Starting with emDrive - Lafayette College...Picture 2: EmDrive 500 3.3. EmDrive H300 - 180 kVA peak...
Transcript of Starting with emDrive - Lafayette College...Picture 2: EmDrive 500 3.3. EmDrive H300 - 180 kVA peak...
Starting with emDrive
Motor controller
User Manual
Table of Figures 2
CHAPTER 1: THIS USER MANUAL .............................................................................................................................. 1
CHAPTER 2: SAFETY INFORMATION ........................................................................................................................ 1
CHAPTER 3: MAIN FEATURES OF EMDRIVES ........................................................................................................ 2
3.1. EMDRIVE 150 ................................................................................................................................................................................... 2
3.2. EMDRIVE 500 ................................................................................................................................................................................... 3
3.3. EMDRIVE H300 ............................................................................................................................................................................... 3
3.4. TECHNICAL INFORMATION .............................................................................................................................................................. 4
CHAPTER 4: INSTALLATION ........................................................................................................................................ 5
4.1. CABLES CROSS SECTION ................................................................................................................................................................... 5
4.2. INPUT AND Y CAPACITANCE ............................................................................................................................................................ 6
4.3. DISCHARGE ........................................................................................................................................................................................ 6
4.4. COOLING REQUIREMENTS ................................................................................................................................................................ 6
4.5. DIMENSION ........................................................................................................................................................................................ 7
4.5.1. EmDrive 150 ......................................................................................................................................................................... 7
4.5.2. EmDrive 500 ......................................................................................................................................................................... 8
4.5.3. EmDrive H300...................................................................................................................................................................... 9
CHAPTER 5: WIRING EXAMPLE ............................................................................................................................... 10
5.1. SCHEMATIC: SSI MOTOR FEEDBACK TYPE ................................................................................................................................. 11
5.2. SCHEMATIC: HALL MOTOR FEEDBACK TYPE.............................................................................................................................. 12
5.3. SCHEMATIC: RESOLVER MOTOR FEEDBACK TYPE ..................................................................................................................... 13
5.4. SCHEMATIC: SIN/COS MOTOR FEEDBACK TYPE ....................................................................................................................... 14
CHAPTER 6: CONNECTING MOTOR CONTROLLER TO EDRIVE CONFIGURATOR ................................... 15
6.1. ABOUT EDRIVE CONFIGURATOR ................................................................................................................................................. 15
7.1.1. Requirements for starting the installation ............................................................................................................. 15
6.2. INSTALLING USB TO CAN DRIVER ............................................................................................................................................. 15
6.3. INSTALLING THE CONFIGURATION TOOL ................................................................................................................................... 18
CHAPTER 7: EDRIVE CONFIGURATION TOOL .................................................................................................... 21
7.1. AUTO – ALIGN PROCEDURE .......................................................................................................................................................... 21
7.2. TUNNING CURRENT CONTROL PARAMETERS ............................................................................................................................. 29
7.2.1. Device Control .................................................................................................................................................................... 29
7.2.2. State Transitions .............................................................................................................................................................. 30
7.2.3. Creating shortcuts ............................................................................................................................................................ 31
7.2.4. Generating torque pole reference .............................................................................................................................. 34
7.2.5. Configuring oscilloscope function .............................................................................................................................. 36
7.2.6. Reading................................................................................................................................................................................. 38
