Page 1 INTEGRATION MANUAL Integrated motor drive IMD 100 DEIF A/S ∙ Frisenborgvej 33 ∙ DK-7800 Skive Document no.: 4189360015 Rev.: G Tel.: +45 9614 9614 ∙ Fax: 9614 9615 Date: 2020-09-25 Info@deif.com ∙ www.deif.com/wind-power Language: EN-GB...
Page 2 IMD 100 Integration manual 4189360015 Rev. G 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
5.4.1 Connecting the CAN bus (X6) ................44 Connecting 24V, digital and safety I/O (X7, X8, X9) ............46 5.5.1 Connecting digital inputs (X9) ................47 5.5.2 Connecting safety I/O and digital outputs (X8) ............49 5.5.3 Connecting 24V (X7) ..................... 52 www.deif.com/wind-power Page 3 of 243...
Page 4 8.5.3 Configuring current parameters ................110 8.5.4 Configuring magnetic field weakening parameters ..........112 8.5.5 Configuring position parameters ................113 Configuring async. motor parameters and resolver offset ........113 8.6.1 Configuring resolver offset .................. 113 www.deif.com/wind-power Page 4 of 243...
Page 5 9.6.2 Reg. 0x01 bit 23 (SCI state) set to Not OK (safety chain tripped) ......137 Manual operation 360 ....................138 9.7.1 Prerequisites ....................... 138 9.7.2 Activation ......................138 9.7.3 Operation ......................138 9.7.4 Deactivation ......................138 Manually activating the fan ..................139 9.8.1 Prerequisites ....................... 139 www.deif.com/wind-power Page 5 of 243...
Page 6 Turning the power to the IMD on ................. 148 9.16 Updating Firmware ....................... 148 9.16.1 Updating firmware with the Service USB connector method ......149 9.16.2 Updating firmware with CANopen files through USB “service” connector method 9.16.3 Updating firmware through CANopen ..............164 www.deif.com/wind-power Page 6 of 243...
Page 7 Error list ........................189 12.1.1 Charger (option) errors ..................191 12.2 Warning list ........................192 12.2.1 Charger (option) warnings ................. 193 12.3 Errors log ........................193 13. Parameter description ....................196 13.1 Parameter types ......................196 www.deif.com/wind-power Page 7 of 243...
Page 8 13.3.1 Charger parameters ..................228 13.3.2 Error history parameters ..................231 14. Revision history ......................236 15. Product user documentation ..................239 16. Glossary ........................242 16.1 Terms and abbreviations ..................... 242 16.2 Units ..........................243 www.deif.com/wind-power Page 8 of 243...
Page 9: Introduction
IMD. Description of the functions is not repeated in this manual. References are made in this manual to IMD 100 Installation instructions, IMD Manager Installation instructions, IMD Manager user manual and IMD 100 Datasheet. Have these at hand while reading this manual. www.deif.com/wind-power Page 9 of 243...
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
The IMD is heavy. Be careful with your hands when mounting the IMD in the cabinet. 2.2 Electrical work Disconnect power Ensure that all power is disconnected when working with the IMD, except for during testing, commissioning and service. www.deif.com/wind-power Page 11 of 243...
Page 12 Caution! Risk of electrical shock from touch current if the protective earth is removed when the IMD is energized. Do not remove the protective earth is removed when the IMD is energized. www.deif.com/wind-power Page 12 of 243...
Page 13: Thermal Precautions
Risk of burns. The sides of the IMD can reach medium high temperature. Do not touch until the surface (see pos. 2 in Figure 1 on page ) is cooled down. Figure 1 Hot surface areas www.deif.com/wind-power Page 13 of 243...
Page 14: Avoiding Damage To The Imd
Wait 10 minutes (at 25ºC) if the IMD is restarted and the ballast resistor has been loaded (hot) 3.4 Connecting the mains with overvoltage Possible damage: Total damage to the IMD. How to avoid: The mains supply must never exceed the range specified in the Data sheet. www.deif.com/wind-power Page 14 of 243...
Page 15: Mechanical Integration
If there is a risk of people touching the back of the IMD (the heat sink outside the cabinet) it is recommended to implement measures to protect personnel such as physical guards, information, or any other means. www.deif.com/wind-power Page 15 of 243...
Page 16 IMD inside the cabinet as a function of the heat sink temperature. At this temperature, the heat contribution from the IMD inside the cabinet is approximately 69 W. Figure 4 Radiated heat from the IMD inside the cabinet www.deif.com/wind-power Page 16 of 243...
Page 17 Figure 6 IMD 122 C free space requirements Note for IMD 122 C: The 100 mm indicated is recommended to enable easy replacement of the fan. The minimum requirement due to temperature is 50 mm. www.deif.com/wind-power Page 17 of 243...
Page 18 80 mm 136 mm Outside cabinet (back) inside cabinet (front) Figure 8 IMD 135 C free space requirements Note for IMD 135: Consider the outside space (25 mm) around the IMD with regards to fan replacement. www.deif.com/wind-power Page 18 of 243...
Page 19: Mounting Of The Imd In The Cabinet
A rectangle hole and 14/16 x ⌀7 mm holes for M6 bolts must be made in the cabinet where the IMD is to be mounted. The holes for the bolts and heat sink are to be made according to the following drawing: Figure 9 Cabinet cut-out drawing for IMD 122 www.deif.com/wind-power Page 19 of 243...
Page 20 IMD 100 Integration manual 4189360015 Rev. G Mechanical integration Figure 10 Cabinet cut-out drawing for IMD 135 www.deif.com/wind-power Page 20 of 243...
Page 21 Info Be aware that the IMD 100 Installation instructions does not describe in details the mounting procedure if the mounting frame is not used. www.deif.com/wind-power Page 21 of 243...
Page 22: Electrical Hw Connections And Requirements
X8: SCR 1 & 2, RO Output module Common ext. + 24 V (IGBT) Digital output DO 1 – DO 8 Common ext. GND X1: motor X5: Resolver X3: temperature sensors inputs Figure 12 IMD 122 B www.deif.com/wind-power Page 22 of 243...
Page 23 DO 1 – DO 8 Output Common ext. module + 24 V X8:11 (IGBT) Digital output Common ext. GND X8:20 X1: motor X5: Resolver X3: temperature sensors inputs Figure 13 IMD 122 C / 135 C www.deif.com/wind-power Page 23 of 243...
Page 24 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. IMD 122 B IMD 122 C Figure 14 IMD 122 connections overview www.deif.com/wind-power Page 24 of 243...
Page 25 IMD 100 Integration manual 4189360015 Rev. G Electrical HW connections and requirements SAFE ENERGY R-BALLAST MAINS + PE X1 MOTOR + PE www.deif.com/wind-power Page 25 of 243...
Page 26 18 mm 10 mm 9 mm 10 mm ferrule) Ferrule length 18 mm 10mm 10 mm 10 mm Rated voltage 1000 V 400 V 160 V 320 V Rated current 76 A 24 A 12 A www.deif.com/wind-power Page 26 of 243...
Page 27: Shielding And Emc
Figure 16 Cable shielding example The following figure illustrates how the two types of connections are realized in a connector. Since there are different types of connectors and cables, this illustration is an example only. www.deif.com/wind-power Page 27 of 243...
Page 28: Power Connections (X1)
5 minutes after the power is disconnected, due to residual voltage in the IMD. Phoenix PLH16 connector is used for connections in X1 (direct connector). Phoenix SPT 2.5 connector is used for R-BALLAST connections in IMD 122 C equipped with External ballast resistor option. www.deif.com/wind-power Page 28 of 243...
Page 29 IMD 100 Integration manual 4189360015 Rev. G Electrical HW connections and requirements IMD 122 B IMD 122 C Figure 18 X1 connections IMD 122 MAINS R-BALLAST SAFE ENERGY X1 MOTOR + PE Figure 19 X1 connections IMD 135 C www.deif.com/wind-power Page 29 of 243...
Page 30: Motor Connections Requirements
The motor cable must be shielded. If any other cables (for example for the brake or the temperature sensor) are inside the same cable they must be shielded separately. The following figure illustrates an example of a cable containing the motor, brake, and temperature sensor connections. www.deif.com/wind-power Page 30 of 243...
