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Elife UNIDRIVE M series Reference Manual

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Brushless Edition - Rev. B
UNIDRIVE M Series
Application
Reference Manual

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Summary of Contents for Elife UNIDRIVE M series

  • Page 1 Brushless Edition - Rev. B UNIDRIVE M Series Application Reference Manual...
  • Page 2 Tel: +39 0565 944121 Fax: +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 other media or language, without express written permission of Elife International.

  • Page 3: Table Of Contents

    Contents 1 Overview 2 Installation and Wiring 2.1 Mounting UNIDRIVE on-board ..... 2.2 Connections ....... . 2.2.1 High Power Connections .
  • Page 4 The common features of all models of UNIDRIVE M Series ..An overview of the UNIDRIVE M Series Models ... . . A summary table of high-power connections, except the M4896-X Type. 10 Fuse size in accordance with the UNIDRIVE Type.

  • Page 5: Overview

    European Conformity , and designed and tested in accordance with the EMC emission (EN 61000-6-4) and immunity (EN 61000-6-2) standards. UNIDRIVE is compliant with EN 60950-1 safety requirements. ® Elife International is a Member of CiA - CAN in Automation...
  • Page 6 Specification: Four Quadrant Regenerative Operation Space Vector Modulation Technology Sinusoidal and Trapezoidal Commutation Methods Programmable Gain Setting Fully Configurable Velocity and Position Limits PIDF and PID + FF Velocity Loop On-the-fly Mode and Gain Set Switching Emergency Deceleration Ramp and Safe Torque Off (STO) Input Programmable Input/Output: Two High Powered Digital Outputs One 12-bit Analog Output 0÷10 V...

  • Page 7: The Common Features Of All Models Of Unidrive M Series

    A broad range of models enable us to satisfy every requirements and to suggest the best solution for your system. An overview of the UNIDRIVE M Series Models is shown in Table 1.2. For other models, have a look at UNIDRIVE S Series and UNIDRIVE H Series for lower power models or at UNIDRIVE P Series for higher power models.
  • Page 8 . . . continued from previous page ONTINUOUS OMINAL OLTAGE UPPLY AXIMUM RIVER (Operating Range) HASE URRENT UTPUT OWER 36 V M2436-4-X up to 150 Arms 4 KW (18 Vmin - 55 Vmax ) 36 V M2436-8-X up to 300 Arms 8 KW (18 Vmin - 55 Vmax ) 36 V...
  • Page 9 00000143 S/N: Customer Code UNIQUELY CODE IDENTIFIES Portoferraio - ITALY YOU AS A ELIFE IDENTIFIES YOUR UNIDRIVE CUSTOMER www.elifeinternational.com Compliance with the EU regulatory requirement for electrical and electronic equipment. When your UNIDRIVE is no more usable, can’t be treated as generic garbage, but...

  • Page 11: Installation And Wiring

    UNIDRIVE and the vehicle surface. UNIDRIVE M Series is available in two configuration: in Electrical Box Version (Figure 1.1a) or with factory-installed Cooling Fan (Figure 1.1b). UNIDRIVE with Cooling Fan If your UNIDRIVE has a factory-installed cooling fan, you just make sure that the installation location chosen guarantees a sufficient air flow to the cooler.
  • Page 12 UNIDRIVE M Series ALUMINIUM PLATE THREADED METAL INSERT VEHICLES BOARD A recommended installation method in order to ensure an effective heat Figure 2.1: dissipation between the UNIDRIVE and the vehicle surface. The D2(H2) size listed in figure must be greater than D1(H1) size. A thermal grease should be used on both sides of aluminum plate to improve the heat exchange between UNIDRIVE and the vehicle board.

  • Page 13: Connections

    Connections UNIDRIVE on the front, see Figure 2.2, has different types of connectors: High Power Connections The three-phase alternating-current generated by UNIDRIVE U,V,W F+,B- is supplied through the terminals. The are the positive negative terminals to connect to your battery. Low Power Connections J1 - COMMAND A 35-pin male connector (...

