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TATUS

EANING

Green

The relay is enabled

Yellow

The relay is disabled

Red

Power supply relay failure

Tips and Advice

If you get this alarm only when you give RUN command, this behavior

is probably due to a Resolver problem (See Appendix A and read the

Feedback Alarm

troubleshooting).

Brake State

This led reflects the brake setting:

TATUS

EANING

Green

The brake is locked

Yellow

The brake is unlocked

Red

The brake failure

Speed Limitation

This is indicator is yellow when quadrature current is saturating

and so drive is limiting velocity.

Inversion fuse

This is indicator is red when

F+

and

B-

connections have been

inverted at least once.

Period overcurrent

It’s displayed only for DC motors.

CW overtravel

This indicator is yellow when drive is stopped because driver CW

OVERTRAVEL input is high.

CCW overtavel

This indicator is yellow when drive is stopped because driver CCW

OVERTRAVEL input is high.

Note

Some of these controls can be disabled in

Advanced tab

. See Section 3.4.6.

4.2.4

The Target Velocity/Torque Track Bar

The

Target velocity

Target torque

track bar is enabled on Telemetry Tab when

RS232

velocity/tourque mode is chosen as

Configuration

in Programmable Parameters Tab

(Figure 4.2).

4.2

Reading Telemetry Data from Telemetry Panel

Содержание UNIDRIVE M series

Страница 1: ...Brushless Edition Rev B UNIDRIVE M Series Application Reference Manual...

Страница 2: ...39 0565 945726 email info elifeinternational com This manual is copyrighted of Elife International All rights are reserved This manual must not be copied in whole or in part nor transferred to any ot...

Страница 3: ...ver 34 2 4 2 SinCos Encoder 35 2 4 3 Hall Sensor 35 3 Configuration 37 3 1 Software Overview 37 3 2 Connect UNIDRIVE to your PC 38 3 3 Import and Export Parameter Values 38 3 4 Change Programmable Par...

Страница 4: ...the J1 COMMAND connector 12 2 4 UNIDRIVE I O definitions for Standalone Mode 16 2 5 UNIDRIVE I O definitions for PLC Mode 19 2 6 CAN bus address selector switch at the node set to 0 22 2 7 UNIDRIVE I...

Страница 5: ...dback are supported Absolute Resolver SinCos Encoder Hall Sensors Sensorless Incremental Encoder Tachometer Advanced algorithms for predictive speed and tourque control CANopen communication protocol1...

Страница 6: ...STO Input Programmable Input Output Two High Powered Digital Outputs One 12 bit Analog Output 0 10 V Two 12 bit Analog Inputs 0 10 V Eight Digital Inputs Single Ended Five Digital Outputs Singled End...

Страница 7: ...h Fan Cooler 250x150x57 mm Electrical Box Version Dimensions H x W x D 250x190x150 mm with Fan Cooler A broad range of models enable us to satisfy every requirements and to suggest the best solution f...

Страница 8: ...V 18 Vmin 55 Vmax 14 KW M2448 4 X up to 150 Arms 48 V 18 Vmin 80 Vmax 4 KW M2448 8 X up to 300 Arms 48 V 18 Vmin 80 Vmax 8 KW M2448 10 X up to 400 Arms 48 V 18 Vmin 80 Vmax 10 KW M2448 16 X up to 450...

Страница 9: ...P N 1 01 0002 00 Customer Code 00000143 HW rev B UNIDRIVE TYPE HARDWARE REVISION OF UNIDRIVE THE CUSTOMER CODE IDENTIFIES YOU AS A ELIFE CUSTOMER THE SERIAL NUMBER CODE UNIQUELY IDENTIFIES YOUR UNIDR...

Страница 10: ...6...

Страница 11: ...of the UNIDRIVE you must keep the controller clean and dry and ensure an effective heat exchange between the UNIDRIVE and the vehicle surface UNIDRIVE M Series is available in two configuration in El...

Страница 12: ...of aluminum plate to improve the heat exchange between UNIDRIVE and the vehicle board The additional aluminum plate is not included on UNIDRIVE Tips and Advice A thermal grease should be used on the...