Page 31 (not delivered) are needed for the connection. Shield: The shield clamps have the following specifications for the shield diameter: IMD 122 B/C: 6 to 20 mm IMD 135 C: 23 to 29 mm www.deif.com/wind-power Page 31 of 243...
Page 32 Electrical HW connections and requirements The wires from the motor cable are connected as follows: Shield clamp IMD 122 B and early production of IMD 122 C IMD 122 C Cover Shield clamp IMD 135 C www.deif.com/wind-power Page 32 of 243...
Page 33: Mains Supply Connections Requirements
IMD 122 C and IMD 135 C: Phoenix AKG 16 GN flat blade screws terminal. IMD 122 B and early production of IMD 122 C: M5 threaded rod with nuts and washers. Suitable cable lugs for the used wires (not delivered) are needed for the connection. www.deif.com/wind-power Page 33 of 243...
Page 34: Safe Energy Connection Requirements
See IMD 100 Installation instructions for instructions about how to use the connectors. 5.2.3 Safe energy connection requirements Safe energy source can be either batteries or ultra-caps. See IMD 100 Datasheet for Safe energy specifications. Requirements for external components connected to the SE input: www.deif.com/wind-power Page 34 of 243...
Page 35: Ballast Resistor Requirements
IMD with the “Internal ballast” option, in which case, the ballast resistor terminals are not available. IMD 135: The IMD 122 C does not have built in ballast resistor as standard. A ballast resistor cannot be ordered with the IMD. www.deif.com/wind-power Page 35 of 243...
Page 36: Peripheral And Temperature Connections (X2, X3, X4, X5)
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. www.deif.com/wind-power Page 36 of 243...
Page 37: Connecting The Motor Brake (X2)
(Never connect the same sensor to both X3 and X4 connectors.) If Pt100 is used as motor sensor, it must be connected to Pt 4, and Pt 4 is then configured as motor temperature sensor (KTY 84 is the www.deif.com/wind-power Page 37 of 243...
Page 38 KTY + Positive terminal for the KTY 84 or PTC sensor X3, 10 KTY - negative terminal for the KTY 84 or PTC sensor See wire cross section constraints in Table 2 on page (FK-MCP 1.5). www.deif.com/wind-power Page 38 of 243...
Page 39: Connecting The Resolver (X4)
The resolver wires are connected to a male 15 pole D-sub connector as follows: Terminal no. Terminal text Description 1, 2, 13, 15 Not connected (s3) SIN- Sine signal Low (s4) COS- Cosine signal Low (r2) REF- Exciter ref voltage Low www.deif.com/wind-power Page 39 of 243...
Page 40 The depicted connections are shown with both KTY 84 and Pt100 sensors connected. Shields must be connected to the housing of both connectors (D-sub and the connector to the resolver) as depicted in the following figure: www.deif.com/wind-power Page 40 of 243...
Page 41: Connecting The Ssi (X5), Optional
Terminal no. Terminal text Description CLK + Output clock positive signal DATA + Input data channel positive signal 3, 8 Not connected +5 V DC 24 V +24 V DC CLK - Output clock (negative) www.deif.com/wind-power Page 41 of 243...
Page 42 Shields must be connected to the housing of both connectors (D-sub and the connector to the encoder) as depicted in the following figure: D-sub connector Encoder connector SSI encoder Connected Connected to housing to housing Figure 26 Shield requirement to SSI cable with temperature sensor www.deif.com/wind-power Page 42 of 243...
Page 43 This zero is used to determine whether the SSI input is OK (status in Reg. 0x9B, bit 31). If a wrong type encoder is configured, the SSI input indication will be mainly off, but at some positions it might be on. www.deif.com/wind-power Page 43 of 243...
Page 44: Communication
CAN high is always connected to CAN high. Termination resistors are only used in IMD 3 by connecting pin 2 to pin 4, and pin 7 to pin 8 (it is assumed that the pitch motion controller or main controller is terminated as well). Figure 27 X6 connection www.deif.com/wind-power Page 44 of 243...
Page 45 The CAN GND must be connected in one, and one place only to PE. The CAN wires are connected to a male 9 pole D-sub connector as follows: Terminal no. Terminal text Description Not connected CAN-L CAN low 3, 6 CAN-G CAN GND CAN-T1 CAN termination resistor T1 www.deif.com/wind-power Page 45 of 243...
Page 46: Connecting 24V, Digital And Safety I/O (X7, X8, X9)
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 47: Connecting Digital Inputs (X9)
To calculate the approximated input current at a specific voltage: I = (U – 6)/2460 Typical implementation of circuit for digital input: + 24 V DC + 24 V DC To IMD To IMD digital input digital input Figure 30 Typical digital input interfaces www.deif.com/wind-power Page 47 of 243...
Page 48 Digital input 9, (reserved for manual operation 360 “360 DI 9 enabled” if manual operation 360 is enabled in the configuration) Digital input 10, (reserved for manual operation “-“ [CCW] DI 10 if manual operation is enabled in the configuration) www.deif.com/wind-power Page 48 of 243...
Page 49: Connecting Safety I/O And Digital Outputs (X8)
X8 connector contains safety-chain inputs and outputs, additional relay output (RO), and eight digital outputs. The wires are connected to the female connector as follows: Terminal no. Terminal text Description SCI 1.1 Safety-chain input channel 1 (+) www.deif.com/wind-power Page 49 of 243...
Page 50 When the fuse is cooled down, it will automatically reconnect the output. The safety-chain outputs relay contacts have the following HW specifications: Maximum voltage 30 V DC Maximum current 0.25 A DC www.deif.com/wind-power Page 50 of 243...
Page 51 IMD version B only: One of the outputs between DO5 to DO8 must be used for the fan (DO 8 is recommended to be used). The fan wires (1) are routed through the heat sink to the left of the R-ballast. www.deif.com/wind-power Page 51 of 243...
Page 52: Connecting 24V (X7)
Temperature sensors • X7 has double poles for both plus and minus, to enable chaining the supply. If chaining is not needed any of the inputs can be used. The following figure illustrates some application examples: www.deif.com/wind-power Page 52 of 243...
Page 53 20 V DC is allowed. Input current Maximum current through X7: 7 A DC. (IMD only) Minimum current calculated (sum) from the following consumptions: • IMD internal + fan: 1 A DC • SSI consumption • Brake consumption www.deif.com/wind-power Page 53 of 243...
Page 54 Terminal no. Terminal text Description 1, 2 24 V + 24 V DC input or output depending on IMD variant and option 3, 4 0 V DC input or output depending on IMD variant and option www.deif.com/wind-power Page 54 of 243...
Page 55: Functions Description
The following flowchart shows the operational states of the IMD, and indicates the conditions for changing from one state to another. Some states are not mentioned since they are path states only, and will not be seen by the user, or omitted for simplicity. www.deif.com/wind-power Page 55 of 243...
Page 56 IMD 100 Integration manual 4189360015 Rev. G Functions description Figure 33 IMD states www.deif.com/wind-power Page 56 of 243...
Page 57 Auto safety run enabled bit in reg. 0x01. • Auto safety run enabled = 1: RUN = high. “Enable dev.” is set automatically by the IMD • Execution of special command pre-heat • Manual operation* www.deif.com/wind-power Page 57 of 243...
Page 58 Position for step 1 reached different error state path is taken. (state 54) See also state 54 to 57. • Run input is low • Clear errors Safety run An error occurs during the safety run. pending www.deif.com/wind-power Page 58 of 243...
Page 59 • Execution of special Pre-heat Preheating of the motor is ongoing command Idle • Device disabled • Execution of special Pos. preset Changing the resolver value of the actual command Idle position is ongoing. www.deif.com/wind-power Page 59 of 243...
Page 60 • Limit switch active is reached. • Timeout If an error occurs during the safety run a different error state path is taken. • Run input is low www.deif.com/wind-power Page 60 of 243...
Page 61: Internal Flags
The state of Logic-7 logical function (mapped to DO 7) Logic-8 0xE0 The state of Logic-8 logical function (mapped to DO 8) SCR 1 and 2 0xE2 The same as 0xD8 bit 10 (SCR 1 and 2) www.deif.com/wind-power Page 61 of 243...
Page 62: Safe Energy Monitoring
