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#URTIS-ANUAL

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Summary of Contents for 1232

Page 1: ... 3 5 4 4 2 42 23 3 WITH 6 ÓÎÓÉÎ ÉÎÈÉÎnÊ Õ Ú 524 3 3425 43 Ykhj_i _dijhkc djiB _dYD HFF a y W c D a y B d o GFKJO kiW j D OGJDLLLDHOMG w OGJDLLLDHGNN Dy Dy ANUAL P N ARCH w 3OFTWARE VERSION 3 i ÉÎÈÉ ...

Page 2: ...ING UIDELINES ONTROLLER 7IRING ASIC ONlGURATION 3WITCH NPUT 7IRING 4HROTTLE 7IRING NPUT UTPUT 3PECIlCATIONS 02 2 0 2 4 23 0ROGRAM ENU A 4 2 5 B 42 2 2 4 5 4 3 450 45 5 6 42 5 34 3 42 5 3 4 4 00 8 4HEORY OF PERATION 00 8 6EHICLE ESIGN ONSIDERATIONS 00 8 URTIS 7 2O 3 3TATEMENT 00 8 0ROGRAMMING EVICES 00 8 3PECIlCATIONS ONTROLLERS 4 43 ...

Page 3: ...ATE DIAGRAM 4HROTTLE MAPPING TORQUE CONTROL MODE FFECT OF GEAR SOFTEN PARAMETER TORQUE CONTROL MODE FFECT OF BRAKE TAPER SPEED PARAMETER TORQUE CONTROL MODE RIVE CURRENT LIMITING MAP 2EGEN CURRENT LIMITING MAP 4HROTTLE ADJUSTMENT 6 MOTOR COMMAND DIAGRAM 6 CONTROL MODE PROCESSING 6 PROPORTIONAL DRIVER PROCESSING DIAGRAM 0OWER SECTION TOPOLOGY 4 3 4 IGH CURRENT CONNECTIONS 4 OW CURRENT CONNECTIONS 4...

Page 4: ...RODUCT DIFFERENTIATION AND RESPONSIVENESS TO THE MARKET 4HE BUS COMMUNICATIONS INCLUDED IN THE AS WELL AS IN MANY OTHER URTIS PRODUCTS ALLOW THESE INDUCTION MOTOR CONTROLLERS TO BE PART OF AN EFlCIENT DISTRIBUTED SYSTEM NPUTS AND OUTPUTS CAN BE OPTIMALLY SHARED THROUGHOUT THE SYSTEM MINIMIZING WIRING AND CREATING INTEGRATED FUNCTIONS THAT OFTEN REDUCE THE COST OF THE SYSTEM URTIS CONTROLLERS ARE T...

Page 5: ...ATING CODE 4HERMAL CUTBACK WARNING AND AUTOMATIC SHUTDOWN PROVIDE PROTECTION TO MOTOR AND CONTROLLER 2UGGED SEALED HOUSING AND CONNECTORS MEET 0 ENVIRONMENTAL SEALING STANDARDS FOR USE IN HARSH ENVIRONMENTS NSULATED METAL SUBSTRATE POWER BASE PROVIDES SUPERIOR HEAT TRANSFER FOR INCREASED RELIABILITY UILT IN UAL RIVE SOFTWARE ALLOWS EASY SETUP AND CONTROL OF TYPICAL DUAL DRIVE VEHICLES WITHOUT 6 OT...

Page 6: ...S FOR ENVIRONMENTAL PROTECTION AGAINST DUST AND WATER EVERTHELESS IN ORDER TO PREVENT EXTERNAL CORROSION AND LEAKAGE PATHS FROM DEVELOPING THE MOUNTING LOCATION SHOULD BE CAREFULLY CHOSEN TO KEEP THE CONTROLLER AS CLEAN AND DRY AS POSSIBLE T IS RECOMMENDED THAT THE CONTROLLER BE FASTENED TO A CLEAN mAT METAL SURFACE WITH FOUR MM DIAMETER BOLTS USING THE HOLES PROVIDED THERMAL JOINT COMPOUND CAN BE...

Page 7: ...ÌÀ Ê ÃV iVÌÊÌ iÊ Ì ÀÊ ÀÊ V ÊÕ ÊÌ iÊÛi V iÊ Ê iÌÊÌ iÊ À ÛiÊÜ ii ÃÊ vvÊÌ iÊ À Õ ÊLiv ÀiÊ ÌÌi Ì Ê ÞÊÜ À Ê ÊÌ iÊ Ì ÀÊV ÌÀ ÊV ÀVÕ ÌÀÞ Ê Ê 1 Ê ÊpÊ ÌÌiÀ iÃÊV ÊÃÕ ÞÊÛiÀÞÊ Ê ÜiÀ Ê Ê ÀV ÊV Ê VVÕÀÊ vÊÌ iÞÊ ÀiÊÃ ÀÌÊV ÀVÕ Ìi Ê Ü ÞÃÊ i ÊÌ iÊL ÌÌiÀÞÊV ÀVÕ ÌÊLiv ÀiÊÜ À Ê ÊÌ iÊ Ì ÀÊV ÌÀ Ê V ÀVÕ Ì Ê7i ÀÊÃ viÌÞÊ ÃÃiÃ Ê ÊÕÃiÊ À iÀ ÞÊ ÃÕ Ìi ÊÌ ÃÊÌ Ê ÀiÛi ÌÊÃ ÀÌÃ Ê Ê ÊpÊ À Ê ÀÊ ÃV À Ê i iÀ ÌiÃÊ Þ À i Ê Ã ÊÜ V ÊV Ê LÕ Ê...

Page 8: ...N AND DEVELOPMENT OF YOUR END PRODUCT TO ENSURE THAT ITS PERFORMANCE COMPLIES WITH APPLICABLE REGULATIONS SUGGESTIONS ARE PRESENTED IN PPENDIX 4HE CONTROLLERS CONTAIN 3 SENSITIVE COMPONENTS 5SE APPROPRIATE PRECAUTIONS IN CONNECTING DISCONNECTING AND HANDLING THE CONTROLLER 3EE INSTALLATION SUGGESTIONS IN PPENDIX FOR PROTECTING THE CON TROLLER FROM 3 DAMAGE ...

Page 9: ... 6 7 OTOR PHASE 7 UG ASSEMBLY AND MODELS IVE ALUMINUM TERMINALS ARE PROVIDED UGS SHOULD BE INSTALLED AS FOLLOWS USING BOLTS SIZED TO PROVIDE PROPER ENGAGEMENT SEE DIAGRAM s 0LACE THE LUG ON TOP OF THE ALUMINUM TERMINAL FOLLOWED BY A HIGH LOAD SAFETY WASHER WITH ITS CONVEX SIDE ON TOP 4HE WASHER SHOULD BE A 3 22 OR EQUIVALENT s F TWO LUGS ARE USED ON THE SAME TERMINAL STACK THEM SO THE LUG CARRYING...

Page 10: ...OSSTHECENTERSECTIONOFTHECONTROLLER NAPPLICATIONSTHATSEEKTHELOWEST POSSIBLE EMISSIONS A SHIELD CAN BE PLACED AROUND THE BUNDLED MOTOR CABLES AND CONNECTED TO THE TERMINAL AT THE CONTROLLER 4YPICAL INSTALLATIONS WILL READILY PASS THE EMISSIONS STANDARDS WITHOUT A SHIELD OW CURRENT SIGNAL WIRES SHOULD NOT BE RUN PARALLEL TO THE MOTOR CABLES 7HEN NECESSARY THEY SHOULD CROSS THE MOTOR CABLES AT A RIGHT...

Page 11: ...UN NEAR THE MOTOR CABLES N APPLICATIONS WHERE THIS IS NECESSARY SHIELDED CABLE SHOULD BE USED WITH THE GROUND SHIELD CONNECTED TO THE GROUND PIN AT ONLY THE CONTROLLER SIDE N EXTREME APPLICATIONS COMMON MODE lLTERS E G FERRITE BEADS COULD BE USED BUS 0INS T IS RECOMMENDED THAT THE WIRES BE RUN AS A TWISTED PAIR OWEVER MANY SUCCESSFUL APPLICATIONS AT K AUD ARE RUN WITHOUT TWISTING SIMPLY USING TWO ...

Page 12: ...CY 07 UTPUT 07 CAPABILITIES RIVER ENERIC DRIVER CAN UTOMATE 07 3W ALSO BE USED AS A DIGITAL 0UT 07 07 INPUT AS LOW FREQUENCY 07 UTPUT 07 CAPABILITIES 4YPICALLY USED FOR PUMP CONTACTOR RIVER ENERIC DRIVER CAN UTOMATE 07 3W ALSO BE USED AS A DIGITAL 0UT 07 07 INPUT AS LOW FREQUENCY 07 UTPUT 07 CAPABILITIES AND A SLIGHTLY HIGHER CURRENT RATING 4YPICALLY USED FOR ELECTROMAGNETIC BRAKE RIVER ENERIC DRI...

Page 13: ...ECTOR DIGITAL 3ET IG UT 3W OUTPUT AN ALSO BE USED LEAR IG UT IG UT AS A DIGITAL INPUT IG UTPUT IGITAL UT N OPEN COLLECTOR DIGITAL 3ET IG UT 3W OUTPUT AN ALSO BE USED LEAR IG UT IG UT AS A DIGITAL INPUT IG UTPUT 4ERM IGH CONNECTION FOR THE TERMINATION JUMPER 3WITCH ENERIC SWITCH INPUT 3W 4YPICALLY USED AS THE ORWARD SWITCH BUS HIGH 3ETUP 3ETUP AILBOX 3END AILBOX ETC 3WITCH AN BE USED AS GENERIC 3W ...

Page 14: ...ETUP 3ERIAL mASH UPDATE NALOG UTPUT OW POWER LOW FREQUENCY UTOMATE 07 07 n 6 ANALOG OUTPUT 0UT 07 NALOG UTPUT NCODER 1UADRATURE ENCODER OTOR 20 INPUT PHASE OTORSPEED NCODER 1UADRATURE ENCODER OTOR 20 INPUT PHASE OTORSPEED 3WITCH ENERIC SWITCH INPUT 3W 4YPICALLY USED AS THE 2EVERSE SWITCH 4ERM OW CONNECTION FOR THE BUS TERMINATION JUMPER BUS LOW 3ETUP 3ETUP AILBOX 3END AILBOX ETC 0IN NOT CONNECTED ...

Page 15: ...N IGURE 4HROTTLE AND BRAKE ARE SHOWN IN THE DIAGRAM AS WIRE POTENTIOMETERS OTHER TYPES OF THROTTLE AND BRAKE INPUTS ARE EASILY ACCOMMODATED AND ARE DISCUSSED IN THE FOLLOWING THROTTLE WIRING SECTION 4HE MAIN CONTACTOR COIL MUST BE WIRED DIRECTLY TO THE CONTROLLER AS SHOWN IN IGURE TO MEET SAFETY REQUIREMENTS 4HE CONTROLLER CAN BE PROGRAMMED ...

Page 16: ...N 3WITCH MERGENCY 2EVERSE INPUT IF THE 2 NABLE N AND 2 4YPE SEE PAGE 3WITCH NTERLOCK INPUT IF NTERLOCK 4YPE SEE PAGE 3WITCH IFT INPUT DEPENDS ON 6 PROGRAM 3WITCH OWER INPUT DEPENDS ON 6 PROGRAM 3WITCH ORWARD INPUT IF 4HROTTLE 4YPE n SEE PAGE 3WITCH 2EVERSE INPUT IF 4HROTTLE 4YPE n SEE PAGE 4 2 44 7 2 N THIS MANUAL THE TERM THROTTLE IS USED IN TWO SENSES AS ANOTHER NAME FOR THE DRIVE THROTTLE AND A...