Страница 13: ...E has different types of connectors that can be categorized in High Power Connections U V W F B B Low Power Connections J1 COMMAND and Feedback Connector J2 FEEDBACK The fuse isn t included in M4896 X...

Страница 14: ...the B terminal see Table 2 2 and the Wiring Diagrams 3 Connect the U V and W motor phases to the 3 phase supply terminals U V W Note The tightening torque must be 14 N m for phase connections U V W an...

Страница 15: ...order to avoid electromagnetic interference Table 2 2 Fuse size in accordance with the UNIDRIVE Type UNIDRIVE TYPE FUSE RATING M2448 4 M4896 8 80 A M2436 4 100 A M2424 4 M2448 8 M4896 16 150 A M2436...

Страница 16: ...ital output common 3 BRAKE Brake supply with programmable dynamic power reduction Output Voltage in according to the Input voltage on PIN 5 IMAX 2 A 4 LINE CONTACTOR OUT Driver main contactor output O...

Страница 17: ...3 Digital input 3 VMAX 36 V High 6 V 17 IN4 Digital input 4 VMAX 36 V High 11 V 18 OUT3 Digital Output 3 Output Voltage in according to the Input voltage on PIN 5 IMAX 250 mA 19 AIN WIPER POT 1 Single...

Страница 18: ...on 3 4 1 Pag 41 Output Voltage in according to the Input voltage on PIN 5 IMAX 250 mA 30 OUT5 Digital Output 5 Output Voltage in according to the Input voltage on PIN 5 IMAX 250 mA 31 ANALOG GND Analo...

Страница 19: ...ing mode PLC Standalone EV CAN RS323 that suits your needs Note For M4896 X Type you should mount an external fuse see Section 2 2 1 2 3 1 Standalone Mode The Standalone mode is designed to drive your...

Страница 20: ...ady high when motor is running and blinking when motor is stopped It s low when there is an alarm 29 OUT4 ALARM Alarm output it changes its current state whenever an alarm is present See Section 3 4 1...

Страница 21: ...RSE STATUS HANDBRAKE Alternative use a voltage source in place of the pot RS232 2 TX RS232 2 RX RS232 2 GND OPTIONAL 11 10 21 22 23 RS232 2 RS232 1 19 12 DIGITAL INPUTS ANALOG I O 13 SAFETY M 3 B UNID...

Страница 22: ...LOW CW POT REVERSE STATUS HANDBRAKE MAIN FUSE Alternative use a voltage source in place of the pot RS232 2 TX RS232 2 RX RS232 2 GND OPTIONAL 11 10 21 22 23 RS232 2 RS232 1 19 12 DIGITAL INPUTS ANALOG...

Страница 23: ...IN7 CW OVERTRAVEL High Active Overtravel for CW rotation Low Inactive Overtravel Optionalc 28 IN8 ALARM RESET It s possible to reset all running alarms with a rising edge signal transition from low to...

Страница 24: ...TPUTS ANALOG I O OPTIONAL 1A DELAYED SUPPLY POWER CONNECTIONS U V W F B OUT ENCODER B DIR FAST SLOW MAIN FUSE CAN CAN See manual for details 11 10 21 22 23 RS232 2 RS232 1 13 SAFETY M 3 B UNIDRIVE M S...

Страница 25: ...IR FAST SLOW MAIN FUSE 19 12 DIGITAL INPUTS ANALOG I O 13 SAFETY 33 34 35 RS232 2 TX RS232 2 RX RS232 2 GND CAN PORT OPTIONAL CAN CAN See manual for details 11 10 21 22 23 RS232 2 RS232 1 M 3 B UNIDRI...

Страница 26: ...address selector switch at the node set to 0 PIN I O TYPE NAME DESCRIPTION 27 IN7 CAN ADR0 It could be used as CAN address selector 0 28 IN8 CAN ADR1 It could be used as CAN address selector 1 In case...

Страница 27: ...IN2 FORWARD High Forward Low Stop only if BACKWARD is low Mandatory 16 IN3 SPORT ECONOMY High Sport mode Low Economy mode This input is processed only before bridge activation Optionala 17 IN4 HANDBR...

