starting with emdrive - lafayette college...picture 2: emdrive 500 3.3. emdrive h300 - 180 kva peak...

Starting with emDrive

Motor controller

User Manual

Table of Figures 2

CHAPTER 1: THIS USER MANUAL .............................................................................................................................. 1

CHAPTER 2: SAFETY INFORMATION ........................................................................................................................ 1

CHAPTER 3: MAIN FEATURES OF EMDRIVES ........................................................................................................ 2

3.1. EMDRIVE 150 ................................................................................................................................................................................... 2

3.2. EMDRIVE 500 ................................................................................................................................................................................... 3

3.3. EMDRIVE H300 ............................................................................................................................................................................... 3

3.4. TECHNICAL INFORMATION .............................................................................................................................................................. 4

CHAPTER 4: INSTALLATION ........................................................................................................................................ 5

4.1. CABLES CROSS SECTION ................................................................................................................................................................... 5

4.2. INPUT AND Y CAPACITANCE ............................................................................................................................................................ 6

4.3. DISCHARGE ........................................................................................................................................................................................ 6

4.4. COOLING REQUIREMENTS ................................................................................................................................................................ 6

4.5. DIMENSION ........................................................................................................................................................................................ 7

4.5.1. EmDrive 150 ......................................................................................................................................................................... 7

4.5.2. EmDrive 500 ......................................................................................................................................................................... 8

4.5.3. EmDrive H300...................................................................................................................................................................... 9

CHAPTER 5: WIRING EXAMPLE ............................................................................................................................... 10

5.1. SCHEMATIC: SSI MOTOR FEEDBACK TYPE ................................................................................................................................. 11

5.2. SCHEMATIC: HALL MOTOR FEEDBACK TYPE.............................................................................................................................. 12

5.3. SCHEMATIC: RESOLVER MOTOR FEEDBACK TYPE ..................................................................................................................... 13

5.4. SCHEMATIC: SIN/COS MOTOR FEEDBACK TYPE ....................................................................................................................... 14

CHAPTER 6: CONNECTING MOTOR CONTROLLER TO EDRIVE CONFIGURATOR ................................... 15

6.1. ABOUT EDRIVE CONFIGURATOR ................................................................................................................................................. 15

7.1.1. Requirements for starting the installation ............................................................................................................. 15

6.2. INSTALLING USB TO CAN DRIVER ............................................................................................................................................. 15

6.3. INSTALLING THE CONFIGURATION TOOL ................................................................................................................................... 18

CHAPTER 7: EDRIVE CONFIGURATION TOOL .................................................................................................... 21

7.1. AUTO – ALIGN PROCEDURE .......................................................................................................................................................... 21

7.2. TUNNING CURRENT CONTROL PARAMETERS ............................................................................................................................. 29

7.2.1. Device Control .................................................................................................................................................................... 29

7.2.2. State Transitions .............................................................................................................................................................. 30

7.2.3. Creating shortcuts ............................................................................................................................................................ 31

7.2.4. Generating torque pole reference .............................................................................................................................. 34

7.2.5. Configuring oscilloscope function .............................................................................................................................. 36

7.2.6. Reading................................................................................................................................................................................. 38

7.3. TUNING VELOCITY CONTROL PARAMETERS ............................................................................................................................... 41

7.4. SETTING APPLICATION 1 .............................................................................................................................................................. 43

7.4.1 Requirements for setting application ....................................................................................................................... 44

CHAPTER 8: ERRORS AND WARNINGS ................................................................................................................. 47

8.1. ERRORS............................................................................................................................................................................................ 47

8.2. WARNINGS ...................................................................................................................................................................................... 48

Table of Figures 3

Table 1: Diode states ........................................................................................................................................... 4

Table2: Auto - Align .......................................................................................................................................... 26

Table 3: Transition events and actions ..................................................................................................... 30

Picture 1: EmDrive 150 ...................................................................................................................................... 2

Picture 2: EmDrive 500 ...................................................................................................................................... 3

Picture 3: EmDrive H300 ................................................................................................................................... 3

Picture 4: EmDrive 150 - Dimensions .......................................................................................................... 7



Picture 7: EmDrive H300 - Dimensions ....................................................................................................... 9

Picture 8: EmDrive H300 - Dimensions ....................................................................................................... 9

Picture 9: Basic wiring with SSI motor feedback .................................................................................. 11

Picture 10: Basic wiring with HALL motor feedback .......................................................................... 12

Picture 11: Basic wiring with Resolver motor feedback .................................................................... 13

Picture 12: Basic wiring with SIN/COS motor feedback .................................................................... 14

Picture 13: Device State Machine Block Diagram ................................................................................. 29

Picture 14: Basic wiring for setting application .................................................................................... 43

1

Chapter 1: This User Manual

This document contains detailed description for wiring eDrive with PMSM motor with

different feedbacks.

