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Unitek BAMOCAR-PG-D3-700-100/160, Manual

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Unitek BAMOCAR-PG-D3-700-100/160 Manual Download Page 1

M A N U A L  

Digital Battery Servo Amplifier 
BAMOCAR-PG-D3-700-100/160  

for EC servo motors  
for EC asynchronous servo motors 

 

 

 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

 

 
 
 
 
 
 

Hans-Paul-Kaysser-Straße 1 

Version 

71397 Leutenbach-Nellmersbach 

 

 

2021 / V1 

Tel.: 07195 / 92 83 - 0 

 

[email protected]

 

 

www.unitek.eu 

 

 

 

Summary of Contents for BAMOCAR-PG-D3-700-100/160

Page 1: ...tery Servo Amplifier BAMOCAR PG D3 700 100 160 for EC servo motors for EC asynchronous servo motors Hans Paul Kaysser Stra e 1 Version 71397 Leutenbach Nellmersbach 2021 V1 Tel 07195 92 83 0 contact u...

Page 2: ...cal installation 18 2 1 Important 18 2 2 Dimensions BAMOCAR PG D3 700 100 160 19 2 3 Dimensions optional cooling contact plate 21 2 4 Dimensions optional air cooling unit 21 3 Electrical installation...

Page 3: ...10 Encoder connection TTL 42 4 11 SIN COS 1VSS Anschluss 44 4 12 Rotorlagegeber Anschluss mit BL Tacho 45 5 State display 46 5 1 Display of the BAMOCAR states 46 5 2 State information error 47 5 3 St...

Page 4: ...BAMOBIL D3 Analog three phase servo amplifier mains 400V UNITEK Series TVD For dc motors Analog DC servo amplifier for battery operation Series BAMOBIL A Analog DC servo amplifier operation via the m...

Page 5: ...llations in the industrial sector B2B secondary environment Manufacturer UNITEK Industrie Elektronik GmbH Dealer Caution Danger to life High voltage Warning Important Dangerous electric fields Scope o...

Page 6: ...onous motors has the widest speed range due to the single field weakening and there is no braking torque in case of a motor circuit However the unit size and the worse efficiency is a disadvantage The...

Page 7: ...processing machines robots and handling systems conveyors stone working machines and for many other battery supplied applications Build Robust unit for switch cabinet mounting according to the VDE DI...

Page 8: ...completely digital control unit Processor independent hardware switch off in case of over voltage under voltage short circuits circuits to earth and over temperature at the amplifier or motor Intrinsi...

Page 9: ...be contacted Any incorrect installation connection may damage the device Any incorrect programming may cause dangerous movements Intended applications The devices of the BAMOCAR D3 700 100 160 are pow...

Page 10: ...e safety systems must be enabled When the device is open and or the safety systems are de activated it must be ensured by the operator that only skilled and suitably trained personnel has access to th...

Page 11: ...e units may not be started until it is ensured that the machine the installation or the vehicle comply with the regulations of the EC machinery directive 2006 42 EG and the EMC guideline 2004 108 EG O...

Page 12: ...ur eyes principle Working environment Incorrect handling of the units may cause damage to persons or property The units must be closed during operation Any unit covers must not be removed Disconnect t...

Page 13: ...iring complies with the standards It must be paid attention to the equipotential bonding for components which are connected to the unit and which do not have isolated inputs and outputs equalizing con...

Page 14: ...s low voltage 2012 EN 61010 Safety regulations control units 2011 EN 61508 5 Functional safety of electric electronic systems 2011 EN 60068 1 2 Environmental influences 2011 ISO 20653 Type of protecti...

Page 15: ...specifications electromagnetic interferences electrostatic interferences lightning strikes failure of components failure in the brakes Dangerous temperatures caused by faults during the installation f...