Страница 28: ...ND THROTTLE DIRECTION SWITCH RELAY Coil 12V 1W max BRAKE SWITCH BRAKE LIGHT tbd tbd CAN CAN AUTOMOTIVE FEMALE CONNECTOR 1 1 2 3 SPORT ECONOMY 12 SAFETY BATTERY 24 to 48V DC DC Vbatt 12 V IN IN OUT OUT...

Страница 29: ...ONNECTOR OUT SUPPLY GND THROTTLE DIRECTION SWITCH RELAY Coil 12V 1W max BRAKE SWITCH BRAKE LIGHT tbd tbd CAN CAN AUTOMOTIVE FEMALE CONNECTOR 1 1 2 3 SPORT ECONOMY 12 SAFETY DC DC Vbatt 12 V IN IN OUT...

Страница 30: ...operating mode is specially designed in order to extend the battery life The acceleration ramp is smoother than Sport Mode and the max power available is limited SPORT mode The SPORT mode is designed...

Страница 31: ...lways be supplied otherwise UNIDRIVE stops motor rotation and unlocks motor brake Mandatory 27 IN7 CAN ADR0 It can be used as CAN address selector 0 Optional 28 IN8 CAN ADR1 It could be used as CAN ad...

Страница 32: ...RS232 2 GND OPTIONAL 11 10 21 22 23 RS232 2 RS232 1 19 12 DIGITAL INPUTS ANALOG I O SAFETY 13 M 3 B CAN ADDRESS NODE ADR1 ADR0 1 OPEN OPEN 2 OPEN 24V 3 24V OPEN 4 24V 24V Note CAN ADDRESS can be also...

Страница 33: ...22 23 RS232 2 RS232 1 19 12 DIGITAL INPUTS ANALOG I O SAFETY 13 B 3 M ADR0 CAN ADDRESS ADR1 1A 2A 3A 4A 6A 7A 8A 9A 5A J2 FEEDBACK MOTOR FEEDBACK UNIDRIVE M4896 X CAN ADDRESS NODE ADR1 ADR0 1 OPEN OP...

Страница 34: ...l for testing your motor without worrying about other devices e g potentiometer or other controllers e g PLC See Section 4 2 4 See Figure 2 12 for wiring diagrams for this operating mode and Table 2 9...

Страница 35: ...V W MAIN FUSE F B RS232 2 TX RS232 2 RX RS232 2 GND 11 10 21 22 23 RS232 2 RS232 1 19 12 DIGITAL INPUTS ANALOG I O SAFETY 13 4mm min M 3 B 1A 2A 3A 4A 6A 7A 8A 9A 5A J2 FEEDBACK MOTOR FEEDBACK CONTAC...

Страница 36: ...UPPLY 1A DELAYED OUT ENCODER A OUT ENCODER B RS232 2 TX RS232 2 RX RS232 2 GND 11 10 21 22 23 RS232 2 RS232 1 19 12 DIGITAL INPUTS ANALOG I O SAFETY 13 B 3 M 1A 2A 3A 4A 6A 7A 8A 9A 5A J2 FEEDBACK MOT...

Страница 37: ...r motor It s essential for the proper functioning of the feedback system that the feedback cable was constructed specifically for the feedback type mounted on your motor We highly recommend choosing a...

Страница 38: ...sitive Driving signal From 5 to 5 V Mandatory 7A SIN Positive Sine From 4 to 4 V Mandatory 8A THERMAL Temperature sensor Optionala 9A COS Positive Cosine From 4 to 4 V Mandatory a Mandatory only if yo...

Страница 39: ...83 122 or KTY84 130 as Temperature probe type See Pag 49 2 4 3 Hall Sensor Table 2 12 Pinout Description of the J2 FEEDBACK connector See Figure 2 14 to connect a Hall Sensor to your UNIDRIVE PIN I O...

Страница 40: ...36...

Страница 41: ...under Setup menu Note This Reference Manual is written for Telemetry Panel version 2 4 6 8 or later and is not suitable for earlier software and firmware versions 3 1 Software Overview Software is or...

Страница 42: ...SB port recognition After USB port recognition you can launch Telemetry Panel and click on Connection menu Figure 3 1 Connect button permits to start communication toward the select USB port Note Tele...