NOTE If no SE source is connected, the measured values of SE+ and SEM are random (0 to DC-link voltage) due to the protection circuit or the charger. However, the charger will detect it and report an error. www.deif.com/wind-power Page 62 of 243...
Page 63: Brake Control
X7, a short-circuit (initial) or excessive current will be drawn from the external power supply. The brake OK signal indicates No open circuit and temperature not too high. It is shown in the IMD Manager and available in CAN. www.deif.com/wind-power Page 63 of 243...
Page 64: Brake Engagement (Brake Output Off)
If the blade motor is not in motion the speed is already zero and the Ramp-limit deceleration time is therefore equal with zero. www.deif.com/wind-power Page 64 of 243...
Page 65: Brake Disengagement (Brake Output On)
Run and Enable.dev Modulation (position) Brake output 100% Braking efficiency Speed Acceleration (ramp defined Fixed Brake output ON delay by N acc.time) 15 ms Time Figure 35 Brake disengagement sequence www.deif.com/wind-power Page 65 of 243...
Page 66: Communication
The implementation of the CAN network structure can vary. The following figure illustrates the basic CAN network implementation. Turbine controller Master CAN/CANopen Optional Slave Pitch motion controller Master CAN/CANopen CAN/CANopen CAN/CANopen Slave Slave Slave IMD blade 1 IMD blade 2 IMD blade 3 Figure 36 basic CAN network implementation www.deif.com/wind-power Page 66 of 243...
Page 67: 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 68 Calculate voltage data 450*10= 4500 = 1194 (unit is 0.1 V) Build the telegram as follows: 0x11 WW XX YY ZZ ZZ - data MSB YY ------- data LSB XX ----------- telegram MSB WW ------------------ telegram LSB www.deif.com/wind-power Page 68 of 243...
Page 69: Canopen Interface
Byte 6 Byte 7 Byte 8 POS-Actual (Obj. 0x206D) POS-Actual_2 (Obj. 0x206F) Data Interpretation 7B 3C 3F 4F FF 1F 00 00 Resolver position: 4F 3F 3C 7B SSI encoder position: 00 00 1F FF www.deif.com/wind-power Page 69 of 243...
Page 70 7.1.3.2 Using Read Process Data Objects (RPDOs) RPDOs are used to initiate/change processes in the IMD. Four types of RPDOs are predefined and the transmission type is set to 254 (other RPDOs can be defined if needed using a CANopen manager): www.deif.com/wind-power Page 70 of 243...
Page 71 Device mode (Reg. 0x51): 00 40 0000 0000 0100 0000 Bit 15 bit 0 N-set value (Reg. 0x31): 4E 20 Logic Out block value (Reg. 0x98): 01 00 0000 0001 0000 0000 Bit 15 bit 0 www.deif.com/wind-power Page 71 of 243...
Page 72 (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. www.deif.com/wind-power Page 72 of 243...
Page 73 Speed: 71 4F → 2656 RPM 4F 71 58 00 F7 02 95 3E Current: 00 58 → 8.2 A Power out: 02 F7 → 759 (relative value of the output power) DC-link voltage: 3E 95 → 536 V DC www.deif.com/wind-power Page 73 of 243...
Page 74 0 Errors/warnings (Reg. 0x8F): 00 20 00 00 0000 0000 0010 0000 0000 0000 0000 0000 Bit 31 bit 0 Logic in/out block (Reg. 0xD8): 76 31 0111 0110 0011 0001 Bit 15 bit 0 www.deif.com/wind-power Page 74 of 243...
Page 75 0 Consult the CANopen standard specification CiA-301, for detailed information on how the SDO service works, and the format of the reply SDOs. See section 13.3 on page for object IDs and data definitions. www.deif.com/wind-power Page 75 of 243...
Page 76 If the value in step 6 is not 0 NODE (success), restart the IMD to start the application. Read From 0x1000 Check that the application is sub 0 active: 0x0: Application is running (Device Type) 0x424F4F54: Bootloader is running www.deif.com/wind-power Page 76 of 243...
Page 77 IMD 100 Integration manual 4189360015 Rev. G Communication www.deif.com/wind-power Page 77 of 243...
Page 78: Serial Data Interface
Actual speed value register ascii Value of register 0x30 (0x3D) (0x30) When using the IMD Manager the serial connection is plug and play. Follow the instructions in the IMD Manager Installation instructions to install the IMD Manager. www.deif.com/wind-power Page 78 of 243...
Page 79: Imd Configuration
Some of the described procedures (for example resolver offset calibration) cannot be performed. The SE charger (option) cannot be configured without mains. 8.1.2 Software A computer with the IMD Manager and USB driver running. See IMD Manager Installation instructions for PC requirements and SW installation instructions. www.deif.com/wind-power Page 79 of 243...
Page 80: Safety
2. Configure the IMD Manager communication (See IMD Manager user manual) Attention Monitor the actual current during the configuration. Before the drive is configured with all parameters for the actual motor, high currents may be generated. www.deif.com/wind-power Page 80 of 243...
Page 81: Configuring General Parameters
Axis label: The label is an optional parameter that can be used to differentiate between different IMDs. Up to 4 characters can be used. The label is also shown at the right bottom of the IMD Manager as well: • Mains: Mains voltage. Enter the nominal voltage used. www.deif.com/wind-power Page 81 of 243...
Page 82 Ballast ON when DC-link voltage is above 765 V DC DC-link V max: 789 V DC Example ballast OFF: 765 − ∗ 765 = 717 Ballast Off when DC-link voltage is below 717 V DC www.deif.com/wind-power Page 82 of 243...
Page 83 It is used for optimization of the Ballast energy overload error on one hand, and protection of the resistor on the other hand. In normal www.deif.com/wind-power Page 83 of 243...
Page 84 If a “Clear errors” command is sent before 10 s are passed, the timer is reset. If the reason for the error is still present, the timer starts again. www.deif.com/wind-power Page 84 of 243...
Page 85 Multi-turn encoder is used Pt100 filter Stand. No extra cycle time is needed Char. err. trip S-chain Enable Charger error will be escalated to IMD error after Charger timeout, causing safety-chain trip and safety run. www.deif.com/wind-power Page 85 of 243...
Page 86 4 kHz is selected in order to minimize switching losses I max extended Disable There is no need for the extra current SSI encoder type Multi-t. Multi-turn encoder is used Pt100 filter Stand. No extra cycle time is needed www.deif.com/wind-power Page 86 of 243...
Page 87 IMD 100 Integration manual 4189360015 Rev. G IMD configuration Parameter Value Description Char. err. trip S-chain Enable Charger error will be escalated to IMD error after Charger timeout, causing safety-chain trip and safety run. www.deif.com/wind-power Page 87 of 243...
Page 88: Configuring Motor Data
I nom: Nominal continues motor current – the value is given in RMS • Num. of poles: Number of poles in the motor (often called 2p) • T-sensor type: Select whether the built-in temperature sensor is KTY 84/PTC or Pt100. www.deif.com/wind-power Page 88 of 243...
Page 89 12094 12514 13332 13700 14579 14883 15832 16061 17086 17237 18340 18409 19590 19577 20834 20741 22070 21903 23295 23060 24508 24214 25707 25365 26891 26512 See description of function in IMD 100 function description. www.deif.com/wind-power Page 89 of 243...
Page 90 Cos Phi: The cosine value of the motor – not used if Sync. Servo is selected as motor type. • Feedback: Select the feedback method in the dropdown list. Only “Resolver” is supported as feedback method. If no resolver is used (motor type is Async.V/f), select “SLS” (sensor-less). www.deif.com/wind-power Page 90 of 243...
Page 91 B r a k e e x c i t a t i o n v o l t a g e DC (V) 24 ( +5% , -10% ) Rated Speed 1/min 2000 Stall Torque Rated Torque Torque Constant Nm/A 49.5 Stall Current 37.9 Rated Current Arms Peak Current www.deif.com/wind-power Page 91 of 243...
Page 92 10% is added to 450. Brake output Break closing time. The closing range OFF delay is not specified, and therefore 10% is added to 60. Number of 1 pair = 2 poles resolver poles www.deif.com/wind-power Page 92 of 243...
Page 93 I max to rated ration Number Brake Brake power Brake of Poles delay consumption 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 93 of 243...
Page 94 10% delay is added. Brake output Break braking time. The braking OFF delay range is not specified, and therefore 10% delay is added. Resol. poles Number of resolver poles www.deif.com/wind-power Page 94 of 243...
