Elife UNIDRIVE M series Reference Manual

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: [phone] Fax: [phone]
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

i

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

2.11

2.12

Pinout Description of the

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

Pinout Description of the

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

Pinout Description of the

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

J2 - FEEDBACK

J2 - FEEDBACK

J2 - FEEDBACK

connector (See Figure 2.14) to

connector (See Figure 2.14) to

connector (See Figure 2.14) to

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

ii

Overview

1

UNIDRIVE

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:

•

•

•

•

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

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

The different types of feedback are supported:

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

Advanced algorithms for predictive speed and tourque control.

CANopen®communication protocol1: CiA®DS301 and CiA®DSP402 (Interface

Profile Velocity and Interpolated Position Mode and Torque Profile Mode)

Absolute Resolver

, SinCos

•

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 ConformityC, and designed and tested in accordance with the

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

is compliant with EN 60950-1 safety requirements.

1

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

EMC

1

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:

ë Two High Powered Digital Outputs
ë One 12-bit Analog Output 0÷10 V ê Two 12-bit Analog Inputs 0 ÷ 10 V
ê Eight Digital Inputs Single Ended ë Five 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.

2 Chapter 1 Overview

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

VALUE

PWM Operating Frequency:

Electrical Insulation at Heat Sink:

Digital Input Pin Current:

Digital Input Pin Voltage:

Digital Output Pin Current:

Digital Output Pin Voltage:

Power Output Current:

(for brake and power relay)

Power Output Voltage:

(for brake and power relay)

Analog Input/Output Voltage:

Package Environmental Rating:

Weight:

Dimensions H x W x D:

6103 Hz

500 V (minimum)

1.0 mA @24 V

up to 36 V

up to 250 mA

From 6 to 30 V

up to 2 A

From 6 to 30 V

From 0 to 10 V

IP 66

4.1 Kg (Electrical Box Version)

10.2 Kg (with Fan Cooler)

250x150x57 mm (Electrical Box Version)

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

CO NTINUOU S RMS

NO MINAL VOLTAGE SUPPLY

MA XIMUM

DR IVER

PH ASE CURRE NT *

(Operating Range)

OU TPUT POWER

24 V

M2424-4-X up to 150 Arms

4 KW

(18 Vmin - 32 Vmax )

24 V

M2424-8-X up to 300 Arms

8 KW

(18 Vmin - 32 Vmax )

24 V

M2424-10-X up to 400 Arms

10 KW

(18 Vmin - 32 Vmax )

Continued on next page . . .

3

. . . continued from previous page

DR IVER

CO NTINUOU S RMS

PH ASE CURRE NT *

M2436-4-X up to 150 Arms

M2436-8-X up to 300 Arms

M2436-10-X up to 400 Arms

M2436-14-X up to 450 Arms

M2448-4-X up to 150 Arms

M2448-8-X up to 300 Arms

M2448-10-X up to 400 Arms

M2448-16-X up to 450 Arms

NO MINAL VOLTAGE SUPPLY

(Operating Range)

36 V

(18 Vmin - 55 Vmax )

36 V

(18 Vmin - 55 Vmax )

36 V

(18 Vmin - 55 Vmax )

36 V

(18 Vmin - 55 Vmax )

48 V

(18 Vmin - 80 Vmax )

48 V

(18 Vmin - 80 Vmax )

48 V

(18 Vmin - 80 Vmax )

48 V

(18 Vmin - 80 Vmax )

MA XIMUM

OU TPUT POWER

4 KW

8 KW

10 KW

14 KW

4 KW

8 KW

10 KW

16 KW

M4896-8-X up to 150 Arms

M4896-16-X up to 300 Arms

M4896-20-X up to 400 Arms

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

96 V

8 KW

(43 Vmin - 150 Vmax )

96 V

16 KW

(43 Vmin - 150 Vmax )

96 V

20 KW

(43 Vmin - 150 Vmax )

4 Chapter 1 Overview

Product Identification Label

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

M

8

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.

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).

5

6

Installation and Wiring

2.1 Mounting UNIDRIVE on-board

The UNIDRIVE can be mounted in any orientation, but you must choose a location

in order to keep the controller

When you mount the UNIDRIVE on-board you should

dissipation between the UNIDRIVE and the vehicle surface.

UNIDRIVE has a LED light on the front of the device that visually explains what

the driver is doing (see Section 4.1), if you want it to be visible you should take

this into consideration before choosing the location where your UNIDRIVE will be

mounted.

Warning

In order to ensure the proper functioning of the UNIDRIVE you must keep the

controller clean and dry and ensure an effective heat exchange between the

UNIDRIVE and the vehicle surface.

clean

and

dry

, aways from sunlight, water and ice.

2

ensure an effective heat

UNIDRIVE M Series is available in two configuration: in

(Figure 1.1a) or with factory-installed Cooling Fan (Figure 1.1b).

Electrical Box Version

UNIDRIVE with Cooling Fan

If your UNIDRIVE has a factory-installed cooling fan, you just make sure that the

installation location chosen guarantees a sufficient air flow to the cooler.

UNIDRIVE in Electrical Box Version

Otherwise, if you have chosen UNIDRIVE in Electrical Box Version, you must ensure

that the installation on board guaranteeing an adequate heat exchange between the

UNIDRIVE and the vehicle surface. In Figure 2.1 is shown a suggested installation

method in order to ensure an effective heat dissipation between the UNIDRIVE and

the vehicle board.

7

ALUMINIUM PLATE

THREADED METAL INSERT

D2

H2

D1

H1

VEHICLES BOARD

UNIDRIVE M Series

Figure 2.1:

A recommended installation method in order to ensure an effective heat
dissipation between the UNIDRIVE and the vehicle surface. The D2(H2) size listed in
figure must be greater than D1(H1) size. A thermal grease should be used on both sides of
aluminum plate to improve the heat exchange between UNIDRIVE and the vehicle board.
The additional aluminum plate is not included on UNIDRIVE.

Tips and Advice

A thermal grease should be used on the rear side of the UNIDRIVE heatsink to

improve the heat exchange between UNIDRIVE and the vehicle surface.

If the installation method shown in Figure 2.1 is not sufficient to ensure an effective

heat dissipation from the UNIDRIVE, you should install a Fan Cooler or a Liquid

Cooler on your UNIDRIVE.

8 Chapter 2 Installation and Wiring

2.2 Connections

UNIDRIVE on the front, see Figure 2.2, has different types of connectors:

High Power Connections

The three-phase alternating-current generated by UNIDRIVE

is supplied through theU,V,Wterminals. TheF+,B-are the positive1and

negative terminals to connect to your battery.

Low Power Connections

A 35-pin male connector (

J1 - COMMAND

) for low power

logic control.

Feedback Connections

A 9-pin female low power connector (

J2 - FEEDBACK

connect your feedback board.

) to

Figure 2.2:

Power Connections (U,V,W,F+,B-,B+), Low Power Connections (

UNIDRIVE has different types of connectors that can be categorized in: High

Feedback Connector (J2 - FEEDBACK). The fuse isn’t included in M4896-X Type.

2.2.1 High Power Connections

High power connections are provided by: 3-phase supply terminals (U,V,W) and

two terminals for battery connections (F+ or B+,B-).

In order to connect correctly UNIDRIVE, you should use the following instructions:

1.

Except the

Table 2.2) between F+ and B+ terminal to avoid damage to the controller.

1

For M4896-X Type you must connect an external fuse to the B+ terminal, see Section 2.2.1.

M4896-X

Type, you must mount an appropriately sized fuse (See

J1 - COMMAND

2.2 Connections 9

) and

Figure 2.3: UNIDRIVE M Series - High-power connections.

Note

All UNIDRIVE models, except the

installed.

2.

Connect the

cable to the B- terminal.



For

(see Table 2.2 and the Wiring Diagrams).

3.

Connect the U, V, and W motor phases to the 3-phase supply terminals

(U,V,W).

battery positive

M4896-X

Type you must connect an external fuse to the

cable to theF+terminal and the

M4896-X Type

, have a fuse already

battery negative

Note

The

tightening torque

11 N·m for battery connections (F+,B-,B+).

must be

14 N·m

for phase connections (U,V,W) and

B+

terminal

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

TE RMINAL CO NNECT TO

F+ Battery positive terminal to the fuse link

B+ Fuse terminal

B- Battery negative terminal

U,V,W U, V, and W motor phases

10 Chapter 2 Installation and Wiring

Warning

Make sure when you connect the high-power cables that the feedback cable

passes as far as possible from the power cables and they are not located close

to each other, in order to avoid electromagnetic interference.

Table 2.2: Fuse size in accordance with the UNIDRIVE Type.

UNIDRIVE TYPE FU SE RATIN G

M2448-4 , M4896-8 * 80 A

M2436-4 100 A

M2424-4 , M2448-8 , M4896-16 * 150 A

M2436-4 , M2448-8 , M4896-20 * 200 A

M2436-10 250 A

M2424-8 , M2448-16 300 A

M2436-14 350 A

M2424-10 400 A

* The models that are written in boldface require an external fuse.

2.2 Connections 11

2.2.2 Low Power Connections

1

12

13 23

35

24

The low power logic control connections are provided by a 35-pin male connector

(J1 - COMMAND). The pins’ description is given in Table 2.3.

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

PI N I/O TYPE DE SCRIPTIO N OP ERATI NG RANGE

From 18 to 80 V

(Only for M4896-X Type:

From 43 to 160 V)

1 KEY (+BATT)

Internal logic circuits power

supply, it should be protected

with 2A delayed fuse, type T

2 OUTPUT GND Digital output common /

Output Voltage in according

to the Input voltage on PIN 5

I

MAX

Output Voltage in according

to the Input voltage on PIN 5

I

MAX

From 6 to 30 V

3 BRAKE

LINE

4

CONTACTOR

OUT

5 +24V INPUT

Brake supply with

programmable dynamic power

reduction

Driver main contactor output

Power supply for output pins, it

should be protected with 4A

delayed fuse, type T

Output Voltage in according

6 OUT1

7 OUT2

Encoder A emulator, single

phase

Encoder B emulator, single

phase

to the Input voltage on PIN 5

I

=250 mA

MAX

Output Voltage in according

to the Input voltage on PIN 5

I

=250 mA

MAX

Continued on next page . . .

=2 A

=2 A

12 Chapter 2 Installation and Wiring

. . . continued from previous page

PI N I/O TYPE DE SCRIPTIO N OP ERATI NG RANGE

Speed potentiometer supply
output. The value of output

8 PWR POT

voltage can be selected in

Potentiometer Supply option

(See Section 3.4.6, Pag. 49)

9 ANALOG OUT Analog output From 0 to +10 V

V

= 5 or 10 V

OUT

I

MAX

=250 mA

10 TX1 RS232

11 RX1 RS232

12 SAFETY Safety Input V

TX output – module 1, it is used

to download firmware update

RX output – module 1, it is used

to download firmware update

Standard RS232

Standard RS232

= 36 V, High > 11 V

MAX

13 GND INPUT Digital inputs common /

14 IN1 Digital input 1 V

15 IN2 Digital input 2 V

16 IN3 Digital input 3 V

17 IN4 Digital input 4 V

= 36 V, High > 11 V

MAX

= 36 V, High > 11 V

MAX

= 36 V, High > 6 V

MAX

= 36 V, High > 11 V

MAX

Output Voltage in according

18 OUT3 Digital Output 3

19

AIN /

WIPER POT 1

AIN /

20

WIPER POT 2

Single ended analog input 1 /

Wiper input for speed throttle

Single ended analog input 2 /

Wiper input for aux throttle

to the Input voltage on PIN 5

I

=250 mA

MAX

From 0 to +10 V

From 0 to +5 V

From 0 to +10 V

TX output – module 2, it is used

21 TX2 RS232

22 RX2 RS232

23 SERIAL GND

24 -BATT

to communicate with RS232 in

order to realize Telemetry panel

RX Input – module 2, it is used

to communicate with RS232 in

order to realize Telemetry panel

RS232 Common for modules 1

and 2

Common ground, it should be

connected to the negative

terminal of battery

25 IN5 Digital input 5 V

Continued on next page . . .

