VDC-3-49.15-K4 ECI-63.
Imprint Dated 08.2014 Copyright ebm-papst St. Georgen GmbH & Co. KG Hermann-Papst-Straße 1 78112 St. Georgen Germany Disclaimer Contents of the operating manual This operating manual has been compiled with the greatest possible care. Nonetheless, ebm-papst does not provide any guarantee for the up-to-dateness, correctness, completeness or quality of the information provided.
Contents 1 2 Introduction 8 1.1 Foreword 8 1.2 Target group 8 1.3 Notation used in this document 8 1.4 Warnings and notes 9 1.5 Picture symbols 9 Safety Instructions 2.1 General safety instructions 10 2.2 Documentation 10 2.3 Standards, guidelines and directives 10 2.4 Personnel qualifications 10 2.5 Personal safety 10 2.6 Electrical / electromagnetic safety 11 2.7 Mechanical safety 11 2.8 Intended use 11 2.8.1 11 2.
Contents 5 Installation 22 5.1 Notes 22 5.2 Installing the drive 22 5.3 5.2.1 Determine screw length 22 5.2.2 Prepare the mounting plate 22 Electrical connection 23 Safety check 23 5.3.1 5.4 6 4 24 5.4.1 Connection cable VDC-3-49.15-K4 24 5.4.2 Motor connection socket ECI-63.XX-K4 24 5.4.3 Connection cable with connector ECI-63.XX-K4 25 5.4.4 Harness for Litz wire version ECI-63.XX-K4 25 5.5 Braking chopper K4 26 5.6 Functional ground connection 26 5.
Contents 8 7.10 Operating mode 21: dynamic current limit via A1; speed setpoints A1, N2 46 7.11 Operating mode 23: dynamic current limit via A1; distance 47 7.12 Operating mode 26: dynamic current limit via A1; rotational direction 48 7.13 Operating mode 28: dynamic current limit via A1; brake 49 7.14 Operating mode 31: Distance; speed setpoints A1, N2 50 7.15 Operating mode 32: Distance; dynamic current limit via A1 51 7.16 Operating mode 34: Distance; teach 52 7.
Contents 9 RS485 Communication 9.1 Communication method 81 9.2 Cycle time 81 9.3 Commands 81 9.3.1 Commands (RX) 81 9.3.2 Answer commands (TX) 82 9.4 Status byte 82 9.5 Motor status byte 83 9.6 Checksum 83 9.7 “Speed” run command 83 9.8 9.9 9.7.1 Requirements 83 9.7.2 Answer 84 “Position” run command 84 9.8.1 Requirements 84 9.8.2 Answer 85 Save parameters 85 9.9.1 Request 85 9.9.2 Answer 85 9.9.3 Error flags 86 9.
Contents 9.15 Read bootloader ID 90 9.15.1 Request 90 9.15.2 Answer 90 9.16 Full write access to parameters 91 9.16.1 Request 91 9.16.2 Answer 91 9.16.3 Error flags 91 9.17 Request jump back to bootloader 91 9.17.1 Request 91 9.17.2 Answer 92 9.17.3 Error flags 92 9.18 Reset customer password 92 9.18.1 Request 92 9.18.2 Answer 92 9.18.3 Error flags 93 9.19 Undefined telegrams 10 Parameter Description 10.
1 Introduction 1.1 Foreword This operating manual describes the possible uses, the assembly and/or installation, operation and programming of the products listed on the front page. All the safety instructions listed under Chapter 2 must be followed at all times during the installation and operation of the drive system; outside of Germany the relevant laws, directives, guidelines and regulations of the respective country also apply.
1 Introduction 1.4 Warnings and notes Warnings and notices are always positioned before the instruction, implementation of which can result in a hazard or property damage. The following warnings are used in this document: Hazard. This notice denotes a hazard with high risk, which will result in imminent fatality or serious physical injuries if it is not Danger avoided. ff This arrow indicates the appropriate precaution to take to avert the hazard. Hazard.
2 Safety Instructions The VDC-3-49.15-K4 and ECI-63.XX-K4 drive systems have been developed to the latest electronic and electrical engineering standards as well as recognised guidelines for the safety and protection of users. The drive systems may only be operated and serviced by authorised skilled personnel, who have read through and understood the complete operating manual.
2 Safety Instructions 2.6 Electrical / electromagnetic safety • Check the electrical equipment of the drive system regularly. • Only use cables and connectors approved by ebm-papst. • Remove defective cables and loose connections immediately. • Take suitable measures to avoid impermissible electromagnetic interference emissions. • Take suitable measures against high-frequency EMC radiation. • Ensure EMC capability in the terminal device / installation state.
2 Safety Instructions 2.9 Maintenance / repair • The control electronics are maintenance-free for the period of the planned life. • Repairs on the product may only be made by qualified personnel or ebm-papst. 2.10 Cleaning Damage or malfunction if the unit is cleaned by • cleaning with a water spray or high-pressure (jet) cleaner. • Use of acids, alkalis and solvent-based cleaning agents. • Use of pointed and sharp-edged objects. 2.
