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Table of Contents
Related Manuals for Unitek BAMOCAR-PG-D3-700/400
Summary of Contents for Unitek BAMOCAR-PG-D3-700/400
- Page 1 M A N U A L Digital Three-Phase Servo Amplifier BAMOCAR-PG-D3-700/400-400 EC-synchronous-servo motors AC-asynchronous-servo motors Hans-Paul-Kaysser-Straße 1 Edition / Version 71397 Leutenbach-Nellmersbach 2020 / V 4 Tel.: 07195 / 92 83 - 0 contact@unitek.eu www.unitek.eu...
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Page 2: Table Of Contents
Risks ............................14 1.14 Technical data ..........................15 Mechanical installation ......................18 Important notes ......................... 18 Dimensions BAMOCAR-PG-D3-700/400-400 ................19 Mounting onto mounting rails ....................21 Mounting onto a mounting surface ................... 21 Electrical installation ........................ 22 Important advices ........................22 Circuit diagram ........................... - Page 3 State information - warning signals ................... 48 Measured data ........................49 DC link DC bus voltage, battery voltage (400 V und 700 V) ............49 Output stage – temperature ...................... 50 Warranty ..........................51 Edition: 2020 / V4 Page: 2 BAMOCAR-PG-D3-700/400-400...
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Page 4: Basic Informationen
Commissioning BAMOCAR 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
Designations and symbols Unit: BAMOCAR-PG-D3-700/400-400 Manufacturers or operators of machines or installations in the industrial User: sector (B2B, secondary environment). Manufacturer: UNITEK Industrie Elektronik GmbH Dealer: Caution – Danger to life! High voltage! Warning! Important! Dangerous electric fields! Scope of delivery... -
Page 6: General Product Information
Basic informationen General product information The digital 3-phase current servo amplifiers BAMOCAR-PG-D3-700/400-400 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: Applications/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 standard are used - SMD equipment Edition: 2020 / V4 Page: 6 BAMOCAR-PG-D3-700/400-400... - 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. Edition: 2020 / V4 Page: 7 BAMOCAR-PG-D3-700/400-400...
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Page 9: Safety Regulations
Any incorrect installation/connection may damage the device! Any incorrect programming may cause dangerous movements! Intended applications: The devices of the BAMOCAR-PG-D3-700/400-400 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 there software - should only be carried out in accordance with the programming advice - should only be carried out in accordance with health and safety guidelines Edition: 2020 / V4 Page: 9 BAMOCAR-PG-D3-700/400-400...
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Page 11: Commissioning
For applications in residential areas additional EMC measures are necessary. A manufacturer's declaration can be requested. The manufacturer of the machine or installation is responsible for observing the threshold values demanded by the EMC laws. Edition: 2020 / V4 Page: 10 BAMOCAR-PG-D3-700/400-400... -
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. Edition: 2020 / V4 Page: 11 BAMOCAR-PG-D3-700/400-400... -
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. Edition: 2020 / V4 Page: 12 BAMOCAR-PG-D3-700/400-400... -
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 Edition: 2020 / V4 Page: 13 BAMOCAR-PG-D3-700/400-400... -
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. Edition: 2020 / V4 Page: 14 BAMOCAR-PG-D3-700/400-400... -
Page 16: Technical Data
Differential input 10-30 0.010 Digital inputs Logic IO <6 Transistor output Digital outputs open emitter Analog output non-existent Resolver / TTL / SINCOS Differential input CAN interface Logic IO RS232 interface Logic IO Edition: 2020 / V4 Page: 15 BAMOCAR-PG-D3-700/400-400... - Page 17 58..200 Hz 1 g Shock 15 g for 11 ms Environmental conditions Not permissible: condensation (dew), ice formation, oil mist, salt spray, water Humidity class F, humidity < 85 % condensation not allowed! Edition: 2020 / V4 Page: 16 BAMOCAR-PG-D3-700/400-400...
- 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 Edition: 2020 / V4 Page: 17 BAMOCAR-PG-D3-700/400-400...
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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. Edition: 2020 / V4 Page: 18 BAMOCAR-PG-D3-700/400-400... -
Page 20: Dimensions Bamocar-Pg-D3-700/400-400
Mechanical installation Dimensions BAMOCAR-PG-D3-700/400-400 Standard version (connectors partly equipped) Edition: 2020 / V4 Page: 19 BAMOCAR-PG-D3-700/400-400... - Page 21 PG cable entry metal M25 x 1,5 With screen inse Pressure: max. 1,3 bar Cable diameter max. 21 mm Pressure loss (6 l/min). max. 0,56 bar Recommended cable glands: Thermal reistance: K/W 0,01 Lapp-SKINTOP-MS-x Weight: 2,4 kg Pflitsch-blueglobe TRI Edition: 2020 / V4 Page: 20 BAMOCAR-PG-D3-700/400-400...
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Page 22: Mounting Onto Mounting Rails
Mechanical installation Mounting onto mounting rails 4 x screw M5x20 Mounting onto a mounting surface Edition: 2020 / V4 Page: 21 BAMOCAR-PG-D3-700/400-400... -
Page 23: 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. Edition: 2020 / V4 Page: 22 BAMOCAR-PG-D3-700/400-400... -
Page 24: Circuit Diagram
Electrical installation Circuit diagram Edition: 2020 / V4 Page: 23 BAMOCAR-PG-D3-700/400-400... - Page 25 Electrical installation Edition: 2020 / V4 Page: 24 BAMOCAR-PG-D3-700/400-400...
