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Deif IMD 100 Integration Manual

Deif IMD 100 Integration Manual

Integrated motor drive
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INTEGRATION MANUAL
Integrated motor drive
IMD 100
DEIF A/S ∙ Frisenborgvej 33 ∙ DK-7800 Skive
Document no.: 4189360015 Rev.: E
Tel.: +45 9614 9614 ∙ Fax: 9614 9615
Date: 2020-01-31
Info@deif.com ∙ www.deif.com/wind-power
Language: EN-GB

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  • Page 1 INTEGRATION MANUAL Integrated motor drive IMD 100 DEIF A/S ∙ Frisenborgvej 33 ∙ DK-7800 Skive Document no.: 4189360015 Rev.: E Tel.: +45 9614 9614 ∙ Fax: 9614 9615 Date: 2020-01-31 Info@deif.com ∙ www.deif.com/wind-power Language: EN-GB...
  • Page 2 IMD 100 Integration manual 4189360015 Rev. E Disclaimer The contents of this document are subject to revision without notice. DEIF A/S shall have no liability for any error or damages of any kind resulting from the use of this document.

  • Page 3: Table Of Contents

    IMD 100 Integration manual 4189360015 Rev. E Contents Contents Introduction ........................9 Conventions ........................10 Safety precautions ......................11 Mechanical work ......................11 Electrical work ........................ 11 Thermal precautions ...................... 13 Avoiding damage to the IMD ..................14 Switching mains ON and OFF..................14 Overloading the ballast resistor ..................
  • Page 4 IMD 100 Integration manual 4189360015 Rev. E Contents Functions description ....................49 IMD states ........................49 Internal flags ........................55 Safe energy monitoring....................56 Brake control ........................57 6.4.1 Brake engagement ....................58 6.4.2 Brake release ......................59 Communication ......................60 CAN/CANopen interface ....................
  • Page 5 IMD 100 Integration manual 4189360015 Rev. E Contents 8.6.2 Configuring additional motor parameters ............. 107 8.6.3 Configuring volt/freq control for async. motor ............108 Configuring SE charger parameters (option) ............. 109 8.7.1 Charger configuration management ..............109 8.7.2 Configuring the charger with a script ..............109 8.7.3 Configuring the charger manually ................
  • Page 6 IMD 100 Integration manual 4189360015 Rev. E Contents 9.8.2 Activation ......................127 9.8.3 Operation ......................127 9.8.4 Deactivation ......................127 Using an SSI Encoder to determine blade position ........... 128 9.9.1 Retrieving position from single-turn encoder ............128 9.9.2 Retrieving position multi-turn encoder ..............128 9.10...
  • Page 7 IMD 100 Integration manual 4189360015 Rev. E Contents 10.3.1 Converting power module temperature (T-igbt) ..........140 10.3.2 Converting motor temperature (T-motor, KTY 84 sensor) ........142 10.3.3 Converting motor temperature (T-motor, Pt100 sensor) ........146 10.3.4 Converting temperature Pt100 sensor (Pt1 to Pt4) ..........149 10.3.5 Converting (internal) air temperature (T-air) ............
  • Page 8 IMD 100 Integration manual 4189360015 Rev. E Contents 13.3.1 Charger parameters ..................191 14. Revision history ......................194 15. Product user documentation ..................196 16. Glossary ........................199 16.1 Terms and abbreviations ..................... 199 16.2 Units ..........................200 www.deif.com/wind-power Page 8 of 200...

  • Page 9: Introduction

    Introduction 1. Introduction This document describes the IMD 100 in details to enable the integration of the IMD in a pitch system. It is intended for customers R&D personnel, who will integrate the IMD in the pitch system. All aspects of the integration are included in this manual: •...

  • Page 10: Conventions

    When “current” is used it always means electrical current. When a reference Current to time is made “present” or “ongoing” are used. When the IMD is mentioned, it means the IMD 100 series Binary description In binary descriptions the first bit is bit zero www.deif.com/wind-power...

  • Page 11: Safety Precautions

    IMD 100 Integration manual 4189360015 Rev. E Safety precautions 2. Safety precautions Attention The permitted environmental conditions must be observed. EN 60204, and relevant local regulations must be observed. Power supply of protection class I and of protection degree IP20. Do not use outside or in wet or damp rooms.
  • Page 12 IMD 100 Integration manual 4189360015 Rev. E Safety precautions Danger! Risk of burns and electrical shock from short circuit, electrical arc and uninsulated wires. Live work is not permitted, except for during test, verification, commissioning, and service. Observe local regulation when working with electrical components.

  • Page 13: Thermal Precautions

    IMD 100 Integration manual 4189360015 Rev. E Safety precautions 2.3 Thermal precautions Info During operation, the IMD can reach high surface temperatures. The temperature levels depend on the ambient temperature inside and outside the cabinet. Warning! Risk of severe burns.

  • Page 14: Avoiding Damage To The Imd

    IMD 100 Integration manual 4189360015 Rev. E Avoiding damage to the IMD 3. Avoiding damage to the IMD Certain situations may result in product damage and should therefore be avoided by observing the precautions described in this section. These situations are not likely to occur under normal use of the IMD, but might occur in the lab or during service.

  • Page 15: Mechanical Integration

    IMD 100 Integration manual 4189360015 Rev. E Mechanical integration 4. Mechanical integration This section describes the mechanical aspects of the IMD. See IMD 100 Datasheet for physical dimensions. 4.1 Integrating the IMD in a cabinet 4.1.1 Environmental requirements The IMD must be mounted in a closed cabinet where the requirements for ingress protection of components do not exceed IP 20.
  • Page 16 Risk of heat hazard 4.1.2.2 Cabinet cooling considerations The ambient temperature range defined in the IMD 100 Datasheet must be maintained at all times. This also applies inside the cabinet, where the IMD itself also contributes with heat radiation, mainly because part of the heat sink is located inside the cabinet.
  • Page 17 IMD 100 Integration manual 4189360015 Rev. E Mechanical integration Heat sink 80 mm 80 mm inside cabinet 50 mm 25 mm 20 mm 20 mm 25 mm 80 mm 80 mm Outside cabinet (back) inside cabinet (front) Figure 5 IMD 122 C free space requirements Note for IMD 122 C: The space indicated above the IMD outside the cabinet (50 mm) is the minimum space with regards to ventilation.

  • Page 18: Mounting Of The Imd In The Cabinet

    IMD 100 Integration manual 4189360015 Rev. E Mechanical integration 4.1.3 Mounting of the IMD in the cabinet A rectangle hole and 14 x ⌀7 mm holes for M6 bolts must be made in the cabinet where the IMD is to be mounted.
  • Page 19 In order to ensure that the gasket is properly compressed, the optional mounting frame can be used. All needed material is delivered in the package, 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.

  • Page 20: Electrical Hw Connections And Requirements

    IMD 100 Integration manual 4189360015 Rev. E Electrical HW connections and requirements 5. Electrical HW connections and requirements This section describes in details the electrical requirements for all terminations of the IMD. The following figures illustrates the variants of the IMD with their HW functions:...
  • Page 21 IMD 100 Integration manual 4189360015 Rev. E Electrical HW connections and requirements X1: mains X7: 24 V DC EMC filter EMC filter GND_24 AC monitoring X2:Motor Rectifier brake 24 V Grid + 5 V Resolver X9:Digital inputs On/Off  15 V RFE,RUN, Galv.
  • Page 22 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. Following is an overview of the connections that need to be made.

