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Faulhaber 3564K024B CS Instruction Manual

Manual is about: Motion Control Systems; Motion Controller

Summary of 3564K024B CS

  • Page 1

    We create motion instruction manual en motion control systems series 3564k024b cs motion controller series mcbl 3003/06 s series mcdc 3003/06 s rs232 dff_090277_bedienanleitung_sw.Indd 3 25.03.2009 13:34:19 uhr.

  • Page 3: Imprint

    3 version: 4th edition, 03.04.2009 copyright by dr. Fritz faulhaber gmbh & co. Kg daimlerstr. 23 / 25 · 71101 schönaich all rights reserved, including translation rights. No part of this description may be duplicated, reproduced, stored in an information system or processed or transferred in any oth...

  • Page 4: Table of Contents

    4 table of contents 1 important information 6 1.1 symbols used in this instruction manual 6 1.2 safety instructions 7 2 description 8 2.1 general product description, motor 3564k024b cs 8 2.2 general product description, motion controller 9 2.3 quick start 11 2.3.1 operation via faulhaber motion man...

  • Page 5: Table of Contents

    5 table of contents 5 parameter description 57 5.1 basic setting commands 58 5.1.1 commands for special operating modes 58 5.1.2 parameters for basic setting 58 5.1.3 general parameters 59 5.1.4 configuration of fault pin and digital inputs 60 5.1.5 configuration of homing and limit switches in 60 5...

  • Page 6: 1 Important Information

    6 warning! This pictogram with the wording "warning!" indicates an imminent danger which can result in physical injuries. This arrow points out the appropriate action to take to prevent the imminent danger. Caution! This pictogram with the wording "caution!" indicates an imminent danger which can re...

  • Page 7: 1 Important Information

    7 1 important information observance of the following safety instructions is prerequisite for trouble-free and safe operation of the motor and the motion controller. Therefore, please carefully read through all the notes and follow them when using the controllers. Intended use faulhaber motion contr...

  • Page 8: 2 Description

    8 2 description 2.1 general product description, motor 3564k024b cs the 3564k024b cs combines an electronically commutated dc-servomotor, a high-resolution en- coder to determine actual position and a programmable position and speed controller, based on a high capacity digital signal processor (dsp)...

  • Page 9: 2 Description

    9 2 description 2.1 general product description, motor 3564k024b cs options separate power supply for the motor and control electronics is possible as an ex-factory option (im- portant for safety-relevant applications). In this case the 3rd input is not required. Special precon- figuration of modes ...

  • Page 10: 2 Description

    10 2 description 2.2 general product description, motion controller various inputs and outputs are available for implementation of these functions: set value input for target velocity. Analog or pwm signal can be used. The input can also be used as digital or reference input. A frequency signal or a...

  • Page 11: 2 Description

    11 2 description 2.3 quick start to facilitate introduction, this chapter highlights the initial steps for commissioning and operation of faulhaber motion controllers with serial interface. However, the detailed documentation must always be read and adhered to, particularly chapter 3.7 "basic settin...

  • Page 12: 2 Description

    12 2 description 2.3 quick start check basic settings incorrect values in the motion controller's settings can result in damage to the controller and / or drive. For external motion controllers mcbl 3003/06 s and mcdc 3003/06 s, you must check that the cor- rect basic settings have been made for the...

  • Page 13: 2 Description

    13 2.3.2 operation via own host application set your host application to the controller transfer rate (default 9600 baud) with the following con- figuration: 8 data bits 1 stop bit no parity the xon/xoff protocol must be used for rapid command sequences or transfer of sequence programs and parameter...

  • Page 14: 3 Installation

    14 3 installation 3.1 assembly the place of installation must be selected so that clean and dry cooling air is available for cooling the unit. The units are intended for indoor operation. Large amounts of dust and high concentra- tions of chemical pollutants must be avoided. Cooling of the unit must...

  • Page 15: 3 Installation

    15 3 installation 3.2 emc compatible installation length of the connection leads the maximum length of the connection leads is limited. None of the connection leads, with the exception of the power supply, may exceed a length of 3 m. Optimisation of performance with respect to emission and immunity ...

  • Page 16: 3 Installation

    16 3 installation 3.3 connector pin assignment depending on their type, motion controllers are equipped with either screw-type terminal strips or pin headers as connection options. The 3564k024b cs motor is equipped with an eight-core connec- tion cable (awg 24). Electronic damage / esd protection e...

