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IMD 100 Integration manual 4189360015 Rev. G

Units conversion

www.deif.com/wind-power

Page 174 of 243

10.3.2.1

Conversion from units to Cº KTY 84

When converting a temperature given in raw values to centigrade, the interval

must be found. Select

the first interval (table row) in

Table 25

on page

173

where the

Raw_value

is smaller than the

Actual_temp_raw

Formula:

𝐴𝑐𝑡𝑢𝑎𝑙 𝑡𝑒𝑚𝑝𝑒𝑟𝑎𝑡𝑢𝑟𝑒 ºC =

𝑇𝑒𝑚𝑝𝑒𝑟𝑎𝑡𝑢𝑟𝑒 [𝑖] +

(𝐴𝑐𝑡𝑢𝑎𝑙_𝑡𝑒𝑚𝑝_𝑟𝑎𝑤 − 𝑅𝑎𝑤_𝑣𝑎𝑙𝑢𝑒[𝑖]) ∗ (𝑡𝑒𝑚𝑝𝑒𝑟𝑎𝑡𝑢𝑟𝑒 [𝑖 + 1] − 𝑡𝑒𝑚𝑝𝑒𝑟𝑎𝑡𝑢𝑟𝑒[𝑖])

𝑅𝑎𝑤_𝑣𝑎𝑙𝑢𝑒[𝑖 + 1] − 𝑅𝑎𝑤_𝑣𝑎𝑙𝑢𝑒[𝑖]

Example of converting a value of 24000 units to ºC:

130 +

(24000 − 23295) ∗ (140 − 130)

24508 − 23295

= 135.81

24000 units

≈ 136 ºC

Actual_temp_raw

24000

= row 34 is selected

Temperature[i]

= 130

Temperature[i+1]

= 140

Raw_value[i]

= 23295

Raw_value[i+1]

= 24508

10.3.2.2

Conversion from Cº to units KTY 84

When converting a temperature given in ºC to raw values, the interval

must be found. Select the first

interval (table row) in

Table 25

on page

173

where the

Temperature

is smaller than the

Actual

temperature ºC

Formula for conversion from ºC to raw temperature:

𝐴𝑐𝑡𝑢𝑎𝑙_𝑡𝑒𝑚𝑝_𝑟𝑎𝑤 =

𝑅𝑎𝑤_𝑣𝑎𝑙𝑢𝑒[𝑖] +

(𝐴𝑐𝑡𝑢𝑎𝑙 𝑡𝑒𝑚𝑝𝑒𝑟𝑎𝑡𝑢𝑟𝑒 ºC − 𝑇𝑒𝑚𝑝𝑒𝑟𝑎𝑡𝑢𝑟𝑒 [𝑖]) ∗ (𝑅𝑎𝑤_𝑣𝑎𝑙𝑢𝑒[𝑖 + 1] − 𝑅𝑎𝑤_𝑣𝑎𝑙𝑢𝑒[𝑖])

𝑡𝑒𝑚𝑝𝑒𝑟𝑎𝑡𝑢𝑟𝑒 [𝑖 + 1] − 𝑡𝑒𝑚𝑝𝑒𝑟𝑎𝑡𝑢𝑟𝑒[𝑖]

Example of converting a value of 135.8 ºC to units:

23295 +

(135.8 − 130) ∗ (24508 − 23295)

140 − 130

= 23999.7

ºC

≈ 24000 units

Actual temperature ºC

135.8

= row 34 is selected

Temperature[i]

= 130

Temperature[i+1]

= 140

Raw_value[i]

= 23295

Raw_value[i+1]

= 24508

Содержание IMD 100

Страница 1: ...ION MANUAL Integrated motor drive IMD 100 Document no 4189360015 Rev G Date 2020 09 25 Language EN GB DEIF A S Frisenborgvej 33 DK 7800 Skive Tel 45 9614 9614 Fax 9614 9615 Info deif com www deif com wind power ...

Страница 2: ... document is the original language and always takes precedence if there is any discrepancy with a translation of the document Trademarks DEIF DEIF is a registered trademark of DEIF A S CAN CAN is registered trademark of Robert Bosch GmbH CiA CiA is a registered trademark of CAN in Automation e V CANopen CANopen is a registered trademark of CAN in Automation e V All trademarks mentioned in this doc...

Страница 3: ...ounting of the IMD in the cabinet 19 5 Electrical HW connections and requirements 22 5 1 Shielding and EMC 27 5 2 Power connections X1 28 5 2 1 Motor connections requirements 30 5 2 2 Mains supply connections requirements 33 5 2 3 Safe energy connection requirements 34 5 2 4 Ballast resistor requirements 35 5 3 Peripheral and temperature connections X2 X3 X4 X5 36 5 3 1 Connecting the motor brake ...

Страница 4: ...8 3 Turning the power on 80 8 4 Configuring general parameters 81 8 4 1 Configuring the general servo fields 81 8 4 2 Configuring motor data 88 8 4 3 Configuring the safety run fields 95 8 4 4 Configuring the CAN bus 97 8 4 5 Configuring the safe energy test 97 8 4 6 Configuring pre heating 99 8 4 7 Configuring virtual limit switches 100 8 4 8 Configuring manual operation 100 8 4 9 Configuring inp...

Страница 5: ...l position value Pos preset 130 9 2 1 Prerequisites 130 9 2 2 Activation 131 9 2 3 Operation 131 9 2 4 Deactivation 131 9 3 Disconnecting AC mains from DC link Mains disconnect 131 9 3 1 Prerequisites 132 9 3 2 Activation 132 9 3 3 Operation 133 9 3 4 Deactivation 133 9 4 Enabling the power module 133 9 5 Forcing speed zero 134 9 5 1 Prerequisites 135 9 5 2 Activation 135 9 5 3 Operation 135 9 5 4...

Страница 6: ...9 11 4 Deactivation 142 9 12 Restarting the IMD by communication 142 9 12 1 Prerequisites 143 9 12 2 Activation 143 9 12 3 Operation 145 9 12 4 Deactivation 145 9 13 Safe energy ultra capacitors only discharging 145 9 13 1 Prerequisites 145 9 13 2 Activation 145 9 13 3 Operation 146 9 13 4 Deactivation 146 9 14 Tripping safety chain outputs 147 9 14 1 Prerequisites 147 9 14 2 Activation 147 9 14 3...

Страница 7: ...3 4 Converting temperature Pt100 sensor Pt1 to Pt4 179 10 3 5 Converting internal air temperature T air 182 10 4 Converting current values 185 10 4 1 Converting current raw values to Ampere 185 10 4 2 Converting Ampere to current raw values 185 10 5 Converting speed values 186 10 5 1 Converting speed values from raw values to RPM 186 10 5 2 Converting speed values from RPM to raw values 186 10 6 C...

Страница 8: ...13 2 5 Device mode 51 204 13 2 6 Device option 5A 204 13 2 7 Errors warnings 8F 206 13 2 8 Logic Out block 98 207 13 2 9 Logic in block 9B 208 13 2 10 User motor options A4 209 13 2 11 Logic in out block state D8 209 13 3 Parameter list 211 13 3 1 Charger parameters 228 13 3 2 Error history parameters 231 14 Revision history 236 15 Product user documentation 239 16 Glossary 242 16 1 Terms and abbr...

Страница 9: ...l interfaces Configuration o Configuration of the IMD for a specific system using the IMD Manager o Creation of a configuration file for use in production Operation control and monitoring o Communication o Operational states o Input and output states o Monitoring parameters o Warnings o Errors o Interpretation of numeric representation units conversion Starting the IMD in the laboratory for the fi...

Страница 10: ... injury ISO 3864 Warning A signal word used to indicate an imminently hazardous situation which if not avoided could result in death or serious injury ISO 3864 Caution A signal word used to indicate a potentially hazardous situation which if not avoided could result in minor or moderate injury ISO 3864 A blue symbol that illustrates a need for mandatory action In this example read instructions Oth...

Страница 11: ...safety protection provided by the equipment may be impaired In the event of a fault we recommend that you return the unit to the manufacturer Company policy and local regulations regarding PPE must always be followed regardless whether the PPE is shown in this manual or not 2 1 Mechanical work 2 2 Electrical work Use eye hand and hearing protection Use protection for eyes hand and hearing if the m...

Страница 12: ... work is not permitted except for during test verification commissioning and service Observe local regulation when working with electrical components Danger Risk of burns and electrical shock from short circuit electrical arc and uninsulated wires Commissioning and maintenance work on this device may only be carried out by a qualified electrician When the IMD has been powered there is a risk of st...

Страница 13: ...atures The temperature levels depend on the ambient temperature inside and outside the cabinet Warning Risk of severe burns The heat sink of the IMD can reach high temperature Do not touch until the surface see pos 1 in Figure 1 on page 13 is cooled down Caution Risk of burns The sides of the IMD can reach medium high temperature Do not touch until the surface see pos 2 in Figure 1 on page 13 is c...

Страница 14: ...e charge circuit damaged due to repeated MAINS ON and OFF operations How to avoid If the MAINS connections are switched ON and OFF more than once wait 60 seconds before switching ON after switch OFF 3 3 Overloading the ballast resistor Possible damage Ballast circuit switch or resistor damaged due to overload How to avoid The ballast resistor value is adequate for the DC link Vmax Never use single...

Страница 15: ...cation in the hub to avoid debris entering the heatsink 1 Take the hub rotation into account so that loose objects are not funnelled into the heatsink IP 55 IP 20 1 Figure 2 Environmental requirements and considerations For other environmental requirements see IMD 100 Datasheet 4 1 2 Temperature considerations This section describes the considerations concerning temperature and ventilation when de...

Страница 16: ...t where the IMD itself also contributes with heat radiation mainly because part of the heat sink is located inside the cabinet The IMD shuts down the output drive at 90 ºC thereby the heat sink temperature will never exceed 90 ºC IMD 122 Figure 4 on page 16 shows the heat radiation of the IMD inside the cabinet as a function of the heat sink temperature At this temperature the heat contribution fr...

Страница 17: ...nd the IMD at least as shown in Figure 6 on page 17 IMD 122 C Figure 7 on page 18 IMD 122 B and Figure 8 on page 18 IMD 135 There must be adequate ventilation in this space Inside the cabinet keep at least 20 mm free space from the sides of the IMD and 80 mm free space from top and bottom of the IMD There must be adequate ventilation in this space Figure 6 IMD 122 C free space requirements Note fo...

Страница 18: ...C free space requirements Note for IMD 135 Consider the outside space 25 mm around the IMD with regards to fan replacement 25 mm 80 mm 80 mm 20 mm 20 mm 25 mm 25 mm Outside cabinet back inside cabinet front Heat sink inside cabinet 80 mm 50 mm 80 mm 20 mm 20 mm 25 mm 25 mm Outside cabinet back inside cabinet front Heat sink inside cabinet 70 mm 136 mm mm 80 mm 80 mm ...

Страница 19: ... 19 of 243 4 1 3 Mounting of the IMD in the cabinet A rectangle hole and 14 16 x 7 mm holes for M6 bolts must be made in the cabinet where the IMD is to be mounted The holes for the bolts and heat sink are to be made according to the following drawing Figure 9 Cabinet cut out drawing for IMD 122 ...

Страница 20: ...IMD 100 Integration manual 4189360015 Rev G Mechanical integration www deif com wind power Page 20 of 243 Figure 10 Cabinet cut out drawing for IMD 135 ...

Страница 21: ...age and it is possible for one person to mount the IMD in a cabinet See the IMD 100 Installation instructions for the installation procedure using the mounting frame If the mounting frame is not used it is recommended to use 14 pcs M6 mm bolts and M6 nuts to fix the IMD in place Use serrated washers to ensure that bolts do not open unintentionally due to vibrations and extensive temperature change...

Страница 22: ...lter R Grid On Off Pre charge DC link DC link monitoring Capacitor bank X1 Safe energy X1 Ballast resistor X7 24 V DC X2 Motor brake EMC filter Common ext GND Common ext 24 V Digital output DO 1 DO 8 R Rectifier X9 Digital inputs R R RFE RUN LS1 LS2 DI 1 DI 4 DI 5 DI 12 GND_24 24 V 5 V 15 V GND 24 V GND_24 SSI 5 V Resolver Galv isolation X8 SCR 1 2 RO R X8 SCI 1 2 X9 Digital inputs Protective sepa...