  • Page 23: Shielding And Emc

    IMD 100 Integration manual 4189360015 Rev. E Electrical HW connections and requirements Connector type on IMD IMD connector designation Direct / removable connector M5 threaded rod with X1 (PE terminal) Direct (PE/Earth) nuts (IMD 122 A, B, C early production)
  • Page 24 IMD 100 Integration manual 4189360015 Rev. E Electrical HW connections and requirements 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 of the protection:...

  • Page 25: Power Connections (X1)

    IMD 100 Integration manual 4189360015 Rev. E Electrical HW connections and requirements Attention The use of shield to ground (with a pigtail) is not recommended. Do not use shield to ground (with a pigtail) and to PE 5.2 Power connections (X1) Danger! Risk of burns and electrical shock from short circuit, electrical arc and uninsulated wires.

  • Page 26: Motor Connections Requirements

    IMD 100 Integration manual 4189360015 Rev. E Electrical HW connections and requirements 5.2.1 Motor connections requirements The motor connections are the output from the IMD to the motor. The requirements for the motor used with the IMD are listed in the following table:...
  • Page 27 IMD 100 Integration manual 4189360015 Rev. E Electrical HW connections and requirements Max. 10 m Motor Brake Temp. sensor Figure 15 Requirements for motor cable shielding (example) The brake wires are typically part of the motor cable. They are connected to X2, see constraints on...

  • Page 28: Mains Supply Connections Requirements

    V motor output X1, Motor, 12 U motor output See IMD 100 Installation instructions for instructions about preparing the motor cable for connections, and how to use the connectors. 5.2.2 Mains supply connections requirements The mains connection is used to connect the IMD to the grid. The connection must have protective earthing.
  • Page 29 X1, Mains, 5 L1 Mains power input X1, Mains, 6 L2 Mains power input X1, Mains, 7 L3 Mains power input See IMD 100 Installation instructions for instructions about how to use the connectors. www.deif.com/wind-power Page 29 of 200...

  • Page 30: Safe Energy Connection Requirements

    IMD 100 Integration manual 4189360015 Rev. E Electrical HW connections and requirements 5.2.3 Safe energy connection requirements Safe energy source can be either batteries or ultra-caps. See IMD 100 Datasheet for Safe energy specifications. Requirements for external components connected to the Mains input: Main circuit Optional.
  • Page 31 Dimensioning and implementing another ballast resistor must only be done by experts. The minimum ballast resistor value must ensure that the current to the resistor does not exceed the specification in the IMD 100 Datasheet. The current also depends on the configured DC- link maximum value (see section 8.4.2...

  • Page 32: Peripheral And Temperature Connections (X2, X3, X4, X5)

    IMD 100 Integration manual 4189360015 Rev. E Electrical HW connections and requirements 5.3 Peripheral 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.

  • Page 33: Connecting The Temperature Sensors (X3, Optional)

    See wire cross section constraints in Table 2 on page (FK-MCP 1.5). Info The accuracy of the temperature measurements might be impacted if the temperature sensor’s wires are long. See accuracy specification in the IMD 100 Datasheet. www.deif.com/wind-power Page 33 of 200...

  • Page 34: Connecting The Resolver (X4)

    IMD 100 Integration manual 4189360015 Rev. E Electrical HW connections and requirements 5.3.3 Connecting the resolver (X4) The resolver is a measuring system for a motor revolution. It is robust and insensitive to high temperature. The architecture of a resolver corresponds to a rotating transformer. The IMD is compatible with most industrial resolvers.
  • Page 35 IMD 100 Integration manual 4189360015 Rev. E Electrical HW connections and requirements Terminal no. Terminal text Description PT 4 - 2 PT 100 temp. sensor 4 - 2 (Motor) KTY - KTY temp. sensor - (Motor) Reference potential Figure 20...

  • Page 36: Connecting The Ssi (X5), Optional

    IMD 100 Integration manual 4189360015 Rev. E Electrical HW connections and requirements 5.3.3.1 Cable requirement Use only shielded resolver cables with twisted pairs. 5.3.3.2 Connector housing requirements Use metal or metalized 9 pole male D-sub housing. All shields must be connected to the connector housing.
  • Page 37 IMD 100 Integration manual 4189360015 Rev. E Electrical HW connections and requirements Figure 22 SSI encoder D-sub connection Info Colour 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.
  • Page 38 IMD 100 Integration manual 4189360015 Rev. E Electrical HW connections and requirements Unit Specifications Note SSI Encoder type Absolute encoder, single-turn, Incremental encoder is not or multi-turn supported SSI encoder supply V DC 5 or 24 voltage SSI encoder current A DC 24 V DC: Max.

  • Page 39: Communication

    IMD 100 Integration manual 4189360015 Rev. E Electrical HW connections and requirements 5.4 Communication 5.4.1 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.
  • Page 40 GND the communication might get unstable, and it is not possible to predict beforehand whether it will happen or not. DEIF recommends to use cables that have either an extra twisted pair or an extra inner shield in order to be able to connect the common GND between the units.

  • Page 41: Connecting 24V, Digital And Safety I/O (X7, X8, X9)

    See detailed description of how to connect wires to the female connector and how to connect/disconnect the female to the male connectors in the IMD 100 Installation instructions. See detailed description of the functions of the connections in the IMD function description.
  • Page 42 IMD 100 Integration manual 4189360015 Rev. E Electrical HW connections and requirements Typical implementation of circuit for digital input: + 24 V DC + 24 V DC To IMD To IMD digital input digital input Figure 27 Typical digital input interfaces The digital input wires are connected to the female connector as follows: Terminal no.

  • Page 43: Connecting Safety I/O And Digital Outputs (X8)

    IMD 100 Integration manual 4189360015 Rev. E Electrical HW connections and requirements Terminal no. Terminal text Description Ground DI 5 Digital input 5 DI 6 Digital input 6 DI 7 Digital input 7 DI 8 Digital input 8 Digital input 9, (reserved for manual operation 360 “360 DI 9 enabled”...
  • Page 44 IMD 100 Integration manual 4189360015 Rev. E Electrical HW connections and requirements The wires are connected to the female connector as follows: Terminal no. Terminal text Description SCI 1.1 Safety-chain input channel 1 (+) SCI 1.2 Safety-chain input channel 1 (-) SCI 2.1...
  • Page 45 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.

  • Page 46: Connecting 24V (X7)

    IMD 100 Integration manual 4189360015 Rev. E Electrical HW connections and requirements output. When the fuse is cooled down, it will automatically 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:...
  • Page 47 IMD 100 Integration manual 4189360015 Rev. E Electrical HW connections and requirements Without “24 VDC out” option External Power supply Load With “24 VDC out” option External Power supply Note: The external power supply voltage must be lower than the...
  • Page 48 IMD 100 Integration manual 4189360015 Rev. E Electrical HW connections and requirements Without “24 VDC out” option: Table 5 Internal power supply output and external power supply input specifications Output voltage 24 ± 2% V DC 6 A – brake current – SSI encoder current, (the actual...