Standard RS232

Standard RS232

/

/

= 36 V, High > 11 V

MAX

2.2 Connections 13

. . . continued from previous page

PI N I/O TYPE DE SCRIPTIO N OP ERATI NG RANGE

26 IN6 Digital input 6 V

27 IN7 Digital input 7 V

28 IN8 Digital input 8 V

29 OUT4

Drive fault alarm output, it

changes its current state

whenever an alarm is present.

See Section 3.4.1, Pag. 41

Output Voltage in according

to the Input voltage on PIN 5

= 36 V, High > 11 V

MAX

= 36 V, High > 11 V

MAX

= 36 V, High > 11 V

MAX

I

=250 mA

MAX

Output Voltage in according

30 OUT5 Digital Output 5

31 ANALOG GND

Analog Common /

Potentiometer Low Input

to the Input voltage on PIN 5

I

=250 mA

MAX

32 SERVICE Do not use /

33 CAN-

34 CAN+

CAN_L bus line (dominant low)

CAN_H bus line (dominant

high)

Standard CAN

Standard CAN

/

35 GND CAN CAN bus common /

Note

The digital inputs have over-voltage protection up to battery voltage.

Concluded

14 Chapter 2 Installation and Wiring

2.3 Standard Wiring Diagrams and Wiring Instructions

This section contains standard wiring diagrams to be used to connect your

M Series

operating mode in which the UNIDRIVE works to drive a Brushless Servomotor.

It’s also possible to connect two or more UNIDRIVE together for specific application

(e.g: steering wheel control) and drive different types of servomotor. These advanced

installations will not be dealt with in the present manual.

on your system. The following wiring diagrams cover only the standard

UNIDRIVE

Warning

The following wiring diagrams and operating instructions should be read

carefully and completed before wiring your UNIDRIVE up on your system.

The wiring diagram must be chosen in according to the operating mode

(PLC, Standalone, EV , CAN, RS323) that suits your needs.

Note

For M4896-X Type you should mount an external fuse, see Section 2.2.1.

2.3.1 Standalone Mode

The Standalone mode is designed to drive your motor with only two inputs: a throttle

and a emergency input.

Other optional inputs can be used to extend the functionality of this operating mode

(See Table 2.4).

For the correct functioning of this operating mode, special attention must be paid

to choose the correct value of Analog Input (See Section 3.4.4) in according to the

throttle characteristics.

Note

If you’ve installed a 0-10V or 0-5V throttle the rotation direction of the motor

should be given through the FORWARD and the BACKWARD input.

When

(FAST/SLOW input).

throttle is put to neutral position

if the brake should be locked or unlocked (HANDBRAKE input) and the speed mode

- before bridge activation - you can indicate

2.3 Standard Wiring Diagrams and Wiring Instructions 15

Table 2.4: UNIDRIVE I/O definitions for Standalone Mode.

PI N

I/O

TY PE

NA ME DESCR IPT ION

14 IN1 BACKWARD

15 IN2 FORWARD

16 IN3

17 IN4

26 IN6

28 IN8

FAST/SLOW

HANDBRAKE

EMERGENCY

ALARM

RESET

18 OUT3 STATUS

High = Backward, Low = Stop.

This input is only processed if FORWARD

input is low.

High = Forward, Low = Stop

(only if BACKWARD is low)

High = Slow mode, Low = Fast mode.

This input is processed only before bridge

activation

High = Unlocked, Low = Locked.

This input is processed only before bridge

activation

Emergency input should always be

supplied, otherwise UNIDRIVE stops

motor rotation and unlocks motor brake.

It’s possible to reset all running alarms

with a rising edge signal (transition from

low to high)

It gets steady high when motor is

running and blinking when motor is

stopped. It’s low when there is an alarm.

Optional

Optional

Optional

Optional

Mandatory

Optional

a

a

b

Alarm output, it changes its current state

29 OUT4 ALARM

30 OUT5 REVERSE

a

Mandatory only for 0–10V or 0-5V throttle.

b

Mandatory if you want to switch between Fast and Slow mode, see Section 3.4.2.

whenever an alarm is present. See

Section 3.4.1, Pag. 41

It is the output to connect to buzzer, it

gets high when the rotation direction is

backward.

The Fast and Slow modes are designed to meet two different purposes:

Slow mode

It’s programmable so that the vehicle indoor moves slowly with accurate

operation.

Fast mode It allows a faster velocity for outdoor long distance path.

It’s scheduled both the configuration of the maximum motor velocity and the

maximum velocity at Slow mode (See Section 3.4.2).

The

wiring diagram

for standalone mode is shown in Figure 2.4 for any UNIDRIVE

M Series Type, except the M4896-x Type (Figure 2.5).

16 Chapter 2 Installation and Wiring

Standalone Mode - Wiring Diagram

BRAKE 24V

32

33

34

35

1

14

15

16

17

28

25

26

27

8

20

3

7

6

29

30

18

4

9

31

2

5

24

24V BUS

GND BUS

SIGNAL CONNECTIONS

BACKWARD

KEY

EMERGENCY

2A DELAYED

ALARM

OUT ENCODER A

4A DELAYED

+IN

-IN

+OUT

-OUT

CAN PORT

DIGITAL OUTPUTS

1A DELAYED

SUPPLY

POWER

CONNECTIONS

U

V

W

MAIN FUSE

F+ B+

OUT ENCODER B

FORWARD
FAST/SLOW

CW

POT

REVERSE

STATUS

HANDBRAKE

+

-

Alternative:
use a voltage source
in place of the pot.

RS232-2 TX
RS232-2 RX
RS232-2 GND

OPTIONAL

11

10

21

22

23

RS232-2 RS232-1

19

12

DIGITAL INPUTSANALOG I/O

13

SAFETY

M

3

B-

UNIDRIVE

M Series

1A

2A

3A

4A

6A

7A

8A

9A

5A

J2 - FEEDBACK

MOTOR FEEDBACK

CONTACTOR 24V

BATTERY
24 to 48V

VENDOR SPECIFIC

DC / DC

Vbatt → 24Vout

@ 6A

IMPORTANT:
GROUND CONNECTION

4mm² min

Figure 2.4:

Type - to your system in Standalone Mode.

The wiring diagram to connect your

UNIDRIVE M Series

- except the M4896-X

2.3 Standard Wiring Diagrams and Wiring Instructions 17

Standalone Mode - Wiring Diagram [M4896-X Type]

BRAKE 24V

32

33

34

35

1

14

15

16

17

28

25

26

27

8

20

3

7

6

29

30

18

4

9

31

2

5

24

24V BUS

GND BUS

SIGNAL CONNECTIONS

BACKWARD

KEY

EMERGENCY

2A DELAYED

ALARM

OUT ENCODER A

4A DELAYED

+IN

-IN

+OUT

-OUT

CAN PORT

DIGITAL OUTPUTS

1A DELAYED

SUPPLY

POWER

CONNECTIONS

U

V

W

B+

OUT ENCODER B

FORWARD
FAST/SLOW

CW

POT

REVERSE

STATUS

HANDBRAKE

MAIN FUSE

+

-

Alternative:
use a voltage source
in place of the pot.

RS232-2 TX
RS232-2 RX
RS232-2 GND

OPTIONAL

11

10

21

22

23

RS232-2 RS232-1

19

12

DIGITAL INPUTSANALOG I/O

13

SAFETY

M

3

B-

1A

2A

3A

4A

6A

7A

8A

9A

5A

J2 - FEEDBACK

MOTOR FEEDBACK

UNIDRIVE

M4896-X

CONTACTOR 24V

VENDOR SPECIFIC

DC / DC

Vbatt → 24Vout

@ 6A

BATTERY
48V to 96V

IMPORTANT:
GROUND CONNECTION

4mm² min

Figure 2.5:

in Standalone Mode

The wiring diagram to connect your UNIDRIVE

M4896-X

Type to your system

18 Chapter 2 Installation and Wiring

2.3.2 PLC Mode

The PLC mode is a flexible, self-contained operating mode for automatic vehicles

(AGV).

The details of inputs and output of this operating mode are shown in Table 2.5.

Table 2.5: UNIDRIVE I/O definitions for PLC Mode

PI N

NA ME DESCR IPT ION

TY PE

I/O

14 IN1

15 IN2 DIR

16 IN3

17 IN4

26 IN6

27 IN7

28 IN8

RUN / STOP

FAST/SLOW

CCW

OVERTRAVEL

EMERGENCY

CW

OVERTRAVEL

ALARM

RESET

High = Run, Low = Stop Mandatory

High = Clockwise,

Low = Counterclockwise

High = Slow mode, Low = Fast mode.

This input is processed only before bridge

activation

High = Active Overtravel for CCW

rotation, Low = Inactive Overtravel

Emergency input should always be

supplied, otherwise UNIDRIVE stops

motor rotation and unlocks motor brake.

High = Active Overtravel for CW

rotation, Low = Inactive Overtravel

It’s possible to reset all running alarms

with a rising edge signal (transition from

low to high)

Optional

Optional

Optional

Mandatory

Optional

Optional

a

b

c

c

Alarm output, it changes its current state

29 OUT4 ALARM

a

Mandatory only for 0–10V or 0-5V throttle.

b

Mandatory if you want to switch between Fast and Slow mode, see Section 3.4.2.

c

It is processed only if overtravels are enabled by Telemetry panel, see Section 3.4.6.

whenever an alarm is present. See

Section 3.4.1, Pag. 41

For the correct functioning of this operating mode, special attention must be paid

to choose the correct value of Analog Input (See Section 3.4.4) in according to the

throttle characteristics.

Note

If you’ve installed a 0-10V or 0-5V throttle the rotation direction of the motor

should be given through DIR input.

2.3 Standard Wiring Diagrams and Wiring Instructions 19

PLC Mode - Wiring Diagram

BRAKE 24V

32

33

34

35

1

14

15

16

17

28

25

26

27

8

20

19

3

7

6

29

30

18

4

9

31

12

2

5

24

24V BUS

GND BUS

SIGNAL CONNECTIONS

RUN / STOP

KEY

EMERGENCY

2A DELAYED

ALARM

OUT ENCODER A

RS232-2 TX
RS232-2 RX
RS232-2 GND

4A DELAYED

ANALOG INPUT

ANALOG GND

+IN

-IN

+OUT

-OUT

CAN PORT

DIGITAL INPUTSDIGITAL OUTPUTS ANALOG I/O

OPTIONAL

1A DELAYED

SUPPLY

POWER

CONNECTIONS

U

V

W

F+ B+

OUT ENCODER B

DIR
FAST/SLOW

MAIN FUSE

CAN-

CAN+

See manual for details

11

10

21

22

23

RS232-2 RS232-1

13

SAFETY

M

3

B-

UNIDRIVE

M Series

1A

2A

3A

4A

6A

7A

8A

9A

5A

J2 - FEEDBACK

MOTOR FEEDBACK

CONTACTOR 24V

BATTERY
24 to 48V

DC / DC

Vbatt → 24Vout

@ 6A

VENDOR SPECIFIC

4mm² min

IMPORTANT:
GROUND CONNECTION

Figure 2.6:

Type - to your system in PLC Mode.