Страница 43: ...ogrammable Parameters tab 2 Select the File menu and click on Save 3 Enter a descriptive name in the file name box and click Save 3 4 Change Programmable Parameters Programmable Parameters enables you...

Страница 44: ...ore the preset parameters if necessary See Section 3 3 3 4 1 Operating Mode and Controller Parameters Velocity Loop Kp Proportional gain for closed loop speed control it must be less than 4096 This pa...

Страница 45: ...perating mode of UNIDRIVE The allowed values for this parameter are Standalone CAN Network PLC EV and RS232 in Speed or Torque Mode Warning UNIDRIVE must be wired up correctly according to the operati...

Страница 46: ...invert the stated direction Max motor speed It indicates the maximum allowed speed for the motor in either direction It is used to protect the motor and must be taken from the motor datasheet This par...

Страница 47: ...eter is particularly useful for potentiometers that can t regularly go back to a clear idle point Deadband must be wide enough to guarantee the transfer of driver to idle when accelerator mechanism is...

Страница 48: ...rd 8192 After unlocking you will be able to change Current Loop Kp Proportional gain for closed loop current control it must be less than 1024 This parameter is also programmable by CANopen protocol C...

Страница 49: ...value is high might require a high value of phase advance angle Maxiumum phase current It shows the maximum permissible current in the motor This parameter is also programmable by CANopen protocol UNI...

Страница 50: ...ffset backward This parameter is only valid for Hall sensor drive It must be chosen after precisely setting of phase zero applying backward direction UNIT MIN VALUE MAX VALUE degree 0 359 99 Tips and...

Страница 51: ...rm stator current component proportional to the flux Motor is working fine if it is about 0 It is given in arbitrary unit Quadrature current It shows the actual value of quadrature current that is one...

Страница 52: ...elemetry Panel The output voltage of the ANALOG OUTPUT is equal to Analog output value set Motor speed In this operating mode the voltage output of the ANALOG OUT varies linearly with the motor speed...

Страница 53: ...105 500 Temperature probe type From this combobox user can select the correct PTC type from Thermostat KTY83 122 KTY84 130 or none Note If KTY83 122 or KTY84 130 is chosen it will also be possible to...

Страница 54: ...des two functions which help you to estimate approximate value of the following parameters The gain parameters for closed loop current control The Offset Resolver SinCos to sum to resolver encoder pos...

Страница 55: ...suggested current loop Kp and Ki values to UNIDRIVE Figure 3 6 In Autotuning tab allows you to estimate gain parameters for closed loop current control 3 5 2 Offset Resolver SinCos Finding the correc...

Страница 56: ...t Current in Amperes RMS Figure 3 7a This value depends on motor dimension and characteristics 5 Click on Find Offset button and wait for the progress bar to get completely green 6 Check that motor ru...

Страница 57: ...the gain parameters for closed loop velocity control Up Slope and Down slope motor parameters the throttle Deadband and Reverse inversion parameter In this operating mode you can change the EV progra...

Страница 58: ...er s comfort UNIT MIN VALUE MAX VALUE Amperes RMS 0 Max3 Fast slope This option sets the period of time of the Fast slope in this operating mode UNIT MIN VALUE MAX VALUE ms 0 1000 Slow slope This opti...

Страница 59: ...n loop Kd Derivate gain for closed loop position control it must be less than 16384 Rotation limiter Kp Proportional gain for closed loop rotation limiter control The Rotation limiter system is design...

Страница 60: ...mable parameters Tab See Section 3 4 2 In Car EV mode tab you can also read the following telemetry data for this operating mode Tourque demand It displays the phase current in order to satisfy the to...

Страница 61: ...tor is stopped Blinking GREEN UNIDRIVE works correctly motor is running Steady RED UNIDRIVE detects one or more alarms In this case UNIDRIVE stops motor rotation disabling power relay and three phase...

Страница 62: ...ion The Target Velocity Trackbar for RS232 configuration Mechanic pos It shows the resolver encoder mechanical position in mechanical degrees This is displayed only for Brushless motor with Resolver S...

