2.1. FaulhaberMCS

Summary:	FaulhaberMCS
Type:	Actuator
License:	Licensed under LGPL.
Platforms:	Windows, Linux
Devices:	Faulhaber MCS 3242 BX4 ET
Author:	J. Krauter, TRUMPF SE + Co. KG

2.1.1. Overview

This plugin is an actuator plugin to control servo motors from Faulhaber.

It was implemented for RS232 communication and tested with:

• Serie MCS 3242: https://www.faulhaber.com/de/produkte/serie/mcs-3242bx4-et/

Homing options:

• ‘setOrigin’ function of the plugin uses the homing method ‘37’ to set the current position to 0.

• ‘homing’ execFunction can be used for the other homing methods which needs more input parameters.

2.1.2. Initialization

The following parameters are mandatory or optional for initializing an instance of this plugin:

• serialIOInstance: Union[itom.dataIO, itom.actuator]

  An opened serial port of ‘SerialIO’ plugin instance.

  Only plugin “SerialIO” is allowed

• nodeID: int

  Node ID of device. Register ‘0x2400.03’.

  Value range: [1, 255], Default: 1

2.1.3. Parameters

These parameters are available and can be used to configure the FaulhaberMCS instance. Many of them are directly initialized by the parameters of the constructor. During the runtime of an instance, the value of these parameters is obtained by the method getParam, writeable parameters can be changed using setParam.

acceleration: int

Acceleration in 1/s². Register ‘0x6083.00’.

Value range: [1, 30000], Default: 4250

async: int, read-only

Asynchronous move (1), synchronous (0) [default]. Only synchronous operation is implemented.

Value range: [0, 1], Default: 0

current: int, read-only

Actual value of the current in relative scaling. Register ‘0x6078.00’.

Value range: [-32768, 32767], Default: 10

deceleration: int

Deceleration in 1/s². Register ‘0x6084.00’.

Value range: [1, 30000], Default: 1280

deviceID: int

Explicit device ID. Register ‘0x2400.08’

Value range: [0, 65535], Default: 0

deviceName: str, read-only

Name of device. Register ‘0x1008.00’.

Match: “”, Default: “MCS 3242 BX4 ET”

fault: int, read-only

1: Error present, 0: No error present (Bit 3).

Value range: [0, 1], Default: 0

firmware: str, read-only

Firmware version. Register ‘0x100A.00’

Match: “”, Default: “0111.02N”

fluxGainControl: int

Flux control gain parameter [mOm]. Register ‘0x2342.01’.

Value range: [-1, 0], Default: 1835

fluxIntegralTimeControl: int

Flux control integral time control parameter [µs]. Register ‘0x2342.01’.

Value range: [150, 2600], Default: 150

followingError: int, read-only

1: Permissible range for the following error exceeded, 0: The actual position follows the instructions without a following error (Bit 13).

Value range: [0, 1], Default: 0

homed: int, read-only

homed (1) or not homed (0).

Value range: [0, 1], Default: 0

internalLimitActive: int, read-only

1: Internal range limit (e.g. limit switch reached), 0: Internal range limit not reached (Bit 11).

Value range: [0, 1], Default: 0

maxMotorSpeed: int

Max motor speed in 1/min. Register ‘0x6080.00’.

Value range: [1, 32767], Default: 32767

maxTorqueLimit: int, read-only

Maximum torque limit in relative scaling. 1000 = motor rated torque. Register ‘0x6072.00’.

Value range: [1, 30000], Default: 2000

moveTimeout: int

Timeout for movement in ms.

Value range: [0, inf], Default: 60000

name: str, read-only

FaulhaberMCS

netMode: int

RS232 net mode. Register ‘0x2400.05’.

Value range: [0, 1], Default: 0

nodeID: int

Node number. Register ‘0x2400.03’.

Value range: [0, 255], Default: 1

operation: int

Enable (1) or Disable (0) operation.

Value range: [0, 1], Default: 1

operationEnabled: int, read-only

1: Operation enabled, 0: Operation disabled (Bit 2).

Value range: [0, 1], Default: 1

operationMode: int, read-only

Operation Mode. -4: ATC, -3: AVC, -2: APC, -1: Voltage mode, 0: Controller not activated, 1: PP (default), 3: PV, 6: Homing, 8: CSP, 9: CSV, 10: CST. Register ‘0x6060.00’.