Page 17: ...LLER SENSING THE CURRENT mOW FROM THE POT WIPER INPUT PIN OR THROUGH THE POTENTIOMETER AND INTO 0OT OW PIN F THE 0OT OW INPUT CURRENT FALLS BELOW M A THROTTLE FAULT IS GENERATED AND THE THROTTLE REQUEST IS ZEROED OTE 0OT OW PIN MUST NOT BE TIED TO GROUND 4HROTTLE 4YPE 7ITH THESE THROTTLES THE CONTROLLER LOOKS FOR A VOLTAGE SIGNAL AT THE WIPER INPUT ERO THROTTLE REQUEST CORRESPONDS TO 6 AND FULL TH...

Page 18: ... URTIS ANUAL 3 34 4 7 2 4HROTTLE 7IRING IG 7IRING FOR 4YPE THROTTLES URTIS 4 888 LECTRONIC 4HROTTLE 6OLTAGE 3OURCE URRENT 3OURCE WIRE 0OTENTIOMETER ...

Page 19: ...ROVIDED BY THE CONTROLLER SENSING THE CURRENT mOW FROM THE WIPER INPUT PIN OR THROUGH THE POTENTIOMETER AND INTO 0OT OW PIN F THE 0OT OW INPUT CURRENT FALLS BELOW M A THROTTLE FAULT IS GENERATED AND THE THROTTLE REQUEST IS ZEROED OTE 0OT OW PIN MUST NOT BE TIED TO GROUND 4HROTTLE 4YPE 4YPE THROTTLES OPERATE IN WIGWAG STYLE O SIGNALS TO THE CONTROLLER S FORWARD AND REVERSE INPUTS ARE REQUIRED THE D...

Page 20: ... GRAM IS WRITTEN WILL DETERMINE THE SOURCE OF THE THROTTLE SIGNAL MAKING THIS A VERY mEXIBLE THROTTLE INPUT METHOD 6 CAN BE WRITTEN TO USE THE THROTTLE POT INPUTS SWITCH INPUTS OR COMMUNICATION MESSAGES AS THE SOURCE OF THE THROTTLE SIGNALS F YOU HAVE QUESTIONS REGARDING THIS THROTTLE TYPE CONTACT THE URTIS OFlCE NEAREST YOU 3ETTING THE 4HROTTLE 4YPE TO 4YPE ALSO ALLOWS THE THROTTLE AND BRAKE POT ...

Page 21: ...PATHS FROM CAUSING FALSE SIGNALS 4HE REMAINING LINES ARE DIGITAL INPUTS ASSOCIATED WITH DRIVER OUTPUTS NOTE THAT THEY HAVE MUCH HIGHER INPUT IMPEDANCES 4HE TWO DIGITAL OUTPUT LINES CAN ALSO BE READ AS INPUTS AND ARE THEREFORE INCLUDED IN THIS GROUP 4HE LINES AT PINS AND CAN ALSO BE USED AS ANALOG INPUTS AND ARE INCLUDED IN THAT GROUP AS WELL 4 054 30 4 3 054 6 4 3 3 0 4 2 3 3 0 2 4 2 3WITCH 2ISING...

Page 22: ...D AS HIGH POWER OUTPUT DRIVERS NE OF THESE THE PROPORTIONAL DRIVER CAN BE OPERATED IN A CURRENT CONTROL MODE FOR DRIVING A PROPORTIONAL VALVE OR SIMILAR LOAD ACH OUTPUT CAN BE INDEPENDENTLY TURNED ON CONTINUOUSLY LOW LEVEL OR PULSE WIDTH MODULATED TO SET THE AVERAGE OUTPUT VOLTAGE 4HESE OUTPUTS ARE INTENDED TO DRIVE INDUCTIVE LOADS SUCH AS CONTACTORS AND ELECTROMAGNETIC BRAKES BUT COULD ALSO BE US...

Page 23: ...H AS A BATTERY DISCHARGE INDICATOR 4HIS OUTPUT IS GENERATED FROM A lLTERED 07 SIGNAL AND HAS ABOUT RIPPLE 4HE SETTLING TIME IS MS FOR A n 6 STEP AND MS FOR A n 6 STEP 4HIS OUTPUT LINE IS PRO TECTED AGAINST SHORTS TO OR OTE 4HE HAS NO ANALOG OUTPUT 0 7 2 3500 9 54054 30 4 3 54054 54054 02 4 4 3 3 0 6 4 522 4 6 4 4 2 6 UT TO 6 M MAX 6 TO Ò K6 AIR 6 UT 6 Ò COMBINED TOTAL AX6 6 DISCHARGE ROUND N A M M...

Page 24: ...S REQUIRE ONLY THE 0OT 7IPER INPUT WITH ROUND FOR THE RETURN LINE 2ESISTANCE THROTTLES REQUIRE 0OT 7IPER AND 0OT OW WIRE OR 0OT IGH 0OT 7IPER AND 0OT OW WIRE LL THROTTLE IS PROTECTED AGAINST SHORTS TO OR LTERNATIVELY THESE TWO INPUTS CAN BE USED FOR ANALOG SIGNALS OTHER THAN THE THROTTLE AND BRAKE POT INPUTS ONlGURING THE INPUTS FOR USE WITH OTHER SIGNALS REQUIRES 6 PROGRAMMING SEE 3ECTION 4 2 44 ...

Page 25: ...4 4 3 3 0 02 4 6 3 4 2 4 6 4 4 2 OPEN UP TO KBPS 6 TO Ò K6 AIR 3 AX6 6 DISCHARGE OTHER BIT WITH 6 IDENTIlER lELD DIFFERENTIALLY PROTOCOLS 4ERM NO CONNECTION Ò K6 AIR 4ERM TO EXTERNAL WIRING DISCHARGE 3ERIAL 48 URTIS ISPLAY AS REQUIRED TO 6 Ò K6 AIR 3ERIAL 28 ANDHELD TO KBPS DISCHARGE 0ROGRAMMER 0 0ROGRAM MING 3TATION NCODER INPUTS 4WO CONTROL LINES ARE INTERNALLY CONlGURED TO READ A QUADRATURE TYP...

Page 26: ...RSION OF 3PEED ODE WITH A REDUCED SET OF PARAMETERS THAT IS ADEQUATE FOR MOST SPEED CONTROLLED APPLICATIONS 5SE 3PEED ODE OR 3PEED ODE XPRESS FOR APPLICATIONS WHERE THROTTLE INPUT CORRESPONDS TO MOTOR SPEED OUTPUT 5SE 4ORQUE ODE FOR APPLICATIONS WHERE THROTTLE INPUT CORRESPONDS TO MOTOR TORQUE OUTPUT OTE 9OU CAN TUNE USING TORQUE CONTROL OR SPEED CONTROL BUT NOT BOTH OR EXAMPLE IF YOU ADJUST A TOR...

Page 27: ...L 0LUS ELTA 0LUS X ELTA 0LUS X ELTA 0LUS X ELTA 2EGEN IMITING AP P OMINAL 0LUS ELTA 0LUS X ELTA 0LUS X ELTA 0LUS X ELTA 4 2 44 5 P 4HROTTLE 4YPE ORWARD EADBAND ORWARD AP ORWARD AX ORWARD FFSET 2EVERSE EADBAND 2EVERSE AP 2EVERSE AX 2EVERSE FFSET 0 32 4YPE 3EQUENCING ELAY 6 4HROTTLE NABLE 2 5 P RAKE 0EDAL NABLE RAKE 4YPE RAKE EADBAND RAKE AP RAKE AX RAKE FFSET 6 RAKE NABLE 42 3 4 P 30 802 33 P AX 3P...

Page 28: ...AL 3UPPLY AX XTERNAL 3UPPLY IN 4 2 5 P 4YPICAL AX 3PEED 3WAP NCODER IRECTION 3WAP 4WO 0HASES NCODER 3TEPS 4EMPERATURE ONTROL P 3ENSOR NABLE 3ENSOR 4YPE 3ENSOR FFSET 4EMPERATURE OT 4EMPERATURE AX OTOR4EMP 3 AX 3PEED 44 29 5 P OMINAL 6OLTAGE 5NDERVOLTAGE UTBACK 2ANGE 5SER VERVOLTAGE 5SER 5NDERVOLTAGE 2ESET 6OLTS 0ER ELL ULL 6OLTS 0ER ELL MPTY 6OLTS 0ER ELL ISCHARGE 4IME 2ESET 0ERCENT 5 2 6 5 SEE 3EC...

Page 29: ...E LL BIT VARIABLES HAVE TWO 6 PARAMETER NAMES 4HE lRST IS THE NAME OF THE BIT AND THE SECOND IS THE NAME OF THE BYTE CONTAINING THE BIT 4HE BIT POSITION WITHIN THE BYTE IS INDICATED IN BRACKETS AFTER THE BYTE NAME XAMPLES 4 ETRIC 5NITS 94 PTION ITS IT 4 2 IR NTERLOCK 94 2 IR NTERLOCK IT IT N THE SECOND EXAMPLE h IT v IS PART OF THE BYTE NAME AND DOES NOT INDICATE THE BIT POSITION THIS BYTE LIKE AL...

Page 30: ...D THE MAXIMUM MOTOR SPEED THE CONTROLLER WILL ALLOW IS CONSTRAINED BY THE NUMBER OF MOTOR POLES THE NUMBER OF ENCODER PULSES PER MOTOR REVOLUTION AND THE MAXIMUM SPEED CONSTRAINT IMPOSED BY THE lRMWARE LECTRICAL FREQUENCY CONSTRAINT 4HE MAXIMUM ELECTRICAL FREQUENCY THE CONTROLLER WILL OUTPUT IS Z 4O DETERMINE HOW FAST THIS CONSTRAINT WILL ALLOW YOUR MOTOR TO SPIN USE THE EQUATION AX OTOR 20 UMBER ...

Page 31: ...DED SPEED ARGER VALUES PROVIDE TIGHTER CONTROL F THE GAIN IS SET TOO HIGH YOU MAY EXPERIENCE OSCILLATIONS AS THE CONTROLLER TRIES TO CONTROL SPEED F IT IS SET TOO LOW THE MOTOR MAY TAKE A LONG TIME TO APPROACH THE EXACT COMMANDED SPEED CCEL 2ATE n SEC 3ETS THE RATE IN SECONDS AT WHICH THE SPEED COMMAND INCREASES CCEL 2ATE 3PD X n WHEN THROTTLE IS APPLIED ARGER VALUES REPRESENT SLOWER RESPONSE ECEL...

Page 32: ...7 0 2 4 2 2 3 2 04 VFF n 4HIS VELOCITY FEEDFORWARD TERM IS DESIGNED TO IMPROVE THROTTLE RESPONSIVENESS VFF 3PD n AND SPEED CONTROLLER PERFORMANCE ESPECIALLY AT LOW SPEEDS OR TRACTION SYSTEMS SET IT TO n OF THE CURRENT NEEDED TO MAINTAIN A VERY LOW SPEED UNLOADED ON mAT GROUND OR A PUMP SYSTEM SET IT TO THE LOWEST LOAD CURRENT I E THE CURRENT RUNNING AT THE MINIMUM LOAD LTERNATIVELY THE RESPONSIVEN...

Page 33: ...O IMPROVE BRAKING BFF 3PD n RESPONSIVENESS AT ALL SPEEDS 5SING YOUR PRESENT DECEL RATES OBSERVE THE AVERAGE CURRENT YOU ARE RUNNING AT FULL THROTTLE BRAKING AND SET BFF TO THAT VALUE UILD 2ATE n SEC ETERMINES HOW FAST THE AFF AND BFF TERMS BUILD UP CC UILD 2ATE 3PD n OR TRACTION SYSTEMS IF YOU FEEL OR HEAR THE MECHANICAL SLOP PICK UP ABRUPTLY WHEN YOU MOVE THE THROTTLE FROM NEUTRAL TO A VERY SMALL...

