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Related Manuals for Unitek BAMOCAR-PG-D3-700-900
Summary of Contents for Unitek BAMOCAR-PG-D3-700-900
- Page 1 M A N U A L Digital Battery Servo Amplifier BAMOCAR-PG-D3-700-900 for EC servo motors for EC asynchronous servo motors Hans-Paul-Kaysser-Straße 1 Ausgabe / Version 71397 Leutenbach-Nellmersbach 2020 / V3 Tel.: 07195 / 92 83 - 0 Preliminary release contact@unitek.eu...
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Page 2: Table Of Contents
1.13 Risks ............................14 1.14 Technical data ..........................15 Mechanical installation ......................18 Important notes ......................... 18 Dimensions BAMOCAR-PG-D3-700-900 ..................19 Electrical installation ........................ 21 Important advices ........................21 Circuit diagramm ........................22 Connection diagramm ........................ 24 EMV ............................25 Connectors .......................... - Page 3 State information - error ......................45 State information - warning signals ................... 46 Measured values ........................47 DC link DC BUS voltage, battery voltage (700 V) ................ 47 Power amplifiers – temperature ....................48 Warranty ..........................49 Version: 2020 / V3 Seite: 2 BAMOCAR-PG-D3-700-900...
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Page 4: Basic - Information
Commissioning Commissioning - error detect. Use all three MANUALS for the engineering, the installation and the commissioning! CD (UNITEK-DOKU-SOFT) supplied with the delivery of the units. Download: www.unitek.eu The hardware MANUAL comprises warning and safety advices, explanations of standards, mechanical and electrical installation advices. -
Page 5: Validity
Dangerous electric fields! Scope of delivery/included in the packaging: - BAMOCAR-PG-D3-700-900 - documentation - CD UNITEK DOKU-SOFT Not included/cannot be ordered from UNITEK: Accessory connectors and cable glands. 35-pin connector type: Typo 776164-1 14-pin connector type: Typo 776273-1 Cable gland: M32x1.5... -
Page 6: General Product Information
Basic - information 1.6 General product information The digital 3-phase current servo amplifiers BAMOCAR-PG-D3-700-900 in combination with the motor provide a 4- quadrant drive which can be used in both rotation directions for drive operations and brake operations with energy feed-back. According to the installed parameter components the amplifiers are suitable for EC synchronous motors, ac asynchronous motors, or dc motors. -
Page 7: Application/Build/Features
- no internal isolation watchdog, Y2 capacitors to the housing Components: - Completely isolated IGBT power semi-conductors, comfortably over-dimensioned - Only components customary in trade and industrially standardised are used - SMD equipment Version: 2020 / V3 Seite: 6 BAMOCAR-PG-D3-700-900... - Page 8 If this cannot be guaranteed, a ballast circuitry must be used. For non-earthed systems (vehicles, boats, machines) the isolation between parts accessible to touching and high voltages must be guaranteed and monitored by using independent isolation monitors. Version: 2020 / V3 Seite: 7 BAMOCAR-PG-D3-700-900...
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Page 9: Safety Regulations
Any incorrect programming may cause dangerous movements! Intended applications: The devices of the BAMOCAR-PG-D3-700-900 are power electric parts used for regulating energy flow. They are designed as components to control EC synchronous motors, ac asynchronous motors in vehicles, machines, or installations. - Page 10 - should only be carried out by suitably trained personnel with knowledge in electronic drives and their software - should only be carried out in accordance with the programming advice - should only be carried out in accordance with health and safety guidelines Version: 2020 / V3 Seite: 9 BAMOCAR-PG-D3-700-900...