The wiring diagram to connect your

UNIDRIVE M Series

- except the M4896-X

20 Chapter 2 Installation and Wiring

PLC Mode - Wiring Diagram [M4896-X Type]

BRAKE 24V

32

1

14

15

16

17

28

25

26

27

8

20

3

7

6

29

30

18

4

9

31

2

5

24

24V BUS

GND BUS

SIGNAL CONNECTIONS

RUN / STOP

KEY

EMERGENCY

2A DELAYED

ALARM

OUT ENCODER A

4A DELAYED

ANALOG INPUT

ANALOG GND

+IN

-IN

+OUT

-OUT

DIGITAL OUTPUTS

1A DELAYED

SUPPLY

POWER

CONNECTIONS

U

V

W

B+

OUT ENCODER B

DIR
FAST/SLOW

MAIN FUSE

19

12

DIGITAL INPUTSANALOG I/O

13

SAFETY

33

34

35

RS232-2 TX
RS232-2 RX
RS232-2 GND

CAN PORT

OPTIONAL

CAN-

CAN+

See manual for details

11

10

21

22

23

RS232-2 RS232-1

M

3

B-

UNIDRIVE

M4896-X

1A

2A

3A

4A

6A

7A

8A

9A

5A

J2 - FEEDBACK

MOTOR FEEDBACK

CONTACTOR 24V

VENDOR SPECIFIC

DC / DC

Vbatt → 24Vout

@ 6A

IMPORTANT:
GROUND CONNECTION

4mm² min

BATTERY

48V to 96V

Figure 2.7:

in PLC Mode.

The wiring diagram to connect your UNIDRIVE

M4896-X

Type to your system

2.3 Standard Wiring Diagrams and Wiring Instructions 21

When the RUN / STOP input gets high the brake is unlocked and the motor starts to

spin-up. If overtravels are enabled by Telemetry panel (see Section 3.4.6) UNIDRIVE

will stop the motor when one of two over-travel inputs (CCW OVERTRAVEL and CW

OVERTRAVEL) will get high.

In this configuration it is also possible to read the most important information

through

Table 2.6.

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

CAN

bus. In this case the

IN7

and

IN8

input could be used as shown in

PI N I/O TYPE NAME DE SCRIPTIO N

27 IN7 CAN ADR0

28 IN8 CAN ADR1

In case that the CAN address is set to0through Telemetry panel, after switch-on it

is possible to appoint the node-ID depending on two digital inputs: CAN ADR0 and

CAN ADR1, in the following way:

It could be used as CAN address selector 0

It could be used as CAN address selector 1

CAN NODE INPUT CONFIGURATION

1 CAN ADR1 * GND CAN ADR0 * GND

2 CAN ADR1 * GND CAN ADR0 * +24V

3 CAN ADR1 * +24V CAN ADR0 * GND

4 CAN ADR1 * +24V CAN ADR0 * +24V

Note

Please note that if CAN address is set to 0, PI N 28 won’t be a ALARM RESET

input.

22 Chapter 2 Installation and Wiring

2.3.3 EV Mode

The EV mode is specially designed to control motors mounted in Electric Vehicles

(EV). This operating mode employs sophisticated proprietary algorithms to offer

you a driving experience as much as possible similar to traditional gasoline engine

vehicles. A detailed explanation of this operating mode is given in Section 3.6.

For the correct functioning of this operating mode, you must install only 0–10V or

0-5V throttle and choose the correct value of Analog Input (See Section 3.4.4) in

according to the throttle characteristics.

Note

In this operating mode the rotation direction of the motor should be given

through the FORWARD and the BACKWARD input.

Table 2.7: UNIDRIVE I/O definitions for EV Mode.

PI N

I/O

TY PE

NA ME DESCR IPT ION

14 IN1 BACKWARD

15 IN2 FORWARD

16 IN3

17 IN4

26 IN6

28 IN8

SPORT /

ECONOMY

HANDBRAKE

EMERGENCY

ALARM

RESET

18 OUT3 STATUS

High = Backward, Low = Stop.

This input is only processed if FORWARD

input is low.

High = Forward, Low = Stop

(only if BACKWARD is low)

High = Sport mode, Low = Economy

mode.

This input is processed only before bridge

activation

High = Unlocked, Low = Locked.

This input is processed only before bridge

activation

Emergency input should always be

supplied, otherwise UNIDRIVE stops

motor rotation and unlocks motor brake.

It’s possible to reset all running alarms

with a rising edge signal (transition from

low to high)

It gets steady high when motor is

running and blinking when motor is

stopped. It’s low when there is an alarm.

Mandatory

Mandatory

Optional

Optional

Mandatory

Optional

a

Alarm output, it changes its current state

29 OUT4 ALARM

30 OUT5

a

Mandatory if you want to switch between SPORT and ECONOMY mode, see Section 3.4.2.

BRAKE

LIGHT

whenever an alarm is present. See

Section 3.4.1, Pag. 41

It is the output to connect to brake light,

it gets high when velocity decreases of at

least set value.

2.3 Standard Wiring Diagrams and Wiring Instructions 23

EV Mode - Wiring Diagram

HANDBRAKE

11

10

32

33

34

35

21

22

23

1

14

15

16

172825

26

27

8

20

19

3

7

6

293018

4

9

31

13

2

5

24

12V BUS

GND BUS

SIGNAL CONNECTIONS

BACKWARD

KEY

2A

RS232-2 TX

RS232-2 RX

RS232-2 GND

4A

CAN PORT RS232-2 RS232-1

DIGITAL INPUTSDIGITAL OUTPUTS ANALOG I/O SUPPLY

POWER

CONNECTIONS

U

V

W

M

3

B-

FORWARD

2

FAN

AUTOMOTIVE

FEMALE

CONNECTOR

OUT

SUPPLY

GND

THROTTLE

DIRECTION

SWITCH

RELAY

(Coil 12V 1Wmax)

BRAKE

SWITCH

BRAKE

LIGHT

tbd

tbd

CAN-

CAN+

AUTOMOTIVE

FEMALE

CONNECTOR

1

+

-

1

2

3

SPORT/ECONOMY

12

SAFETY

BATTERY

24 to 48V

DC / DC

Vbatt → 12 V

+IN

-IN

+OUT

-OUT

1A

2A

3A

4A

6A

7A

8A

9A

5A

J2 - FEEDBACK

MOTOR FEEDBACK

UNIDRIVE

M Series

MAIN FUSE

F+ B+

CONTACTOR 12V

VENDOR SPECIFIC

Figure 2.8:

An example of wiring diagram to connect your
the M4896-X Type - to your system in
of the possible ways to wire your system in EV Mode.

24 Chapter 2 Installation and Wiring

EV Mode

. This suggested wiring diagram is just one

UNIDRIVE M Series

- except

EV Mode - Wiring Diagram [M4896-X Type]

HANDBRAKE

11

10

32

33

34

35

21

22

23

1

141516

1728252627

8

20

19

3

7

6

293018

4

9

31

13

2

5

24

12V BUS

GND BUS

SIGNAL CONNECTIONS

BACKWARD

KEY

2A

RS232-2 TX

RS232-2 RX

RS232-2 GND

4A

CAN PORT RS232-2 RS232-1

DIGITAL INPUTSDIGITAL OUTPUTS ANALOG I/O SUPPLY

POWER

CONNECTIONS

U

V

W

F+ B+

M

3

B-

FORWARD

MAIN FUSE

2

FAN

AUTOMOTIVE

FEMALE

CONNECTOR

OUT

SUPPLY

GND

THROTTLE

DIRECTION

SWITCH

RELAY

(Coil 12V 1Wmax)

BRAKE

SWITCH

BRAKE

LIGHT

tbd

tbd

CAN-

CAN+

AUTOMOTIVE

FEMALE

CONNECTOR

1

+

-

1

2

3

SPORT/ECONOMY12SAFETY

DC / DC

Vbatt → 12 V

+IN

-IN

+OUT

-OUT

1A2A3A4A6A7A8A9A5A

J2 - FEEDBACK

MOTOR FEEDBACK

UNIDRIVE

M4896-X

CONTACTOR 12V

VENDOR SPECIFIC

BATTERY

48V to 96V

Figure 2.9:

your system in

wire your system in EV Mode.

An example of wiring diagram to connect your UNIDRIVE

EV Mode

. This suggested wiring diagram is just one of the possible ways to

M4896-X

Type to

2.3 Standard Wiring Diagrams and Wiring Instructions 25

When

indicate if the brake should be locked or unlocked (HANDBRAKE input), the rotation

direction (BACKWARD or FORWARD) and the speed mode (SPORT/ECONOMY

input).

The SPORT and ECONOMY modes are designed to meet two different purposes:

throttle is put to neutral position

- before bridge activation - you can

ECONOMY mode

battery life. The acceleration ramp is smoother than Sport Mode and the max

power available is limited.

SPORT mode

possible.

It’s scheduled both the configuration of the maximum motor velocity and the

maximum velocity at ECONOMY mode (See Section 3.4.2).

This operating mode is specially designed in order to extend the

The SPORT mode is designed to get the maximum performance as

Note

In this operating mode one of the two power outputs (BRAKE, PIN 3) is used

to power the UNIDRIVE’s fan.

26 Chapter 2 Installation and Wiring

2.3.4 CAN Network Mode

In

CAN Network

For further information about CANopen®protocol, please refer to CiA®DSP402

protocol (version 3.0.1.15) and UNDRIVE CANopen®Manual.

A description of the inputs and outputs connections for this operating mode is shown

in Table 2.8

Table 2.8: UNIDRIVE I/O definitions for Can Network Mode

mode you can control your motor through CANopen®bus protocol.

PI N

NA ME DE SCRIPTIO N

TY PE

16 IN3 BWD It could be used as negative limit switch Optional

17 IN4 FWD It could be used as positive limit switch Optional

I/O

25 IN5

26 IN6

27 IN7 CAN ADR0 It can be used as CAN address selector 0 Optional

28 IN8 CAN ADR1

29 OUT4 ALARM

In this operating mode is needed to set the correct CANopen®parameters via

Telemetry Panel (See Section 3.4.4).

In case that the CAN address is set to0through Telemetry panel, after switch-on it

is possible to appoint the node-ID depending on two digital inputs: CAN ADR0 and

CAN ADR1, in the following way:

HOME

SENSOR

EMERGENCY

It could be used as home switch Optional

Emergency input should always be

supplied, otherwise UNIDRIVE stops

motor rotation and unlocks motor brake.

It could be used as CAN address selector 1

Alarm output, it changes its current state

whenever an alarm is present. See Section

3.4.1, Pag. 41

Mandatory

Optional

CAN NODE INPUT CONFIGURATION

1 CAN ADR1 * GND CAN ADR0 * GND

2 CAN ADR1 * GND CAN ADR0 * +24V

3 CAN ADR1 * +24V CAN ADR0 * GND

4 CAN ADR1 * +24V CAN ADR0 * +24V

2.3 Standard Wiring Diagrams and Wiring Instructions 27

BRAKE 24V

32

33

34

35

1

14

15

16

17

28

25

26

27

8

20

3

7

6

29

30

18

4

9

31

2

5

24

24V BUS

GND BUS

SIGNAL CONNECTIONS

KEY

EMERGENCY

2A DELAYED

CONTACTOR 24V

4A DELAYED

+IN

-IN

+OUT

-OUT

CAN PORT

DIGITAL OUTPUTS SUPPLY

CAN-

CAN+

OUT ENCODER A
OUT ENCODER B

POWER

CONNECTIONS

U

V

W

MAIN FUSE

F+ B+

ADR0

CAN ADDRESS

ADR1

RS232-2 TX
RS232-2 RX
RS232-2 GND

OPTIONAL

11

10

21

22

23

RS232-2 RS232-1

19

12

DIGITAL INPUTSANALOG I/O

SAFETY

13

M

3

B-

CAN ADDRESS

NODE

ADR1

ADR0

1 OPEN OPEN

2 OPEN +24V

3

+24V OPEN

4

+24V +24V

Note:

CAN ADDRESS can be also set by
telemetry panel from Node 1 to 127

1A

2A

3A

4A

6A

7A

8A

9A

5A

J2 - FEEDBACK

MOTOR FEEDBACK

UNIDRIVE

M Series

BATTERY
24 to 48V

VENDOR SPECIFIC

DC / DC

Vbatt → 24Vout

@ 6A

IMPORTANT:
GROUND CONNECTION

4mm² min

28 Chapter 2 Installation and Wiring

CAN Network Mode - Wiring Diagram

Figure 2.10:

The wiring diagram to connect your

Type - to your system in CAN Network.