Page 95: Configuring The Safety Run Fields
16 (Safety-run succeeded, Parked tripped), the IMD will restart the safety run. A delay of one second is added before the state changes from state 16 (Parked tripped) to state 17 (Parked ready), even if the safety chain is OK. www.deif.com/wind-power Page 95 of 243...
Page 96 Enable: Safety run is automatically resumed when the AC mains returns while the IMD is in state 12 (Safety-run pending). The IMD goes to state 12 if the AC mains is missing during a safety run. www.deif.com/wind-power Page 96 of 243...
Page 97: Configuring The Can Bus
Performing the test at regular intervals will enable timely replacement of the source if the batteries or ultra-caps are bad. www.deif.com/wind-power Page 97 of 243...
Page 98 Table 20 PWM time definitions ”Short” single puls Test PWM/time Single pulse (s) Time ON (ms) Time OFF (ms) Total period (ms) 20%/0.2s@100% 0.25 1.25 25%/0.3s@100% 0.25 0.75 33%/0.4s@100% 0.25 0.75 50%/0.5s@100% 0.25 0.25 28%/0.6s@100% 1.25 1.75 33%/0.7s@100% 40%/0.8s@100% 0.75 1.25 50%/0.9s@100% www.deif.com/wind-power Page 98 of 243...
Page 99: Configuring Pre-Heating
I pre-heat: the current that will used for pre-heating: 1/8 to 8/8 of I con eff (defined in reg. 0xC5). Select the desired current from the dropdown list. • Current mode: Select whether the speed or torque parameters are used during pre-heating. It is recommended to select Speed. www.deif.com/wind-power Page 99 of 243...
Page 100: Configuring Virtual Limit Switches
When “Enable” is clicked, digital input 9 is reserved for manual operation 360. • SCI state: Defines the state of SCI (safety chain inputs) that manual operation is possible: o OK: safety chain inputs must be OK to enter manual operation mode www.deif.com/wind-power Page 100 of 243...
Page 101: Configuring Input-Output Logic
0x300000. 0x300000 is a mask that enables Logic in block (Reg. 0x9B) bits 20 (status of Ballast load ≥ 25%) and 21 (Temp IGBT ≥ 60º C). if any of these flags equals one, the fan will be turned on. www.deif.com/wind-power Page 101 of 243...
Page 102 IMD 100 Integration manual 4189360015 Rev. G IMD configuration Any other application specific definitions can be made. See IMD Manager user manual for details about how to configure the input and output logic. www.deif.com/wind-power Page 102 of 243...
Page 103: Configuring The Control Parameters Data
PID parameters that are configured in the following sections. There are four parameters which can be configured in the Current, Speed and Position parameters (the parameters in the current are slightly different). These are: Kp, Ti, Tim, Td. www.deif.com/wind-power Page 103 of 243...
Page 104 It is recommended to use the scope of the IMD Manager when optimizing the PID parameters. The following examples show the influence of changing PID parameters, as captured by the scope in the IMD Manager. They are not meant as tutorial, merely to show how optimization can be performed. www.deif.com/wind-power Page 104 of 243...
Page 105 Legend: Black: N cmd (ramp) Blue: N actual The Kp parameter is set lower (1). Settling time is shorter. On the other hand, the overshoot is slightly higher. Legend: Black: N cmd (ramp) Blue: N actual www.deif.com/wind-power Page 105 of 243...
Page 106: Configuring Speed Parameters
• Application speed definitions The purpose of acceleration and deceleration ramps is to lower the load on the motor and turbine during start and stop of pitch operation. www.deif.com/wind-power Page 106 of 243...
Page 107 1. Set bit 6 in reg. 0x51 to 1 (set to zero to disable) 2. Configure a logical input to N clip. In the following example the N Lim+ and N Lim– will be www.deif.com/wind-power Page 107 of 243...
Page 108 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 www.deif.com/wind-power Page 108 of 243...
Page 109 The speed is set by selecting a percentage value from the dropdown list, which allows values from 5% to 160%. If the resulting value exceeds Nmax-100%, the speed in RPM will be shown in red. If not corrected, the IMD will use Nmax-100% speed instead for this step www.deif.com/wind-power Page 109 of 243...
Page 110: Configuring Current Parameters
Proportional amplification on overshoot current controller. o Kf: Feedforward amplification current controller. • Application current definitions o Ramp time: The time in us that the motor will accelerate from zero to I con eff. www.deif.com/wind-power Page 110 of 243...
Page 111 The limit is on I max pk, linear from temperature until TE temperature, where the limit reaches I nom at I-red-TE. This function is disabled if either I-red-TE is zero or if www.deif.com/wind-power Page 111 of 243...
Page 112: Configuring Magnetic Field Weakening Parameters
.Id min: min. Id-current 50-80% • V red: Output voltage for the field weakening (80%) • V kp: Control amplification for the field weakening (500-2000) • V-Ti: Rated time field control (0-2000). Too high value will cause oscillation www.deif.com/wind-power Page 112 of 243...
Page 113: Configuring Position Parameters
It is determined during the integration process, and the offset value is then part of the configuration file. Attention If the motor manufacturer cannot guaranty that all motors of the same type are calibrated in the same way, each motor must be offset calibrated. www.deif.com/wind-power Page 113 of 243...
Page 114 2. In the IMD Manager “Configuration 2/3” tab, set “N blind safety-run” in the “Safety run” group to approximately 60 RPM. The value is entered as percent of Nmax-100%. 3. Click on the “Configuration 3/3” tab and select “[Fn4] Resolver Offset cal.” in the “Special Functions” dialog box. www.deif.com/wind-power Page 114 of 243...
Page 115 IMD 100 Integration manual 4189360015 Rev. G IMD configuration 4. Set “RUN” input ON. 5. In the “Configuration 3/3” tab press “Start” www.deif.com/wind-power Page 115 of 243...
Page 116 (in case the 24 V DC is internal). b. Set “RUN” input OFF c. Disconnect the mains power, wait for discharge of the capacitors d. Swap two phases in the motor cable www.deif.com/wind-power Page 116 of 243...
Page 117 Note the used com port (COM3 is shown) and click “Offline” in the “Communication” menu h. Click on the same COM port used before. The IMD Manager will refresh all values, including the resolver offset: www.deif.com/wind-power Page 117 of 243...
Page 118: Configuring Additional Motor Parameters
Before configuring the additional parameters all the fields in the “Motor data” group in “Configuration 1/3” tab must be filled. 8.6.2.2 Calculation procedure 1. Select “[Fn8] Calc from motor nameplate” in the “Special function” group in the “Configuration 3/3” tab. 2. Click on “START” button www.deif.com/wind-power Page 118 of 243...
Page 119: Configuring Volt/Freq Control For Async. Motor
Some additional voltage and frequency parameters need to be configured when controlling asynchronous motor. These parameters define the voltage/frequency curve generated by the IMD. These are configured in the “Configuration 3/3” tab: Parameter description: • Start www.deif.com/wind-power Page 119 of 243...
Page 120: Configuring Se Charger Parameters (Option)
A configuration script is available • Connect 3x400 V AC to the IMD mains terminals and turn on the power. • Connect the PC to the IMD with a USB cable and connect to the drive www.deif.com/wind-power Page 120 of 243...
Page 121 ) When completed, click “OK” in the 3. The IMD manager executes the script (indicated with a dialog box: 4. Click on the “SE charger” tab and verify that the charger is configured as expected: www.deif.com/wind-power Page 121 of 243...
Page 122: Configuring The Charger Manually
8.7.3.1 Configuring type and basic configuration 1. Click on the “SE charger” tab. If the Setup mode is disabled ( ) click on the “Disabled” button to enable the Setup mode. www.deif.com/wind-power Page 122 of 243...
Page 123 SE type, and the relevant parameters are shown on the left-side. 3. Enter the nominal voltage of the used SE source (the sum of all elements’ nominal voltage): NOTE Resolution in any voltage setting is 100 mV. This applies to all voltage charge values. www.deif.com/wind-power Page 123 of 243...