  • Page 14: A Summary Table Of High-Power Connections, Except The M4896-X Type

    UNIDRIVE M Series - High-power connections. Figure 2.3: Note All UNIDRIVE models, except the M4896-X Type, have a fuse already installed. Connect the battery positive cable to the terminal and the battery negative cable to the terminal. For M4896-X Type you must connect an external fuse to the terminal (see Table 2.2 and the Wiring Diagrams).

  • Page 15: A Summary Table Of High-Power Connections, Except The M4896-X Type. 10 2.2 Fuse Size In Accordance With The Unidrive Type

    Warning Make sure when you connect the high-power cables that the feedback cable passes as far as possible from the power cables and they are not located close to each other, in order to avoid electromagnetic interference. Fuse size in accordance with the UNIDRIVE Type. Table 2.2: UNIDRIVE T ATING...

  • Page 16: Low Power Connections

    2.2.2 Low Power Connections The low power logic control connections are provided by a 35-pin male connector J1 - COMMAND ). The pins’ description is given in Table 2.3. J1 - COMMAND connector. The pins’ description for the Table 2.3: I/O T ESCRIPTION PERATING...
  • Page 17 . . . continued from previous page I/O T ESCRIPTION PERATING ANGE Speed potentiometer supply output. The value of output = 5 or 10 V PWR POT voltage can be selected in =250 mA Potentiometer Supply option (See Section 3.4.6, Pag. 49) ANALOG OUT From 0 to +10 V Analog output...
  • Page 18 . . . continued from previous page I/O T ESCRIPTION PERATING ANGE = 36 V, High > 11 V Digital input 6 = 36 V, High > 11 V Digital input 7 = 36 V, High > 11 V Digital input 8 Drive fault alarm output, it Output Voltage in according changes its current state...

  • Page 19: Standard Wiring Diagrams And Wiring Instructions

    Standard Wiring Diagrams and Wiring Instructions This section contains standard wiring diagrams to be used to connect your UNIDRIVE M Series on your system. The following wiring diagrams cover only the standard operating mode in which the UNIDRIVE works to drive a Brushless Servomotor. It’s also possible to connect two or more UNIDRIVE together for specific application (e.g: steering wheel control) and drive different types of servomotor.

  • Page 20: Unidrive I/O Definitions For Standalone Mode

    UNIDRIVE I/O definitions for Standalone Mode. Table 2.4: ESCRIPTION High = Backward, Low = Stop. BACKWARD Optional This input is only processed if FORWARD input is low. High = Forward, Low = Stop FORWARD Optional (only if BACKWARD is low) High = Slow mode, Low = Fast mode.
  • Page 21 IMPORTANT: GROUND CONNECTION 4mm² min VENDOR SPECIFIC BATTERY 24 to 48V The wiring diagram to connect your UNIDRIVE M Series - except the M4896-X Figure 2.4: Type - to your system in Standalone Mode. Standard Wiring Diagrams and Wiring Instructions...
  • Page 22 Standalone Mode - Wiring Diagram [M4896-X Type] SIGNAL CONNECTIONS 2A DELAYED 4A DELAYED OPTIONAL BACKWARD 1A DELAYED RS232-2 TX FORWARD RS232-2 RX FAST/SLOW RS232-2 GND HANDBRAKE EMERGENCY SAFETY UNIDRIVE M4896-X Alternative: use a voltage source in place of the pot. OUT ENCODER A OUT ENCODER B STATUS...

