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Related Manuals for Unitek BAMOCAR-PG-D3-700-100/160
Summary of Contents for Unitek BAMOCAR-PG-D3-700-100/160
- Page 1 M A N U A L Digital Battery Servo Amplifier BAMOCAR-PG-D3-700-100/160 for EC servo motors for EC asynchronous servo motors Hans-Paul-Kaysser-Straße 1 Version 71397 Leutenbach-Nellmersbach 2021 / V1 Tel.: 07195 / 92 83 - 0 contact@unitek.eu www.unitek.eu...
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Page 2: Table Of Contents
Risks ............................14 1.14 Technische Daten ........................15 Mechanical installation ......................18 Important ........................... 18 Dimensions BAMOCAR-PG-D3-700-100/160 ................19 Dimensions optional cooling contact plate ................21 Dimensions - optional air cooling unit ..................21 Electrical installation ........................ 22 Important advices ........................22 Circuit diagramm ........................ - Page 3 State information - error ......................47 Statusinformation - Warnungen ....................48 Measured values ........................49 DC link DC BUS voltage, battery voltage (700 V) ................ 49 Endstufen – Temperatur ......................50 Warranty ..........................51 Version: 2021 / V1 Page: 2 BAMOCAR-PG-D3-700-100/160...
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Page 4: Basis - Informationen
Page 31 "Parallel Plus-Minus Cable" added 18. Nov. 2020 2021 / V1 Page 28 “RS232” names redefined 10. June 2021 1.2 Further UNITEK products For synchronous and asynchronous motors Digital AC-servo amplifiers (mains up to 480V~) UNITEK DS205, DS403, DPCxx... -
Page 5: Validity
Dangerous electric fields! Scope of delivery/included in the packaging: - BAMOCAR-PG-D3-700-100/160 - 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: M25x1.5... -
Page 6: General Product Information
Basis - Informationen 1.6 General product information The digital 3-phase current servo amplifiers BAMOCAR-PG-D3-700-100/160 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: 2021 / V1 Page: 6 BAMOCAR-PG-D3-700-100/160... - 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: 2021 / V1 Page: 7 BAMOCAR-PG-D3-700-100/160...
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Page 9: Safety Regulations
Control and power connections can carry dangerous voltages even if the drive is inoperative! The minimum discharge time of the bus circuits is superior to 4 minutes! Measure the voltage before any disassembly! Version: 2021 / V1 Page: 8 BAMOCAR-PG-D3-700-100/160... - 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: 2021 / V1 Page: 9 BAMOCAR-PG-D3-700-100/160...
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Page 11: Commissioning
Basis - Informationen 1.9 Commissioning The battery servo amplifiers BAMOCAR-PG-D3-700-100/160 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: 2021 / V1 Page: 11 BAMOCAR-PG-D3-700-100/160... -
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: 2021 / V1 Page: 12 BAMOCAR-PG-D3-700-100/160... -
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: 2021 / V1 Page: 13 BAMOCAR-PG-D3-700-100/160... -
Page 15: Risks
(e.g. cardiac pacemakers). Sufficient distance to these electrical parts must be observed. Any designated assembly area must be indicated and labelled accordingly. Version: 2021 / V1 Page: 14 BAMOCAR-PG-D3-700-100/160... -
Page 16: Technische Daten
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: 2021 / V1 Page: 15 BAMOCAR-PG-D3-700-100/160... - 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: 2021 / V1 Page: 16 BAMOCAR-PG-D3-700-100/160...
- 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: 2021 / V1 Page: 17 BAMOCAR-PG-D3-700-100/160...
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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: 2021 / V1 Page: 18 BAMOCAR-PG-D3-700-100/160... -
Page 20: Dimensions Bamocar-Pg-D3-700-100/160
Mechanical installation 2.2 Dimensions BAMOCAR-PG-D3-700-100/160 Version: 2021 / V1 Page: 19 BAMOCAR-PG-D3-700-100/160... - Page 21 PG cable entry metal M25 x 1.5 With screen insert Pressure: max. 6 bar Cable diameter max. 16 mm Pressure loss (6l/min): max. 0,3 bar Recommended cable glands: Thermal resistance: 0,032 K/W Lapp-SKINTOP-MS-x Weight: 0,3 kg Pflitsch-Blueglobe TRI Version: 2021 / V1 Page: 20 BAMOCAR-PG-D3-700-100/160...
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Page 22: Dimensions Optional Cooling Contact Plate
2.4 Dimensions - optional air cooling unit Weight: 5.8 kg Mounting screws: M4 x 120, spacer tube 100 mm, bore 4.5 mm Voltage for fan: 24 V DC Cooling capacity 0.04 ° K/W Version: 2021 / V1 Page: 21 BAMOCAR-PG-D3-700-100/160... -
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. Version: 2021 / V1 Page: 22 BAMOCAR-PG-D3-700-100/160... -
Page 24: Circuit Diagramm
Electrical installation 3.2 Circuit diagramm Version: 2021 / V1 Page: 23 BAMOCAR-PG-D3-700-100/160... - Page 25 Electrical installation Version: 2021 / V1 Page: 24 BAMOCAR-PG-D3-700-100/160...