Page 124 Absorption stage: Charging is done with constant voltage (Absorption voltage) until the current drops to Absorp.end current, and the charger goes to float stage. • Float stage: This is the final stage. Charging is done with constant voltage (Float voltage). www.deif.com/wind-power Page 124 of 243...
Page 125 “SE charger” tab, and in the “SE charger” group in the “Monitor and control” tab. 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. www.deif.com/wind-power Page 125 of 243...
Page 126 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. www.deif.com/wind-power Page 126 of 243...
Page 127 2. Enter the “Float voltage” in percentage (with one decimal) of the “Nominal voltage”: This voltage is used as constant voltage in the Float stage. It is possible to use the same value as the “Absorption voltage”. www.deif.com/wind-power Page 127 of 243...
Page 128 To start the charger with the configured parameters without saving to EEPROM: Click on “Setup mode” button ( ). The running configuration can be saved later. • To save the configuration click on “Save to EEPROM” button: www.deif.com/wind-power Page 128 of 243...
Page 129: Operational Procedures
It is not possible to use the “Enable dev.” button or enable the device through CAN while the IMD is in brake test. 9.1.4 Deactivation IMD Manager: Select “0:Idle” in the “States and special commands” in the “Monitor and control” tab. CAN/CANopen: send “0” to the special commands register (reg. 0x03). www.deif.com/wind-power Page 129 of 243...
Page 130: Changing Actual Position Value (Pos. Preset)
The following figure shows how the actual position is changed when the position is changed to zero (in both “Position” and “Monitor and control” tabs): Monitor and control Position 9.2.1 Prerequisites The IMD must be in Normal operation state, and the Device must be disabled (Reg. 0x51 bit 2 = 1). www.deif.com/wind-power Page 130 of 243...
Page 131: Activation
CAN/CANopen: send “0” to the special commands register (Reg. 0x03). The IMD goes back to “Normal operation” state. 9.3 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). www.deif.com/wind-power Page 131 of 243...
Page 132: Prerequisites
CAN/CANopen: send “12” to the special commands register (reg. 0x03) The IMD remains in state 1 – “Normal operation” and disconnects the AC mains from the DC-link. The flag “Mains, disconnect” changes from 0 to 1. www.deif.com/wind-power Page 132 of 243...
Page 133: Operation
RUN (X9-2) digital input must be high • SW control: o “Enable off” bit (bit 2) in register 0x51 must be set to zero in one of the following ways: ▪ Writing zero in the register www.deif.com/wind-power Page 133 of 243...
Page 134: 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 www.deif.com/wind-power Page 134 of 243...
Page 135: Prerequisites
HW input: the NcR0 will be deactivated when the polarity is changed to the not active polarity. IMD Manager: Change the polarity, or set the Input function of the logic input to –Off–. CAN/CANopen: Reset bit 1 in the Device mode register (Reg. 0x51, bit 1 = 0) www.deif.com/wind-power Page 135 of 243...
Page 136: Manual Operation
While in manual operation mode only activating DI 10 or DI 11 will move the motor (D10: “-“ direction, D11: “+” direction). The configuration parameters for manual operation will be used. If either RUN or RFE inputs are low, or the SCI, input changes state, the output to the motor will be disabled. www.deif.com/wind-power Page 136 of 243...
Page 137: Reg. 0X01 Bit 23 (Sci State) Set To Not Ok (Safety Chain Tripped)
DI 10 and DI 11 are disabled, activating them does not move the motor DI 10 and DI 11 are enabled, activating them moves the motor as described above The configuration parameters for manual operation will be used. www.deif.com/wind-power Page 137 of 243...
Page 138: Manual Operation 360
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. www.deif.com/wind-power Page 138 of 243...
Page 139: Manually Activating The Fan
The IMD will turn on the fan. 9.8.3 Operation The fan remains ON until special command 18 is sent to the IMD. 9.8.4 Deactivation IMD Manager: Select “18:Fan Auto” in the “States and special commands” in the “Monitor and control” tab. www.deif.com/wind-power Page 139 of 243...
Page 140: Manually Initiating A Safety Run
IMD Manager: Click on the “S-run” button in the quick access area. CAN/CANopen: send “1” to the “start safety run” register (Reg. 0x78) The IMD will change to state 19 (Safety run setup) and start a safety run. www.deif.com/wind-power Page 140 of 243...
Page 141: Operation
Activating the pre-heat function is done by using function 02 in the special functions. 9.11.1 Prerequisites The Device must be disabled (reg. 0x51 bit 2 = 1). The IMD must be in one of the following states: www.deif.com/wind-power Page 141 of 243...
Page 142: Activation
“Normal operation” state and the “Dev. enable” is changed to off. 9.12 Restarting the IMD (by communication) It is possible to restart the IMD by sending special commands combination. This feature only applies to IMD 122 C or later. www.deif.com/wind-power Page 142 of 243...
Page 143: Prerequisites
Protective actions such as “Mains, disconnect” are reset. 9.12.1 Prerequisites • None 9.12.2 Activation IMD Manager: 1. Select “22:Enable IMD restart” in the “States and special commands” in the “Monitor and control” tab: Special commands feedback shows: www.deif.com/wind-power Page 143 of 243...
Page 144 2. Select “21:Restart IMD” in the “States and special commands” in the “Monitor and control” tab: The IMD Manager will show an error dialog box. Click “OK”: 3. The IMD Manager show a (green) communication error. Click on the “Clear errors” button to clear the communication error. www.deif.com/wind-power Page 144 of 243...
Page 145: Operation
• Manual operation (59) 9.13.2 Activation IMD Manager: Select “28:SE discharge ON” in the “States and special commands” group in the “Monitor and control” tab: CAN/CANopen: send “28” to the special commands register (reg. 0x03). www.deif.com/wind-power Page 145 of 243...
Page 146: Operation
IMD Manager: Select “29:SE discharge OFF” or “0: Idle” in the “States and special commands” group in the “Monitor and control” tab: CAN/CANopen: send “29” to the special commands register (reg. 0x03). The remaining voltage on the capacitors depends on the way the discharge stopped: www.deif.com/wind-power Page 146 of 243...
Page 147: Tripping Safety-Chain Outputs
CAN/CANopen: send “14” to the special commands register (reg. 0x03) The IMD will trip SCR 1 and SCR 2, and depending on the state it is in, change the state. 9.14.3 Operation 9.14.4 Deactivation www.deif.com/wind-power Page 147 of 243...
Page 148: Turning The Power To The Imd On
• IMD_Bootloader.out CANopen In the first time, the bootloader (IMD_Bootloader.out) is installed through • CoU_IMD.crc the “Service” USB connector, followed by FW application (CoU_IMD.crc ) installation through CANopen. In later updates only the www.deif.com/wind-power Page 148 of 243...
Page 149: Updating Firmware With The Service Usb Connector Method
NOTE The files can be located anywhere. It is possible to brows to the location and sdflash remembers this location. 3. Copy any of the .sdp files in the folder and paste it (the .sdp. 4. Rename the .sdp file to the same name as the new FW folder: www.deif.com/wind-power Page 149 of 243...
Page 150 Turn the 24 V DC (or the 400 V AC if the DC power supply is built-in) off. b. Set the CAN ID switch to position 15. c. Turn the 24 V DC (or the 400 V AC if the DC power supply is built-in) on. www.deif.com/wind-power Page 150 of 243...
Page 151 Only Com1, Com2, Com3, and Com4 can be used with the SDFlash, if another port is selected by the system, you will need to change it so one of the mentioned ports is used: www.deif.com/wind-power Page 151 of 243...
Page 152 7. Click on the “Erase” tab (1), and ensure that “User Options 1:” is set to “00ff” (2): 8. Click on the “Programming” tab (1), then on the … button of the Flash Data File (2), double click on the FW folder (3), select the IMD.out file and click Open (4): www.deif.com/wind-power Page 152 of 243...
Page 153 Operational procedures 9. Click OK. Info If the com port or user option 1 was changed, you will be asked to save you project settings first, when attempting to upgrade the firmware in an IMD. www.deif.com/wind-power Page 153 of 243...