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Page 11: Commissioning
Basic - information 1.9 Commissioning The battery servo amplifiers BAMOCAR-PG-D3-700-900 are components of the electronic drive technology. They are functional only in connection with an electrical consumer (e.g. a motor). Their use is limited for commercial applications. When mounting the units into vehicles, boats, machines, and installations the proper operation of the units may not be started until it is ensured that the machine, the installation, or the vehicle comply with the regulations of the EC machinery directive 2006/42/EG and the EMC guideline 2004/108/EG. -
Page 12: Safety Advices
For the operation it must be ensured that the environmental conditions in the switch cabinet are adhered to. This applies in particular to the impermissible condensation on the units. Version: 2020 / V3 Seite: 11 BAMOCAR-PG-D3-700-900... -
Page 13: Intended Applications
EN 50178, EN61800-5-1). Impermissible applications: - In life-sustaining medical devices or machines. - Connection to power supply units or dc power supplies without protection circuits. - In explosive environments. - In environments with acrid fumes. Version: 2020 / V3 Seite: 12 BAMOCAR-PG-D3-700-900... -
Page 14: Regulations And Guidelines
Electrical components - vehicles 2010 ISO 12100 Safety of machines 2011 ISO 13849 Safety of machines and controls 2011 IEC 364 Protection against electric shocks 2010 IEC 664 Isolation coordinates - low voltage 2011 Version: 2020 / V3 Seite: 13 BAMOCAR-PG-D3-700-900... -
Page 15: Risks
(e.g. cardiac pacemakers). Sufficient distance to these electrical parts must be observed. Any assembly area must be indicated and labelled accordingly. Version: 2020 / V3 Seite: 14 BAMOCAR-PG-D3-700-900... -
Page 16: Technical Data
0.010 Digital inputs Logic IO < 6 Transistor output Digital outputs open emitter Analog output ±10 Operational amplifier Resolver / TTL / SINCOS Differential input CAN interface Logic IO RS232 interface Logic IO Version: 2020 / V3 Seite: 15 BAMOCAR-PG-D3-700-900... - Page 17 58.. 200 Hz 1 g Shock: 15 g for 11 ms Environmental conditions: Not permissible: Condensation, ice formation, oil mist, salt spray, steam Humidity: class F, humidity < 85 % condensation not allowed! Version: 2020 / V3 Seite: 16 BAMOCAR-PG-D3-700-900...
- Page 18 Starting temperature of the reduction I-red-TD 0x58 Final temperature of the reduction I-red-TE 0x4c Protection limits Warning from 0x4A =24600 Num Switch-off at 0x4A = 25200 Num Automatic current reduction depending on the pulse frequency Version: 2020 / V3 Seite: 17 BAMOCAR-PG-D3-700-900...
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Page 19: Mechanical Installation
Power supply cables between the BAMOCAR and the battery must be as short as possible. Long cables cause dynamic voltage drops due to the line impedance and as a consequence the service life of the installed capacitors would be reduced. Version: 2020 / V3 Seite: 18 BAMOCAR-PG-D3-700-900... -
Page 20: Dimensions Bamocar-Pg-D3-700-900
Mechanical installation 2.2 Dimensions BAMOCAR-PG-D3-700-900 Version: 2020 / V3 Seite: 19 BAMOCAR-PG-D3-700-900... - Page 21 PG cable entry metal M32 x 1.5 With screen insert Pressure: max. 6 bar Cable diameter max. 21 mm Recommended cable glands: Pressure loss (6 l/min) max. 0,6 bar Thermal resistance: K/W 0,007 Lapp-SKINTOP-MS-x Weight: 3,6 kg Pflitsch-Blueglobe TRI Version: 2020 / V3 Seite: 20 BAMOCAR-PG-D3-700-900...
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Page 22: Electrical Installation
Power supply cables between the BAMOCAR and the battery • must be as short as possible. Long cables cause dynamic voltage drops due to the line impedance and as a consequence the service life of the installed capacitors would be reduced. Version: 2020 / V3 Seite: 21 BAMOCAR-PG-D3-700-900... -
Page 23: Circuit Diagramm
Electrical installation 3.2 Circuit diagramm Version: 2020 / V3 Seite: 22 BAMOCAR-PG-D3-700-900... - Page 24 Electrical installation Version: 2020 / V3 Seite: 23 BAMOCAR-PG-D3-700-900...