7.3. TUNING VELOCITY CONTROL PARAMETERS ............................................................................................................................... 41
7.4. SETTING APPLICATION 1 .............................................................................................................................................................. 43
7.4.1 Requirements for setting application ....................................................................................................................... 44
CHAPTER 8: ERRORS AND WARNINGS ................................................................................................................. 47
8.1. ERRORS............................................................................................................................................................................................ 47
8.2. WARNINGS ...................................................................................................................................................................................... 48
Table of Figures 3
Table 1: Diode states ........................................................................................................................................... 4
Table2: Auto - Align .......................................................................................................................................... 26
Table 3: Transition events and actions ..................................................................................................... 30
Picture 1: EmDrive 150 ...................................................................................................................................... 2
Picture 2: EmDrive 500 ...................................................................................................................................... 3
Picture 3: EmDrive H300 ................................................................................................................................... 3
Picture 4: EmDrive 150 - Dimensions .......................................................................................................... 7
Picture 5: EmDrive 500 - Dimensions .......................................................................................................... 8
Picture 6: EmDrive 500 - Dimensions .......................................................................................................... 8
Picture 7: EmDrive H300 - Dimensions ....................................................................................................... 9
Picture 8: EmDrive H300 - Dimensions ....................................................................................................... 9
Picture 9: Basic wiring with SSI motor feedback .................................................................................. 11
Picture 10: Basic wiring with HALL motor feedback .......................................................................... 12
Picture 11: Basic wiring with Resolver motor feedback .................................................................... 13
Picture 12: Basic wiring with SIN/COS motor feedback .................................................................... 14
Picture 13: Device State Machine Block Diagram ................................................................................. 29
Picture 14: Basic wiring for setting application .................................................................................... 43
1
Chapter 1: This User Manual
This document contains detailed description for wiring eDrive with PMSM motor with
different feedbacks.
In chapter 6 is described basic wiring between controller, motor and battery pack. Then it is
shown how to connect motor controller to eDrive configurator. It is also described step by
step how to run auto – align rotor position on emDrive, tune current/velocity control
parameters and set basic internal application which is capable of driving up to one eDrive
with one enable switch and one forward/reverse switch and potentiometer. At the end are
described errors and warnings that can occur during working with emDrive in case
something went wrong.
Chapter 2: Safety information
Before operating emDrive is necessary that you implement the safety procedure included in
this user manual. That will keep you and your work area safe.
Please read this chapter really carefully before you start operating emDrive.
Only qualified personnel may install, adjust, maintain and repair the emDrive. A qualified
person has the knowledge and authorization to assemble, install and operate with motor
controllers.
Important information (Usually it is something we recommend)
2
Chapter 3: Main features of EmDrives
Benefits:
- Advanced sinus vector control (also with hall sensors)
- Automatic field weakening mode for induction and PMSM motors
- Different regeneration modes
- Controller and motor protection with gradual power decrease at high temperature or low-
battery voltage
- Compact size and lightweight
- Cost optimized
3.1. EmDrive 150
Peak motor power:
- emDrive150 – 150_250/60:
15 kVA
- emDrive150 – 200_400/60:
24 kVA
- emDrive150 – 150_300/125:
37 kVA
Continuous motor power:
- emDrive150 – 150_250/60: 9 kVA
- emDrive150 – 200_400/60: 12 kVA
- emDrive150 – 150_300/125: 18 kVA
- Induction, PMSM and BLDC motor
types
- Support different types of rotor
position sensors
- Battery voltage range 20-60/125 V
- Continuous motor current 150/200 Arms,
1 minute peak 250/300/400 Arms
- CAN (CAN open) interface
- Dimensions 200 x 150 x 43/53 mm, weight 1,5/1,6
kg
Picture 1: EmDrive 150
3
3.2. EmDrive 500
- 100 kVA peak motor power, 62 kVA continuous power
- Induction, PMSM and BLDC motor types
- Support different types of rotor position sensors
- Galvanic isolation between control and power signals
- Battery voltage range 30-125 V
- Continuous motor current 500 Arms, 1 minute peak 800 Arms
- CAN (CAN open) interface
- Liquid cooling
- Dimensions 280 x 205 x 65 mm, weight 4,9 kg
Picture 2: EmDrive 500
3.3. EmDrive H300
- 180 kVA peak motor power, 120 kVA continuous power
- Induction, PMSM and BLDC motor types
- Support different types of rotor position sensors
- Battery voltage range 100-450 V
- Continuous motor current 300 Arms, 1 minute peak 450 Arms
- CAN (CAN open) interface
- IGBT module with direct liquid cooling
- Dimensions 230 x 245 x 126 mm, weight 7 kg
Picture 3: EmDrive H300
4
3.4. Technical Information
Every emDrive has mounted five diodes which represents different states/modes of
emDrive.