Page 154: Updating Firmware With Canopen Files Through Usb "Service" Connector Method
Bridge (http://www.silabs.com/products/mcu/Pages/USBtoUARTBridgeVCPDrivers.aspx). Info The links above were valid at the time when this manual was written. If the link does not work anymore, search for “V3.3 SDFlash serial patch” or “CP210x USB to UART Bridge driver”. www.deif.com/wind-power Page 154 of 243...
Page 155 IMD from starting the motor unintentionally. 2. Connect the computer to the IMD Service connector with USB cable (male type A to male type B). 3. Start the SDFlash if it is not started already. www.deif.com/wind-power Page 155 of 243...
Page 156 Only Com1, Com2, Com3, and Com4 can be used with the SDFlash, if another port is selected by the system, you will need to change it so one of the mentioned ports is used: www.deif.com/wind-power Page 156 of 243...
Page 157 Operational procedures 6. Click on Project →Settings… to open the Settings dialogue. Select the same com port as used in the device manager (COM1 → C1): 7. Click on Project →Settings… to open the Settings dialogue. www.deif.com/wind-power Page 157 of 243...
Page 158 Operational procedures 8. Click on the “Erase” tab (1), and ensure that “User Options 1:” is set to “0001” (2): NOTE This step ensures that only the space allocated for the bootloader will be erased. www.deif.com/wind-power Page 158 of 243...
Page 159 Set the CAN ID switch to position 15. c. Turn the 24 V DC (or the 400 V AC if the DC power supply is built-in) on. 12. Click on Device → Flash… to open the upgrade dialogue: www.deif.com/wind-power Page 159 of 243...
Page 160 Turn the 24 V DC (or the 400 V AC if the DC power supply is built-in) off. ii. Set the CAN ID switch to position 15. iii. Turn the 24 V DC (or the 400 V AC if the DC power supply is built-in) on. www.deif.com/wind-power Page 160 of 243...
Page 161 Only Com1, Com2, Com3, and Com4 can be used with the SDFlash, if another port is selected by the system, you will need to change it so one of the mentioned ports is used: www.deif.com/wind-power Page 161 of 243...
Page 162 NOTE This step ensures that the bootloader already installed will not erased. 6. Click on the “Programming” tab (1), then on the … button of the Flash Data File (2), double click on the FW folder (3), select the CoU_IMD.out file and click Open (4): www.deif.com/wind-power Page 162 of 243...
Page 163 Operational procedures 7. Click OK. Info If the com port or user option 1 was changed, you will be asked to save you project settings first, when attempting to upgrade the firmware in an IMD. www.deif.com/wind-power Page 163 of 243...
Page 164: Updating Firmware Through Canopen
The turbine must be stopped in a safe position and all blades are in fully feathered position. 9.16.3.2 Updating the firmware 1. Update the firmware according the “FW updater” instructions 2. When all IMDs are updated the turbine can be restarted www.deif.com/wind-power Page 164 of 243...
Page 165: Using Digital Inputs And Outputs
The LED is turned ON when the output is ON, and Off when the output is Off. CAN/CANopen: The state of all digital inputs can be retrieved from object 2098 (see section 13.2.8 page for bit mapping). www.deif.com/wind-power Page 165 of 243...
Page 166: Digital Inputs
IMD Manager: The state of all digital inputs is represented by LED in the “Monitor and control” tab. The LED is turned ON when the input is high, and Off when the input is low. www.deif.com/wind-power Page 166 of 243...
Page 167: Using Ssi Encoder To Determine Blade Position
See encoder’s manufacturer documentation for interpretation of the special bit. 9.18.2 Retrieving position multi-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. www.deif.com/wind-power Page 167 of 243...
Page 168 In the second example the hexadecimal reading is 0xE9AE. The position value is the lower 3 hexadecimal digits: 0x9AE = 2478 (decimal). The number of revolutions is the higher 3 hexadecimal digits (or fewer depending on the value) 0xE = 14 (decimal). www.deif.com/wind-power Page 168 of 243...
Page 169 Even though the format of the encoder data transmission is gray code, it is translated to binary format before it is saved in the IMD register. After a value of FFF, the next value of number of revolutions (FFF+1) will be zero. www.deif.com/wind-power Page 169 of 243...
Page 170: Units Conversion
Actual_temp_raw. The following data is needed for the conversion (Temperature is in ºC): Table 24 Raw IGBT temperature values (NTC) Raw_value Temperature 16333 16515 16791 17190 17737 18447 19323 20343 21469 22647 23823 www.deif.com/wind-power Page 170 of 243...
Page 171 ( 24000 − 23823 ) ∗ (80 − 70) i = row 11 is selected 70 + = 71.6 24946 − 23823 Temperature[i] = 70 Temperature[i+1] = 80 24000 units = 71.6 ºC Raw_value[i] = 23823 Raw_value[i+1] = 24946 www.deif.com/wind-power Page 171 of 243...
Page 172: Converting Motor Temperature (T-Motor, Kty 84 Sensor)
The temperature of the motor can be read from register 0x49 or CANopen object 2049. In the following description, the actual temperature read, is called Actual_temp_raw. The following data is needed for the conversion (Temperature is in ºC): www.deif.com/wind-power Page 172 of 243...
Page 173 Raw_value Temperature 1063 1989 2968 3993 4521 5060 6164 7301 8467 9657 10260 10868 12094 13332 14579 15832 16459 17086 18340 19590 20834 22070 22684 23295 24508 25707 26891 28059 28636 29209 30340 31452 32543 www.deif.com/wind-power Page 173 of 243...
Page 174 = row 34 is selected ( 135.8 − 130 ) ∗ (24508 − 23295) Temperature[i] = 130 23295 + = 23999.7 140 − 130 Temperature[i+1] = 140 Raw_value[i] = 23295 ºC ≈ 24000 units Raw_value[i+1] = 24508 www.deif.com/wind-power Page 174 of 243...
Page 175 IMD 100 Integration manual 4189360015 Rev. G 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 175 of 243...
Page 176: Converting Motor Temperature (T-Motor, Pt100 Sensor)
Raw temperature values T-motor (Pt100) Raw_value Temperature 1678 2897 4112 4718 5324 6531 7735 8935 10132 10729 11325 12514 13700 14883 16061 16650 17237 18409 19577 20741 21903 22482 23060 24214 25365 26512 27655 28225 28795 www.deif.com/wind-power Page 176 of 243...
Page 177 = row 34 is selected ( 138.1 − 130 ) ∗ (24214 − 23060) Temperature[i] = 130 23060 + = 23995 140 − 130 Temperature[i+1] = 140 Raw_value[i] = 23060 138.1 ºC ≈ 24000 units Raw_value[i+1] = 24214 www.deif.com/wind-power Page 177 of 243...
Page 178 IMD 100 Integration manual 4189360015 Rev. G 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 178 of 243...
Page 179: Converting Temperature Pt100 Sensor (Pt1 To Pt4)
The following data is needed for the conversion (Temperature is in ºC): Table 27 Raw temperature values Pt100 Raw_value Temperature 1117 1266 1341 1416 1564 1712 1860 2008 2081 2155 2301 2447 2593 2738 2810 2882 3027 3171 3314 3457 www.deif.com/wind-power Page 179 of 243...
Page 180 = row 34 is selected ( 138.1 − 130 ) ∗ (3027 − 2882) Temperature[i] = 130 2882 + = 2999.5 140 − 130 Temperature[i+1] = 140 Raw_value[i] = 2882 138.1 ºC ≈ 3000 units Raw_value[i+1] = 3027 www.deif.com/wind-power Page 180 of 243...
Page 181 IMD 100 Integration manual 4189360015 Rev. G 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 181 of 243...
Page 182: Converting (Internal) Air Temperature (T-Air)
15927 16067 16298 16457 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. Formula: www.deif.com/wind-power Page 182 of 243...
Page 183 = row 14 is selected ( 13000 − 12904 ) ∗ (60 − 50) Temperature[i] = 50 130 + = 52.01 13363 − 12904 Temperature[i+1] = 60 Raw_value[i] = 12904 24000 units ≈ 52 ºC Raw_value[i+1] = 13363 www.deif.com/wind-power Page 183 of 243...
Page 184 IMD 100 Integration manual 4189360015 Rev. G 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 184 of 243...
Page 185: Converting Current Values
Current 200pct (0xD9) = 1287 = 321.75 600 ∗ 2 ≈ 322 units 30 A Info It is recommended to read the I device and Current 200 pct at start up and use these values in the conversion. www.deif.com/wind-power Page 185 of 243...
Page 186: Converting Speed Values