3 Product Description 3.1 Description VDC-3-49.15-K4 The VDC-3-49.15-K4 motor is a 3-phase EC drive with a multi-pole magnetised neodymium magnet. The electronically commuted externalrotor motor has an astonishingly high power density and a compact design. Excellent control action is achieved due to the field-orientated control with sinus commutation. The VDC-3-49.15-K4 has fully integrated control electronics with high-performance DSP and extensive interfaces.
3 Product Description 3.4 Rating plate The rating plate with the respective features of the ECI-63.XX-K4 and VDC-3-49.15-K4 motors is attached to the housing. 3.4.1 Rating plate ECI-63.XX-K4 Company logo Motor type, ECI = Electronically Commutated Internal Rotor Motor Diameter of motor housing = 63 mm Overall length Electronic class Nominal torque Nominal speed ECI 63.20-K4 9326320400 24 VDC 425 mNm IP 54 E Product No. Nominal voltage Class of protection US-Pat. 7230359B2 ebm- papst St.
3 Product Description 3.5 Basic configuration In the VDC-49.15-K4 drive system the control electronics (3) is attached on the motor output end (1). The connection cable is preinstalled in the control electronics (3) in the factory. The motor housing on the output shaft (2) is formed as a flange with various drillholes for fixing and attaching the transmission. In the drive systems of the ECI-63.XX modular system K4 series, the motor housing and control electronics (3) are configured with same diameter.
4 Technical Specifications This chapter contains the nominal technical data of the following motors: • ECI-63.20-K4 / ECI-63.40-K4 / ECI-63.60-K4 and • VDC-3-49.15-K4 and extended technical data for all sizes (see page 20). 4.1 ECI-63.20-K4 Nominal data Type Unit ECI-63.20-K4-B00 ECI-63.20-K4-D00 Nominal voltage (UN) V DC 24 48 Allowable supply voltage range (UZK) V DC 20 … 28 40 … 53 Nominal speed (nN) rpm 4000 4000 Nominal torque (MN) mNm 425 450 Nominal current (IN) A 8.5 5.
4 Technical Specifications 4.2 ECI-63.40-K4 Nominal data Type Unit ECI-63.40-K4-B00 ECI-63.40-K4-D00 Nominal voltage (UN) V DC 24 48 Allowable supply voltage range (UZK) V DC 20 … 28 40 … 53 Nominal speed (nN) rpm 4000 4000 Nominal torque (MN) mNm 600 750 Nominal current (IN) A 12.3 7.2 Nominal output power (PN) W 251 314 Free-running speed (nL) (no-load speed) rpm 5600 5400 Free-running current (IL) (no-load current) A 0.90 0.46 Max.
4 Technical Specifications 4.3 ECI-63.60-K4 Nominal data Type Unit ECI-63.60-K4-D00 Nominal voltage (UN) V DC 48 Allowable supply voltage range (UZK) V DC 40 … 53 Nominal speed (nN) rpm 4000 Nominal torque (MN) mNm 850 Nominal current (IN) A 8.6 Nominal output power (PN) W 356 Free-running speed (nL) (no-load speed) rpm 5800 Free-running current (IL) (no-load current) A 0.60 Max.
4 Technical Specifications 4.4 VDC-3-49.15-K4 Nenndaten Typ Einheit VDC-3-49.15-K4 B00 VDC-3-49.15-K4 D00 Nominal voltage (UN) V DC 24 48 Allowable supply voltage range (UZK) V DC 20 … 28 40 … 53 Nominal speed (nN) rpm 4000** 4000** Nominal torque (MN) mNm 235** 300** Nominal current (IN) A 5** 3,2** Nominal output power (PN) W 100** 125** Free-running speed (nL) rpm 5000 5000 Free-running current (IL) A 1.0 0.6 Max.
4 Technical Specifications 4.5 Electronic properties Inputs IN A, IN B Properties Unit Value / Comment Input level – PLC level Low level V <5 High level V > 15 Protection against polarity reversal and voltages V ≤ 30 if case of cable break – Logic level “0” Input impedance kΩ 5.4 Input frequency kHz ≤ 10 Input dynamic (Tau) ms ≤ 0.
4 Technical Specifications Analog inputs “Analog IN 1…2” (signal connector, differential to GNDAnalog) Properties Unit Value / Comment Input voltage range (analog IN) V 0 to 10 GND reference (differential measurement) – Analog GND Input frequency kHz ≤1 Internal resistance kΩ 8 Signal resolution bit 10 Measuring tolerance (relative to the end value 10 V) % ≤2 Protection against polarity reversal and voltages V ≤ 28 Properties Unit Value / Comment Functional scope – – Baud rate
5 Installation This chapter describes the mechanical and electrical connection of the drive systems. 5.1 Notes The drives must be checked for visible damage before installation. Damaged drive system must not be installed. The drives must be fixed onto a flat surface with at least 4 screws. The screws must be secured with suitable measures against loosening. Use thread-forming screws to DIN 7500 for the fixing. 5.
