Danaher Motion SuperDrive ACS24 Series User Manual
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Danaher Motion SuperDrive ACS24 Series User Manual

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AC SuperDrive
The AC motor controller
Generation 5
User's Guide 1.0
Item No. 89Y05120A
26.04.2005
Solution by

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  • Page 1 AC SuperDrive The AC motor controller Generation 5 User's Guide 1.0 Item No. 89Y05120A 26.04.2005 Solution by...
  • Page 2 Product was developed under one or more US patents Printed in Sweden. All rights reserved. Danaher Motion is a registered trademark of Danaher Corporation. Danaher Motion makes every attempt to ensure accuracy and ratability of the specification in this publication. Specifications are subject to change without notice.

  • Page 3: Table Of Contents

    26.04.2005 Introduction Tables of contents Introduction ........................7 About AC SuperDrive documentation ..............7 1.1.1 This version ............................ 7 1.1.2 Copyright ............................7 1.1.3 Scope ............................. 7 1.1.4 Warning, caution and information notices ..................7 1.1.4.1 Product range..........................8 1.1.5 Related documents......................... 8 About the AC SuperDrive..................8 1.2.1 Personal safety..........................
  • Page 4 Introduction 26.04.2005 3.5.2 Tools and equipment required...................... 21 3.5.3 Procedure ............................. 21 Mounting AC SuperDrive with flat heatsink ............22 3.6.1 Dimensions and clearances ......................22 3.6.2 Tools and equipment required...................... 22 3.6.3 Procedure ............................. 22 Wiring .........................23 3.7.1 Motor and battery connections ..................... 23 3.7.2 Making connections to terminal posts ..................
  • Page 5 26.04.2005 Introduction 6.4.1.6 PDO controlled ramp........................ 50 6.4.1.7 Parameter controlled ramp ......................51 Option Best performance curve ................53 6.5.1.1 General ............................ 53 6.5.2 Speed PI controller ........................53 Torque current limitation ..................53 6.6.1 Tuning of speed control........................ 54 6.6.1.1 Tuning in parameter or PDO controlled ramp mode..............54 6.6.1.2 Tuning in no ramp mode ......................
  • Page 6 Introduction 26.04.2005 7.7.14 Motor temperature sensor open circuit/short circuit ..............89 7.7.15 15 V supply low voltage........................ 90 7.7.16 Reverted to default parameters....................91 AC SuperDrive specifications ..................93 General.......................93 Current and power output ratings ...............93 DC supply voltage requirement ................94 Isolation ......................94 CAN communications interface ................94 Safety system.....................94...

  • Page 7: Introduction

    1.1.1 T HIS VERSION This version replaces all previous versions of this document. Danaher Motion Stockholm AB has made every effort to insure this document is complete and accurate at the time of printing. In accordance with our policy of continuing product improvement, all data in this document is subject to change or correction without prior notice.

  • Page 8: Product Range

    1.2.1 P ERSONAL SAFETY Danaher Motion Stockholm AB provides this and other manuals to assist manufacturers in using the AC SuperDrive in a correct, efficient and safe manner. Manufacturers must insure that all persons responsible for the design and use of equipment employing the AC SuperDrive have the proper professional skill and apparatus knowledge.

  • Page 9: Repair

    Introduction 1.2.4 R EPAIR Repair and testing of the APS is available at Danaher Motion Stockholm AB. The address is listed on page 99. When returning defective unit in North America, contact Danaher Motion Stockholm AB in Sewickley and obtain a RMA (Returned Materials Authorization) number prior to returning the defective unit.

  • Page 10: Standard Features And Capabilities

    Rev. Indicates the revision level of the item. Type * Contact Danaher Motion Stockholm AB for further information. Serie No. Production lot number (assigned by the factory). The production lot number together with the sequence number yield a unique serial number for each AC SuperDrive.

  • Page 11: Available Options

    26.04.2005 Introduction • Full four-quadrant operation - drive can directly accelerate or decelerate the motor in both forward and reverse directions (no direction contactors required). • Recycles dynamic braking energy down to zero speed. • Fully protected against undervoltage, overvoltage, overcurrent and reverse polarity and overtemperature conditions.