UNIDRIVE M Series

- except the M4896-X

BRAKE 24V

32

33

34

35

1

14

15

16

17

28

25

26

27

8

20

3

7

6

29

30

18

4

9

31

2

5

24

24V BUS

GND BUS

SIGNAL CONNECTIONS

POWER

CONNECTIONS

KEY

EMERGENCY

2A DELAYED

4A DELAYED

B+

U

V

W

+IN

-IN

+OUT

-OUT

CAN PORT

DIGITAL OUTPUTS

MAIN FUSE

SUPPLY

CAN-

CAN+

OUT ENCODER A
OUT ENCODER B

RS232-2 TX
RS232-2 RX
RS232-2 GND

OPTIONAL

11

10

21

22

23

RS232-2 RS232-1

19

12

DIGITAL INPUTSANALOG I/O

SAFETY

13

B-

3

M

ADR0

CAN ADDRESS

ADR1

1A

2A

3A

4A

6A

7A

8A

9A

5A

J2 - FEEDBACK

MOTOR FEEDBACK

UNIDRIVE

M4896-X

CAN ADDRESS

NODE

ADR1

ADR0

1 OPEN OPEN

2

OPEN

+24V

3

+24V OPEN

4

+24V +24V

Note:

CAN ADDRESS can be also set by

telemetry panel from Node 1 to 127

CONTACTOR 24V

VENDOR SPECIFIC

DC / DC

Vbatt → 24Vout

@ 6A

BATTERY

48V to 96V

IMPORTANT:
GROUND CONNECTION

4mm² min

CAN Network Mode - Wiring Diagram [M4896-X Type]

Figure 2.11:

CAN Network Mode.

The wiring diagram to connect your UNIDRIVE

2.3 Standard Wiring Diagrams and Wiring Instructions 29

M4896-X

to your system in

Please pay particular attention when wiring CANopen®connection: at both ends

DEVICE 1 DEVICE 2 DEVICE 127

120 Ohm

120 Ohm

there must be a 120Ω resistor and the bus length must be the following:

BI T R ATE BU S L ENGTH

1 Mbit/s 25 m

500 Kbit/s 100 m

250 Kbit/s 250 m

125 Kbit/s 100 m

2.3.5 RS232 Mode

The RS232 Mode allows you to drive your motor via Telemetry Panel (See Chapter

4) or send the control commands2to the UNIDRIVE through the RS232 protocol.

This operating mode can be useful for testing your motor, without worrying about

other devices (e.g: potentiometer) or other controllers (e.g: PLC) (See Section

4.2.4). See Figure 2.12 for wiring diagrams for this operating mode and Table 2.9

for a description of inputs and outputs.

Table 2.9: UNIDRIVE I/O definitions for RS232 Mode.

I/O

PI N

TY PE

26 IN6

29 OUT4 ALARM

NA ME DE SCRIPTIO N

Emergency input should always be

EMERGENCY

supplied, otherwise UNIDRIVE stops

motor rotation and unlocks motor brake.

Alarm output, it changes its current state

whenever an alarm is present. See Section

3.4.1, Pag. 41

Mandatory

2

For further information, see UNIDRIVE - RS232 Communication Protocol document

30 Chapter 2 Installation and Wiring

RS232 Mode - Wiring Diagram

BRAKE 24V

32

33

34

35

1

14

15

16

17

28

25

26

27

8

20

3

7

6

29

30

18

4

9

31

2

5

24

24V BUS

GND BUS

SIGNAL CONNECTIONS

KEY

EMERGENCY

2A DELAYED

4A DELAYED

+IN

-IN

+OUT

-OUT

CAN PORT

DIGITAL OUTPUTS

SUPPLY

1A DELAYED

OUT ENCODER A
OUT ENCODER B

POWER

CONNECTIONS

U

V

W

MAIN FUSE

F+ B+

RS232-2 TX
RS232-2 RX
RS232-2 GND

11

10

21

22

23

RS232-2 RS232-1

19

12

DIGITAL INPUTS

ANALOG I/O

SAFETY

13

4mm² min

M

3

B-

1A

2A

3A

4A

6A

7A

8A

9A

5A

J2 - FEEDBACK

MOTOR FEEDBACK

CONTACTOR 24V

BATTERY
24 to 48V

VENDOR SPECIFIC

DC / DC

Vbatt → 24Vout

@ 6A

IMPORTANT:
GROUND CONNECTION

UNIDRIVE

M Series

Figure 2.12:

Type - to your system in RS232 Mode

The wiring diagram to connect your

UNIDRIVE H Series

- except the M4896-X

2.3 Standard Wiring Diagrams and Wiring Instructions 31

RS232 Mode - Wiring Diagram [M4896-X Type]

BRAKE 24V

32

33

34

35

1

14

15

16

17

28

25

26

27

8

20

3

7

6

29

30

18

4

9

31

2

5

24

24V BUS

GND BUS

SIGNAL CONNECTIONS

POWER

CONNECTIONS

KEY

EMERGENCY

2A DELAYED

4A DELAYED

B+

U

V

W

+IN

-IN

+OUT

-OUT

CAN PORT

DIGITAL OUTPUTS

MAIN FUSE

SUPPLY

1A DELAYED

OUT ENCODER A
OUT ENCODER B

RS232-2 TX
RS232-2 RX
RS232-2 GND

11

10

21

22

23

RS232-2 RS232-1

19

12

DIGITAL INPUTSANALOG I/O

SAFETY

13

B-

3

M

1A

2A

3A

4A

6A

7A

8A

9A

5A

J2 - FEEDBACK

MOTOR FEEDBACK

UNIDRIVE

M4896-X

CONTACTOR 24V

VENDOR SPECIFIC

DC / DC

Vbatt → 24Vout

@ 6A

BATTERY

48V to 96V

IMPORTANT:
GROUND CONNECTION

4mm² min

Figure 2.13:

RS232 Mode

The wiring diagram to connect your UNIDRIVE

M4896-6-x

to your system in

32 Chapter 2 Installation and Wiring

2.4 Feedback Connector

5A

4A

3A

2A

1A

6A

7A

8A

9A

A female 9-pin connector (

board to the UNIDRIVE (See Figure 2.14).

Figure 2.14: Pin Assignments of the J2 - FEEDBACK connector.

J2 - FEEDBACK

) is provided to connect the feedback

Note

The pinout descriptions of

feedback board mounted on your motor.

J2 - FEEDBACK

connector depends on the type of

It’s essential for the proper functioning of the feedback system that the feedback

cable was constructed specifically for the feedback type mounted on your motor.

We

highly recommend

of signals transmitted.

choosing a

good quality cable

in accordance with the type

Warning

Make sure when you connect the high-powered connections that the feedback

cable passes as far as possible from the power cables, and them are not located

close to each other, in order to avoid electromagnetic interference.

2.4 Feedback Connector 33

2.4.1 Resolver

5A

MOTOR FEEDBACK CONNECTOR

4

5

8

12

1A

2A

3A

4A

6A

7A

8A

9A

11

9

3

1

7

2

10

6

8 9 1

7

6

5

2

3

4

11

12 10

MOTOR FEEDBACK CONNECTOR

FEMALE - FRONT VIEW

Table 2.10:

Pinout Description of the

J2 - FEEDBACK

connector (See Figure 2.14) to

connect a Resolver to your UNIDRIVE.

OP ERATI NG

PI N I/O TYPE DE SCRIPTIO N

RA NGE

1A

2A THERMAL Temperature sensor / Optional

3A SIN- Negative Sine From -4 to +4 V Mandatory

4A COS- Negative Cosine From -4 to +4 V Mandatory

5A

6A

7A SIN+ Positive Sine From -4 to +4 V Mandatory

8A THERMAL Temperature sensor / Optional

DRIVING

The negative Driving signal From -5 to +5 V Mandatory

SIGNAL -

INNER

Connect to the cable shield / Mandatory

SHIELD

DRIVING

The positive Driving signal From -5 to +5 V Mandatory

SIGNAL +

a

a

9A COS+ Positive Cosine From -4 to +4 V Mandatory

a

Mandatory

only if you’ve selected Thermistor, KTY83/122 or KTY84/130 as Temperature probe type

(See Pag. 49)

For example, if your motor has a M12 feedback motor connector:

Figure 2.15:

Wiring Diagram to connect your

has a M12 feedback motor connector.

34 Chapter 2 Installation and Wiring

Resolver

board to UNIDRIVE if your motor

2.4.2 SinCos Encoder

Table 2.11:

Pinout Description of the

J2 - FEEDBACK

connector (See Figure 2.14) to

connect a SinCos Encoder to your UNIDRIVE.

OP ERATI NG

PI N I/O TYPE DE SCRIPTIO N

RA NGE

1A +5 V SinCos Supply V = +5 V Mandatory

2A SIN Sine Signal From -5 to +5 V Mandatory

3A COS Cosine Signal From -5 to +5 V Mandatory

4A THERMAL Temperature sensor / Optional

6A GND Common Ground / Mandatory

7A

9A THERMAL 2 Temperature sensor / Optional

a

Mandatory

(See Pag. 49)

INNER

Connect to the cable shield / Mandatory

SHIELD

only if you’ve selected Thermistor, KTY83/122 or KTY84/130 as Temperature probe type

a

a

2.4.3 Hall Sensor

Table 2.12:

connect a Hall Sensor to your UNIDRIVE.

PI N I/O TYPE DE SCRIPTIO N

1A +8V Hall sensors supply / Mandatory

2A THERMAL Temperature sensor / Optional

3A H3 Hall Sensor 3

4A H2 Hall Sensor 2

5A H1 Hall Sensor 1

6A GND Hall Sensor Ground / Mandatory

7A GND Hall Sensor Ground / Mandatory

8A THERMAL Temperature sensor / Optional

9A GND Hall Sensor Ground / Mandatory

a

Mandatory

(See Pag. 49)

Pinout Description of the

only if you’ve selected Thermistor, KTY83/122 or KTY84/130 as Temperature probe type

J2 - FEEDBACK

connector (See Figure 2.14) to

OP ERATI NG

RA NGE

From +5 to +24 V

From +5 to +24 V

From +5 to +24 V

Mandatory

Mandatory

Mandatory

a

a

2.4 Feedback Connector 35

36

Configuration

This chapter covers what you need to know to configure your UNIDRIVER M Series

via Telemetry Panel.

Warning

This part of the manual assumes that UNIDRIVE was wired up correctly by

following methods described in Chapter 2.

Telemetry Panel allows the adjustment of a wide range of parameters through the

USB port in order to customize the vehicle’s performance characteristics. To install

Telemetry Panel you would simply double-click on Setup.exe file and following the

instructions in the setup assistant.

After the installation, you can select your preferred language1and temperature scale

- Celsius or Fahrenheit - from the list that appears under Setup menu.

3

Note

This Reference Manual is written for Telemetry Panel version

and is not suitable for earlier software and firmware versions.

3.1 Software Overview

Software is organized in tabs according to the main functions:

Telemetry

Programmable Parameters

Advanced

In this tab real-time telemetry data are displayed in easy-to-read format.

You can also look at variables over time, both in graphical form and as data

files.

main parameters of UNIDRIVE, import and export them in CFG format.

Advance Tab includes some more programmable parameters to control

your driver.

2.4.6.8

In Programmable Parameters tab you can configure

or later,

1

In order to display Chinese Unicode characters, user needs a Unicode Window or
Unicode-compatible controls. User may also need to ensure that his Regional Settings are set up to
support far eastern text/fonts.

37

Autotuning

Resolver/SinCos can be estimated in Autotuning tab.

The gain parameters for closed-loop current control and offset value of

Car EV Mode

see telemetry data for EV mode.

Steering Mode

more information, see the Steering Mode manual.