  • Page 49: Functions Description

    This section describes in more details functions that are not described or described in a high-level manner in the 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.
  • Page 50 IMD 100 Integration manual 4189360015 Rev. E Functions description Figure 30 IMD states www.deif.com/wind-power Page 50 of 200...
  • Page 51 IMD 100 Integration manual 4189360015 Rev. E Functions description The following table describes the states of the IMD (some states are omitted since they will not be seen by the user). In the conditions to proceed column, the conditions for leaving the state are given.
  • Page 52 IMD 100 Integration manual 4189360015 Rev. E Functions description Name Description Conditions to proceed • PwrOn not Power on not parked. This state is entered if Error is active parked no limit switch is activated at start-up, and • Auto safety run enabled = 0: thus the position is unknown.
  • Page 53 IMD 100 Integration manual 4189360015 Rev. E Functions description Name Description Conditions to proceed • Clear errors Safety run An error occurs during the safety run. pending • Safety run The performed safety run ended with If S-run restart@LS1 off is succeeded activation of a limit switch.
  • Page 54 IMD 100 Integration manual 4189360015 Rev. E Functions description Name Description Conditions to proceed • Active error – will proceed to Safety run The IMD executes a safety run: the motor step 1 runs with the configured speed until a limit...

  • Page 55: Internal Flags

    IMD 100 Integration manual 4189360015 Rev. E Functions description Table 7 IMD special commands description Name Description Conditions to proceed • Idle command in Safe energy Different stages of the SE test. special commands (SE) test • Idle command in Pre-heat on The IMD heats the motor.

  • Page 56: Safe Energy Monitoring

    IMD 100 Integration manual 4189360015 Rev. E Functions description Flag Register Description Mains 0xD8 bit 14 State of the connection between 400VAC to the DC-link. disconnected 1: DC-link is disconnected 0: DC-link is connected Note: this flag is used in the IMD Manager to show the power source of the DC-link.

  • Page 57: Brake Control

    IMD 100 Integration manual 4189360015 Rev. E Functions description 6.4 Brake control The brake system is an integrated part of the pitch system. The brake is a negative brake, which means, that it is spring activated and brakes the blade motor whenever there is no power applied to the brake.

  • Page 58: Brake Engagement

    IMD 100 Integration manual 4189360015 Rev. E Functions description 6.4.1 Brake engagement Once the Run input is set to Low, the IMD will stop the blade motor motion with the pre-configured (ramp limit) deceleration ratio. When the speed is zero, after 50 ms fixed delay, the brake output is turned ON.

  • Page 59: Brake Release

    IMD 100 Integration manual 4189360015 Rev. E Functions description 6.4.2 Brake release When the RUN input is set to high, The IMD starts the modulation to fix the blade motor position. After 50% of the brake delay has passed, the brake output is turned off. When 100%of the brake delay has passed, the IMD will ramp up the speed in order to pitch the blade to the desired position.

  • Page 60: Communication

    IMD 100 Integration manual 4189360015 Rev. E Communication 7. Communication There are two ways to communicate with the IMD: • CAN/CANopen • Serial interface over USB (Service) The CAN/CANopen communication is used for communication with the Pitch Motion Controller (PMC) or the main controller if the pitch motion controller is implemented in the main controller application.

  • Page 61: Can Proprietary Interface

    The CAN interface implementation in the IMD is a proprietary protocol, which is a simpler variant of the CANopen. However, if nodes other than IMDs and DEIF PMC or DEIF main controller are to be implemented in the same network, it is recommended to use CANopen, which is a universal protocol.
  • Page 62 IMD 100 Integration manual 4189360015 Rev. E Communication 7.1.2.1 Communication with charger over proprietary CAN Always use 0x8011 command to read or write charger parameters. Find the parameter sub object ID in section 13.3.1 on page 191. Read from the charger:...

  • Page 63: Canopen Interface

    IMD 100 Integration manual 4189360015 Rev. E Communication 7.1.3 CANopen interface See section 13.3 on page for a description and a list of parameters (CANopen objects). Info CANopen uses little-endian format. That means that the least significant byte is sent first and the most significant byte is sent last.
  • Page 64 IMD 100 Integration manual 4189360015 Rev. E Communication at restart due to 0 value of register and CAN ID switch. At next restart: the content of reg. 0x68 will be automatically changed back from 1 to 0 and Node ID = base node ID + CAN The CAN ID switch is changed ID switch will be used.
  • Page 65 IMD 100 Integration manual 4189360015 Rev. E Communication Example of enabling N-clip, setting speed value, and setting RO on in IMD with Node ID 1: Data Interpretation 40 00 20 4E 00 01 Device mode (Reg. 0x51): 00 40 0000 0000 0100 0000...
  • Page 66 IMD 100 Integration manual 4189360015 Rev. E Communication Info The IMD will always execute the last sent RPDO. If a position command is sent (RPDO1) and a following speed command (RPDO2) are sent, the IMD will not stop at the position of the first PDO, but will continue with the speed and direction specified in RPDO2 that was the last sent RPDO until another RPDO is sent making it stop.
  • Page 67 IMD 100 Integration manual 4189360015 Rev. E Communication Table 16 TPDO3 mapping Reports: General IMD status, Digital output status COB ID: 380+node id Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Drive status (Obj. 0x2040) Logic in block (Obj.

  • Page 68: Serial Data Interface

    IMD 100 Integration manual 4189360015 Rev. E Communication 7.1.3.4 Using Service Data Objects (SDOs) SDO service can be used to read data from or write data to an object in the IMD, provided the object has a CAN ID (20xx). Read or write operations might be limited depending on the access type of the specific object.
  • Page 69 IMD 100 Integration manual 4189360015 Rev. E Communication Sending from the PC to the drive Drive response to the PC Char1 Char2 Char3 Char4 Char5 Char6 Char7 Byte1 Byte2 Reg. ID Reg. Data Data Data Data Sync Data Data Bits...

  • Page 70: Imd Configuration

    IMD 100 Integration manual 4189360015 Rev. E IMD configuration 8. IMD configuration This section describes how to configure the IMD in a specific setup (such as motor, resolver brake and so on). When the configuration is finished and verified, it can be saved as a configuration file created for use in installation process during production.

  • Page 71: Safety

    IMD 100 Integration manual 4189360015 Rev. E IMD configuration 8.2 Safety See safety precautions in section on page 11. 8.3 Turning the power on Ensure that all connections to the IMD are made. Attention It is important that the Mains (400 V AC) is turned on before the safe energy is connected in order to pre-charge the DC-link capacitors and prevent excessive in-rush current from the safe energy source.
  • Page 72 IMD 100 Integration manual 4189360015 Rev. E IMD configuration Figure 34 Motor data in IMD Manager configuration 1/3 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...
  • Page 73 25365 26891 26512 See description of function in IMD 100 function description. Special considerations when PTC is used: PTC is a nonlinear sensor. While a MOTORTEMP warning will still be active at 87.5% of max motor temp, it will most likely come at the same time as the MOTORTEMP error. The PTC typical www.deif.com/wind-power...
  • Page 74 IMD 100 Integration manual 4189360015 Rev. E IMD configuration resistance characteristics are depicted in the following figure: -5K T Resistance () 1330 T REF Temperature (°K) It is the PTC Tref (also called Tn) that is the decisive factor for the triggering of the MOTORTEMP error.
  • Page 75 IMD 100 Integration manual 4189360015 Rev. E IMD configuration 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.
  • Page 76 IMD 100 Integration manual 4189360015 Rev. E IMD configuration Table 18 Motor data for configuration: Motor data Value Comments I max 188 Apk equals 133 Arms I nom 37.9 Number of motor poles Temperature Received from manufacturer: PTC sensor type thermistor is mounted, which is very similar to KTY 84.
  • Page 77 IMD 100 Integration manual 4189360015 Rev. E IMD configuration I max to rated ration Number Brake Brake of Poles delay delay Temperature sensor Cos Phi F nom temperature Insulation N nom class V nom I nom I max = I nom* ratio www.deif.com/wind-power...
  • Page 78 IMD 100 Integration manual 4189360015 Rev. E IMD configuration The resolver in this example is an external resolver: According to Baumer’s data sheet “P1” in the type number indicates the number of pole pairs: 1 pole pair = 2 poles.