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Page 26: Connection Diagramm
Electrical installation 3.3 Connection diagramm Note: 12 V variant only on request Version: 2021 / V1 Page: 25 BAMOCAR-PG-D3-700-100/160... -
Page 27: 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..120 V dc voltage Version: 2021 / V1 Page: 26 BAMOCAR-PG-D3-700-100/160... - 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 Version: 2021 / V1 Page: 27 BAMOCAR-PG-D3-700-100/160...
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Page 29: Connectors
GND Temp. GND Temp. GND Temp. kr-- channel /N +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: 2021 / V1 Page: 28 BAMOCAR-PG-D3-700-100/160... -
Page 30: Hilfsspannungsanschluss
• 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: 2021 / V1 Page: 29 BAMOCAR-PG-D3-700-100/160... -
Page 31: Power Connections
Connection screw: M6 x 8 (self-locking or corrugated washer, no toothed washer) max. tightening torque 7 Nm Note: The cable gland is not included in the delivery scope. Version: 2021 / V1 Page: 30 BAMOCAR-PG-D3-700-100/160... -
Page 32: Battery Connection
Fuse AT Drive contactor cross-section size mm² Battery connecting line <2 m. For conductor lengths from 2 to 10m more powerful. Lay plus-minus cable parallel Maximum connector cross-section 50 mm², cable lug for M10. Version: 2021 / V1 Page: 31 BAMOCAR-PG-D3-700-100/160... -
Page 33: 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: 2021 / V1 Page: 32 BAMOCAR-PG-D3-700-100/160... -
Page 34: Control Connections
X1:17 Digital input 1 programmable DIN2 X1:18 Digital input 2 programmable The enable (FRG X1:14) must not be initiated before the auxiliary voltage (12..24 V) and the power voltage have been switched on. Version: 2021 / V1 Page: 33 BAMOCAR-PG-D3-700-100/160... -
Page 35: Safety Input Rfe (Rotating Field Enable) Stopp Class 0
RFE when the motor moves. Operation without RFE input The input RFE must be bridged with the logic voltage If the logic voltage corresponds to the supply voltage, Version: 2021 / V1 Page: 34 BAMOCAR-PG-D3-700-100/160... - Page 36 Control connections 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: 2021 / V1 Page: 35 BAMOCAR-PG-D3-700-100/160...
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Page 37: Digital Outputs (Open-Emitter)
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 Note: 12 V variant only on request Version: 2021 / V1 Page: 36 BAMOCAR-PG-D3-700-100/160... -
Page 38: Signal Contact Ready (Solid State Relay) / 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) Version: 2021 / V1 Page: 37 BAMOCAR-PG-D3-700-100/160... -
Page 39: Analoge Inputs ± 10 V
- can be programmed as external analog current limit. 4.6 Analoger Ausgang ±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: 2021 / V1 Page: 38 BAMOCAR-PG-D3-700-100/160... -
Page 40: Serial Interface Rs 232
Notebooks with a USB RS232 converter are usually more susceptible to interferences. For firmware updates: plug-in a short-circuit bridge between X1:26 and X1:27, then switch-on the auxiliary voltage. Start the flash program. Version: 2021 / V1 Page: 39 BAMOCAR-PG-D3-700-100/160... -
Page 41: Can-Bus
CAN-GND X1:35 white Shield X1:1 CAN BUS Connection with multipleBAMOCAR-D3-700-160 Master Address xx Address xx Address xx Terminating resistor at the end of the bus line > 120 Ω between CAN-H and CAN-L. Version: 2021 / V1 Page: 40 BAMOCAR-PG-D3-700-100/160... -
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 Version: 2021 / V1 Page: 41 BAMOCAR-PG-D3-700-100/160... -
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 Version: 2021 / V1 Page: 42 BAMOCAR-PG-D3-700-100/160... - 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. Version: 2021 / V1 Page: 43 BAMOCAR-PG-D3-700-100/160...
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Page 45: Sin Cos 1V 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 see software Manual NDrive parameters Version: 2021 / V1 Page: 44 BAMOCAR-PG-D3-700-100/160... -
Page 46: 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: 2021 / V1 Page: 45 BAMOCAR-PG-D3-700-100/160... -
Page 47: 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: 2021 / V1 Page: 46 BAMOCAR-PG-D3-700-100/160... -
Page 48: 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: 2021 / V1 Page: 47 BAMOCAR-PG-D3-700-100/160... -
Page 49: Statusinformation - Warnungen
Example: Warning no. 7 Light display: DEVICETEMP • FAULT LED red - flashing Motor temperature • ➢ (I-red-TM or 93 % of M- The display swaps between the state and the warning no.7 Temp) Version: 2021 / V1 Page: 48 BAMOCAR-PG-D3-700-100/160... -
Page 50: 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: 2021 / V1 Page: 49 BAMOCAR-PG-D3-700-100/160... -
Page 51: Endstufen - Temperatur
I 100 % Calibration Nominal current Peak current I-device DC blocked Maximum value +/- 11Bit A~eff A~eff A=pk 700/100 70,7 1081 106,1 700/160 113,1 169,7 The basic settings are protected in the parameter set. Version: 2021 / V1 Page: 50 BAMOCAR-PG-D3-700-100/160... -
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.