5 Installation 5.3 Electrical connection The connection cable for the VDC-3-49.15-K4 drive system is attached to the motor in the factory, no additional plugs are required for the electrical connection and parameter setting. The following is required for the electrical connection and parameter setting of the ECI-63.XX-K4 drive system: 1 Connection cable with 15 pin connector M16 (not for the Litz wire (stranded wire) variant of the ECI-63.XX-K4, see Chapter 5.4.4 Harness for Litz wire version ECI-63.
5 Installation 5.4 Connection descriptions • The connection cable of the VDC-3-49.15-K4 motors is pre-installed on the motor in the factory. • The ECI-63.XX-K4 motors have a 15 pin connector M16 (12+3) on the motor. This is used for the connection of a Note connector variant connector cable or for the separately supplied cable harness of the Litz wire variant. 5.4.1 Connection cable VDC-3-49.
5 Installation 5.4.3 Connection cable with connector ECI-63.XX-K4 The connection cable with connector is available only for the ECI-63.XX-K4. For the VDC-3-49.15-K4, the connecting cable is factory-mounted to the engine, means that no plug required. Note A standard cable with classification CF-C11Y (3 x 1.5² / 12 x 0.34²) and connector M16 is required for connection of the motor. 1 m, 3 m and 10 m cable lengths are available for the connection. Length Order No.
5 Installation 5.5 Braking chopper K4 The task of the braking chopper is to convert the energy not required in case of fast speed changes. If the set voltage threshold is exceeded the external resistor is switched on. Chopper current max. 10 A Recommended braking resistor 24 V systems: >= 3.75 ohm 48 V systems: >= 5.6 ohm Braking resistor not included in the scope of supply. Note The braking resistor must be tested and designed according to the use of the drive. (Note maximum power loss!) 5.
5 Installation Pin assignment (D-SUB pin 9 pole): Adapter electrically isolated Pin 2 Connection n. c. optional – CAN L bus cable 3 4 GND RS485 + 1 5 n. c. 6 GND 7 optional – CAN H bus cable 8 RS485 – 9 n. c. USB device drivers of the type “FTDI USB Serial Converter” are required for operation of the USB-CAN-RS485 adapter.
5 Installation 5.10 Circuit diagram ebmpapst RS485-Controller Ballast RS485 - RS485 + Motor VDC-3-49.15-K4 Motor ECI-63.XX-K4 Ballast - Resistor µC UZK Powerstage Laptop GND Power Supply „Power“ (+24 V / +48 V DC) + GND Enable or ULogic Control LogicSMPS Power Supply „Logic“ (+24 V DC) + GND Analog IN 2 OUT 1 OUT 2 24 V (SPS) Analog GND Analog IN 1 OUT 3* IN 2 IN 1 IN B IN A IN 2 0…10 V * The OUT 3 connection is only available for the ECI-63.XX-K4 drive systems.
5 Installation 5.11 Schematic layout: parameterisation, commissioning (startup) and automatic operation 5.11.1 Parameterisation and commissioning 5.11.2 Automatic operation Automatic operation with stored parameters and integrated control RT TA KS Power supply KIC Control Control S SP S Power supply PC with “Kick- SP D E rr m or ic ro S D ata eb m p ap st U S B -K 4 start” software US B mi cro SD Adapter ECI-63.XX-K4 drive ECI-63.XX-K4 drive 5.11.
6 Parameterisation 82 parameters are available for parameterising the VDC-3-49.15-K4 and ECI-63.XX-K4 drive systems (from page 32). These are managed via the electronic class K4 and are set using the ebm-papst “Kickstart” PC software. A detailed parameter description see Chapter “10 Parameter Description”, page 94. 6.1 Memory management The K4 has a management function for the “RAM”, “custom” and “default” memory areas. To edit the values you will need the password “custom access key”.
6 Parameterisation 6.1.3 “default” memory area The default values loaded in the factory are stored in the “default” memory area. The operating data can be reset to the as-delivered condition by using the “reload” command. The data is written in the “custom” and “RAM” areas. Access to parameterisation with “customer access key” (password).
6 Parameterisation 6.2 Parameter The following parameters are available in the K4: For a detailed parameter description, see Chapter “10 Parameter Description”, page 94. • The data in the “No. [dec]” column is relevant for the parameter descriptions, refer to Chapter “10 Parameter Note Description”, from page 94. • The data in the “No. [hex]” column is relevant for the “Kickstart” PC software. • The data in column No. [hex] is the address of the parameter.
6 Parameterisation Parameterübersicht Parameter No. [hex] Parameter Name 0x20 Speed controller KD (currently unused) 0x21 K_ff 0x22 Actual speed averaging Units min. max. Speicherklasse 0 65535 appl value 1/255 0 65535 appl func 2^x [ms] 0 15 appl value Pulse/mech.