In Table 1 is written every mode in which emDrive can get and what it means.
DIODE OFF FLASHING ON
CAN Run NMT state
stopped
NMT state
pre-operational
NMT state
operational
Can
Error No CAN error
single flash - CAN
state passive CAN bus off
double flash -
Heartbeat lost (error
code 0x8130)
Drive
Controller in
preoperational mode,
PWM disabled, Safety
procedure not started,
Break enabled
Controller in
operational mode,
Safety ok, PWM
disabled, Break
disabled
Controller in drive
mode PWM enabled,
break disabled
Warning All protections are
inactive
One or more of
protections active.
Bit in status word
set, warning
description can be
found in CO object
0x2027
Error No drive error Drive error
Table 1: Diode states
5
Chapter 4: Installation
4.1. Cables cross section
We recommend using shielded silicone – insulated, screened – copper, single – core high
voltage automotive cables by Coroplast (www.coroplast.de).
Wire cross section*
Drive Wire Diameter for
phase connection
Wire diameter for
battery
connection
EmDrive150 150_250/60: 15 kVA 25 mm2 16 mm2
EmDrive150 200_400/60: 24 kVA 50 mm2 16 mm2
EmDrive150 150_300/125: 37 kVA 35 mm2 16 mm2
EmDrive 500_800/125: 100 kVA 50 mm2 50 mm2
EmDrive H300 300_450/450: 180
kVA 50 mm2 25 mm2
*at maximum phase current and maximum power at device voltage.
Drive
Recommended wire
length for phase
connection
Recommended wire
length for battery
connection
EmDrive150 150_250/60: 15 kVA
Up to 2m Up to 5m
EmDrive150 200_400/60: 24 kVA
EmDrive150 150_300/125: 37 kVA
EmDrive 500_800/125: 100 kVA
EmDrive H300 300_450/450: 180
kVA
6
4.2. Input and Y capacitance
Drive Input capacity [mF] Y capacitor*
EmDrive150 150_250/60: 15 kVA 6,3
EmDrive150 200_400/60: 24 kVA 13,2
EmDrive150 150_300/125: 37 kVA 2,4
EmDrive 500_800/125: 100 kVA 14,5
EmDrive H300 300_450/450: 180
kVA 1
*Capacitance between +B
4.3. Discharge
There is no pre-charge function in any controller. There is no dis-charge function in any controllers, except in EmDrive H300.
EmDrive H300 has fix discharge resistor of 200 kΩ.
4.4. Cooling requirements
Drive Cooling type Requirements
EmDrive150 150_250/60: 15 kVA Air 500 W of cooling power
EmDrive150 200_400/60: 24 kVA Air 500 W of cooling power
EmDrive150 150_300/125: 37 kVA Air 500 W of cooling power
EmDrive 500_800/125: 100 kVA Liquid 5 l/min, 2 bar, liquid mix
(50% distilled water, 50% glycol)
EmDrive H300 300_450/450: 180
kVA Liquid
5 l/min, 2 bar, liquid mix
(50% distilled water, 50% glycol)
7
4.5. Dimension
4.5.1. EmDrive 150
- EmDrive 150 150_250/60: 15 kW
- EmDrive 150 200_400/60: 24 kW
- EmDrive 150 150_300/125: 37 kW
Picture 4: EmDrive 150 - Dimensions
8
4.5.2. EmDrive 500
- EmDrive 500_800/125: 100 kW
Picture 5: EmDrive 500 - Dimensions
Picture 6: EmDrive 500 - Dimensions
9
4.5.3. EmDrive H300
- EmDrive H300 300_450/450: 180 kW
Picture 7: EmDrive H300 - Dimensions
Picture 8: EmDrive H300 - Dimensions
10
Chapter 5: Wiring example
Wiring example shown on following pages represents basic application for electric
drivetrain.
