DRIVELAB KIT USER MANUAL - Opal-RT
Contents
1. HR RR ed 33 TROUBLESHOOTING ica 37 APPENDIX SPEED TORQUE CURVES 39 DC MOTOR SPEED TORQUE CURRENT TORQUE AND POWER EFFICIENCY SPEED 39 INDUCTION EQUIVALENT CIRCUIT MODEL AND TORQUE SPEED CURVE Rn rene 40 APPENDIX oo 43 LIST AND LOCATION OF COMPONENTS ON THE DRIVELAB BOARD 4 nenne reseau nera 43 DRIVELAB BOARD CHART o 46 APPEND cons 48 EXTERNA E POWER SUPP A 48 CNITED WARRANT REI ida 50 A IRE 50 A r o aa AS OC E 50 EXCLUSIONS MPH iS ui ME X II aispa 50 WARRANTY LIMITATION AND 1 51 DISCLAIMER OF UNSTATED WARRANTIES 51 OF cantaran cateo eds 51 DriveLab User Manual Opal RT Technologies 6 OVERVIEW DriveLab kit contents OVERVIEW Opal RT DriveLab kit is a fully integrated motor drive kit designed to enable the user to perform a variety of experiments on AC and DC machines T2. 045 16 31 0 15 0 15 16 31 0 15 16 31 0 15 16 31 0 15 16 31 ae 9 0 5 e 9 JO PE gt gt oe 9 LI 8 pins 2 ric BSOPAL R 5 pins i EXTERNAL POWER SUPPLY Power 36 V 120V 240V Enc_1 8 pins for BLDC use cable 113 0362 113 0464 Enc_2 5 pins for PM DC Gen or Async use cable 113 0357 113 0463 Figure 6 Complete cabling diagram 1 Make sure that the DriveLab box real time target and external power supply are off Connect the l Os from the DriveLab box to the simulator using cables 113 0463 and 113 0464 Connect the desired motor PMDC in the illustration to the DriveLab box banana jacks using the cables provided making sure to respect color coding shown in Figure 6 3 Connect the DriveLab encoder to the motor using either cable 113 0357 5 pin connector or 113 0362 8 pin connector 4 Connect the external power supply make sure that it is OFF and that the voltage control is set to 0 to the banana jacks on the front of the DriveLab box 5 Connect the standard power cord to the DriveLab box and plug into an adequate wall plug
3. 8 HOW THE DRIVELAB BOX WORKS naa 9 o mm 10 FAULT DETECTION AND FAULT CLEARANCE cl ib 10 STARTED ne ae de dS 12 HOW TO CONNECT THE DRIVELAB 12 A E 13 m mnm 13 CONTROL HARDWARE I 14 REAL TIME SIMULATOR VO osease 14 ANALOG INPUT sea einen E 14 NES o ua ns 14 a 15 112 0372 DIGITAL VO CABLE ee Re de 15 EXTERNAL POWER SUPPLY u u u ee 15 MOTOR S E E 16 BE 17 CONNECTIONS aussi 17 crt cp S A 17 DC GENERAIQR Liu uni 18 zeXPe ___________ ER 18 MODE La 18 I 19 CONNECTION e aus na dag ne area e PE IA 19 A A nn SS A 19 AC INDUCTION MOTOR ame eme nannten seen rare 20 CONNECTION ee u 20 ie 20 CONTROL SOFTWARE TRE RUNE
4. O PA L RT INVERTER 1 INVERTER 2 DRIVELAB KIT USER MANUAL WWW OPAL RT COM Published by Opal RT Technologies Inc 1751 Richardson suite 2525 Montreal Quebec Canada H3K 1G6 www opal rt com 03 2012 Opal RT Technologies Inc All rights reserved Printed in Canada SYMBOL DEFINITIONS The following table lists the symbols used in this document to denote certain conditions a A AN Definition ATTENTION Identifies information that requires special consideration TIP Identifies advice or hints for the user often in terms of performing a task REFERENCE _ INTERNAL Identifies an additional source of information within the bookset Indicates a situation which if not avoided may result in equipment or work data on the system being damaged or lost or may result in the inability to properly operate the process Indicates a situation where users must observe precautions for handling electrostatic sensitive devices CAUTION Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury It may also be used to alert against unsafe practices WARNING Indicates a potentially hazardous situation which if not avoided could result in serious injury or death Opal RT Technologies DriveLab User Manual CONTENTS OVERVIEW i uuu u H 7 DRIVELAB KIT 7 HOW THE A u L a