6 Parameterisation Parameterübersicht Parameter No. [hex] Parameter Name Units min. max.
7 Parameterisation of the Operating Modes The parameterisation of the operating modes is described in this chapter. 38 operating modes are available to choose from for the electronic class K4. The operating modes are selected using parameters Mode 1 and Mode 2. The descriptions are laid out as follows: 7.1 Application example Task: The motor should reach a fixed speed via a defined acceleration / braking ramp. If the speed has been reached a corresponding display should appear.
7 Parameterisation of the Operating Modes 3 • Operating mode selection: Parameter O1h = 1, Parameter O2h = 1 • Speed signal O2 (OUT 2): Parameter O4h = 2 4 • Fixed speed parameterisation: Parameter 17h = 3500 • Parameterisation of acceleration / braking (deceleration) ramp: Parameter 1ah, 1bh, 1ch, 1dh = 209 * • Set speed signalling threshold: Parameter 24h = 3490 • Set signalling threshold hysteresis: Parameter 25h = 40 * Determination of the acceleration value in ms for 1000 rpm Speed input: 3500 rpm, a
7 Parameterisation of the Operating Modes 6 Save parameters: Save the parameters written with the “store” command in the “custom” memory area.
7 Parameterisation of the Operating Modes The characteristic curve can then take on this shape: Target velocity Hysteresis 1 Hysteresis 2 Hysteresis 3 X1 X2 X3 Y0 Y3 Y4 Y1 Y2 Normalised X axis The speed values Y0…Y4 are given in rpm. X values: Target value analog IN A1: 0 – 10 V corresponds 0 – 1023. Target value PWM IN 1: 0 – 100 % corresponds X value 0 – 100. Target value frequency IN 1: lower cut-off frequency (Parameter 0x3D) corresponds X value 0.
7 Parameterisation of the Operating Modes The current limitation is defined via parameters 0x38 - 0x3B. The values of the parameters 0x38 - 0x3B must be the Note same if the maximum current characteristic is used. If the operational quadrants are changed there are no jumps in the current limitation. The speed values Y0…Y4 are given in %. X values: Target value analog IN A1: 0 – 10 V corresponds 0 – 1023. Target value PWM IN 1: 0 – 100 % corresponds X value 0 – 100.
7 Parameterisation of the Operating Modes 7.4 Operating mode 11: Speed setpoint N1, N2, N3; Analog IN 1 The following example is used to describe operating mode 11 in greater detail. In order for the parameter to function, KP_H must be > 0. Note Parameter No.1 (Mode 1) has value = 1 Parameter No.2 (Mode 2) has value = 1 With input circuit IN A = 0 and IN B = 0 the motor is in free-wheeling (free running) state and the inputs IN 1 and IN 2 have no effect.
7 Parameterisation of the Operating Modes 7.5 Operating mode 12: Speed setpoints N1, A1; dynamic current limitation via A1 In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Selection of the speed setpoint source analog A1 / parameter N1. Function IN 2: selection of static / dynamic current limitation.
7 Parameterisation of the Operating Modes 7.6 Operating mode 13: Speed setpoints A1, N1; distance In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Selection of the speed setpoint source analog A1 / parameter N1. Function IN 2: Travel distance; the distance increases with each high flank (x); displacement = x*distance.
7 Parameterisation of the Operating Modes 7.7 Operating mode 16: Speed setpoints A1, N1; rotational direction In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Selection of the speed setpoint source analog A1 / parameter N1. Function IN 2: Selecting the rotational direction.
7 Parameterisation of the Operating Modes 7.8 Operating mode 17: Speed setpoints A1, N1; dynamic current limit via A2 In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Selection of the speed setpoint source analog A1 / parameter N1. Function IN 2: Analog A2 dynamic current limitation.
7 Parameterisation of the Operating Modes 7.9 Operating mode 18: Speed setpoints A1, N1; brake In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Selection of the speed setpoint source analog A1 / parameter N1. Function IN 2: Input for braking voltage; motor only runs if brake released.
7 Parameterisation of the Operating Modes 7.10 Operating mode 21: dynamic current limit via A1; speed setpoints A1, N2 In order for the parameter to function, KP_H must be > 0. Note Function IN 1: selection of static / dynamic current limitation. Function IN 2: Selection of the speed setpoint source analog A1 / parameter N2.
7 Parameterisation of the Operating Modes 7.11 Operating mode 23: dynamic current limit via A1; distance In order for the parameter to function, KP_H must be > 0. Note Function IN 1: selection of static / dynamic current limitation. Function IN 2: Travel distance; the distance increases with each high flank (x); displacement = x*distance.
7 Parameterisation of the Operating Modes 7.12 Operating mode 26: dynamic current limit via A1; rotational direction In order for the parameter to function, KP_H must be > 0. Note Function IN 1: selection of static / dynamic current limitation. Function IN 2: Selecting the rotational direction.