Page 16: ...ent A eff 71 113 Max peak power kW 52 75 Max power loss W 400 850 Pulse frequency kHz Programmable 8 16 Rotation frequency Hz 600 Over voltage switching threshold V Programmable up to 740 V Input fuse...

Page 17: ...itude 1000m above sea level 100 1000m performance reduced by 2 100 m Cooling Liquid cooling unit 30 C to max 65 C 12 l min pressure max 6 bar 65 C performance reduced by 2 C Mounting position independ...

Page 18: ...ith air cooling Permissible current limit depending on the ambient temperature With liquid cooling Permissible current limit depending on the temperature of the cooling agent Dependence on IGBT module...

Page 19: ...xation of the device must be taken from the dimension diagrams or from the drilling plan Do not mark off the unit The line shields and the mounting plate must have surface to surface contact The power...

Page 20: ...Mechanical installation Version 2021 V1 Page 19 BAMOCAR PG D3 700 100 160 2 2 Dimensions BAMOCAR PG D3 700 100 160...

Page 21: ...delivery Coolant down to 40 degrees water glycol Liquid cooling Power connection Hose connection Metall G 13 Screws for power connections hexagon socket M6 x 8 max tightening torque 7 Nm PG cable entr...

Page 22: ...s optional cooling contact plate Fixing screws M4 x 40 Weight 4 2 kg Mouting scews M4 x 40 Attention maximum power loss 850 W 2 4 Dimensions optional air cooling unit Weight 5 8 kg Mounting screws M4...

Page 23: ...short circuit bracket affix warning signs The installation should only be carried out by suitably trained personnel for electrical engineering Compare the connection data with those indicated on the...

Page 24: ...Electrical installation Version 2021 V1 Page 23 BAMOCAR PG D3 700 100 160 3 2 Circuit diagramm...

Page 25: ...Electrical installation Version 2021 V1 Page 24 BAMOCAR PG D3 700 100 160...

Page 26: ...Electrical installation Version 2021 V1 Page 25 BAMOCAR PG D3 700 100 160 3 3 Connection diagramm Note 12 V variant only on request...

Page 27: ...unting plate The mounting plate must be connected to earth using a 10 mm wire The motor housing must be connected to earth using a 10 mm wire The device ground X AGND must be connected to the mounting...

Page 28: ...n machines and installations the operation of the device must not be started until the machine or the installation has been approved of the regulations of the EC machine guideline 2006 42 EC and the E...

Page 29: ...t 1 18 DIN2 Digital input 2 19 RFE Rotor Enable 20 AR1 Analog Input 1 21 AIN1 Analog Input 1 22 AR2 Analog Input 2 23 AIN2 Analog Input 2 RS232 24 RxD RS232 25 TxD RS232 26 V RTS RS232 27 C P CTS RS23...

Page 30: ...0 9 A at 12 V 1 4 A Neg connection of the power supply to earth Attention In addition to the internal supply current 1 4 A at 12 V 0 9 A at 24 V the total current of the outputs DOUT must also be sup...

Page 31: ...34 38 mm shorten shield to 10 mm Strip inner insulation copper strand to 7 12 mm cable lug insulation 22 mm braided sleeve or heat shrink tubing Cable lug for M6 screw Slip complete PG gland including...

Page 32: ...ERVOLTAGE F1 safety fuse Programming of an output for the pre charging The output Dout1 switches the relay K3 when the bus circuit voltage DC BUS is greater than the variable 1 Note 12 V variant only...

Page 33: ...oss section Type BAMOCAR D3 100 160 Motor choke only necessary for shield capacities superior to 5 nF motor cable approx 25 m Cross section mm 16 25 AWG Motor choke Only necessary for a shield capacit...

Page 34: ...he other 4 digital inputs are freely programmable The inputs LMT1 X1 15 and LMT2 X1 16 are preferably to be used as inputs of the output stage Switch Input Connector Function State RFE X1 19 Rotor ena...