Страница 23: ...4 V X8 11 Digital output R X8 Digital Outputs DO 1 DO 8 X8 SCR 1 2 RO Rectifier X9 Digital inputs common ext GND X9 9 R R common ext GND X9 18 RFE RUN LS1 LS2 DI 1 DI 4 DI 5 DI 12 GND_24 R X8 SCI 1 2 24 V 5 V 15 V GND 24 V GND_24 SSI 5 V Resolver Galv isolation X9 Digital inputs Output module IGBT GND_24 120 900 V Out 24 V 270 900 V Charge 0 500 V Optional PSU is mandatory for option Optional PSU ...

Страница 24: ...onnection as well as providing for fast installation process Except for the power connections X1 all connectors are male female removable connectors that makes it possible to make wiring sets for production thus enabling fast assembly For detailed description of how to use the different connectors and the specific safety precautions needed to be taken see the IMD 100 Installation instructions Foll...

Страница 25: ...IMD 100 Integration manual 4189360015 Rev G Electrical HW connections and requirements www deif com wind power Page 25 of 243 MAINS PE R BALLAST SAFE ENERGY X1 MOTOR PE W V U PE X1 ...

Страница 26: ...cted through removable connector 9 pole Sub D female X5 Connected through removable connector 9 pole Sub D male X6 Connected through removable connector Due to the use of spring loaded connectors the use of ferrules termination sleeves is optional However ferrules must be used if more than one wire is connected to the same connector Follow the ferrule manufacturer instruction on how to use a ferru...

Страница 27: ... outside the cabinet is shielded and the shield needs to connected to PE It is important that these cable shields are connected to both cabinet through EMC glands and the IMD through the connector housing or any other means Requirements for cables any cables going through the cabinet walls must be shielded and the shields must be connected to PE The following illustration illustrates the principle...

Страница 28: ...connected when connecting cables to the IMD If the IMD was powered wait at least 5 minutes after the power is disconnected due to residual voltage in the IMD Phoenix PLH16 connector is used for connections in X1 direct connector Phoenix SPT 2 5 connector is used for R BALLAST connections in IMD 122 C equipped with External ballast resistor option Attention The use of shield to ground with a pigtai...

Страница 29: ...4189360015 Rev G Electrical HW connections and requirements www deif com wind power Page 29 of 243 Figure 18 X1 connections IMD 122 MAINS R BALLAST SAFE ENERGY X1 MOTOR PE PE Figure 19 X1 connections IMD 135 C IMD 122 C IMD 122 B ...

Страница 30: ...z Voltage 7 V AC pp No of poles 2 to 8 Built in temperature sensor Pt100 KTY 84 or PTC double insulated Built in brake Voltage 24 10 V DC Current Maximum 5 A Maximum cable length 10 m If PTC sensor is used the following IMD functions are not available High motor temperature warning Actual motor temperature reading only motor temperature too high error Info Long temperature sensor s wires will impa...

Страница 31: ... 122 B C See Table 2 on page 26 PLH 16 for suitable wire cross section Phase wires IMD 135 C Use 8 mm cable lugs not delivered appropriate for the cross section of the wire used The lug s width must not exceed 18 mm Protective earth The protective earth wire is connected to X1 PE terminal IMD 122 C IMD 135 C Phoenix AKG 16 GN flat screws terminal IMD 122 B and early production of IMD 122 C M5 thre...

Страница 32: ...trical HW connections and requirements www deif com wind power Page 32 of 243 The wires from the motor cable are connected as follows W 10 V 11 U 12 PE Shield clamp IMD 135 C Cover IMD 122 C IMD 122 B and early production of IMD 122 C Shield clamp PE ...

Страница 33: ...ecifications Requirements for external components connected to the Mains input EMC filters Not needed Built in EMC filter and input DC link filter capacitors eliminates the need for external filters Leakage current is less than 60mA Main circuit breaker Optional Fuses Mandatory Use maximum 32 A fuse type F FF or semiconductor automatic type D In environment with very high electromagnetic interfere...

Страница 34: ...ive earthing conductor current X1 Mains 5 L1 L1 Mains power input X1 Mains 6 L2 L2 Mains power input X1 Mains 7 L3 L3 Mains power input The IMD is not sensitive to the order of the phases See IMD 100 Installation instructions for instructions about how to use the connectors 5 2 3 Safe energy connection requirements Safe energy source can be either batteries or ultra caps See IMD 100 Datasheet for ...

Страница 35: ...o use the connectors 5 2 4 Ballast resistor requirements IMD 122 B The ballast resistor is built in the IMD fan house and is already connected to the R BALLAST terminals upon delivery The ballast resistor is a 20 Ω 300 W resistor in total The resistor is dimensioned for the motors which the IMD is designed to control It is however possible to use other resistors instead of the built in resistor by...

Страница 36: ... and temperature connections X2 X3 X4 X5 Connecting the peripheral motor connections depends on the actual motor used The temperature sensor s connections may come with their own separate cables as part of the resolver cable or inside the motor cable Attention Dimensioning and implementing another ballast resistor must only be done by experts The minimum ballast resistor value must ensure that the...

Страница 37: ...he brake wires are connected as follows Terminal no Terminal text Description X2 BRAKE 1 24 V Positive terminal for the brake X2 BRAKE 2 0 V Negative terminal for the brake 5 3 1 1 Motor brake requirements Brake voltage 24 V DC Maximum brake current 5 A DC Maximum allowed current to the brake is 5 A DC 5 3 2 Connecting the temperature sensors X3 optional If the motor temperature sensor wires are n...

Страница 38: ... for the sensor X3 2 Pt 1 Second terminal for Pt 1 Pt100 temperature sensor NOTE If a built in charger is used with temperature compensation Pt 1 terminals must be used for the sensor X3 3 Pt 2 First terminal for Pt 2 Pt100 temperature sensor X3 4 Pt 2 Second terminal for Pt 2 Pt100 temperature sensor X3 5 Pt 3 First terminal for Pt 3 Pt100 temperature sensor X3 6 Pt 3 Second terminal for Pt 3 Pt1...

Страница 39: ...s The rotor is powered by the reference The stator provides the modulated frequency of the rotary sine and cosine signals The amplitudes of these signals are digitized and evaluated in the servo amplifier RESOLVER connector COS 4 SIN 3 SIN 8 REF 5 REF 10 COS 9 X4 IMD Resolver Figure 22 Resolver architecture and connections The digitized signals are used for position and speed control Pt4 and KTY m...

Страница 40: ...ine signal High 10 r1 REF Exciter ref voltage High 11 PT 4 2 PT 100 temp sensor 4 2 Motor 12 KTY KTY temp sensor Motor 14 0 V Reference potential 10 1 5 6 11 15 Figure 23 Resolver D sub connection Info Colour coding may differ depending on the cable used The depicted connections are shown with both KTY 84 and Pt100 sensors connected Shields must be connected to the housing of both connectors D sub...

Страница 41: ...ust be connected to the connector housing 5 3 4 Connecting the SSI X5 optional The Synchronous Serial Interface SSI sensor is an optional component It is typically used by the application SW to determine the position of the blade It is never used by the IMD for actual control though the SSI value can be read by an extern pitch motion controller main controller or the IMD Manager The SSI wires are ...

Страница 42: ...lour coding may differ depending on the cable used The depicted connection is for a 24 V DC SSI encoder Read the encoder s manual to determine if the direction input needs to be terminated Shields must be connected to the housing of both connectors D sub and the connector to the encoder as depicted in the following figure D sub connector Connected to housing SSI encoder Encoder connector Connected...

Страница 43: ...ies with RS485 IMD input impedance is 150 Ω SSI encoder resolution Bits Single turn 12 1 Multi turn 12 12 1 Single turn 12 bit resolution per revolution special bit Multi turn 12 bit resolution per one revolution 12 bits for number of turns special bit special bit is optional SSI encoder output format N A Single turn Binary Multi turn Gray code SSI encoder clock frequency kHz The top of the clock ...

Страница 44: ... 1 Connecting the CAN bus X6 A CAN network must be terminated with 120 Ω at both ends If there are no input output connectors in each unit the CAN bus can also be implemented as an open ring Figure 28 on page 45 illustrates a typical implementation of three IMDs in a hub Note that CAN low is always connected to CAN low and CAN high is always connected to CAN high Termination resistors are only use...

Страница 45: ...on Built in termination Built in termination Built in termination IMD 1 and IMD 2 IMD 3 CAN high CAN low CAN GND 1 5 6 9 1 5 6 9 Figure 28 CAN connections The CAN wires are connected to a male 9 pole D sub connector as follows Terminal no Terminal text Description 1 9 Not connected 2 CAN L CAN low 3 6 CAN G CAN GND 4 CAN T1 CAN termination resistor T1 Attention Shields must be connected to the D s...

Страница 46: ...4 1 2 Connector housing requirements Use metal or metalized 9 pole female D sub housing All shields must be connected to the connector housing 5 5 Connecting 24V digital and safety I O X7 X8 X9 X7 X8 and X9 are implemented as a male female connector with the male part on the IMD and the wires are connected to the female part All female parts are delivered with the IMD Info In some cases it is poss...

Страница 47: ... description of the functions of the connections in the IMD function description 5 5 1 Connecting digital inputs X9 All inputs in X9 have the following HW specifications Voltage range 0 36 V DC Digital low 0 5 V DC Digital high 9 36 V DC Impedance Approximately 2 4 kΩ Input current high Approximately 7 3 mA 24 V DC Typical implementation of circuit for digital input 24 V DC To IMD digital input 24...

Страница 48: ...r actively decelerates and brake sequence started If not in motion the device is disabled and the motor brake is engaged 3 LS 1 Limit switch 1 active high or low is configurable 4 LS 2 Limit switch 2 active high or low is configurable 5 DI 1 Digital input 1 6 DI 2 Digital input 2 7 DI 3 Digital input 3 8 DI 4 Digital input 4 9 0 V Ground 10 DI 5 Digital input 5 11 DI 6 Digital input 6 12 DI 7 Digi...

Страница 49: ...s enabled configuration 18 0 V Ground Recommended connections for manual operation DI 10 DI 11 DI 12 24 V DC 5 5 2 Connecting safety I O and digital outputs X8 X8 connector contains safety chain inputs and outputs additional relay output RO and eight digital outputs The wires are connected to the female connector as follows Terminal no Terminal text Description 1 SCI 1 1 Safety chain input channel...

Страница 50: ... wire See also section 8 4 8 on page 100 20 0 V Ground for all outputs also used for Fan black wire 5 5 2 1 Safety I O In order to be able to implement a safety chain according to ISO 13849 two safety chain relays SCR and two safety chain inputs SCI are implemented in the IMD See IMD 100 function description manual for detailed description of how the safety I O is implemented and functions Safety ...

Страница 51: ...ly reconnect the output This relay output is a distributed output that can be used for any purpose The output RO relay contacts have the following HW specifications Maximum voltage 30 V DC Maximum current 0 25 A DC 5 5 2 3 Digital outputs There are eight digital outputs that can be used for any purpose The outputs are supplied from X8 supply terminals 11 and 20 Attention The safety chain inputs mu...

Страница 52: ...pending on the options of the IMD X7 can be input or output IMD has 24 VDC out option X7 acts as output or input for backup use of X7 is optional IMD has no 24 VDC out option X7 acts as input use of X7 is mandatory The 24 V is used as a supply for the IMD internal control and the following outputs connected internally Brake Resolver Temperature sensors SSI X7 has double poles for both plus and min...

Страница 53: ...e Load Load Figure 32 Typical applications NOTE When an external power supply is connected to X7 consider power that may be drawn from the motor brake output Se section 6 4 on page 63 With 24 VDC out option Table 4 External power supply specifications Input voltage 24 10 V DC No voltage dip at brake current 0 25 A DC inrush current below 20 V DC is allowed Input current IMD only Maximum current th...

Страница 54: ... motor brake and SSI encoder must be subtracted from 6 A External power supply voltage 21 to 23 5 V DC No voltage dip below 20 V DC is allowed External power supply current IMD input Maximum current through X7 7 A DC Minimum current calculated sum from the following consumptions IMD internal fan 1 A DC SSI consumption Brake consumption The wires are connected to the female connector as follows Ter...

Страница 55: ...he IMD 100 function description The SCI Safety chain input and RFE Rotation Field Enabled inputs are safety related and are fully described in the IMD 100 function description 6 1 IMD states The following flowchart shows the operational states of the IMD and indicates the conditions for changing from one state to another Some states are not mentioned since they are path states only and will not be...

Страница 56: ...IMD 100 Integration manual 4189360015 Rev G Functions description www deif com wind power Page 56 of 243 Figure 33 IMD states ...

Страница 57: ...ety run execution Manual operation Execution of special commands 2 PwrOn checking Power on checking This state is the first state during start up and a return step if start up error was cleared In this step the IMD makes a self test check for errors and check whether a limit switch is activated in order to determine whether the present position is known Error is active Limit switch is active Limit...