Page 34: ... 2ATE 3 3PD n WHEN THE THROTTLE IS RELEASED TO NEUTRAL AT HIGH VEHICLE SPEEDS EUTRAL ECEL 2ATE 3 n SEC 3ETS THE RATE IN SECONDS THAT IS USED TO SLOW DOWN THE VEHICLE EUTRAL ECEL 2ATE 3 3PD n WHEN THE THROTTLE IS RELEASED TO NEUTRAL AT SLOW VEHICLE SPEEDS ULL RAKE 2ATE 3 n SEC 3ETS THE RATE IN SECONDS AT WHICH THE VEHICLE SLOWS DOWN FROM HIGH ULL RAKE 2ATE 3 3PD n SPEEDS WHEN FULL BRAKE IS APPLIED ...

Page 35: ...UES AX 3PEED CCEL n SEC N SOME APPLICATIONS THE AX 3PEED VALUE IS CHANGED FREQUENTLY AX 3PEED CCEL 3PD n THROUGH 6 OR OVER THE BUS 4HE AX 3PEED CCEL PARAMETER CONTROLS THE RATE AT WHICH THE MAXIMUM SPEED SETPOINT IS ALLOWED TO CHANGE WHEN THE VALUE OF AX 3PEED IS RAISED 4HE RATE SET BY THIS PARAMETER IS THE TIME TO RAMP FROM RPM TO 4YPICAL AX 3PEED RPM OR EXAMPLE SUPPOSE AX 3PEED IS RAISED FROM RP...

Page 36: ...2 04 0UMP NABLE N FF 4HIS PARAMETER SHOULD BE PROGRAMMED N TO OPERATE A PUMP MOTOR 0UMP NABLE 3PD N FF RATHER THAN A VEHICLE DRIVE MOTOR 3PEED CONTROLLER RESPONSIVENESS AND 0UMP NABLE 3PD IT IT STABILITY ARE ENHANCED AND THE MOTOR IS ALLOWED TO TURN ONLY IN THE FORWARD DIRECTION ...

Page 37: ...D ARGER VALUES PROVIDE TIGHTER CONTROL F P IS SET TOO HIGH YOU MAY EXPERIENCE OSCILLATIONS AS THE CONTROLLER TRIES TO CONTROL SPEED 3ETTING P TOO LOW MAY RESULT IN A TOP SPEED MUCH HIGHER THAN AX 3PEED I n 4HE INTEGRAL TERM I FORCES ZERO STEADY STATE ERROR SO THE MOTOR SPEED I 4RQ n WILL BE LIMITED TO AX 3PEED ARGER VALUES PROVIDE FASTER CONTROL F THE GAIN IS SET TOO HIGH YOU MAY EXPERIENCE OSCILL...

Page 38: ...KING BEGINS OWER VALUES REPRESENT FASTER TIMES AND THEREFORE FASTER BRAKING GENTLER BRAKING IS ACHIEVED BY SETTING THE BRAKING RATE TO A HIGHER VALUE RAKE 2ELEASE 2ATE n SEC DJUSTS THE RATE IN SECONDS AT WHICH BRAKING TORQUE RELEASES AS RAKE 2ELEASE 2ATE 4RQ n AS THE VEHICLE TRANSITIONS FROM BRAKING TO DRIVE EUTRAL RAKING n EUTRAL BRAKING OCCURS PROGRESSIVELY WHEN THE THROTTLE IS REDUCED EUTRAL RA...

Page 39: ...ROTTLE TAKE UP FROM LINEAR SETTING TO AN 3 CURVE EAR 3OFTEN 4RQ n ARGER VALUES CREATE SOFTER THROTTLE TAKE UP IN FORWARD AND REVERSE 3OFTENING IS PROGRESSIVELY REDUCED AT HIGHER SPEEDS SEE IGURE RAKE 4APER 3PEED n RPM ETERMINES THE MOTOR SPEED BELOW WHICH THE MAXIMUM BRAKING CURRENT RAKE 4APER 3PEED 4RQ n IS LINEARLY REDUCED FROM TO AT ZERO SPEED SEE IGURE 3ETTING THE TAPER SPEED TOO LOW FOR THE B...

Page 40: ... 02 2 0 2 4 23 INE 4UNING 0ARAMETERS 4 215 42 IG FFECT OF EAR 3OFTEN PARAMETER TORQUE CONTROL MODE IG FFECT OF RAKE 4APER 3PEED PARAMETER TORQUE CONTROL MODE IG 4HROTTLE MAPPING TORQUE CONTROL MODE 4 4 215 EAR 3OFTEN ...

Page 41: ... 342 4 5 7 0 2 4 2 2 3 2 04 2ESTRAINT ORWARD n NCREASES TORQUE WHEN ON A STEEP HILL IN ORDER TO LIMIT ROLL FORWARD SPEED 2ESTRAINT ORWARD n 3ETTING THIS PARAMETER TOO HIGH MAY CAUSE OSCILLATIONS IN THE MOTOR AS IT ATTEMPTS TO LIMIT THE ROLL FORWARD SPEED 2ESTRAINT ACK n NCREASES TORQUE WHEN ON A STEEP HILL IN ORDER TO LIMIT ROLL BACK SPEED 2ESTRAINT ACK n 3ETTING THIS PARAMETER TOO HIGH MAY CAUSE ...

Page 42: ...EN SUCH THAT THE VEHICLE ROLLS BACK SLIGHTLY BEFORE CLIMBING THE RAMP AGAIN ASSUMING THE TORQUE PRELOAD FUNCTION IS INACTIVE S THE VEHICLE ROLLS BACK A FEEDFORWARD TORQUE TERM PROPORTIONAL TO THE ROLLBACK POSITION WILL BE ADDED TO THE TORQUE REQUEST UNTIL FORWARD SPEED IS SENSED 522 4 43 5 7 0 2 4 2 2 3 2 04 RIVE URRENT IMIT n 3ETS THE MAXIMUM 2 3 CURRENT THE CONTROLLER WILL SUPPLY TO THE MOTOR RI...

Page 43: ...S DElNED BY THE NOMINAL SPEED AND DELTA SPEED PARAMETERS 4HE RESULTING MAP ALLOWS THE CONTROLLER TO REDUCE THE DRIVE CURRENT AS A FUNCTION OF SPEED 2EDUCING THE POWER REQUIREMENTS AT CERTAIN SPEEDS RESTRICTS PERFORMANCE 4HIS CAN BE USEFUL FOR REDUCING MOTOR HEATING T CAN ALSO BE USED TO KEEP CONSISTENT VEHICLE POWER WITH CHANGING BATTERY STATE OF CHARGE 0 7 2 4 0 5 7 0 2 4 2 2 3 2 04 OMINAL 3PEED ...

Page 44: ...EN OMINAL 0LUS X ELTA n 02 2 0 2 4 23 2EGEN IMITING AP 0ARAMETERS 4HESE PARAMETERS DElNE THE PERCENTAGE OF REGEN CURRENT LIMIT OR BRAKING CURRENT LIMIT THAT WILL BE APPLIED AT THE SPEEDS DElNED BY THE NOMINAL SPEED AND DELTA SPEED PARAMETERS 4HE CURVE CAN BE SHAPED TO LIMIT THE AVAILABLE TORQUE AT VARIOUS SPEEDS NE POSSIBLE USE IS TO COMPENSATE FOR THE TORQUE SPEED CHARACTERISTIC OF THE MOTOR IG 2...

Page 45: ...TLE MECHANISM IS RELEASED ORWARD AP n ODIlES THE VEHICLE S RESPONSE TO THE THROTTLE INPUT 3ETTING THE THROTTLE ORWARD AP n MAP AT PROVIDES A LINEAR OUTPUT RESPONSE TO THROTTLE POSITION 6ALUES BELOW REDUCE THE CONTROLLER OUTPUT AT LOW THROTTLE SETTINGS PROVIDING ENHANCED SLOW SPEED MANEUVERABILITY 6ALUES ABOVE GIVE THE VEHICLE A FASTER MORE RESPONSIVE FEEL AT LOW THROTTLE SETTINGS 4HE MAP VALUE IS ...

Page 46: ...7 0 2 4 2 2 3 2 04 IG FFECT OF THROTTLE ADJUSTMENT PARAMETERS 4OGETHER THESE FOUR GENERIC PARAMETERS DETERMINE THE CONTROLLER S RESPONSE TO THROTTLE DEMAND IN FORWARD OR REVERSE AND TO BRAKE DEMAND N THE EXAMPLES SHOWN IN THIS lGURE EADBAND 6 AX 6 FFSET 4HE FOUR 4HROTTLE 2EVERSE PARAMETERS ARE THE SAME AS THEIR 4HROTTLE ORWARD COUNTERPARTS AND APPLY WHEN THE THROTTLE DIRECTION IS REVERSED ...

Page 47: ...ER 4HE 0 3EQUENCING AULT IS CLEARED BY RETURNING THE THROTTLE INPUT TO AND THE DIRECTION INPUTS TO FF OLF STYLE 0 THAT PREVENTS DIRECTION REVERSAL WHILE DRIVING 0 F THROTTLE INPUT IS RECEIVED BEFORE INTERLOCK OR DIRECTION INPUT 32 ONE 0 CHECK IS MADE WHEN THE INTERLOCK INPUT OR DIRECTION INPUTS ARE FF F THE THROTTLE INPUT AN 0 3EQUENCING AULT IS SET 4HE CHECK IS DONE REGARDLESS OF VEHICLE SPEED SO...

Page 48: ...S POWERING THE MOTOR NY TIME THIS PARAMETER IS CHANGED A 0ARAMETER HANGE AULT FAULT CODE IS SET AND MUST BE CLEARED BY CYCLING POWER THIS PROTECTS THE CONTROLLER AND THE OPERATOR RAKE EADBAND n 6 RAKE EADBAND n RAKE AP n RAKE AP n RAKE AX n 6 RAKE AX n RAKE FFSET n RAKE FFSET n 6 RAKE NABLE N FF 7HEN PROGRAMMED N THE BRAKE PROCESSING WITH FAULT DETECTION WILL 6 RAKE NABLE N FF OPERATE NORMALLY HOW...

Page 49: ...GES ARE BATTERY VOLTAGE COMPENSATED OLDING 6OLTAGE n 4HE BRAKE HOLDING VOLTAGE ALLOWS A REDUCED AVERAGE VOLTAGE TO BE RAKE OLDING 6OLTAGE n APPLIED TO THE BRAKE COIL ONCE THE BRAKE HAS BEEN RELEASED 4HIS PARAMETER MUST BE SET HIGH ENOUGH TO HOLD THE BRAKE RELEASED UNDER ALL SHOCK AND VIBRATION CONDITIONS THE VEHICLE WILL BE SUBJECTED TO OTE 4HE ATTERY 6OLTAGE OMPENSATED PARAMETER CONTROLS WHETHER ...

Page 50: ...TION OLD NABLE N OR RAKE 4YPE 4ORQUE 0RELOAD NABLE N FF 7HEN ENABLED THIS FUNCTION ELIMINATES ROLLBACK WHEN THE THROTTLE IS RAKE 4ORQUE 0RELOAD NABLE N FF RE ENGAGED ON A RAMP BY FORCING THE VEHICLE TO lRST ENTER POSITION HOLD RAKE 4ORQUE 0RELOAD BEFORE SETTING THE BRAKE AND THEN hREMEMBERINGv THE AMOUNT OF TORQUE NABLE IT IT THAT WAS NECESSARY TO HOLD IT ON THE RAMP 7HEN THROTTLE IS RE ENGAGED TH...