Functionalities of electric drivetrain are:
1. Switch for enable/disable controller
2. Switch for direction (forward and reverse)
3. Potentiometer for throttle for torque or speed setting
4. Potentiometer for break settings
5. CAN for connection with eDrive Configurator (use CAN to USB controller)
All shown wiring examples have the same functionality, the difference is only in motor
sensor feedback type.
11
5.1. Schematic: SSI motor feedback type
Picture 9: Basic wiring with SSI motor feedback
12
5.2. Schematic: Hall motor feedback type
Picture 10: Basic wiring with HALL motor feedback
13
5.3. Schematic: Resolver motor feedback type
Picture 11: Basic wiring with Resolver motor feedback
14
5.4. Schematic: Sin/Cos motor feedback type
Picture 12: Basic wiring with SIN/COS motor feedback
15
Chapter 6: Connecting motor controller to eDrive
configurator
6.1. About eDrive Configurator
eDrive Configurator is CAN open tool developed by EMSISO and it is designed both for
internal use and for external customers. It can be used with any CAN open compatible device
but it is specially designed to use with EMSISO emDrive devices.
eDrive Configurator is designed to work with EMSISO USB-CAN Interface and will not
support any other CAN Interface due to its special features.
7.1.1. Requirements for starting the installation
- PC with Windows operating system XP or later - Installed Microsoft .NET Framework version 4.0 or higher - EMSISO USB-CAN Interface or any USB-RS232 Serial interface (not all features
available)
6.2. Installing USB to CAN driver
First extract folder USBtoCANDriver_PW_12345.
The password you need to extract files is written in file name PW (password) _12345.
16
Go to extracted folder and open setup file VCP_V1.3.1_Setup_x64. Click Next and wait a few
seconds.
Click Next
.
17
Click Finish and you are done installing driver for USB to CAN.
18
6.3. Installing the Configuration tool
First you need to extract folder EMSISO_eDrive_Configurator_Setup_V_0_31_BETA.
Go to extracted folder and open file EMSISO_eDrive_Configurator_Setup_V_0_31_BETA.
19
Choose Everyone or Just me and click next.
Click Next.
20
Click Close and you are done with installation of eDrive Configurator.
21
Chapter 7: eDrive Configuration tool
7.1. Auto – align procedure
Minimum requirements for running emDrive auto align rotor position:
- PC with serial port or USB to serial adapter and terminal or CAN Open compatible USB
dongle and PC SW
- Communication cables connected with PC (RS232 or CAN)
- Motor with mounted compatible feedback with emDrives
- Basic informations about motor and feedback (Used motor producer, type of motor, which
feedback is used)
Double click on the icon eDrive Configuration.
22
Step 1: Establish connection.
The USB- RS232 connection has to be established so you can start setting parameters.
Network/Connection.
Select the correct COM port and click Open. You should see in bottom left corner written
connected.
Scan network.
Network / Scan network
23
You can stop scanning process when Node reaches the ID number of your device. Usually ID
number is 1.
Network / Nodes
Select your device Node-ID and click Download.
24
Open SDO Browser and go to Step 2.
- SDO Browser is used to Read or Write value to any object that is supported in device
dictionary.
- SDO Browser is also used to add objects to Watch, Oscilloscope and Shortcuts
(examples of that are shown in following chapters).
25
Step 2: Clear parameters.
We highly recommend that the auto – align procedure is done at no – loaded motor (motor
can spin freely).
Note: This step will clear all the parameters and set them to default values. In case you
already set parameters to wanted values make sure you save them to avoid losing them.
Tools / Clear parameters.
Step 3: Set parameters according to Table2: Auto - Align.
Example: 0x6076 – Motor rated torque – setting value to 80 000.
Before starting auto - align procedure clear the controller parameters!
Set value here and click write
26
Table2: Auto - Align
Object Object Setting
0x2033 - Motor pole pairs Set this to number of motor pole pairs. Example: Emrax motors have 10 pole pairs. Value = 10
Note: By motor with HALL feedback this value must be set to 1.