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Page 25: Connection Diagramm
Electrical installation 3.3 Connection diagramm Version: 2020 / V3 Seite: 24 BAMOCAR-PG-D3-700-900... -
Page 26: Emv
Connection of the control conductors: All control conductors must be shielded. Analogue signal lines must be twisted and shielded. The shield must have surface-to-surface contact with the mounting plate (earth). Battery connection: 12..700 V dc voltage Version: 2020 / V3 Seite: 25 BAMOCAR-PG-D3-700-900... - Page 27 EC machine guideline 2006/42/EC and the EMC guideline 2004/108/EC, for vehicles ECE-R83 and ECE-R100. For vehicles ECE-R83, ECE-R100. A manufacturer's declaration can be asked for. Potential isolation Version: 2020 / V3 Seite: 26 BAMOCAR-PG-D3-700-900...
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Page 28: Connectors
Temp GND GND Temp GND Temp channel /N kr-- +5 VCC +5 VCC channel /B Temp. signal Temp. signal Temp -Signal REF2 Rotor position 1 COS1 Rotor position 2 SIN2 Rotor position 3 Version: 2020 / V3 Seite: 27 BAMOCAR-PG-D3-700-900... -
Page 29: Auxiliary Voltage Connection
• Firmware download only when the power supply is switched off! • The auxiliary voltage and/or power supply voltage must only be switched when the BAMOCAR is disabled. No disable. Enable input X1:14 = zero Version: 2020 / V3 Seite: 28 BAMOCAR-PG-D3-700-900... -
Page 30: Power Connections
Tighten the cable gland on the cable lug. Connection screw: M10 x 20 (self-locking or corrugated washer, no toothed washer) Maximum tightening torque 35 Nm Note: The cable gland is not included in the delivery scope. Version: 2020 / V3 Seite: 29 BAMOCAR-PG-D3-700-900... -
Page 31: Battery Connection
Battery connecting line < 2 m. For conductor lengths from 2 to 10m more powerful. Use an additional capacity for conductor lengths superior to 10m! Max. connector cross-section 70mm², cable lug for M10 Version: 2020 / V3 Seite: 30 BAMOCAR-PG-D3-700-900... -
Page 32: Motor Power Connection
Surface-to-surface connection to the switch cabinet inlet. Surface-to-surface connection as short as possible to the motor side. For long motor cables, connect the motor cable shields to ground several times (mounting frame) (e.g. ground connection every 2 meters). Version: 2020 / V3 Seite: 31 BAMOCAR-PG-D3-700-900... -
Page 33: Control Connections
The enable (FRG X1:14) must not be initiated before the auxiliary voltage (12..24 V) and the power voltage have been switched on. External power supply for the inputs and outputs +12..+24 V for the logic voltage GNDE logic ground Version: 2020 / V3 Seite: 32 BAMOCAR-PG-D3-700-900... -
Page 34: Safety Input Rfe (Rotating Field Enable) / Stopp Class 0
If the logic voltage corresponds to the supply voltage, the RFE input is bridged with +24 V. Enable FRG/RUN at least 0.5 s after the RFE signal. Note: 12 V variant only on request Version: 2020 / V3 Seite: 33 BAMOCAR-PG-D3-700-900... -
Page 35: Digital Outputs (Open-Emitter)
DOUT2 X1:9 Digital output 2 programmable DOUT3 X1:10 Digital output 3 programmable Supply voltage for the logic outputs. +12..+24V for the logic voltage Note total current of all outputs GNDE logic ground Version: 2020 / V3 Seite: 34 BAMOCAR-PG-D3-700-900... -
Page 36: Signal Contact Ready (Solid State Relay) / Ready Btb / Rdy
Programming in NDrive: Parameter BTB Power = without (0x5A = 1). Bit 5 No BTB message if power voltage is missing. Programming in NDrive: Parameter BTB.Power = with (0x5A = 0). Bit 5 (see Manual NDrive-x) Version: 2020 / V3 Seite: 35 BAMOCAR-PG-D3-700-900... -
Page 37: Analog Input ± 10 V
- can be programmed as external analog current limit. 4.6 Analog output ±10 V Output Connector Function Voltage State Parameter DAC1 X1:29 Measured value ±10 V prog. X1:30 Signal zero fixed The analog output can be assigned to different functions. Version: 2020 / V3 Seite: 36 BAMOCAR-PG-D3-700-900... -
Page 38: Serial Interface Rs 232