Page 51: ...TTERY VOLTAGE COMPENSATED 7HEN SET N THE PULL IN AND HOLDING OMPENSATED VOLTAGES ARE SET RELATIVE TO THE SET OMINAL 6OLTAGE SEE ATTERY ENU AIN RIVER ATTERY 6OLTAGE PAGE N OTHER WORDS THE OUTPUT VOLTAGE IS ADJUSTED TO COMPENSATE FOR OMPENSATED IT IT SWINGS IN BATTERY VOLTAGE SO THE PERCENTAGE IS RELATIVE TO THE SET OMINAL 6OLTAGE NOT TO THE ACTUAL VOLTAGE OR EXAMPLE SUPPOSE OMINAL 6OLTAGE IS SET TO...

Page 52: ...L BE SET 3ETTING THIS PARAMETER LOWER WILL INCREASE THE SENSITIVITY OF THE FAULT DETECT 3ETTING THIS PARAMETER TOO LOW MAY CAUSE FALSE FAULT TRIPS DUE TO NORMAL VOLTAGE DROPS BETWEEN THE KEYSWITCH AND CAPACITOR VOLTAGES 3ETTING THIS PARAMETER 6 WILL DISABLE THE AIN ID OT LOSE FAULT CHECK 0RECHARGE NABLE N FF 4URNS THE PRECHARGE FEATURE ON AND OFF 0RECHARGE PROVIDES A LIMITED 0RECHARGE NABLE N FF C...

Page 53: ...OWED CURRENT THROUGH THE VALVE WHICH IN TURN DElNES ITS APERTURE 0 IN URRENT n 3ETS THE MINIMUM ALLOWED CURRENT THROUGH THE PROPORTIONAL VALVE 0 IN URRENT n OST PROPORTIONAL VALVES NEED A NON ZERO CLOSED CURRENT IN ORDER TO START OPENING IMMEDIATELY WHEN OWER IS REQUESTED 0 ITHER n ITHER PROVIDES A CONSTANTLY CHANGING CURRENT IN THE COIL TO PRODUCE A RAPID 0 ITHER 0ERCENT n BACK AND FORTH MOTION O...

Page 54: ...L N 6OLTAGE n 4HE HYDRAULIC CONTACTOR PULL IN VOLTAGE PARAMETER ALLOWS A HIGH INITIAL YDRAULIC 0ULL N 6OLTAGE n VOLTAGE WHEN THE HYDRAULIC CONTACTOR DRIVER lRST TURNS ON TO ENSURE CON TACTOR CLOSURE FTER SECOND THIS PEAK VOLTAGE DROPS TO THE CONTACTOR HOLDING VOLTAGE OTE 4HIS VOLTAGE WILL BE BATTERY VOLTAGE COMPENSATED OLDING 6OLTAGE n 4HE HYDRAULIC CONTACTOR HOLDING VOLTAGE PARAMETER ALLOWS A RED...

Page 55: ...THE COMBINED CURRENT OF THE 6 AND 6 XTERNAL 3UPPLY IN n EXTERNAL SUPPLIES T OR BELOW THIS THRESHOLD A FAULT WILL BE CREATED THAT CAN BE READ BY 6 4HE lVE HECKS NABLE PARAMETERS ARE USED TO ENABLE DRIVER AND COIL FAULT DETECTION AT THE lVE INDIVIDUAL DRIVERS AT 0INS AND 7HEN A HECKS PARAMETER IS ENABLED THE ASSOCIATED DRIVER DRIVER WIRING AND DRIVER LOAD ARE CHECKED TO VERIFY THAT THE DRIVER CORREC...

Page 56: ... PROTECTS THE CONTROLLER AND THE OPERATOR DJUSTING THIS PARAMETER CAN BE HAZARDOUS OR INSTRUCTIONS SEE 3ECTION 3TEP PAGE 3WAP 4WO 0HASES N FF F AFTER 3WAP NCODER IRECTION HAS BEEN SET CORRECTLY THE VEHICLE DRIVES 3WAP 4WO 0HASES N FF IN THE WRONG DIRECTION I E DRIVES FORWARD WHEN IN REVERSE AND VICE PTION ITS IT VERSA TRY CHANGING THE SETTING OF THE 3WAP 4WO 0HASES PARAMETER 4HIS PARAMETER HAS THE...

Page 57: ...F NONE OF THE lVE PREDElNED TYPES IS APPROPRIATE FOR YOUR APPLICATION 0LEASE CONTACT YOUR URTIS CUSTOMER SUPPORT ENGINEER OTE 4HE INDUSTRY STANDARD 49 TEMPERATURE SENSORS ARE SILICON TEMPERATURE SENSORS WITH A POLARITY BAND THE POLARITY BAND OF A 49 SENSOR MUST BE THE END CONNECTED TO ROUND PIN 3ENSOR 4EMP FFSET n FTEN THE SENSOR IS PLACED IN THE MOTOR AT A LOCATION WITH A KNOWN OFFSET OTOR4EMP 3E...

Page 58: ... ROWNOUT VOLTAGE THE BRIDGE IS SWITCHED OFF I E MOTOR CURRENT IS SWITCHED OFF F THE CAPACITOR VOLTAGE STAYS BELOW THE ROWNOUT VOLTAGE FOR MSEC THE CONTROLLER WILL RESET EQUIVALENT TO CYCLING THE KEYSWITCH F THE CAPACITOR VOLTAGE RISES ABOVE THE ROWNOUT VOLTAGE BEFORE MSEC HAVE PASSED THE BRIDGE WILL BE REENABLED 4HE 3EVERE 5NDERVOLTAGE POINT CAN BE SET LOWER THAN THE ROWNOUT VOLTAGE 5NDERVOLTAGE U...

Page 59: ...PER CELL PARAMETERS 02 2 0 2 4 23 ATTERY 0ARAMETERS 44 29 5 CONT D 7 0 2 4 2 2 3 2 04 5SER 5NDERVOLTAGE n 4HE VALUE OF THIS PARAMETER IS A PERCENTAGE OF THE OMINAL 6OLTAGE SETTING 5SER 5NDERVOLTAGE n 4HE 5SER 5NDERVOLTAGE PARAMETER CAN BE USED TO ADJUST THE UNDERVOLTAGE THRESHOLD WHICH IS THE VOLTAGE AT WHICH THE CONTROLLER WILL CUT BACK DRIVE CURRENT TO PREVENT DAMAGE TO THE ELECTRICAL SYSTEM 4YP...

Page 60: ...BE STATE OF CHARGE MPTY 6OLTAGE EVEL MPTY 6OLTS 0ER ELL NUMBER OF CELLS IN THE BATTERY PACK ISCHARGE 4IME n MIN 3ETS THE MINIMUM TIME FOR THE ALGORITHM TO COUNT DOWN THE ISCHARGE 4IME n 0ERCENTAGE FROM TO 4HE ALGORITHM INTEGRATES THE TIME THE lLTERED KEYSWITCH VOLTAGE IS BELOW THE STATE OF CHARGE VOLTAGE LEVEL 7HEN THAT CUMULATIVE TIME EXCEEDS THE ISCHARGE 4IME THE 0ERCENTAGE IS DECREMENTED BY ONE...

Page 61: ...ED 4HE RESULT IS STORED AS h4IME TO 3PEED v IN THE ONITORw6EHICLE MENU PAGE 4HIS TIMER STARTS EVERY TIME THE MOTOR ACCELERATES FROM ZERO SPEED APTURE 3PEED n RPM 4HIS PARAMETER ALLOWS A SECOND CAPTURE SPEED TO BE DElNED AND WORKS APTURE 3PEED n IDENTICALLY TO APTURE 3PEED 4HE RESULT IS STORED AS h4IME TO 3PEED v IN THE ONITORw6EHICLE MENU PAGE APTURE ISTANCE n 4HE CONTROLLER CAPTURES THE TIME IT T...

Page 62: ...TIMER WILL RESTART IF THE VEHICLE EVER GOES FORWARD WHILE EMERGENCY REVERSE IS STILL ACTIVE 4HE ALLOWABLE RANGE IS n SECONDS WHERE SECONDS IS A SPECIAL CASE OF NO TIME OUT 7HEN EMERGENCY REVERSE TIMES OUT THE MER 2EV 4IMEOUT FAULT IS SET YCLING THE EMERGENCY REVERSE INPUT WILL CLEAR THE MER 2EV 4IMEOUT FAULT 4O STOP THE VEHICLE AFTER AN 2 EVENT NOT MOVE IN REVERSE DIRECTION SET THIS PARAMETER TO 2...

Page 63: ...SED AT HIGH VEHICLE SPEEDS ARGER VALUES REPRESENT SLOWER 2ATE 3 RESPONSE ECEL 2ATE 3 n 3ETS THE RATE IN SECONDS THAT IS USED TO SLOW DOWN THE VEHICLE WHEN THE NTERLOCK RAKE ECEL n INTERLOCK IS RELEASED AT LOW VEHICLE SPEEDS ARGER VALUES REPRESENT SLOWER 2ATE 3 RESPONSE NTERLOCK RAKE 4IMEOUT n SEC ONTROLS THE MAXIMUM ALLOWABLE DURATION OF AN INTERLOCK BRAKING EVENT NTERLOCK RAKE 4IMEOUT n 4HE TIMER...

Page 64: ... 3LAVE SYSTEM FTER THE 0 4IMEOUT 0ERIOD n SLAVE CONTROLLER HAS SENT A 0 3 IT WILL DECLARE A 0 4IMEOUT AULT IF THE MASTER CONTROLLER HAS NOT SENT A REPLY 0 3 MESSAGE WITHIN THE SET TIME ITHER 0 3 OR 0 3 WILL RESET THE TIMER 3ETTING THE 0 4IMEOUT 0ERIOD WILL DISABLE THIS FAULT CHECK MERGENCY ESSAGE 2ATE n MSEC 3ETS THE MINIMUM RATE BETWEEN EMERGENCY MESSAGES FROM THE OPEN MERGENCY n OPEN 3LAVE SYSTE...

Page 65: ...M A STOP APPLY FULL THROTTLE AND ACCELERATE TO HIGH SPEED AND THEN STOP FTER STOPPING NOTE THE VALUE DISPLAYED IN ONITORw ONTROLLERw OTOR 4UNINGw ASE 3PEED APTURED AND ENTER THIS VALUE FOR THE ASE 3PEED SETTING 4HE TEST RESTARTS EACH TIME THE VEHICLE COMES TO A STOP AND THE THROTTLE IS RELEASED SO BE SURE TO NOTE THE VALUE BEFORE DRIVING AWAY IELD 7EAKENING n ETERMINES THE AMOUNT OF HIGH SPEED POW...

Page 66: ...ON FROM A CONTROLLER AND WRITE IT TO OTHER CONTROLLERS HOWEVER IT CANNOT WRITE THAT SAME INFORMATION TO CONTROLLERS 4O PERFORM CLONING PLUG THE PROGRAMMER OR INTO THE CONTROLLER THAT HAS THE DESIRED SETTINGS 3CROLL DOWN TO THE UNCTIONS MENU h3ETTINGSv IS THE ONLY FUNCTION INCLUDED HERE 3ELECT h ET SETTINGS FROM CONTROLLERv TO COPY THE SETTINGS INTO THE PROGRAMMER 0LUG THE PROGRAMMER INTO THE CONTR...