0x2039 - FOC Calculation Delay enable Enable FOC calculation delay. Value = 1
0x2040 - sub1 - Feedback type Set feedback type. Example: Emrax motor with SSI feedback. Value = 2.
Note: By motor with HALL feedback set sub6 to 6.
0x2040 - sub8 - Motor phase offset compensation
Set this value to 190 µs. Value = 190
0x2054 - Over voltage limit Set this value according to the controller type. Example: emDrive 150_250/125 Value = 125
0x2055 - sub3 - Undervoltage min voltage Set this value according to the controller type. Example: emDrive 150_250/125 Value = 100
0x2057 - sub1 - Motor temperature sensor type
Set this value according to the motor temperature sensor type. Example: Motor don't have temperature sensor. Value = 0
0x6060 - Modes of operation Set this value to auto - align motor position. Value = - 4
0x6075 - Motor rated current Set this value below motor rated current. Example: For emrax motor this value is usually set to 80 A. Value = 80 000
0x6076 - Motor rated torque Set this value to the same value as in step 9. Example: For emrax motor this value is usually set to 80 N. Value = 80 000
27
Step 4: Save parameters.
We suggest to save parameters in case of turning controller off and losing settings.
Step 5: Reset
After saving parameters reset device.
Step 6: Operational
Step 7: Check for LED status (errors, warnings).
In case you have warnings you can check them in SDO Browser / 2027 – Warnings.
In case you have errors you can check them in SDO Browser / 603f – Error_code.
Descriptions of errors and warning are written in Error! Reference source not
ound.Error! Reference source not found..
Step 8: Save parameters
Tools / Save parameters
After Operational command the motor should start spinning first in positive
direction then in reverse direction and then stop.
Respond according to warning / error states.
28
After align procedure the drive is in cyclic sync torque mode (0x6060 value = 10).
29
7.2. Tunning current control parameters
7.2.1. Device Control
Picture 13 contains detailed description of the device states and all possible controlling
sequences for operating the emDrive.
States of the drives are determining which commands are accepted.
States may be changed using the Controlword 0x6040 and/or according to internal events.
Picture 13: Device State Machine Block Diagram
Not ready to
switch on
Switch on
disabled
Ready to
switch on
Switched on
Operation
enabled
Quick stop
active
Fault reaction
active
Fault
Start
0
1
2
3
4 5
6
7
8 9
10
11
12 13
14
15
Power-off or reset
30
7.2.2. State Transitions
State transitions are caused by internal events in the device or by command from host via
the Controlword.
If command is received which causes a change of state, this command will be processed
completely and the new state attained before the next command can be processed.
Table 3: Transition events and actions
Transition Event(s) Action(s)
0 Automatic transition after power-on
or reset
Initialize drive, enable breaks, start local
control if enabled
1 Automatic transition
Start safety procedure, disable drive
function, initialize feedback,
internal set-points cleared
2 “Shutdown” command from control
device or local signal received Disable drive function
3 “Switch on” command received from
control device or local signal Disable breaks
4
“Enable operation” command
received from control device or local
signal
Enable drive function
5
“Disable operation” command
received from control device or local
signal
Drive function disabled, disable breaks
6 “Shutdown” command received from
control device or local signal Drive functions disabled, enable breaks
7
“Quick stop” or “disable voltage”
command received from control
device or local signal
Drive functions disabled, enable breaks,
initialize feedback, internal set-points
cleared
8 “Shutdown” command received from
control device or local signal Drive functions disabled, enable breaks
9 “Disable voltage” command received
from control device or local signal
Drive functions disabled, enable breaks,
initialize feedback, internal set-points
cleared
10
“Disable voltage” or “quick stop”
command received from control
device or local signal
Drive functions disabled, enable breaks,
initialize feedback, internal set-points
cleared
11 “Quick stop” command received from
control device or local signal none
12 Automatic transition Disable drive function, initialize feedback,
internal set-points cleared
13 Fault signal None
14 Automatic transition Disable drive function, enable break
15 “Fault reset” command received from
control device or local signal Clear fault condition if no fault is present
31
7.2.3. Creating shortcuts
The easiest way to control drive in different states is to create shortcuts.