  • Page 17: 3 Installation

    17 connector pin assignment, motor end connection designation wire colour meaning 1 ph a brown motor phase a 2 ph b orange motor phase b 3 hall c grey hall sensor c 4 hall b blue hall sensor b 5 sgnd black signal gnd 6 +5 v red vcc 7 hall a green hall sensor a 8 ph c yellow motor phase c in addition...

  • Page 18: 3 Installation

    18 3 installation 3.3 connector pin assignment analog input (analog input, analog gnd = agnd) the analog input is executed as a differential input. The analog gnd should be connected to the power supply gnd. This prevents the voltage drop in the supply cable from affecting the target velocity value....

  • Page 19: 3 Installation

    19 3 installation 3.3 connector pin assignment 3th input this connection can be used as reference or digital input. The drive can also be optionally provided with separate electronics supply at this connection ex-works, enabling the motor voltage to be switched off independently of the electronics s...

  • Page 20: 3 Installation

    20 3.5 motor wiring 3 installation mcdc 3003/06 s; mcbl 3003/06 s: the encoder and signal lines are susceptible to interference, which makes it impossible to specify a maximum cable length. Shielded wires must always be used with cable lengths > 300 mm. It must be generally noted that the lines betw...

  • Page 21: 3 Installation

    21 3.6 baud rate and node number 3 installation the serial interface must be configured as follows: 8 data bits 1 stop bit no parity the xon/xoff protocol must be used for rapid command sequences or transfer of sequence programs and parameter sets. The following transfer rates can be set: 600 baud (...

  • Page 22: 3 Installation

    22 3 installation 3.6 baud rate and node number a serial network can be set up by connecting the transmit cable of the master (pc, plc) to the receive cable of the first node, from where it is looped through to the receive cable of the second node, and so on. The same procedure is followed with the ...

  • Page 23: 3 Installation

    23 simultaneous responses if data is sent simultaneously by several devices, communication disturbance (interference) occurs. No unaddressed query commands may be sent in network mode, as otherwise all units will answer simultaneously and the message frames will mix. Asynchronous (sporadic) response...

  • Page 24: 3 Installation

    24 3 installation 3.7 basic settings during initial commissioning of external motion controllers, a number of basic settings must be made in order to adjust the controller to the connected motor. Use the faulhaber motion manager for easy execution of these adjustments. Risk of destruction failure to...

  • Page 25: 3 Installation

    25 3 installation 3.8 compatibility mode setting compatibility with previous models: the following setting enables maximum compatibility with previous models (3564...Bc, mcbl 2805, mcbl 2803, mcdc 2805 and mcdc 2803). Compatibility the compatibility mode does not create complete compatibility with e...

  • Page 26: 4 Functional Description

    26 4 functional description the motion controllers can be configured for different operating modes. As standard the drive unit is delivered as a servomotor with set value presetting via the serial inter- face. The drive can be reconfigured by means of the corresponding faulhaber commands. If the set...

  • Page 27: 4 Functional Description

    27 4 functional description 4.1 position control in this operating mode, target positions can be preset via the serial interface: setting: contmod or encmod and sor0 operating mode profile and controller parameters are executed via the faulhaber basic setting commands (see chapter 5.1.3 "general par...

  • Page 28: 4 Functional Description

    28 4 functional description 4.1 position control complex motion profiles complicated motion profiles can be generated through appropriate presetting of new values (maxi- mum speed, acceleration, end position) during positioning. After a value change, simply execute a new motion start command (m). Th...

  • Page 29: 4 Functional Description

    29 4 functional description 4.2 velocity control 4.2.1 velocity presetting via rs232 in this operating mode, the drive velocity can be controlled with set value presetting via rs232: setting: contmod or encmod and sor0 operating mode profile and controller parameters are executed via the faulhaber b...

  • Page 30: 4 Functional Description

    30 4.2.2 analog velocity presetting in this operating mode, the drive velocity can be controlled with set value presetting via an analog voltage. Setting: contmod and sor1 operating mode (velocity presetting via voltage at analog input) or sor2 (velocity presetting via pwm signal at analog input). P...

  • Page 31: 4 Functional Description

    31 setting the direction of rotation: command function description adl analog direction left positive voltages at the analog input result in anti- clockwise rotation of the rotor adr analog direction right positive voltages at the analog input result in clock- wise rotation of the rotor example: clo...