Page 67: ...E n 4HROTTLE 0OT n 6 6OLTAGE AT THROTTLE POT WIPER PIN 4HROTTLE 0OT 2AW n RAKE OMMAND n RAKE REQUEST TO SLEW RATE BLOCK RAKE OMMAND n APPED RAKE n APPED BRAKE REQUEST APPED RAKE n 0OT 2AW n 6 6OLTAGE AT POT WIPER PIN 0OT 2AW n 0 4HROTTLE n 0ROPORTIONAL DRIVER CURRENT REQUEST 0 4HROTTLE n 3TEER 0OT n 6 6OLTAGE AT STEER POT WIPER PIN ON UAL 3TEER 0OT 2AW n RIVE TRACTION SLAVE 3TEER NGLE n DEG 3TEER ...

Page 68: ...W N FF 3WITCHES IT 3WITCH N FF 3WITCH ON OR OFF PIN 3W N FF 3WITCHES IT 3WITCH N FF 3WITCH ON OR OFF PIN 3W N FF 3WITCHES IT 3WITCH N FF 3WITCH ON OR OFF PIN 3W N FF 3WITCHES IT 3WITCH N FF 3WITCH ON OR OFF PIN 3W N FF 3WITCHES IT 3WITCH N FF 3WITCH ON OR OFF PIN 3W N FF 3WITCHES IT 3WITCH N FF 3WITCH ON OR OFF PIN 3W N FF 3WITCHES IT 3WITCH N FF 3WITCH ON OR OFF PIN 3W N FF 3WITCHES IT RIVER NPUT...

Page 69: ... 3W N FF 3WITCHES IT 0 NPUT N FF 0ROPORTIONAL DRIVER ON OR OFF PIN 3W N FF 3WITCHES IT IG UT NPUT N FF IGITAL UT INPUT ON OR OFF PIN 3W N FF 3WITCHES IT IG UT NPUT N FF IGITAL UT INPUT ON OR OFF PIN 3W N FF 3WITCHES IT 3WITCH N FF 3WITCH ON OR OFF PIN 3W N FF 3WITCHES IT ONITOR ENU 0543 CONT D 30 9 6 2 2 3 2 04 A 4 2 5 ...

Page 70: ... UTPUT n RIVER 07 n RIVER 07 OUTPUT PIN 07 UTPUT n RIVER 07 n RIVER 07 OUTPUT PIN 07 UTPUT n RIVER 07 n RIVER 07 OUTPUT PIN 07 UTPUT n 0 07 n 0ROPORTIONAL DRIVER 07 OUTPUT PIN 0 UTPUT n 0 URRENT n URRENT AT PROPORTIONAL DRIVER PIN 0 URRENT n 6OLTS n 6 6OLTAGE AT 6 OUTPUT PIN IVE 6OLTS UTPUT n XT 3UPPLY URRENT n M OMBINED CURRENT OF THE EXTERNAL 6 AND XT 3UPPLY URRENT n 6 VOLTAGE SUPPLIES PINS AND ...

Page 71: ...N A PROPERLY OPERATING MOTOR ENCODER OTOR3PEED DOES NOT INDICATE DIRECTION OTOR3PEED n RPM OTOR ENCODER PHASE SPEED IN REVOLUTIONS OTORSPEED n PER MINUTE 4HIS CAN BE USED TO VERIFY THAT PHASE OF THE ENCODER IS OPERATING CORRECTLY OTOR3PEED SHOULD EQUAL OTOR3PEED IN A PROPERLY OPERATING MOTOR ENCODER OTOR3PEED DOES NOT INDICATE DIRECTION ONITOR ENU 44 29 30 9 6 2 2 3 2 04 n ATTERY STATE OF CHARGE 0...

Page 72: ...ULE n STORE ADDITIONAL INFORMATION ABOUT THE CAUSE OF A 6 RUNTIME ERROR IN THE 6 6 RROR n RROR ODULE AND 6 RROR VARIABLES 4HE AST 6 RROR n RESULTING NON ZERO VALUES CAN BE COMPARED TO THE RUNTIME 6 MODULE AND ERROR CODE DElNITIONS LISTED IN THE CONTROLLER S 3 3YS NFO lLE WHICH SHOULD HELP PINPOINT THE 6 ERROR THAT CAUSED THE RUNTIME ERROR OTOR HARACTERIZATION RROR n OTOR HARACTERIZATION RROR FAULT...

Page 73: ... ISPLAYS THE CURRENT AVAILABLE AS A RESULT 5NDERVOLTAGE UTBACK n THE UNDERVOLTAGE CUTBACK FUNCTION VALUE OF INDICATES NO CUTBACK IN CURRENT VERVOLTAGE UTBACK n ISPLAYS THE CURRENT AVAILABLE AS A RESULT VERVOLTAGE UTBACK n THE OVERVOLTAGE CUTBACK FUNCTION VALUE OF INDICATES NO CUTBACK IN CURRENT ONITOR ENU 4 2 45 30 9 6 2 2 3 2 04 ASE 3PEED APTURED n RPM ISPLAYS THE VALUE OF THE MOTOR BASE SPEED AS...

Page 74: ...ST RECENT SUCH ACCELERATION 4IME TO 3PEED n SEC 4IME TAKEN FOR THE VEHICLE TO GO FROM ZERO 4IME TO APTURE 3PEED n RPM TO THE PROGRAMMED APTURE 3PEED SEE 0ROGRAMw6EHICLE MENU DURING ITS MOST RECENT SUCH ACCELERATION 4IME ETWEEN 3PEEDS n SEC 4IME TAKEN FOR THE VEHICLE TO GO FROM 4IME ETWEEN APTURE 3PEEDS n PROGRAMMED APTURE 3PEED TO PRO GRAMMED APTURE 3PEED SEE 0RO GRAMw6EHICLE MENU PAGE DURING ITS ...

Page 75: ...ANCE TRAVELED BY THE VEHICLE STARTING ISTANCE 3INCE 3TOP n FROM A STOP N EFFECT THE VEHICLE IS USED AS A TAPE MEASURE N OTHER WORDS IF YOU TRAVEL FEET FORWARD AND THEN FEET IN REVERSE THE DISTANCE WOULD BE 4HE DISTANCE IS CONTINUOUSLY UPDATED AND WILL STOP AND RESTART WHEN OTOR 20 OR ACCURATE DISTANCE MEASUREMENTS THE 3PEED TO 20 PARAMETER MUST BE SET CORRECTLY PAGE 5NITS ARE METERS OR FEET DEPEND...

Page 76: ...ING OBJECT FOR BYTE OF 0 3 n APPING OBJECT FOR BYTE OF 0 3 n APPING OBJECT FOR BYTE OF 0 3 n APPING OBJECT FOR BYTE OF 0 3 n APPING OBJECT FOR BYTE OF 0 3 ONITOR ENU 34 453 30 9 6 2 2 3 2 04 4 3TATE n ONTROLLER 4 STATE 4 3TATE n INITIALIZATION STOPPED OPERATIONAL PRE OPERATIONAL 0 3 YTE AP n APPING OBJECTS FOR 0 3 S EIGHT BYTES 0 3 YTE AP n APPING OBJECTS FOR 0 3 S EIGHT BYTES 0 3 YTE AP n APPING ...

Page 77: ...WARE VERSION NUMBER UNIQUELY ARDWARE 6ER n DESCRIBES THE COMBINATION OF POWER BASE ASSEMBLY AND THE LOGIC CAP AND 3 BOARD ASSEMBLIES USED IN THE CONTROLLER 3 6ERSION n 6ERSION NUMBER OF THE OPERATING SYSTEM 3 6ER n SOFTWARE THAT IS LOADED INTO THE CONTROLLER 4HIS VARIABLE SPECIlES THE MAJOR VERSION NUMBER OF THE CONTROLLER S OPERATING SYSTEM UILD UMBER n UILD NUMBER OF THE OPERATING SYSTEM UILD UM...

Page 78: ...HE PROCEDURE O AHEAD AND COMPLETE SETUP STEPS THROUGH BEFORE CONDUCTING THE CHARACTERIZATION PROCEDURE 3END YOUR MOTOR TO URTIS FOR TESTING ON THE MOTOR DYNO 9OUR MOTOR S DATA WILL BE ENTERED INTO THE URTIS DATABASE AND WE WILL SEND YOU THE APPROPRIATE PARAMETER VALUES TO ENTER INTO YOUR CONTROLLER ONTACT URTIS BEFORE SHIPPING YOUR MOTOR NCE YOU HAVE OBTAINED THE CORRECT VALUES FOR OTOR 4YPE 7 ASE...

Page 79: ...NOT DISPLAYED OR IF THERE IS NO MOTOR TEMPERATURE SENSOR THIS SETUP PROCEDURE CAN CONTINUE ONLY IF THE 3ENSOR NABLE IS SET TO FF F THE DISPLAYS THE CORRECT MOTOR TEMPERATURE CONTINUE WITH THE PROCEDURE AND SET UP THE 3ENSOR NABLE 4EMPERATURE OT AND 4EMPERATURE AX PARAMETERS 6 URRENT LIMITS SEE PAGE 4HE RIVE 2EGEN RAKE 2 AND NTERLOCK URRENT IMIT PARAMETERS ARE A PERCENTAGEOFTHECONTROLLER SFULLRATED...

Page 80: ...OLVE ANY ISSUES ABOUT THE THROTTLE SETUP BEFORE CONTINUING WITH THE SETUP PROCEDURE RAKE SEE PAGE F THE BRAKE FUNCTION IS NOT USED BY YOUR APPLICATION SET THE RAKE NABLE PARAMETER FF AND RAKE 4YPE EFORE THE BRAKE CAN BE SET UP THE INTERLOCK MUST BE VERIlED AS FF BY READING THE NTERLOCK VALUE DISPLAYED IN THE ONITORw NPUTS MENU PAGE F THE INDICATES THE INTERLOCK IS N REVIEW HOW YOU SET THE NTERLOCK...

Page 81: ...BE CHANGED F YOU ARE GETTING NEGATIVE OTOR 20 WHEN ROTATING THE MOTOR FORWARD THE 3WAP NCODER IRECTION PARAMETER MUST BE CHANGED YCLE 3 POWER AND REPEAT THE PROCEDURE UNTIL YOU ARE SATISlED THAT THE 3WAP NCODER IRECTION SETTING IS CORRECTLY SET F THE VEHICLE WILL USE THE EMERGENCY REVERSE FEATURE THE REVERSE DIRECTION NEGATIVE OTOR 20 MUST BE CORRECTLY SELECTED SO THAT WHEN THE MERGENCY REVERSE IN...

Page 82: ...DING PROPERLY NCE THE MOTOR IS RESPONDING PROPERLY LOWER THE VEHICLE TO PUT THE DRIVE WHEELS ON THE GROUND OTOR CHARACTERIZATION REFER TO PROCEDURE SENT BY URTIS F YOU WILL BE CONDUCTING THE OTOR HARACTERIZATION 0ROCEDURE DO IT NOW 4HIS PROCEDURE WILL DETERMINE THE VALUES YOU SHOULD SET FOR THE OTOR 4YPE 7 ASE 3PEED AND IELD 7EAKENING PARAMETERS SEE OTOR ONTROL MENUS PAGE OTE F YOU OBTAINED THESE ...

Page 83: ...ETERS IN 3ECTION IF THERE IS ANY QUESTION ABOUT WHAT ANY OF THEM DO 30 802 33 TUNING SEE PAGE 3PEED ODE XPRESS IS THE SAME AS 3PEED ODE WITH THE EXCEPTION THAT IT HAS FEWER PARAMETERS AND IS THEREFORE SIMPLER TO USE OST VEHICLE APPLICATIONS WILL lND SUCCESS WITH 3PEED ODE XPRESS HOWEVER FOR SOME APPLICATIONS VEHICLE PERFORMANCE CANNOT BE SATISFACTORILY lNE TUNED IN 3PEED ODE XPRESS N THIS CASE CHA...