5. AC Induction 2 DC Motor Motor Select Inv2 es Motor Select Inv2 3 DC Generator 4 BLDC Inv1 Ctrl cn Control Inv1 Control Inv1 tri Ready 100 ode5 dk model vi 5 2 sc subsystem Control Inv2 File Edit View Simulation Format Tools Help t 2 fer Normal irl OpComm1 NOTE The current frequency control applies Feedbac Inv2 to the AC Induction motor only The motor voltage applies to the DC generator only The motor duty cycle applies to the BLDC only Changing the value of the wrong control will have no impact on the actual motor connected Clear the fault by switching to zero This o gt Clear Fault Clear Fault Clears faults on both Clesr Fault Switch inverters st the same time Motor Duty Cycle 100 ode5 Figure 14 Model References part DriveLab User Manual Opal RT Technologies 22 CONTROL SOFTWARE HOW the MODEL WORKS The controls model section circled in red is found in the master subsystem SM of the RT LAB model precedes the common I O interface because the results of the control are frequency and duty sent to digital outputs PWM This is the part of the model in which users can implement their control logic to provide frequency and duty to the PWMO block The reference is received from the console subsystem which can be considered the set point If using speed or position control feedback must be looped back into th
6. activity on that circuit 2 The real time model also offers the fault detection option using a digital input line When a fault occurs the input status changes from O normal operation to 1 in the real time model The DriveLab box lets users clear the fault using one of two options and continue with the activity 1 Press the Clear button on the front of the DriveLab box to clear the fault Note the Clear function is applied to both circuits clearing the fault on circuit 1 and on circuit 2 Ifthe fault is properly cleared the LED that indicated a fault should go off 2 The real time model also provides a fault clearance option which will change the status of a digital signal from low to high This signal sent from the real time simulator to the DriveLab box has the same effect as pushing the Clear button on the box After clearing the fault the fault trigger should be returned to its initial position to ensure the clear fault signal does not stay on indefinitely The fault LED will turn off DriveLab User Manual Opal RT Technologies 10 OVERVIEW HOW THE DRIVELAB BOX WORKS Here is a simplified schematic to illustrate how the board within the DriveLab box channels signals B1 Y c Y A2 Y B2 V ca 36V O Z Z Z Z O GND PWM Inverter 1 PWM Inverter 2 Figure 4 The DriveLab inverter circuits schematic 11 Opal RT Technologies DriveLab User Manual getting started How T
7. 21 HOW TAHE MODEL WORK S 21 THE MODEL man mau nee 22 THE TESTDRIVE INTE RIACE 24 TESTDRIVE WORKBENCH FOR DRIVELAB 24 CODE u er T 26 9 Opal RT Technologies DriveLab User Manual SPEEIFIERATIONS 27 ee eee 27 DC MOTOR ce cc ee ee s 27 A RS 27 DE GENERATOR 28 MOTOR see ee ee ee 28 PIN ASSIGNMENTS atada 29 ENCODER PIN ASSIGNMENTS sistit uuu sau nenne annehmen 29 BEDE ENCORE _ _ _ 29 ae no 29 DOG vcio ___ 6_ _ _ 6_ 6_6_6_ _ _ 29 9837 AND 50 CONNECTOR ASSIGNMENTS 30 OP5142EX1 Analogin Simulink Block and OP5340 30 DB37 AND 40 PIN CONNECTOR PIN 5 2 2 2 4 4 1 a 31 OP5142EXT Encoder In Simulink Block and OP5959 uu u u uaa 31 32 OP5142EX1 EventGenerator Simulink Block and OP5353
8. INVERTER 2 Enc_1 8 pins for BLDC use cable 113 0362 Enc_2 5 pins for DC Gen or Async use cable 113 0357 113 0464 Figure 10 BLDC setup example MODEL Opal RT provides a basic control and feedback open loop model for users who do not have their own DC generator RT LAB model The DriveLab RT LAB Simulink model contains control interface and feedback subsystems to run the BDLC motor The control is a simple slider that a 0 100 duty range with a single directional control The model subsystem also provides fault clearance control The I O interface allows the user to run the BLDC motor using inverter