  • Page 13: Overview

    Overview 26.04.2005 OVERVIEW In a typical CAN based system (see Figure 3), one AC SuperDrive directs the motion of a lift motor powering a hydraulic pump while a second AC SuperDrive directs the motion of a traction motor coupled to a drive wheel. AC SuperDrives convert DC power from the truck’s battery to three phase AC power at the frequencies and currents necessary to drive their respective induction motors as commanded.

  • Page 14: Principles Of Operation

    Overview 26.04.2005 condition. When a fault/error condition warrants, the truck controller may open the main contactor, removing battery power from the AC SuperDrive power stage. RINCIPLES OF OPERATION 2.1.1 B LOCK DIAGRAM Figure 4 shows a functional block diagram of the AC SuperDrive including the principal drive inputs and outputs.

  • Page 15: Flux Control

    Overview 26.04.2005 advanced speed ramping functionality within the Speed Control block. The Speed Control is implemented in software, with operating characteristics set by programmable parameters. 2.1.4 F LUX CONTROL The motor flux is controlled within the Flux Control. The Magnetization Current, which produces the motor flux, and the Slip Gain, which is reciprocally proportional to the Magnetization Current, is the outputs from the Flux Control.
  • Page 16 Overview 26.04.2005 UPPER pwm (u) pwm (v) pwm (w) heat sink temp sens LOWER pwm (u) pwm (v) pwm (w) G0028.CDR i sens (u) i sens (v) Figure 5. Power Conversion Section. Figure 6. Pulse Width Modulation. During braking, the rotor runs at higher speed than the speed of the synchronous flux vector and the motor functions as a generator, supplying power to the battery.

  • Page 17: Speed Sensor Interface

    Overview 26.04.2005 Figure 7. Current Flow During Regeneration. 2.1.8 S PEED SENSOR INTERFACE The Speed Sensor Interface converts the quadrature pulse outputs from a speed encoder to digital speed and direction numbers for use by other drive and system functions. 2.1.9 L OGIC POWER The Logic Power Supply converts battery voltage applied via the...

  • Page 18: Warnings

    Overview 26.04.2005 An inherent safety feature of the AC SuperDrive is that no single component failure can cause a run away condition in the controlled motor. Since DC current produces no torque in an induction motor, a shorted output transistor in the Power Conversion section causes the motor to slow down or stop.

  • Page 19: Installation

    AC SuperDrive. These items must be ordered separately. The bolt length is depending on thickness at the mounting brackets. The mounting brackets are not supplied by Danaher Motion Stockholm AB Figure 8. Calculate bolt length for mounting finned heatsink.

  • Page 20: Cooling Requirements

    Installation 26.04.2005 OOLING REQUIREMENTS 3.2.1 AC S UPER RIVE WITH FINNED HEATSINK A massive heatsink comprising the entire bottom surface of the AC SuperDrive transfers heat from the Power Conversion section components into the surrounding air. Drives operating at or near their continuous power output (1 hour rating) require forced air cooling to maintain heat sink temperature in the safe operating zone.

  • Page 21: Mounting Ac Superdrive With Fins Heatsink

    26.04.2005 Installation available at each of the connection posts; therefore they should be protected from accidental short circuits. For EMC and ESD purposes, we strongly recommend that both the AC SuperDrive heatsink and the houses of the motors are connected to the chassis of the truck.

  • Page 22: Mounting Ac Superdrive With Flat Heatsink

    Installation 26.04.2005 AC S OUNTING UPER RIVE WITH FLAT HEATSINK 3.6.1 D IMENSIONS AND CLEARANCES Figure 38 shows the flat AC SuperDrive versions and the drilling pattern. For additional details on surface roughness and surface flatness demands for AC SuperDrive flat heatsink version see Table 29.

  • Page 23: Wiring

    26.04.2005 Installation Figure 10. Installing flat heatsink AC SuperDriv IRING This section provides schematic diagrams and related information for connecting AC SuperDrives into a vehicle in a CAN Bus based application. These circuit diagrams present basic - but functional - general purpose wiring configurations. AC SuperDrive users may choose to modify these generic-wiring configurations to fit their individual requirements or conventions.