Page 84: ...CE SINCE THE PUMP WILL NOT RUN IN REVERSE NOR WITH A BRAKE INPUT PUMP MOTOR APPLICATIONS WHICH IN STEP hAv HAD THE 0UMP NABLE PARAMETER SET TO N MAY ALSO BE CONTROLLING HYDRAULIC VALVES LOAD HOLD VALVE PROPORTIONAL VALVE 4HE 0ROPORTIONAL RIVER PARAMETERS PAGE AND SOME 6 WILL TYPI CALLY BE USED TO SET UP THE CONTROL OF THESE VALVE DRIVER OUTPUTS ONSULT WITH YOUR URTIS CUSTOMER SUPPORT ENGINEER REGA...

Page 85: ... SPEED FUNCTION SEE 2ESTRAINT MENU PAGE s YCLE 3 TO CLEAR ANY FAULTS s 5SING VERY QUICK PULSING THROTTLE MOVEMENTS INCREASE THE THROTTLE AND THEN RELEASE IT TO 4HE INTENT IS TO GIVE THE SPEED CONTROLLER TORQUE IMPULSES s NCREASE P AND REPEAT THE THROTTLE TESTS NCREASE P UNTIL YOU START TO NOTICE MARGINAL STABILITY NORMALLY MOTOR BOUNCING OR CONTINUOUS OSCILLATION IN THE GEARS IS HEARD OTE T IS POS...

Page 86: ...UTS ONSULT WITH YOUR URTIS CUSTOMER SUPPORT ENGINEER REGARDING HYDRAULIC VALVE CONTROL 4 215 TUNING SEE PAGES n A 3ET AX 3PEED TO THE MAXIMUM SPEED YOU WANT TO LIMIT THE MOTOR TO B P I AND D TYPICALLY DO NOT NEED TO BE CHANGED AS THE DEFAULT VALUES WILL WORK WELL IN MOST APPLICATIONS 4HESE PARAMETERS CONTROL HOW TIGHTLY THE CONTROLLER LIMITS THE SPEED OF THE MOTOR TO THE PROGRAMMED AX 3PEED C 3ET ...

Page 87: ... UNCTIONS ANUAL 4HESE TWO MANUALS WHICH ARE IN 0 FORMAT INCLUDE MORE DETAILED INFORMATION ABOUT 6 THAN IS INCLUDED HERE 4HIS SECTION OF THE MANUAL SUMMARIZES 6 AND ALSO DESCRIBES ASPECTS AND FUNCTIONS OF 6 THAT ARE SPECIlC TO CONTROLLERS OR A MORE COMPLETE UNDERSTANDING OF THE FUNCTIONS AND CAPABILITIES OF 6 SEE THE THE 7IN6 5SER S UIDE 6 0ROGRAMMER S UIDE AND 6 OMMON UNCTIONS ANUAL 3UMMARY OF 6 A...

Page 88: ...RE FUNC TION IS USED 4HUS THEY CAN THEN BE RECALLED AT THE NEXT POWER ON CYCLE WHICH RESTORES THEIR PREVIOUS VALUES 3EE THE SECTION ON NON VOLATILE MEMORY ACCESS IN THE 6 OMMON UNCTIONS MANUAL FOR MORE INFORMATION LOCK 02 ARE BLOCKS OF VARIABLES TOTAL OF VARIABLES WHICH ARE STORED AND RECALLED USING THE FUNCTIONS 6 LOCK 2EAD AND 6 LOCK 7RITE 4HE BLOCKS ARE CALLED 6 n 6 4HE READ AND WRITE FUNCTIONS...

Page 89: ... n 0 5SER VARIABLES OF BITS 0 5SER IT n 0 5SER IT EACH BITS 6 CAN MODIFY THE CONTROL MODE PARAMETERS IN 2 BY USING THE 6 VARIABLE NAME FOR THE PARAMETER OR EXAMPLE SBLF 3BUF 4QE IBOHF SBLF 3BUF UP TFD WILL CHANGE THE 2 VALUE OF THE SPEED CONTROL MODE S RAKE 2ATE THE NEW VALUE WILL BE USED IN DETERMINING THE ONTROLLER 4ORQUE OMMAND OWEVER THE VALUE OF THE STORED VALUE OF THIS PARAMETER REMAINS UNCH...

Page 90: ...LECTOR POSITION SWITCH MS 3 0 3ELECTOR POSITION SWITCH MS 37 3WITCH NPUT MS 4 2 4IMERS HOURMETERS MS 4HERE IS ONLY ONE 3WITCH VARIABLE IT HAS ASSOCIATED BIT VARIABLES 42 7 4 6 IGITAL NPUTS 4HE CONTROLLER HAS AT TOTAL OF DIGITAL INPUTS AND THE HAS IGHT ARE SWITCH INPUTS 3W THROUGH 3W ON ALL THE MODELS THE HAS A NINTH SWITCH INPUT 3W 4HESE SWITCH INPUTS ARE SHOWN ON THE STANDARD WIRING DIAGRAM IGURE...

Page 91: ...EY WORK WELL FOR DRIVING S OR FOR INTERFACING TO ANOTHER DIGITAL DEVICE 4HE TWO DIGITAL OUTPUTS ON THE ARE AMP DRIVERS THAT ARE ONLY N OR FF RIVERS USE A SPECIAL 6 FUNCTION TO SET THEIR 07 LEVEL 4HIS 07 LEVEL CAN BE SET UP IN A SIGNAL CHAIN TO UPDATE AUTOMATICALLY OR CAN BE SET DI RECTLY IN THE MAIN LOOP 07 CAN BE SET FROM n USING THE DIGITAL RANGE OF TO 1VU 18 18 WILL OUTPUT A WAVEFORM ON RIVER V...

Page 92: ...LUE OF CHANGES THE ROUTING OF THE APPROPRIATE SIGNAL CHAIN EITHER THROTTLE OR BRAKE AND ALLOWS THE 6 PROGRAMMER ACCESS TO THE4HROTTLE 0OT OR RAKE 0OT OUTPUT VARIABLES SEE IGURE PAGE 7HEN THE 4HROTTLE 4YPE SETTING THE 4HROTTLE 0OT UTPUT IS A 6 VARIABLE THAT THE 3 WILL UPDATE WITH THE CURRENT VALUE OF THE THROTTLE POT INPUT 3IMILARLY WHEN THE RAKE 4YPE SETTING THE RAKE 0OT UTPUT IS A 6 VARIABLE THAT...

Page 93: ... POTENTIOMETER INPUTS AS OPPOSED TO THE ANALOG INPUTS IS THAT THEY HAVE AUTOMATIC POT FAULT DETECTION FUNCTIONS RUN NING IN THE MOTOR CONTROLLER 3 4HE 6 PROGRAMMER HAS ACCESS TO THE POT DETECTION FUNCTIONS WITH THE 3ETUP 0OT AULTS FUNCTION 7ITH THIS FUNCTION 6 CAN SET THE HIGH AND LOW THRESHOLD AT WHICH A FAULT OCCURS 4HIS FUNCTION ALSO FORCES THE POT VALUE TO A DElNABLE LEVEL IF A FAULT OCCURS OT...

Page 94: ...PARAMETER SEE PAGE AND THE THROTTLE POTENTIOMETER INPUT 4HROTTLE 0OT 2AW TO CRE ATE A BIT VARIABLE CONTAINING THE MAGNITUDE OF THE RAW COMMAND 4HIS RAW COMMAND PASSES TO THE 4HROTTLE APPING BLOCK WHICH RE SHAPES THE THROTTLE SIGNAL MAGNITUDE AND DIRECTION BASED ON THE VARIOUS4HROTTLE ENU PARAMETERS SEE PAGES n AND THE DIRECTION INPUTS OLLOWING THE 4HROTTLE APPING BLOCK ARE TWO SWITCHES WHOSE PURPO...

Page 95: ... URTIS ANUAL 3 6 IG OTOR COMMAND DIAGRAM ...

Page 96: ...ELECTOR SWITCH THE THROTTLE SIGNAL IS A 6 VARIABLE CALLED 4HROTTLE OMMAND WHICH IS DISPLAYED IN THE ONITORw NPUTS MENU 4HROTTLE OMMAND IS THE lNAL VALUE OF THE THROTTLE SIGNAL CHAIN THAT IS INPUT TO THE ONTROL ODE 0ROCESSING BLOCK SEE IGURE HECKING THE VALUE OF 4HROTTLE OMMAND USING THE IS A GOOD WAY TO SEE THE lNAL THROTTLE SIG NAL F 3 4HROTTLE OMMAND COUNT THE MOTOR CONTROLLER WILL OUTPUT SIGNAL...

Page 97: ...6 VARIABLE 6 RAKE 4HE 6 PROGRAM MANIPULATES THE 6 RAKE VARIABLE TO GET A BRAKE COMMAND USTOM BRAKING FUNCTIONS CAN BE SET UP IN THIS FASHION E G BRAKING BASED ON A SWITCH POSITION OR AN INTERNAL FAULT 4HE BRAKE POTENTIOMETER CAN STILL BE USED BUT MUST BE SET UP USING THE 3ETUP 0OT FUNCTION 7HEN THE RAKE 4YPE IS SET TO n THE VARIABLE 6 RAKE DOES NOTHING AND THE RAKE APPING BLOCK OUTPUT SIGNAL PASSE...

Page 98: ...RAKE SIGNALS AND THE MOTOR RPM INPUT INTO A ONTROLLER 4ORQUE OMMAND 4HE SELECTED CONTROL MODE CALCULATES THE DESIRED ONTROLLER4ORQUE OM MAND WHICH IS PASSED TO THE OTOR ONTROL BLOCK SEE IGURE 4HE OTOR ONTROL BLOCK USES ITS MATHEMATICAL MODEL OF THE SPECIlC INDUCTION MOTOR USED TO GENERATE THE HIGH EFlCIENCY THREE PHASE OUTPUTS THAT ARE OUTPUT TO THE MOTOR VIA THE CABLES CONNECTED TO THE 5 6 AND 7 ...

Page 99: ... URTIS ANUAL 3 IG ONTROL ODE PROCESSING 6 ...

Page 100: ...AINS ARE SET BY THE PARAM ETERS 0 P PROPORTIONAL GAIN AND 0 I INTEGRAL GAIN 4HE OUTPUT OF THE 0 CONTROLLER BECOMES THE DRIVER S PULSE WIDTH MODULATION THUS CONTROLLING THE AVERAGE CURRENT OF THE DRIVER 4HE lNAL OUTPUT IS THE 6 VARIABLE 0 UTPUT WHICH IS DISPLAYED IN THE ONITORw NPUTS MENU AS 0 07 4HE FOLLOWING 0 PROCESSING VARIABLES ARE ACCESSIBLE BY 6 6 6 2 33 3 2 04 APPED 4HROTTLE 2EAD NLY OMMAND...

Page 101: ...T TEXT MESSAGES TO A DISPLAY OR BLINKING A DASHBOARD ERE ARE THE BIT LOCATIONS OF EACH OF THE OPERATING SYSTEM FAULTS IN THE 3TATUS n VARIABLES 4UBUVT JU BJO POUBDUPS 8FMEFE PEF JU BJO POUBDUPS JE PU MPTF PEF JU 1PU PX 0WFSDVSSFOU PEF JU 5ISPUUMF 8JQFS PX PEF JU 5ISPUUMF 8JQFS JHI PEF JU 1PU 8JQFS PX PEF JU 1PU 8JQFS JHI PEF JU 130 BJMVSF PEF 4UBUVT JU 1 4FRVFODJOH BVMU PEF JU 4FWFSF 6OEFSWPMUBHF ...