7 Parameterisation of the Operating Modes 7.13 Operating mode 28: dynamic current limit via A1; brake In order for the parameter to function, KP_H must be > 0. Note Function IN 1: selection of static / dynamic current limitation. Function IN 2: Input for braking voltage; motor only runs if brake released.
7 Parameterisation of the Operating Modes 7.14 Operating mode 31: Distance; speed setpoints A1, N2 In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Travel distance; the distance increases with each high flank (x); displacement = x*distance. Function IN 2: Selection of the speed setpoint source analog A1 / parameter N2.
7 Parameterisation of the Operating Modes 7.15 Operating mode 32: Distance; dynamic current limit via A1 In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Travel distance; the distance increases with each high flank (x); displacement = x*distance. Function IN 2: selection of static / dynamic current limitation.
7 Parameterisation of the Operating Modes 7.16 Operating mode 34: Distance; teach In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Travel distance; the distance increases with each high flank (x); displacement = x*distance. Function IN 2: Learn a displacement; difference in position between teach start and each stop; Save in distance = parameter 68 + 69.
7 Parameterisation of the Operating Modes 7.17 Operating mode 36: Distance; rotational direction In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Travel distance; the distance increases with each high flank (x); displacement = x*distance. Function IN 2: Selecting the rotational direction.
7 Parameterisation of the Operating Modes 7.18 Operating mode 37: Distance; dynamic current limit A2 In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Travel distance; the distance increases with each high flank (x); displacement = x*distance. Function IN 2: Analog A2 dynamic current limitation.
7 Parameterisation of the Operating Modes 7.19 Operating mode 38: Distance; brake In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Travel distance; the distance increases with each high flank (x); displacement = x*distance. Function IN 2: Input for braking voltage; motor only runs if brake released.
7 Parameterisation of the Operating Modes 7.20 Operating mode 43: Teach; distance In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Learn a displacement; difference in position between teach start and each stop; Save in distance = parameter 68 + 69. Function IN 2: Travel distance; the distance increases with each high flank (x); displacement = x*distance.
7 Parameterisation of the Operating Modes 7.21 Operating mode 55: IN A / B logic via IN 1, IN 2; IN A / IN B as release (enable) In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Emulation IN A. Function IN 2: Emulation IN B.
7 Parameterisation of the Operating Modes 7.22 Operating mode 61: Rotational direction; speed setpoints A1, N2 In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Selecting the rotational direction. Function IN 2: Selection of the speed setpoint source analog A1 / parameter N2.
7 Parameterisation of the Operating Modes 7.23 Operating mode 62: Rotational direction; dynamic current limit via A1 In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Selecting the rotational direction. Function IN 2: selection of static / dynamic current limitation.
7 Parameterisation of the Operating Modes 7.24 Operating mode 63: Rotational direction; distance In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Selecting the rotational direction. Function IN 2: Travel distance; the distance increases with each high flank (x); displacement = x*distance.
7 Parameterisation of the Operating Modes 7.25 Operating mode 67: Rotational direction; dynamic current limit via A2 In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Selecting the rotational direction. Function IN 2: Analog A2 dynamic current limitation.
7 Parameterisation of the Operating Modes 7.26 Operating mode 68: Rotational direction; brake In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Selecting the rotational direction. Function IN 2: Input for braking voltage; motor only runs if brake released.
7 Parameterisation of the Operating Modes 7.27 Operating mode 71: Speed setpoint PWM, N2 In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Input for PWM signal. Function IN 2: Selection of the speed setpoint source PWM / parameter.
7 Parameterisation of the Operating Modes 7.28 Operating mode 72: Speed setpoint PWM; dynamic current limitation via PWM In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Input for PWM signal. Function IN 2: selection of static / dynamic current limitation.
7 Parameterisation of the Operating Modes 7.29 Operating mode 73: Speed setpoint PWM, distance In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Input for PWM signal. Function IN 2: Travel distance; the distance increases with each high flank (x); displacement = x*distance.
7 Parameterisation of the Operating Modes 7.30 Operating mode 76: Speed setpoint PWM; rotational direction In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Input for PWM signal. Function IN 2: Selecting the rotational direction.
7 Parameterisation of the Operating Modes 7.31 Operating mode 77: Speed setpoint PWM; dynamic current limit via A2 In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Input for PWM signal. Function IN 2: Analog A2 dynamic current limitation.
7 Parameterisation of the Operating Modes 7.32 Operating mode 78: Speed setpoint PWM; brake In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Input for PWM signal. Function IN 2: Input for braking voltage; motor only runs if brake released.
7 Parameterisation of the Operating Modes 7.33 Operating mode 81: Speed setpoint frequency, N2 In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Input for frequency signal. Function IN 2: Selection of the speed setpoint source frequency / parameter N2.
7 Parameterisation of the Operating Modes 7.34 Operating mode 82: Speed setpoint frequency; dynamic current limitation via frequency In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Input for frequency signal. Function IN 2: selection of static / dynamic current limitation.