  • Page 32: 4 Functional Description

    32 4 functional description 4.3 homing and limit switches the connections anin fault 3., 4., 5. In, if available can be used as reference and limit switch inputs. In bl motors the zero crossing of the hall sensor signals is also available as index pulse, occurring once per revolution. The index puls...

  • Page 33: 4 Functional Description

    33 4 functional description 4.3 homing and limit switches configuration of homing and limit switches: the following commands use the following bit mask for configuration of the limit switch functions: 7 6 5 4 3 2 1 0 analog input fault-pin 3rd input 4th input (only mcdc) 5th input (only mcdc) set or...

  • Page 34: 4 Functional Description

    34 4 functional description 4.3 homing and limit switches example: homing with 3rd input as reference input (rising edge): hp4 sha4 shl4 shn4 alternatively, the homing sequence can also be set with the command cahoseq in conjunction with the commands ha, hl and hn. Homing speed: command function des...

  • Page 35: 4 Functional Description

    35 4 functional description 4.4 enhanced operating modes use the contmod command to revert from an enhanced operating mode to normal mode. 4.4.1 stepper motor mode command function description stepmod stepper motor mode change to stepper motor mode in stepper motor mode, the analog input acts as fre...

  • Page 36: 4 Functional Description

    36 4 functional description 4.4 enhanced operating modes example: motor should turn 1/1000th of a revolution for each input signal: stw1 stn1000 the acceleration and speed values (ac, dec, sp) are also taken into account in step motor mode. These permit gentle starting and deceleration. The position...

  • Page 37: 4 Functional Description

    37 4 functional description 4.4 enhanced operating modes circuit example, gearing mode for mcbl 3003/06 s c ircu it exa m ple : reference sw itch error output evaluation reference mark protective functions: overtemperature overcurrent overvoltage analog input target position calculation position con...

  • Page 38: 4 Functional Description

    38 4 functional description 4.4 enhanced operating modes absolute positioning within one revolution: thanks to the linear hall sensors, the absolute position can be recorded within one revolution on bl motors. This means that even if the power supply is disconnected, the position determination sup- ...

  • Page 39: 4 Functional Description

    39 4 functional description 4.4 enhanced operating modes 4.4.5 voltage regulator mode if the drive is to operate as a pure voltage regulator, this can be configured with voltmod. The mo- tor voltage is then output proportionally to the default value. The current limitation remains active. With this ...

  • Page 40: 4 Functional Description

    40 4 functional description 4.5 special functions of the error connection the error connection (fault pin) can be configured as input or output for different tasks: command function description errout error output fault pin as error output encout encoder output fault pin as pulse output (not mcdc): ...

  • Page 41: 4 Functional Description

    41 command function description co clear output set digital output digout to low level so set output set digital output digout to high level to toggle output switch to digital output digout 4 functional description 4.5 special functions of the error connection.

  • Page 42: 4 Functional Description

    42 4 functional description 4.6 sequence programs sequence programs that are stored directly in the data flash memory of the controller and executed from there can be created for stand-alone applications or for partially autonomous sequences. The sequence programs can be created and transferred with...

  • Page 43: 4 Functional Description

    43 4 functional description 4.6 sequence programs the following commands stop the sequence until the relevant position is reached: np … notify position the sequence stops at the next m or v command, until the relevant position is reached. Hn ...Hard notify the sequence stops at the gohoseq command o...

  • Page 44: 4 Functional Description

    44 additional commands for use within sequence programs: command argument function description delay value delay stop sequence for a defined time argument: in 1/100 seconds value: 0 to 65535 timeout value timeout with notify commands, only wait for the specified time and then continue the sequence a...

  • Page 45: 4 Functional Description

    45 4 functional description 4 functional description 4.6 sequence programs 4.6 sequence programs command argument function description reti – return error interrupt return from an error handling routine. Important: the interrupted command is not continued, even if it was not com- pleted at the time ...

  • Page 46: 4 Functional Description

    46 4 functional description 4.6 sequence programs explanations of the commands and functions: jump commands the program sequence can be specifically controlled with the jump commands. The jmp command can also be used from the rs232. This is useful in cases where different program routines are to be ...

  • Page 47: 4 Functional Description

    47 4 functional description 4.6 sequence programs the command jmpla3 jumps to address 3 if the velocity value returned with gn is less than 100 rpm (value of variable a). Entry addresses are defined via command a. In the case of a jump, the sequence is continued at this point. The value range for ju...