Страница 58: ...to override the error check in states 19 and 11 None The IMD automatically proceeds to safety run setup state 19 10 SCR tripped An error occurred in normal operation state The IMD automatically trips the SCR outputs 1 and 2 A special case is for errors 5 and 8 If these errors were triggered by DC link Vmax or DC link Vlow the IMD automatically proceeds to safety run 19 If these errors were trigger...

Страница 59: ...The IMD waits for Enable dev in order to go to normal operation Active error or safety chain inputs missing Enable dev Safety run is initiated Execution of special command SE test Manual operation 18 Safety run timeout The safety run did not reach a limit switch before the configured timeout elapsed Initiate a new safety run with S run or restart the IMD Manual operation 19 Safety run setup The IM...

Страница 60: ...o Safety run pending 12 Limit switch active Timeout Position for step 2 reached state 55 Run input is low 55 Safety run step 2 The IMD executes a safety run the motor runs with the configured speed until a limit switch is activated a configured timeout is reached or the position for step 3 is reached If an error occurs during the safety run a different error state path is taken Active error will p...

Страница 61: ...elays tripped 1 relays are ON This parameter also indicates whether the IMD can be enabled or not When the relays are tripped the IMD cannot be enabled without clearing the errors and cycling the safety chain inputs Dev Enabled 0x40 bit 0 Dev Enabled is turned on when both Enable dev and RUN are active GO 0xD8 bit 11 Go is turned on when the IGBT is enabled In normal circumstances it will be turne...

Страница 62: ...y the SE voltage Using CAN CANopen or the IMD Manager it is possible to read the actual SE voltage IMD 122 C has an extra input for measurement of the mid point voltage A wrong mid point voltage SE voltage or both is an indication that a battery or ultra capacitor module are defective No warning or configuration are associated with this function and the IMD does not take any action or evaluation E...

Страница 63: ...it detection of the used brake Table 8 Brake current settings Brake current Setting Less than 2 A Low More than 2 A High The following figure shows a simplified circuit diagram IMD with internal power supply of the relevant internal connections to X2 X2 Motor brake X7 24 V DC Over current protection Internal power supply Brake OK Power switch The power switch has overcurrent short circuit protecti...

Страница 64: ...modulation to the motor is still ON to ensure that the blade motor holds its position After the preconfigured brake output OFF delay has passed the modulation to the motor stops The brake delay purpose is to ensure that the brake efficiency is 100 before stopping the modulation position control The following figure illustrates the described sequence Modulation position Speed Brake output Braking e...

Страница 65: ... the modulation to fix the blade motor position After a fixed 15 ms delay the brake output is turned ON When the brake output ON delay has passed the IMD will ramp up the speed in order to pitch the blade to the desired position The following figure illustrates the described sequence the order of the of the signals function is different compared with Figure 34 on page 64 for simplicity reasons Mod...

Страница 66: ...IMD Manager through the service port on PDO updates 7 1 CAN CANopen interface The proprietary CAN interface requires that each unit in the same network has its own addresses one for receiving and one for sending These two addresses are pre configured from the factory The IMD has also a HW switch on the front for offset node ID of the addresses so it is not necessary to SW configure the IDs for eac...

Страница 67: ...ss Short symbol Default value Parameter register number in the IMD Receiving address Rx ID 0x200 Switch ID 0x68 Sending address Tx ID 0x180 Switch ID 0x69 Bit rate Baudrate kbps 500 0x73 The bit rate is initialized only at power up It is not possible to change the speed on the fly The CAN interface implementation in the IMD is a proprietary protocol which is a simpler variant of the CANopen Howeve...

Страница 68: ... parameter index 0x0200 charger current has sub object ID 2 00 is filer 3 Result 0x8211 4 Build the telegram as follows 3D XX YY ZZ ZZ telegram MSB YY telegram LSB XX fill byte 3D Read command 0x3D 00 11 82 Write to the charger Composing the telegram Step Example Setting nominal voltage to 450 V 1 Command 0x8011 2 Combine with parameter index 0x1100 Nominal voltage has sub object ID 17 0x11 00 is ...

Страница 69: ...byte is sent first and the most significant byte is sent last For example object ID 2098 is sent as 98 20 The same also applies to data However it is not the whole data field that is little endian but each object in the data field Example of TPDO1 which has the following format Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 POS Actual Obj 0x206D POS Actual_2 Obj 0x206F Data Interpretation...

Страница 70: ...se node ID 0x0 Change of CAN ID switch while the IMD is on The existing Node ID will still be used If the CANopen slave is reset Node ID 4 will be used At next restart the content of reg 0x68 will be automatically changed back from 1 to 0 and Node ID base node ID CAN ID switch will be used The content of reg 0x68 was automatically changed from 0 to 1 at restart due to 0 value of register and CAN I...

Страница 71: ...40 00 58 56 25 3C 32 73 Device mode Reg 0x51 00 40 0000 0000 0100 0000 Bit 15 bit 0 Position destination value Reg 0x6E 3C 25 56 58 N limit value Reg 0x34 73 32 Table 11 RPDO2 speed control Used for Changing speed COB ID 0x300 Node ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Device mode value Obj 0x2051 N set value Obj 0x2031 Logic Out block value Obj 0x2098 Example of enabling N clip setting spe...

Страница 72: ...COB ID 0x500 Node ID Byte 1 Byte 2 Fun_safety run value Obj 0x2078 Any value written in byte 1 and 2 will cause the IMD to start a safety run go to state 19 safety run setup Example of initiating safety run in IMD with Node ID 3 COB Data Interpretation 503 01 00 Fun_safety run Reg 0x78 00 01 Info The IMD will always execute the last sent RPDO If a position command is sent RPDO1 and a following spe...

Страница 73: ...alue SSI encoder position value COB ID 180 node id Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 POS Actual Obj 0x206D POS Actual_2 Obj 0x206F Example COB Data Interpretation 181 7B 3C 3F 4F FF 1F 00 00 Resolver position Reg 0x6D 4F 3F 3C 7B SSI encoder position Reg 0x6F 00 00 1F FF Table 15 TPDO2 mapping Reports Speed current output power DC link voltage COB ID 280 node id Byte 1 Byte 2...

Страница 74: ...00 Bit 31 bit 0 Logic out block Reg 0x9B 31 03 00 07 0111 0000 0000 0000 0011 0000 0001 0011 Bit 31 bit 0 Table 17 TPDO4 mapping Reports Device mode errors and warnings logical inputs and outputs COB ID 480 node id Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Device mode Obj 0x2051 Errors Warnings Obj 0x208F Logic in out Block Obj 0x20D8 Example COB Data Interpretation see also relevant...

Страница 75: ...e SDO server receives requests at the standard COB ID 0x600 Node ID and will respond at COB ID 0x580 Node ID Read Example COB Data Interpretation see also relevant bit mapping sections 601 40 98 20 00 00 00 00 00 Application Read object 2098 from node with node ID 1 581 4B 98 20 00 01 01 00 00 Reply from node 0x0101 0000 0001 0000 0001 Bit 15 bit 0 Consult the CANopen standard specification CiA 30...

Страница 76: ...O timeout due to no SDO response 2 SDO Read From 0x1000 sub 0 Device Type 0x424F4F54 Check that the bootloader is active 0x424F4F54 Bootloader is running 0x0 Application is running 3 SDO Write To 0x1F51 sub 1 Program control 3 Erase the flash memory allocated to the application Takes approximately 10 s 4 SDO Read From 0x1F57 sub 1 Flash Status 2 Read the flash status to verify that the application...

Страница 77: ...IMD 100 Integration manual 4189360015 Rev G Communication www deif com wind power Page 77 of 243 ...

Страница 78: ...ar7 Char8 Char9 Char10 Char11 Byte1 Byte2 Byte3 Byte4 Reg IDReg ID Data Data Data Data Data Data Data Data Sync Data Data Data Data Bits 07 04 Bits 03 00 Bits 31 28 Bits 27 24 Bits 23 20 Bits 19 16 Bits 15 12 Bits 12 08 Bits 07 04 Bits 03 00 X Bits 07 04 Bits 07 04 Bits 07 04 Bits 07 04 ascii ascii ascii ascii ascii ascii ascii ascii ascii ascii ascii binary binary binary binary The following exam...

Страница 79: ...sed batteries or ultra caps for safe energy The connection must have a breaker Safety chain connections or if safety chain is not used SCI inputs must be connected either as shown in Figure 31 on page 51 or through RO relay in order to be able to reset the IMD safety chain If RO is used it is possible to open and close it using the IMD Manager A computer for the IMD manager connected to the Servic...

Страница 80: ...ection 2 on page 11 8 3 Turning the power on 1 Follow the procedure described in section 9 15 on page 148 2 Configure the IMD Manager communication See IMD Manager user manual Attention Monitor the actual current during the configuration Before the drive is configured with all parameters for the actual motor high currents may be generated ...

Страница 81: ...general configurations of the IMD The red dashed rectangle in the following figure shows the parameters that are to be configured Figure 37 Servo data in IMD Manager configuration 1 3 Fill in the following fields Axis label The label is an optional parameter that can be used to differentiate between different IMDs Up to 4 characters can be used The label is also shown at the right bottom of the IM...

Страница 82: ... level at which the IMD will generate an error end perform a safety run This parameter also determines the ballast on and off thresholds which are connected and disconnected automatically when needed according to the following o Ballast on DC link voltage DC link Vmax 1 32 DC link Vmax o Ballast off DC link voltage V ballast on 2 32 V ballast on The ballast resistor state can be monitored by readi...

Страница 83: ... be above 120 V DC This parameter is used to protect the IMD output module the current will be very high at low voltage and the energy source from depletion In firmware older than 1 04 0 this parameter had also the function of SE Vlow SE Vlow The minimum allowed voltage of the safe energy A warning is generated if the safe energy voltage is below this voltage If the SE voltage is bellow SE Vlow it...

Страница 84: ...s an interface towards an absolute SSI encoder that can be used to determine the absolute position of the blade Both single turn and multi turn can be used Data transmission Only single transmission is supported Multiple transmission repeat of the sent data is not supported Multi turn Only 12 12 12 bits resolution 4096 per revolution 12 bits number of revolutions 4096 format is supported Special b...

Страница 85: ...d DC link Vmin 150 The ultra cap modules can tolerate depletion to a comparatively low point Under this voltage output current will be too high and for IMDs with internal power supply a risk that the power supply will shut down SE Vlow 400 This threshold is used to give a warning that something in the safe energy system is not as it is supposed to be under normal circumstances LVRT timer Disabled ...

Страница 86: ...d if it is disconnected DC link Vmin 200 Batteries cannot tolerate depletion to a low voltage Under this voltage output current will be high and for IMDs with internal power supply a risk that the power supply will shut down SE Vlow 288 This threshold is used to give a warning that something in the safe energy system is not as it is supposed to be under normal circumstances LVRT timer 10 s Safety ...

Страница 87: ...60015 Rev G IMD configuration www deif com wind power Page 87 of 243 Parameter Value Description Char err trip S chain Enable Charger error will be escalated to IMD error after Charger timeout causing safety chain trip and safety run ...

Страница 88: ...motor is selected as the motor type Not all parameters are available is other motor types are selected Parameters Type Select one of the following options in the dropdown list o Sync Servo Permanent magnet synchronous motor with feedback resolver o Async V F AC induction motor voltage frequency controlled with no feedback o Async Servo Servo asynchronous motor with feedback resolver I max Maximum ...

Страница 89: ...for a more precise formula see section 10 3 2 on page 172 KTY 84 or section 10 3 3 on page 176 Pt100 Temp ºC Units KTY 84 Units Pt100 40 2968 2897 30 3993 4112 20 5060 5324 10 6164 6531 0 7301 7735 10 8467 8935 20 9657 10132 30 10868 11325 40 12094 12514 50 13332 13700 60 14579 14883 70 15832 16061 80 17086 17237 90 18340 18409 100 19590 19577 110 20834 20741 120 22070 21903 130 23295 23060 140 24...

Страница 90: ...leased See section 6 4 2 on page 65 for details Manufacturers often gives the time from 100 brake power to 1 or 10 brake power In such case or if in doubt it is recommended to add some delay to ensure that that the brake is fully disengaged before starting with motor movement o Brake output OFF The time needed from when the brake output is OFF deactivated until the brake is fully engaged with 100 ...

