Elife UNIDRIVE M series Manuel utilisateur

Brushless Edition - Rev. B

UNIDRIVE M Series

Application

Reference Manual

Elife International S.r.l.

Via del Giglio, 4 - 57037 Portoferraio - LI

Isola d’Elba - Toscana - Italy

Tel: +39 0565 944121 Fax: +39 0565 945726

email: [email protected]

This manual is copyrighted of Elife International. All rights are reserved. This manual must not be

copied in whole or in part, nor transferred to any other media or language, without express written

permission of Elife International.

Technical Manual Version: 1.0 #Pre2

Contents

1 Overview 1

2 Installation and Wiring 7

2.1 Mounting UNIDRIVE on-board . . . . . . . . . . . . . . . . . . . . . 7

2.2 Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

2.2.1 High Power Connections . . . . . . . . . . . . . . . . . . . . . 9

2.2.2 Low Power Connections . . . . . . . . . . . . . . . . . . . . . 12

2.3 Standard Wiring Diagrams and Wiring Instructions . . . . . . . . . . 15

2.3.1 Standalone Mode . . . . . . . . . . . . . . . . . . . . . . . . . 15

2.3.2 PLC Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

2.3.3 EV Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

2.3.4 CAN Network Mode . . . . . . . . . . . . . . . . . . . . . . . 27

2.3.5 RS232 Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

2.4 Feedback Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

2.4.1 Resolver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

2.4.2 SinCos Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . 35

2.4.3 Hall Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3 Conﬁguration 37

3.1 Software Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

3.2 Connect UNIDRIVE to your PC . . . . . . . . . . . . . . . . . . . . . . 38

3.3 Import and Export Parameter Values . . . . . . . . . . . . . . . . . . 38

3.4 Change Programmable Parameters . . . . . . . . . . . . . . . . . . . 39

3.4.1 Operating Mode and Controller Parameters . . . . . . . . . . 40

3.4.2 Motor and Acceleration Parameters . . . . . . . . . . . . . . . 42

3.4.3 Throttle Parameters . . . . . . . . . . . . . . . . . . . . . . . 42

3.4.4 CANopen®Parameters . . . . . . . . . . . . . . . . . . . . . . 43

3.4.5 Locked Parameters . . . . . . . . . . . . . . . . . . . . . . . . 44

3.4.6 Advanced Parameters . . . . . . . . . . . . . . . . . . . . . . 47

3.5 Auto-tuning UNIDRIVE Parameters . . . . . . . . . . . . . . . . . . . 50

3.5.1 Gain Parameters for closed-loop Current Control . . . . . . . 50

3.5.2 Offset Resolver/SinCos . . . . . . . . . . . . . . . . . . . . . . 51

3.6 EV Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

4 Monitoring UNIDRIVE 57

4.1 LED Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

4.2 Reading Telemetry Data from Telemetry Panel . . . . . . . . . . . . . 57

4.2.1 Alarm Indicators . . . . . . . . . . . . . . . . . . . . . . . . . 60

4.2.2 Reset all Current Alarms . . . . . . . . . . . . . . . . . . . . . 61

4.2.3 Digital I/O and Drive State Indicators . . . . . . . . . . . . . . 62

4.2.4 The Target Velocity/Torque Track Bar . . . . . . . . . . . . . . 63

4.3 Plot and Log Telemetry Data in Real-Time . . . . . . . . . . . . . . . 64

5 Maintenance 67

A Troubleshooting: Alarm Messages 69

B Index of Programmable Parameters 77

List of Tables

1.1 The common features of all models of UNIDRIVE M Series ....... 3

1.2 An overview of the UNIDRIVE M Series Models . . . . . . . . . . . . . 3

2.1 A summary table of high-power connections, except the M4896-X Type. 10