  • Page 79: Configuring The General Servo Fields

    IMD 100 Integration manual 4189360015 Rev. E IMD configuration 8.4.2 Configuring the general servo fields The “Servo” fields are general configurations of the IMD. The red dashed rectangle in the following figure shows the parameters that are to be configured.
  • Page 80 IMD 100 Integration manual 4189360015 Rev. E IMD configuration There are several thresholds (settings, errors and warnings) which are related to the voltages on the DC-link. These are depicted in the following figure, and described after the figure: DC-link voltage...
  • Page 81 IMD 100 Integration manual 4189360015 Rev. E IMD configuration The nominal voltage of the DC-link must be considered when configuring the DC-Vmax. Determine the nominal voltage by: nominal voltage = Mains input voltage * S2. Typical values of DC-link maximum voltages are:...
  • Page 82 IMD 100 Integration manual 4189360015 Rev. E IMD configuration used, use a higher factor since the IMD would then be able to brake / decelerate more before generating a Ballast energy overload error. • Motor PWM freq.: Switching frequency of the motor output. Higher frequency will cause higher switching loss, and therefore higher heat dissipation in the IMD.
  • Page 83 IMD 100 Integration manual 4189360015 Rev. E IMD configuration Parameter Value Description DC-link Vmax Default DC-link Vmax is used since the mains voltage is not above 440 V AC. DC-link Vlow If the DC-link voltage is down to 300 V DC, it means that the ultra-caps are also at 300 V DC which is far under their nominal 450 V DC.
  • Page 84 IMD 100 Integration manual 4189360015 Rev. E IMD configuration Parameter Value Description Axis label BL-1 Identifying name for the IMD. Here BL(ade)-1 is used. Mains voltage Standard 3 x 400 V AC is used DC-link Vmax Default DC-link Vmax is used since the mains voltage is not above 440 V AC.

  • Page 85: Configuring The Safety Run Fields

    IMD 100 Integration manual 4189360015 Rev. E IMD configuration 8.4.3 Configuring the safety run fields The “Servo” fields are general configurations of the IMD. The red dashed rectangle in the following figure shows the parameters that are to be configured.
  • Page 86 IMD 100 Integration manual 4189360015 Rev. E IMD configuration The function ensures that the safety run has actually moved the blade to stop position and in case a foreign object (can be a debris from the hub or blade such as loos bolts and so on) has activated the limit switch during the safety run, thus ending the safety run before the blade has actually reached stop position.

  • Page 87: Configuring The Can Bus

    IMD 100 Integration manual 4189360015 Rev. E IMD configuration The position of the resolver must be calibrated when using a speed profile. Calibration is done placing the blade in position zero and using the Preset pos. function to set the number of resolver revolutions to zero (see section 9.11...
  • Page 88 IMD 100 Integration manual 4189360015 Rev. E IMD configuration • 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”).

  • Page 89: Configuring Pre-Heating

    IMD 100 Integration manual 4189360015 Rev. E IMD configuration Example: Executing special command 5 will start a PWM of 28% duty SE-test single pulse: Short cycle (28% on, 72%off) until special command 6 is executed. Test PWM/time: 28% / 0.6s@100% Executing special command 15, will connect the ballast resistor for a period of 0.6 seconds, and then disconnect it.

  • Page 90: Configuring Manual Operation

    IMD 100 Integration manual 4189360015 Rev. E IMD configuration The actual position shows the actual position of the motor in full revolutions for information purpose. 8.4.8 Configuring manual operation Manual operation has the following configuration parameters that must be configured before it can be used: •...

  • Page 91: Configuring Input-Output Logic

    IMD 100 Integration manual 4189360015 Rev. E IMD configuration 8.4.9 Configuring input-output logic Attention Configuration of external fan control (if mounted in the IMD) and limit switch are mandatory. The logical mapping to inputs and outputs is done in the “Input-output logic” group.

  • Page 92: Configuring The Control Parameters Data

    IMD 100 Integration manual 4189360015 Rev. E IMD configuration 8.5 Configuring the control parameters data Control parameters are configured in “Configuration 2/3” tab. • Speed • Current • Magnetic field weakening • Position Figure 38 Parameter data These parameters define the PID control characteristics as well as the limits that will be applied. The following sub sections describe how to fill these parameters.
  • Page 93 IMD 100 Integration manual 4189360015 Rev. E IMD configuration These parameters determine the following (illustrated in Figure 39 on page 93): • How fast the motor will reach its set point • Overshoot when set point is reached • Settling time of over/undershoot •...
  • Page 94 IMD 100 Integration manual 4189360015 Rev. E IMD configuration In this parameter settings, settling time is very long. On the other hand, the overshoot is very small. The Ti parameter is relatively low (20), which causes the motor to oscillate.

  • Page 95: Configuring Speed Parameters

    IMD 100 Integration manual 4189360015 Rev. E IMD configuration 8.5.2 Configuring speed parameters Fill in the following fields: • (proportional–integral–derivative) control parameters: Only experienced and qualified person should adjust these parameters (see also section 8.5.1 on page 92). o Kp: Proportional amplification in the speed controller.
  • Page 96 IMD 100 Integration manual 4189360015 Rev. E IMD configuration o N dec. time: Time in ms that will be used to decelerate from Nmax-100% RPM to zero RPM. This time defines a deceleration ramp (slope) that will be applied whenever deceleration is performed.
  • Page 97 The number of revolutions per degree must be known in order to be able to configure the safety run speed profile. See IMD 100 function description for description on how to calculate the number of revolutions per degree. Following is an example of a desired safety run curve and the configuration needed to achieve it: www.deif.com/wind-power...
  • Page 98 IMD 100 Integration manual 4189360015 Rev. E IMD configuration Speed 2304 1920 1344 Pitch Limit position [ ] switch Assuming the total ratio of motor axis to blade rotation is 1800 (the ratio of revolutions per degree is five), and the N S-run (step0) is 1920, the four steps are configured as follows: Step No.

  • Page 99: Configuring Current Parameters

    IMD 100 Integration manual 4189360015 Rev. E IMD configuration 8.5.3 Configuring current parameters Fill in the following fields: • (proportional–integral–derivative) control parameters: Only experienced and qualified person should adjust this parameter (see also section 8.5.1 on page 92). o Kp: Proportional amplification in the current controller.
  • Page 100 IMD 100 Integration manual 4189360015 Rev. E IMD configuration o I max pk (%): The maximum peak current value. See function description in IMD 100 function description. The value of this parameter is given as percentage of Device design current (reg. 0xC6) * 1.5 * √...

  • Page 101: Configuring Magnetic Field Weakening Parameters

    IMD 100 Integration manual 4189360015 Rev. E IMD configuration it is larger than I-red-TD. This is an optional parameter. Current Configured I-max Power module-temperature dependent current reduction I-nom Output current Output stage (IGBT) temperature Device temp. I-red-TD I-red-TE o I-red-TE: Current limit that becomes effective due to power module (IGBT) temperature. The temperature in units in which the current limit becomes equal to I nom.