Страница 91: ...ve the correct values Some values may need extra calculation with the available data Synchronous servo motor example The following data is needed I nom I max Number of poles motor temperature sensor type maximum temperature Brake delay number of poles resolver The following figure shows the needed data collected in different parts of the data sheet and the name plate Motor name plate Data sheet T ...

Страница 92: ...nd used in the actual system Maximum temperature 23295 Insulation class F 40º 105º 145 Extra 15º margin is added 130º 23295 according to section 10 3 2 2 on page 174 Data for KTY 84 conversion is used Brake current Low The brake current is 1 8 A which is considered low Brake output ON delay 495 Break release time The release range is not specified and therefore 10 is added to 450 Brake output OFF ...

Страница 93: ...Number of poles motor temperature sensor type maximum temperature Brake delay number of poles resolver The following figure shows the needed data collected in different parts of the data sheet and the name plate Number of Poles F nom Brake delay nom Brake delay V nom Insulation class Max temperature I max to rated ration I nom I max I nom ratio Temperature sensor N nom Cos Phi Brake power consumpt...

Страница 94: ...TY 84 IMD s KTY input is used for this type of sensor Maximum temperature 23295 Insulation class F 40º 105º 145 Extra 15º margin is added 130º 23295 according to section 10 3 2 2 on page 174 Data for KTY 84 conversion is used N nom 1440 Nominal speed F nom 50 Nominal frequency V nom 230 The motor is going to be connected as Δ with 230 V AC voltage Cos Phi 0 81 Brake current High The brake current ...

Страница 95: ...le dev button It will be done automatically and the IMD will proceed from state 5 PwrOn not parked to state 19 safety run setup automatically as soon as RUN input is high If Auto S run start is disabled it is necessary to send the command or click on the Enable dev button as well as set the RUN input is high before the IMD will proceed from state 5 PwrOn not parked to state 19 safety run setup See...

Страница 96: ...to safety run restart function can only be initiated from Safety run succeeded or Parked tripped If the safety chain inputs are OK and the IMD entered Parked ready state the auto safety run restart function will not be initiated S run mains return Safety run after AC mains missing during safety run and return later on This function only applies to systems where there is no safe energy and the 24 V...

Страница 97: ...sition value Prop CAN Rx ID Configure the receive address ID offset in Hexadecimal The resulting address is Rx ID CAN ID switch position value Prop CAN Tx ID Configure the transmit address ID offset in Hexadecimal The resulting address is Tx ID CAN ID switch position value Time Out Recommended timeout is between 2 to 3 seconds should be a higher than the controller time out setting Setting the tim...

Страница 98: ...ecial commands Defining a single pulse 100 duty cycle interval and using special command 15 to execute it There are three configuration parameters for the safe energy test 1 SE test LS only Whether it is possible to execute a battery test only when a limit switch is activated select Enable or also when a limit switch is not activated select Disable 2 SE test single pulse Selecting whether a pulse ...

Страница 99: ...t Test PWM time 28 0 6s 100 Selecting Long single pulse will change the value in the selectable list to 28 5s 100 Executing special command 5 will start a PWM of 28 duty cycle 28 on 72 off until special command 6 is executed Executing special command 15 will connect the ballast resistor for a period of 5 seconds and then disconnect it SE test single pulse Long Test PWM time not changed manually 8 ...

Страница 100: ...e reserved for manual operation Speed the speed that will be used during manual operation The speed is entered in percentage of Nmax 100 The resulting speed in RPM is shown Acceleration Ramp time that will be used for the acceleration from zero to manual operation speed It is given is ms from zero to Nmax 100 The actual time in ms used to accelerate from zero to the manual speed can be calculated ...

Страница 101: ...an start and stop Reason for start Start approximately Stop approximately Output module temperature Above 60 ºC Below 55 ºC Load on ballast resistor Above 25 Below 12 5 Configuring the output as a logical output will automatically configure the fan function for the recommended start and stop Control of external fan connection it is recommended to connect the fan to DO 8 Operand 1 In Block Operatio...

Страница 102: ...nual 4189360015 Rev G IMD configuration www deif com wind power Page 102 of 243 Any other application specific definitions can be made See IMD Manager user manual for details about how to configure the input and output logic ...

Страница 103: ... to fill these parameters For a detailed description of the function of parameters such as T peak I con eff and so on see IMD 100 function description 8 5 1 General PID parameters The IMD is a PID Proportional Integral Derivative controller and while explaining PID controllers is outside the scope of this manual information which is widely available this section describes the general PID parameter...

Страница 104: ...t can be compared to setting a maximum speed limit As long as the speed is under the limit it can be changed very rapidly Once it gets above the limit it will be limited and not be allowed to increase any more It can be useful for example to limit the effect of the integral part Ti when the blade is subjected to turbulence for a short while which increases the torque and then disappears Limiting t...

Страница 105: ...he Ti parameter is relatively low 20 which causes the motor to oscillate Legend Black N cmd ramp Blue N actual Legend Black N cmd ramp Blue N actual Legend Black N cmd ramp Blue N actual The Ti parameter is set higher 60 Settling time is shorter On the other hand the overshoot is slightly higher The Kp parameter is set lower 1 Settling time is shorter On the other hand the overshoot is slightly hi...

Страница 106: ...for the speed controller o Td Differential time constant for the rate time in the speed controller o TiM Maximum value of the speed integral memory o Kacc Dynamic acceleration value directly to the current controller There is a risk of current oscillations if this parameter is adjusted too high o Filter Low pass filtering of the feedback input to the speed control Used to decrease the variation of...

Страница 107: ... occur There is an error that forces a controlled motor stop Note that some errors do not allow a controlled stop and the brake will stop the motor The drive is disabled while the motor is in motion A limit switch is activated during a safety run or a safety run timeout exceeded and Fast dec time N dec time RUN input goes low If the deceleration defined is longer than 1 s the output is disabled an...

Страница 108: ...amp is defined as the time it will take to accelerate from zero RPM to Nmax 100 RPM Safety run speed profile must be enabled in Configuration 1 3 General servo group When using the speed profile the resolver revolutions number must be calibrated to 0 at blade position zero using the Pos preset see section 9 2 on page 130 Step 0 always start at 0 revolutions with the configured N S run step 0 speed...

Страница 109: ... No of revolutions Speed Speed RPM 0 0 100 1920 1 15 3x5 120 2304 2 75 15x5 70 1344 3 350 70x5 30 576 4 400 80x5 20 384 When configuring the position the number of revolutions must be any step must be higher than the previous step If this is not the case the number of revolutions will be shown in red The speed is set by selecting a percentage value from the dropdown list which allows values from 5...

Страница 110: ...person should adjust this parameter see also section 8 5 1 on page 103 o Kp Proportional amplification in the current controller o Ti Integration time for the current controller o TiM Maximum value of the current integral memory o xKp2 Proportional amplification on overshoot current controller o Kf Feedforward amplification current controller Application current definitions o Ramp time The time in...

Страница 111: ...to lower the current in various situations The main purpose of this current limit is to lower the energy used when safe energy is used The current limit will be applied if any of the following conditions is true When there is no mains input A CAN CANopen command is sent activating the current limit An input for logical input that is configured to enable the current limit becomes active In the foll...

Страница 112: ... the motor temperature is above the configured value Can only be used when the temperature sensor in the motor is linear Motor temperature Current Configured I max I nom M Temp Output current I red TM Motor temperature dependent current reduction 8 5 4 Configuring magnetic field weakening parameters Fill in the following fields Id nom Magnetizing current in percent of the nominal current of the mo...

Страница 113: ...al time constant for the rate time in the position controller Only experienced and qualified person should adjust this parameter o TiM Maximum value of the position integral memory Only experienced and qualified person should adjust this parameter 8 6 Configuring async motor parameters and resolver offset 8 6 1 Configuring resolver offset The resolver offset needs to be determined once for each mo...

Страница 114: ...or must be connected The resolver must be connected to the IMD The motor must be able to rotate free without load Safety chain RUN and RFE inputs must be valid See section 5 5 2 1 on page 50 for safety chain input information RUN and RFE must be able to toggle 8 6 1 2 Offset determination 1 Set RUN input OFF 2 In the IMD Manager Configuration 2 3 tab set N blind safety run in the Safety run group ...

Страница 115: ...IMD 100 Integration manual 4189360015 Rev G IMD configuration www deif com wind power Page 115 of 243 4 Set RUN input ON 5 In the Configuration 3 3 tab press Start ...

Страница 116: ...slowly rotate one revolution Observe the RPM field and verify that the number shown is positive no in front of the number If the number is negative do the following a If you have not saved the configuration to the EEPROM yet do it now so you don t lose the configuration made until now in case the 24 V DC is internal b Set RUN input OFF c Disconnect the mains power wait for discharge of the capacit...

Страница 117: ... steps 2 on page 114 to 7 on page 116 this step 8 Click on Enable dev again to disable the IMD 9 Update the parameters in the IMD Manager f Note the used com port COM3 is shown and click Offline in the Communication menu g h Click on the same COM port used before The IMD Manager will refresh all values including the resolver offset a b ...

Страница 118: ...led before L sigma d value Use the automatic calculation procedure calculates the parameter values using data from the name plate The following procedure describes how to use the automatic calibration procedure 8 6 2 1 Prerequisites Before configuring the additional parameters all the fields in the Motor data group in Configuration 1 3 tab must be filled 8 6 2 2 Calculation procedure 1 Select Fn8 ...

Страница 119: ...synchronous motors Some additional voltage and frequency parameters need to be configured when controlling asynchronous motor These parameters define the voltage frequency curve generated by the IMD These are configured in the Configuration 3 3 tab Parameter description Start Info It is possible to optimize these parameters which is the reason that editable fields are placed in the same group Chan...

Страница 120: ... when the charger is in Setup mode which is done with a Setup mode button in the SE charger tab Charging stops when the charger is in Setup mode and starts again automatically at the Bulk stage when the Setup mode is disabled Like other parameters of the IMD the charger parameters configuration is done in the values stored in the RAM As soon as the Setup mode is disabled it uses the parameter valu...

Страница 121: ...ger 1 Click on File Exec script 2 Navigate to the folder where the configuration scripts are stored Select the appropriate configuration and click Open 3 The IMD manager executes the script indicated with a When completed click OK in the dialog box 4 Click on the SE charger tab and verify that the charger is configured as expected ...

Страница 122: ...ually or used with the factory defaults select with the Set factory default button There is a set of factory defaults parameters for each SE type NOTE To achieve maximum performance and life time of the energy source consult the energy source supplier and have the applicable charging characteristics at hand 8 7 3 1 Configuring type and basic configuration 1 Click on the SE charger tab If the Setup...

Страница 123: ...ration group click on the SE type used When the SE type is selected the area on the right side changes to the charging curve applicable for the selected SE type and the relevant parameters are shown on the left side 3 Enter the nominal voltage of the used SE source the sum of all elements nominal voltage NOTE Resolution in any voltage setting is 100 mV This applies to all voltage charge values ...

Страница 124: ...pacitor Section 8 7 3 3 on page 126 NOTE When entering a value in percent the resulting voltage in Volt or current in Ampere will be shown after hitting Enter or moving the cursor to another field There is no restraint on the percentage values may be above 100 8 7 3 2 Configuration of Lead acid SE type parameters Lead acid charging process Bulk stage Charging starts in Bulk stage with constant cur...

Страница 125: ... sensor None No temperature compensation Pt1 The charger compensates the voltage according to the battery temperature 3 mV cell ºC when the temperature is below 25 ºC and 3 mV cell ºC when the temperature is above 25 ºC The number of cells is calculated from the nominal voltage The compensated voltage is not indicated in the configured parameters on the left side When a temperature sensor is selec...

Страница 126: ...loat current limit until the voltage reaches Float voltage Charging is then continued with Float voltage 1 Enter the Float voltage in percentage with one decimal of the Nominal voltage This voltage is used as a voltage limit in the Float stage 2 Enter the Absorp end voltage in percentage with one decimal of the Nominal voltage When the value of this parameter is reached the charger goes from Absor...

Страница 127: ...and the charger goes to absorption stage Absorption stage Charging is done with constant voltage Absorption voltage until the current drops to Absorp end current and the charger goes to float stage Float stage This is the final stage Charging is stopped until SE voltage drops to End voltage that causes restart of charging with constant voltage Float voltage When the charge current drops to Absorp ...

Страница 128: ...ne decimal of the Charge current This current is used as constant current in the Bulk stage 5 Enter the Absorp end current in percentage with one decimal of the Charge current When the value of this parameter is reached the charger goes from Absorption to Float stage as well as from charge to rest no charge in the float stage 8 7 3 5 Completing the configuration Perform one of the two To start the...

