Trade 3 Servo Motors with integrated Motion Controllers for Mendel RP Parts

I am willing to trade 3 Faulhaber 3564K024B CC motors with integrated motion controllers for a complete kit of Mendel RP parts. I will include the interface board that will allow the controllers to be programmed. These motors have integrated high resolution encoders and can run as a servo motor or can be used in a stepper emulation mode. If they were used in the stepper emulation mode, they could be run directly from the Mendel control board. The integrated controllers would eliminate the need to use the stepper drivers that are required when using stepper motors.

The 3564K024B CC integrates an electronically commutated DC servomotor, a high-resolution absolute
encoder and a programmable position and velocity controller, based on a high performance
digital signal processor (DSP), within a complete drive unit.

The motor is designed for the following drive functions:
- Velocity control from 5 to 12 000 rpm with tight requirements for synchronous operation and
minimal torque fluctuations. A PI controller ensures maintaining the target velocities.
- Velocity profiles such as ramp, triangular or trapezoidal movements can be realized. Gentle starting
or deceleration can easily be implemented.
- Positioning mode: A PID controller is implemented for high positioning precision with resolution
of 1/3000 revolutions.
- Acquisition of reference marks and limit switches.
- Extended operating modes: Stepper motor mode, analog positioning mode, voltage regulator,
electronic gear, operation with external incremental encoder.
- Torque control with adjustable current limitation.
- Storage of the set configurations.

Stepper Emmulation Mode
The drive moves one programmable angle further for each pulse at the analog input, and thus simulates the function of a stepper motor. There are a number of considerable advantages in comparison with a real stepper motor:

- The number of steps per revolution is freely programmable and of a very high resolution (encoder resolution)
- The individual step widths are freely programmable
- No detent torque
- The full dynamics of the motor can be used
- The motor is very quiet
- The motor monitors actual position so that no steps are “lost” (even with maximum dynamics)
- No motor current flows in settled state (actual position reached)
- High efficiency
- The control electronics are already integrated in the 3564K024B CC

Motor Data sheet: [www.faulhaber.com]
Motor Operating Instructions: [www.faulhaber.com]
Software: [www.faulhaber.com]

So these are actually DC-motors?
Can they stop or reverse direction multiple times per second accurately?

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They are brushless DC servo motors. They are capable of running in both directions. These motors will far and away out perform any motor that is currently being used for the RepRap design. These are very expensive motors, they are used. They were installed in a trade show display and didn't see much use. Because they are brushless motors, their life is only limited by the life of the ball bearings on the shaft.

In the stepper emulation mode, they will do everything that a stepper can do, forward and reverse direction, hold position, step a certain number of steps per revolution, ect (all programmable). The difference is that it has a 400 cpr absolute encoder integrated into the motor so it runs closed loop. No matter how hard you drive it, it will not lose steps unless you stall the motor and even then if the stall condition is removed it will try to finish the commanded move.

Like I said, if you wanted to use these you could eliminate the stepper driver and run them directly from the controller board step and direction signals (they have built in controllers on all three motors).

PM sent

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[www.hydraraptor.blogspot.com]

Nophead's your man, in terms of who can test the parts, as well as who's your best bet for getting a quality set of parts!

I'm curious though, the torque values seem a bit low - 50 mNm, vs 260 mNm for the steppers I use on my X,Y and Z axis, or 500 mNm for my extruder stepper. I suppose a closed loop system will use the full torque when it's needed, so they'll probably work just fine.

How much do these motors sell for normally? And wouldn't an electrically commutated DC motor be basically a synchronous AC motor with fancy drive electronics included? Just curious. They sound like they will rock.

Wade