  • Page 102: Configuring Position Parameters

    IMD 100 Integration manual 4189360015 Rev. E IMD configuration 8.5.5 Configuring position parameters Fill in the following fields: • PID control parameters (see also section 8.5.1 on page 92): o Kp: Proportional amplification in the position controller. When this parameter is set to zero, position mode is disabled and it is not possible to set the motor to go to a specific position.
  • Page 103 IMD 100 Integration manual 4189360015 Rev. E IMD configuration • The IMD Manager must be running on a PC and connected to the IMD through the “Service” connector. • The IMD must be configured for the motor used • Power connections (mains and motor) must be connected •...
  • Page 104 IMD 100 Integration manual 4189360015 Rev. E IMD configuration 2. Set “RUN” input ON. 3. In the “Configuration 3/3” tab press “Start” www.deif.com/wind-power Page 104 of 200...
  • Page 105 IMD 100 Integration manual 4189360015 Rev. E IMD configuration 4. Click on “Enable dev.” button to enable the IMD (the icon will turn green when the IMD is enabled) 5. The motor will shake a little, and then slowly rotate one revolution. Observe the “RPM” field and verify that the number shown is positive (no “-“...
  • Page 106 IMD 100 Integration manual 4189360015 Rev. E IMD configuration e. Reconnect mains power and repeat steps (on page 103) to (on page ,this step) 6. Click on “Enable dev.” again to disable the IMD 7. Update the parameters in the IMD Manager f.

  • Page 107: Configuring Additional Motor Parameters

    IMD 100 Integration manual 4189360015 Rev. E IMD configuration 8. Save the configuration to the EEPROM (see IMD Manager user manual). 8.6.2 Configuring additional motor parameters Attention If the motor type is Sync. Servo, all configurable parameters in “Additional motor parameters”...

  • Page 108: Configuring Volt/Freq Control For Async. Motor

    IMD 100 Integration manual 4189360015 Rev. E IMD configuration 3. The IMD Manager will now calculate the values and save them in the appropriate registers. The same values are inserted in the Read-only fields (the editable fields are only updated when the IMD Manager connects to the IMD).

  • Page 109: Configuring Se Charger Parameters (Option)

    The SE charger is a hardware option that can be ordered with the IMD. It is not possible to add it later. The charger is an advanced multistage programmable charger, capable of optimised charging for different types of supported energy sources. Refer to the IMD 100 function description for more information about the charger.
  • Page 110 IMD 100 Integration manual 4189360015 Rev. E IMD configuration 8.7.2.2 Configuring the charger 1. Click on File→Exec script: 2. Navigate to the folder where the configuration scripts are stored. Select the appropriate configuration and click “Open”: ) When completed, click “OK” in the 3.

  • Page 111: Configuring The Charger Manually

    IMD 100 Integration manual 4189360015 Rev. E IMD configuration 8.7.3 Configuring the charger manually The charger has 2 parameter types: • Basic parameters: Must always be configured. • Parameter configuration: Can either be configured manually or use the factory defaults. There is a set of factory defaults parameters for each SE type.
  • Page 112 IMD 100 Integration manual 4189360015 Rev. E IMD configuration 2. The following screen shows the tab when the charger is not configured: NOTE “SEM” value is shown no matter whether the SE type is selected or not. 3. In the “Basic configuration” group, select the SE type to match 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.
  • Page 113 IMD 100 Integration manual 4189360015 Rev. E IMD configuration 5. Enter the charge current parameter value. This value is the 100% current value. All other current parameters’ values are defined as percentage of this value. NOTE Resolution in any current setting is 10 mA. This applies to all current charge values. If this or any resulting current is above 5 A, the charger will use 5 A.
  • Page 114 IMD 100 Integration manual 4189360015 Rev. E IMD configuration 1. Enter the “Absorption voltage” in percentage (with one decimal) of the “Nominal voltage”: When the value of this parameter is reached, the charger goes from Bulk to Absorption stage, and keep charging with this value as constant voltage.
  • Page 115 IMD 100 Integration manual 4189360015 Rev. E IMD configuration 8.7.3.3 Configuration of Lithium Ion SE type parameters: Lithium Ion charging process: • Bulk stage: Charging starts in Bulk stage with constant current (Bulk current). The Bulk stage continues until the voltage reaches End voltage, and the charger goes to absorption stage.
  • Page 116 IMD 100 Integration manual 4189360015 Rev. E IMD configuration 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.
  • Page 117 IMD 100 Integration manual 4189360015 Rev. E IMD configuration 4. Enter the “Bulk current” in percentage (with one decimal) of the “Charge current”: This current is used as constant current in the Bulk stage. 5. Enter the “Absorption current” in percentage (with one decimal) of the “Charge current”: This current is used as constant current in the Absorption stage.

  • Page 118: Operational Procedures

    IMD 100 Integration manual 4189360015 Rev. E Operational procedures 9. Operational procedures This section describes operational procedures which can be executed either by using the IMD Manager or the CAN/CANopen interface. 9.1 Enabling the power module The power module (IGBT) requires several signals to be enabled.

  • Page 119: Normal Operation

    IMD 100 Integration manual 4189360015 Rev. E Operational procedures If the IMD is waiting for a safety-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.

  • Page 120: Digital Inputs And Outputs

    IMD 100 Integration manual 4189360015 Rev. E Operational procedures 9.3 Digital inputs and outputs The digital inputs and outputs are not dependent on the state of the IMD. It is possible to read the state of a digital input or output, as well as set or reset a digital output no matter which operational state the IMD is in.

  • Page 121: Digital Inputs

    IMD 100 Integration manual 4189360015 Rev. E Operational procedures 9.3.1.4 Deactivation IMD Manager: Click on the “DO x” button of the digital output to toggle it: CAN/CANopen: Reset the applicable bit in object 2098 (see section 13.2.8 on page for bit mapping) to “0”...

  • Page 122: Pre-Heating The Motor

    IMD 100 Integration manual 4189360015 Rev. E Operational procedures CAN/CANopen: The state of all digital inputs can be retrieved from object 209B (see section 13.2.9 on page for bit mapping). 9.3.2.4 Deactivation None. 9.4 Pre-heating the motor Activating the pre-heat function is done by using function 02 in the special functions.

  • Page 123: Disconnecting Ac Mains From Dc-Link (Mains, Disconnect)

    It is possible to disconnect the AC mains supply from the DC-link internally in the IMD (it has no effect on safe energy). Info This function is not supported in IMD 100 A version Attention After executing “Grid OFF” command, safe energy is the only power source until “Grid ON”...

  • Page 124: Operation

    IMD 100 Integration manual 4189360015 Rev. E Operational procedures The IMD remains in state 1 – “Normal operation” and disconnects the AC mains from the DC-link. The flag “Grid off” changes from 0 to 1. 9.5.3 Operation Sending “0” to the special commands register (reg. 0x03) will not reconnect the AC mains supply to the DC-link.

  • Page 125: Forcing Speed Zero

    IMD 100 Integration manual 4189360015 Rev. E Operational procedures 9.6 Forcing speed zero It is possible to force the speed controller (it will have the same effect on torque) by using a logical input or a CAN command that sets the NcR0 bit. When the NcR0 bit is set, the switch to the speed ramp is set to Off, and the N cmd (ramp) is set to zero.

  • Page 126: Tripping Safety-Chain Outputs

    IMD 100 Integration manual 4189360015 Rev. E Operational procedures CAN/CANopen: Reset bit 1 in the Device mode register (Reg. 0x51, bit 1 = 0) Info Logical input must be in inactive or Off, AND bit 1 in register 0x51 must be zero in order to disable NcR0.

  • Page 127: Brake Test

    IMD 100 Integration manual 4189360015 Rev. E Operational procedures 9.8 Brake test It is possible to manually test the brake output in order to verify that the brake is released and the motor can turn. Activating the brake test is done by using function 08 in the special commands.