For turning drive in “Shutdown” and “Fault reset” mode, values 6 and 15 must be written in
Controlword 0x6040.
a) Controlword 0x6040 (first shortcut) – value 6
b) Controlword 0x6040 (second shortcut) – value 15
Create two shortcuts.
SDO Browser/0x6040 – Controlword/ (Right click) Add to shortcut/Shortcut1
SDO Browser/0x6040 – Controlword/ (Right click) Add to shortcut/Shortcut2
32
You can see shortcuts that you created in shortcuts menu.
Now you have to define values for each shortcut.
Shortcuts – Controlword/Edit (shortcut 1)
33
In shortcut1 write value 6.
Shortcuts – Controlword/Edit (shortcut 2)
In shortcut2 write value 15.
Shortcuts are now defined.
Here write 6 and click Apply
Here write 15 and click Apply
34
7.2.4. Generating torque pole reference
Before starting tuning current control check if controller is in sync torque mode
(0x6060 = 10).
We recommend the current control is tunned at blocked motor.
For current control is used PI controller.
The controller proportional part (P) and integral part (I) parameters are set in objects:
0x60f6 (current_control_parameters).
-sub1 – Current_control_regulator_P-Gain
-sub2 – Current_control_regulator_I-Gain
The period is set by 0x2032 – sub1 – Pulse mode counter = 500
The amplitude is set by 0x6071 – Target torque = 100
Setting period.
Here write 500 and click Write
35
Setting amplitude.
Here write 100 and click Write
36
7.2.5. Configuring oscilloscope function
Oscilloscope is EMSISO special functionality for advanced analysis of device behavior. With oscilloscope user can set device to record any object values in real time and save them
to internal RAM or EEPROM memory. Records can be later transferred to PC and even
exported to CSV file.
To watch signal you have to add Torque regulator requested, actual and out to osci.
0x201b – Torque regulator (sub1, sub2, sub3) (right click/add to osci)
Click Oscilloscope.
Here are
Torque
regulator
requested,
actual, out.
37
Setting values:
Step 1: Right click on 201b sub1 / Set Trigger
Step 2: Mode: Continuous
Step 3: Level: 0
Step 4: Memory: RAM
Step 5: Sample Rate: 1
Step 6: Pretrigger %: 0
Step 7: No. of Charts: 1
Step 8: Click Draw
Step 9: Click WriteConf
Step 10: Click Enable
1
2 3
4 5 6 7
8
9 10
38
7.2.6. Reading
Step 1: Click Operational
Step 2: Click Controlword 6
Step 3: Click Controlword 15
Step 4: Click Run (Wait 1 second)
Step 5: Click Stop
Step 6: Click Controlword 6
Step 7: Click Operational
Step 8: Click Force Read
After few minutes Osci data read will complete.
1
2 3
4 5
6
7
8
39
With overset values:
0x6071 – Target torque = 500
0x60f6 (current_control_parameters).
-sub1 – Current_control_regulator_P-Gain = 1500
-sub2 – Current_control_regulator_I-Gain = 200
With recommended values:
0x6071 – Target torque = 500
0x60f6 (current_control_parameters).
-sub1 – Current_control_regulator_P-Gain = 300
-sub2 – Current_control_regulator_I-Gain = 350
40
After current control settings we recommend checking the electrical angle in
oscilloscope.