7 Parameterisation of the Operating Modes 7.35 Operating mode 83: Speed setpoint frequency, distance In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Input for frequency signal. Function IN 2: Travel distance; the distance increases with each high flank (x); displacement = x*distance.
7 Parameterisation of the Operating Modes 7.36 Operating mode 86: Speed setpoint frequency, rotational direction In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Input for frequency signal. Function IN 2: Selecting the rotational direction.
7 Parameterisation of the Operating Modes 7.37 Operating mode 87: Speed setpoint frequency; dynamic current limit via A2 In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Input for frequency signal. Function IN 2: Analog A2 dynamic current limitation.
7 Parameterisation of the Operating Modes 7.38 Operating mode 88: Speed setpoint frequency, brake In order for the parameter to function, KP_H must be > 0. Note Function IN 1: Input for frequency signal. Function IN 2: Input for braking voltage; motor only runs if brake released.
7 Parameterisation of the Operating Modes 7.39 Operating mode 91: Operation via RS485; distance / speed In order for the parameter to function, KP_H must be > 0. Note Function IN 1: none Function IN 2: none IN A or IN B are used as release (enable).
7 Parameterisation of the Operating Modes 7.40 Operating mode 98: Operation via RS485; distance / speed; brake In order for the parameter to function, KP_H must be > 0. Note Function IN 1: none Function IN 2: Input for braking voltage; motor only runs if brake released. IN A or IN B are used as release (enable).
8 Inputs and Outputs 8.1 Input circuit 8.1.1 IN A / IN B control inputs The following logic table applies to the IN A / IN B control inputs: IN A= 0 AND IN B = 0 => free-wheeling IN A= 1 AND IN B = 0 => clockwise (positive): Target value, as it comes from the characteristic curve IN A= 0 AND IN B = 1 => counter-clockwise (negative): Target value multiplied by -1 IN A= 1 AND IN B = 1 => brake / position The IN A / IN B control inputs are prioritised higher than the position, speed and current target value.
8 Inputs and Outputs 8.1.2 Input IN 1 and Input IN 2 Parameter 0x1: Mode 1 (for IN 1) Description: The parameter Mode 1 contains the configuration for the IN 1. This parameter describes how this is to be used and which control task it undertakes. Default value: 1: Fixed speed N1 or dyn. target speed Scaling: 1: Fixed speed N1 or dynamic target speed selectable via IN 1 2: Changeover to dyn.
8 Inputs and Outputs 8.1.3 Analog IN A1 5: Analog (IN A1) (analog input (target speed > default)) input Analog IN A1 Analog input (target speed > default) 0…10V (differential) Analog GND GND for analog IN 1 (differential) 8.2 Output circuit 8.2.1 Output OUT 1 / Output OUT 2 / Output OUT 3 P03: Use of the output OUT 1 Description: The parameter defines which status output is output at output OUT 1.
8 Inputs and Outputs P04: Use of the output OUT 2 Description: The parameter defines which status output is output at output OUT 2. Default value: 1 Scaling: 0: no function 1: Increment_1 2: Speed signal 3: Current signal 4: Ready signal 5: Positioning window reached 6: Temperature signal 7: RS485 controlled Dependencies: with codes 2 – 6 the corresponding threshold values must contain valid values.
9 RS485 Communication 9.1 Communication method Communication between users and the drive software takes place via so-called telegrams. Each program contains specified data, which has to be received or sent. The drive software ignores telegrams that are not addressed to it. RS485 communication is possible with the following parameterisation: Baud rate = 115200 Number of data bits: 8 Number of stop bits: 1 Parity: even 9.
9 RS485 Communication 9.3.2 Answer commands (TX) In the response (answer) telegram the recommended start byte from the above table is repeated as the start by. The value is increased by 0x80.
9 RS485 Communication 9.
9 RS485 Communication 9.7.2 Answer RS485 Char Use Value / Comment 1 Start byte COM_CTX_FAHRBEFEHL_DREHZAHL 2 Address byte Bus address 3 Actual speed Hi rpm, -32768...32767 4 Actual speed Lo 5 Actual current Hi 10mA / Digit 6 Actual current Lo 10mA / Digit 7 Actual position HiHi Revolution, -32768...32767 8 Actual position HiLo 9 Actual position LoHi 10 Actual position LoLo 11 Motor status byte 12 Status byte 13 Checksum 1/65535 revolutions, 0...65535 9.
9 RS485 Communication 9.8.2 Answer RS485 Char Use Value / Comment 1 Start byte COM_CTX_FAHRBEFEHL_POSITION 2 Address byte Bus address 3 Actual speed Hi rpm, -32768…32767 4 Actual speed Lo 5 Actual current Hi 10mA / Digit 6 Actual current Lo 10mA / Digit 7 Actual position HiHi Revolutions, -32768...32767 8 Actual position HiLo 9 Actual position LoHi 10 Actual position LoLo 11 Motor status byte 12 Status byte 13 Checksum 1/65535 Umdrehungen, 0...65535 9.