  • Page 23: Plc Mode

    2.3.2 PLC Mode The PLC mode is a flexible, self-contained operating mode for automatic vehicles (AGV). The details of inputs and output of this operating mode are shown in Table 2.5. UNIDRIVE I/O definitions for PLC Mode Table 2.5: ESCRIPTION RUN / STOP Mandatory High = Run, Low = Stop...
  • Page 24 @ 6A IMPORTANT: GROUND CONNECTION 4mm² min VENDOR SPECIFIC BATTERY 24 to 48V The wiring diagram to connect your UNIDRIVE M Series - except the M4896-X Figure 2.6: Type - to your system in PLC Mode. Chapter 2 Installation and Wiring...
  • Page 25 PLC Mode - Wiring Diagram [M4896-X Type] SIGNAL CONNECTIONS 2A DELAYED 4A DELAYED OPTIONAL 1A DELAYED RUN / STOP RS232-2 TX RS232-2 RX FAST/SLOW RS232-2 GND EMERGENCY CAN- SAFETY CAN+ UNIDRIVE See manual for details M4896-X ANALOG INPUT ANALOG GND OUT ENCODER A OUT ENCODER B ALARM...

  • Page 26: Can Bus Address Selector Switch At The Node Set To 0

    When the RUN / STOP input gets high the brake is unlocked and the motor starts to spin-up. If overtravels are enabled by Telemetry panel (see Section 3.4.6) UNIDRIVE will stop the motor when one of two over-travel inputs (CCW OVERTRAVEL and CW OVERTRAVEL) will get high.

  • Page 27: Ev Mode

    2.3.3 EV Mode The EV mode is specially designed to control motors mounted in Electric Vehicles (EV). This operating mode employs sophisticated proprietary algorithms to offer you a driving experience as much as possible similar to traditional gasoline engine vehicles. A detailed explanation of this operating mode is given in Section 3.6. For the correct functioning of this operating mode, you must install only 0–10V or 0-5V throttle and choose the correct value of Analog Input (See Section 3.4.4) in according to the throttle characteristics.
  • Page 28 SUPPLY 12V BUS GND BUS An example of wiring diagram to connect your UNIDRIVE M Series - except Figure 2.8: the M4896-X Type - to your system in EV Mode. This suggested wiring diagram is just one of the possible ways to wire your system in EV Mode.
  • Page 29 EV Mode - Wiring Diagram [M4896-X Type] Figure 2.9: An example of wiring diagram to connect your UNIDRIVE M4896-X Type to your system in EV Mode. This suggested wiring diagram is just one of the possible ways to wire your system in EV Mode. Standard Wiring Diagrams and Wiring Instructions...
  • Page 30 When throttle is put to neutral position - before bridge activation - you can indicate if the brake should be locked or unlocked (HANDBRAKE input), the rotation direction (BACKWARD or FORWARD) and the speed mode (SPORT/ECONOMY input). The SPORT and ECONOMY modes are designed to meet two different purposes: ECONOMY mode This operating mode is specially designed in order to extend the battery life.

  • Page 31: Can Network Mode

    2.3.4 CAN Network Mode ® In CAN Network mode you can control your motor through CANopen bus protocol. ® ® For further information about CANopen protocol, please refer to CiA DSP402 ® protocol (version 3.0.1.15) and UNDRIVE CANopen Manual. A description of the inputs and outputs connections for this operating mode is shown in Table 2.8 UNIDRIVE I/O definitions for Can Network Mode Table 2.8:...
  • Page 32 @ 6A IMPORTANT: GROUND CONNECTION 4mm² min VENDOR SPECIFIC BATTERY 24 to 48V The wiring diagram to connect your UNIDRIVE M Series - except the M4896-X Figure 2.10: Type - to your system in CAN Network. Chapter 2 Installation and Wiring...
  • Page 33 CAN Network Mode - Wiring Diagram [M4896-X Type] CAN ADDRESS ADR1 ADR0 NODE OPEN OPEN OPEN +24V +24V OPEN +24V +24V Note: CAN ADDRESS can be also set by telemetry panel from Node 1 to 127 SIGNAL CONNECTIONS 2A DELAYED 4A DELAYED OPTIONAL RS232-2 TX...