circuit 1 or inverter circuit 2 depending on the desired application The feedback returns encoder based quantities speed angle and direction currents on phase 1 and phase 2 fault status Hall effects U V W and the DC bus voltage 19 Opal RT Technologies DriveLab User Manual Motors AC Induction Motor AC INDUCTION MOTOR The DriveLab kit is equipped with a third party COTS AC Induction motor that can be connected to the DriveLab box You must follow the connection instructions provided in Table 3 to connect this AC Induction motor to the DriveLab box inverter connectors CONNECTIONS The DC generator has four 3 phase connectors Phase 1 red on the DriveLab box must be connected to the red connector on the AC Induction motor Similarly phase 2 yellow must be connected to the yellow connector on the AC Ind
9. It does not go through standard acquisition process to which both the Simulink console SC subsystem and the TestDrive interface are subject Therefore more detailed feedback signals can be visualized The Virtual Scope displays the five 5 analog signals in the following order Common 36V DC bus voltage Phase current Phase 1B current Phase 2A current Phase 2B current Triggering and recording features are available Please refer to the Virtual Scope s documentation for more information about how to use it http www opal rt com sites default files software TestDrive 20 User 20Manual pdf Enabled Channel 18 sw sm bles m Cha EB 2 m Chen Baie Fin Hare he orne Chane 7 Max Fie Sine i tt EH Channel 3 2 100 Tiana settings Dala logging 7 Enable Logging gt E dos D Farid Tigger Second Tae Teg Chan 1 barre Chan 2 Cher re ge 71222 Edge Teil Tui 0 EE UBL Auto Increment Cure Fis ks ja i 0 E 66666666666666661 0 5 10 Y 23 5 X 5 4 5 5m 5 75 5 Figure 18 Graphical interface Virtual Scope page DriveLab User Manual Opal RT Technologies 26 DRIVELAB BOX Product name Part number Power s
10. LabView panels on which signals can be assigned to control and display them as needed Three editable panels are provided for the DriveLab kit one for inverter circuit 1 inverter circuit 2 and Virtual Scope Each panel already has the appropriate signal assignments TESTDRIVE WORKBENCH FOR DRIVELAB The main screen provides several buttons and menus that control interaction with the model P TestDrive Workbench DK1 4 6 UNCC DK model v1 4 6 Eile View Operate Panels Tools Help Mode El e 7 Motor Selection on Inverter 1 7 Chassis Select Status Primary i Click to Secondary Clear Fault Panels OPAL RT TECHNOLOGIES 1 From IMAGINATION ro REAL DK Inv2 VirtualS cop N NZ N A www opal rt com Figure 16 TestDrive DriveLab main screen The left side of the screen offers buttons to control what will be displayed Inv1 displays the Inverter 1 page with Motor Selection menu DK Inv2 displays the Inverter 2 page with Motor Selection menu VirtualScop displays the Virtual Scope page 1 Opal RT packages the model with the NI LabView runtime engines that are necessary to run the Opal RT TestDrive interface Therefore users need not have NI LabView installed DriveLab User Manual Opal RT Technologies 24 CONTROL SOFTWARE
11. POWERING UP SEQUENCE A Before connecting any power supply to the DriveLab box make certain that the external power supply voltage setting is to a maximum of 36 VDC see Appendix on page 48 1 Put DriveLab power switch at the back of the unit in the ON position The three 3 LEDs in the front 5V 12V and 12V will light Make sure that the external power supply voltage is set to 0 Turn on the power supply Turn on real time target simulator Slowly increase the voltage until you reach 36V PPK noise will disappear once the unit reaches its nominal voltage setting This same noise may also occur due n Note Upon powering up the DriveLab box there may be some noise caused by the lower voltages This to lowering voltages during the powering off