Note that this constant changes with the speed. If a very accurate result is desired, this must be taken into account. In order to scale the current measurement, I device (reg. 0xC6, value in 0.1 A) need to be used. www.deif.com/wind-power Page 186 of 243...
Page 187: Converting Torque Raw Values To Nm
Example of converting a torque value of 14 Nm: I Device (0xC6) / 10 = 600/10 = 60 = 2.66 14 ∗ 32767 Df = 1.5 = 1916.2 60 ∗ 1.5 ∗ 2.66 Torque = 14 ≈ 1916 Torque 14 Torque raw_value www.deif.com/wind-power Page 187 of 243...
Page 188: Protection And Errors Description
This error is generated only by the SW mechanism. The threshold for this error is set by the DC-link Vmin parameter (Reg. 0xA5 L). The error generated when the DC-link voltage is below DC-link Vmin is error 5 (UNDERVOLTAGE), after which the drive is immediately disabled. • www.deif.com/wind-power Page 188 of 243...
Page 189: Errors And Warnings
(after the communication was initialised at start- up). • Communication error with the built-in charger (option). When resulting from this reason, the error is generated automatically after warning 3 has been active during the Charger timeout period and not cleared. www.deif.com/wind-power Page 189 of 243...
Page 190 191. The active errors can be determined by reading the charger error register. HIGHVOLTAGE warning was on more than HIGHVOLTAGE approximately five seconds. Pre-charge circuit failure. Mains power cannot be PRE_CHARGE connected to DC link. www.deif.com/wind-power Page 190 of 243...
Page 191: Charger (Option) Errors
The SE output is short-circuited. SHORTCIRCUIT For lead acid this error is raised when the SE voltage is less than 20% of nominal while charging. CHARGERTEMP The internal temperature of the charger is too high. www.deif.com/wind-power Page 191 of 243...
Page 192: Warning List
Ballast resistor is on too long (> 100 ms) while the Mains is ON. If HIGHVOLTAGE the pitch controller does not act for more than 5 seconds, a HIGHVOLTAGE error is generated, and the warning is reset. www.deif.com/wind-power Page 192 of 243...
Page 193: Charger (Option) Warnings
The filtered actual speed value in units N cmd ramp 0x32 Speed command after ramp in units I act (filt) 0x5F Actual filtered current value in units DC-link voltage 0xEB The filtered voltage of the DC-link in units www.deif.com/wind-power Page 193 of 243...
Page 194 T-air 0x4B Numeric value of the air temperature inside the IMD (dbg) *temp 0x9A Dynamic pointer register used for debug by DEIF engineers (dbg) *ptr1 0xB8 Dynamic pointer register used for debug by DEIF engineers www.deif.com/wind-power Page 194 of 243...
Page 195 IMD 100 Integration manual 4189360015 Rev. G Errors and warnings Information Register Description (dbg) *ptr2 0xBA Dynamic pointer register used for debug by DEIF engineers (dbg) ptr1 0xB7 Dynamic pointer register used for debug by DEIF engineers (dbg) ptr2 0xB9 Dynamic pointer register used for debug by DEIF engineers The error log also contains a distribution representation of all errors occurred during the “Elapsed...
Page 196: Parameter Description
In two functions (EEPROM operations, 0x83 and 0x84) the value of the write operation, defines which configuration to load/save. An example of a function parameter is Cancel Errors (0x8E). www.deif.com/wind-power Page 196 of 243...
Page 197: Parameter Bit Mapping
Bit 7 I_MAX_EXTEND Permissible value of I max peak: 0: I max pk can be maximum 100% 1: I max pk can be maximum 115% (with reduced T- peak) Bit 8..10 Reserved www.deif.com/wind-power Page 197 of 243...
Page 198 0: LVRT timer is disabled 1: Safety run is performed 5 seconds after a mains failure 2: Safety run is performed 10 seconds after a mains failure 3: Safety run is performed 15 seconds after a mains failure www.deif.com/wind-power Page 198 of 243...
Page 199: User State (02)
Start-up Fatal error PwrOn @Parked tripped CAN timeout Blind safety run initiate Error- SCR tripped Safety run step 0 Safety run pend. Park not enable Safety run succeeded Safety run timeout Parked tripped Parked ready www.deif.com/wind-power Page 199 of 243...
Page 200 Brake test exit Pre-heating warning Usr Oper. Mains, disconnect Pos. store timed Mains, disconnect SE-test pulse ON SE-test pulse rest Safety run step 1 Safety run step 2 Safety run step 3 Safety run step 4 www.deif.com/wind-power Page 200 of 243...
Page 201: User Demand (03)
Turns output pulse for safe energy test on Mains OFF HV Disconnects AC mains from the DC-link, with no possibility of automatic reconnection Fan ON Turns the fan on Fan OFF Turns the fan off. USR_DEMAND_19 Not used USR_DEMAND_20 Not used www.deif.com/wind-power Page 201 of 243...
Page 202: Drive Status (40)
Bit 7 Position-control 1: Position control is enabled (Pos Kp > 0) Bit 8 Speed-control 1: Speed control is enabled (Speed Kp > 0) Bit 9 Low speed 1: Actual speed is very low (almost stopped) www.deif.com/wind-power Page 202 of 243...
Page 203 1: Output frequency is higher than 10Hz Bit 26 I reduced:I-red-TM 1: The current is reduced because motor temperature reached I- red-TM Bit 27 Ird-Ana Not used Bit 28 Overload-warning 1: The overload energy is almost used www.deif.com/wind-power Page 203 of 243...
Page 204: Device Mode (51)
See also general definition of the parameter in the parameter list. Table 37 Reg. ID 0x5A, CANopen Object ID 205A Short symbol Description Bit 0 Reserved Bit 1 BALLAST_EXT Overload calculation algorithm. Must always be 1 Bit 2 Reserved www.deif.com/wind-power Page 204 of 243...
Page 205 1: NTC Temp-motor (SW change of the proportional error and warning limits only) Bit 24 Reserved Do not change Bit 25 DC_1QdirVolt Protected bit, HW depended setting Bit 26 DC_field DC motor with field control. Not supported. Bit 27 DEAD_2 deadband*2 www.deif.com/wind-power Page 205 of 243...
Page 206: Errors/Warnings (8F)
Error B: CHARGER Bit 12 Error C: HIGHVOLTAGE Bit 13 Error D: PRE_CHARGE Bit 14 Error E: HW-ERROR Bit 15 Error F: BALLAST Bit 16 Warning 0: BADPARAS Bit 17 Warning 1: Warning 1 (not used) www.deif.com/wind-power Page 206 of 243...
Page 207: Logic Out Block (98)
0: Dout 7 OFF, 1: Dout 7 ON. Can also be mapped from “Logic-7” Bit 6 0: Dout 8 OFF, 1: Dout 8 ON. Can also be mapped from “Logic-8” Bit 7 Bit 8 0: RO OFF, 1: RO ON Bit 9 - 15 Not used www.deif.com/wind-power Page 207 of 243...
Page 208: Logic In Block (9B)
0: Impedance not within the expected range. Brake might not be connected, or another brake type is used. 1: Brake is connected. Bit 29 MAIN_OFF 0: Mains OK. 1: No mains present or IMD in grid-off mode. www.deif.com/wind-power Page 208 of 243...
Page 209: User Motor Options (A4)
0: Hardware relay output SCR inactive, 1: Hardware relay output SCR active Bit 11 0: Internal enable GO inactive, 1: Internal enable GO active Bit 12 Dout 3 0: Digital output Dout 3 inactive, 1: Digital output Dout 3 active www.deif.com/wind-power Page 209 of 243...
Page 210 0: Digital output Dout 4in active, 1: Digital output Dout 4 active Bit 14 Mains, 0: Connection from rectifier to DC-link is ON, 1: Connection from disconnect rectifier to DC-link is Off Bit 15 Brk1 0: brake delay inactive, 1: brake delay active www.deif.com/wind-power Page 210 of 243...
Page 211: Parameter List
Max. voltage 0.0 .. 100.0 RW / RW 0x0D L 200D L UF_Fcorner Configuration Frequency with max. voltage 1.0 .. 1000.0 RW / RW 0x0E 200E UF_PowF Configuration Motor power factor (cos F) 0 .. 65535 www.deif.com/wind-power Page 211 of 243...
Page 212 Status Q-current actual 10.4 RO / RO See section on page 0x28 2028 Id actual Status D-current actual 10.4 RO / RO See section on page 0x29 2029 Status Q-Output voltage ±4095 RO / RO www.deif.com/wind-power Page 212 of 243...
Page 213 0x39 2039 Id error Status D-current error feedback ±32767 RO / RO (reactive current) 0x3B 203B N -TiM Configuration Limit value for integral 0 .. 100 RO / RW component (speed controller) 0 = off www.deif.com/wind-power Page 213 of 243...
Page 214 0 .. 100 RO / RO 0x46 2046 I -Lim-Dig Configuration Value in percent for the digital 327 .. 32767 32767 (100%) RW / RW current reduction (enables in (1 .. 100%) 0x51, bit 5) www.deif.com/wind-power Page 214 of 243...
Page 215 Motor Pole Configuration No. of motor poles 2 .. 96 RW / RW 0x51 2051 Mode Bit Special Mode bits; see bit mapping in Binary bit 0x0004 RW / RW mapping 13.2.5 section on page www.deif.com/wind-power Page 215 of 243...