  • Page 24: Making Connections To Terminal Posts

    Installation 26.04.2005 Figure 11. Motor and Battery Wiring Diagram with on-board fuse. 3.7.2 M AKING CONNECTIONS TO TERMINAL POSTS Ring lugs for motor and battery connections must be properly rated to carry motor and battery currents; otherwise, overheating will occur. Crimp ring lugs onto the motor wires, then secure the lugs to terminal posts using bolts (M8 x 25 pos.

  • Page 25: Equipment Required

    3. 6x Washer BRB 8.8 HB 200fzb. Dim. 16x8.8x1.6mm or 5/16” ID. 4. Fuse. See page 26. 5. 3x 44R09025A Washer ordered from Danaher Motion Stockholm AB. (Tin plated copper washer). 6. 5x Ring lugs with 8.5 mm hole diameter for battery and motor connection.

  • Page 26: Key Start Fuse F2

    Installation 26.04.2005 × power output kVA ]( min. rating 1000 DC_IN VBATT Select a fuse with rating and time delay characteristics which will carry I indefinitely, but blow DC_IN within 2 - 3 seconds for 2 x I DC_IN Figure 13 shows typical dimensions of the fuse for on-board mounting.

  • Page 27: Inrush Current Limiting Resistance

    26.04.2005 Installation NRUSH CURRENT LIMITING RESISTANCE CAUTION ♦ The battery wiring to AC SuperDrives must include a suitable PTC (positive temperature coefficient) resistance or other provisions for limiting inrush current to the drive’s filter capacitors during power up. Failure to limit inrush current may damage the drive.

  • Page 28: Emergency Stop Switch

    Installation 26.04.2005 It is essential to protect the ACS against reversed battery polarity. 3.11 MERGENCY STOP SWITCH A manually operated Emergency Stop switch is usually included in the main contactor energization circuit. When activated, the Emergency Stop switch de energizes the main contactor, removing battery power from the power conversion section of the AC SuperDrives.

  • Page 29: 120 Ohm Termination

    26.04.2005 Installation K1 (pin) Type Name Description Output Supply for external motor pulse sensors. NCODER +12_ Diode in series for B+ protection. Output voltage 11V +-5% at 50mA load. Output Ground reference for E , not B+ NCODER GND NCODER protected.

  • Page 30: Acs Id1 And Id2 Inputs

    Installation 26.04.2005 Signal name Wire color AMP Pin No Connector +12_ NCODER Black NCODER GND CH 1 NCODER Blue CH 2 NCODER White Table 4. Standard Speed encoder Wiring Color-Codes. These two wires are motor depending. If the motor does not turn (i.e. oscillates around zero speed) at the first start up, these two wires have to be swapped.

  • Page 31: Temperature Sensor

    26.04.2005 Installation Figure 16. AC SuperDrive Control and I/O Wiring Diagram for SKF P/N 6206. 3.13.5 T EMPERATURE SENSOR Contact the motor manufacturer to get the correct wiring; otherwise the characteristic for the sensor will be changed. There can be other connectors at motor side depending on OEM A temperature sensor with positive temperature coefficient (Philips P/N KTY 84-150) embedded in the motor winding (by the motor manufacturer) provides a means for the AC SuperDrive to...

  • Page 32: Can Bus Communications

    Installation 26.04.2005 Figure 17. Characteristics of Temperature Sensor KTY-84. Signal name Wire color AMP Pin Connector Red. OTOR TEMP Red with a longitudinal OTOR TEMP GND black stripe. Table 6. Standard Motor Temperature Sensor Wiring Color Codes. 3.14 AN BUS COMMUNICATIONS For additional information on CAN Bus and CAN hardware, refer to the Standard ISO 11898.
  • Page 33 26.04.2005 Installation Figure 18. AC SuperDrive and VMC20 Connection to a Truck CAN Network (three isolated nodes). If one unit on the CAN bus is non-isolated, no external connection of CAN GND shall be made. If several units on the CAN bus are non-isolated, these should all be grouped together at one end on the CAN bus, and the GND connection to these units should be taken from one common point (star connection) if possible (see Figure...

  • Page 35: Start Up & Commissioning

    Start up & commissioning 26.04.2005 START UP & COMMISSIONING ENERAL The AC SuperDrive is a software configurable device. In a CAN (Controller Area Network) based system, all aspects of AC SuperDrive setup and operation are managed by a truck controller communicating over the CAN Bus.