sequence 13 Opal RT Technologies DriveLab User Manual CONTROL HARDWARE REAL TIME SIMULATOR CONTROL HARDWARE The control hardware is comprised of Opal RT engineered components and some standard computer components such as Intel processors to achieve very high speed and precision real time simulation The DriveLab kit includes the external power supply the interface cables and the real time simulator The real time simulator components can be divided into two categories PC based and Inputs Outputs Os A motherboard hard drive with RTOS power supply and processors are the main components of the PC based category An FPGA board based on Spartan 3 Xi
12. left separate The image below shows a typical configuration Motors are connected to other devices using various types of cables banana jack cables custom 40 or 50 pin to DB37 or round 5 or 8 pin encoder cables Figure 7 The DriveLab motors Note Only the BLDC motor uses the 8 pin encoder pins 6 7 and 8 The DC generator and the AC Induction motor both use the 5 pin encoder Therefore if the DC generator and the AC Induction motor are used in the same experiment it is possible to monitor only one encoder The encoders resolution is 1000 pulses per revolution DriveLab User Manual Opal RT Technologies 16 Motors DC Motor DC MOTOR The DriveLab kit is equipped with a third party COTS DC motor that can be connected to the DriveLab box You must follow the connection instructions provided in Table 2 to connect this motor to the DriveLab box inverter connectors CONNECTIONS The DC motor has two 2 connectors Phase 1 red on the DriveLab box must be connected to the red connector on the DC motor Phase 2 yellow on the DriveLab box must be connected to the black connector on the DC motor DC Motor Connectors DriveLab box connectors Phase 1 Side Red Banana plug A2 Red Banana plug Phase 2 Banana plug B1 or B2 Banana plug Table 2 DC motor connectors Here is an example of connections in which the DC motor is connected to inverter circuit 2 MOTORS DC Gen DC 113 0357 Generator Simula
13. 6110 DC GENERATOR Specifications Value Rated power 250 W Rated volts 36 VDC Maximum Speed 3000 RPM Ke 7 51 V KRPM No load current 0 97 Amps Resistance L L 2 9 Ohms Encoder type 5 pins Dimensions HxWxD 12 5 x 15 x 15cm 4 92 x 6 x 6 Weight 3 0 Kg 6 6115 AC INDUCTION MOTOR See Appendix A Speed torque curves on page 39 for AC Induction equivalent circuit model and torque speed curve Specifications Value Rated power 120 W Rated volts 36 VAC Maximum Speed 4000 RPM Rated amps 6 Amps Resistance L L 0 7 Ohms Inductance L L 2 27 mH Encoder type 8 pins Dimensions HxWxD 3 7 x 17 x 15cm 4 92 6 7 x 6 Weight 3 0 Kg 6 6115 MOTOR COUPLING BASE Dimensions HxWxD 12 5 x 50 x 16 5cm 1 45 19 69 x 6 5 Weight 3 5 Kg 7 7110 DriveLab User Manual Opal RT Technologies 28 pin assignments PIN ASSIGNMENTS ENCODER PIN ASSIGNMENTS The BLDC AC Induction and DC generator motor encoders are quadrature encoders with index A B amp Z running 1000 pulses per revolution BLDC Encoder The BLDC motor encoder has one connector with 8 pins Pin Number Pin Description Quadrature A Quadrature B Index Z O OI lt c o Induction Encoder The AC Induction motor encoder has one connector with 5 pins The AC induction motor encoder has the following characteristic when no load is connected to it 120Hz 3600rpm where 120