Page 216 2061 VDC_BAT_MID Status Battery mid-point voltage (SEM 0 .. 32768 RO / RO terminal) 10.2 See section on page 0x62 2062 SNr. Configuration IMD serial number / DEIF order 0 .. 4294967295 RO / RO www.deif.com/wind-power Page 216 of 243...
Page 217 RW / RW amplification 0x6B 206B POS_Ti Configuration Integral action time (Integral 0 .. 10000 RW / RW part) position controller P-N 0x6C 206C POS_KD Configuration Advancing-time (differential part) 30 to 2000 RW / RW position controller www.deif.com/wind-power Page 217 of 243...
Page 218 Value in this register will be used as number of rounds. 0x7C 207C Userinfo_Pos_Scale Configuration Display-conversion scale ± 2147483647 RW / RW 0x7D 207D Userinfo_Pos_Offset Configuration Display-conversion offset ± 2147483647 RW / RW www.deif.com/wind-power Page 218 of 243...
Page 219 Error level for low DC-link 0..32767 8192 (≈137 V) RW / RW voltage 0x82 2082 Serial_number_exten Configuration Device serial number ext. / DEIF 0 .. 4294967295 RO / RO sion order position no. and counter 0x83 2083 FUN_ParaRead Function Read parameter-set x from 0 ..
Page 220 0 .. 4095 RO / RO temperature conversion in 10.3.4 on page section 0x9E 209E T_Pt100_3 Status Pt 100 input 3 value. See also 0 .. 4095 RO / RO temperature conversion in 10.3.4 on page section www.deif.com/wind-power Page 220 of 243...
Page 221 N act (filt) Status Actual speed value (filtered) ±32767 RO / RO 0xAC 20AC PWM1 Status Pulse width modulation phase 1 4 kHz: RO / RO 1560 ±1540 8 kHz: 780 ±760 12 kHz: 1520 ± 1520 www.deif.com/wind-power Page 221 of 243...
Page 222 Leakage inductance ph-ph 0 .. 4294967295 RW / RW 0xBC 20BC MOTOR_Stator_R Configuration Stator resistance ph-ph 0 .. 4294967295 mΩ RW / RW MOTOR_Specs_Iner 0xBD 20BD Configuration Time constant stator 0 .. 4294967295 RW / RW www.deif.com/wind-power Page 222 of 243...
Page 223 Device design current (60A = 0 .. 65535 0.1 A 600 (60 A) 600) (protected) 0xC7 L 20C7 L Fast dec. time Configuration Emergency stops time ramp, 1 .. 10000 RW / limit switch for 100 % speed command www.deif.com/wind-power Page 223 of 243...
Page 224 Calibration value for 200 % 0 .. 65535 RO / RO nominal current (see 0xc6) 0xDA 20DA DEFINE_Logic_DOut Configuration Configuration of Output logic 58899 RW / RW function for Logic-6<=DO 6 (configured with IMD Manager) www.deif.com/wind-power Page 224 of 243...
Page 225 RO / RO See section on page 0xE6 20E6 LOGIC_I_In1 Status 0 .. 1 RO / RO See section on page 0xE7 20E7 LOGIC_I_In2 Status 0 .. 1 RO / RO See section on page www.deif.com/wind-power Page 225 of 243...
Page 226 0xF3 20F3 LOGIC_VO_Icns Status Current reduced to configured 0 .. 1 RO / RO continuous current 0xF4 20F4 LOGIC_VO_Toler Status Position is within tolerance 0 .. 1 RO / RO window www.deif.com/wind-power Page 226 of 243...
Page 227 0xFC H 20FC H SAFTY_RUN_P_S4 Configuration Safety run speed profile step 4: Rev.: 0 .. 2048 0-10: RW / RW revol. Bit 0 to 10:number of revolutions Speed: 0 .. 32 11-15: Bit 11 to 15:speed www.deif.com/wind-power Page 227 of 243...
Page 228: Charger Parameters
2: Disabled (idle) 3: Disabled (ready) 4: Charging (bulk) 5: Charging (absorption) 6: Charging (float) 7: SE test 8: Disabled (error) MON_STAT_TIME Status Elapsed present state time. 0 .. 65535 www.deif.com/wind-power Page 228 of 243...
Page 229 BULKCHARGEENDVOLTAGE Configuration End voltage for bulk stage in 0 .. 65535 0.01% percentage of (Values SE_NOM_VOLTAGE above 100% can also be used). BULKCHARGECURRENT Configuration Bulk stage constant current in 0 .. 65535 0.01% percentage SE_MAX_CURRENT www.deif.com/wind-power Page 229 of 243...
Page 230 Bit mapped register showing BATTEMP Bit 0: charger warnings status. Bit 1: TEMPCHANNEL 0: Not active, 1: Active. VinLOW Bit 2: Warning are automatically Vin-VseLOW Bit 3: cleared when they reason for the warning is not present. www.deif.com/wind-power Page 230 of 243...
Page 231: Error History Parameters
Value of Reg. 0xB8 at the time the last ±2147483647 error occurred 2881 eHist.X- dbg*ptr2 Status Value of Reg.0xBA at the time the last error ±2147483647 occurred 2881 eHist.X-dbg ptr1 Status Value of Reg. 0xB7 at the time the last ±2147483647 error occurred www.deif.com/wind-power Page 231 of 243...
Page 232 ±2147483647 occurred integral (H), and ballast energy counter 2882 eHist.E-Error map Status Bit 0-15: Value of the error map (Reg. 0x8F Binary bit bit 0 to 15) at the time the last error mapping occurred www.deif.com/wind-power Page 232 of 243...
Page 233 Status Value of Reg. 0x98 at the time the error ±2147483647 defined in 0x888[6] occurred 2883 eHist.P-Power board Status Value of Reg. 0x63 at the time the error ±2147483647 defined in 0x888[6] occurred status www.deif.com/wind-power Page 233 of 243...
Page 234 Number of Errors of “Error 4” type in the 2884 eHist.NC-err4_cnt Status 0 .. 4294967295 error history Number of Errors of “Error 5” type in the 2884 eHist.NC-err5_cnt Status 0 .. 4294967295 error history www.deif.com/wind-power Page 234 of 243...
Page 235 ON 2888 eHist.SP-T-life Status Value of elapsed time since the IMD was 0 .. 4294967295 commissioned 2888 Configuration Index number for the error in the log to be 1..20 eHist.SP-Index presented in 0x883[1 – 12] www.deif.com/wind-power Page 235 of 243...
Page 236: Revision History
“Charger (option) warnings” and “Charger (option) errors” added to “Errors and warnings” • “Configuring the general servo fields” updated • “Disconnecting AC mains from DC-link (Mains, disconnect)” updated • "Safe energy (ultra-capacitors only) discharging” added to “Operational procedures” www.deif.com/wind-power Page 236 of 243...
Page 237 Error and warning lists updated • “Avoiding damage to the IMD” section added 2019-08-19 • “Power connection (X1)” is updated with IMD 122 C • PTC resistor added to “Motor connections requirements” and “Connecting temperature sensors” sections www.deif.com/wind-power Page 237 of 243...
Page 238 “Configuring SE charger parameters (option)” added to “IMD configuration” • 2018-06-01 Connecting 24V (X7) section updated • Configuring General servo fields section updated • Terms and abbreviation section updated 2018-03-16 This is the first version of the document. www.deif.com/wind-power Page 238 of 243...
Page 239: Product User Documentation
Document no.: 4189360017 IMD 100 installation Technicians at production Installation tasks with check boxes to document the checklist site where the IMD is tasks done during installation mounted in the cabinet/hub Document no.: 4189360021 www.deif.com/wind-power Page 239 of 243...
Page 240 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 241 • Who: Customer buyers and • Who: Installation personnel. engineers • Who: Customers R&D. • Where: Customer’s production • Supporting DEIF documents: • Where: Customers facility facility. • Datasheet • Output: • Supporting DEIF documents: • Function description •...
Page 242: Glossary
Receive Process Data Object (CAN/CANopen interface) Revolutions Per Minute Read, write and mappable to RPDO Safety-Chain Input Safety-Chain Relay Service Data Object (CAN/CANopen interface) Safe Energy Synchronous Serial Interface TPDO Transmit Process Data Object (CAN/CANopen interface) www.deif.com/wind-power Page 242 of 243...
Page 243: Units
1 Nm = 8.85 lb-in metre inch revolutions Frequency of per minute rotation (rotational speed) second Time volt Voltage V AC volt Voltage (alternating (alternating current) current) V DC volt (direct Voltage (direct current) current) watt Power Ω Resistance www.deif.com/wind-power Page 243 of 243...

This manual is also suitable for:

Imd 122 b Imd 122 c Imd 135 c Imd 122 a

Deif IMD 100 Series Integration Manual

1 Introduction

2 Safety Precautions

3 Avoiding Damage to the IMD

4 Mechanical Integration

5 Electrical HW Connections and Requirements

6 Functions Description

7 Communication

8 IMD Configuration

9 Operational Procedures

10 Units Conversion

11 Protection and Errors Description

12 Errors and Warnings

13 Parameter Description

14 Revision History

15 Product User Documentation

16 Glossary

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