  • Page 34: Rs232 Mode

    ® Please pay particular attention when wiring CANopen connection: at both ends there must be a 120Ω resistor and the bus length must be the following: IT RATE US LENGTH 1 Mbit/s 25 m 500 Kbit/s 100 m 250 Kbit/s 250 m 125 Kbit/s 100 m...
  • Page 35 RS232 Mode - Wiring Diagram SIGNAL CONNECTIONS 2A DELAYED 4A DELAYED RS232-2 TX RS232-2 RX RS232-2 GND EMERGENCY 1A DELAYED SAFETY UNIDRIVE M Series OUT ENCODER A OUT ENCODER B BRAKE 24V CONTACTOR 24V POWER CONNECTIONS MAIN FUSE +OUT -OUT DC / DC Vbatt →...
  • Page 36 RS232 Mode - Wiring Diagram [M4896-X Type] SIGNAL CONNECTIONS 2A DELAYED 4A DELAYED RS232-2 TX RS232-2 RX RS232-2 GND 1A DELAYED EMERGENCY SAFETY UNIDRIVE M4896-X OUT ENCODER A OUT ENCODER B BRAKE 24V CONTACTOR 24V POWER CONNECTIONS MAIN FUSE +OUT -OUT DC / DC Vbatt →...

  • Page 37: Feedback Connector

    Feedback Connector J2 - FEEDBACK A female 9-pin connector ( ) is provided to connect the feedback board to the UNIDRIVE (See Figure 2.14). J2 - FEEDBACK Pin Assignments of the connector. Figure 2.14: Note J2 - FEEDBACK The pinout descriptions of connector depends on the type of feedback board mounted on your motor.

  • Page 38: Resolver

    2.4.1 Resolver J2 - FEEDBACK connector (See Figure 2.14) to Pinout Description of the Table 2.10: connect a Resolver to your UNIDRIVE. PERATING I/O T ESCRIPTION ANGE DRIVING From -5 to +5 V Mandatory The negative Driving signal SIGNAL - THERMAL Optional Temperature sensor...

  • Page 39: Sincos Encoder

    2.4.2 SinCos Encoder J2 - FEEDBACK connector (See Figure 2.14) to Pinout Description of the Table 2.11: connect a SinCos Encoder to your UNIDRIVE. PERATING I/O T ESCRIPTION ANGE +5 V V = +5 V Mandatory SinCos Supply From -5 to +5 V Mandatory Sine Signal From -5 to +5 V...

  • Page 41: Configuration

    Configuration This chapter covers what you need to know to configure your UNIDRIVER M Series via Telemetry Panel. Warning This part of the manual assumes that UNIDRIVE was wired up correctly by following methods described in Chapter 2. Telemetry Panel allows the adjustment of a wide range of parameters through the USB port in order to customize the vehicle’s performance characteristics.

  • Page 42: Connect Unidrive To Your Pc

    Autotuning The gain parameters for closed-loop current control and offset value of Resolver/SinCos can be estimated in Autotuning tab. Car EV Mode In this tab you can configure specific programmable parameters and see telemetry data for EV mode. Steering Mode Steering Mode is an advanced operating mode of UNIDRIVE.

  • Page 43: Change Programmable Parameters

    When the progress bar is running, Telemetry Panel downloads data from .cfg Figure 3.2: file to UNIDRIVE. • In oder to import parameters from file and download them on to UNIDRIVE: Move to Programmable Parameters tab. Select the File Menu and click on Open option. Select the desired .cfg file and wait for the progress bar to get completely green (Figure 3.2).