14. Hz represents the phase current frequency in Hertz and 3600rpm represents the expected speed in revolution per minute when no load is connected The relation is linear from O to 120 2 DC Generator Encoder The DC generator has one 5 pin connector Pin Number gt 4 5 GND 29 Opal RT Technologies DriveLab User Manual pin assignments Db37 and 50 pin connector pin assignments DB37 AND 50 PIN CONNECTOR PIN ASSIGNMENTS OP5142EX1 Analogin Simulink Block and OP5340 Simulink block library path RT LAB I O N Opal RT N OP5142 OP5142EX1 Analogin RT LAB I O N Opal RT N OP5142 1 OpCtrl OP5142EX1 bit OP5142_1 EX 0000 2_1_b1 DK 02 06 bin Pinout Description Ch Pin DB37 Connector Connector A Diagram ch 0 15 OP5142EX1 Analogin Parameters Controller Name OP5142EX1 Ctrl 2 Noo Number of channels 5 2 m we _ oo m wa _ 5 Spare FEO FR re ae DriveLab User Manual Opal RT Technologies 30 pin assignments db37 and 40 pin connector pin assignments DB37 AND 40 PIN CONNECTOR PIN ASSIGNMENTS OP5142EX1 Encoder In Simulink Block and OP5353 Simulink block library path RT LAB I O N Opal RT N OP5142 1 OP5142EX1 Encoder In RT LAB I O N Opal RT OP5142 OpCtrl OP5142EX1 bit OP5142_1 EX 0000 2_1_b1 DK 02 06 bin Pinout Description Ch Pin DB37 Comments Connector Connector A Diaaram ch 0 15 OP5142EX1 Encoder In Pa
15. Le e 1 CURR A2 CURR B2 CURR CURR B1 Figure 25 Current probe BNC connectors See Appendix G for an exhaustive list of the DriveLab board components and their location 45 Opal RT Technologies DriveLab User Manual Appendix B DRIVELAB BOARD CHART ECT E Mm us 77 DIGITAL en b POWER y ap 1 1 DriveLab User Manual Opal RT Technologies 46 Appendix B Number Component PCB Reference Chart Location 2 A 3 7 K 6 17 ManpowrlED 09 2 G 5 EN 26 L 1 27 Phase A1 current sensor LEM CS2 C 5 CD 5 H 5 6 J 5 L 5 29 Phase A2 current sensor LEM 30 Phase B2 current sensor LEM 31 DC link current sensor LEM 32 Volt DC 33 Curr A1 34 Curr B1 35 Curr A2 36 Curr B2 6 L gt BNC5 BNC1 BNC2 BNC3 H 3 BNC4 3 N w 47 Opal RT Technologies DriveLab User Manual Appendix C APPENDIX C EXTERNAL POWER SUPPLY The external power supply provides a settable fuse to allow adjustments for specific voltage inputs 100 120 220 or 240 volts Make sure that the fuse is set to the appropriate setting for your application Make sure that there is no power to the power supply Remove the fuse holder from the plug assembly Remove the fuse from the holder and twist to desired adjust
16. Pin DB37 Comments Connector A ee ch 0 15 g DOUTOO Inverter 1 IGBT1 control signal Description OP5142EX1 PWM Out Parameters Controller Name OP5142EX1 Ctrl 1A DOUTO1 Inverter 1 IGBT2 control signal Vrtn 1A DOUTO2 Inverter 1 IGBT3 control signal Vrtn 1A DOUTO3 Inverter 2 IGBT1 control signal Vrtn 1A DOUT04 Inverter 2 IGBT2 control signal 24 Vrtn 1A DOUTO5 Inverter 2 IGBT3 control signal OP5142EX1 DigitalOut Parameters Esa DOUTO06 Clear Fault control signal Controller Name OP5142EX1 Ctrl Bl 1A m Dataln port number 1 Number of PWM signals 6 0 1 3 1 2 2 2 3 22 4 2 5 O Dataln port number 1 Number of PWM signals 6 33 Opal RT Technologies DriveLab User Manual DriveLab User Manual Opal RT Technologies 34 35 Opal RT Technologies DriveLab User Manual Troubleshooting DriveLab User Manual Opal RT Technologies 36 Troubleshooting TROUBLESHOOTING Here are a few troubleshooting hints regarding usual issues that a user may encounter Problem The motor is running but have no encoder feedback The model is running but the motor does not rotate when attempting to control it from the software The BLDC motor does not rotate when using the model provided with the kit The fault LEDs on the DriveLab board internal are ON as soon as the external power supply is powered on and that a voltage of at least 18V is appli
17. THE testdrive INTERFACE The Motor Selection option in center screen lets users select the type of motor to connect to the inverter Motor options are No Motor e AC Induction e DC Motor e DC Generator e BLDC Once the motor is selected the screen automatically switches to the panel specific to that motor AC Induction DC Generator and BLDC all display the following graphs e Speed RPM e Angle Degrees e Current 1 e Current B1 e DC Bus Voltage The DC Motor panel only displays three graphs Current 1 e Current B1 e DC Bus Voltage Two controls are available to the right of the panel at all times Clear Fault Click