase A 4 GND 5 UDD 2 2 18 V DC 6 Hall sensor C 7 Hall sensor B 8 Hall sensor A Output circuit Connection Encoder Conne...

Page 42: ... constant w1 w2 4 1 274 4 1 283 s Operating temperature range 40 85 40 85 C Shaft bearings ball bearings preloaded Shaft load max radial at 3 000 rpm 4 mm from mounting flange 20 N axial at 3 000 rpm 2 N axial at standstill 20 N Shaft play radial 0 015 mm axial 0 mm Housing material stainless steel Weight 81 g Direction of rotation electronically reversible Number of pole paires 2 Recommended valu...

Page 43: ... P 180 45 Output signals with clockwise rotation as seen from the shaft end Caution Incorrect lead connec tion will damage the motor electronics Output circuit Connection Motor Connection Encoder No Function 1 Phase C 2 Phase B 3 Phase A 4 GND 5 UDD 2 2 18V DC 6 Hall sensor C 7 Hall sensor B 8 Hall sensor A No Function 1 n c 2 UDD Enc 3 GND Enc 4 n c 5 Channel A 6 Channel A 7 Channel B 8 Channel B...

Page 44: ...on max 65 70 107 115 103 rad s Thermal resistance Rth 1 Rth 2 2 13 2 13 K W Thermal time constant w1 w2 4 1 274 4 1 283 s Operating temperature range 40 85 40 85 C Shaft bearings ball bearings preloaded Shaft load max radial at 3 000 rpm 4 mm from mounting flange 20 N axial at 3 000 rpm 2 N axial at standstill 20 N Shaft play radial 0 015 mm axial 0 mm Housing material stainless steel Weight 77 g ...

Page 45: ... supply electronic coil Umot 6 28 V Connection 3 GND ground ground Connection 4 Unsoll analog input input voltage Uin 0 10 V input resistance Rin 5 k set speed value per 1 V 2 000 2 000 1 000 1 000 rpm Uin 0 15 V Motor stops Uin 0 3 V Motor starts Connection 5 DIR analog input direction of rotation to ground or level 0 5 V counterclockwise open or level 3 V clockwise input resistance Rin 10 k Conn...

Page 46: ...0 100 40 100 C Shaft bearings ball bearings preloaded Shaft load max radial at 3 000 rpm 4 mm from mounting flange 20 N axial at 3 000 rpm 2 N axial at standstill 20 N Shaft play radial 0 015 mm axial 0 mm Housing material stainless steel Weight 90 106 g Direction of rotation electronically reversible Number of pole paires 2 Recommended values mathematically independent of each other Speed up to 2...

Page 47: ...with respect to motor cable 10 Connection information 7 5 3 UDD UDD UDD N N S S UDD 2 0 5 1 8 Coil winding 3 x 120 Function Phase C Phase B Phase A GND UDD 2 2 18V DC Hall sensor C Hall sensor B Hall sensor A Connection Cable Jacket Material PVC 8 conductors AWG 26 grid 1 27 mm wires tinned No 1 2 3 4 5 6 7 8 1 5 2 4 3 6 7 8 Options connector variants Motor AWG 26 PVC ribbon cable 8 conductors wit...

Page 48: ... ball bearings preloaded Shaft load max radial at 3 000 rpm 4 mm from mounting flange 20 N axial at 3 000 rpm 2 N axial at standstill 20 N Shaft play radial 0 015 mm axial 0 mm Housing material stainless steel Weight 101 117 g Direction of rotation electronically reversible Number of pole paires 2 Recommended values mathematically independent of each other Speed up to 2 ne max 12 500 9 200 rpm Tor...

Page 49: ... 67 6 162 10 Amplitude Rotation Output signals with clockwise rotation as seen from the shaft end No Function 1 n c 2 Channel I Index 3 GND Enc 4 UDD Enc 5 Channel B 6 Channel A Caution Incorrect lead connec tion will damage the motor electronics No Function 1 Phase C 2 Phase B 3 Phase A 4 GND 5 UDD 2 2 18 V DC 6 Hall sensor C 7 Hall sensor B 8 Hall sensor A Output circuit Connection Encoder Conne...