  • Page 48: 4 Functional Description

    48 4 functional description 4.6 sequence programs the call command the call command enables subroutines to be called from different points, any number of times. You can only jump back from a subroutine again with the ret command. All commands are permitted within a subroutine except for a repeated c...

  • Page 49: 4 Functional Description

    49 program: a1 jmp1 ... Endless loop a2 … entry point for homing sequence (jmp2) gohoseq … homing to reference switch gohix … subsequent homing to hall sensor zero point (hall index) jmp1 ... Return to endless loop a3 … entry point for routine 1 (jmp3) la0 … set target position to 0 np … notify at t...

  • Page 50: 4 Functional Description

    50 4 functional description 4.6 sequence programs 2.) sequence controlled via digital input (without rs232) after power-on, the drive moves to the limit switch and then the hall index. With a positive edge at the fault pin digital input, the drive moves forward 5000 increments. If the level is still...

  • Page 51: 4 Functional Description

    51 4 functional description 4.7 trace function an efficient trace function is available via an additional binary interface. This allows up to 2 values to be read out online in a resolution of up to 3 ms. In order to be able to use the binary interface, it must first have been opened for the desired ...

  • Page 52: 4 Functional Description

    52 4 functional description 4.7 trace function data request: a binary character is sent: [request] depending on the set modes (commands 200 and 202), 3,5,7 or 9 bytes are sent back to the pc. Request: 201: request a data package after setting a mode you must wait at least 2 ms before requesting vali...

  • Page 53: 4 Functional Description

    53 4 functional description 4.8 technical information 4.8.1 sinus commutation the 3564k024b cs and the mcbl 3003/06 s are characterised by a so-called sinus commutation. This means that the preset rotating field is always ideally positioned in relation to the rotor. As a result, torque fluctuations ...

  • Page 54: 4 Functional Description

    54 the current controller 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 ...

  • Page 55: 4 Functional Description

    55 4 functional description 4.8 technical information 4.8.5 overvoltage regulation if the motor is operated as a generator, it produces energy. Usually power supply units are not able to feed this energy back into the power line. For this reason, the supply voltage increases. Depend- ing on the spee...

  • Page 56: 4 Functional Description

    56 possible procedure: a.) set parameters of velocity controller: 1.) first of all you have to choose the right sampling rate for the velocity controller depending on the encoder resolution. With less encoder pulses, e.G. 64 pulses per revolution, you need a lower sampling rate e.G. 1.8 ms = sr18. F...

  • Page 57: 5 Parameter Description

    57 5 parameter description all ascii commands that are available for operation of the faulhaber motion controllers are listed below. The ascii commands have the following structure: [node no.] command [argument] cr the node number is optional and is only required if several drives are being operated...

  • Page 58: 5 Parameter Description

    58 5 parameter description 5.1 basic setting commands the commands listed here are used for the configuration of basic setting parameters. 5.1.1 commands for special operating modes command argument function description sor 0 – 3 source for velocity source for velocity presetting 0: serial interface...

  • Page 59: 5 Parameter Description

    59 command argument function description net 0 – 1 set network mode activate rs232 multiplex mode for network operation. 0: no network operation, single drive on an rs232 1: network operation activated baud value select baud rate specify transfer rate for rs232 interface for value, see chapter 3.6 "...

  • Page 60: 5 Parameter Description

    60 5 parameter description 5.1 basic setting commands 5.1.4 configuration of fault pin and digital inputs command argument function description errout – error output fault pin as error output encout – encoder output fault pin as pulse output (not for mcdc): digout – digital output fault pin as digit...

  • Page 61: 5 Parameter Description

    61 5 parameter description 5.2 query commands for basic setting 5.2.1 operating modes and general parameters command argument function description cst – configuration status set operating mode. Return value is binary encoded (lsb = bit 0): bit 0, compatible mode 0: compatible0 1: compatible1 bit 1–2...

  • Page 62: 5 Parameter Description

    62 5 parameter description 5.2 query commands for basic setting command argument function description gencres – get encoder reso- lution set encode resolution (encres) gmottyp – get motor type set motor type 0-9 (mottyp) –1: dc motor gkn – get speed con- stant speed constant for mottyp0 or dc motor ...

  • Page 63: 5 Parameter Description

    63 5 parameter description 5.2 query commands for basic setting query commands of predecessor models that are no longer supported for reasons of compatibility: command argument function description gst – get status return current status. 7 ascii characters “0” and “1” from left to right: pos. 0: 1: ...