  • Page 36: Verifying Ac Superdrive Readiness For Operation

    Start up & commissioning 26.04.2005 checkout. On a lift application, open the valve to prevent the possibility of excess pressure build-up (in the event of a pressure relief valve malfunction). AC S ERIFYING UPER RIVE READINESS FOR OPERATION The following procedure is to verify that an AC SuperDrive is functional and able to communicate over the CAN Bus.

  • Page 37: Operational Checks In Vehicle

    Start up & commissioning 26.04.2005 controller (or any other device) has also to be verified and validated prior to that the parameter values are used in the field by the end user. ♦ During the process when the parameter values are established it is of major importance to take proper safety precautions when testing since wrong parameter values may jeopardize the operation of the truck’s safety critical functions.

  • Page 39: Maintenance

    Kollmorgen Maintenance 26.04.2005 MAINTENANCE This section presents a list of periodic preventive maintenance items and procedures for replacing an AC SuperDrive. The AC SuperDrive contains no user adjustable or user replaceable components beneath its protective cover. Do not remove the cover. Do not clean the AC SuperDrive using high-pressure water.

  • Page 40: Ac Superdrive Flat Heatsink

    Maintenance 26.04.2005 5.1.2 AC S UPER RIVE FLAT HEATSINK 1. Remove all power from the drive. Apply a 100 ohm resistance between + and B- terminals for 15 seconds to discharge the filter capacitors. 2. Remove accumulated dust and debris from the AC SuperDrive. If air is used, use only air with low pressure.

  • Page 41: Configuration & Control Of The Ac Superdrive

    26.04.2005 Configuration & control of the AC SuperDrive CONFIGURATION & CONTROL OF THE AC SUPERDRIVE NTRODUCTION An overview of the AC SuperDrive control is shown in Figure 20, where the software blocks are non-filled and the hardware blocks are shaded gray. Figure 20.

  • Page 42: Canopen And Application Control

    Configuration & control of the AC SuperDrive 26.04.2005 • When parameters are continuously updated via the real time data exchange (PDO(s)) from the truck controller to the ACS. WARNING ♦ All AC SuperDrive parameter values established have to be verified and validated prior to that the parameter values are used in the field by the end user.
  • Page 43 26.04.2005 Configuration & control of the AC SuperDrive Index Sub- Name Description Index 2001h Status Word Bit 0 Ready To Switch On (Dc bus is charged) Bit 1 Switched On (Main contactor, if used, is on) Bit 2 Operation Enabled (Power stage is enabled) Bit 3 Error Bits 4-5...
  • Page 44 Configuration & control of the AC SuperDrive 26.04.2005 7. In order to restart the ACS when an error condition has occurred, the NMT message Reset Node has to be sent. After that the procedure from point 1 and forward has to be repeated. A restart of the ACS can also be done by turning off and then turning on the Key Start voltage in the connector K1.

  • Page 45: Speed Measurement

    26.04.2005 Configuration & control of the AC SuperDrive PEED MEASUREMENT Figure 21. Speed Measurement. Index Sub- Name Description Index 2050h Sensor Pulses per Ususally 64 or 80. Revolution 2050h Speed Filter Gain First order filtering coefficient for the speed used in the speed control.

  • Page 46: Speed Control

    Configuration & control of the AC SuperDrive 26.04.2005 PEED CONTROL The speed controller is shown in Figure 22 and consists of three main blocks, namely Speed Option Ramp, Best Performance Curve and Speed PI Control. The Command Speed is the input to the speed controller and the limited Torque Current is the output.

  • Page 47: Speed Ramp

    26.04.2005 Configuration & control of the AC SuperDrive Common parameters and variable for the top three speed control modes are shown in Table 9 (for torque control it is only the parameter Speed Control Mode that is of interest). Index Sub- Name Description...

  • Page 48: Basics

    Configuration & control of the AC SuperDrive 26.04.2005 Index Sub- Name Description Index 2020h Speed Control Mode 4 = Speed control with PDO controlled ramp 5 = Speed control with parameter controlled ramp 2020h Rollback Speed 0-8000 rpm Controls if the truck stands still or starts rolling when slowing down to zero speed in an slope.