  • Page 128: Using An Ssi Encoder To Determine Blade Position

    IMD 100 Integration manual 4189360015 Rev. E Operational procedures 9.9 Using an SSI Encoder to determine blade position 9.9.1 Retrieving position from single-turn encoder The position can be read directly in the “Actual position” group in “Monitor and control” tab. The values shown automatically changes according to selected type of the encoder.
  • Page 129 IMD 100 Integration manual 4189360015 Rev. E Operational procedures The data format is as follows: Bits Bits Bits 31…25 (MSB) 24…13 (LSB) (MSB) 12…00 (LSB) Padding Number of revolutions value Position value In the IMD Manager this is done in the “Diagnostics” tab either by manually reading 0x6F or by using the “Track”...

  • Page 130: Manually Initiating A Safety Run

    IMD 100 Integration manual 4189360015 Rev. E Operational procedures 9.10 Manually initiating a Safety run A safety run can be initiated manually either through CAN/CANopen command, or from the IMD Manager. 9.10.1 Prerequisites If in Normal operation state, the drive must be enabled.

  • Page 131: Changing Actual Position Value (Pos. Preset)

    IMD 100 Integration manual 4189360015 Rev. E Operational procedures 9.11 Changing actual position value (Pos. preset) It is possible to change the value of the actual position value. The position is a 32 bits value where the low 16 bits indicates the position of the motor within one revolution. This value is received from the resolver.

  • Page 132: Activation

    IMD 100 Integration manual 4189360015 Rev. E Operational procedures 9.11.2 Activation IMD Manager: Select “4: Pos. preset” in the “States and special commands” in the “Monitor and control” tab. CAN/CANopen: send “4” to the special commands register (Reg. 0x03) The IMD changes to state 35 – “Pos. preset”.

  • Page 133: Manually Activating The Fan

    IMD 100 Integration manual 4189360015 Rev. E Operational procedures 9.12 Manually activating the fan It is possible to activate the fan manually by using function 17 in the special commands. Info This function is not supported on IMD 122 A and IMD 122 B.

  • Page 134: Manual Operation

    IMD 100 Integration manual 4189360015 Rev. E Operational procedures CAN/CANopen: send “18” to the special commands register (reg. 0x03). The fan will be back to in automatic control. 9.13 Manual operation It is possible to control the motor manually using digital inputs 10, 11, and 12 for service purposes.

  • Page 135: Reg. 0X01 Bit 23 (Sci State) Set To Not Ok (Safety Chain Tripped)

    IMD 100 Integration manual 4189360015 Rev. E Operational procedures 9.13.1.2 Activation The IMD is brought into manual operation mode by activating DI 12 (high) following by either DI 11 or DI 10 (rising edge). 9.13.1.3 Operation While in manual operation mode only activating DI 10 or DI 11 will move the motor (D10: “-“ direction, D11: “+”...

  • Page 136: Manual Operation 360

    IMD 100 Integration manual 4189360015 Rev. E Operational procedures 9.13.2.3 Operation While in manual operation mode only activating DI 10 or DI 11 will move the motor (D10: “-“ direction, D11: “+” direction). It is possible to disable/enable the function of DI 10 and DI 11 by sending (CAN/CANopen) a value to the special commands register (0x03): Value (dec.)

  • Page 137: Deactivation

    IMD 100 Integration manual 4189360015 Rev. E Operational procedures 9.14.4 Deactivation Deactivate (low) DI 9 to go back to “Manual mode”. Deactivate (low) DI 12. To go back to normal operation state or perform a safety run (depending on the SCI state configuration). If DI 12 is deactivated the state of DI 9 does not matter.
  • Page 138 IMD 100 Integration manual 4189360015 Rev. E Operational procedures Special commands feedback shows: 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.

  • Page 139: Operation

    IMD 100 Integration manual 4189360015 Rev. E Operational procedures CAN/CANopen: 1. Send “22” to the special commands register (reg. 0x03) 2. Send “21” to the special commands register (reg. 0x03) 9.15.3 Operation 9.15.4 Deactivation www.deif.com/wind-power Page 139 of 200...

  • Page 140: Units Conversion

    IMD 100 Integration manual 4189360015 Rev. E Units conversion 10. Units conversion All values read from and sent to the IMD are in raw unformatted numbers. This section describes how to convert from raw values to units such as Ampere, Volt and so on.
  • Page 141 IMD 100 Integration manual 4189360015 Rev. E Units conversion Raw_value Temperature 24946 25981 26906 Info The NTC sensor data is defined down to -30ºC. When converting a temperature given in raw values to centigrade, the interval i must be found. Select the first interval (table row) where the Raw_value is smaller than the Actual_temp_raw.

  • Page 142: Converting Motor Temperature (T-Motor, Kty 84 Sensor)

    IMD 100 Integration manual 4189360015 Rev. E Units conversion 10.3.1.1 Quick conversion chart The following chart gives a quick view of temperature vs. raw_values. 27000 25000 23000 21000 19000 17000 15000 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.
  • Page 143 IMD 100 Integration manual 4189360015 Rev. E Units conversion Table 24 Raw motor temperature values (KTY 84) Raw_value Temperature 1063 1989 2968 3993 4521 5060 6164 7301 8467 9657 10260 10868 12094 13332 14579 15832 16459 17086 18340 19590 20834...
  • Page 144 IMD 100 Integration manual 4189360015 Rev. E Units conversion 10.3.2.1 Conversion from units to Cº KTY 84 When converting a temperature given in raw values to centigrade, the interval i must be found. Select the first interval (table row) in...
  • Page 145 IMD 100 Integration manual 4189360015 Rev. E Units conversion 10.3.2.3 Quick conversion chart The following chart gives a quick view of temperature vs. raw_values. T-motor (KTY84) 35000 30000 25000 20000 15000 10000 5000 www.deif.com/wind-power Page 145 of 200...

  • Page 146: Converting Motor Temperature (T-Motor, Pt100 Sensor)

    IMD 100 Integration manual 4189360015 Rev. E Units conversion 10.3.3 Converting motor temperature (T-motor, Pt100 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.
  • Page 147 IMD 100 Integration manual 4189360015 Rev. E Units conversion Raw_value Temperature 29931 31064 32193 10.3.3.1 Conversion from units to Cº T-motor Pt100 When converting a temperature given in raw values to centigrade, the interval i must be found. Select the first interval (table row) in...
  • Page 148 IMD 100 Integration manual 4189360015 Rev. E Units conversion 10.3.3.3 Quick conversion chart The following chart gives a quick view of temperature vs. raw_values. T-motor (Pt100) 35000 30000 25000 20000 15000 10000 5000 www.deif.com/wind-power Page 148 of 200...

  • Page 149: Converting Temperature Pt100 Sensor (Pt1 To Pt4)

    IMD 100 Integration manual 4189360015 Rev. E Units conversion 10.3.4 Converting temperature Pt100 sensor (Pt1 to Pt4) The temperature of a Pt100 sensor temperature in raw values can be read from any of the four Pt100 registers (see 0x9C - 0x9F), or CANopen objects 209C to 209F.
  • Page 150 IMD 100 Integration manual 4189360015 Rev. E Units conversion Raw_value Temperature 3528 3599 3741 3883 4024 10.3.4.1 Conversion from units to Cº Pt100 (Pt1-Pt4) When converting a temperature given in raw values to centigrade, the interval i must be found. Select...
  • Page 151 IMD 100 Integration manual 4189360015 Rev. E Units conversion 10.3.4.3 Quick conversion chart The following chart gives a quick view of temperature vs. raw_values. PT100 4500 4000 3500 3000 2500 2000 1500 1000 www.deif.com/wind-power Page 151 of 200...