9 RS485 Communication 9.9.3 Error flags Bit Meaning 7 Error, parameters are still inconsistent and cannot be saved 6 Errors occur on writing the data flash 5 No parameters changed, no data saved 4 Incorrect access key, no data saved 9.10 Write parameter Writes a value in the parameter memory. 9.10.1 Request RS485 Char Use Value / Comment 1 Start byte COM_CRX_PARAMETER_WR 2 Address byte Bus address 3 Parameter No. 4 Parameter No. 0...
9 RS485 Communication 9.10.3 Error flags Bit Meaning 7 6 5 Save parameter failed 4 Incorrect access key 9.11 Read parameter Reads a parameter from the parameter memory. 9.11.1 Request RS485 Char Use Value / Comment 1 Start byte COM_CRX_PARAMETER_RD 2 Address byte Bus address 3 Parameter No. Hi 4 Parameter No. Lo 5 Checksum 0...65535 9.11.2 Answer RS 485 Char Use Value / Comment 1 Start byte COM_CTX_PARAMETER_RD 2 Address byte Bus address 3 Parameter No.
9 RS485 Communication 9.11.3 Error flags Bit Meaning 7 6 5 Read parameter failed 4 Incorrect access key 9.12 Read status word 9.12.1 Request RS485 Char Use Value / Comment 1 Start byte COM_CRX_STATUS_RD 2 Address byte Bus address 3 Checksum 9.12.2 Answer RS485 Char Use Value / Comment 1 Start byte COM_CTX_STATUS_RD 2 Address byte Bus address 3 Motor status byte 4 Status byte 5 Checksum 9.
9 RS485 Communication 9.13.2 Answer RS485 Char Use Value / Comment 1 Start byte COM_CTX_PARAMETER_RESTORE 2 Address byte Bus address 3 Status byte 4 Checksum 9.13.3 Error flags Bit Meaning 7 6 5 4 Incorrect access key 9.14 Read software ID 9.14.
9 RS485 Communication 9.14.2 Response (without / with bootloader) RS485 Char Use Value / Comment 1 Start byte COM_CTX_SOFTWARE_HEADER_RD 2 Address byte Bus address 3…6 Data 01…04 0 / u32AddrCrcEnd 7…10 Data 05…08 0 / u32AddrCodeStart 11…14 Data 09…12 0 / u32AddrPM_Start 15…18 Data 13…16 0 / u32AddrPM_End 19…22 Data 17…20 Software Version, e.g.
9 RS485 Communication 9.16 Full write access to parameters 9.16.1 Request RS485 Char Use Value / Comment 1 Start byte UART_CRX_CUSTOMER_ACCESS 2 Address byte Bus address Data 01…04 (AccessKey) Customer access key 3…6 7 Checksum 9.16.2 Answer RS485 Char Use Value / Comment 1 Start byte UART_CTX_CUSTOMER_ACCESS 2 Address byte Bus address 3 Status byte 4 Checksum 9.16.3 Error flags Bit Meaning 7 6 5 4 Incorrect access key, access is restricted 9.
9 RS485 Communication 9.17.2 Answer RS485 Char Use Value / Comment 1 Start byte COM_CTX_BACK_TO_BOLO 2 Address byte Bus address 3 Status byte 4 Checksum 9.17.3 Error flags Bit Meaning 7 6 5 Motor is not in free-wheeling, jump back into the bootloader does not take place 4 Incorrect access key, jump back into the bootloader does not take place 9.18 Reset customer password 9.18.
9 RS485 Communication 9.18.3 Error flags Bit Meaning 7 6 5 4 Incorrect access key 9.19 Undefined telegrams Undefined telegrams are not answered. Corresponding error flags are set in the start byte of the response. Use of an already defined response should simplify processing on the ho side.
10 Parameter Description This chapter describes the functions of the available parameters. • For a list of all parameters, see Chapter 6.2 Parameter, page 32. The possible assignable status outputs are listed Note page 110. Parameter memory The parameter memory can store all the parameters listed in the following as non-volatile memory, if a STORE command is received. Use the RESTORE command to restore the factory settings.
10 Parameter Description Parameter 0x6: Restart Description: The “restart” parameter is used to configure the behaviour according following safety-critical errors. The drive cannot be operated while safety-critical errors are queued. If there are no longer any safety-critical errors, the drive can be switched ready for use automatically or manually via an acknowledgement.
10 Parameter Description Parameter 0x11: FE_DREHZAHL_Y3 Description: Target speed value for interpolation point X3. Parameter 0x12: FE_DREHZAHL_Y4 Description: Target speed value above the interpolation point X3. Parameter 0x13: DREHZAHL_X1_HYSTERESE Description: Interpolation point hysteresis value for X1. Value is understood as being the width of the hysteresis on the X axis and is used half under and half above the corresponding interpolation point. E.g.