In chapter 6 is described basic wiring between controller, motor and battery pack. Then it is

shown how to connect motor controller to eDrive configurator. It is also described step by

step how to run auto – align rotor position on emDrive, tune current/velocity control

parameters and set basic internal application which is capable of driving up to one eDrive

with one enable switch and one forward/reverse switch and potentiometer. At the end are

described errors and warnings that can occur during working with emDrive in case

something went wrong.

Chapter 2: Safety information

Before operating emDrive is necessary that you implement the safety procedure included in

this user manual. That will keep you and your work area safe.

Please read this chapter really carefully before you start operating emDrive.

Only qualified personnel may install, adjust, maintain and repair the emDrive. A qualified

person has the knowledge and authorization to assemble, install and operate with motor

controllers.

Important information (Usually it is something we recommend)

2

Chapter 3: Main features of EmDrives

Benefits:

- Advanced sinus vector control (also with hall sensors)

- Automatic field weakening mode for induction and PMSM motors

- Different regeneration modes

- Controller and motor protection with gradual power decrease at high temperature or low-

battery voltage

- Compact size and lightweight

- Cost optimized

3.1. EmDrive 150

Peak motor power:

- emDrive150 – 150_250/60:

15 kVA

- emDrive150 – 200_400/60:

24 kVA

- emDrive150 – 150_300/125:

37 kVA

Continuous motor power:

- emDrive150 – 150_250/60: 9 kVA

- emDrive150 – 200_400/60: 12 kVA

- emDrive150 – 150_300/125: 18 kVA

- Induction, PMSM and BLDC motor

types

- Support different types of rotor

position sensors

- Battery voltage range 20-60/125 V

- Continuous motor current 150/200 Arms,

1 minute peak 250/300/400 Arms

- CAN (CAN open) interface

- Dimensions 200 x 150 x 43/53 mm, weight 1,5/1,6

kg

Picture 1: EmDrive 150

3

3.2. EmDrive 500

- 100 kVA peak motor power, 62 kVA continuous power

- Induction, PMSM and BLDC motor types

- Support different types of rotor position sensors

- Galvanic isolation between control and power signals

- Battery voltage range 30-125 V

- Continuous motor current 500 Arms, 1 minute peak 800 Arms


- Liquid cooling

- Dimensions 280 x 205 x 65 mm, weight 4,9 kg

Picture 2: EmDrive 500

3.3. EmDrive H300

- 180 kVA peak motor power, 120 kVA continuous power

- Induction, PMSM and BLDC motor types

- Support different types of rotor position sensors

- Battery voltage range 100-450 V

- Continuous motor current 300 Arms, 1 minute peak 450 Arms


- IGBT module with direct liquid cooling

- Dimensions 230 x 245 x 126 mm, weight 7 kg

Picture 3: EmDrive H300

4

3.4. Technical Information

Every emDrive has mounted five diodes which represents different states/modes of

emDrive.

In Table 1 is written every mode in which emDrive can get and what it means.

DIODE OFF FLASHING ON

CAN Run NMT state

stopped

NMT state

pre-operational

NMT state

operational

Can

Error No CAN error

single flash - CAN

state passive CAN bus off

double flash -

Heartbeat lost (error

code 0x8130)

Drive

Controller in

preoperational mode,

PWM disabled, Safety

procedure not started,

Break enabled

Controller in

operational mode,

Safety ok, PWM

disabled, Break

disabled

Controller in drive

mode PWM enabled,

break disabled

Warning All protections are

inactive

One or more of

protections active.

Bit in status word

set, warning

description can be

found in CO object

0x2027

Error No drive error Drive error

Table 1: Diode states

5

Chapter 4: Installation

4.1. Cables cross section

We recommend using shielded silicone – insulated, screened – copper, single – core high

voltage automotive cables by Coroplast (www.coroplast.de).