  • Page 152: Converting (Internal) Air Temperature (T-Air)

    IMD 100 Integration manual 4189360015 Rev. E Units conversion 10.3.5 Converting (internal) air temperature (T-air) This section describes how to convert raw values from a KTY 82 air temperature sensor to ºC. The temperature in raw values can be read from register 0x4B.
  • Page 153 IMD 100 Integration manual 4189360015 Rev. E Units conversion ������������ ���������������������� ºC = ( ������������_��������_������−������_���������� [ �� ]) ∗(���������������������� [ ��+1 ] −���������������������� [ �� ] ) ���������������������� [ �� ] + ������_���������� [ ��+1 ] −������_���������� [ �� ] Example of converting a value of 13000 units to ºC:...
  • Page 154 IMD 100 Integration manual 4189360015 Rev. E Units conversion 10.3.5.1 Quick conversion chart The following chart gives a quick view of temperature vs. raw_values. T-air (KTY 82) 18000 16000 14000 12000 10000 8000 6000 www.deif.com/wind-power Page 154 of 200...

  • Page 155: Converting Current Values

    IMD 100 Integration manual 4189360015 Rev. E Units conversion 10.4 Converting current values All current measurements unscaled values. In order to convert current measurements to Ampere it is necessary to scale the values by using the following register values: •...

  • Page 156: Converting Speed Values

    IMD 100 Integration manual 4189360015 Rev. E Units conversion 10.5 Converting speed values The actual or setpoint for speed stored in the different registers (0x30, 0x31, 0x32, 0x5D, 0xA8) is in numerical values. 0x31 is setpoint for speed. All other mentioned registers contain actual speed as represented in various places in the speed regulation loop.

  • Page 157: Converting Torque Nm To Raw Values

    IMD 100 Integration manual 4189360015 Rev. E Units conversion Nm: Motor torque in Newton metre ������������ ∗ �� ������������ ∗ 1.5 ∗ �� : Specific torque constant of the actual motor ������_���������� �� ���� = 32767 Example of converting a torque value of 2000...

  • Page 158: Errors And Warnings

    IMD 100 Integration manual 4189360015 Rev. E Errors and warnings 11. Errors and warnings The IMD has two ways to report faults: Errors and warnings: Cause and action Reset Warning Normal parameter limits are beginning Automatically reset when the cause is to be crossed.
  • Page 159 IMD 100 Integration manual 4189360015 Rev. E Errors and warnings IMD Manager Error description display Error(s) field DC-link voltage upper limits (HW DC-link overvoltage or DC-link OVERVOLTAGE Vmax) exceeded. The current to the motor exceeded the peak current limit for more I _PEAK than 8 ms.

  • Page 160: Warning List

    IMD 100 Integration manual 4189360015 Rev. E Errors and warnings 11.2 Warning list When a warning is active it is displayed in the IMD Manager tool in the “Warning(s)” field. Following is a list of warnings: Table 29 Warning list and description...

  • Page 161: Protection And Errors Description

    IMD 100 Integration manual 4189360015 Rev. E Protection and errors description 12. Protection and errors description 12.1 Voltage protection and errors There are two DC-link voltage error mechanisms: 1. “HW” mechanism (the trigger for the error is a HW signal but the protection and error are executed by the SW) 2.

  • Page 162: Parameter Description

    IMD 100 Integration manual 4189360015 Rev. E Parameter description 13. Parameter description This section describes the parameters and CANopen objects that can be used in the IMD. Internal parameters are not included in this description since they have no value for the user. Where bit mapping is relevant, it is described separately in section 13.2...

  • Page 163: Parameter Bit Mapping

    IMD 100 Integration manual 4189360015 Rev. E Parameter description 13.2 Parameter bit mapping This section describes the mapping of bits in parameters where single or multiple bits represent specific setting or state. Attention “Not used” or “Reserved” bits must not be changed.
  • Page 164 IMD 100 Integration manual 4189360015 Rev. E Parameter description Address Name Description SE_TEST_PWM_TIME SE test current resistor PWM or time factors: 12..14 See description in section 8.4.5 on page Bit 15 SE_TEST_LONG_SINGLE_ Enables long single pulse for SE test. See description...

  • Page 165: User State (02)

    IMD 100 Integration manual 4189360015 Rev. E Parameter description Address Name Description Bit 31 BRAKE_HALF_POWER 0: Full output power 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...

  • Page 166: User Demand (03)

    IMD 100 Integration manual 4189360015 Rev. E Parameter description Value State SE-test ready SE-test PWM ON SE-test rest 0 SE-test rest 1 SE-test PWN rest SE-test ready PWM SE-test exit Pre-heating entry Pre-heating on Pre-heating exit Pos. Preset entry Pos. Preset Pos.
  • Page 167 IMD 100 Integration manual 4189360015 Rev. E Parameter description Table 33 Reg. ID 0x03, CANopen Object ID 2003 Value Name Description Idle Use to terminate present function Illegal / unexpected cmd A special command that is not legal or from the present state...

  • Page 168: Drive Status (40)

    IMD 100 Integration manual 4189360015 Rev. E Parameter description 13.2.4 Drive status (40) See also general definition of the parameter in the parameter list. This register is read only and indicates the status of different functions in the IMD. Table 34 Reg.
  • Page 169 IMD 100 Integration manual 4189360015 Rev. E Parameter description Address Name Description Bit 18 N limit + 1: when all the following conditions are true: • Positive direction speed limit is configured to <100% • N-clip is enabled (either through logic input configuration or through CAN command) •...

  • Page 170: Device Mode (51)

    IMD 100 Integration manual 4189360015 Rev. E Parameter description 13.2.5 Device mode (51) Changing a bit in this register to one executes a command. The command is executed once and the register keeps the last value written. To execute another command or the same command again, write to the register again.
  • Page 171 IMD 100 Integration manual 4189360015 Rev. E Parameter description Address Short symbol Description Bit 9 Reserved Do not change Bit 10 Reserved Do not change Bit 11 Reserved Do not change MotorType 0: Sync.Servo 12..13 1: Async. V/F (without resolver) 2: Async.Servo...

  • Page 172: Errors/Warnings (8F)

    IMD 100 Integration manual 4189360015 Rev. E Parameter description 13.2.7 Errors/warnings (8F) See also general definition of the parameter in the parameter list. See errors and warnings description in section 11 on page 158. Table 37 Reg. ID 0x8F, CANopen Object ID 208F...

  • Page 173: Logic Out Block (98)

    IMD 100 Integration manual 4189360015 Rev. E Parameter description Address Name Bit 23 Warning 7: DEVICETEMP Bit 24 Warning 8: Warning 8 (not used) Bit 25 Warning 9: I_PEAK Bit 26 Warning A: Warning A (not used) Bit 27 Warning B: Warning B (not used)

  • Page 174: User Motor Options (A4)

    IMD 100 Integration manual 4189360015 Rev. E Parameter description Address Short symbol Description Bit 1 0: motor drive is disabled, 1: motor drive is enabled Bit 2 LS_1 0: limit switch 1 is not activated, 1: limit switch 1 is activated...

  • Page 175: Logic In/Out Block State (D8)

    IMD 100 Integration manual 4189360015 Rev. E Parameter description Table 40 Reg. ID 0xA4, CANopen Object ID 20A4 Address Value Short symbol Function Bit 0..4 Resolver Feedback resolver Position feedback sensorless Control without feedback sensor selection Bit 5..15 Reserved Info Use only the listed values.