  • Page 49: Slopes

    26.04.2005 Configuration & control of the AC SuperDrive Figure 23. The basic speed ramp. 6.4.1.3 S LOPES In case of braking or slowing down in an uphill slope the gravitation will contribute to the deceleration. If the slope is steep the truck will slow down faster than the Internal Speed Reference.

  • Page 50: Rollback

    Configuration & control of the AC SuperDrive 26.04.2005 In case of acceleration in an downhill slope the gravitation will contribute to the acceleration. If the slope is steep the truck will accelerate faster than the Internal Speed Reference. In order to allow the truck to accelerate faster than the ramp, the ramp is adjusted to the actual speed when accelerating in a steep slope.

  • Page 51: Parameter Controlled Ramp

    26.04.2005 Configuration & control of the AC SuperDrive 6.4.1.7 P ARAMETER CONTROLLED RAMP In the Parameter Controlled Ramp mode, the ramp is controlled from the PDO but the actual ramp values are given by parameters (accessible via SDOs). The PDO has exactly the same contents as for No Ramp Mode, except that five extra bits are used in the Command Word (Table 12).
  • Page 52 Configuration & control of the AC SuperDrive 26.04.2005 There are a total of four speed ramp parameters used in four editions, namely Forward Acceleration, Forward Deceleration, Reverse Acceleration and Reverse Deceleration. There are also a total of six special speed ramp parameters used in two editions, namely Special Forward Deceleration and Special Reverse Deceleration.

  • Page 53: Best Performance Curve

    26.04.2005 Configuration & control of the AC SuperDrive PTION EST PERFORMANCE CURVE 6.5.1.1 G ENERAL The Best Performance Curve functionality is implemented after the Speed Ramp and before the Speed PI controller, as can be seen in the Figure 22. Speed Control. The purpose of the Best Performance Curve, or the 8-point curve as it also is called, is to save battery lifetime and get an optimal efficiency out of the ACS-motor system.

  • Page 54: Tuning Of Speed Control

    Configuration & control of the AC SuperDrive 26.04.2005 The speed and the torque have the same sign if power is fed from the ACS to the motor. If the speed and the torque have opposite signs, the power is fed from the motor to the ACS (regeneration).

  • Page 55: Tuning In No Ramp Mode

    26.04.2005 Configuration & control of the AC SuperDrive alternately adjusting a parameter and operating the vehicle until the desired “feel” or response is achieved. Some general tuning guidelines follow. • Speed PI Controller P-gain Set 0-3 (2090h:1-4): Should be increased gradually from the default value until the vehicle's response to operator controls is acceptable.

  • Page 56: Flux Control

    Configuration & control of the AC SuperDrive 26.04.2005 LUX CONTROL 6.7.1 B ASICS In the Flux Control, the Slip Gain used in the Slip Frequency Estimation and the Magnetization Current are computed as illustrated in Figure 26. The rotor flux in the motor is controlled via the Magnetization Current.

  • Page 57: Parameters

    Description Index 2070h Nominal Base Speed Nominal base speed in rpm for the motor connected to the ACS. The motor manufacturer or Danaher Motion usually supplies this parameter. 2070h DcBus Voltage at In percentage of nominal dc bus voltage. Base Speed...

  • Page 58: Tuning Of Flux Control

    UNING F FLUX CONTROL For efficiency, performance and protection of the motor, these parameters must be correct. Danaher Motion can provide support and assistance in optimizing these parameters for the application. LIP AND STATOR FREQUENCY ESTIMATION The Slip Speed and the Stator Frequency is estimated in the Slip and Stator Frequency Estimation.

  • Page 59: Tuning Of The Slip And Stator Frequency Estimation

    26.04.2005 Configuration & control of the AC SuperDrive 6.9.2 T UNING OF THE SLIP AND STATOR FREQUENCY ESTIMATION The Number of Motor Poles is given by the motor manufacturer’s nameplate data and specifications. Usually equal to 4 or 6. 6.10 URRENT CONTROL 6.10.1 B ASICS...