Value range: [-4, 10], Default: 1

positionLimits: Sequence[int]

Lower/ upper limit of the position range in userdefined uints. Register lower limit ‘0x607D.01’, upper limit ‘0x607D.02’.

Allowed number of values: 0 - 18446744073709551615, All values allowed, Default: [-inf, inf]

power: int

Enable (1) or Disable (0) device power.

Value range: [0, 1], Default: 1

productCode: str, read-only

Product code number. Register ‘0x1018.02’.

Match: “”, Default: “11601”

profileVelocity: int

Profile velocity in 1/min. Register ‘0x6081.00’.

Value range: [1, 32767], Default: 4000

quickStop: int, read-only

1: Quick stop enabled, Quick stop disabled (Bit 5).

Value range: [0, 1], Default: 1

quickStopDeceleration: int

Quickstop deceleration in 1/s². Register ‘0x6085.00’.

Value range: [1, 32750], Default: 30000

readyToSwitchOn: int, read-only

1: Ready to switch ON, 0: Not ready to switch ON (Bit 0).

Value range: [0, 1], Default: 1

revisionNumber: str, read-only

Revision number. Register ‘0x1018.03’

Match: “”, Default: “14”

serialNumber: str, read-only

Serial number of device. Register ‘0x2400.03’.

Match: “”, Default: “492300001”

setPointAcknowledged: int, read-only

1: New set-point has been loaded, 0: Previous set-point being changed or already reached (Bit 12).

Value range: [0, 1], Default: 0

switchOnDisabled: int, read-only

1: Switch on disabled, 0: Switch on enabled (Bit 6).

Value range: [0, 1], Default: 0

switchedOn: int, read-only

1: Drive is in the ‘Switched ON’ state, 0: No voltage present (Bit 1).

Value range: [0, 1], Default: 1

targetReached: int, read-only

1: Target has reached, 0: is moving (Bit 10).

Value range: [0, 1], Default: 1

targetTorque: int

Set target value of the torque in relative scaling. Register ‘0x6071.00’.

Value range: [-32768, 32767], Default: 0

temperatureCPU: int, read-only

CPU temperature in [°C]. Register ‘0x2326.01’.

Value range: [0, 32767], Default: 44

temperaturePowerStage: int, read-only

Power stage temperature in [°C]. Register ‘0x2326.02’.

Value range: [0, 32767], Default: 30

temperatureWinding: int, read-only

Winding temperature in [°C]. Register ‘0x2326.03’.

Value range: [0, 32767], Default: 29

torque: int, read-only

Actual value of the torque in relative scaling. Register ‘0x6077.00’.

Value range: [-32768, 32767], Default: 0

torqueGainControl: int

Torque control gain parameter [mOm]. Register ‘0x2342.01’.

Value range: [-1, 0], Default: 1835

torqueIntegralTimeControl: int

Torque control integral time control parameter [µs]. Register ‘0x2342.01’.

Value range: [150, 2600], Default: 150

torqueLimits: Sequence[int]

Negative/ positive torque limit values in relative scaling. 1000 = motor rated torque. Register negative limit ‘0x60E1.00’, positive limit ‘0x60E0.00’.

Allowed number of values: 0 - 18446744073709551615, Value range: [0, 6000], Default: [6000, 6000]

velocityDeviationThresholdControl: int

Velocity deviation threshold control parameter. Register ‘0x2344.03’.

Value range: [0, 65535], Default: 65535

velocityDeviationTimeControl: int

Velocity deviation time control parameter. Register ‘0x2344.04’.

Value range: [0, 65535], Default: 100

velocityGainControl: int

Velocity gain control parameter [As 1e-6]. Register ‘0x2342.01’.

Value range: [-1, 0], Default: 1835

velocityIntegralPartOption: int

Velocity integral part option. Configuration of the speed control loop. ‘0’: integral component active, ‘1’: stopped integral component in the position windoed (in PP mode), ‘2’: integral component deactivated. Register ‘0x2344.06’.

Value range: [0, 2], Default: 0

velocityIntegralTimeControl: int

Velocity integral time control parameter [µs]. Register ‘0x2344.02’.