Page 102: ...UPS IBSBDUFSJ BUJPO BVMU PEF JU 1VNQ BSEXBSF BVMU PEF Ď NPEFM DPOUSPMMFST POMZ 4UBUVT JU PU 6TFE JU 7 04 JTNBUDI PEF JU SBLF BJMFE UP 4FU PEF JU ODPEFS 04 JNJUFE 0QFSBUJOH 4USBUFHZ PEF JU NFS 3FW 5JNFPVU PEF JU VBM 4FWFSF BVMU PEF JU BVMU 0O 0UIFS 5SBDUJPO POUSPMMFS PEF JU MMFHBM PEFM VNCFS PEF 4UBUVT JU 1VNQ 0WFSDVSSFOU PEF Ď NPEFM DPOUSPMMFST POMZ JU 1VNQ PEF Ď NPEFM DPOUSPMMFST POMZ JU 1VNQ 1 P...

Page 103: ...PEF JU 7 GBVMU PEF 6TFS BVMU JU 7 GBVMU PEF JU 7 GBVMU PEF JU 7 GBVMU PEF JU 7 GBVMU PEF JU 7 GBVMU PEF JU 7 GBVMU PEF JU 7 GBVMU PEF JU 7 GBVMU PEF 4HE h ODEv NUMBERS RESULT IN THE mASHING OF THE CONTROLLER STATUS S THAT HELP IDENTIFY THE FAULT WITHOUT USE OF A 3ETTING THE FAULT IN 6 IS DONE BY SETTING THE ASSOCIATED FAULT BIT IN THE 5SER AULT AND VARIABLES LEARING THE FAULT MUST ALSO BE HANDLED ...

Page 104: ...EPXO SJWFS JU 4IVUEPXO SJWFS 4IVU EPXO SJWFS JU 4IVUEPXO SJWFS 4IVU EPXO SJWFS JU 4IVUEPXO1 4IVU EPXO 1SPQPSUJPOBM SJWFS JU VMM SBLF 4FU UIF SBLF PNNBOE JU 4IVUEPXO1VNQ 4IVU EPXO QVNQ JU 5SJN JTBCMF JTBCMF VBM SJWF USJN DBMDVMBUJPO JU 4FWFSF VBM PS VBM SJWF TZTUFN POF DPO USPMMFS IBT B TFWFSF GBVMU CVU UIF NBJO DPOUBDUPS NVTU TUBZ DMPTFE TP UIF PUIFS DPOUSPMMFS DBO DPOUJOVF UP PQFSBUF JU 4IVUEPXO4...

Page 105: ...QMBZ FMTF 6TFS BVMU 0 MFBS 6TFS GBVMU CJU HPUP BJO PPQ 1 3 5 3 53 i PX BVMUw 5 1 6 54 8 5 5 5 3 44 JTU 6TFS BVMU 3 44 6TFS BVMU 54 5 5 5 7 08 0 4HIS EXAMPLE WILL RESULT IN THE EXACT SAME ACTIONS AS THE LAST EXAMPLE EXCEPT NOW THE FAULT WILL BE DISPLAYED IN THE 3YSTEM AULTS MENU ONLY WHILE THE FAULT IS SET AND THIS FAULT WILL BE LOGGED INTO THE AULT ISTORY MENU AFTER BEING SET 4HE TEXT DISPLAYED IN...

Page 106: ...ON IS ENABLED POWER WILL BE SUPPLIED TO THE CAPACITOR BANK UNTIL THE VOLTAGE IS WITHIN VOLTS OF 3 OR ONE SECOND HAS EXPIRED OR THE PRECHARGE RESISTOR ENERGY RANGE HAS BEEN EXCEEDED 4HE CURRENT STATE OF PRECHARGE IS SHOWN BY THE PRECHARGE VARIABLE 0RECHARGE 3TATE WHICH HAS THE FOLLOWING VALUES n 0RECHARGE HAS NOT YET BEEN DONE n 0RECHARGE IS IN PROGRESS n 0RECHARGE HAS PASSED n 0RECHARGE HAS BEEN A...

Page 107: ...TES ARE n 0RECHARGE HAS NOT YET BEEN DONE n 0RECHARGE IS IN PROGRESS n 0RECHARGE HAS PASSED n 0RECHARGE HAS BEEN ABORTED BY THE ISABLE 0RECHARGE FUNCTION n 0RECHARGE HAS EXCEEDED THE PRECHARGE RESISTOR ENERGY LIMIT n 0RECHARGE HAS EXCEEDED THE ONE SECOND TIME LIMIT 3YNTAX JTBCMF 1SFDIBSHF 0ARAMETERS ONE 2ETURNS n 0RECHARGE NOT ABORTED n 0RECHARGE SUCCESSFULLY ABORTED RROR ODES ONE XAMPLE JTBCMF 1S...

Page 108: ...n 3ELECTED DIGITAL OUTPUT NOT SET n 3ELECTED DIGITAL OUTPUT SUCCESSFULLY SET RROR ODES AD IS RETURNED WHEN IG UT IS NOT IN THE RANGE OF IG UT TO IG UT XAMPLE 4FU JHPVU JH0VU 4HIS EXAMPLE WILL SET IGITAL UTPUT PIN N ACTIVE LOW PULLED TO GROUND 2 54 4HIS FUNCTION TURNS OFF THE SELECTED DIGITAL OUTPUT 4HE DIGITAL OUTPUTS ARE ACTIVE LOW N DRIVER ON AND PULLED TO GROUND FF OPEN CIRCUIT AT THE PIN 3YNTA...

Page 109: ...S ONE XAMPLE OBCMF NFS 3FW 4HIS WILL ENABLE THE EMERGENCY REVERSE FUNCTION 3 2 2 6 4HIS FUNCTION IS USED TO DISENGAGE EMERGENCY REVERSE USING 6 4HE 2 4YPE MUST BE SET TO IN ORDER FOR THE ISABLE MER 2EV FUNCTION TO OPERATE F THE SYSTEM EMERGENCY REVERSE STATE IS DISABLED 2 3TATE BIT VARIABLE FF THE EMERGENCY REVERSE FUNCTION WILL STOP OPERATING AND NORMAL MOTOR CONTROL FUNC TION WILL RESUME INCLUDI...

Page 110: ...LOCK SUCCESSFULLY SET RROR ODES ONE XAMPLE 4FU OUFSMPDL 4HIS WILL ENGAGE THE SYSTEM INTERLOCK 2 4 2 4HIS FUNCTION IS USED TO DISENGAGE THE SYSTEM INTERLOCK USING 6 4HE N TERLOCK 4YPE PARAMETER MUST BE SET TO IN ORDER FOR THE 3ET NTERLOCK FUNCTION TO OPERATE F THE SYSTEM INTERLOCK IS CLEARED NTERLOCK 3TATE BIT VARIABLE FF THE THROTTLE INPUT SIGNAL IS NOT ALLOWED TO PASS ALONG THE THROTTLE CHAIN SEE...

Page 111: ... 6 3YNTAX 4FUVQ 1PU BVMUT 1PU PX BVMU JHI BVMU BVMU 7BMVF 0ARAMETERS 1PU IDENTIlES THE THROTTLE WHOSE FAULT LIMITS ARE BEING SET 4 2 44 0 4 2 0 4 PX BVMU 3PECIlES THE LOWER THRESHOLD VOLTAGE LIMIT 3CALING 6 COUNTS JHI BVMU 3PECIlES THE UPPER THRESHOLD VOLTAGE LIMIT 3CALING 6 COUNTS BVMU 7BMVF 4HE VALUE THAT IS USED FOR THE POT INPUT WHEN THERE IS A FAULT n 3CALING Ò Ò 2ETURNS n 3ETUP DID NOT EXECU...

Page 112: ... START FUNCTION SUCCESSFULLY ENABLED RROR ODES ONE XAMPLE 4UBSU 1VNQ 4HIS WILL TURN ON THE PUMP LIFT CONTACTOR 34 0 05 0 4HIS FUNCTION IS USED TO TURN OFF THE PUMP LIFT CONTACTOR F THE PARAMETER RIVERSw YDRAULIC ONTACTORw ONTACTOR NABLE N 6 YDRAULIC ONTACTOR NABLE BIT VARIABLE N THE 6 FUNCTION 3TART 0UMP WILL TURN OFF THE PUMP LIFT CONTACTOR RIVER 7HEN YDRAULIC ONTACTOR NABLE N AND NEITHER 3TART 0...

Page 113: ...E DISPLAYS THE FAULTS BY NAME 4HE PAIR OF S BUILT INTO THE CONTROLLER ONE RED ONE YELLOW PRODUCE mASH CODES DISPLAYING ALL THE CURRENTLY SET FAULTS IN A REPEATING CYCLE ACH CODE CONSISTS OF TWO DIGITS 4HE RED mASHES ONCE TO INDICATE THAT THE lRST DIGIT OF THE CODE WILL FOLLOW THE YELLOW THEN mASHES THE APPROPRIATE NUMBER OF TIMES FOR THE lRST DIGIT 4HE RED mASHES TWICE TO INDICATE THAT THE SECOND ...

Page 114: ...TROLLER HAS DETECTED A FAULT ALTERNATELY DIGIT CODE mASHED BY YELLOW IDENTIlES THE SPECIlC FAULT ONE OR TWO mASHES BY RED INDICATE WHETHER lRST OR SECOND CODE DIGIT WILL FOLLOW 42 5 3 4 4HE TROUBLESHOOTING CHART 4ABLE PROVIDES THE FOLLOWING INFORMATION ON ALL THE CONTROLLER FAULTS s FAULT CODE s FAULT NAME AS DISPLAYED ON THE PROGRAMMER S s THE EFFECT OF THE FAULT s POSSIBLE CAUSES OF THE FAULT s ...

Page 115: ...Y FUNCTION 0RECHARGE 3HUTDOWN4HROTTLE APACITOR 6OLTAGE ULL RAKE 3HUTDOWN0UMP ONTROLLER 3EVERE 5NDERTEMP 3EE ONITOR MENUw ONTROLLER 3ET EATSINK TEMPERATURE BELOW 3HUTDOWN OTOR 4EMPERATURE LEAR RING HEATSINK TEMPERATURE 3HUTDOWN AIN ONTACTOR ONTROLLER IS OPERATING IN AN EXTREME ABOVE AND CYCLE INTERLOCK OR 3 3HUTDOWN RAKE ENVIRONMENT 3HUTDOWN4HROTTLE ULL RAKE 3HUTDOWN0UMP ONTROLLER 3EVERE VERTEMP 3E...

Page 116: ...ENABLED AT THIS VOLTAGE LEAR RING CAPACITOR VOLTAGE ABOVE THE ATTERY PARAMETERS ARE MISADJUSTED 5NDERVOLTAGE LIMIT ON CONTROLLER SYSTEM DRAIN ON BATTERY ATTERY RESISTANCE TOO HIGH ATTERY DISCONNECTED WHILE DRIVING 3EE ONITOR MENUw ATTERY APACITOR 6OLTAGE LOWN FUSE OR MAIN CONTACTOR DID NOT CLOSE VERVOLTAGE UTBACK ORMAL OPERATION AULT SHOWS THAT 3ET APACITOR BANK VOLTAGE EXCEEDED THE 2EDUCED BRAKE ...

Page 117: ...IVER PEN 3HORT PEN OR SHORT ON DRIVER LOAD 3ET RIVER PIN IS EITHER OPEN OR 3HUTDOWN RIVER IRTY CONNECTOR PINS SHORTED 4HIS FAULT CAN BE SET ONLY WHEN AD CRIMPS OR FAULTY WIRING AIN NABLE FF LEAR ORRECT OPEN OR SHORT AND CYCLE DRIVER AIN PEN 3HORT PEN OR SHORT ON DRIVER LOAD 3ET AIN CONTACTOR DRIVER PIN IS 3HUTDOWN OTOR IRTY CONNECTOR PINS EITHER OPEN OR SHORTED 4HIS FAULT CAN BE 3HUTDOWN AIN ONTAC...