  • Page 64: 5 Parameter Description

    64 5 parameter description 5.2 query commands for basic setting command argument function description gscs – get special con- figuration set return special settings. 8 ascii characters “0” and “1” from left to right: pos. 0: 1: release homing after power-on 0: homing blocked after power-on pos. 1: 1...

  • Page 65: 5 Parameter Description

    65 5 parameter description 5.2 query commands for basic setting 5.2.2 configuration of fault pin and digital inputs command argument function description ioc – i/o configuration set input/output configuration. Return value binary coded (lsb=bit 0): bit 0-7, hard blocking: 0-31: function active for i...

  • Page 66: 5 Parameter Description

    66 5 parameter description 5.3 miscellaneous commands command argument function description ne 0 – 1 notify error error notification: 1: an “r” is sent back if an error occurs 0: no error notification save eepsav save parameters save current parameters and configuration setting to flash memory. The ...

  • Page 67: 5 Parameter Description

    67 5 parameter description 5.4 motion control commands command argument function description di – disable drive deactivate drive en – enable drive activate drive m – initiate motion activate position control and start positioning la value load absolute position load new absolute target position valu...

  • Page 68: 5 Parameter Description

    68 5 parameter description 5.5 general query commands command argument function description gtyp – get controller type query designation (name) of the controller gser – get serial number query the serial number ver – get version current software version pos – get actual position current actual posit...

  • Page 69: 5 Parameter Description

    69 5 parameter description 5.6 commands for sequence programs commands for generating and executing sequence programs: command argument function description progseq […] end – program sequence defines the start and end of the sequence program. All commands sent to progseq are not executed, but transf...

  • Page 70: 5 Parameter Description

    70 5 parameter description 5.6 commands for sequence programs additional commands for use within sequence programs: command argument function description delay value delay stop sequence for a defined time argument: in 1/100 seconds value: 0 to 65535 timeout value timeout with notify commands, only w...

  • Page 71: 5 Parameter Description

    71 5 parameter description 5.7 configuration at delivery the standard configuration n parameters with which the units are delivered are listed below. These settings can also be reloaded at any time with the command fconfig, followed by a hardware reset. 3564k024b cs: faulhaber command description co...

  • Page 72: 5 Parameter Description

    72 mcdc 3003 / 06 s: faulhaber command description contmod normal operation apl0 position limits deactivated sor0 velocity presetting via rs232 errout fault pin = error output hp31 all inputs react to rising edge hb0, hd0 no hard blocking limit switches defined hosp100 homing speed = 100 rpm sha0, s...

  • Page 73: 6 Operation

    73 6 operation 6.1 commissioning before starting up the motion controller together with a motor the following points must be checked: the motion controller has been installed according to the specifications. The connection cables on the supply and motor end are connected according to the requirement...

  • Page 74: 7 Maintenance

    74 7 maintenance 7.1 service / maintenance motion controllers are basically maintenance-free. The air filters of cabinet units must be regularly checked and cleaned if required, depending on the quantity of dust. In the event of heavy soiling, the units themselves must be cleaned with halogen-free a...

  • Page 75: 8 Technical Data

    75 8 technical data 8.1 motor 3564k024b cs 8.1.1 operating data 3564 k 024 b cs nominal voltage u n 24 volt output power p 2 max. 90 w efficiency max. 80 % no-load speed n o 10 500 rpm no-load current i o 0.28 a peak torque for 8 a m p 160 mnm friction torque, static c o 1,10 mnm friction torque, dy...

  • Page 76: 8 Technical Data

    76 8 technical data 8.1 motor 3564k024b cs motion controller supply voltage 1) u b 12 … 30 v dc peak current 2) i max. 8 a input / output (see connection no. 1, 2 and 3) 3 connection no. 1 (brown): – speed command analog input voltage range ±10 v – speed command pwm input frequency range 100 … 2 000...

  • Page 77: 8 Technical Data

    77 8 technical data 8.2 motion controller mcbl 3003 / 06 s mcbl 3003 s 8.2.1 operating data 8.2.2 product dimensions mcbl 3003 s mcbl 3006 s power supply u b 12 … 30 12 … 30 v dc pwm switching frequency f pwm 78,12 78,12 khz efficiency 95 95 % max. Continuous output current 1) i continuous 3 6 a max...