Value range: [0, 65535], Default: 23

velocityWarningThresholdControl: int

Velocity warning threshold control parameter. Register ‘0x2344.05’.

Value range: [0, 65535], Default: 30000

vendorID: str, read-only

Vendor ID of device. Register ‘0x1018.01’.

Match: “”, Default: “327”

voltageEnabled: int, read-only

1: Power supply enabled, 0: Power supply disabled (Bit 4).

Value range: [0, 1], Default: 0

warning: int, read-only

1: One of the monitored temperatures has exceeded at least the warning threshold, 0: No raised temperatures (Bit 7).

Value range: [0, 1], Default: 0

2.1.4. Additional functions (exec functions)

By using the following execFunctions you execute homing according the homing methods.

instance.exec('homing', method[, offset, switchSeekVelocity, homingSpeed, acceleration, limitCheckDelayTime, torqueLimits])

In most of the cases before position control is to be used, the drive must perform a reference run to align the position used by the drive to the mechanic setup.

Parameters:

• method (int) – Homing method. Methods 1
34: A limit switch or an additional reference switch is used as reference. Method 37: The position is set to 0 without reference run. Methods –1
–4: A mechanical limit stop is set as reference. Register ‘0x6098.00’.

• offset (int - optional) – Offset of the zero position relative to the position of the reference switch in userdefined units. Register ‘0x607C.00’.

• switchSeekVelocity (int - optional) – Speed during search for switch. Register ‘0x6099.01’.

• homingSpeed (int - optional) – Speed during search for zero. Register ‘0x6099.02’.

• acceleration (int - optional) – Speed during search for zero. Register ‘0x609A.00’.

• limitCheckDelayTime (int - optional) – Delay time until blockage detection [ms]. Register ‘0x2324.02’.

• torqueLimits (Sequence[int] - optional) – Upper/ lower limit values for the reference run in 1/1000 of the rated motor torque. Register negative limit ‘0x2350.00’, positive limit ‘0x2351.00’.

2.1.5. Exemplary usage from Python

In the following examples, it is shown how to use this Plugin. First an instance must be initialized using the SerialIO Plugin.

from itom import actuator, dataIO

com = dataIO("SerialIO", 6, 115200, "\n")  # adapt COM port number
mot = actuator("FaulhaberMCS", com, 1)

The current position can be set to zero by using the setOrigin method of the plugin:

mot.setOrigin(0)

The relative position can be set to a specific value by using the setPosRel method of the plugin:

mot.setPosRel(0, 4096)

The absolute position can be set to a specific value by using the setPosAbs method of the plugin:

mot.setPosAbs(0, 4096)

Additional homing methods can be executed by using the exec method of the plugin:

mot.exec("homing", -3, torqueLimits=[300, 300]) # mechanical limit stop is set as reference

Parameters can be read by using the getParam method of the plugin:

print(mot.getParam("positionLimits"))

Parameters can be set by using the setParam method of the plugin:

mot.setParam("profileVelocity", 2000)

Motor can be turned off setting parameter operation:

mot.setParam("operation", 0) # turn off motor
mot.setParam("operation", 1) # turn on motor

The motor voltage is turned off setting parameter power:

mot.setParam("power", 0) # turn off motor voltage

# To turn it on again, first it must be shut down
mot.setParam("operation", 0)
mot.setParam("operation", 1) # turn on motor

For long movement operations, the timeout can be set:

mot.setParam("moveTimeout", 60000) # set timeout to 60s

The torque control parameter are changed by the plugin parameter:

mot.setParam("torqueGainControl", 1835)
mot.setParam("torqueIntegralTimeControl", 150)

The flux control parameter are changed by the plugin parameter:

mot.setParam("fluxGainControl", 1835)
mot.setParam("fluxIntegralTimeControl", 150)

The velocity control parameter are changed by the plugin parameter:

mot.setParam("velocityGainControl", 1835)
mot.setParam("velocityIntegralTimeControl", 23)
mot.setParam("velocityDeviationThresholdControl", 65535)
mot.setParam("velocityDeviationTimeControl", 100)
mot.setParam("velocityWarningThresholdControl", 30000)
mot.setParam("velocityIntegralPartOption", 0)

2.1.6. Changelog

• itom setup 4.3.0 - v1.0.0: Initial version