  • Page 44: Operating Mode And Controller Parameters

    Programmable Parameters tab allows you to read and change the main Figure 3.3: programmable parameters and set the operating mode. In Programmable Parameters tab (Figure 3.3) you can read and change the main programmable parameters and set the operating mode of UNIDRIVE (Standalone,PLC,etc). After connecting your UNIDRIVE to PC and stopping the motor, the values can be changed in Programmable Parameters tab.
  • Page 45 Note The gain parameters for closed-loop position control will only processed ® if configuration is CANopen and mode of operation is Interpolated Position Mode. Speed closed loop This text box is only valid for DC motor. Feedback inversion This text box is only valid for DC motor. Encoder inversion This text box is only valid for DC motor.

  • Page 46: Motor And Acceleration Parameters

    3.4.2 Motor and Acceleration Parameters Up slope Lower values indicate a longer acceleration time and a more gradual departure, while bigger values indicate a faster acceleration. The implemented ® ramp is linear. This parameter is also programmable by CANopen protocol. ALUE ALUE 35 ·...

  • Page 47: Canopen ® Parameters

    ALUE ESCRIPTION Direction inversion is realized through direction digital input 0 - 10 (DIR/FORWARD). When the potentiometer value is between 5 and 10 V speed reference is 0-5 - 10 positive. When it is less than 5 V speed reference is negative. Direction inversion is realized through direction digital input 0 - 5 (DIR/FORWARD)

  • Page 48: Locked Parameters

    Note ® The CANopen values will only processed if UNIDRIVE works in CAN Network or PLC configuration. 3.4.5 Locked Parameters In Programmable Parameters tab there are a few programmable parameters which their text-boxes are disabled but filled with a value (Figure 3.4). You can unlock them and change their value.
  • Page 49 Parameters Figure 3.4: Programmable there some parameters locked. You can unlocked them after clicking on Change Locked Parameters button. parameter indicates the phase advance angle with respect to back-EMF of phase current. ALUE ALUE a.u. Tips and Advice Motors whose inductance value is high might require a high value of phase advance angle.
  • Page 50 intervenes only after one minute from brake activation. Its value must be less than 50%. Resolver/SinCos offset This parameter is only valid for Motor with Resolver or SinCos Encoder. Offset to sum to resolver/encoder position. ALUE ALUE 359.99 degree Tips and Advice Resolver/SinCos offset value can be calculated by using Telemetry Panel.

  • Page 51: Advanced Parameters

    Back-EMF sample period This text box is only valid for DC motor. This text box is only valid for DC motor. 3.4.6 Advanced Parameters Adavanced tab allows you to read and change some more programmable parameters (Figure 3.5). firmware version, serial number, Some information about UNIDRIVE - such as ®...
  • Page 52 Motor voltage It shows the actual value of motor voltage. It is given in arbitrary unit. In Advanced tab you can also modify the following programmable parameters: Torque constant This variable permits to convert motor torque current from ® Amperes to N ·m. This parameter is also programmable by CANopen protocol.
  • Page 53 Emergency input fault If emergency input fault is ON, when emergency input gets low motor will stop with alarm; otherwise motor will only stop with ramp. Alarm output N.L. logic This textbox is disabled for UNIDRIVE H Series in standard operating mode.

  • Page 54: Auto-Tuning Unidrive Parameters

    TPD02 transmission type It sets the type of transmission for TPDO2. It’s only ® ® processed if configuration is CANopen and can be programmable by CANopen protocol also. ALUE ALUE integer RPD02 transmission type It sets the type of transmission for RPDO2. It’s only ®...

  • Page 55: Offset Resolver/Sincos

    To calculate Kp and Ki values by Telemetry Panel: Move to Autotuning tab (Figure 3.6). Insert the Winding resistance and Winding Inductance value. Click on Calculate button. Telemetry Panel shows you the value of Kp and Ki and gets you some information (Cut Frequency, Motor RL Constant, PWM attenuation) which can be useful to tune Kp and Ki parameters.
  • Page 56 Telemetry Panel helps you to find the correct value of offset Resolver/SinCos Figure 3.7: value (a). In case you’ve mounted a SinCos Encoder on your motor, you must before running the SinCos adjustment function Note For SinCos Encoder: Before finding the correct offset value, you must run the SinCos adjustment function (Figure 3.7b).