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Page 26: Connection Diagram
Electrical installation Connection diagram Hinweis: 12 V Variante nur auf Anfrage Edition: 2020 / V4 Page: 25 BAMOCAR-PG-D3-700/400-400... -
Page 27: Emc Advice
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..360 V dc voltage Edition: 2020 / V4 Page: 26 BAMOCAR-PG-D3-700/400-400... - Page 28 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 Note: 12 V variant only on request Edition: 2020 / V4 Page: 27 BAMOCAR-PG-D3-700/400-400...
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Page 29: Connectors
AIN2+ analog input 2 connector female wh-red AIN2- Binder 99-5662-15-19 wh-grey DOUT3 digi-output 3 wh-black rotating field enable wh-blue +24V auxiliary voltage+ Connector X9 Supply IN CAN GND CAN H CAN L Edition: 2020 / V4 Page: 28 BAMOCAR-PG-D3-700/400-400... - Page 30 GND COS1 rotor position2 channel kc+ rotor position 2 channel kd+ SIN2 rotor position1 channel kc- rotor position 1 Encoder plug INC For all connectors: connector view from the solder / crimp side Edition: 2020 / V4 Page: 29 BAMOCAR-PG-D3-700/400-400...
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Page 31: 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:G = zero Edition: 2020 / V4 Page: 30 BAMOCAR-PG-D3-700/400-400... -
Page 32: Power Connections
Tighten the cable gland on the cable lug. Connecting screw: M10 x 12 (self-locking or corrugated washer, no tooth lock washer) Maximum tightening torque 20 Nm Note: The cable gland is not included in the delivery. Edition: 2020 / V4 Page: 31 BAMOCAR-PG-D3-700/400-400... -
Page 33: Battery Connection
Drive contactor size mm² 200/400 Battery connecting line <2 m. For conductor lengths from 2 to 10 m more powerful. Lay plus-minus cable parallel Maximum connector cross-section 50 mm², cable lug for M10. Edition: 2020 / V4 Page: 32 BAMOCAR-PG-D3-700/400-400... -
Page 34: 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). Edition: 2020 / V4 Page: 33 BAMOCAR-PG-D3-700/400-400... -
Page 35: Control Connections
The enable (FRG X1:G) 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 logic and auxiliary voltage GNDE logic ground Edition: 2020 / V4 Page: 34 BAMOCAR-PG-D3-700/400-400... -
Page 36: Safety Input Rfe (Rotating Field Enable) / Stop 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 Edition: 2020 / V4 Page: 35 BAMOCAR-PG-D3-700/400-400... -
Page 37: Digital Outputs (Open Emitter)
Brake (option) 4 programmable The auxiliary voltage is also the supply voltage for the logic outputs. +12 to + 24 V for logic and auxiliary voltage Note total current of all outputs GNDE logic ground Edition: 2020 / V4 Page: 36 BAMOCAR-PG-D3-700/400-400... -
Page 38: Signal Contact Ready (Solid State Relais) / Ready Btb / Rdy
Programming in NDrive: Parameter BTB Power = without (0x5ABit 5 = 1). No BTB message if power voltage is missing. Programming in NDrive: Parameter BTB.Power = with (0x5ABit 5 = 0). (see Manual NDrive-x) Edition: 2020 / V4 Page: 37 BAMOCAR-PG-D3-700/400-400... -
Page 39: Analog Input +/- 10 V
- can be programmed as an external analog speed limit, and the analog input AIN2 can be - can be programmed as external analog current limit. Analog output – not available There is no analog output in this BAMOCAR variant. Edition: 2020 / V4 Page: 38 BAMOCAR-PG-D3-700/400-400... -
Page 40: 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 X10:1 and X10:3 (D-connector 7 to 8), than switch on auxiliary voltage. Start flash program. Edition: 2020 / V4 Page: 39 BAMOCAR-PG-D3-700/400-400... -
Page 41: Can-Bus
(Note: colors can be different) View on device side At the connector - view on the soldered crimp side Terminating resistor at both ends of the bus line > 120 Ohm between the CAN-H and CAN-L. Edition: 2020 / V4 Page: 40 BAMOCAR-PG-D3-700/400-400... -
Page 42: 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 Edition: 2020 / V4 Page: 41 BAMOCAR-PG-D3-700/400-400... -
Page 43: 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 Edition: 2020 / V4 Page: 42 BAMOCAR-PG-D3-700/400-400... - Page 44 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. Edition: 2020 / V4 Page: 43 BAMOCAR-PG-D3-700/400-400...
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Page 45: Sin Cos 1Vss Connection
>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 Edition: 2020 / V4 Page: 44 BAMOCAR-PG-D3-700/400-400... -
Page 46: Rotor Position Encoder - Connection Via A 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 Edition: 2020 / V4 Page: 45 BAMOCAR-PG-D3-700/400-400... -
Page 47: State Displays
0.1 s A new command (value) was received from the BUS or RS232. Example: Motor revolving clockwise Point flashes active processor Bottom segment drive enabled Right segment motor revolves clockwise Edition: 2020 / V4 Page: 46 BAMOCAR-PG-D3-700/400-400... -
Page 48: Error Displays
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. Edition: 2020 / V4 Page: 47 BAMOCAR-PG-D3-700/400-400... -
Page 49: 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 Edition: 2020 / V4 Page: 48 BAMOCAR-PG-D3-700/400-400... -
Page 50: Measured Data
Example for settings on BAMOCAR-PG-D3-700 DC-BUS max. (0xA5 for limit voltage Num 0x0b Note 144 % 750 V= 23625 1 % corresponds to 5,2V DC-BUS min. (0xA5 for undervoltage 116 % 600 V= 18900 Edition: 2020 / V4 Page: 49 BAMOCAR-PG-D3-700/400-400... -
Page 51: Output Stage - Temperature
(0x58) and I-red-TE (0x4C) (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. Edition: 2020 / V4 Page: 50 BAMOCAR-PG-D3-700/400-400... -
Page 52: 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.