  • Page 176: Parameter List

    IMD 100 Integration manual 4189360015 Rev. E Parameter description 13.3 Parameter list Some parameters which are not relevant are not described in this list. When a register is divided into two parts (H and L) each part is half of the register data type.
  • Page 177 IMD 100 Integration manual 4189360015 Rev. E Parameter description Parameter name Type Function Range Unit Factory Data Access open default type Ser. / CAN Mem/CAN object I –Ti 0x1D 201D Configuration Current control Integration time 0 .. 10000 µs RW / RW...
  • Page 178 IMD 100 Integration manual 4189360015 Rev. E Parameter description Parameter name Type Function Range Unit Factory Data Access open default type Ser. / CAN Mem/CAN object 0x2A 202A Status D-Output voltage 0 .. ±4095 RO / RO 0x2B 202B I -TiM...
  • Page 179 IMD 100 Integration manual 4189360015 Rev. E Parameter description Parameter name Type Function Range Unit Factory Data Access open default type Ser. / CAN Mem/CAN object 0x3D None READ Function Read a specific register, and at Low byte: RW / RW...
  • Page 180 IMD 100 Integration manual 4189360015 Rev. E Parameter description Parameter name Type Function Range Unit Factory Data Access open default type Ser. / CAN Mem/CAN object 0x49 2049 T -Motor Status Motor temperature. See also 0 .. 65535 RO / RO 10.3.2...
  • Page 181 IMD 100 Integration manual 4189360015 Rev. E Parameter description Parameter name Type Function Range Unit Factory Data Access open default type Ser. / CAN Mem/CAN object 0x56 2056 I3_actual Status Actual current value phase 3 See section RO / RO 10.4...
  • Page 182 IMD 100 Integration manual 4189360015 Rev. E Parameter description Parameter name Type Function Range Unit Factory Data Access open default type Ser. / CAN Mem/CAN object Regenerative Resistor – Ω 0x0014 (20 Ω) 0x65H 2065 Ballast R Configuration 8 .. 100...
  • Page 183 IMD 100 Integration manual 4189360015 Rev. E Parameter description Parameter name Type Function Range Unit Factory Data Access open default type Ser. / CAN Mem/CAN object 0x6F 206F POS_Actual_2 Status Actual position from SSI ± 2147483647 RO / RO encoder...
  • Page 184 IMD 100 Integration manual 4189360015 Rev. E Parameter description Parameter name Type Function Range Unit Factory Data Access open default type Ser. / CAN Mem/CAN object 0x82 2082 Serial_number_exten Configuration Device serial number ext. / DEIF 0 .. 4294967295 RO / RO sion order position no.
  • Page 185 IMD 100 Integration manual 4189360015 Rev. E Parameter description Parameter name Type Function Range Unit Factory Data Access open default type Ser. / CAN Mem/CAN object 0x94 2094 Power_board_error_ Status First error (code) on power 0 .. 65535 RO / RO board since last clear error command.
  • Page 186 IMD 100 Integration manual 4189360015 Rev. E Parameter description Parameter name Type Function Range Unit Factory Data Access open default type Ser. / CAN Mem/CAN object 0xA3 20A3 M-Temp Configuration Motor temperature error is 0 .. 32767 23000 RW / RW generated and safety run is initiated.
  • Page 187 IMD 100 Integration manual 4189360015 Rev. E Parameter description Parameter name Type Function Range Unit Factory Data Access open default type Ser. / CAN Mem/CAN object 0xBB 20BB MOTOR_LSig_D Configuration Leakage inductance ph-ph ± 2147483647 RW / RW 0xBC 20BC...
  • Page 188 IMD 100 Integration manual 4189360015 Rev. E Parameter description Parameter name Type Function Range Unit Factory Data Access open default type Ser. / CAN Mem/CAN object (protected) 0xC7 20C7 Emerg.ramptime Configuration Emergency stops time ramp, 1 .. 10000 RW / RWW...
  • Page 189 IMD 100 Integration manual 4189360015 Rev. E Parameter description Parameter name Type Function Range Unit Factory Data Access open default type Ser. / CAN Mem/CAN object Bits 0-11: Speed for manual 0 .. 3932 operation in % of Nmax-100 (0 .. 12%)
  • Page 190 IMD 100 Integration manual 4189360015 Rev. E Parameter description Parameter name Type Function Range Unit Factory Data Access open default type Ser. / CAN Mem/CAN object 0xEC 20EC LOGIC_I_Los Status Resolver signal missing or faulty 0: OK RO / RO...

  • Page 191: Charger Parameters

    IMD 100 Integration manual 4189360015 Rev. E Parameter description Parameter name Type Function Range Unit Factory Data Access open default type Ser. / CAN Mem/CAN object 0xF8 20F8 Axis label Configuration Axis Label, 4 ASCII characters Bit 0 -7: first...
  • Page 192 IMD 100 Integration manual 4189360015 Rev. E Parameter description Parameter name Type Function Range Unit Factory Data Access object default type Ser. / CAN MON_STATE Status Actual state of the charger. 0: Disabled (Initialise) Note: When the charger is in 1: Disabled (Off) state zero when in setup mode.
  • Page 193 IMD 100 Integration manual 4189360015 Rev. E Parameter description Parameter name Type Function Range Unit Factory Data Access object default type Ser. / CAN SE_MAX_CURRENT Configuration Base current from which all 0 - 65535 0.01 A other current limits are derived.

  • Page 194: Revision History

    IMD 100 Integration manual 4189360015 Rev. E Revision history 14. Revision history Apart from editorial changes the following changes have been made in this revision: Date Revision Changes • “Configuring SE charger parameters (option)” updated 2020-01-31 • “Environmental requirements” updated •...
  • Page 195 IMD 100 Integration manual 4189360015 Rev. E Revision history • “Motor brake requirement” added to “Connecting the motor brake” section • Manual operation added in “Connecting digital inputs (X9)” and “Operational procedures” sections • Manual activation of fan added to operational procedures •...

  • Page 196: Product User Documentation

    IMD 100 Integration manual 4189360015 Rev. E Product user documentation 15. Product user documentation The IMD product has an extensive user documentation, targeted towards different audience and product use stages. The following documents are part of the user documentation: Table 43...
  • Page 197 DEIF documentation for the task. Many details in these tasks depends on the actual implementation, which is why the IMD documentation will never stand alone.
  • Page 198 IMD 100 Integration manual 4189360015 Rev. E Product user documentation 2. IMD integration 1. IMD evaluation in the customer’s 3. Installation and purchase product • Task: Install the IMD in the cabinet, • Task: Evaluation of the IMD • Task: Integrate the IMD in the turbine install the cabinet in the hub.

  • Page 199: Glossary

    IMD 100 Integration manual 4189360015 Rev. E Glossary 16. Glossary 16.1 Terms and abbreviations Async. Asynchronous Controller Area Network COB ID Communication Object Identifier (CAN/CANopen interface) Electro Magnetic Compatibility Electro Magnetic Interference Identification Integrated Motor Drive Loss of Signal Least Significant Bit/Byte...

  • Page 200: Units

    IMD 100 Integration manual 4189360015 Rev. E Glossary 16.2 Units Unit Unit Quantity name US name Conversion Alternative Name unit units ampere Current Pressure pounds per 1 bar = 14.5 psi 1 bar = square inch 0.980665 atmosphere (atm) 1 bar =...

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