Страница 129: ...evice must be disabled reg 0x51 bit 2 1 9 1 2 Activation IMD Manager Select 8 Brake test in the States and special commands in the Monitor and control tab CAN CANopen send 8 to the special commands register reg 0x03 The IMD changes state to 40 Brake test turns the brake output X2 on and changes the Brake output LED indication in the IMD Manager to on 9 1 3 Operation The IMD will remain in this sta...

Страница 130: ... the low 16 bits indicates the position of the motor within one revolution The high 16 bits indicates the number of revolutions This function is normally used to reset the revolution counter to zero when using speed profile for safety run or calibrating zero revolutions for use with the Virtual limit switches VLMS The following figure shows how the actual position is changed when the position is c...

Страница 131: ... Position field The value must be a 32 bits value which can be entered in decimals max 4294967295 or Hexadecimals max 0xFFFFFFFF 1 Click on the P button 2 The new value is now used as actual position CAN CANopen write the desired value to 0x7A 9 2 4 Deactivation IMD Manager Select 0 Idle in the States and special commands in the Monitor and control tab CAN CANopen send 0 to the special commands re...

Страница 132: ... that the Mains is the energy source of the DC link will also change if the command is executed through CAN CANopen CAN CANopen send 12 to the special commands register reg 0x03 The IMD remains in state 1 Normal operation and disconnects the AC mains from the DC link The flag Mains disconnect changes from 0 to 1 Info This function is not supported in IMD 100 A version Attention After executing Mai...

Страница 133: ...s IMD Manager select 13 Mains connect in the States and special commands in the Monitor and control tab The indication in the Power source group in the Monitor tab will change to show that the Mains is the energy source of the DC link will also change if the command is executed through CAN CANopen CAN CANopen send 13 to the special commands register reg 0x03 The IMD reconnects the AC mains to the ...

Страница 134: ...y chain reset for example after the input in one of the SCI inputs was cycled the following actions must be performed in this order to get the IMD back to normal operation 1 Any errors must be cleared error removed and cleared 2 Cycle safety chain inputs 6 Reset Enable off bit Timing After the RUN input has gone high a 5 ms delay must pass before command values can be sent to the drive The Enable ...

Страница 135: ...Di 2 terminals 2 In the IMD Manager Configuration 1 3 set the logical input for the connected terminal to NcR0 7 Select the polarity active low or active high depending on the source IMD Manager Do the same as for HW input Set the NcR0 on by changing the polarity CAN CANopen Set bit 1 in the Device mode register Reg 0x51 bit 1 1 9 5 3 Operation See description in the beginning of section 9 5 on pa...

Страница 136: ...it 23 SCI state set to Not OK manual operation dependent on both digital inputs 10 11 and 12 and special commands When going out of the mode the IMD always performs a safety run 9 6 1 Reg 0x01 bit 23 SCI state set to OK 9 6 1 1 Prerequisites Manual operation must be enabled in the configuration 0x01 bit 30 1 SCI state for manual operation must be set to OK 0x01 bit 23 0 Three switches must be conn...

Страница 137: ...matically enabled 0x01 bit 22 1 if DI 9 is activated DI10 and DI 11 are always enabled 9 6 2 1 Prerequisites Manual operation must be enabled in the configuration 0x01 bit 30 1 SCI state for manual operation must be set to Not OK 0x01 bit 23 1 Three switches must be connected to Digital inputs 10 11 and 12 and 24 V DC see section 5 5 1 on page 47 The IMD must be in one of the states that allow ent...

Страница 138: ...forms a safety run 9 7 Manual operation 360 Manual operation 360 is the same as manual operation except that VLMSs are ignored and the motor keeps moving past the VLMS 9 7 1 Prerequisites The IMD is in manual operation mode Reg 0x01 bit 22 Manual operation 360 must be enabled 1 This can be done either by configuration using the IMD Manager or by sending CAN CANopen a value to the special commands ...

Страница 139: ... 2 Activation IMD Manager Select 17 Fan ON in the States and special commands in the Monitor and control tab CAN CANopen send 17 to the special commands register reg 0x03 The IMD will turn on the fan 9 8 3 Operation The fan remains ON until special command 18 is sent to the IMD 9 8 4 Deactivation IMD Manager Select 18 Fan Auto in the States and special commands in the Monitor and control tab Info ...

Страница 140: ...h CAN CANopen command or from the IMD Manager 9 9 1 Prerequisites If in Normal operation state the drive must be enabled Note Manual safety run can also be initiated while in states 3 PwrOn Parked 4 PwrOn not parked or 5 PwrOn not parked cold where it only requires that the RUN input is high 9 9 2 Activation IMD Manager Click on the S run button in the quick access area CAN CANopen send 1 to the s...

Страница 141: ...ick on the Enable dev button CAN CANopen changes the Enable dev reg 0x51 bit 2 to 0 on 9 10 3 Operation While in normal operation mode is possible to disable and enable the drive by SW reg 0x51 bit 2 or HW RUN input X9 terminal 2 Both SW and HW must be enabled in order to enable the drive When the drive is disabled the output to the motor goes to zero and the brake output is deactivated 24 off The...

Страница 142: ...ate and pre heat the motor until 0 Idle is sent to special commands register reg 0x03 If the Enable dev button is changed to off the IMD goes to state 42 Pre heating warning and stays in this state until the heating is deactivated While in this state the heating cannot be activated again 9 11 4 Deactivation IMD Manager Select 0 Idle in the States and special commands in the Monitor and control tab...

Страница 143: ...the States and special commands in the Monitor and control tab Special commands feedback shows Attention This function should not be used unless absolutely necessary When used The output to the motor and the brake is stopped immediately also if in safety run and the motor is coasting out only stopped by the motor s brake All outputs are reset Protective actions such as Mains disconnect are reset ...

Страница 144: ...d power Page 144 of 243 2 Select 21 Restart IMD in the States and special commands in the Monitor and control tab The IMD Manager will show an error dialog box Click OK 3 The IMD Manager show a green communication error Click on the Clear errors button to clear the communication error ...

Страница 145: ...nly discharging It is possible to discharge ultra capacitors for service purposes Discharging is done using the ballast resistor to discharge the capacitors 9 13 1 Prerequisites The IMD must be in one of the following states SCR tripped 10 Parked tripped 16 Parked ready 17 Safety run timeout 18 Manual operation 59 9 13 2 Activation IMD Manager Select 28 SE discharge ON in the States and special co...

Страница 146: ...ke some time To calculate the approximate time full discharge will take use the following formula Formula 𝑡 0 5 𝐶 𝑈2 𝑃𝑏 0 75 t Total approximate discharge time to zero in s C Total SE capacity in F U DC link SE voltage in V Pb Ballast resistor rated power in W Example 𝑡 0 5 2 4502 300 0 75 900𝑠 C 2 F U 450 V Pb 300 W 9 13 4 Deactivation IMD Manager Select 29 SE discharge OFF or 0 Idle in the State...

Страница 147: ...epends on the capacity and charge level of the ultra capacitors discharge time and the ballast resistor NOTE After deactivation the grid remains disconnected 9 14 Tripping safety chain outputs It is possible to trip the safety chain outputs SCR1 and SCR 2 manually which can be used for example to trip the safety chain relay 9 14 1 Prerequisites There must be no active errors 9 14 2 Activation IMD ...

Страница 148: ...lopment and implementation by the customer of update SW in the Pitch Motion Controller or the turbine s Main Controller It is also possible to load both CANopen bootloader and FW through the Service USB connector the IMD is then prepared for FW update through CANopen in the future The full FW package contains different files which are used depending on the update method chosen the bootloader will ...

Страница 149: ...ies sdflash Typically the necessary USB driver will be found automatically if the computer is on line Otherwise go to Silicon Labs home page and download the latest driver for CP210x USB to UART Bridge http www silabs com products mcu Pages USBtoUARTBridgeVCPDrivers aspx The computer must be connected to the IMD with USB cable male type A to male type B Prepare the FW files for use 1 Copy the fold...

Страница 150: ... or 400 V AC if it does have a built in power supply ensure that the RFE input is OFF to prevent the IMD from starting the motor unintentionally 2 Start the SDFlash if it is not started already 3 Set the IMD into programming mode by doing the following a Turn the 24 V DC or the 400 V AC if the DC power supply is built in off b Set the CAN ID switch to position 15 c Turn the 24 V DC or the 400 V AC...

Страница 151: ...ick Open 3 5 Skip this step if the used Com port is known Open the Device manager in the computer s Settings and determine which com port is used for the USB connection the look and name of the device manager may differ depending on the operating system Only Com1 Com2 Com3 and Com4 can be used with the SDFlash if another port is selected by the system you will need to change it so one of the menti...

Страница 152: ...ettings to open the Settings dialogue Select the same com port as used in the device manager COM1 C1 7 Click on the Erase tab 1 and ensure that User Options 1 is set to 00ff 2 8 Click on the Programming tab 1 then on the button of the Flash Data File 2 double click on the FW folder 3 select the IMD out file and click Open 4 2 1 ...

Страница 153: ...Rev G Operational procedures www deif com wind power Page 153 of 243 9 Click OK Info If the com port or user option 1 was changed you will be asked to save you project settings first when attempting to upgrade the firmware in an IMD 2 1 3 4 ...

Страница 154: ...e FW file see section 9 16 2 3 on page 160 or section 9 16 3 on page 164 depending on the method 9 16 2 1 Prerequisites A computer with Spectrum Digital SDFlash program installed including V3 3 SDFlash serial patch for flash programming September 5 2008 http emulators spectrumdigital com utilities sdflash Typically the necessary USB driver will be found automatically if the computer is on line Oth...

Страница 155: ...rs this location 3 Copy any of the sdp files in the folder and paste it 4 Rename the sdp file to the same name as the new FW folder 5 If there is no bootloader package in the folder repeat the previous steps 1 to 4 for the bootloader 9 16 2 2 Updating CANopen bootloader file This task needs only to be done once unless a newer bootloader version than the one already installed is available 1 Before ...

Страница 156: ...2 and click Open 3 5 Skip this step if the used Com port is known Open the Device manager in the computer s Settings and determine which com port is used for the USB connection the look and name of the device manager may differ depending on the operating system Only Com1 Com2 Com3 and Com4 can be used with the SDFlash if another port is selected by the system you will need to change it so one of t...

Страница 157: ...G Operational procedures www deif com wind power Page 157 of 243 6 Click on Project Settings to open the Settings dialogue Select the same com port as used in the device manager COM1 C1 7 Click on Project Settings to open the Settings dialogue ...

Страница 158: ...15 Rev G Operational procedures www deif com wind power Page 158 of 243 8 Click on the Erase tab 1 and ensure that User Options 1 is set to 0001 2 NOTE This step ensures that only the space allocated for the bootloader will be erased 2 1 ...

Страница 159: ...4 10 Click OK 11 Set the IMD into programming mode by doing the following a Turn the 24 V DC or the 400 V AC if the DC power supply is built in off b Set the CAN ID switch to position 15 c Turn the 24 V DC or the 400 V AC if the DC power supply is built in on 12 Click on Device Flash to open the upgrade dialogue Info If the com port or user option 1 was changed you will be asked to save you projec...

Страница 160: ... connector 1 Skip this step if the SDFlash is started and IMD is already turned on in programming mode a Before turning the power to the IMD ON 24 V DC if the IMD does not have built in power supply or 400 V AC if it does have a built in power supply ensure that the RFE input is OFF to prevent the IMD from starting the motor unintentionally b Start the SDFlash if it is not started already c Set th...

Страница 161: ...ick Open 3 3 Skip this step if the used Com port is known Open the Device manager in the computer s Settings and determine which com port is used for the USB connection the look and name of the device manager may differ depending on the operating system Only Com1 Com2 Com3 and Com4 can be used with the SDFlash if another port is selected by the system you will need to change it so one of the menti...

Страница 162: ...ect the same com port as used in the device manager COM1 C1 5 Click on the Erase tab 1 and ensure that User Options 1 is set to 00fe 2 NOTE This step ensures that the bootloader already installed will not erased 6 Click on the Programming tab 1 then on the button of the Flash Data File 2 double click on the FW folder 3 select the CoU_IMD out file and click Open 4 2 1 ...

Страница 163: ...Rev G Operational procedures www deif com wind power Page 163 of 243 7 Click OK Info If the com port or user option 1 was changed you will be asked to save you project settings first when attempting to upgrade the firmware in an IMD 2 1 3 4 ...