Wire cross section*

Drive Wire Diameter for

phase connection

Wire diameter for

battery

connection

EmDrive150 150_250/60: 15 kVA 25 mm2 16 mm2

EmDrive150 200_400/60: 24 kVA 50 mm2 16 mm2

EmDrive150 150_300/125: 37 kVA 35 mm2 16 mm2

EmDrive 500_800/125: 100 kVA 50 mm2 50 mm2

EmDrive H300 300_450/450: 180

kVA 50 mm2 25 mm2

*at maximum phase current and maximum power at device voltage.

Drive

Recommended wire

length for phase

connection

Recommended wire

length for battery

connection

EmDrive150 150_250/60: 15 kVA

Up to 2m Up to 5m

EmDrive150 200_400/60: 24 kVA

EmDrive150 150_300/125: 37 kVA

EmDrive 500_800/125: 100 kVA

EmDrive H300 300_450/450: 180

kVA

6

4.2. Input and Y capacitance

Drive Input capacity [mF] Y capacitor*

EmDrive150 150_250/60: 15 kVA 6,3

EmDrive150 200_400/60: 24 kVA 13,2

EmDrive150 150_300/125: 37 kVA 2,4

EmDrive 500_800/125: 100 kVA 14,5

EmDrive H300 300_450/450: 180

kVA 1

*Capacitance between +B

4.3. Discharge

There is no pre-charge function in any controller. There is no dis-charge function in any controllers, except in EmDrive H300.

EmDrive H300 has fix discharge resistor of 200 kΩ.

4.4. Cooling requirements

Drive Cooling type Requirements

EmDrive150 150_250/60: 15 kVA Air 500 W of cooling power



EmDrive 500_800/125: 100 kVA Liquid 5 l/min, 2 bar, liquid mix

(50% distilled water, 50% glycol)

EmDrive H300 300_450/450: 180

kVA Liquid

5 l/min, 2 bar, liquid mix

(50% distilled water, 50% glycol)

7

4.5. Dimension

4.5.1. EmDrive 150

- EmDrive 150 150_250/60: 15 kW

- EmDrive 150 200_400/60: 24 kW

- EmDrive 150 150_300/125: 37 kW

Picture 4: EmDrive 150 - Dimensions

8

4.5.2. EmDrive 500

- EmDrive 500_800/125: 100 kW



9

4.5.3. EmDrive H300

- EmDrive H300 300_450/450: 180 kW

Picture 7: EmDrive H300 - Dimensions

Picture 8: EmDrive H300 - Dimensions

10

Chapter 5: Wiring example

Wiring example shown on following pages represents basic application for electric

drivetrain.

Functionalities of electric drivetrain are:

1. Switch for enable/disable controller

2. Switch for direction (forward and reverse)

3. Potentiometer for throttle for torque or speed setting

4. Potentiometer for break settings

5. CAN for connection with eDrive Configurator (use CAN to USB controller)

All shown wiring examples have the same functionality, the difference is only in motor

sensor feedback type.

11

5.1. Schematic: SSI motor feedback type

Picture 9: Basic wiring with SSI motor feedback

12

5.2. Schematic: Hall motor feedback type

Picture 10: Basic wiring with HALL motor feedback

13

5.3. Schematic: Resolver motor feedback type

Picture 11: Basic wiring with Resolver motor feedback

14

5.4. Schematic: Sin/Cos motor feedback type

Picture 12: Basic wiring with SIN/COS motor feedback

15

Chapter 6: Connecting motor controller to eDrive

configurator

6.1. About eDrive Configurator

eDrive Configurator is CAN open tool developed by EMSISO and it is designed both for

internal use and for external customers. It can be used with any CAN open compatible device

but it is specially designed to use with EMSISO emDrive devices.

eDrive Configurator is designed to work with EMSISO USB-CAN Interface and will not

support any other CAN Interface due to its special features.

7.1.1. Requirements for starting the installation

- PC with Windows operating system XP or later - Installed Microsoft .NET Framework version 4.0 or higher - EMSISO USB-CAN Interface or any USB-RS232 Serial interface (not all features

available)

6.2. Installing USB to CAN driver

First extract folder USBtoCANDriver_PW_12345.

The password you need to extract files is written in file name PW (password) _12345.

16

Go to extracted folder and open setup file VCP_V1.3.1_Setup_x64. Click Next and wait a few

seconds.

Click Next

.