Страница 63: ...Figure 4 1 Telemetry Panel displays a wide range of telemetry data and enables you to plot or log these data over time 4 2 Reading Telemetry Data from Telemetry Panel 59...

Страница 64: ...ation forward direction 4 2 1 Alarm Indicators The Alarm Indicators on Telemetry tab enable you to determine what kind of errors are present When UNIDRIVE detects one or more alarms stops motor rotati...

Страница 65: ...ocessed only for Standalone configuration Analogic interruption It indicates that analog input for velocity reference isn t connected It s processed only for PLC and Standalone configuration Motor ove...

Страница 66: ...LC Standalone EV CAN Network RS322 is given in Table 4 1 Table 4 1 Description of Digital I O indicators in Telemetry Panel STANDALONE PLC EV CAN NETWORK RS232 Input 1 BACKWARDa RUN STOP BACKWARDa Inp...

Страница 67: ...imiting velocity Inversion fuse This is indicator is red when F and B connections have been inverted at least once Period overcurrent It s displayed only for DC motors CW overtravel This indicator is...

Страница 68: ...bar Figure 4 2 Target Velocity track bar is enabled by the RS232 mode when this operating mode has been chosen as Configuration in Programmable Parameters tab 4 3 Plot and Log Telemetry Data in Real T...

Страница 69: ...data that you ll want to observe from TRACE 1 TRACE 2 TRACE 3 or TRACE 4 list Figure 4 3 2 Click on Play button 3 If you want to log these data click on Save button and enter a descriptive name in the...

Страница 70: ...66...

Страница 71: ...n one of the following ways Diagnostic Display Elife Diagnostic Display allows you to get some information about battery autonomy and voltage and UNIDRIVE fault codes Telemetry Panel Telemetry Panel e...

Страница 72: ...68...

Страница 73: ...UNIDRIVE might need to be restarted Configuration Alarm DESCRIPTION This error appears when No configuration Standalone CAN Network PLC EV RS232 is selected Set pole number is different from allowed...

Страница 74: ...rrect for your motor Check if the gain parameters for closed loop velocity control fit your needs Increasing the Following error delay value See Section 3 4 6 Decrease the Max motor speed if your moto...

Страница 75: ...rminal Probable leakage between motor housing and phases The Feedback cable passed near power cables For Resolver and SinCos Radial misalignment between Resolver SinCos stator and rotor this results i...

Страница 76: ...ions that should be taken Check the proper functioning of the feedback system Check if the gain parameters for closed loop current control are not too high for your application See Section 3 4 5 If th...

Страница 77: ...cates that the speed potentiometer isn t initially put to 0 or the speed potentiometer is grater than 25 of the end of stroke during the start phase of the motor It s processed only for Standalone con...

Страница 78: ...itions then reset alarms Safety Alarm DESCRIPTION This alarm is active when the SAFETY Input PIN 12 isn t supplied UNIDRIVE BEHAVIOUR UNIDRIVE stops motor rotation with emergency slope disabling power...

Страница 79: ...DRIVE BEHAVIOUR After switch on drive won t enable power relay and three phase bridge POSSIBLE TROUBLESHOOTING ISSUE The possible actions that should be taken Check the integrity of the fuse If this e...

Страница 80: ...76...

Страница 81: ...current reduction 0 50 Pag 45 Brake fault alarm boolean value Pag 48 CANopen address integer 0 127 Pag 43 CANopen baudrate allowed values Pag 43 Configuration allowed values Pag 41 Current Loop Ki a u...

Страница 82: ...8 Phase Advance a u 0 32 Pag 44 Phase offset backward degree 0 359 99 Pag 46 Phase zero degree 0 359 99 Pag 46 Position Loop Ki a u 0 128 Pag 40 Position Loop Kp a u 0 16384 Pag 40 Potentiometer Suppl...

Страница 83: ...ued from previous page OPERATING RANGE PROGRAMMABLE NAME UNIT MIN MAX by CANOPEN REFERENCE Up slope rpm s 500 35 105 Pag 42 Velocity Loop Ki a u 0 1024 Pag 40 Velocity Loop Kp a u 0 4096 Pag 40 Conclu...

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