10 Parameter Description Parameter 0x17: Fixed speed N1 Description: Fixed speed value, which is used depending on the setting of the parameter 0x1 and parameter 0x2 and their corresponding inputs IN 1 / IN 2. Parameter 0x18: Fixed speed N2 Description: Fixed speed value, which is used depending on the setting of the parameter 0x1 and parameter 0x2 and their corresponding inputs IN 1 / IN 2.
10 Parameter Description Parameter 0x1E: Speed controller KP Description: Amplification factor (gain) for the proportional component in the speed controller. Parameter 0x1F: Speed controller KI Description: Amplification factor (gain) for the integral component in the speed controller. Parameter 0x20: Speed controller KD Description: Amplification factor (gain) for the differential component in the speed controller.
10 Parameter Description Parameter 0x22: Actual speed value averaging Description: The registered actual speed is filtered with a digital filter for the period defined here. Parameter 0x23: Resolution of the actual outputs Description: The resolution of the actual outputs.
10 Parameter Description Parameter 0x25: Speed signal delta hysteresis Description: Parameter is to be understood as being an absolute delta value (amount), which specifies the absolute threshold “speed signal threshold – hysteresis speed signal delta”. E.g.: Speed signal threshold = 1000 rpm Hysteresis speed signal delta = 150 rpm Here the lower hysteresis threshold of the speed signal is therefore 850 rpm = (1000 – 150) Parameter 0x26: FE_STROM_X1 Description: X axis interpolation point value X1.
10 Parameter Description Parameter 0x2D: FE_STROM_Y4 Description: Maximum current percentage above the interpolation point X3. Parameter 0x2E: STROM_X1_HYST Description: Interpolation point hysteresis value for X1. Value is understood as being the width of the hysteresis on the X axis and is used half under and half above the corresponding interpolation point. E.g.
10 Parameter Description Parameter 0x33: Current signal delta hysteresis Description: Parameter is to be understood as being an absolute delta value, which specifies the absolute threshold “current signal threshold – hysteresis current signal delta”. E.g.
10 Parameter Description Parameter 0x3A: I_Max_bremsend_Rechts Description: Maximum current for the braking / regenerative clockwise rotation. Parameter 0x3B: I_Max_bremsend_Links Description: Maximum current for the braking / regenerative counter-clockwise rotation. Parameter 0x3C: Hold gain KP_H Description: The hold gain KP_H is defined as the gain factor for the P controller of the position controller (= holding torque controller). See also ”Parameter 0x1E: Speed controller KP” on page 98.
10 Parameter Description Parameter 0x44 Parameter 0x45: Distance Description: Relative distance with sign (+/-). Positive distances are travelled in a clockwise direction. Parameter 0x46 Parameter 0x47: Positive Positioning window Description: Position digits, which describe the upper end of the positioning window. This value is added to the target position. Parameter 0x48 Parameter 0x49: Negative Positioning window Description: Position digits, which describe the lower end of the positioning window.
10 Parameter Description Parameter 0x4F: Temperature signal threshold Description: The temperature signal threshold parameter defines from which temperature value the temperature signal output is activated. Parameter 0x50: Temperature signal delta hysteresis Description: The parameter is to be understood as being an absolute delta value, which specifies the absolute threshold “temperature signal threshold – hysteresis temperature signal delta”. E.g.
10 Parameter Description Parameter 0x8005: Current actual temperature of the printed circuit board Description: The parameter contains the current actual temperature of the printed circuit board. Parameter 0x8006: Current electrical current Id Description: The parameter contains the current electrical current Id, which is calculated within the Park / Clark transformation.
10 Parameter Description Parameter 0x800F Analog input NTC Description: The digitised value of the analog input „NTC“ can be read. Only the digitised voltage value is returned, not the interpreted setpoint or actual value. 10.1 Safety functions Safety functions protect the drive against permanent damage and partially result in the software switching off the drive (= disables).
11 Troubleshooting This chapter describes possible error messages / malfunctions, causes and remedies. If the error / feedback cannot be corrected by the remedy described, please contact ebm-papst. For contact details, refer to the back page of this manual. 11.1 Error handling The error handling should evaluate errors in 5 categories: 1. Error has no consequences for the drive. -- Ballast diagnostics error -- Overcurrent at braking chopper 2. Error with consequence „emergency run“ with error speed.
11 Troubleshooting 11.
11 Troubleshooting 11.3 Parameterisation Command Feedback Plain text Action Set parameter Status 0x02 Checksum or telegram length wrong Calculate checksum correctly, see manual Status 0x10 Access key wrong Use correct access key Access to provider parameters with customer PW As customer, no possibility of accessing it Status 0x20 Parameter conflict Not an error, information! But must be corrected. Notification of conflicting parameters. Status 0x28 Telegram can now not be processed.
Notes Topic: Person involved: Date: Creator: Responsible: Date: 111
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