  • Page 78: 8 Technical Data

    78 8 technical data 8.2 motion controller mcbl 3003 / 06 s 8.2.3 connection information mcbl 3006 s 50 58 27,5 22 9,8 v1 m1 v8 m8 65 18 50 40 1 9 3 (4x) 3,6 (5x) ø3,5 (7x) 5 ±0,3 ±0,3 ±0,3 ±0,5 m1 ph c m2 hall a m3 + 5v m4 sgnd m5 hall b m6 hall c m7 ph b m8 ph a v1 txd v2 rxd v3 agnd v4 fault v5 an...

  • Page 79: 8 Technical Data

    79 8 technical data 8.2 motion controller mcbl 3003 / 06 s connection “ph a”, “ph b”, “ph c”: motor connection ph a phase a brown 1) ph b phase b orange 1) ph c phase c yellow 1) u out 0 … u b v pwm switching frequency f pwm 78,12 khz connection “hall a”, “hall b”, “hall c”: hall sensor input hall a...

  • Page 80: 8 Technical Data

    80 8 technical data 8.3 motion controller mcdc 3003 / 06 s mcdc 3003 s 8.3.1 operating data 8.3.2 product dimensions mcdc 3003 s mcdc 3006 s power supply u b 12 … 30 12 … 30 v dc pwm switching frequency f pwm 78.12 78.12 khz efficiency 95 95 % max. Continuous output current 1) i continuous 3 6 a max...

  • Page 81: 8 Technical Data

    81 8 technical data 8.3 motion controller mcdc 3003 / 06 s 8.3.3 connection information mcdc 3006 s connection “txd”, “rxd”: interface rs232 communication profile faulhaber - ascii max. Transfer speed rate 115 200 baud connection “agnd”: – analog ground analog gnd – digital input external encoder ch...

  • Page 82: 8 Technical Data

    82 connection “mot -”, “mot +”: motor connection mot - motor - mot + motor + u out 0 … u b v pwm switching frequency f pwm 78.12 khz connection “ch a”, “ch b”: encoder input ch a encoder channel a ch b encoder channel b integrated pull-up resistance after +5v r 2.2 k f 400 khz connection “sgnd”: si...

  • Page 83: 9 Emc

    83 9 emc the following ec directives are important for users of the described products: machinery directive (98/37/ec): it applies to independently functioning machines or a chain of machines forming whole plants or systems. For built in components, non-operational machines, a manufacturer's declara...

  • Page 84: 9 Emc

    84 9 emc 9.2 electromagnetic compatibility (emc) the facts described here and the listed standards solely refer to products with ce marking, which are listed in the short version of the declaration of conformity. Electromagnetic compatibility (emc) is defined as the ability of a device, unit of equi...

  • Page 85: 9 Emc

    85 9 emc 9.2 electromagnetic compatibility (emc) conformity has been verified by proving compliance with the following harmonised standards: en 61000-6-4: generic standards – emission standard for industrial environments en 61000-6-2: generic standards – immunity for industrial environments the afor...

  • Page 86: 9 Emc

    86 9 emc 9.3 ec declaration of conformity the manufacturer: dr. Fritz faulhaber gmbh & co. Kg herewith declares that the following product product name: faulhaber motion controller product type: mcbl 3006 s mcdc 3006 s conforms to the essential safety requirements specified in the following directiv...

  • Page 87

    87 10 manufacturer's declaration the manufacturer: dr. Fritz faulhaber gmbh & co. Kg daimlerstr. 23 / 25 d-71101 schönaich germany herewith declares that the products named in the following are built in components and therefore, in the definition of article 4 (2) of the directive of the european par...

  • Page 88: 11 Warranty

    88 dr. Fritz faulhaber gmbh & co. Kg products are produced to state of the art production methods and are subject to strict quality control. Should, contrary to all expectations, defects occur, we undertake to find a remedy within the war- ranty period. We shall make good or replace defective goods,...

  • Page 89: 12 Command Overview

    89 commands a ac adl adr answ apcmod apl baud binsend call ci co compatible contmod corridor cst dce dec delay dev di dieri digout diprog dirin dxjnz eepsav en encmod encout encres encspeed end enprog eri errout gac gadv gahs gast gcc gci gcl gcorridor gdce gdec gdev gearmod gencres ges getx gfs gho...

  • Page 90: Notes

    90 notes.

  • Page 91: Notes

    91 notes.

  • Page 92

    Dr. Fritz faulhaber gmbh & co. 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-group.Com ma05011, english, 4th edition, 04.2009 © dr. Fritz faulhaber gmbh & co. Kg subject to modifications..