17

Click Finish and you are done installing driver for USB to CAN.

18

6.3. Installing the Configuration tool

First you need to extract folder EMSISO_eDrive_Configurator_Setup_V_0_31_BETA.

Go to extracted folder and open file EMSISO_eDrive_Configurator_Setup_V_0_31_BETA.

19

Choose Everyone or Just me and click next.

Click Next.

20

Click Close and you are done with installation of eDrive Configurator.

21

Chapter 7: eDrive Configuration tool

7.1. Auto – align procedure

Minimum requirements for running emDrive auto align rotor position:

- PC with serial port or USB to serial adapter and terminal or CAN Open compatible USB

dongle and PC SW

- Communication cables connected with PC (RS232 or CAN)

- Motor with mounted compatible feedback with emDrives

- Basic informations about motor and feedback (Used motor producer, type of motor, which

feedback is used)

Double click on the icon eDrive Configuration.

22

Step 1: Establish connection.

The USB- RS232 connection has to be established so you can start setting parameters.

Network/Connection.

Select the correct COM port and click Open. You should see in bottom left corner written

connected.

Scan network.

Network / Scan network

23

You can stop scanning process when Node reaches the ID number of your device. Usually ID

number is 1.

Network / Nodes

Select your device Node-ID and click Download.

24

Open SDO Browser and go to Step 2.

- SDO Browser is used to Read or Write value to any object that is supported in device

dictionary.

- SDO Browser is also used to add objects to Watch, Oscilloscope and Shortcuts

(examples of that are shown in following chapters).

25

Step 2: Clear parameters.

We highly recommend that the auto – align procedure is done at no – loaded motor (motor

can spin freely).

Note: This step will clear all the parameters and set them to default values. In case you

already set parameters to wanted values make sure you save them to avoid losing them.

Tools / Clear parameters.

Step 3: Set parameters according to Table2: Auto - Align.

Example: 0x6076 – Motor rated torque – setting value to 80 000.

Before starting auto - align procedure clear the controller parameters!

Set value here and click write

26

Table2: Auto - Align

Object Object Setting

0x2033 - Motor pole pairs Set this to number of motor pole pairs. Example: Emrax motors have 10 pole pairs. Value = 10

Note: By motor with HALL feedback this value must be set to 1.

0x2039 - FOC Calculation Delay enable Enable FOC calculation delay. Value = 1

0x2040 - sub1 - Feedback type Set feedback type. Example: Emrax motor with SSI feedback. Value = 2.

Note: By motor with HALL feedback set sub6 to 6.

0x2040 - sub8 - Motor phase offset compensation

Set this value to 190 µs. Value = 190

0x2054 - Over voltage limit Set this value according to the controller type. Example: emDrive 150_250/125 Value = 125

0x2055 - sub3 - Undervoltage min voltage Set this value according to the controller type. Example: emDrive 150_250/125 Value = 100

0x2057 - sub1 - Motor temperature sensor type

Set this value according to the motor temperature sensor type. Example: Motor don't have temperature sensor. Value = 0

0x6060 - Modes of operation Set this value to auto - align motor position. Value = - 4

0x6075 - Motor rated current Set this value below motor rated current. Example: For emrax motor this value is usually set to 80 A. Value = 80 000

0x6076 - Motor rated torque Set this value to the same value as in step 9. Example: For emrax motor this value is usually set to 80 N. Value = 80 000

27

Step 4: Save parameters.

We suggest to save parameters in case of turning controller off and losing settings.

Step 5: Reset

After saving parameters reset device.

Step 6: Operational

Step 7: Check for LED status (errors, warnings).

In case you have warnings you can check them in SDO Browser / 2027 – Warnings.

In case you have errors you can check them in SDO Browser / 603f – Error_code.

Descriptions of errors and warning are written in Error! Reference source not

ound.Error! Reference source not found..

Step 8: Save parameters

Tools / Save parameters

After Operational command the motor should start spinning first in positive

direction then in reverse direction and then stop.

Respond according to warning / error states.

28

After align procedure the drive is in cyclic sync torque mode (0x6060 value = 10).

29

7.2. Tunning current control parameters

7.2.1. Device Control

Picture 13 contains detailed description of the device states and all possible controlling

sequences for operating the emDrive.

States of the drives are determining which commands are accepted.

States may be changed using the Controlword 0x6040 and/or according to internal events.