  • Page 57: Ev Mode

    Brake state This led reflects the brake setting: when brake is locked led is green, when unlocked led is yellow. When led is red, it indicates a brake failure. EV Mode EV mode is specially designed to control motors mounted in Electric Vehicles (EV).
  • Page 58 Figure 3.8: In Car EV mode tab you can configure specific programmable parameters and see telemetry data for this operating mode. Slope threshold At above this value of phase current, UNIDRIVE uses the Fast slope to give a more responsive feel, below this value the drive uses the Slow slope in order to provide a smoother ride to increase the driver’s comfort.
  • Page 59 Battery VmaxL If the battery voltage is below this value, UNIDRIVE decreases the power output by 1 KW each 10s. This function is designed to slow down and stop the vehicle in safety conditions. ALUE ALUE V olt Potentiometer upper threshold This value sets the upper threshold of potentiometer.
  • Page 60 Lever inversion When turned ON, the BACKWARD (P 14) and FORWARD (P 15) inputs are inverted. Direction inversion It allows you to invert the stated direction. Reduction ratio In case you use a reduction gear, in this text-box you should insert the Reduction ratio.

  • Page 61: Monitoring Unidrive

    Monitoring UNIDRIVE After wiring up correctly UNIDRIVE (See Chapter 2) and adjusting the programmable parameters (See Chapter 3), you are finally ready to test your system. Warning Before starting the test, you had better lift your vehicle up. The driving wheels must be off the ground and free to rotate.
  • Page 62 Tips and Advice In order to test your device for the first time, we suggest to select RS232 (in Speed or Torque mode) as Configuration in Programmable Parameters tab. So you will be able to manually set the target velocity of your motor (See Section 2.3.5 and Section 4.2.4).
  • Page 63 Telemetry Panel displays a wide range of telemetry data and enables you to plot Figure 4.1: or log these data over time. Reading Telemetry Data from Telemetry Panel...

  • Page 64: Alarm Indicators

    Analog input 2 This textbox displays the input voltage of AIN / WIPER POT 2 input 20). Output Power It shows the relative electrical output power. Actual position It shows the actual of position control closed-loop. This parameter is processed only for CAN Network configuration when the operational mode is Interpolated position mode.

  • Page 65: Reset All Current Alarms

    Communication timeout This alarm happens when configuration is Steering and driver measure a communication timeout. Feedback This alarm indicates that the feedback cable isn’t properly connected or that the feedback is broken. Overcurrent It happens whenever one of the modules of three current phases is higher than a threshold.

  • Page 66: Digital I/O And Drive State Indicators

    Tips and Advice It’s also possible to reset all running alarms with a rising edge signal (transition from low to high) at the P 28 (RESET ALARM) in Standalone, EV and PLC configuration and with a fault reset command if you employ CAN telemetry protocol.

  • Page 67: The Target Velocity/Torque Track Bar

    TATUS EANING Green The relay is enabled Yellow The relay is disabled 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).

  • Page 68: Plot And Log Telemetry Data In Real-Time

    This track bar allows you to manually set the target velocity - or torque - value of your Motor from 0 to the Max value that you have set as the Max motor Speed (See Section 3.4.2). The sign of value determine the direction of rotation: ALUE IRECTION OF OTATION...

  • Page 69: Plotting And Logging Telemetry Data With Telemetry Panel

    Plotting and logging telemetry data with Telemetry Panel. Table 4.2: UTTON UNCTION UTTON UNCTION Play Button Pause Button Start to plot telemetry data Stop plotting telemetry data Save Button Stop Button Start to log telemetry data Stop collecting telemetry data Select one or more (max four) telemetry data that you’ll want to observe from TRACE 1, TRACE 2,TRACE 3 or TRACE 4 list (Figure 4.3).