Set target torque 0x6071 – Target Torque/value = 50
Set 0x2032 – Pulse mode/sub1 – Pulse mode counter/value = 0
0x201f – Electrical Angle (Right click/Add to osci)
41
7.3. Tuning velocity control parameters
Step 1: Set 0x6060 – Modes_of_operation – value 9 (cyclic sync velocity)
Step 2: Create Shortcuts:
0x60ff – Target_velocity (Right click/Add to Shortcut 3)
- Right click/Edit/Value -200
0x60ff – Target_velocity (Right click/Add to Shortcut 4)
- Right click/Edit/Value 200
0x60ff – Target_velocity (Right click/Add to Shortcut 5)
- Right click/Edit/Value 0
Step 3: Add to Graph:
0x606c – Velocity_actual_value (Right click/Add to Watch)
0x60ff – Target_velocity (Right click/Add to Watch)
Step 4: Click tab Graph. Set:
4.1. Period [ms]: 100
4.2. Set Graph in Target_velocity and Velocity_actual_value to 1.
4.3. Click Read all and Apply Charts.
4.4. Click Graph 1
Step 5: Set values:
- 0x60f9 (Velocity_control_parameters).
- sub1 – Velocity_control_regulator_P-Gain = Overset Value (400)
- sub2 – Velocity_control_regulator_I-Gain = Overset Value (2)
2
3
4 4.1.
4.2.
4.3.
4.4.
42
- 0x60f9 (Velocity_control_parameters).
- sub1 – Velocity_control_regulator_P-Gain = Recommended Value (8000)
- sub2 – Velocity_control_regulator_I-Gain = Recommended Value (10)
43
7.4. Setting Application 1
EDrive application is used to control eDrive with digital and analog inputs.
Basic configuration is one switch for enabling the drive control and one potentiometer for setting the current in torque mode or velocity in
velocity mode and switch for forward and reverse function. Basic configuration is shown in picture below.
Picture 14: Basic wiring for setting application
44
7.4.1 Requirements for setting application
- PC with serial port or USB to serial adapter and terminal or CAN Open compatible USB
dongle and PC SW,
- Communication cables connected with PC (RS232 or CAN),
- Motor with mounted compatible feedback with emDrives,
- Successfully finished Auto align procedure
(For help refer to chapter 7.1 Auto – align procedure)
- Switches and potentiometers which are required for controlling emDrive
(For help refer to Chapter 5: Wiring example).
Step 1: 0x3001 – Status and settings/sub1 – APP1 Control Mode/value 1(torque mode)
Application supports two modes (1-torque and 2-velocity). Torque mode must be
completely tested than we can proceed to velocity mode – enter 1 to selected torque
mode.
Step 2: 0x3001 – Status and settings/sub4 – APP1 Number of controlled drives/value 1
Application support control from 1 up to 4 emDrive controllers. To control only one
emDrive set value to 1.
Step 3: 0x3001 – Status and settings/sub5 – APP1 DriveX Node ID
Application is capable of controlling 4 drives and each drive must have unique Node
ID on bus which must be preconfigured directly on each drive. Set Node ID for each
drive which will be controlled through application.
In case of using one drive, set Node ID correspondingly to object Drive1 Node ID.
Step 4: 0x2070 – Analog inputs/sub1 – Throttle voltage/Right click/Add to watch
This potentiometer is used for regulating speed/velocity. Measure min/max values by
putting potentiometer to min and max position. Read Throttle voltage values which are
shown in Watch window.
Make sure that 0x6060 – Modes of operation is set to value 10.
45
Step 5: 0x2076 – Digital input/Right click/Add to watch
This switch is used for switching from forward to reverse. We recommend checking if switch
works correctly by changing switch from position 1 to position 0 and 2. Values should appear
in Watch window.
Step 6: 0x3003 – Application 1 – I/O settings
- Sub1 – APP 1 Din1 Function/Set to 1 (FW)
- Sub2 – APP 1 Din1 Function/Set to 2 (RW)
- Sub a – APP 1 Throttle type/Set to 1(unipolar throttle)
- Sub b – APP 1 Throttle Positive Min Voltage
We recommend setting value 100mV higher than actual min
throttle voltage value.
E.G. Actual min throttle voltage value is 800. Set to value 900.
- Sub c – APP 1 Throttle Positive Max Voltage
We recommend setting value 100mV lower than actual max throttle
voltage value.