Picture 13: Device State Machine Block Diagram

Not ready to

switch on

Switch on

disabled

Ready to

switch on

Switched on

Operation

enabled

Quick stop

active

Fault reaction

active

Fault

Start

0

1

2

3

4 5

6

7

8 9

10

11

12 13

14

15

Power-off or reset

30

7.2.2. State Transitions

State transitions are caused by internal events in the device or by command from host via

the Controlword.

If command is received which causes a change of state, this command will be processed

completely and the new state attained before the next command can be processed.

Table 3: Transition events and actions

Transition Event(s) Action(s)

0 Automatic transition after power-on

or reset

Initialize drive, enable breaks, start local

control if enabled

1 Automatic transition

Start safety procedure, disable drive

function, initialize feedback,

internal set-points cleared

2 “Shutdown” command from control

device or local signal received Disable drive function

3 “Switch on” command received from

control device or local signal Disable breaks

4

“Enable operation” command

received from control device or local

signal

Enable drive function

5

“Disable operation” command

received from control device or local

signal

Drive function disabled, disable breaks

6 “Shutdown” command received from

control device or local signal Drive functions disabled, enable breaks

7

“Quick stop” or “disable voltage”

command received from control

device or local signal

Drive functions disabled, enable breaks,

initialize feedback, internal set-points

cleared

8 “Shutdown” command received from

control device or local signal Drive functions disabled, enable breaks

9 “Disable voltage” command received

from control device or local signal



cleared

10

“Disable voltage” or “quick stop”

command received from control

device or local signal



cleared

11 “Quick stop” command received from

control device or local signal none

12 Automatic transition Disable drive function, initialize feedback,

internal set-points cleared

13 Fault signal None

14 Automatic transition Disable drive function, enable break

15 “Fault reset” command received from

control device or local signal Clear fault condition if no fault is present

31

7.2.3. Creating shortcuts

The easiest way to control drive in different states is to create shortcuts.

For turning drive in “Shutdown” and “Fault reset” mode, values 6 and 15 must be written in

Controlword 0x6040.

a) Controlword 0x6040 (first shortcut) – value 6

b) Controlword 0x6040 (second shortcut) – value 15

Create two shortcuts.

SDO Browser/0x6040 – Controlword/ (Right click) Add to shortcut/Shortcut1

SDO Browser/0x6040 – Controlword/ (Right click) Add to shortcut/Shortcut2

32

You can see shortcuts that you created in shortcuts menu.

Now you have to define values for each shortcut.

Shortcuts – Controlword/Edit (shortcut 1)

33

In shortcut1 write value 6.

Shortcuts – Controlword/Edit (shortcut 2)

In shortcut2 write value 15.

Shortcuts are now defined.

Here write 6 and click Apply

Here write 15 and click Apply

34

7.2.4. Generating torque pole reference

Before starting tuning current control check if controller is in sync torque mode

(0x6060 = 10).

We recommend the current control is tunned at blocked motor.

For current control is used PI controller.

The controller proportional part (P) and integral part (I) parameters are set in objects:

0x60f6 (current_control_parameters).

-sub1 – Current_control_regulator_P-Gain

-sub2 – Current_control_regulator_I-Gain

The period is set by 0x2032 – sub1 – Pulse mode counter = 500

The amplitude is set by 0x6071 – Target torque = 100

Setting period.

Here write 500 and click Write

35

Setting amplitude.

Here write 100 and click Write

36

7.2.5. Configuring oscilloscope function

Oscilloscope is EMSISO special functionality for advanced analysis of device behavior. With oscilloscope user can set device to record any object values in real time and save them

to internal RAM or EEPROM memory. Records can be later transferred to PC and even

exported to CSV file.

To watch signal you have to add Torque regulator requested, actual and out to osci.

0x201b – Torque regulator (sub1, sub2, sub3) (right click/add to osci)

Click Oscilloscope.

Here are

Torque

regulator

requested,

actual, out.

37

Setting values:

Step 1: Right click on 201b sub1 / Set Trigger

Step 2: Mode: Continuous

Step 3: Level: 0

Step 4: Memory: RAM

Step 5: Sample Rate: 1

Step 6: Pretrigger %: 0

Step 7: No. of Charts: 1

Step 8: Click Draw

Step 9: Click WriteConf

Step 10: Click Enable

1

2 3

4 5 6 7

8

9 10

38

7.2.6. Reading

Step 1: Click Operational

Step 2: Click Controlword 6


Step 4: Click Run (Wait 1 second)

Step 5: Click Stop


Step 7: Click Operational

Step 8: Click Force Read

After few minutes Osci data read will complete.

