Faulhaber 2232***BX4S series, Instruction Manual

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

Page 2: ......

Page 3: ...e 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 loss...

Page 4: ...E3 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...

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...

Page 6: ...n 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 speci...

Page 7: ...ering 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...

Page 8: ...ly 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 FAUL...

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...

Page 10: ...rection 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...

Page 11: ...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 observe...

Page 12: ...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...

Page 13: ...cient 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 uni...

Page 14: ...t 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 d...

Page 15: ...tected 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 Con...

Page 16: ...le 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 acco...

Page 17: ...C 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 controll...

Page 18: ...ll 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 CI...

Page 19: ...c 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...

Page 20: ...onents 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 FAULHABE...

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...

Page 22: ...ore 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...

Page 23: ...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 intende...

Page 24: ...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...

Page 25: ...r 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 ro...

Page 26: ...upply 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 n...

Page 27: ...imiting 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 p...

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 config...

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 th...

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...

Page 31: ...en 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...

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 Fix...

Page 33: ...ation 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 T...

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 temperat...

Page 35: ...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 o...

Page 36: ...ds 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 s...

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 th...

Page 38: ...ermal 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 a...

Page 39: ...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 sens...

Page 40: ...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 s...

Page 41: ...2 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...

Page 42: ...onstant 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...

Page 43: ...5 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...

Page 44: ...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...

Page 45: ...ply 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 Ui...

Page 46: ...00 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...

Page 47: ...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 sens...

Page 48: ...all 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 stainles...

Page 49: ...2 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...

Page 50: ...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 materia...

Page 51: ...5 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...

Page 52: ...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 flan...

Page 53: ...tronic 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...

Page 54: ...vomotor 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 servomoto...

Page 55: ...tage 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 wit...

Page 56: ...lves 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 contro...

Page 57: ...ying 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...

Page 58: ...58 Notes...

Page 59: ...59 Notes...

Page 60: ...DR FRITZ FAULHABER GMBH CO KG Subject to change without notice DR FRITZ FAULHABER GMBH CO KG KG Antriebssysteme Daimlerstra e 23 25 71101 Sch naich Germany Tel 49 0 7031 638 0 Fax 49 0 7031 638 100 i...