Страница 164: ...pdater SW must be implemented by the customer in the Pitch Motion Controller or Turbine Controller see section 7 1 3 5 on page 76 for implementation details Instructions on how to use the implemented FW updater SW available Bootloader for CANopen FW update is installed on the IMD see section 9 16 2 2 on page 155 The turbine must be stopped in a safe position and all blades are in fully feathered p...

Страница 165: ...ll be activated deactivated when an input change state See section 8 4 8 on page 100 and the description of how to use in the IMD Manager user manual 9 17 1 Digital outputs This section describes how to use the digital outputs 9 17 1 1 Prerequisites None 9 17 1 2 Activation IMD Manager Click on the DO x button of the digital output to toggle it CAN CANopen Set the applicable bit in Reg 0x98 see se...

Страница 166: ... Reset the applicable bit in object 2098 see section 13 2 8 on page 207 for bit mapping to 0 Off 9 17 2 Digital inputs This section describes how to use the digital inputs 9 17 2 1 Prerequisites None 9 17 2 2 Activation None 9 17 2 3 Operation IMD Manager The state of all digital inputs is represented by LED in the Monitor and control tab The LED is turned ON when the input is high and Off when th...

Страница 167: ...The SSI encoder value can also be retrieved by reading the register 0x6F either through CAN CANopen or in the Diagnostics tab Manual Read Write or Track The data format is as follows Bits 15 13 Bits MSB 12 01 LSB Bit 0 Padding Position value Special bit In the example above the decimal reading is 6990 An even number indicates that the special bit is 0 The position value is INT 6990 2 3495 only the...

Страница 168: ...e Track function and setting it to Pos actual ssi Figure 43 Examples of two readings of multi turn SSI values using Track In the first example above the hexadecimal reading is 0xBEF9E5 The position value is the lower 3 hexadecimal digits 0x9E5 4745 decimal The number of revolutions is the higher 3 hexadecimal digits or fewer depending on the value 0xBEF 5757 decimal In the second example the hexad...

Страница 169: ... www deif com wind power Page 169 of 243 Info Even though the format of the encoder data transmission is gray code it is translated to binary format before it is saved in the IMD register After a value of FFF the next value of number of revolutions FFF 1 will be zero ...

Страница 170: ...ps are retrieved as units To convert unit values to volts use the following formulas Measurement Register Formula DC link voltage 0xEB Volts value Reg 0xEB value 29 8901 Safe energy voltage 0x66 Volts value Reg 0x66 value 59 569 10 3 Converting temperature values The different sensors have different coefficients and different full scale Therefore different tables are needed for the conversion The ...

Страница 171: ...terval table row where the Raw_value is smaller than the Actual_temp_raw Formula 𝐴𝑐𝑡𝑢𝑎𝑙 𝑡𝑒𝑚𝑝𝑒𝑟𝑎𝑡𝑢𝑟𝑒 ºC 𝑇𝑒𝑚𝑝𝑒𝑟𝑎𝑡𝑢𝑟𝑒 𝑖 𝐴𝑐𝑡𝑢𝑎𝑙_𝑡𝑒𝑚𝑝_𝑟𝑎𝑤 𝑅𝑎𝑤_𝑣𝑎𝑙𝑢𝑒 𝑖 𝑡𝑒𝑚𝑝𝑒𝑟𝑎𝑡𝑢𝑟𝑒 𝑖 1 𝑡𝑒𝑚𝑝𝑒𝑟𝑎𝑡𝑢𝑟𝑒 𝑖 𝑅𝑎𝑤_𝑣𝑎𝑙𝑢𝑒 𝑖 1 𝑅𝑎𝑤_𝑣𝑎𝑙𝑢𝑒 𝑖 Example of converting a value of 24000 units to ºC 70 24000 23823 80 70 24946 23823 71 6 24000 units 71 6 ºC Actual_temp_raw 24000 i row 11 is selected Temperature i 70 Temperature i 1 80 Raw_value i...

Страница 172: ...lues 10 3 2 Converting motor temperature T motor KTY 84 sensor The temperature of the motor can be read from register 0x49 or CANopen object 2049 In the following description the actual temperature read is called Actual_temp_raw The following data is needed for the conversion Temperature is in ºC 15000 17000 19000 21000 23000 25000 27000 30 20 10 0 10 20 30 40 50 60 70 80 90 100 Raw value 0C NTC ...

Страница 173: ... 2 1989 50 3 2968 40 4 3993 30 5 4521 25 6 5060 20 7 6164 10 8 7301 0 9 8467 10 10 9657 20 11 10260 25 12 10868 30 13 12094 40 14 13332 50 15 14579 60 16 15832 70 17 16459 75 18 17086 80 19 18340 90 20 19590 100 31 20834 110 32 22070 120 33 22684 125 34 23295 130 35 24508 140 36 25707 150 37 26891 160 38 28059 170 39 28636 175 40 29209 180 41 30340 190 42 31452 200 43 32543 210 ...

Страница 174: ...ts 136 ºC Actual_temp_raw 24000 i row 34 is selected Temperature i 130 Temperature i 1 140 Raw_value i 23295 Raw_value i 1 24508 10 3 2 2 Conversion from Cº to units KTY 84 When converting a temperature given in ºC to raw values the interval i must be found Select the first interval table row in Table 25on page 173 where the Temperature is smaller than the Actual temperature ºC Formula for convers...

Страница 175: ...er Page 175 of 243 10 3 2 3 Quick conversion chart The following chart gives a quick view of temperature vs raw_values 0 5000 10000 15000 20000 25000 30000 35000 60 50 40 30 20 10 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 190 200 210 Raw value 0C T motor KTY84 ...

Страница 176: ...d Actual_temp_raw The following data is needed for the conversion Temperature is in ºC Table 26 Raw temperature values T motor Pt100 i Raw_value Temperature 1 455 60 2 1678 50 3 2897 40 4 4112 30 5 4718 25 6 5324 20 7 6531 10 8 7735 0 9 8935 10 10 10132 20 11 10729 25 12 11325 30 13 12514 40 14 13700 50 15 14883 60 16 16061 70 17 16650 75 18 17237 80 19 18409 90 20 19577 100 31 20741 110 32 21903 ...

Страница 177: ...3060 140 130 24214 23060 138 14 24000 units 138 ºC Actual_temp_raw 24000 i row 34 is selected Temperature i 130 Temperature i 1 140 Raw_value i 23060 Raw_value i 1 24214 10 3 3 2 Conversion from Cº to units Pt100 When converting a temperature given in ºC the interval i must be found Select the first interval table row in Table 26 on page 176 where the Temperature is smaller than the Actual tempera...

Страница 178: ...er Page 178 of 243 10 3 3 3 Quick conversion chart The following chart gives a quick view of temperature vs raw_values 0 5000 10000 15000 20000 25000 30000 35000 60 50 40 30 20 10 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 190 200 210 Raw value 0C T motor Pt100 ...

Страница 179: ...In the following description the actual temperature read is called Actual_temp_raw The following data is needed for the conversion Temperature is in ºC Table 27 Raw temperature values Pt100 i Raw_value Temperature 1 57 60 2 210 50 3 362 40 4 514 30 5 590 25 6 665 20 7 816 10 8 967 0 9 1117 10 10 1266 20 11 1341 25 12 1416 30 13 1564 40 14 1712 50 15 1860 60 16 2008 70 17 2081 75 18 2155 80 19 2301...

Страница 180: ...00 2882 140 130 3027 2882 138 14 3000 units 138 ºC Actual_temp_raw 3000 i row 34 is selected Temperature i 130 Temperature i 1 140 Raw_value i 2882 Raw_value i 1 3027 10 3 4 2 Conversion from Cº to units Pt100 Pt1 Pt4 When converting a temperature given in ºC to raw values the interval i must be found Select the first interval table row in Table 26 on page 176 where the Temperature is smaller than...

Страница 181: ...power Page 181 of 243 10 3 4 3 Quick conversion chart The following chart gives a quick view of temperature vs raw_values 0 500 1000 1500 2000 2500 3000 3500 4000 4500 60 50 40 30 20 10 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 190 200 210 Raw value 0C PT100 ...

Страница 182: ...a is needed for the conversion Temperature is in ºC Table 28 Raw air temperature values KTY 82 i Raw_value Temperature 1 7208 60 2 7734 50 3 8268 40 4 8806 30 5 9075 25 6 9344 20 7 9879 10 8 10409 0 9 10931 10 10 11442 20 11 11694 25 12 11942 30 13 12430 40 14 12904 50 15 13363 60 16 13807 70 17 14024 75 18 14237 80 19 14655 90 20 15049 100 31 15429 110 32 15773 120 33 15927 125 34 16067 130 35 16...

Страница 183: ... 𝑇𝑒𝑚𝑝𝑒𝑟𝑎𝑡𝑢𝑟𝑒 𝑖 𝐴𝑐𝑡𝑢𝑎𝑙_𝑡𝑒𝑚𝑝_𝑟𝑎𝑤 𝑅𝑎𝑤_𝑣𝑎𝑙𝑢𝑒 𝑖 𝑡𝑒𝑚𝑝𝑒𝑟𝑎𝑡𝑢𝑟𝑒 𝑖 1 𝑡𝑒𝑚𝑝𝑒𝑟𝑎𝑡𝑢𝑟𝑒 𝑖 𝑅𝑎𝑤_𝑣𝑎𝑙𝑢𝑒 𝑖 1 𝑅𝑎𝑤_𝑣𝑎𝑙𝑢𝑒 𝑖 Example of converting a value of 13000 units to ºC 130 13000 12904 60 50 13363 12904 52 01 24000 units 52 ºC Actual_temp_raw 13000 i row 14 is selected Temperature i 50 Temperature i 1 60 Raw_value i 12904 Raw_value i 1 13363 ...

Страница 184: ...f com wind power Page 184 of 243 10 3 5 1 Quick conversion chart The following chart gives a quick view of temperature vs raw_values 6000 8000 10000 12000 14000 16000 18000 60 50 40 30 20 10 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 Raw value 0C T air KTY 82 ...

Страница 185: ...t reading is named ActualReading 𝐶𝑢𝑟𝑟𝑒𝑛𝑡 𝐴 𝑅𝑀𝑆 𝐼 𝐷𝑒𝑣𝑖𝑐𝑒 𝐴𝑐𝑡𝑢𝑎𝑙𝑅𝑒𝑎𝑑𝑖𝑛𝑔 2 𝐶𝑢𝑟𝑟𝑒𝑛𝑡 200𝑝𝑐𝑡 10 Example of converting a reading from the IMD of 300 600 300 2 1287 10 27 97 300 units 28 A RMS ActualReading 300 I Device 0xC6 600 Current 200pct 0xD9 1287 10 4 2 Converting Ampere to current raw values To convert any current value in Ampere to its representation in raw values use the following formula the ac...

Страница 186: ...ting a speed value of 20000 units 20000 3000 32767 1831 1 20000 Speed_value 1831 RPM Nmax_100 3000 Speed_value 20000 10 5 2 Converting speed values from RPM to raw values To convert any speed value in units to RPM use the following formula 𝑆𝑝𝑒𝑒𝑑_𝑣𝑎𝑙𝑢𝑒𝑠 𝑅𝑃𝑀 32767 𝑁𝑚𝑎𝑥_100 RPM Motor speed in RPM Nmax_100 Maximum speed in RPM 0xC8 Speed_ value Raw value representation of a speed Example of converting...

Страница 187: ... 1 725 IMD 122 C N A 2 25 IMD 135 C 2 6 IMD 135 C 3 IMD 135 C N A 4 Example of converting a torque value of 2000 units 2000 60 1 5 2 66 32767 14 61 2000 Torqueraw_value 14 6 Nm I Device 0xC6 10 600 10 60 KT 2 66 Df 1 5 Torquevalue 2000 10 6 2 Converting Torque Nm to raw values To convert any torque value in raw values to Nm use the following formula 𝑇𝑜𝑟𝑞𝑢𝑒𝑟𝑎𝑤_𝑣𝑎𝑙𝑢𝑒 𝑇𝑜𝑟𝑞𝑢𝑒𝑁𝑚 32767 𝐼 𝐷𝑒𝑣𝑖𝑐𝑒 1 5 𝐾𝑇 N...

Страница 188: ... mechanisms 11 1 1 Overvoltage error The overvoltage error can be generated by both SW and HW mechanisms The SW mechanism measures the DC link voltage and triggers the error at the DC link Vmax threshold Reg 0xA5 H default 789 V The HW mechanism generates an error signal when the DC link voltage exceeds 860 V DC Both mechanisms result in error 8 OVERVOLTAGE after which the drive is immediately dis...