Notebooks with a USB RS232 converter are usually more susceptible to interferences. For firmware update: Plug-in a short-circuit bridge between X1:26 and X1:27, then switch-on the auxiliary voltage. Start the flash program. Version: 2020 / V3 Seite: 37 BAMOCAR-PG-D3-700-900... -
Page 39: Can-Bus
X1:33,34 yellow CAN-GND X1:35 white Shield X1:1 CAN BUS Connection with multiple BAMOCAR-PG-D3-700-900 Master Address xx Address xx Address xx Terminating resistor at both ends of the bus line > 120 Ω between CAN-H and CAN-L. Version: 2020 / V3... -
Page 40: Resolver Connection
Shield connection across connector X7 combine all shields and connect them to the housing across the motor connector connect the overall shield to the connector housing Setting parameters see software Manual NDrive Version: 2020 / V3 Seite: 39 BAMOCAR-PG-D3-700-900... -
Page 41: Encoder Connection Ttl
>25 m the cross-section of the cable used must be increased Shield connection across connector X7 connect the shield to the connector housing across the motor connector connect the shield to the connector housing Setting parameters see software Manual NDrive Version: 2020 / V3 Seite: 40 BAMOCAR-PG-D3-700-900... - Page 42 Num 65536. In case of different results the input of Feedback Inc-Mot (0xa6) is incorrect. Zero angle Motor turning clockwise and anti-clockwise at 10..100 % speed. The value of zero-capture must remain constant. Version: 2020 / V3 Seite: 41 BAMOCAR-PG-D3-700-900...
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Page 43: Sin Cos 1V Ss Anschluss
>25 m the cross-section of the cable used must be increased by one grade Shield connection across connector X7 connect the shield to the connector housing across the motor connector connect the shield to the connector housing Setting parameters see software Manual NDrive Version: 2020 / V3 Seite: 42 BAMOCAR-PG-D3-700-900... -
Page 44: Rotorlagegeber Anschluss Mit Bl-Tacho
>25 m the cross-section of the cable used must be increased by one grade Shield connection across connector X7 connect the shield to the connector housing across the motor connector connect the shield to the connector housing Setting parameters see software Manual NDrive Version: 2020 / V3 Seite: 43 BAMOCAR-PG-D3-700-900... -
Page 45: State Display
A new command (value) was received from the BUS 0.1 s or RS232. Example: Motor revolving clockwise Point flashes active processor Bottom segment drive enabled Right segment motor revolves clockwise Version: 2020 / V3 Seite: 44 BAMOCAR-PG-D3-700-900... -
Page 46: State Information - Error
Error No. 5 is displayed (missing power voltage) When applying the auxiliary voltage with closed enable (FRG/RUN X1:7 active) the red LED indicates a fault. There is no error indication in the 7-segment display. Version: 2020 / V3 Seite: 45 BAMOCAR-PG-D3-700-900... -
Page 47: State Information - Warning Signals
Example: Warning no. 7 Light display: DEVICETEMP FAULT LED red - flashing • Motor temperature • The display swaps between the state (I-red-TM or 93 % of M-Temp) and the warning no.7 Version: 2020 / V3 Seite: 46 BAMOCAR-PG-D3-700-900... -
Page 48: Measured Values
Num 0x0B Bemerkung 144 % 750 V= 23625 135 % 700 V= 22050 1 % corresponds 5,2 V DC-BUS min. (0xA5 for undervoltage 116 % 600 V= 18900 58 % 300 V= 9450 Version: 2020 / V3 Seite: 47 BAMOCAR-PG-D3-700-900... -
Page 49: Power Amplifiers - Temperature
I-red-TD (0x58) and I-red-TE (0x4C) programmed (see Manual NDrive). Current actual value BAMOCAR I 100 % Calibration nominal current Peak current I-device DC blocked Maximum value +/- 11Bit A~eff A~eff A=pk The basic settings are protected in the parameter set. Version: 2020 / V3 Seite: 48 BAMOCAR-PG-D3-700-900... -
Page 50: Warranty
UNITEK makes no warranty as to the suitability of the device for a special application. During the warranty period, UNITEK will, at its option, either repair or replace products that prove to be defective, this includes guaranteed functional attributes. UNITEK specifically disclaims the implied warranties or merchantability and fitness for a particular purpose.