1

2 3

4 5

6

7

8

39

With overset values:

0x6071 – Target torque = 500


-sub1 – Current_control_regulator_P-Gain = 1500

-sub2 – Current_control_regulator_I-Gain = 200

With recommended values:

0x6071 – Target torque = 500


-sub1 – Current_control_regulator_P-Gain = 300

-sub2 – Current_control_regulator_I-Gain = 350

40

After current control settings we recommend checking the electrical angle in

oscilloscope.

Set target torque 0x6071 – Target Torque/value = 50

Set 0x2032 – Pulse mode/sub1 – Pulse mode counter/value = 0

0x201f – Electrical Angle (Right click/Add to osci)

41

7.3. Tuning velocity control parameters

Step 1: Set 0x6060 – Modes_of_operation – value 9 (cyclic sync velocity)

Step 2: Create Shortcuts:

0x60ff – Target_velocity (Right click/Add to Shortcut 3)

- Right click/Edit/Value -200


- Right click/Edit/Value 200


- Right click/Edit/Value 0

Step 3: Add to Graph:

0x606c – Velocity_actual_value (Right click/Add to Watch)

0x60ff – Target_velocity (Right click/Add to Watch)

Step 4: Click tab Graph. Set:

4.1. Period [ms]: 100

4.2. Set Graph in Target_velocity and Velocity_actual_value to 1.

4.3. Click Read all and Apply Charts.

4.4. Click Graph 1

Step 5: Set values:

- 0x60f9 (Velocity_control_parameters).

- sub1 – Velocity_control_regulator_P-Gain = Overset Value (400)

- sub2 – Velocity_control_regulator_I-Gain = Overset Value (2)

2

3

4 4.1.

4.2.

4.3.

4.4.

42

- 0x60f9 (Velocity_control_parameters).

- sub1 – Velocity_control_regulator_P-Gain = Recommended Value (8000)

- sub2 – Velocity_control_regulator_I-Gain = Recommended Value (10)

43

7.4. Setting Application 1

EDrive application is used to control eDrive with digital and analog inputs.

Basic configuration is one switch for enabling the drive control and one potentiometer for setting the current in torque mode or velocity in

velocity mode and switch for forward and reverse function. Basic configuration is shown in picture below.

Picture 14: Basic wiring for setting application

44

7.4.1 Requirements for setting application

- PC with serial port or USB to serial adapter and terminal or CAN Open compatible USB

dongle and PC SW,

- Communication cables connected with PC (RS232 or CAN),

- Motor with mounted compatible feedback with emDrives,

- Successfully finished Auto align procedure

(For help refer to chapter 7.1 Auto – align procedure)

- Switches and potentiometers which are required for controlling emDrive

(For help refer to Chapter 5: Wiring example).

Step 1: 0x3001 – Status and settings/sub1 – APP1 Control Mode/value 1(torque mode)

Application supports two modes (1-torque and 2-velocity). Torque mode must be

completely tested than we can proceed to velocity mode – enter 1 to selected torque

mode.

Step 2: 0x3001 – Status and settings/sub4 – APP1 Number of controlled drives/value 1

Application support control from 1 up to 4 emDrive controllers. To control only one

emDrive set value to 1.

Step 3: 0x3001 – Status and settings/sub5 – APP1 DriveX Node ID

Application is capable of controlling 4 drives and each drive must have unique Node

ID on bus which must be preconfigured directly on each drive. Set Node ID for each

drive which will be controlled through application.

In case of using one drive, set Node ID correspondingly to object Drive1 Node ID.

Step 4: 0x2070 – Analog inputs/sub1 – Throttle voltage/Right click/Add to watch

This potentiometer is used for regulating speed/velocity. Measure min/max values by

putting potentiometer to min and max position. Read Throttle voltage values which are

shown in Watch window.

Make sure that 0x6060 – Modes of operation is set to value 10.

45

Step 5: 0x2076 – Digital input/Right click/Add to watch

This switch is used for switching from forward to reverse. We recommend checking if switch

works correctly by changing switch from position 1 to position 0 and 2. Values should appear

in Watch window.