Страница 189: ...or list When an error is active it is displayed in the IMD Manager tool in the Error s field Following is a list of errors Table 29 Error list and description IMD display Error bit no IMD Manager Error s field Safety run performed Error description 0 BADPARAS No Checksum CRC error when reading parameters from EEPROM This error can only be reset by a power cycle OFF ON of the IMD 1 POWER FAULT No A...

Страница 190: ...ent limit for more than 8 ms A MOTOR OUTPUT No The motor speed and direction cannot be controlled The motor either races at full speed or cannot move This error can be caused by four reasons Non coherent parameter configuration Mismatch between the direction from the drive and direction from the motor feedback The phase sequence W V U is wrong At least one of the phases from the IMD to the motor i...

Страница 191: ...rrors log F BALLAST Yes This error can be caused by two reasons Ballast resistor overload The ballast resistor load has exceeded the configured value Ballast P This error can be reset after a timeout has elapsed Hardware failure in the ballast circuit or resistor 12 1 1 Charger option errors If the built in charger option is mounted in the IMD the following errors can be read from the charger warn...

Страница 192: ...if the warning persists 4 FEEDBACK Unstable resolver signal This warning is also active during blind safety run 5 POWERVOLTAGE Safe energy voltage is lower than SE Vmin 6 MOTORTEMP Motor temperature high Motor temperature reached 87 5 of the limit specified in M temp 7 DEVICETEMP IMD temperature high Internal components temperature exceeded 72 ºC 8 Warning 8 Not used 9 I_PEAK Digital output driver...

Страница 193: ...sor channel is not valid 2 VinLOW The input voltage from the DC link is below 270 V DC 3 Vin VseLOW The input voltage from the DC link is not at least 15 V DC higher than the SE voltage 4 LOWCURR The output current is too low compared to setpoint 12 3 Errors log The IMD has an error log containing up to 20 entries The log is a rolling log using First In First Out principle which means that it alwa...

Страница 194: ...ng the time elapsed since the IMD was delivered from the factory or if the IMD is older since the first time a firmware supporting error history was installed This time counter only counts time when the IMD 24 V DC supply external or internal is on For IMDs that were delivered with FW older than 1 08 0 first FW with error log the life time stamp is relative to the time when the first FW supporting...

Страница 195: ...DEIF engineers dbg ptr1 0xB7 Dynamic pointer register used for debug by DEIF engineers dbg ptr2 0xB9 Dynamic pointer register used for debug by DEIF engineers The error log also contains a distribution representation of all errors occurred during the Elapsed time life the time elapsed since the first FW supporting error history was installed showing how many times each error appears in the log ...

Страница 196: ...tatus Read only Parameters used for information about different states and other information about the current state of the IMD Typical example of a state parameter is Logic in block used to determine the state of the digital inputs 0x9B Protected Read only These parameters are used for values that needs to be configured by the manufacturer but may not be changed by the users Even though the seemi...

Страница 197: ...enabled if no limit switch is active at start up 0 Drive must be enabled in order to make a safety run 1 No extra command is needed to initiate a safety run disabled if motor temperature 18 C Bit 5 SE_TEST_ANYWHERE Safe energy test initiation 0 SE test can only be executed if a limit switch is activated 1 SE test can be executed with no regards to limit switch Bit 6 AC_RESTART_ SAFETY_RUN Safety r...

Страница 198: ...ing pre heat 0 1 8 of I con eff 1 2 8 of I con eff 2 3 8 of I con eff 3 4 8 of I con eff 4 5 8 of I con eff 5 6 8 of I con eff 6 7 8 of I con eff 7 8 8 of I con eff Bit 19 PREHEAT_MODE Preheat Mode 0 Iq from Speed 0 1 Iq from Torque 0 Bit 20 21 BALLAST_ENERGY_COOLING Devisor for adaptation to cooling ability of the ballast resistor Lowest devisor is for lowest cooling ability 0 8 1 6 2 4 3 2 Bit 2...

Страница 199: ...ower for the brake 1 Half output power for the brake 13 2 2 User state 02 See also general definition of the parameter in the parameter list and a description in section 6 1 on page 55 where most of the states are described In the full list that follows the path states are also listed Path states are states that are used to get into xx entry or get out from another state xx exit Some debug states ...

Страница 200: ...est 0 27 SE test rest 1 28 SE test PWN rest 29 SE test ready PWM 30 SE test exit 31 Pre heating entry 32 Pre heating on 33 Pre heating exit 34 Pos Preset entry 35 Pos Preset 36 Pos Preset exit 37 Batt SC trip 38 Pos store cmd 39 Pos store timed 40 Brake test 41 Brake test exit 42 Pre heating warning 43 Usr Oper Mains disconnect 51 Pos store timed Mains disconnect 52 SE test pulse ON 53 SE test pul...

Страница 201: ...odulation for safe energy test on 6 SE test load OFF Turns output for safe energy test off This command will also stop a pulse 7 Store position Stores present position 8 Brake test ON Initiates a brake test 9 RUN input is low The requested command cannot be executed because the RUN input is low 10 Enabled is still ON The requested command cannot be executed because the device is still enabled 11 E...

Страница 202: ...rameter in the parameter list This register is read only and indicates the status of different functions in the IMD Table 35 Reg ID 0x40 CANopen Object ID 2040 Bit Name Description Bit 0 Dev Enabled 0 Drive disabled 1 Drive enabled hardware enable Bit 1 NcR0 1 Speed control as well as torque control is disabled The switch to the speed ramp is disabled and the N cmd ramp is set to zero Bit 2 Lim sw...

Страница 203: ...p is enabled either through logic input configuration or through CAN command The IMD is in normal operation state Bit 19 N limit 1 when all the following conditions are true Negative direction speed limit is configured to 100 N clip is enabled either through logic input configuration or through CAN command The IMD is in normal operation state Bit 20 I red I lim SE Dig 1 when all the following cond...

Страница 204: ...ister again This register is used by the application SW during operation See also general definition of the parameter in the parameter list Table 36 Reg ID 0x51 CANopen Object ID 2051 Bit Name Description Bit 0 Reserved Bit 1 SPEED 0 Forced speed command value 0 NcR0 No speed command is executed while this bit 1 Bit 2 ENABLE OFF Disable Drive Bit 3 Reserved Bit 4 Reserved Bit 5 I LIMIT DIG Activat...

Страница 205: ...ge Bit 12 13 MotorType 0 Sync Servo 1 Async V F without resolver 2 Async Servo 3 DC motor Bit 14 Reserved Protected bit HW depended setting Bit 15 lowbd Baud rate for serial USB connection always use zero 0 115200 1 9600 Bit 16 Reserved Do not change Bit 17 Reserved Do not change Bit 18 Reserved Do not change Bit 19 Reserved Protected bit HW depended setting Bit 20 22 PWMfr Switching frequency Onl...

Страница 206: ... See errors and warnings description in section 12 1 on page 189 Table 38 Reg ID 0x8F CANopen Object ID 208F Bit Name Bit 0 Error 0 BADPARAS Bit 1 Error 1 POWER FAULT Bit 2 Error 2 RFE open Bit 3 Error 3 BUS TIMEOUT Bit 4 Error 4 FEEDBACK Bit 5 Error 5 UNDERVOLTAGE Bit 6 Error 6 MOTORTEMP Bit 7 Error 7 DEVICETEMP Bit 8 Error 8 OVERVOLTAGE Bit 9 Error 9 I _PEAK Bit 10 Error A MOTOR OUTPUT Bit 11 Er...

Страница 207: ...ot used Bit 30 Warning E HW warning Bit 31 Warning F BALLAST 13 2 8 Logic Out block 98 See also general definition of the parameter in the parameter list Table 39 Reg ID 0x98 CANopen Object ID 2098 Bit Name Description Bit 0 DO1 0 Dout 1 OFF 1 Dout 1 ON Bit 1 DO2 0 Dout 2 OFF 1 Dout 2 ON Bit 2 DO3 0 Dout 3 OFF 1 Dout 3 ON Bit 3 DO4 0 Dout 4 OFF 1 Dout 4 ON Bit 4 DO5 0 Dout 5 OFF 1 Dout 5 ON Can al...

Страница 208: ...nput is on Bit 9 DI6 0 Input is off 1 input is on Bit 10 DI7 0 Input is off 1 input is on Bit 11 DI8 0 Input is off 1 input is on Bit 12 DI9 0 Input is off 1 input is on Bit 13 DI10 0 Input is off 1 input is on Bit 14 DI11 0 Input is off 1 input is on Bit 15 DI12 0 Input is off 1 input is on Bit 16 SCI1 0 Input is off 1 input is on Bit 17 SCI2 0 Input is off 1 input is on Bit 18 X7 high 0 No volta...

Страница 209: ...ter list Table 42 Reg ID 0xD8 CANopen Object ID 20D8 Bit Name Description Bit 0 Limit 1 0 Digital input limit 1 inactive 1 Digital input limit 1 active Bit 1 Limit 2 0 Digital input limit 2 inactive 1 Digital input limit 2 active Bit 2 Din 2 Result of Din2 logic 0 Din2 false 1 Din 2 true Bit 3 Din 1 Result of Din1 logic 0 Din1 false 1 Din 1 true Bit 4 RUN 0 Hardware enable inactive 1 Hardware enab...

Страница 210: ...er Page 210 of 243 Bit Name Description Bit 13 Dout 4 0 Digital output Dout 4in active 1 Digital output Dout 4 active Bit 14 Mains disconnect 0 Connection from rectifier to DC link is ON 1 Connection from rectifier to DC link is Off Bit 15 Brk1 0 brake delay inactive 1 brake delay active ...

Страница 211: ...tion Range Unit Factory default Data type Access Mem CA N 0x01 2001 User_options Configuration See bit mapping in section 13 2 1 on page 197 Binary bit mapping N A 0x00000002 U32 RW RW 0x02 2002 User_State Status See value definition in section 13 2 2 on page 199 N A Num N A U16 RO RO 0x03 2003 User_demand Function See value mapping in section 13 2 3 on page 201 0 32 Num N A U16 RW RW 0x05 2005 Fn...

Страница 212: ...N A I16 RO RO 0x21 2021 I set dig Set point Current set point See section 10 4 on page 185 Num 0 I16 RW RW 0x22 2022 Icmd ramp Status Current I command value See section 10 4 on page 185 Num N A I16 RO RO 0x23 2023 Id ref Status D current reactive reference See section 10 4 on page 185 Num N A I16 RO RO 0x24 2024 Imax inuse Status Limit of the maximum allowed current at present time See section 10...

Страница 213: ... RW 0x30 2030 N Actual Status Speed actual value 32767 Num N A I16 RO RO 0x31 2031 N Set dig Set point Digital Speed Set Point 32767 Num N A I16 RW RWW 0x32 2032 N Cmd Ramp Status Speed command value after Ramp 32767 Num N A I16 RO RO 0x33 2033 N Error Status Speed setpoint minus actual speed in numeric 32767 Num N A I16 RO RO 0x34 2034 N Limit Configuration Global speed limit 32767 Num 32767 100 ...

Страница 214: ...x3E 203E N lim Configuration Negative speed limit Needs to enabled in 0x51 bit 6 32768 0 Num 32768 100 I16 RW RW 0x3F 203F N lim Configuration Positive speed limit Needs to enabled in 0x51 bit 6 0 32767 Num 32767 100 I16 RW RW 0x40 2040 State Bits Status State Bits see section 13 2 4 on page 202 Binary bit mapping N A N A U32 RO RO 0x42 2042 MPOS_Actual_Mech Status Actual rotor position 32767 Num ...

Страница 215: ...atus Motor temperature See also section 10 3 2 on page 172 KTY 84 and section 10 3 3 on page 176 Pt100 0 65535 Num N A U16 RO RO 0x4A 204A T IGBT Status IGBT module temperature See also section 10 3 1 on page 170 0 65535 Num N A U16 RO RO 0x4B 204B T Air Status Air temperature in the servo See also section 10 3 5 on page 182 0 65535 Num N A U16 RO RO 0x4C 204C I red TE Configuration See section 8 ...

Страница 216: ...ion See section 8 5 3 on page 110 0 32767 0 off Num 0 U16 RW RW 0x59 2059 N Motor nom Configuration Rated motor speed according to motor type plate 60 65000 RPM 3000 U16 RW RW 0x5A 205A Option bit Configuration Option bit see section 13 2 6 on page 204 Binary bit mapping N A 0x00044096 U32 RW RO 0x5B 205B Kacc Configuration Acceleration amplification feed forward 0 100 0 U16 RW RW 0x5D 205D N cmd ...

