Unitek BAMOCAR-D3-700-100 Manual Download

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M A N U A L

Digital Battery Servo Amplifier

BAMOCAR-D3-700-100/160

for EC servo motors

for AC asynchronous servo motors

Hans-Paul-Kaysser-Straße 1

Edition / Version

71397 Leutenbach-Nellmersbach

2019 - V05

Tel.: 07195 / 92 83 - 0

Fax: 07195 / 92 83 - 129

[email protected]

www.unitek.eu

Summary of Contents for BAMOCAR-D3-700-100

Page 1: ...plifier BAMOCAR D3 700 100 160 for EC servo motors for AC asynchronous servo motors Hans Paul Kaysser Stra e 1 Edition Version 71397 Leutenbach Nellmersbach 2019 V05 Tel 07195 92 83 0 Fax 07195 92 83...

Page 2: ...3 1 Important notes 18 3 2 Dimensions BAMOCAR D3 700 100 160 19 3 3 Dimensions Optional cooling contact plate 20 3 4 Dimensions optional air cooling unit 20 4 Electrical installation 22 4 1 Important...

Page 3: ...er connection TTL 41 5 11 SIN COS 1Vss connection 43 5 12 Rotor position encoder connection via a bl tacho 44 6 State display 45 6 1 State display 45 6 2 State information error 46 6 3 State informati...

Page 4: ...ITEK Series 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 operatio...

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

Page 6: ...asynchronous 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 disadvan...

Page 7: ...l working machines food processing machines robots and handling systems conveyors stone working machines and for many other battery supplied applications Build Robust unit for switch cabinet mounting...

Page 8: ...g Uniform 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 moto...

Page 9: ...aler should 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...

Page 10: ...ws The 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...

Page 11: ...he 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...

Page 12: ...four 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 Disconnec...

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: ...oordinates 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...

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

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 Over voltage switching threshold V Programmable up to 740 V Input fuse A 160 250 Bus circuit capac...

Page 17: ...tion altitude 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 1 3 bar 65 C performance reduced by 2 C Mounting positio...

Page 18: ...uid cooling Permissible current limit depending on the temperature of the cooling agent Current reduction depending on the IGBT module temperature Starting temperature of the reduction I red TD 0x58 F...

Page 19: ...for the fixation of the device must be taken from the dimension diagrams or from the drilling plan not from the device The line shields and the mounting plate must have surface to surface contact The...

Page 20: ...cable glands metal M25x1 5 Input temperature 65 C with shield spring Flow rate max 12 l min Recommended cable gland Pressure max 6 bar Lapp SKINTOP MS x Pressure loss max 0 3 bar Pflitsch blueglobe T...

Page 21: ...ensions Optional cooling contact plate Fixing screws M4 x 40 Weight cooling plate Weight 4 2 kg Mounting screws M4 x 40 Attention maximum power loss 850 W 3 4 Dimensions optional air cooling unit Weig...

Page 22: ...Mechanical installation 21 Version 2019 V05 BAMOCAR D3 700 100 160 Dimensions optional air cooling unit Blank page for printing reasons...

Page 23: ...the 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...

Page 24: ...Electrical installation 23 Version 2019 V05 BAMOCAR D3 700 100 160 Circuit diagram 4 2 Circuit diagram...

Page 25: ...Electrical installation BAMOCAR D3 700 100 160 Version 2019 V05 24 Circuit diagram Circuit diagram...

Page 26: ...Electrical installation 25 Version 2019 V05 BAMOCAR D3 700 100 160 Connection diagram 4 3 Connection diagram Note 12 V variant only on request...

Page 27: ...inium 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...

Page 28: ...ng been mounted in 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 200...

Page 29: ...al 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 R1IN RS232 25 T1OU RS232 26 T2OU RS232 27 R2IN...

Page 30: ...at 24 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 0 9 the sum of the output currents DOUT must be provided by the mains...

Page 31: ...m shorten shield to 10 mm strip inner insulation copper strand to 7 12 mm cut 22 mm cable lug insulation from braided sleeve or heat shrink tubing have a correct cable lug for M6 screw Slip complete P...

Page 32: ...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 on request...

Page 33: ...ction see table Motor phase U V W Connecting bolt XB 2 XB 3 XB 4 Min cable cross section Type BAMOCAR D3 100 160 Motor choke only necessary for shield capacities superior to 5 nF motor cable approx 25...

Page 34: ...ts 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 enable fixed FRG RUN X1 14 Enable fixed END1 LMT1 X1 15 Outpu...

Page 35: ...a safety switching device Enable input FRG RUN Rotating field enable input RFE Switching on Contacts of the safety device closed enable FRG RUN 0 5s after RFE Safety switch off Contacts of the safety...

Page 36: ...d reference 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 relay DOUT1 X1 8 Digital output 1 programmable DOUT2 X1...

Page 37: ...ontact for max 48 V 0 5 A not short circuit proof Capacitive load max 1 mF Contact resistor max 2 Ohm Ready BTB The BTB relay contact is closed Not ready BTB relay contact is open Red LED and error me...

Page 38: ...otor 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 se...

Page 39: ...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 Connecting cable LiYCY 5x0 25...

Page 40: ...he standard ISO 11898 Adjustment and programming see Manual NDrive and CAN Manual CAN BUS CABLE Use a shielded bus conductor with a low shielding capacity LiYCY 3 x 0 25 shield Designation Connector C...

Page 41: ...10 12 or 14 bit The max possible speed is 50 000 rpm 10 bit The digitalized signals are used for the polar wheel angle the position and speed control and the incremental output Only use motors with a...

Page 42: ...h the device zero GND The voltage of 5 V is supplied by the servo drive Only use motors with TTL incremental encoders and rotor position tracks which have been approved by the manufacturer Connector X...

Page 43: ...ly 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 moto...

Page 44: ...th SIN 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...

Page 45: ...eed is superior to 10 V For lower tacho voltages connect X7 pin 1 9 and 11 Connect the tacho center point to X7 1 Only use motors with rotor position encoders bl which have been approved by the manufa...

Page 46: ...e missing 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...

Page 47: ...races without command value wrong direction Bit 10 B USER User choice of error Bit 11 C Bit 12 D Bit 13 E HW_ERR Current measurement error Bit 14 F BALLAST Ballast circuit overloaded Bit 15 Note Erro...

Page 48: ...ve without RUN input Bit 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 existi...

Page 49: ...3 2 825 25952 158 4 800 25160 153 6 775 24376 148 8 750 23592 144 0 725 22800 139 2 700 22016 134 4 675 21232 129 6 650 20448 124 8 625 19656 120 0 600 18872 115 2 575 18088 110 4 550 17296 105 6 525...

Page 50: ...865 169 7 The basic set up data are protected in the set of parameters TIGBT C 0x4a 125 28744 120 28440 115 28104 110 27720 105 27296 100 26824 95 26288 90 25704 85 25040 80 24312 75 23504 70 22616 6...

Page 51: ...the buyer 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 furthe...

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