Page 118: ...CITOR BANK CONNECTION TERMINAL AIN ONTACTOR ID OT LOSE AIN CONTACTOR DID NOT CLOSE 3ET 7ITH THE MAIN CONTACTOR COMMANDED 3HUTDOWN OTOR AIN CONTACTOR TIPS ARE OXIDIZED CLOSED THE CAPACITOR BANK VOLTAGE 3HUTDOWN AIN ONTACTOR BURNED OR NOT MAKING GOOD CONTACT CONNECTION TERMINAL DID NOT CHARGE TO 3HUTDOWN RAKE XTERNAL LOAD ON CAPACITOR BANK LEAR YCLE 3 3HUTDOWN4HROTTLE CONNECTION TERMINAL THAT PRE UL...

Page 119: ... 3 INTERLOCK DIRECTION AND 3 INTERLOCK DIRECTION OR THROTTLE THROTTLE INPUTS INPUTS LEAR 2EAPPLY INPUTS IN CORRECT SEQUENCE 3EE ONITOR MENUw NPUTS MER 2EV 0 MERGENCY 2EVERSE OPERATION HAS 3ET T THE CONCLUSION OF MERGENCY 3HUTDOWN4HROTTLE CONCLUDED BUT THE THROTTLE FORWARD 2EVERSE THE FAULT WAS SET BECAUSE VARIOUS 3HUTDOWN RAKE AND REVERSE INPUTS AND INTERLOCK INPUTS WERE NOT RETURNED TO NEUTRAL HA...

Page 120: ...INGS PAGE LEAR RING THE EXTERNAL SUPPLY CURRENT WITHIN RANGE 3 ENERAL NTERNAL CONTROLLER FAULT 3ET NTERNAL CONTROLLER FAULT DETECTED LEAR YCLE 3 0 4IMEOUT 4IME BETWEEN 0 MESSAGES 3ET 4IME BETWEEN 0 MESSAGES 3HUTDOWN NTERLOCK RECEIVED EXCEEDED THE 0 RECEIVED EXCEEDED THE 0 4IMEOUT 4 3TATE SET 4IMEOUT 0ERIOD 0ERIOD TO 0RE OPERATIONAL LEAR YCLE 3 OR RECEIVE 4 MESSAGE 3TALL ETECTED 3TALLED MOTOR 3ET O...

Page 121: ...HE 3 SOFTWARE IN WHEN 3 CYCLES A CHECK IS MADE TO VERIFY THE CONTROLLER THAT THEY MATCH AND A FAULT IS ISSUED WHEN THEY DO NOT LEAR OWNLOAD THE CORRECT 6 AND 3 SOFTWARE INTO THE CONTROLLER RAKE AILED TO 3ET 6EHICLE MOVEMENT SENSED AFTER THE 3ET FTER THE RAKE WAS COMMANDED 3HUTDOWN RAKE RAKE HAS BEEN COMMANDED TO SET AND TIME HAS ELAPSED TO ALLOW THE 3HUTDOWN4HROTTLE TO SET BRAKE TO FULLY ENGAGE VE...

Page 122: ...TUCK N LLEGAL ODEL UMBER ODEL UMBER VARIABLE CONTAINS 3ET LLEGAL ODEL UMBER VARIABLE WHEN 3HUTDOWN OTOR ILLEGAL VALUE OR MODELS 3 CYCLES A CHECK IS MADE TO CONlRM 3HUTDOWN AIN ONTACTOR A VALUE OTHER THAN A LEGAL ODEL UMBER AND A FAULT IS 3HUTDOWN RAKE OR IS ILLEGAL OR MODELS ISSUED IF ONE IS NOT FOUND 3HUTDOWN4HROTTLE A VALUE OTHER THAN IS ILLEGAL LEAR OWNLOAD APPROPRIATE SOFTWARE ULL RAKE 3OFTWAR...

Page 123: ...2EMOVE POWER BY DISCONNECTING THE BATTERY ISCHARGE THE CAPACITORS IN THE CONTROLLER BY CONNECTING A LOAD SUCH AS A CONTACTOR COIL ACROSS THE CONTROLLER S AND TERMINALS 2EMOVE ANY DIRT OR CORROSION FROM THE POWER AND SIGNAL CONNECTOR AREAS 4HE CONTROLLER SHOULD BE WIPED CLEAN WITH A MOIST RAG RY IT BEFORE RECONNECTING THE BATTERY AKE SURE THE CONNECTIONS ARE TIGHT 2EFER TO 3ECTION PAGE FOR MAXIMUM ...

Page 124: ...IS NO NEED FOR PERMANENT MAGNETS OR A SEPARATE CURRENT SUPPLY FOR THE ROTOR 4HE BRUSHLESS CONSTRUCTION OF THE INDUCTION MOTOR AND THE RUGGED ROTOR PROVIDE HIGH RELIABILITY FAULT TOLERANCE LOW MAINTENANCE AND LOW COST 4HREE PHASE SINUSOIDAL VOLTAGES ELECTRICALLY DISPLACED BY ARE APPLIED TO THE PHASE WINDINGS TO CREATE THE STATOR MAGNETIC lELD 4HE lELD ROTATES AT THE STATOR VOLTAGE FREQUENCY DIVIDED...

Page 125: ...F EACH OTHER AND THE MOTOR CAN ACHIEVE HIGH EFlCIENCY AND DYNAMIC RESPONSE IG IAGRAM OF NDIRECT IELD RIENTATION TECHNIQUE 4HE CONTROLLER USES AN ADVANCED PULSE WIDTH MODULATION TECHNIQUE TO MAXIMIZE THE UTILIZATION OF BATTERY VOLTAGE MINIMIZE HARMONIC LOSSES AND INCREASE SYSTEM EFlCIENCY 4HIS METHOD ACHIEVES GREATER LINEAR UTILIZATION OF BATTERY VOLTAGE THEREBY EFFECTIVELY GETTING MORE USABLE MOTO...

Page 126: ...ND MOTOR SPEED AND DIRECTION ARE THE PRIMARY FEEDBACK SIGNALS USED IN THE MOTOR CONTROL ALGORITHMS CCURATE ALL SENSORS DETECT THE MOTOR CURRENTS THEY DO THIS BY SENSING THE mUX CREATED BY THE MOTOR CURRENTS ON THE 5 AND 6 MOTOR OUTPUT BUSBARS WHERE THEY PASS THROUGH THE CAPACITOR BOARD ON THEIR WAY TO THE EXTERNAL MOTOR CONNECTIONS OTOR SPEED AND DIREC TION ARE SIMULTANEOUSLY SENSED BY A QUADRATUR...

Page 127: ...E AND FALL TIMES THAT ARE RICH IN HARMONICS OTE CONTACTOR DRIVERS THAT ARE NOT MODULATED WILL NOT CONTRIBUTE TO EMISSIONS 4HE IMPACT OF THESE SWITCHING WAVEFORMS CAN BE MINIMIZED BY MAKING THE WIRES FROM THE CONTROLLER TO THE CONTACTOR OR MOTOR AS SHORT AS POSSIBLE AND BY PLACING THE WIRES NEAR EACH OTHER BUNDLE CONTACTOR WIRES WITH OIL 2ETURN BUNDLE MOTOR WIRES SEPARATELY OR APPLICATIONS REQUIRIN...

Page 128: ...NG OF PLASTIC WILL YIELD A TRUE METAL AND CAN THUS BE EFFECTIVE AS AN 2 SHIELD BUT IT IS USUALLY MORE EXPENSIVE THAN THE COATINGS CONTIGUOUS METAL ENCLOSURE WITHOUT ANY HOLES OR SEAMS KNOWN AS A ARADAY CAGE PROVIDES THE BEST SHIELDING FOR THE GIVEN MATERIAL AND FREQUENCY 7HEN A HOLE OR HOLES ARE ADDED 2 CURRENTS mOWING ON THE OUTSIDE SURFACE OF THE SHIELD MUST TAKE A LONGER PATH TO GET AROUND THE ...

Page 129: ...ORS AND THE 3 SOURCE SO THAT A DISCHARGE WILL NOT OCCUR OR BY PROVIDING AN INTENTIONAL PATH FOR THE DISCHARGE CURRENT SUCH THAT THE CIRCUIT IS ISOLATED FROM THE ELECTRIC AND MAGNETIC lELDS PRODUCED BY THE DISCHARGE N GENERAL THE GUIDELINES PRESENTED ABOVE FOR INCREASING RADIATED IMMUNITY WILL ALSO PROVIDE INCREASED 3 IMMUNITY T IS USUALLY EASIER TO PREVENT THE DISCHARGE FROM OCCURRING THAN TO DIVE...

Page 130: ...IGENTLY TO ENSURE ITS COMPLIANCE WITH 7 LEGISLATION URTIS WILL COMPLY WITH 7 LEGISLATION BY s ESIGNING ITS EQUIPMENT WITH CONSIDERATION TO FUTURE DISMANTLING RECOVERY AND RECYCLING REQUIREMENTS s ARKING ITS PRODUCTS THAT FALL WITHIN THE SCOPE OF THE DIRECTIVE WITH THE REQUIRED SYMBOL AND INFORMING USERS OF THEIR OBLIGATION s 4O SEPARATE 7 FROM GENERAL WASTE AND DISPOSE OF IT THROUGH THE PROVIDED R...

Page 131: ... DATE DUE TO THE WELL DOCUMENTED ISSUES SUCH AS TIN WHISKERS AND PREMATURE FAILURE COMPARED WITH LEADED SOLDER DUE TO SHOCK VIBRATION AND THERMAL CYCLING URTIS IS CLOSELY MONITORING ALL 2O 3 DEVELOPMENTS GLOBALLY AND IN PAR TICULAR IS FOLLOWING THE AUTOMOTIVE INDUSTRY S ATTEMPTS TO INTRODUCE LEAD FREE SOLDER AS A RESULT OF THE ND OF IFE 6EHICLE 6 IRECTIVE 4O DATE THE AUTOMOTIVE INDUSTRY HAS REJECT...

Page 132: ...T ONLY THE 5SER LEVEL WHEREAS AN PROGRAMMER HAS FULL ACCESS 0 02 2 34 4 4HE 0ROGRAMMING 3TATION IS AN 3 7INDOWS BIT APPLICATION THAT RUNS ON A STANDARD 7INDOWS 0 NSTRUCTIONS FOR USING THE 0ROGRAMMING 3TATION ARE INCLUDED WITH THE SOFTWARE 02 2 2 4HE HANDHELD PROGRAMMER IS FUNCTIONALLY EQUIVALENT TO THE 0 0RO GRAMMING 3TATION OPERATING INSTRUCTIONS ARE PROVIDED IN THE MANUAL 4HIS PROGRAMMER REPLACE...

Page 133: ...TALLED IS THE RESPONSIBILITY OF THE 52 44 29 6 4 2 4 2 4 5 2 VOLTS AMPS AMPS 88 8 8 8 n 8 n 4 88 n 88 n 88 n 88 n 88 n 88 n 88 n 88 n 88 n 88 n 4 OT FOR INDUSTRIAL APPLICATIONS CONTACT URTIS FOR FURTHER INFORMATION OTES LL CURRENT RATINGS ARE RMS VALUES PER MOTOR PHASE NTERNAL ALGORITHMS AUTOMATICALLY REDUCE MAXIMUM CURRENT LIMIT WHEN HEATSINK TEMPERATURE IS ª OR BATTERY VOLTAGE IS OUTSIDE THE ALL...

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