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Unitek BAMOCAR-PG-D3-700/400, Manual

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Unitek BAMOCAR-PG-D3-700/400 Manual Download Page 1

M A N U A L  

Digital Three-Phase Servo Amplifier 
BAMOCAR-PG-D3-700/400-400 
EC-synchronous-servo motors 
AC-asynchronous-servo motors

 

 
 
 
 
 
 

Hans-Paul-Kaysser-Straße 1 

Edition / Version 

71397 Leutenbach-Nellmersbach 

 

 

2020 / V 4 

Tel.: 07195 / 92 83 - 0 

 

[email protected]

 

 

www.unitek.eu 

 

Summary of Contents for BAMOCAR-PG-D3-700/400

Page 1: ...Servo Amplifier BAMOCAR PG D3 700 400 400 EC synchronous servo motors AC asynchronous servo motors Hans Paul Kaysser Stra e 1 Edition Version 71397 Leutenbach Nellmersbach 2020 V 4 Tel 07195 92 83 0...

Page 2: ...l installation 18 2 1 Important notes 18 2 2 Dimensions BAMOCAR PG D3 700 400 400 19 2 3 Mounting onto mounting rails 21 2 4 Mounting onto a mounting surface 21 3 Electrical installation 22 3 1 Import...

Page 3: ...connection TTL 42 4 11 SIN COS 1Vss connection 44 4 12 Rotor position encoder connection via a bl tacho 45 5 State displays 46 5 1 Display of the BAMOCAR states 46 5 2 Error displays 47 5 3 State inf...

Page 4: ...V UNITEK 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...

Page 5: ...t Manufacturer UNITEK Industrie Elektronik GmbH Dealer Caution Danger to life High voltage Warning Important Dangerous electric fields Scope of delivery BAMOCAR PG D3 x device Documentation CD UNITEK...

Page 6: ...nchronous 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...

Page 7: ...od 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...

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: ...onnection may damage the device Any incorrect programming may cause dangerous movements Intended applications The devices of the BAMOCAR PG D3 700 400 400 are power electric parts used for regulating...

Page 10: ...he 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 t...

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: ...ed with in the entire control wiring 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...

Page 14: ...0664 1 Isolation coordinates 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...

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

Page 16: ...eak current Alo peak 400 400 Max peak power A eff Max power loss kW Power loss max kW 3 4 Switching frequenz kHz 8 16 8 16 Rotation frequenz Hz Overvoltage switching threshold V 440 800 Input fuse A 2...

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

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: ...aken from the dimension diagrams or from the drilling plan Do not mark off the device The filter and the choke have to be mounted near to the device The line shields and the mounting plate must have s...

Page 20: ...Mechanical installation Edition 2020 V4 Page 19 BAMOCAR PG D3 700 400 400 2 2 Dimensions BAMOCAR PG D3 700 400 400 Standard version connectors partly equipped...

Page 21: ...connection Hose connection Metall G 13 Screws for power connections Hexagon socket M10 x 20 max tightening 20 Nm PG cable entry metal M25 x 1 5 With screen inse Cable diameter max 21 mm Recommended ca...

Page 22: ...Mechanical installation Edition 2020 V4 Page 21 BAMOCAR PG D3 700 400 400 2 3 Mounting onto mounting rails 4 x screw M5x20 2 4 Mounting onto a mounting surface...

Page 23: ...rom the power supply place the short circuit bracket affix warning signs The installation should only be carried out by suitably trained personnel for electrical engineering Compare the connection dat...

Page 24: ...Electrical installation Edition 2020 V4 Page 23 BAMOCAR PG D3 700 400 400 3 2 Circuit diagram...

Page 25: ...Electrical installation Edition 2020 V4 Page 24 BAMOCAR PG D3 700 400 400...

Page 26: ...Electrical installation Edition 2020 V4 Page 25 BAMOCAR PG D3 700 400 400 3 3 Connection diagram Hinweis 12 V Variante nur auf Anfrage...

Page 27: ...m mounting 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 moun...

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: ...ration B red BTB C pink GND24 auxiliary voltage 0 D yellow 24 auxiliary voltage E green END1 LMT1 limit switch 1 F blue END2 LMT2 limit switch 2 G violet FRG RUN enable H grey AIN1 analog input 1 J wh...

Page 30: ...MP tacho B B channel N B channel kr B C SIN1 C channel B C channel kb C tacho 1 D D supply 5V D supply 5V D supply 15 V E COS2 E channel N E channel kr E tacho 2 F F channel B F channel kb F G REF2 G...

Page 31: ...t 24 V 0 9 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 supplied by...

Page 32: ...ulation to 34 38 mm shorten shield to 10 mm Strip inner insulation Copper strand 7 12 mm Cable lug insulation 25 mm braided sleeve or heat shrink tubing Cable lug for M10 screw Push on the PG cable gl...

Page 33: ...ror message OVERVOLTAGE 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 Hinweis 1...

Page 34: ...V W Connecting bolt XB 2 XB 3 XB 4 Min cable cross section Type BAMOBIL PG D3 xx 200 Motor choke only necessary for shield capacities superior to 5 nF motor cable approx 25 m Cross section mm 35 AWG 1...

Page 35: ...isabled 2nd disable channel The drive is free of torque no holding torque The other 4 digital inputs are freely programmable The inputs LMT1 X1 E and LMT2 X1 F are preferably to be used as inputs of t...

Page 36: ...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 37: ...tput 1 programmable DOUT2 X1 O Digital output 2 programmable DOUT3 X1 S Digital output 3 programmable DOUT4 Option X11 Brake option 4 programmable The auxiliary voltage is also the supply voltage for...

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 realy contact is closed Not ready BTB relay contact is open Red LED and error...

Page 39: ...V Resolution 11 Bit sign The direction of rotation of the 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...

Page 40: ...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 Connec...

Page 41: ...DC DC converter CAN BUS isolated CAN Gnd to common potential CAN BUS cable Use a shielded bus conductor with a low shielding capacity Signal plus GND internal supply DC DC converter galvanically isol...

Page 42: ...d by the manufacturer Connector X7 19 pin round connector Connecting cable 4 x 2 cores twisted in pairs and shielded additional overall shield For link chains use appropriate cables Min cross section...

Page 43: ...osition 2 N O Rotor position 1 P Only use motors with TTL incremental encoders which have been approved by the manufacturer Connector X7 19 pin round connector Connecting cable 11 shielded signal cond...

Page 44: ...ges 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 motor turnin...

Page 45: ...nnel kr F Channel kb G Channel ka K H Temperature Signal J Temperature GND K Channel kd L Supply GND M Channel kc N Channel kd O Channel kc P Only use motors with SIN COS encoders SC which have been a...

Page 46: ...with rotor position encoders bl which have been approved by the manufacturer Connector X7 14 pin Tyco type connector Connecting cable 7 x signal conductors 2 x supply lines 2 x temperature cores min...

Page 47: ...g 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 EN...

Page 48: ...12 D 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 auxiliary vo...

Page 49: ...it 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 r...

Page 50: ...arameter 0xEB DC BUS DC BUS voltage Parameter 0xEB DC BUS Maximum voltage 460 V 25300 154 800 V 25200 154 Overvoltage shutdown 440 V 24200 148 780 V 24570 150 Without power voltage 0 V 0 0 0 0 0 Stand...

Page 51: ...ameters l red TD 0x58 and I red TE 0x4C see Manual NDrive Current actual value BAMOCAR I 100 Calibration nominal current I device Peak current DC blocked Maximum value 11Bit mV Num A eff A eff Num A p...

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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