In this tab you can configure specific programmable parameters and

Steering Mode is an advanced operating mode of UNIDRIVE. For

3.2 Connect UNIDRIVE to your PC

In order to connect your UNIDRIVE to Telemetry Panel, you should connect it to

PC and wait for USB port recognition. After USB port recognition, you can launch

Telemetry Panel and click on Connection menu (Figure 3.1).

Connect button permits to start communication toward the select USB port.

Note

Telemetry panel automatically creates a list of available USB port. It’s then

necessary to choose the suitable port where UNIDRIVE is connected.

After connection, Telemetry Panel loads parameters from UNIDRIVE allowing you to

change them.

Figure 3.1: Connect your UNIDRIVE to Telemetry Panel by USB port

3.3 Import and Export Parameter Values

After connecting your UNIDRIVE to PC you can easily import or export (save)

parameter values from and to .cfg file by Telemetry Panel.

38 Chapter 3 Configuration

Figure 3.2:

file to UNIDRIVE.

•

When the progress bar is running, Telemetry Panel downloads data from .cfg

In oder to import parameters from file and download them on to UNIDRIVE:

1. Move to Programmable Parameters tab.

2. Select the File Menu and click on Open option.

3.

Select the desired .cfg file and wait for the progress bar to get completely

green (Figure 3.2).

•

Parameter values can also be exported to a .cfg file:

1. Move to Programmable Parameters tab.

2. Select the File menu and click on Save.

3. Enter a descriptive name in the file name box and click Save.

3.4 Change Programmable Parameters

Programmable Parameters enables you to customize vehicle’s performance characteristics

to best fit your needs.

Note

Telemetry Panel automatically recognizes your UNIDRIVE type and the

feedback input (Resolver,Hall Sensor,SinCos Encoder,etc) that you’ve installed

on your system. The

disabled

mode selected.

are not interesting for your model connected or for the operating

Parameters

that have their textboxes

3.4 Change Programmable Parameters 39

empty and

Figure 3.3:

programmable parameters and set the operating mode.

In Programmable Parameters tab (Figure 3.3) you can read and change the main

programmable parameters and set the operating mode of UNIDRIVE (Standalone,PLC,etc).

After connecting your UNIDRIVE to PC and

changed in Programmable Parameters tab.

Programmable Parameters tab allows you to read and change the main

stopping the motor

Warning

We recommend saving preset programmable parameters to .cfg file before

changing them, so that you can restore the preset parameters if necessary. See

Section 3.3

3.4.1 Operating Mode and Controller Parameters

, the values can be

Velocity Loop Kp

than 4096. This parameter is also programmable by CANopen®protocol.

Velocity Loop Ki

1024. This parameter is also programmable by CANopen®protocol.

Position loop Kp

than 16384. This parameter is also programmable by CANopen®protocol.

Position loop Ki

128. This parameter is also programmable by CANopen®protocol.

40 Chapter 3 Configuration

Proportional gain for closed-loop speed control, it must be less

Integral gain for closed-loop speed control, it must be less than

Proportional gain for closed-loop position control, it must be less

Integral gain for closed-loop position control, it must be less than

Note

The gain parameters for closed-loop position control will only processed

if configuration is CANopen®and mode of operation is Interpolated

Position Mode.

Speed closed loop This text box is only valid for DC motor.

Feedback inversion This text box is only valid for DC motor.

Encoder inversion This text box is only valid for DC motor.

NH Alarm Output

If checked OFF, alarm output is normally low (NL), else it is

normally high (NH).

Configuration

This option set the operating mode of UNIDRIVE. The allowed

values for this parameter are Standalone,CAN Network,PLC,EV and RS232 (in

Speed or Torque Mode).

Warning

UNIDRIVE must be wired up correctly according to the operating mode

selected. See Chapter 2.

Max drive temperature

At this drive temperature drive must rise "Drive over-temperature"

alarm.

UN IT MIN VALUE MA X VALUE

◦

C 80 110

(◦F ) (176) (230)

Following error delay

120 %

of the target speed over the set time, UNIDRIVE stops the motor with

When the detected speed is less than

80 %

following error alarm. This parameter is also programmable by CANopen

protocol.

UN IT MIN VALUE MA X VALUE

s 0 15

3.4 Change Programmable Parameters 41

or more than

®

3.4.2 Motor and Acceleration Parameters

Up slope

Lower values indicate a longer acceleration time and a more gradual

departure, while bigger values indicate a faster acceleration. The implemented

ramp is linear. This parameter is also programmable by CANopen®protocol.

UN IT MIN VALUE MA X VALUE STEP

rpm/s 500 35 · 10

Down slope

arrest, while bigger values indicate a faster deceleration. The implemented

ramp is linear. This parameter is also programmable by CANopen®protocol.

Lower values indicate a longer deceleration time and a more gradual

5

500

UN IT MIN VALUE MA X VALUE STEP

rpm/s 500 35 · 10

Reference inversion It allows you to invert the stated direction.

Max motor speed

direction. It is used to protect the motor and must be taken from the motor

datasheet. This parameter is also programmable by CANopen®protocol.

It indicates the maximum allowed speed for the motor in either

5

500

UN IT MIN VALUE MA X VALUE

rpm 0 7000

Max speed at slow mode

in either direction when Slow or ECONOMY mode is selected.

Backward maximum speed

direction. It’s only processed for EV configuration.

UN IT MIN VALUE MA X VALUE

rpm 0 7000

3.4.3 Throttle Parameters

Analogic input

process the speed potentiometer. It is processed only for PLC, EV and Standalone.

This parameter describes the analog operational mode used to

It indicates the maximum allowed speed for the motor

UN IT MIN VALUE MA X VALUE

rpm 0 7000

It indicates the backward allowed speed for the opposite

42 Chapter 3 Configuration

VALUE DE SCRIPTIO N

0 - 10

0-5 - 10

0 - 5

0-2.5 - 5

Deadband

It is the percentage of deadband for potentiometer. Increasing deadband

enlarges the stop range.

Tips and Advice

This parameter is particularly useful for potentiometers that can’t regularly go
back to a clear idle point. Deadband must be wide enough to guarantee the
transfer of driver to idle when accelerator mechanism is released.

Direction inversion is realized through direction digital input
(DIR/FORWARD).

When the potentiometer value is between5and
positive. When it is less than 5 V speed reference is negative.

Direction inversion is realized through direction digital input
(DIR/FORWARD)

When the potentiometer value is between
positive. When it is less than 2.5 V speed reference is negative

2.5

and

10 V

speed reference is

5 V

speed reference is

UN IT MIN VALUE MA X VALUE

% 0 50

3.4.4 CANopen®Parameters

Size Indicator

the last four bytes of the communication.

CANopen®address

unique identifier for each device. When this parameter value is changed, device

will be automatically reset.

CANopen®baudrate

PLC and the device. When this parameter value is changed, device will be

automatically reset.

if checked ON, the size of the data to be transmitted is specified in

It’s the CANopen®node-ID for the device that is the network-wide

UN IT MIN VALUE MA X VALUE

integer 0 127

The baudrate for the CANopen®communication between

UN IT ALLOWED VALUES

Kbps 1000 - 500 - 250

3.4 Change Programmable Parameters 43

Note

The CANopen®values will only processed if UNIDRIVE works in CAN

Network or PLC configuration.

3.4.5 Locked Parameters

In Programmable Parameters tab there are a few programmable parameters which

their text-boxes are disabled but filled with a value (Figure 3.4). You can unlock

them and change their value.

Warning

These parameters are critical for the correct function of UNIDRIVE. You should

change these parameters carefully and only if necessary.

In order to change these parameters:

1. Click on Change Locked Parameters button.

2. Insert the password: 8192

After unlocking, you will be able to change:

Current Loop Kp

than 1024. This parameter is also programmable by CANopen®protocol.

Current loop Ki

512. This parameter is also programmable by CANopen®protocol.

Proportional gain for closed-loop current control; it must be less

Integral gain for closed-loop current control; it must be less than

Tips and Advice

The Kp and Ki values can be calculated by using Telemetry Panel. See

Section 3.5.1

Motor poles

datasheet.

It indicates the number of motor poles and must be taken from motor

UN IT ALLOWED VALUES

even integer 4 - 6 - 8 - 10 - 44

Phase Advance

improve efficiency and torque performance for brushless machines. This

44 Chapter 3 Configuration

Phase advance techniques provide field-weakening operation to

Figure 3.4:

Programmable tab there are
some parameters locked. You can
unlocked them after clicking on
Change Locked Parameters button.

In Parameters

parameter indicates the phase advance angle with respect to back-EMF of

phase current.

UN IT MIN VALUE MA X VALUE STE P

a.u. 0 32 1

Tips and Advice

Motors whose inductance value is high might require a high value of

phase advance angle.

Maxiumum phase current

It shows the maximum permissible current in the motor.

This parameter is also programmable by CANopen®protocol.

UN IT MIN VALUE MAX VALUE

Amperes RMS 0 Max

Brake current reduction

It is the reduction of current and voltage applied to motor.

It’s useful to reduce thermal dissipation due to service brake activation. It

2

The maximum peak output current depends on the UNIDRIVE model installed.

3.4 Change Programmable Parameters 45

2

intervenes only after one minute from brake activation. Its value must be less

than 50%.

Resolver/SinCos offset

SinCos Encoder. Offset to sum to resolver/encoder position.

This parameter is only valid for Motor with Resolver or

UN IT MIN VALUE MAX VALUE

degree 0 359.99

Tips and Advice

Resolver/SinCos offset value can be calculated by using Telemetry Panel.

See Section 3.5.2

Phase zero

applying forward direction.

This parameter is only valid for Hall sensor drive. It must be chosen

UN IT MIN VALUE MAX VALUE

degree 0 359.99

Phase offset(backward)

be chosen after precisely setting of phase zero, applying backward direction.

This parameter is only valid for Hall sensor drive. It must

UN IT MIN VALUE MAX VALUE

degree 0 359.99

Tips and Advice

For phase zero and phase offset value we suggest to start with a small

value (e.g. 0.05) and increase by 5 until motor consumption and

sinewave are at their best.

Hall sensor phashing

the relative position of Hall sensors.

This parameter is only valid for Hall sensor drive. It indicates

UN IT ALLOWED VALUES

degree 60 - 120

S2 Maximum current This text box is only valid for DC motor.

S2 time This text box is only valid for DC motor.

Back-EMF sample duration This text box is only valid for DC motor.

46 Chapter 3 Configuration

Back-EMF sample period This text box is only valid for DC motor.

Ke This text box is only valid for DC motor.

3.4.6 Advanced Parameters

Adavanced tab allows you to read and change some more programmable parameters

(Figure 3.5).

Some information about UNIDRIVE - such as

customer code, etc - and CANopen®parameters are displayed in this tab.

 It’s possible to read the following telemetry data:

firmware version

, serial number,

Direct current

It shows the actual value of direct current, that is one output for

Park transform (stator current component proportional to the flux). Motor is

working fine if it is about 0. It is given in arbitrary unit.

Quadrature current

It shows the actual value of quadrature current, that is one

output for Park transform (stator current component proportional to the rotor

torque). It is given in arbitrary unit.

Direct voltage

It shows the actual value of direct voltage, that is one output for PI

closed-loop. It is given in arbitrary unit.

Quadrature voltage

It shows the actual value of quadrature voltage, that is one

output for PI closed-loop. It is given in arbitrary unit.

Figure 3.5:

parameters.

In Advanced tab is possible to read and change some more programmable

3.4 Change Programmable Parameters 47

Motor voltage

It shows the actual value of motor voltage. It is given in arbitrary

unit.



In Advanced tab you can also

modify

the following programmable parameters:

Torque constant

AmperestoN·m

This variable permits to convert motor torque current from

. This parameter is also programmable by CANopen®protocol.

UN IT MIN VALUE MA X VALUE

N·m/A 0.00 10.00

Analog output

ANALOG OUT (

This parameter allows you to set a desired value of voltage to

PI N 9

Panel".