Page 35: ...parated from the battery HV voltage Operation with an RFE input Two channel disable of the enable via a safety switching device Enable input FRG RUN Rotary field enable input RFE Switching on Safety d...

Page 36: ...Control connections Version 2021 V1 Page 35 BAMOCAR PG D3 700 100 160 the RFE input is bridged with 24 V Enable FRG RUN at least 0 5 s after the RFE signal Note 12 V variant only on request...

Page 37: ...ference GNDE X1 7 Note 12 V variant only on request Output Connector Function State Parameter BTB RDY X1 11 X1 12 ready for operation fixed Solid State Relais DOUT1 X1 8 Digital output 1 programmable...

Page 38: ...Contact for max 48 V 0 5 A not short circuit proof Capacitive load max 1 F Contact resistance max 2 Ready for BTB The BTB relay contact is closed Not ready BTB relay contact is open Red LED and error...

Page 39: ...e motor can either be changed by swapping the connections at the differential input or by means of a logic input or by programming see NDrive x The analog inputs can be assigned to different functions...

Page 40: ...ected using a shielded cable Install the cable only after disconnecting the device from the mains The interface is adjusted to 115200 Baud It can also be adjusted to 9600 Baud by means of the NDrive C...

Page 41: ...CAN BUS Interface complies with the standard ISO 11898 Adjustment and programming see Manual NDrive and CAN Manual CAN BUS Kabel Use a shielded bus conductor with a low shielding capacity LiYCY 3 x 0...

Page 42: ...bits The maximum possible speed is 50 000 rpm 10 bit The digitized signals are used for the polar wheel angle position control speed control and incremental output Only use motors with a 2 4 6 or 8 po...

Page 43: ...e zero GND The 5 V supply voltage is provided by the servo Only use motors with TTL incremental encoders and rotor position tracks which have been approved by the manufacturer Connector X7 14 pin Tyco...

Page 44: ...ply voltages which differ from 5V the voltage must be specified on order and externally be connected Checking the correct connection Rotor sequence The correct sequence of the rotor signals with a mot...

Page 45: ...OS encoders SC which have been approved by the manufacturer Connector X7 14 pin Tyco type connector Connecting cable 4 x 2 signal conductors twisted and shielded min cross section 0 14 mm 2 x 2 signal...

Page 46: ...tacho voltages X7 Connect pins 1 9 and 11 Connect speedometer center to X7 1 Only use motors with rotor position encoders bl which have been approved by the manufacturer Connector X7 14 pin Tyco type...

Page 47: ...or inherent hardware failure flashing bright dark Starting state after reset auxil voltage 24V off on The first enable stops the flashing display Drive enable Drive disabled not enabled OK 0 OK 1 ENA...

Page 48: ...12 D Reserve Bit 13 E HW_ERR Current measurement error Bit 14 F BALLAST Ballast circuit overloaded Bit 15 Note Error F is a device dependent error for BAMOBIL and BAMOCAR without function If the auxil...

Page 49: ...t 18 3 Bit 19 4 Bit 20 5 Bit 21 6 MOTORTEMP Motor temperature I red TM or 93 from M Temp Bit 22 7 DEVICETEMP Device temperature 87 of limit Bit 23 8 Vout_Sat Limit of the existing voltage output is re...

Page 50: ...US Battery voltage Measuring tolerance 2 Example for settings on the BAMOCAR DC BUS max 0xA5H for limit voltage Num 0x0B Bemerkung 144 750 V 23625 1 corresponds 5 2 V 135 700 V 22050 DC BUS min 0xA5L...

Page 51: ...1 106 1 700 160 576 80 113 1 865 169 7 The basic settings are protected in the parameter set TIGBT C 0x4A 125 28744 120 28440 115 28104 110 27720 105 27296 100 26824 95 26288 90 25704 85 25040 80 2431...

Page 52: ...yer or a third party non observance of the manual which is included in all consignments non observance of the electrical standards and regulations improper maintenance acts of nature All further claim...

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