2.2 Fuse size in accordance with the UNIDRIVE Type. . . . . . . . . . . . . 11

2.3 The pins’ description for the J1 - COMMAND connector. . . . . . . . . . . 12

2.4 UNIDRIVE I/O deﬁnitions for Standalone Mode. . . . . . . . . . . . . 16

2.5 UNIDRIVE I/O deﬁnitions for PLC Mode . . . . . . . . . . . . . . . . . 19

2.6 CAN bus address selector switch at the node set to 0. . . . . . . . . . . 22

2.7 UNIDRIVE I/O deﬁnitions for EV Mode. . . . . . . . . . . . . . . . . . 23

2.8 UNIDRIVE I/O deﬁnitions for Can Network Mode . . . . . . . . . . . . 27

2.9 UNIDRIVE I/O deﬁnitions for RS232 Mode. . . . . . . . . . . . . . . . 30

2.10

Pinout Description of the

J2 - FEEDBACK

connector (See Figure 2.14) to

connect a Resolver to your UNIDRIVE. . . . . . . . . . . . . . . . . . . 34

2.11

Pinout Description of the

J2 - FEEDBACK

connector (See Figure 2.14) to

connect a SinCos Encoder to your UNIDRIVE. . . . . . . . . . . . . . . 35

2.12

Pinout Description of the

J2 - FEEDBACK

connector (See Figure 2.14) to

connect a Hall Sensor to your UNIDRIVE. . . . . . . . . . . . . . . . . 35

4.1 Description of Digital I/O indicators in Telemetry Panel. . . . . . . . . 62

4.2 Plotting and logging telemetry data with Telemetry Panel. . . . . . . . 65

B.1 Index of UNIDRIVE Programmable Parameters in alphabetical order. . 77

Overview

UNIDRIVE

is the new family of drivers designed to drive the various types of

low-voltage servomotors, speciﬁcally for use in battery powered devices.

The compact form was made possible thanks to the high efﬁciency of the design,

manufactured with state-of-art electronic components.

UNIDRIVE is highly conﬁgurable, a wide range of programmable parameters allow

you to customize your system for your needs.

The main key features include:

•Designed to drive from 24 V to 96 V Brushless, Brushed and AC ServoMotors.

•

The different types of feedback are supported:

Absolute Resolver

,SinCos

Encoder,Hall Sensors,Sensorless,Incremental Encoder,Tachometer.

•Advanced algorithms for predictive speed and tourque control.

•

CANopen

communication protocol

: CiA

DS301 and CiA

DSP402 (Interface

Proﬁle Velocity and Interpolated Position Mode and Torque Proﬁle Mode)

•

Electromagnetic Holding Brake Output with DPR System (Dynamic Power

Reduction)

•Dedicated Safe Torque Off (STO) input

•Telemetry of the Internal functions

•Integrated Fuse Holder (only up 80 V)

•

European Conformity

, and designed and tested in accordance with the

EMC

emission (EN 61000-6-4) and immunity (EN 61000-6-2) standards. UNIDRIVE

is compliant with EN 60950-1 safety requirements.

1Elife International is a Member of CiA®- CAN in Automation

Speciﬁcation:

Four Quadrant Regenerative Operation

Space Vector Modulation Technology

Sinusoidal and Trapezoidal Commutation Methods

Programmable Gain Setting

Fully Conﬁgurable Velocity and Position Limits

PIDF and PID + FF Velocity Loop

On-the-ﬂy Mode and Gain Set Switching

Emergency Deceleration Ramp and Safe Torque Off (STO) Input

Programmable Input/Output:

ëTwo High Powered Digital Outputs

ëOne 12-bit Analog Output 0÷10 V êTwo 12-bit Analog Inputs 0÷10 V

êEight Digital Inputs Single Ended ëFive Digital Outputs Singled Ended

(a) Electrical Box Version

Size: 250x150x75 mm

(b) Fan Cooler Version

Size: 250x190x150 mm

Figure 1.1: UNIDRIVE series M enables you to drive from 24 V to 96 V Brushless, Brushed

and AC ServoMotors. It’s available in two conﬁgurations: (a) Electrical Box with container

and (b) with factory-installed cooling fan.