UN IT MIN VALUE MA X VALUE

V olt 0 10

Analog output function

output

) output if

Analog output function

is set as "Telemetry

You can choose the operating mode of the ANALOG OUT

VALUE DESCRIP TION

Telemetry Panel

Motor speed

Brake fault alarm

When turned OFF, UNIDRIVE won’t stop the motor nor inform

about a brake failure.

Supply fault alarm

When turned OFF, UNIDRIVE won’t stop the motor nor inform

about a power supply relay failure.

Lower battery dinamic decrease

UNIDRIVE decrease automatically the speed in order to extend the battery life.

Overtravel warning

When turned ON, UNIDRIVE will stop the motor when one of

two over-travel inputs will get high. Only for PLC Mode

The output voltage of the ANALOG OUTPUT is equal to Analog

output value set.

In this operating mode the voltage output of the ANALOG OUT

varies linearly with the motor speed. From

speed is
motor Speed (See Section 3.4.2).

0 rpmto10 V

when the motor speed is equal to

0 V

if it turned ON, when the battery is being consumed

when the motor

Max

48 Chapter 3 Configuration

Emergency input fault

If emergency input fault is ON, when emergency input gets

low motor will stop with alarm; otherwise motor will only stop with ramp.

Alarm output N.L. logic

This textbox is disabled for UNIDRIVE H Series in standard

operating mode.

Emergency Slope

This parameter configures alarm deceleration, lower values

indicate a longer deceleration time and a more gradual arrest, while bigger

values indicate a faster deceleration. The implemented ramp is linear. This

parameter is also programmable by CANopen®protocol.

UN IT MIN VALUE MA X VALUE STEP

rpm/s 500 35 · 10

Temperature probe type

From this combobox, user can select the correct PTC type

from Thermostat, KTY83/122, KTY84/130 or none.

5

500

Note

If KTY83/122 or KTY84/130 is chosen, it will also be possible to read

motor temperature from Telemetry tab.

Maximum motor temperature

At this temperature drive must rise Motor overtemperature

alarm.

UN IT MIN VALUE MA X VALUE

◦

C 0 255

(◦F ) (32) (491)

Encoder resolution This parameter is only available for DC motors.

Mechanical reducer This parameter is only available for DC motors.

Encoder resolution This parameter is only available for DC motors.

Potentiometer Supply

You can select the output voltage of

PWR POT

8) in according to the throttle characteristics.

UN IT ALLOWED VALUES

output (PIN

V olt 5 - 10

3.4 Change Programmable Parameters 49

TPD02 transmission type

processed if configuration is CANopen®and can be programmable by CANopen

protocol also.

It sets the type of transmission for TPDO2. It’s only

UN IT MIN VALUE MA X VALUE

integer 1 255

®

RPD02 transmission type

processed if configuration is CANopen®and can be programmable by CANopen

protocol also.

It sets the type of transmission for RPDO2. It’s only

UN IT MIN VALUE MA X VALUE

integer 1 255

In Advanced tab there is also

current alarms.

Reset Alarm

button which allows you to reset all

3.5 Auto-tuning UNIDRIVE Parameters

Telemetry Panel includes two functions which help you to estimate approximate

value of the following parameters:

•

The gain parameters for closed-loop current control.

®

•

The Offset Resolver/SinCos to sum to resolver/encoder position.

Warning

Please note that the suggested parameters are only a point of departure. They

must be adjusted according to system and you should run the motor only after

checking them.

3.5.1 Gain Parameters for closed-loop Current Control

In order to calculate the value of Kp and Ki for closed-loop current control you need

two basic motor information: Winding resistance and Winding inductance.

You should normally find these parameters on data-sheet of your motor, otherwise

you must ask the motor manufacturer to provide these data.

50 Chapter 3 Configuration

To calculate Kp and Ki values by Telemetry Panel:

1. Move to Autotuning tab (Figure 3.6).

2. Insert the Winding resistance and Winding Inductance value.

3. Click on Calculate button.

Telemetry Panel shows you the value of Kp and Ki and gets you some information

(Cut Frequency, Motor RL Constant, PWM attenuation) which can be useful to tune

Kp and Ki parameters.

Note

Telemetry Panel will automatically send the suggested current loop Kp and Ki

values to UNIDRIVE.

3.5.2 Offset Resolver/SinCos

Finding the correct value of Offset Resolver/SinCos is critical to the proper functioning

of the system. Telemetry Panel helps you determine the correct value of Offset

Resolver/SinCos to sum to resolver/SinCos position:

1. Move to Programmable Parameters tab.

2. Choose RS232 Speed as Configuration.

3.

Move to Autotuning tab and check if

A.

Figure 3.6:

you to estimate gain parameters for
closed-loop current control.

Feedback state

In Autotuning tab allows

is green, else see Appendix

3.5 Auto-tuning UNIDRIVE Parameters 51

(a) (b)

Figure 3.7:

value
running the SinCos adjustment function (b)

Telemetry Panel helps you to find the correct value of offset Resolver/SinCos

(a)

. In case you’ve mounted a SinCos Encoder on your motor, you must before

Note

For SinCos Encoder:

run the SinCos adjustment function (Figure 3.7b). Click on

and wait for about 30 seconds.

4.

Set the Test Current in

motor dimension and characteristics.

5.

Click on Find Offset button and wait for the progress bar to get completely

green.

Before finding the correct offset value, you must

Start

Amperes RMS

(Figure 3.7a). This value depends on

6. Check that motor runs through Velocity Target trackbar.

button

Note

Telemetry Panel will automatically send the new value of Offset

Resolver/SinCos calculated to UNIDRIVE.

In Resolver Autotuning panel you can see two LED indicators:

Resolver state

resolver is broken. If led is red, it won’t be possible to accomplish resolver

autotuning.

52 Chapter 3 Configuration

This alarm indicates that resolver cable isn’t connected or that

Brake state

when unlocked led is yellow. When led is red, it indicates a brake failure.

3.6 EV Mode

The

EV mode

(EV). This operating mode employs sophisticated proprietary algorithms to offer

you a driving experience as much as possible similar to traditional gasoline engine

vehicles. In

and see telemetry data for this operating mode (Figure 3.8).

Warning

A few programmable parameters have no effect in this operating mode: the

gain parameters for closed-loop velocity control, Up Slope and Down slope motor

parameters, the throttle Deadband and Reverse inversion parameter.



In this operating mode you can

unlocking them:

Car EV mode

This led reflects the brake setting: when brake is locked led is green,

is specially designed to control motors mounted in Electric Vehicles

tab you can configure specific programmable parameters

change

the EV programmable parameters after

1. Click on Change Locked Parameters button.

2. Insert the password: 8192

After unlocking, you will be able to change:

Rated braking current

This parameter allows you to limit the maximum current

generated by the motor during braking. The value must meet the battery-specific

requirements.

UN IT MIN VALUE MAX VALUE

Amperes RMS 0 Max

3

Tips and Advice

Lower values of Rated braking current indicate a longer deceleration

time and a more gradual arrest, while bigger values indicate a faster

deceleration.

3

The maximum peak output current depends on the UNIDRIVE model installed.

3.6 EV Mode 53

Figure 3.8:

see telemetry data for this operating mode.

In Car EV mode tab you can configure specific programmable parameters and

Slope threshold

At above this value of phase current, UNIDRIVE uses the Fast slope

to give a more responsive feel, below this value the drive uses the Slow slope

in order to provide a smoother ride to increase the driver’s comfort.

UN IT MIN VALUE MAX VALUE

3

Fast slope

mode.

Amperes RMS 0 Max

This option sets the period of time of the Fast slope in this operating

UN IT MIN VALUE MA X VALUE

ms 0 1000

Slow slope

This option sets the period of time of the Slow slope in this operating

mode.

UN IT MIN VALUE MA X VALUE

ms 0 1000

Battery VmaxH

If the battery voltage is above this value, UNIDRIVE gets the

maximum performance as possible.

UN IT MIN VALUE MA X VALUE

V olt 0 Max

4

The maximum battery voltage depends on the UNIDRIVE model installed.

54 Chapter 3 Configuration

4

Battery VmaxL

If the battery voltage is below this value, UNIDRIVE decreases the

power output by 1 KW each 10s. This function is designed to slow down and

stop the vehicle in safety conditions.

UN IT MIN VALUE MA X VALUE

V olt 0 Max

4

Potentiometer upper threshold

This value sets the upper threshold of potentiometer.

UN IT MIN VALUE MAX VALU E

V olt 0 5 or 10 *

* In according to the Analogic input option, see Pag. 43.

Potentiometer lower threshold

This value sets the lower threshold of potentiometer.

UN IT MIN VALUE MAX VALU E

V olt 0 5 or 10 *

* In according to the Analogic input option, see Pag. 43.

Position loop Kd

than 16384.

Rotation limiter Kp

Rotation limiter system is designed in order to reduce the jerk motion; it must

be less than 10.

Derivate gain for closed-loop position control; it must be less

Proportional gain for closed-loop rotation limiter control. The

Rotation limiter Ki

Integrate gain for closed-loop rotation limiter control. The

Rotation limiter system is designed in order to reduce the jerk motion; it must

be less than 255.

Maximum power It sets the maximum power available from the UNIDRIVE.

UN IT MIN VALUE MA X VALUE

KW 0 Max

Maximum braking power

It sets the maximum power generated by the motor

during braking. The value must meet the battery-specific requirements.

5

UN IT MIN VALUE MA X VALUE

KW 0 Max

5

The maximum power depends on the UNIDRIVE model installed.

5

3.6 EV Mode 55

Lever inversion

15) inputs are inverted.

Direction inversion It allows you to invert the stated direction.

When turned ON, the BACKWARD (PIN 14) and FORWARD (PIN

Reduction ratio

the Reduction ratio. The value is expressed in rational numbers.

Wheel circumference In this textbox you should put the wheel circumference for

correct calculation of the velocity speed (Car speed). The value is expressed in

metres.

In case you use a reduction gear, in this text-box you should insert

Note

The backward maximum speed for this operating mode can be set in

Programmable parameters Tab. See Section 3.4.2.



In Car EV mode tab you can also

operating mode:

Tourque demand

demand.

Motor current This shows the actual motor current (Ampere RM S).

It displays the phase current in order to satisfy the torque

read

the following telemetry data for this

Potentiometer It shows the input voltage read from potentiometer.

Flag Service Debug Information.

Motor velocity

(rpm).

Car speed This textbox shows the estimated actual velocity of the vehicle.

In this tab you can also

Button.

It shows the detected speed, expressed in rotations per minute

plot

the telemetry data reported above, clicking on

Note

The programmable parameters are set in this operating mode have no effect in

other operating modes.

Start

56 Chapter 3 Configuration

Monitoring UNIDRIVE

After wiring up correctly UNIDRIVE (See Chapter 2) and adjusting the programmable

parameters (See Chapter 3), you are finally ready to test your system.

Warning

Before starting the test, you had better lift your vehicle up. The driving wheels

must be off the ground and free to rotate. All testing and adjustment must be

done in safe condition.

4.1 LED Diagnostics

UNIDRIVE has an LED light on the front of the device that visually explains what the

driver is doing. Below is the explanation of the different LED’s status:

4

Blinking ORANGE UNIDRIVE works correctly, motor is stopped

Blinking GREEN UNIDRIVE works correctly, motor is running

Steady RED

motor rotation (disabling power relay and three-phase bridge) and unlocks

motor brake.

If

CANopen®mode is set, and the CANopen®FSA State is Switch on disabled,

led will be

independently from alarms or motor state.

UNIDRIVE detects one or more alarms. In this case, UNIDRIVE stops

steady ORANGE

until it will receive shutdown command from PLC,

4.2 Reading Telemetry Data from Telemetry Panel

UNIDRIVE collects several types of telemetry data which allows you to understand

better how your driver works.