E.G. Actual max throttle voltage value is 4100. Set to value 4000.
Step 7: 0x3000 – Select Application/set to 1
Application has to be enabled when all the parameters are set correctly.
46
When all parameters are set save parameters (Tools/Save
parameters) and reset (Reset button) the device.
Put all switches into off position and throttle in zero position. Right after reset emDrive must
go into operational mode (CAN Run led will be turned ON). For enabling drive mode turn on
enable switch (drive led must turn on and PWM can be heard in motor). To spin motor slowly
increase potentiometer and motor must rotate.
Limiting Max FW and Max RW Velocity
Max FW Velocity:
0x3009 – Application 1 – Power Mode – Sport/Sub7 – APP1 Power Mode Sport Max Velocity
E.G. Value = 2000.
Max RW Velocity:
0x3001 – Application 1 – Status and settings/Sub11 – APP1 Max Rw Velocity
E.G. Value = 1000.
Setting application is done. If you disconnect USB - RS232 connection the application will
still work.
During setting application make sure that you saving parameters.
Save/Load DCF file
We recommend saving DCF file when application is set.
Device Configuration File (DCF) is standard CANopen file that contains list of objects with values in moment that was saved. DCF can be saved and loaded with any CANopen software that supports this functionality.
To save or load DCF file make sure that you are connected to the device, your communication port is opened and you have right Node-ID selected.
Choose Save DCF or Load DCF from Tools menu and browse your computer for file path.
47
Chapter 8: Errors and Warnings
8.1. Errors
Errors can be checked in SDO Browser / 603f – Error_code.
Error Code Name Cause
0x1000 Generic error - Unspecific error occurred
0x2220 Overcurrent error - Short circuit in motor winding.
- Controller gain to high (Current control
parameters, Velocity control parameters). - Power
stage damaged
0x3210 DC link over voltage - Power supply voltage to high.
0xFF01 Phase A current
measurement
- Current phase A
- Hall sensor missing or damaged.
0xFF02 Phase B current
measurement
- Current phase B
- Hall sensor missing or damaged.
0xFF03 High side FET short
circuit
- DC voltage not applied to bridge or to low
- Motor phases not connected to controller
internal.
- Damaged high side FETs.
0xFF04 Low side FET short circuit - DC voltage not applied to bridge or to low -
Motor phases not connected to controller.
- Damaged low side FETs.
0xFF05 Low side FET phase 1
short circuit
- Motor phases not connected.
- Damaged low side FETs on phase 1.
0xFF06 Low side FET phase 2
short circuit
- Motor phases not connected.
- Damaged low side FETs on phase 2
0xFF07 Low side FET phase 3
short circuit
- Motor phases not connected.
- Damaged low side FETs on phase 3.
0xFF08 High side FET phase 1
short circuit
- Motor phases not connected.
- Damaged high side FETs on phase 1.
0xFF09 High side FET phase 2
short circuit
- Motor phases not connected.
- Damaged high side FETs on phase 2.
0xFF0A High side FET phase 3
short circuit
- Motor phases not connected.
- Damaged high side FETs on phase 3.
0xFF0B Motor Feedback - Wrong feedback selected (check feedback type).
- Feedback damaged or not connected.
0xFF0C DC link under voltage - DC voltage not applied to bridge or to low.
0xFF0D Pulse mode finished - Pulse mode finished (It’s used for fine
adjustments and troubleshooting).
0xFF0E Application Error - Error in APP1 – for detailed description check
0x3003, 0x03(APP_1_Error_Code)
0xFF0F STO Error - STO input voltage not present.
0xFF10 Error over temperature - Controller temperature exceeded critical point
48
8.2. Warnings
Warnings can be checked in SDO Browser / 2027 – Warnings
Bit 7 6 5 4 3 2 1 0
Description x Max
velocity
exceeded
Stall
protection
active
DC over
current
DC link
over
voltage
DC link
under
voltage
Motor
temp.
exceeded
Controller
temperature
exceeded