  • Page 60: Parameters And Variables

    Integral gain in the PI-parts of the current controller. (256 = 1) 2070h Lsigma Total leakage inductance. Danaher Motion specific scaling. Used in the current controller. Table 22. Current PI Controller with Decoupling and Ux Reference limitation - Parameters. Table 23 describes the object indices of the variables (read only) within the Current Control that are accessible via CANopen.

  • Page 61: Tuning Of Current Control

    • Stator and rotor resistance @ 100 °C (R and R Normally these values are supported by Danaher Motion and the default Current Control parameters can be used (Table 22). However, from the impedance data of the motor the Pgain, Igain and Lsigma can be computed (checked) as follows.

  • Page 62: Spwm-Sym

    Configuration & control of the AC SuperDrive 26.04.2005 6.12 SPWM- 6.12.1 B ASICS The principle of SPWM-sym (Sinusoidal Pulse Width Modulation with summarization) is shown in Figure Figure 29. Simplified scheme of SPWM-sym. The reference voltages, Ud Reference and Uq Reference, computed by the Current Control are first normalised with the ratio between the nominal DC bus voltage (36, 48 or 80 V) and the measured DC bus voltage.
  • Page 63 26.04.2005 Configuration & control of the AC SuperDrive Figure 30. Symmetrisation of the reference voltages. The maximum line-to-line voltage that can be generated with SPWM-sym without over = Udc/√2 ≈ 0.707⋅Udc. Compared to traditional SPWM (U modulation is U line-to-line line-to-line Udc/2/√2⋅√3 ≈...

  • Page 64: Open Drain Output Control

    Configuration & control of the AC SuperDrive 26.04.2005 Figure 31. Examples of motor phase current (red) and voltage between phase and B- (blue) at - low speed and no over modulation (left figure) - high speed and over modulation (right figure) 6.13 PEN DRAIN OUTPUT CONTROL Two open drain outputs are available in K1 (Pin 2 and Pin 10).

  • Page 65: Parameters

    26.04.2005 Configuration & control of the AC SuperDrive In order to generate an Open Drain Output voltage that is equal to the Dc Bus Voltage, the Pull Time is set to zero and the Hold Voltage is set to a voltage that always is above the Dc Bus Voltage (for example, 10000 centiV in a 48 V system).

  • Page 66: How The Ac Superdrive Handles Parameters

    Configuration & control of the AC SuperDrive 26.04.2005 6.14 AC S OW THE UPER RIVE HANDLES PARAMETERS 6.14.1 G ENERAL Parameters are stored in EEPROM memory, which provides non-volatile storage with the capability to change parameter values. Figure 33. Parameter Access and Flow. shows the organization of AC SuperDrive memory and the paths over which parameter flow.

  • Page 67: Saving Parameters

    In a production environment any of the following methods may be employed to configure AC SuperDrives: • The user-specified configuration can include as default parameters by Danaher Motion during the manufacturing process. • The user may download the configuration to the drive as a step in his vehicle assembly process.

  • Page 68: Reverting To Default Parameters

    Configuration & control of the AC SuperDrive 26.04.2005 6.14.5 R EVERTING TO DEFAULT PARAMETERS The user may revert to default parameters (stored in flash memory along with the AC SuperDrive software) using a procedure similar to saving parameters, i.e. by writing the value 64616F6Ch to CANopen object Restore All Default Parameters (1011h:1).

  • Page 69: Troubleshooting Guide

    Troubleshooting guide 26.04.2005 TROUBLESHOOTING GUIDE ENERAL This troubleshooting guide presents procedures for diagnosing and eliminating the causes of faults and error conditions affecting the AC SuperDrive. The AC SuperDrive is one component of a drive chain, which may include mechanical drive components, a motor, hydraulics, electrical controls, wiring and battery.

  • Page 70: Status Indicator

    Troubleshooting guide 26.04.2005 the root cause of a warning is removed, the AC SuperDrive automatically removes any reduced capacity restriction related to the warning condition. When a warning is detected: • The warning bit in the Status Word is set. •...
  • Page 71 Troubleshooting guide 26.04.2005 • When using a troubleshooting chart, one should first investigate those possible causes, which seem most likely considering the recent history of the vehicle. Locate the observed symptom(s) in Table 26, error code in Table 27 and warning code in Table 28, and then refer to the troubleshooting chart on the referenced page.