Telemetry Panel1shows telemetry data values for each operating mode selected

(Standalone,PLC,EV,CAN Network,RS232).

1

In Chapter 3 is explained the details how install and connect your UNIDRIVE to PC.

57

Tips and Advice

In order to test your device for the first time, we suggest to select

Speed or Torque mode) as Configuration in Programmable Parameters tab. So

you will be able to manually set the target velocity of your motor (See Section

2.3.5 and Section 4.2.4).

In Telemetry Panel you can read the following telemetry-data:

Motor velocity It is the detected speed, expressed in rotations per minute (rpm).

Velocity setpoint It displays the actual velocity target. This value is gotten from:

•

The Potentiometer for PLC and Standalone configuration.

•

The

CAN master

as Configuration.

•

The Target Velocity Trackbar for RS232 configuration.

if you set CAN Network or PLC in CANopen®configuration

RS232

(in

Mechanic. pos.

degrees. This is displayed only for Brushless motor with Resolver/SinCos.

Motor current or Torque

the Torque (N ·m) value.

It shows the resolver/encoder mechanical position in mechanical

This shows the actual motor current (

Ampere RMS

Note

You can choose to read either the motor current or the torque in Advanced

tab. See Section 3.4.6.

Heat sink temperature Temperature of UNIDRIVE heat-sink.

Drive Temperature Temperature of UNIDRIVE.

Motor Temperature

parameter in Advanced tab is KTY83/122 or KTY84/130.

This information is available only if Temperature probe type

Note

Under Setup

temperature values in Celsius or Fahrenheit degrees.

*

Temperature Scale menu you can choose to display

) or

Bus voltage It shows the real-time bus voltage.

58 Chapter 4 Monitoring UNIDRIVE

Figure 4.1:

Telemetry Panel displays a wide range of telemetry data and enables you to plot

or log these data over time.

4.2 Reading Telemetry Data from Telemetry Panel 59

Analog input 2

(PIN 20).

Output Power It shows the relative electrical output power.

This textbox displays the input voltage of AIN / WIPER POT 2 input

Actual position

is processed only for CAN Network configuration when the operational mode is

Interpolated position mode.

Position setpoint

parameter is processed only for CAN Network configuration when the operational

mode is Interpolated position mode.

Motor state

which direction.

It shows the actual of position control closed-loop. This parameter

It is the position target of position control closed-loop. This

This text box indicates if motor is stopped or if it is running, and in

VALUE DESCRI PTION

CCW rotation Cunterclockwise rotation, backward direction

CW rotation Clockwise rotation, forward direction

4.2.1 Alarm Indicators

The Alarm Indicators on Telemetry tab enable you to determine what kind of errors

are present. When UNIDRIVE detects one or more alarms stops motor rotation

(disabling power relay and three-phase bridge) and unlocks motor brake.

A

green led

means that the alarm is active.

means that the corresponding alarm isn’t signaled, while a

red led

The Alarm indicators are as follows:

Configuration This error appears when:

•

No configuration (Standalone, CAN Network, PLC, EV, RS232) is selected.

•

Set pole number is different from allowed values.

•

The internal memory of UNIDRIVE has never been programmed.

Following

Drive overtemperature

60 Chapter 4 Monitoring UNIDRIVE

This kind of alarm happens when the detected speed is less than

more than 120% over the set time period (See Section 3.4.6).

This alarm happens when the drive temperature is higher

than max drive temperature degrees (See Section 3.4.6).

80%

or

Communication timeout

driver measure a communication timeout.

This alarm happens when configuration is

Steering

and

Feedback

Overcurrent

Emergency input

Overvoltage

Setpoint error

Analogic interruption

This alarm indicates that the feedback cable isn’t properly connected or

that the feedback is broken.

It happens whenever one of the modules of three current phases is

higher than a threshold.

It indicates that the emergency input is not supplied, if LED is

yellow it means that drive just set target velocity to0. it is processed only for

PLC, EV, Standalone and for RS232 configuration.

This error is showed when bus voltage is higher than

models and 122 V for 48 ÷ 96 models.

It indicates that speed potentiometer isn’t initially put to0. It’s

processed only for Standalone configuration.

It indicates that analog input for velocity reference isn’t

connected. It’s processed only for PLC and Standalone configuration.

80 V

for

24 ÷ 48

Motor overtemperature This alarm appears when:

•

Motor temperature exceeds Maximum motor temperature value if set PTC

type is KTY83/122 or KTY84/130.

•

Motor temperature sensor isn’t connected if Thermostat is selected as PTC

type.

Safety This alarm is active when the SAFETY Input (PIN 12) isn’t supplied.

Stalled Rotor

the phase current is high about for approximately for a second.

Other This alarm is showed when bus voltage is lower than 12 V.

For information on troubleshooting possible issues, see Appendix A.

It’s alarm appears when the motor is blocked and at the same time

4.2.2 Reset all Current Alarms

In Advanced Tab is present a

alarms.

Reset Alarms

4.2 Reading Telemetry Data from Telemetry Panel 61

button that allows you to reset all running

Tips and Advice

It’s also possible to reset all running alarms with a rising edge signal (transition

from low to high) at the

PI N 28

(RESET ALARM) in

configuration and with a fault reset command if you employ

protocol.

4.2.3 Digital I/O and Drive State Indicators

The I/O indicators enables you to read in real-time the status of input and output

signal. If a led indicator is

active: it’s supplied if it’s an input pin or it sends a signal if it’s an output pin.

The meaning of different input/ouput pins in according to the operating mode

selected - PLC,Standalone,EV,CAN Network,RS322 - is given in Table 4.1.

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

green

means that the corresponding input/output is

Standalone,EV

CAN telemetry

and

PLC

ST

DALONE

AN

Input

Input

Input

Input

Input

Input

Input

Input8ALARM

Output

Output

Output

Output

Output

a

Only if "Analog input" is 0-10V or 0-5V.

BACK

1

FOR

2

3FAST /

HANDBRAKE CCW

4

5

6

7

1

2

Drive

3

4

REVERSE / BRAKE

5

a

WARD

a

WARD

SLOW

/ / / Home

/

RESET

status

RUN

F

CW

C

ALARM

C

P

LC

/ STOP

a

DIR

SLOW

AST /

TRAVEL

OVER

TRAVEL

OVER

AN address

RESET

AN address

/ / / /

SPOR

EMERGENCY

0

0

A

encoder emulator

B

encoder emulator

BACK

FOR

Drive

E

V

a

WARD

a

WARD

ECONOMY

T /

/ P

/ C

/ C

alarm

LIGHT

C

NE TW OR K

AN

Negative

ositive limit

AN address

AN address

/ /

/ /

limit switch

switch

switch

/ /

R

32

S2

/

/

/

0

0

/

/

The

Drive State Indicators

get you some information about the following UNIDRIVE

state:

Power Relay This led reflects the supply relay:

62 Chapter 4 Monitoring UNIDRIVE

STATUS MEA NING

Green The relay is enabled

Yellow The relay is disabled

Red Power supply relay failure

Tips and Advice

If you get this alarm only when you give RUN command, this behavior

is probably due to a Resolver problem (See Appendix A and read the

Feedback Alarm troubleshooting).

Brake State This led reflects the brake setting:

STATUS MEANING

Green The brake is locked

Yellow The brake is unlocked

Red The brake failure

Speed Limitation

and so drive is limiting velocity.

Inversion fuse

inverted at least once.

Period overcurrent It’s displayed only for DC motors.

CW overtravel

OVERTRAVEL input is high.

CCW overtavel

OVERTRAVEL input is high.

This is indicator is yellow when quadrature current is saturating

This is indicator is red when

This indicator is yellow when drive is stopped because driver CW

This indicator is yellow when drive is stopped because driver CCW

F+

and

B-

connections have been

Note

Some of these controls can be disabled in Advanced tab. See Section 3.4.6.

4.2.4 The Target Velocity/Torque Track Bar

The Target velocity/Target torque track bar is enabled on Telemetry Tab when

velocity/tourque mode is chosen as Configuration in Programmable Parameters Tab

(Figure 4.2).

4.2 Reading Telemetry Data from Telemetry Panel 63

RS232

This track bar allows you to manually set the target velocity - or torque - value of

your Motor from 0 to the Max value that you have set as the Max motor Speed (See

Section 3.4.2). The sign of value determine the direction of rotation:

VALUE DIRECTI ON OF ROTATION

Positive CW

Negative CCW

This function can be useful for testing your motor, without worrying about other

devices (e.g: potentiometer) or other controllers (e.g: PLC).

You can also put the exact value of desired target velocity/tourque on the textbox at

the left end of the track bar.

Figure 4.2:

mode has been chosen as Configuration in Programmable Parameters tab.

Target Velocity track bar is enabled by the RS232 mode when this operating

4.3 Plot and Log Telemetry Data in Real-Time

In telemetry Panel you can also plot telemetry data over time and create a log file to

view later in a spreadsheet program.

Telemetry Panel allows you to set the following plot parameters:

Y-axis Scale

the plot.

Time Scaling You can choose how much time to display in X-axis in X Scaling:

Y Max and Y Min set the maximum and minimum value the y-axis of

VALUE DESCRIPTION

x1 1s/div

x2 2s/div

x3 3s/div

. . .

After adjusting the X/Y ranges you can plot and log telemetry data following below

instructions.

64 Chapter 4 Monitoring UNIDRIVE

Table 4.2: Plotting and logging telemetry data with Telemetry Panel.

BU TTON FUNCTION BUTTON FUNCTION

Play Button

Start to plot telemetry data

Save Button

Start to log telemetry data

1.

Select one or more (max four) telemetry data that you’ll want to observe from

Stop collecting telemetry data

Pause Button

Stop plotting telemetry data

Stop Button

TRACE 1, TRACE 2,TRACE 3 or TRACE 4 list (Figure 4.3).

2. Click on Play button.

3.

If you want to log these data click on Save button and enter a descriptive name

in the file name box and click Save.

4. Click on Stop button when you want to stop collecting data.

5.

To stop plotting telemetry data and freeze the plot you must click on Pause

button.

Figure 4.3: Telemetry Panel allows you to plot and log one or more telemetry data.

4.3 Plot and Log Telemetry Data in Real-Time 65

66

Maintenance

UNIDRIVE no needs any maintenance interventions. It’s only necessary to keep the

contacts and the controller clean and dry. The fuse is the only user-serviceable part

in the UNIDRIVE (See Table 2.2, Pag. 11).

Warning

Never attempt to disassemble, repair, or modify the UNIDRIVE yourself, penalty

the voiding of the warranty rules.

If you perform a maintenance operation on your system owing to a problem, it could

be useful to read the

read these messages in one of the following ways:

error messages

that have been sent by UNDRIVE. You can

5

Diagnostic Display

about battery - autonomy and voltage - and UNIDRIVE fault codes.

Telemetry Panel

a wide range of telemetry data (See Chapter 4).

CAN Network

through the CANopen®protocol1.

RS232 You can read the error messages through the RS232 protocol2.

For more information on the meaning of error messages and troubleshooting

procedures, see Section 4.2.1 and Appendix A.

Elife Diagnostic Display allows you to get some information

Telemetry Panel enables you to control your UNIDRIVE and read

The error messages that have been sent by UNIDRIVE can be read

1

For further information, see UNIDRIVE - CANopen®manual

2

For further information, see UNIDRIVE - RS232 Communication Protocol document

67

68

Troubleshooting: Alarm Messages

This section covers only the common and likely causes of alarm messages and actions

that should be taken by the operator.

UNIDRIVE alarms can be interpreted using the

Elife Diagnostic Display or can be read through the CanOpen®Protocol also.

Note

In Advanced Tab in Telemetry Panel software is present a

that allows you to reset all running alarms.

After the resolution of the problem, UNIDRIVE might need to be restarted.

Telemetry Panel

Reset Alarms

(See Chapter 5),

A

button

Configuration Alarm

DESCRIPTION This error appears when:

•

No configuration (Standalone, CAN Network, PLC, EV, RS232) is selected.