  • Page 71: Maintenance

    UNDRIVE. You can read these messages in 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 enables you to control your UNIDRIVE and read a wide range of telemetry data (See Chapter 4).

  • Page 73: A Troubleshooting: Alarm Messages

    This section covers only the common and likely causes of alarm messages and actions that should be taken by the operator. UNIDRIVE alarms can be interpreted using the Telemetry Panel (See Chapter 5), Elife Diagnostic Display ® or can be read through the CanOpen Protocol also.
  • Page 74 Following Alarm DESCRIPTION This kind of alarm happens when the detected speed is less than 80% or more than 120% over the set time period (See Section 3.4.6). UNIDRIVE BEHAVIOUR UNIDRIVE stops motor rotation with emergency slope (disabling power relay and three-phase bridge) and unlocks motor brake. POSSIBLE TROUBLESHOOTING ISSUE There are two possible reasons for this alarm: the phase current isn’t sufficient to accomplish operation or your motor is...
  • Page 75 Communication timeout Alarm DESCRIPTION This alarm happens when configuration is Steering and master measure a communication timeout. UNIDRIVE BEHAVIOUR UNIDRIVE stops motor rotation with emergency slope (disabling power relay and three-phase bridge) and unlocks motor brake. POSSIBLE TROUBLESHOOTING ISSUE Check configuration and wiring between the UNIDRIVE and master (See UNIDRIVE - Steering Mode Manual).
  • Page 76 If these checks failed, you must: Check the correct connection between motor housing appropriate terminal and driver negative terminal (-). Check electrical isolation between every phase and motor housing. Pass feedback cable as far as possible from power cables. Check the correct Resolver/SinCos installation within motor. Overcurrent Alarm DESCRIPTION It happens whenever one of the modules of three current phases is...
  • Page 77 Overvoltage Alarm DESCRIPTION This error is showed when bus voltage is higher than 80 V for 24 ÷ 48 models and 122 V for 48 ÷ 96 models. UNIDRIVE BEHAVIOUR UNIDRIVE stops motor rotation with emergency slope (disabling power relay and three-phase bridge) and unlocks motor brake. POSSIBLE TROUBLESHOOTING ISSUE There are two possible explanation for this alarm:...
  • Page 78 Motor overtemperature Alarm DESCRIPTION This alarm appears when: • Motor temperature exceeds Maximum motor temperature value if set Temperature probe type is KTY83/122 or KTY84/130. • Motor temperature sensor isn’t connected if Thermostat is selected as Temperature probe type. UNIDRIVE BEHAVIOUR UNIDRIVE stops motor rotation with emergency slope (disabling power relay and three-phase bridge) and unlocks motor brake.
  • Page 79 Other DESCRIPTION This alarm is showed when bus voltage is lower than 12 V. UNIDRIVE 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. •...

  • Page 81: B Index Of Programmable Parameters

    Index of Programmable Parameters Index of UNIDRIVE Programmable Parameters in alphabetical order. Table B.1: PERATING ANGE ROGRAMMABLE EFERENCE ® by C UNIT allowed values Pag. 43 Analogic input allowed values Pag. 48 Analog output Analog output allowed values Pag. 48 function Backward maximum 7000...
  • Page 82 . . . continued from previous page PERATING ANGE ROGRAMMABLE EFERENCE ® UNIT by C °C Pag. 41 Max drive temperature (176) (230) (°F) • 7000 Pag. 42 Max motor speed Max speed at slow 7000 Pag. 42 mode °C Maximum motor Pag.
  • Page 83 . . . continued from previous page PERATING ANGE ROGRAMMABLE EFERENCE ® UNIT by C • Pag. 42 Up slope • • a.u. 1024 Pag. 40 Velocity Loop Ki • 4096 Pag. 40 Velocity Loop Kp a.u. Concluded...
  • Page 84 © Elife International 2016 www.elifeinternational.com...

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