  • Page 72: Troubleshooting Chart

    Troubleshooting guide 26.04.2005 Extended Warning bit Warning field code page Index 3010h, 1 0x0001 Low voltage 0x0002 High voltage 0x0004 DC Bus calibration 0x0008 Motor temperature low, <-50°C 0x0010 Motor temperature high>145°C 0x0020 Motor temperature sensor not connected/short circuit 0x0040 Heat sink temperature 1 low<-20°C 0x0080 Heat sink temperature 1 high >85°C...

  • Page 73: Main Contactor Doesnt Close

    Troubleshooting guide 26.04.2005 7.7.1 M ’ AIN CONTACTOR DOESN T CLOSE Symptom User's Guide 1.0 Item No. 89Y05120A...

  • Page 74: Fuse To Power Stage Is Blown

    Troubleshooting guide 26.04.2005 7.7.2 F USE TO POWER STAGE IS BLOWN Symptom The most likely reasons for a blown fuse are a short start circuit in the drive power stage or the average current drawn by the drive exceeds the fuse rating. Replace fuse and restart drive.

  • Page 75: Ac Superdrive Status Indicator Is Flashing Or Off

    Troubleshooting guide 26.04.2005 7.7.3 AC S UPER RIVE STATUS INDICATOR IS FLASHING OR Symptom User's Guide 1.0 Item No. 89Y05120A...

  • Page 76: Motor Runs Only At Low Speed

    Troubleshooting guide 26.04.2005 7.7.4 M OTOR RUNS ONLY AT LOW SPEED Symptom Item No. 89Y05120A User's Guide 1.0...

  • Page 77: Speed Feedback Sensor Not Connected

    Troubleshooting guide 26.04.2005 7.7.5 S PEED FEEDBACK SENSOR NOT CONNECTED Warning Code 0x4000 User's Guide 1.0 Item No. 89Y05120A...

  • Page 78: Motor Temperature Error

    Troubleshooting guide 26.04.2005 7.7.6 M OTOR TEMPERATURE ERROR Error Code 0x4210 OWER LIMITED DUE TO OVER TEMPERATURE Warning Code 0x2000 OWER REDUCTION DUE TO MOTOR OVER TEMPERATURE Warning Code 0x0010 Item No. 89Y05120A User's Guide 1.0...
  • Page 79 Troubleshooting guide 26.04.2005 User's Guide 1.0 Item No. 89Y05120A...

  • Page 80: Heatsink Over Temperature Error

    Troubleshooting guide 26.04.2005 7.7.7 H EATSINK OVER TEMPERATURE ERROR Error Code 0x4310 OWER LIMITED DUE TO HEATSINK OVER TEMPERATURE 1, 2 > 85 Warning Code 0x0080 0x0400 OWER REDUCTION DUE TO TEMPERATURE Warning Code 0x2000 See next page Item No. 89Y05120A User's Guide 1.0...
  • Page 81 Troubleshooting guide 26.04.2005 User's Guide 1.0 Item No. 89Y05120A...
  • Page 82 Troubleshooting guide 26.04.2005 Item No. 89Y05120A User's Guide 1.0...

  • Page 83: Ac Current Over Current

    Troubleshooting guide 26.04.2005 7.7.8 AC CURRENT OVER CURRENT Error Code 0x2310 CURRENT SHORT CIRCUIT Error Code 0x2340 User's Guide 1.0 Item No. 89Y05120A...

  • Page 84: Dc Bus High - Hardware Detected

    Troubleshooting guide 26.04.2005 7.7.9 DC B US HIGH HARDWARE DETECTED Error Code 0x3212 DC B US HIGH SOFTWARE DETECTED Error Code 0x3211 Item No. 89Y05120A User's Guide 1.0...

  • Page 85: Dc Bus Low

    Troubleshooting guide 26.04.2005 7.7.10 DC B Error Code 0x3221 DC B O CHARGING Error Code 0x3120 User's Guide 1.0 Item No. 89Y05120A...

  • Page 86: Can -Time Out

    Troubleshooting guide 26.04.2005 7.7.11 CAN – TIME OUT Error Code 0x8100 Item No. 89Y05120A User's Guide 1.0...