Step 6: 0x3003 – Application 1 – I/O settings

- Sub1 – APP 1 Din1 Function/Set to 1 (FW)

- Sub2 – APP 1 Din1 Function/Set to 2 (RW)

- Sub a – APP 1 Throttle type/Set to 1(unipolar throttle)

- Sub b – APP 1 Throttle Positive Min Voltage

We recommend setting value 100mV higher than actual min

throttle voltage value.

E.G. Actual min throttle voltage value is 800. Set to value 900.

- Sub c – APP 1 Throttle Positive Max Voltage

We recommend setting value 100mV lower than actual max throttle

voltage value.

E.G. Actual max throttle voltage value is 4100. Set to value 4000.

Step 7: 0x3000 – Select Application/set to 1

Application has to be enabled when all the parameters are set correctly.

46

When all parameters are set save parameters (Tools/Save

parameters) and reset (Reset button) the device.

Put all switches into off position and throttle in zero position. Right after reset emDrive must

go into operational mode (CAN Run led will be turned ON). For enabling drive mode turn on

enable switch (drive led must turn on and PWM can be heard in motor). To spin motor slowly

increase potentiometer and motor must rotate.

Limiting Max FW and Max RW Velocity

Max FW Velocity:

0x3009 – Application 1 – Power Mode – Sport/Sub7 – APP1 Power Mode Sport Max Velocity

E.G. Value = 2000.

Max RW Velocity:

0x3001 – Application 1 – Status and settings/Sub11 – APP1 Max Rw Velocity

E.G. Value = 1000.

Setting application is done. If you disconnect USB - RS232 connection the application will

still work.

During setting application make sure that you saving parameters.

Save/Load DCF file

We recommend saving DCF file when application is set.

Device Configuration File (DCF) is standard CANopen file that contains list of objects with values in moment that was saved. DCF can be saved and loaded with any CANopen software that supports this functionality.

To save or load DCF file make sure that you are connected to the device, your communication port is opened and you have right Node-ID selected.

Choose Save DCF or Load DCF from Tools menu and browse your computer for file path.

47

Chapter 8: Errors and Warnings

8.1. Errors

Errors can be checked in SDO Browser / 603f – Error_code.

Error Code Name Cause

0x1000 Generic error - Unspecific error occurred

0x2220 Overcurrent error - Short circuit in motor winding.

- Controller gain to high (Current control

parameters, Velocity control parameters). - Power

stage damaged

0x3210 DC link over voltage - Power supply voltage to high.

0xFF01 Phase A current

measurement

- Current phase A

- Hall sensor missing or damaged.

0xFF02 Phase B current

measurement

- Current phase B

- Hall sensor missing or damaged.

0xFF03 High side FET short

circuit

- DC voltage not applied to bridge or to low

- Motor phases not connected to controller

internal.

- Damaged high side FETs.

0xFF04 Low side FET short circuit - DC voltage not applied to bridge or to low -

Motor phases not connected to controller.

- Damaged low side FETs.

0xFF05 Low side FET phase 1

short circuit

- Motor phases not connected.

- Damaged low side FETs on phase 1.


short circuit


- Damaged low side FETs on phase 2


short circuit


- Damaged low side FETs on phase 3.

0xFF08 High side FET phase 1

short circuit


- Damaged high side FETs on phase 1.

0xFF09 High side FET phase 2

short circuit



0xFF0A High side FET phase 3

short circuit



0xFF0B Motor Feedback - Wrong feedback selected (check feedback type).

- Feedback damaged or not connected.

0xFF0C DC link under voltage - DC voltage not applied to bridge or to low.

0xFF0D Pulse mode finished - Pulse mode finished (It’s used for fine

adjustments and troubleshooting).

0xFF0E Application Error - Error in APP1 – for detailed description check

0x3003, 0x03(APP_1_Error_Code)

0xFF0F STO Error - STO input voltage not present.

0xFF10 Error over temperature - Controller temperature exceeded critical point

48

8.2. Warnings

Warnings can be checked in SDO Browser / 2027 – Warnings

Bit 7 6 5 4 3 2 1 0

Description x Max

velocity

exceeded

Stall

protection

active

DC over

current

DC link

over

voltage

DC link

under

voltage

Motor

temp.

exceeded

Controller

temperature

exceeded

starting with emdrive - lafayette college...picture 2: emdrive 500 3.3. emdrive h300 - 180 kva peak...

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