•

Set pole number is different from allowed values.

•

The internal memory of UNIDRIVE has never been programmed.

UNIDRIVE BEHAVIOUR

bridge.

POSSIBLE TROUBLESHOOTING ISSUE

1.

Check if a configuration is selected in the

3.4.1).

2.

If the other programmable parameters are null, it also needs to download

parameters from motor configuration file (See Section 3.3).

After switch on, drive won’t enable power relay and three-phase

Configuration

list (See Section

3. Check if the pole number value is correct (See Section 3.4.5).

69

Following Alarm

DESCRIPTION

or more than 120% over the set time period (See Section 3.4.6).

UNIDRIVE BEHAVIOUR

power relay and three-phase bridge) and unlocks motor brake.

POSSIBLE TROUBLESHOOTING ISSUE

the phase current isn’t sufficient to accomplish operation or your motor is

unable to attain the desired speed.

•

•

•

•

This kind of alarm happens when the detected speed is less than

UNIDRIVE stops motor rotation with emergency slope (disabling

There are two possible reasons for this alarm:

Check the integrity of the fuse.

Check if the motor is braked.

Check the maximum phase current (See Section 3.4.5) is correct for your

motor.

Check if the gain parameters for closed-loop velocity control fit your

needs.

80%

•

Increasing the Following error delay value (See Section 3.4.6).

•

Decrease the Max motor speed if your motor is unable to achieve it (See

Section 3.4.2).

Drive overtemperature Alarm

DESCRIPTION

set maximum drive temperature degrees (See Section 3.4.6).

UNIDRIVE BEHAVIOUR

power relay and three-phase bridge) and unlocks motor brake.

POSSIBLE TROUBLESHOOTING ISSUE

reset alarms. If the error appears frequently, you must improve heat exchange

between the UNIDRIVE and the vehicle surface (See Section 2.1).

This alarm happens when the drive temperature is higher than the

UNIDRIVE stops motor rotation with emergency slope (disabling

Restore drive temperature conditions, then

70 Chapter A Troubleshooting: Alarm Messages

Communication timeout Alarm

DESCRIPTION

measure a communication timeout.

UNIDRIVE BEHAVIOUR

power relay and three-phase bridge) and unlocks motor brake.

POSSIBLE TROUBLESHOOTING ISSUE

the UNIDRIVE and master (See UNIDRIVE - Steering Mode Manual).

This alarm happens when configuration is

UNIDRIVE stops motor rotation with emergency slope (disabling

Check configuration and wiring between

Steering

Feedback Alarm

DESCRIPTION

appears when your motor is running, the possible causes are:

•

The Feedback cable isn’t properly connected or otherwise if this error

Lack of earth interconnection between motor housing and driver negative

terminal (-).

and master

•

Probable leakage between motor housing and phases.

•

The Feedback cable passed near power cables.

•

For Resolver and SinCos:

stator and rotor (this results in driver input signal undervoltage).

•

For Hall Sensor: The Hall sensors are not precisely linked.

UNIDRIVE BEHAVIOUR

power relay and three-phase bridge) and unlocks motor brake.

POSSIBLE TROUBLESHOOTING ISSUE Firstly

UNIDRIVE stops motor rotation with emergency slope (disabling

Radial misalignment between Resolver/SinCos

, check the feedback cable connection:

1. Check the feedback cable connection on driver/feedback side.

2.

Check the electrical integrity of the cable, pay specific attention to the

cable’s shield.

3.

Ensure that the feedback cable was constructed specifically for the feedback

type mounted on your motor. It’s essential that the feedback cable is of

the high quality.

71

 If these checks failed, you must:

1.

Check the correct connection between motor housing appropriate terminal

and driver negative terminal (-).

2. Check electrical isolation between every phase and motor housing.

3. Pass feedback cable as far as possible from power cables.

4. Check the correct Resolver/SinCos installation within motor.

Overcurrent Alarm

DESCRIPTION

higher than a threshold.

UNIDRIVE BEHAVIOUR

power relay and three-phase bridge) and unlocks motor brake.

POSSIBLE TROUBLESHOOTING ISSUE The possible actions that should be taken:

•

•

If this error appears when your motor is in

generated by your motor is higher than the battery voltage: Change your

battery system or decrease the Max motor speed value (See Section 3.4.2).

It happens whenever one of the modules of three current phases is

UNIDRIVE stops motor rotation with emergency slope (disabling

Check the proper functioning of the feedback system.

Check if the gain parameters for closed-loop current control are not too

high for your application (See Section 3.4.5).

generator mode

, the voltage

Emergency input Alarm

DESCRIPTION

only for PLC, EV, Standalone and for RS232 configuration.

UNIDRIVE BEHAVIOUR

power relay and three-phase bridge) and unlocks motor brake.

POSSIBLE TROUBLESHOOTING ISSUE

reset alarms.

72 Chapter A Troubleshooting: Alarm Messages

It indicates that the emergency input is not supplied. It’s processed

UNIDRIVE stops motor rotation with emergency slope (disabling

Check the Emergency Input (

PI N 3

), then

Overvoltage Alarm

DESCRIPTION

models and 122 V for 48 ÷ 96 models.

UNIDRIVE BEHAVIOUR

power relay and three-phase bridge) and unlocks motor brake.

POSSIBLE TROUBLESHOOTING ISSUE

alarm:

•

•

This error is showed when bus voltage is higher than

UNIDRIVE stops motor rotation with emergency slope (disabling

There are two possible explanation for this

Battery voltage, or battery charging voltage, is too high for the UNIDRIVE

Type installed.

The voltage generated by your motor, when is in

higher than the battery voltage: Change your battery system or decrease

the Max motor speed value (See Section 3.4.2).

Setpoint Alarm

80 V

for

24 ÷ 48

generator mode

, is

DESCRIPTION

speed potentiometer is grater than 25% of the end-of-stroke during the start

phase of the motor. It’s processed only for Standalone configuration.

UNIDRIVE BEHAVIOUR After switch on, drive won’t let motor run.

POSSIBLE TROUBLESHOOTING ISSUE

then reset alarms.

It indicates that the speed potentiometer isn’t initially put to 0 or the

Put the speed potentiometer to idle state,

Analogic interruption Alarm

DESCRIPTION

It is processed only for PLC and Standalone configurations.

UNIDRIVE BEHAVIOUR

or break during run operation, UNIDRIVE stops motor rotation with emergency

slope (disabling power relay and three-phase bridge) and unlocks motor brake.

It indicates that analog input for velocity reference isn’t connected.

When motor is rotating, if analog input cable will disconnect

POSSIBLE TROUBLESHOOTING ISSUE

WIPER POT) and UNIDRIVE.

Check the wiring between

PI N 21

(AIN /

73

Motor overtemperature Alarm

DESCRIPTION This alarm appears when:

•

Motor temperature exceeds Maximum motor temperature value if set

Temperature probe type is KTY83/122 or KTY84/130.

•

Motor temperature sensor isn’t connected if Thermostat is selected as

Temperature probe type.

UNIDRIVE BEHAVIOUR

power relay and three-phase bridge) and unlocks motor brake.

POSSIBLE TROUBLESHOOTING ISSUE

probe type option (See Section 3.4.6. Otherwise, restore motor temperature

conditions, then reset alarms.

UNIDRIVE stops motor rotation with emergency slope (disabling

If motor hasn’t any PTC, set

none

Safety Alarm

DESCRIPTION

UNIDRIVE BEHAVIOUR

power relay and three-phase bridge) and unlocks motor brake.

POSSIBLE TROUBLESHOOTING ISSUE

restart your UNIDRIVE.

This alarm is active when the SAFETY Input (PIN 12) isn’t supplied.

UNIDRIVE stops motor rotation with emergency slope (disabling

Check the connection of SAFETY input and

as Temperature

Stalled rotor Alarm

DESCRIPTION

the phase current is high about for approximately for a second. For instance,

the vehicle’s wheels are blocked by an obstacle.

UNIDRIVE BEHAVIOUR Drive won’t enable power relay and three-phase bridge.

POSSIBLE TROUBLESHOOTING ISSUE

it.

74 Chapter A Troubleshooting: Alarm Messages

This alarm appears when the motor is blocked and at the same time

Find the cause of the block and then remove

Other

DESCRIPTION This alarm is showed when bus voltage is lower than 12 V.

UNIDRIVE BEHAVIOUR

bridge.

POSSIBLE TROUBLESHOOTING ISSUE The possible actions that should be taken:

•

Check the integrity of the fuse.

•

If this error appears always when you run UNIDRIVE, contact the technical

assistance.

After switch on, drive won’t enable power relay and three-phase

75

76

Index of Programmable
Parameters

Table B.1: Index of UNIDRIVE Programmable Parameters in alphabetical order.

B

NA ME

OP ERATI NG RANGE

UN IT MIN MAX by CANOPE N

Analogic input

Analog output

Analog output

function

Backward maximum

speed

Brake current

reduction

Brake fault alarm

CANopen®address integer 0 127 Pag. 43

CANopen®baudrate

Configuration

Current Loop Ki a.u. 0 512 • Pag. 44

allowed values

allowed values

allowed values

rpm 0 7000 Pag. 42

% 0 50 Pag. 45

boolean value

allowed values

allowed values

PR OG RA MM AB LE

®

RE FERENCE

Pag. 43

Pag. 48

Pag. 48

Pag. 48

Pag. 43

Pag. 41

Current Loop Kp a.u. 0 1024 • Pag. 44

Deadband % 0 50 Pag. 43

Down slope rpm/s 500 35 • 10

Emergency input fault

Emergency Slope rpm/s 500 35 • 10

Following error delay s 0 15 • Pag. 41

Hall sensor phashing degree 60 120 Pag. 46

Lower battery dinamic

decrease

boolean value

boolean value

5

5

• Pag. 42

• Pag. 49

Continued on next page . . .

Pag. 49

Pag. 48

77

. . . continued from previous page

NA ME

OP ERATI NG RANGE

UN IT MIN MAX by CANOPE N

Max drive temperature

(°F)

Max motor speed rpm 0 7000 • Pag. 42

°C

Max speed at slow

mode

Maximum motor

temperature

Maximum phase

current

Motor poles integer 4 44 Pag. 44

NH Alarm Output

Overtravel warning

Phase Advance a.u. 0 32 Pag. 44

rpm 0 7000 Pag. 42

°C

(°F)

Amperes

RMS

80

(176)

0

(32)

110

(230)

255

(491)

0 Max • Pag. 45

boolean value

boolean value

PR OG RA MM AB LE

®

RE FERENCE

Pag. 41

Pag. 49

Pag. 41

Pag. 48

Phase

offset(backward)

Phase zero degree 0 359.99 Pag. 46

Position Loop Ki a.u. 0 128 • Pag. 40

Position Loop Kp a.u. 0 16384 • Pag. 40

Potentiometer Supply

Reference inversion

Resolver/SinCos offset degree 0 359.99 • Pag. 46

RPD02 transmission

type

Size Indicator

Supply fault alarm

Temperature probe

type

Torque constant N·m/A 0 10 • Pag. 48

degree 0 359.99 Pag. 46

allowed values

boolean value

Pag. 49

Pag. 43

integer 1 255 • Pag. 50

boolean value

boolean value

allowed values

Pag. 43

Pag. 48

Pag. 49

TPD02 transmission

type

integer 1 255 • Pag. 50

78 Chapter B Index of Programmable Parameters

Continued on next page . . .

. . . continued from previous page

NA ME

OP ERATI NG RANGE

UN IT MIN MAX by CANOPE N

Up slope rpm/s 500 35 • 10

Velocity Loop Ki a.u. 0 1024 • Pag. 40

Velocity Loop Kp a.u. 0 4096 • Pag. 40

PR OG RA MM AB LE

5

RE FERENCE

®

• Pag. 42

Concluded

79

© Elife International 2016

www.elifeinternational.com