Page 50: ...t bearings ball bearings preloaded Shaft load max radial at 3 000 rpm 4 mm from mounting flange 20 N axial at 3 000 rpm 2 N axial at standstill 20 N Shaft play radial 0 015 mm axial 0 mm Housing material stainless steel Weight 101 117 g Direction of rotation electronically reversible Number of pole paires 2 Recommended values mathematically independent of each other Speed up to 2 ne max 12 500 9 2...

Page 51: ... P 180 45 Output signals with clockwise rotation as seen from the shaft end Caution Incorrect lead connec tion will damage the motor electronics Output circuit Connection Motor Connection Encoder No Function 1 Phase C 2 Phase B 3 Phase A 4 GND 5 UDD 2 2 18V DC 6 Hall sensor C 7 Hall sensor B 8 Hall sensor A No Function 1 n c 2 UDD Enc 3 GND Enc 4 n c 5 Channel A 6 Channel A 7 Channel B 8 Channel B...

Page 52: ...0 5 1 2 10 5 K W Thermal time constant w1 w2 4 2 332 4 2 424 s Operating temperature range 40 85 40 85 C Shaft bearings ball bearings preloaded Shaft load max radial at 3 000 rpm 4 mm from mounting flange 20 N axial at 3 000 rpm 2 N axial at standstill 20 N Shaft play radial 0 015 mm axial 0 mm Housing material stainless steel Weight 97 117 g Direction of rotation electronically reversible Number ...

Page 53: ...electronic coil Umot 6 28 V Connection 3 GND ground ground Connection 4 Unsoll analog input input voltage Uin 0 10 V input resistance Rin 5 k set speed value pro 1 V 2 000 1 000 rpm Uin 0 15 V Motor stops Uin 0 3 V Motor starts Connection 5 DIR analog input direction of rotation to ground or level 0 5 V counterclockwise open or level 3 V clockwise input resistance Rin 10 k Connection 6 FG with max...

Page 54: ...rvomotor at the rear end with a radial force greater than 30 N f f Tighten the screws with maximum 50 Ncm Note the strength of the screws f f NOTE Service life The full life is reached if the servomotor is not exposed to shock or vibration loads CAUTION Risk of damage The ribbon cables may be damaged if the static or dynamic load is too high The tension exerted on the cable must not exceed 30 N in...

Page 55: ...ltage Directive 2006 95 EC It applies to all electrical equipment with a nominal voltage from 75 to 1 500 V DC or from 50 to 1 000 V AC The products described in this instruction manual do not fall within the scope of this Direc tive as they are designed for smaller voltages EMC Directive 2004 108 EC The Electromagnetic Compatibility EMC Directive applies to all electronic and electrical equipment...

Page 56: ...elves functioning machines and for this reason do not yet comply with all parts of the relevant provisions of the Machinery Directive Product name Micro drives DC micro motors step motors motion control sys tems precision gears servo components controls micro precision systems linear DC servomotors piezometric motors Brand names FAULHABER PRECIstep FTB penny motor smoovy FAULHABER BX4 FAULHABER mo...

Page 57: ...nying or consequential loss for whatever legal reason are excluded This does not apply if a we are maliciously silent with regard to a legal or material defect or have issued a guarantee for the nature of the goods b the loss is due to deliberate intent or gross negligence by us our legal representatives or vicari ous agents or are based on negligent breach of fundamental contract obligations by t...

Page 58: ...58 Notes ...

Page 59: ...59 Notes ...

Page 60: ...9 DR FRITZ FAULHABER GMBH CO KG Subject to change without notice DR FRITZ FAULHABER GMBH CO KG KG Antriebssysteme Daimlerstraße 23 25 71101 Schönaich Germany Tel 49 0 7031 638 0 Fax 49 0 7031 638 100 info faulhaber de www faulhaber com ...