2Chapter 1 Overview

Table 1.1: The common features of all models of UNIDRIVE M Series

VALUE

PWM Operating Frequency: 6103 Hz

Electrical Insulation at Heat Sink: 500 V (minimum)

Digital Input Pin Current: 1.0 mA @24 V

Digital Input Pin Voltage: up to 36 V

Digital Output Pin Current: up to 250 mA

Digital Output Pin Voltage: From 6 to 30 V

Power Output Current:

(for brake and power relay) up to 2 A

Power Output Voltage:

(for brake and power relay) From 6 to 30 V

Analog Input/Output Voltage: From 0 to 10 V

Package Environmental Rating: IP 66

4.1 Kg (Electrical Box Version)

Weight:

10.2 Kg (with Fan Cooler)

250x150x57 mm (Electrical Box Version)

Dimensions H x W x D:

250x190x150 mm (with Fan Cooler)

A broad range of models enable us to satisfy every requirements and to suggest

the best solution for your system. An overview of the

UNIDRIVE M

Series Models

is shown in Table 1.2. For other models, have a look at UNIDRIVE S Series and

UNIDRIVE H Series for lower power models or at UNIDRIVE P Series for higher power

models.

Table 1.2: An overview of the UNIDRIVE M Series Models

DRIVER CONTINUOUS RMS

PHASE CURRENT *

NOMINAL VOLTAGE SUPPLY

(Operating Range)

MAXIMUM

OUTPUT POWER

M2424-4-X up to 150 Arms 24 V

(18 Vmin - 32 Vmax ) 4 KW

M2424-8-X up to 300 Arms 24 V

(18 Vmin - 32 Vmax ) 8 KW

M2424-10-X up to 400 Arms 24 V

(18 Vmin - 32 Vmax ) 10 KW

Continued on next page . . .

. . . continued from previous page

DRIVER CONTINUOUS RMS

PHASE CURRENT *

NOMINAL VOLTAGE SUPPLY

(Operating Range)

MAXIMUM

OUTPUT POWER

M2436-4-X up to 150 Arms 36 V

(18 Vmin - 55 Vmax ) 4 KW

M2436-8-X up to 300 Arms 36 V

(18 Vmin - 55 Vmax ) 8 KW

M2436-10-X up to 400 Arms 36 V

(18 Vmin - 55 Vmax ) 10 KW

M2436-14-X up to 450 Arms 36 V

(18 Vmin - 55 Vmax ) 14 KW

M2448-4-X up to 150 Arms 48 V

(18 Vmin - 80 Vmax ) 4 KW

M2448-8-X up to 300 Arms 48 V

(18 Vmin - 80 Vmax ) 8 KW

M2448-10-X up to 400 Arms 48 V

(18 Vmin - 80 Vmax ) 10 KW

M2448-16-X up to 450 Arms 48 V

(18 Vmin - 80 Vmax ) 16 KW

M4896-8-X up to 150 Arms 96 V

(43 Vmin - 150 Vmax ) 8 KW

M4896-16-X up to 300 Arms 96 V

(43 Vmin - 150 Vmax ) 16 KW

M4896-20-X up to 400 Arms 96 V

(43 Vmin - 150 Vmax ) 20 KW

*The value of the maximum continuous RMS phase current is ensured with an appropriate heat sink

4Chapter 1 Overview

Product Identiﬁcation Label

Most of information about your UNIDRIVE - such as serial number, model, customer

information, etc - can be found on a label located on the front of the UNIDRIVE (see

ﬁgure below). Some of these information might be requested when you contact the

technical assistance.

2448- -0

S/N: 00001579

Portoferraio - ITALY

www.elifeinternational.com

P/N: 1-01-0002-00

Customer Code:00000143

HW. rev. B

UNIDRIVE TYPE

HARDWARE REVISION

OF UNIDRIVE

THE CUSTOMER

CODE IDENTIFIES

YOU AS A ELIFE

CUSTOMER

THE SERIAL

NUMBER CODE

UNIQUELY

IDENTIFIES YOUR

UNIDRIVE

Compliance with the EU regulatory requirement for electrical and electronic equipment.

When your UNIDRIVE is no more usable, can’t be treated as generic garbage, but

must be disposed of at a collection point for recycling of electrical and electronic

equipment, in compliance with the

WEEE

regulation (Waste of Electrical and

Electronic Equipment).

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