Unitek BAMOCAR-PG-D3-700-100 Manual Download

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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

2022 / V2

Tel.: 07195 / 92 83 - 0

[email protected]

www.unitek.eu

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

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 2022 V2 Tel 07195 92 83 0 contact u...

Page 2: ...nstallation 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 22 3...

Page 3: ...onnection TTL 41 4 11 SIN COS 1VSS Connection 43 4 12 Rotor position sensor connection with BL tacho 44 5 State display 45 5 1 Display of the BAMOCAR states 45 5 2 State information error 46 5 3 State...

Page 4: ...Series TVD For dc motors Analog DC servo amplifier for battery operation Series BAMOBIL A Analog DC servo amplifier operation via the mains UNITEK Series TV Thyristor current converter 1Q 4Q servo UN...

Page 5: ...lations 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 of...

Page 6: ...nous 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 DIN...

Page 8: ...ompletely 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 Intrinsic...

Page 9: ...e 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 powe...

Page 10: ...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 the...

Page 11: ...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 On...

Page 12: ...r 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 th...

Page 13: ...ring 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 conn...

Page 14: ...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 protectio...

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

Page 16: ...t 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 A...

Page 17: ...tude 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 independe...

Page 18: ...th 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 2022 V2 Page 19 BAMOCAR PG D3 700 100 160 2 2 Dimensions BAMOCAR PG D3 700 100 160 XB 2 XB 3 XB 4 XB 1 XB 5 X6 X1 X7...

Page 21: ...elivery 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 entry...

Page 22: ...te 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 Only possible on request not available for individual units Wei...

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 2022 V2 Page 23 BAMOCAR PG D3 700 100 160 3 2 Circuit diagramm...

Page 25: ...Electrical installation Version 2022 V2 Page 24 BAMOCAR PG D3 700 100 160...

Page 26: ...Electrical installation Version 2022 V2 Page 25 BAMOCAR PG D3 700 100 160 3 3 Connection diagramm Note 12 V variant only on request...

Page 27: ...ely mounted on a blank mounting plate 500 x 500 x 5 mm Mounting plate connected to earth via 10 mm Motor housing connected to earth via 10 mm Power shields connected to mounting plate X1 1 PE2 connect...

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: ...Digital input 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...

Page 30: ...4 V 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...

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: ...1 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 enable fixed FRG RUN X1 14 Enable fixed END1 LMT1 X1 15 Output stag...

Page 35: ...ice Enable input FRG RUN Rotary field enable input RFE Switching on Safety device contacts closed Release FRG RUN 0 5 s after RFE Safety switch off Safety device contacts open No FRG RUN signal blocks...

Page 36: ...e Relais DOUT1 X1 8 Digital output 1 programmable DOUT2 X1 9 Digital output 2 programmable DOUT3 X1 10 Digital output 3 programmable Supply voltage for the logic outputs 12 24V for the logic voltage N...

Page 37: ...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 38: ...he 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 function...

Page 39: ...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 40: ...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 41: ...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 42: ...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 43: ...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 44: ...COS 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 signa...

Page 45: ...ower 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...

Page 46: ...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 47: ...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 48: ...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 49: ...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 50: ...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 51: ...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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