Страница 217: ...atus Filtered battery voltage SE terminal 0 32768 See section 10 2 on page 170 Num N A U16 RO RO 0x67 2067 Device type Configuration Device type Low byte value 66 IMD 122A 67 IMD 122 B 70 IMD 122 C 71 IMD 135 C Num Value of the device type U32 RO RO 0x68 2068 CAN Rx ID Configuration CAN Receive address CANopen Node ID See CAN CANopen section 7 1 on page 66 COB ID 513 U32 RW RW 0x69 NONE CAN Tx ID ...

Страница 218: ...figuration Safety run speed 0 32767 Num 0x08ec 7 of Nmax 100 I32 RW RW 0x76 H 2076 H N safety run timeout Configuration Safety run timeout 0 70 S 0x0032 50 s I32 RW RW 0x77 L 2077 L N blind safety run speed Configuration Used for blind safety run and resolver offset calibration speed 0 32767 Num 0x0 0 of Nmax 100 I32 RW RW 0x77 H 2077 H N blind safety run timeout Configuration Used for blind safet...

Страница 219: ...ite parameter set x from RAM into Eeprom 0 1 Num N A U16 WO WO 0x85 NONE FUN_Special Function Used for special function select and feedback N A Num N A U16 RW 0x8A 208A V out Status Relative output voltage 0 4095 Num N A I16 RO RO 0x8B 208B V red Configuration Begin of field weakening in percentage of VOUT 0 or 100 disables field weakening 0 100 0 I16 RW RWR 0x8C 208C V kp Configuration Proportion...

Страница 220: ...rror counter 0 65535 Num N A U16 RO RO 0x96 NONE CAN_CountWrite Status CAN proprietary CAN bus CRC error counter 0 65535 Num N A U16 RO RO 0x97 NONE CAN_CountRej Status CAN proprietary CAN bus bit error counter 0 65535 Num N A U16 RO RO 0x98 2098 LOGIC_O_Block Special Digital outputs see bit mapping in section 13 2 8 on page 207 Binary bit mapping N A 0x0080 U16 RW RWW 0x9B 209B LOGIC_I_Block Stat...

Страница 221: ...guration Motor temperature error is generated and safety run is initiated Warning is generated at 87 5 of this value 0 32767 Num 23000 U16 RW RW 0xA4 20A4 MOTOR_Options Configuration Se bit mapping in section 13 2 10 on page 209 Binary bit mapping N A 0x2081 I16 RW RW 0xA5H 20A5 DC Bus Vmax Configuration Maximum DC Bus voltage High part of a 32 bits register 0 32767 Num 0xb850 789 V U32 RW RW 0xA5...

Страница 222: ...B2 20B2 Id nom Configuration Nominal magnetising current EC servo 200 Asynch 0 500 Num 0 I16 RW RW 0xB3 20B3 MOTOR_Magn_L Configuration Motor magnetising inductance ASM 0 4294967295 mH 123 U32 RW RW 0xB4 20B4 MOTOR_Rotor_R Configuration Rotor resistance 0 4294967295 mΩ 0 U32 RW RW 0xB5 20B5 Id min Configuration Minimum magnetising current EC servo 1000 0 Asynch 0 Id nom 0xB2 Num 20 I16 RW RW 0xB6 ...

Страница 223: ... function for Configuration of input logic function for Logic2 DI 2 configured with IMD Manager N A N A 32768 U16 RW RW 0xC2 20C2 DEFINE_Logic_DOut 1 Configuration Configuration of Output logic function for Logic 8 DO 8 configured with IMD Manager N A N A 43078 U16 RW RW 0xC3 20C3 DEFINE_Logic_DOut 2 Configuration Configuration of Output logic function for Logic 7 DO 7 configured with IMD Manager ...

Страница 224: ...rd amplification current controller 0 65535 Num 0 U16 RW RW 0xD0 20D0 CAN_TimeOut Configuration Timeout for the CAN CANopen communication 0 No time out 1 65535 ms 0 U16 RW RW 0xD1 20D1 VAR1 Configuration Comparison reference value 1 2147483647 Num 10000 I32 RW RW 0xD2 20D2 VAR2 Configuration Comparison reference value 2 2147483647 Num 3 I32 RW RW 0xD3 20D3 VAR3 Configuration Comparison reference v...

Страница 225: ...24 28 Max motor operation time 0 31 S Bits 29 31 Brake delay after operation 0 7 S 0xDE 20DE Logic 6 Status See section 6 2 on page 61 0 1 Num N A U16 RO RO 0xDF 20DF Logic 5 Status See section 6 2 on page 61 0 1 Num N A U16 RO RO 0xE0 20E0 Logic 8 Status See section 6 2 on page 61 0 1 Num N A U16 RO RO 0xE1 20E1 Logic 7 Status See section 6 2 on page 61 0 1 Num N A U16 RO RO 0xE2 20E2 SCR 1 and 2...

Страница 226: ... detected Num N A U16 RO RO 0xED L 20ED L Dec_time_torque Configuration Deceleration time for torque control 1 32000 ms 300 U32 RW RWW 0xED H 20ED H Dec_time_speed Configuration Deceleration time for speed control 1 10000 ms 1 U32 RW RWW 0xEE 20EE I 100Pct Configuration Current sensor adjustment 50 2000 mV 842 U16 RO RO 0xEF 20EF LOGIC_O_NoFault Status No fault output 0 1 Num N A U16 RO RO 0xF0 20...

Страница 227: ...character Bit 16 23 third character Bit 24 31 forth character Binary 0 U32 RW RW 0xFB L 20FB L SAFTY_RUN_P_S1 Configuration Safety run speed profile step 1 Bit 0 to 10 number of revolutions Bit 11 to 15 speed Rev 0 2048 Speed 0 32 0 10 revol 11 15 num 0 U32 RW RW 0xFB H 20FB H SAFTY_RUN_P_S2 Configuration Safety run speed profile step 2 Bit 0 to 10 number of revolutions Bit 11 to 15 speed Rev 0 20...

Страница 228: ... type Access 1 CHARGE_VOLTAGE_SCALED Status Charger actual output voltage 0 65535 0 1 V N A U16 RO 2 CHARGE_CURRENT_SCALED Status Charger actual output current 0 65535 0 01 A N A U16 RO 3 UC_CAP Status Ultra capacitor capacity measurement value 0 65535 1 mF N A U16 RO 4 UC_ESR Status Ultra capacitor total resistance measurement value 0 65535 1 mΩ N A U16 RO 5 MON_STATE Status Actual state of the c...

Страница 229: ...o ready and waits for start command 0 Stop 1 Start NUM 1 U16 rW 14 VOLTAGE_IMD_SE Status SE voltage measurement by the IMD 0 65535 0 1 V N A U16 RO 15 SE_STORAGE_TYPE Configuration Selection of SE storage type 0 None 1 Lead acid 2 Lithium Ion 3 Ultra capacitor N A 0 U16 RW 16 SE_NOM_VOLTAGE Configuration The nominal voltage of the SE from which all other voltage limits are derived 0 65535 0 1 V 0 ...

Страница 230: ... of SE_MAX_CURRENT For Lithium Ion this limit stops float active charging 0 65535 0 01 0 U16 RW 23 FLOATCHARGEVOLTAGE Configuration Voltage limit in float stage in percentage of SE_NOM_VOLTAGE Values above 100 can also be used 0 65535 0 01 0 U16 RW 24 FLOATCHARGECURRENT Configuration Current limit for float stage in percentage of SE_MAX_CURRENT 0 65535 0 01 0 U16 RW 31 CHARGER_ERROR Status Bit map...

Страница 231: ...of Reg 0x6F at the time the last error occurred 2147483647 Num I32 RO 2881 3 eHist X 1st error in power board Status Value of Reg 0x94 at the time the last error occurred 2147483647 Num I32 RO 2881 4 eHist X IxT regen energy Status Value of Reg 0x45 at the time the last error occurred 2147483647 Num I32 RO 2881 5 eHist X SE Status Value of Reg 0x66 at the time the last error occurred 2147483647 Nu...

Страница 232: ...or occurred 2147483647 Num I32 RO 2882 6 eHist E DC link voltage Status Value of reg 0xEB at the time the last error occurred 2147483647 Num I32 RO 2882 7 eHist E Drive status Status Value of reg 0x40 at the time the last error occurred 2147483647 Num I32 RO 2882 8 eHist E Logic in block Status Value of reg 0x9B at the time the last error occurred 2147483647 Num I32 RO 2882 9 eHist E Out block Sta...

Страница 233: ...0x51 at the time the error defined in 0x888 6 occurred 2147483647 Num I32 RO 2883 3 eHist P N act filt Status Value of Reg 0xA8 at the time the error defined in 0x888 6 occurred 2147483647 Num I32 RO 2883 4 eHist P N cmd ramp Status Value of Reg 0x32 at the time the error defined in 0x888 6 occurred 2147483647 Num I32 RO 2883 5 eHist P I act filt Status Value of Reg 0x5F at the time the error defi...

Страница 234: ...the error defined in 0x888 6 occurred 2147483647 s I32 RO 2883 15 eHist P Elapsed time Power ON Status Value of elapsed time since the IMD was powered ON at the time the error defined in 0x888 6 occurred 2147483647 s I32 RO 2883 16 eHist P Elapsed time Life Status Value of elapsed time since the IMD was commissioned at the time the error defined in 0x888 6 occurred 2147483647 s I32 RO 2884 1 eHist...

Страница 235: ... eHist NC errB_cnt Status Number of Errors of Error B type in the error history 0 4294967295 Num U32 RO 2884 13 eHist NC errC_cnt Status Number of Errors of Error C type in the error history 0 4294967295 Num U32 RO 2884 14 eHist NC errD_cnt Status Number of Errors of Error D type in the error history 0 4294967295 Num U32 RO 2884 15 eHist NC errE_cnt Status Number of Errors of Error E type in the e...

Страница 236: ...er list updated IMD states chart and description updated Configuring motor data in Configuring general parameters updated Brake control description in Function Description updated User demand 03 in Parameter bit mapping updated 2020 06 29 F Ballast OFF calculation corrected in Configuring the general servo fields Parameter list updated with regards to retrieval of high low part of registers throug...

Страница 237: ...l operation 360 added to Operational procedures New procedure for Restarting the IMD added to Operational procedures User options 01 in Parameter bit mapping updated Brake control section in Functions description updated Connecting 24V X7 in Connecting 24V digital and safety I O X7 X8 X9 updated IMD states chart updated Section Free space around the IMD is updated with IMD 122 C Motor connection r...

Страница 238: ...ns to proceed updated with manual operation where applicable and conditions priority removed Brake control section moved from the Function description manual to the Functions description section User options 01 bit mapping section updated User state 02 section updated User demand 03 section updated Logic IN block 9B section updated Parameter list section updated Ballast ON calculation in Configuri...

Страница 239: ...8 Engineers at customer R D department as well as commissioners and service personnel Describes how to install the IMD Manager The IMD Manager is an application used to configure and control the IMD using the Service USB connector IMD Manager user manual Document no 4189360019 Engineers at customer R D department as well as commissioners and service personnel Describes how to use the IMD Manager T...

Страница 240: ...allation manual Document no 4189360023 Integration and installation personnel Describes the how to replace a pitch drive when the IMD is equipped with Retrofit wiring harness var 1 The IMD 100 documentation is written anticipating an OEM original equipment manufacturer product use cycle in a wind turbine The envisioned cycle is described in the following figure The description also explains the ta...

Страница 241: ...f needed Configure the IMD with the configuration file Test the IMD installation Who Commissioning or similar personnel Where Customer s production facility Supporting DEIF documents Initial configuration and verification manual Configuration and verification check list IMD Manager Installation instructions IMD Manager user manual 5 Commissioning on site Task Commission the whole turbine Who Commi...

Страница 242: ...ant Bit Byte MSB Most Significant Bit Byte N A Not Applicable PDO Process Data Object CAN CANopen interface PE Protective Earthing PID Proportional Integral Derivative controller PMC Pitch Motor Controller PWM Pulse Width Modulation RFE Rotational Field Enable RMS Root Mean Square RPDO Receive Process Data Object CAN CANopen interface RPM Revolutions Per Minute RWW Read write and mappable to RPDO ...

Страница 243: ...27 oz Hz hertz Frequency cycles per second bps Bits per second Data transmission speed kg kilogram Weight lb pound 1 kg 2 205 lb m metre length ft foot or feet 1 m 3 28 ft mA milliampere Current mm millimetre Length in inch 1 mm 0 0394 in mm2 Square millimetre Wire cross section AWG American wire gauge Look up in available conversion tables ms millisecond Time Nm Newton metre Torque Lb in pound fo...

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