  • Page 87: Heatsink Temperature Sensor 1,2 - Open Circuit/Short Circuit

    Troubleshooting guide 26.04.2005 7.7.12 H 1,2 – EATSINK TEMPERATURE SENSOR OPEN CIRCUIT SHORT CIRCUIT Warning Code 0x0100 0x0800 User's Guide 1.0 Item No. 89Y05120A...

  • Page 88: Motor - Temp < -50 °C

    Troubleshooting guide 26.04.2005 7.7.13 M < -50 °C OTOR TEMP Warning Code 0x0008 1, 2< -20 °C EATSINK MOTOR TEMP Warning Code 0x0040 0x0200 OWER REDUCTION Warning Code 0x2000 Item No. 89Y05120A User's Guide 1.0...

  • Page 89: Motor Temperature Sensor Open Circuit/Short Circuit

    Troubleshooting guide 26.04.2005 7.7.14 M OTOR TEMPERATURE SENSOR OPEN CIRCUIT SHORT CIRCUIT Warning Code 0x0020 User's Guide 1.0 Item No. 89Y05120A...

  • Page 90: Supply Low Voltage

    Troubleshooting guide 26.04.2005 7.7.15 15 V SUPPLY LOW VOLTAGE Error Code 0x5111 15 V SUPPLY LOW OR HIGH VOLTAGE Error Code 0x5113 URRENT CALIBRATION ERROR Error Code 0x5210 Item No. 89Y05120A User's Guide 1.0...

  • Page 91: Reverted To Default Parameters

    Troubleshooting guide 26.04.2005 7.7.16 R EVERTED TO DEFAULT PARAMETERS Warning Code 0x1000 User's Guide 1.0 Item No. 89Y05120A...

  • Page 93: Ac Superdrive Specifications

    AC SuperDrive specifications 26.04.2005 AC SUPERDRIVE SPECIFICATIONS ENERAL 3-phase induction motor with squirrel cage rotor. OTOR TYPE 1,2,4 quadrant control. OF QUADRANTS Regenerative. RAKING PWM (Pulse Width Modulation). ODULATION optional optional 8, 12 , 16 kHz. WITCHING FREQUENCY 0-250 Hz. PERATING STATOR CURRENT FREQUENCY Speed or torque control.

  • Page 94: Dc Supply Voltage Requirement

    AC SuperDrive specifications 26.04.2005 SUPPLY VOLTAGE REQUIREMENT Nominal DC Supply Operating range Instantaneous Instantaneous SuperDrive Voltage minimum maximum model (< 50 ms) VDC (<100 µs) VDC ACS24xx 16-32 ACS36xx 25 – 46 50.4 ACS48xx 34 – 62 67.2 ACS80xx 56 – 104 xx = 10, 15, 20, 25 SOLATION According to EN 1175-1.

  • Page 95: Emc

    AC SuperDrive specifications 26.04.2005 humidity of 95%. 100% condensing according to IEC68-2-30, Db UMIDITY 6 m/s forced air cooling between fins required for OOLING AC S one hour driving current ratings listed UPER RIVE WITH FINS Cooling Thermal resistance °C/W AC SuperDrive flat.

  • Page 96: Dimensions

    AC SuperDrive specifications 26.04.2005 8.11.2 D IMENSIONS Figure 37 AC SuperDrive with fins. Figure 38 shows dimensions for AC SuperDrive model 10 to 25 and drilling pattern for the flat heatsink versions and surface roughness and surface flatness requirements for the flat heatsink versions. (Dimensions in mm). AC SuperDrive Model Flat version ACSxx 10...
  • Page 97 AC SuperDrive specifications 26.04.2005 Figure 37. Dimensions for AC SuperDrive with finned heatsink (mm). Item No. 89Y05120A User's Guide 1.0...
  • Page 98 AC SuperDrive specifications 26.04.2005 Figure 38. Dimensions and surface roughness for flat heatsink (mm). Item No. 89Y05120A User's Guide 1.0...
  • Page 99 Danaher Motion sales engineers are conveniently located to provide prompt attention to customers needs. Call the nearest office listed for ordering and application information or for the address of the closest authorized distributor.

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Superdrive acs36 seriesSuperdrive acs48 seriesSuperdrive acs80 series

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