to clear the fault on both inverters Once pressed it automatically reverts to its initial position Refer to fault detection and fault clearance for more details about fault clearance Click to come back to motor selection Use this button to return to the main screen and to select another motor on that particular inverter AC Induction Control Hz LL Speed RPM Current A1 10 Angle Degrees Pict Current Direction DK Voltage a Com Figure 17 Induction page 25 Opal RT Technologies DriveLab User Manual CONTROL SOFTWARE THE testdrive INTERFACE Virtual Scope Panel The Virtual Scope panel is included as an add on for the DriveLab kit The Virtual Scope samples analog inputs at 2 5 us and displays the results on graphs
18. and W If the encoders are unplugged it will not work Make sure the encoder cable is properly plugged into the DriveLabKit loose connections may cause problems This is acommon behavior of burned fuses on the DriveLab board You can check that the fuses F2 F90 and F95 are good If not you must replace them Those fuses are 1 25 250 This is related to the clearance signal always being active Look for the models provided by Opal RT to see how the fault clearance signal is processed The fault clearance signal must be high 1 at all times except when a clear fault request occurs low 0 If the signal is always low 0 the fault is always cleared therefore faults cannot occur in this condition Note that if the DigitalOut block that gives access to fault clearance is not in the Simulink model the default status of the digital output hardware line is high 1 37 Opal RT Technologies DriveLab User Manual Appendix A Speed torque curves DriveLab User Manual Opal RT Technologies 38 Appendix A Speed torque curves APPENDIX A SPEED TORQUE CURVES DC MOTOR SPEED TORQUE CURRENT TORQUE AND POWER EFFICIENCY SPEED CURVES A re SPEED TORQUE CURVE SPEED R MIN 0 0 0 1 0 2 03 04 05 0 6 07 0 8 TORQUE lt am a n s AAA C 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 TORQUE 39 Opal RT Technologies DriveLab User Manual Ap
19. anty Purchaser must request an RMA number before shipping any Product for repair 1 Access the Opal RT website www opal rt com support return merchandise authorization rma request click on support and select Return Merchandise RMA 2 Fill out the online form and submit 3 Opal RT s Support department will evalute the return and either issue an RMA number via email the Product is returned for repair more than 12 months after purchase the Purchaser is responsible for the cost of repair Opal RT will assess the repair and prepare a quote The RMA number will be sent with the quote 4 Only when the Purchaser receives the RMA number may they ship the Product prepaid to Opal RT Return Policy The following fees will apply when customers return products for credit A full credit less a 15 fee and less return fee will only be issued if the product is in perfect working condition and if the product is returned within 1 month following the shipping date If repairs are required on the returned product the cost of these repairs will be deducted from the credit to be issued No credits will be issued beyond the one month period Exclusions If third party products are part of the Product Opal RT will honor the original manufacturer s warranty This limited warranty does not cover consumable items such as batteries or items subject to wear or periodic replacement including lamps fuses or filter elements DriveLab User Man
20. back returns encoder based quantities speed angle and direction the currents of phase 1 and phase 2 the fault status and the DC bus voltage DriveLab User Manual Opal RT Technologies 20 CONTROL SOFTWARE HOW the MODEL WORKS CONTROL SOFTWARE HOW THE MODEL WORKS Opal RT provides a complete and fully integrated model and interface for the DriveLab kit The kit allows users to quickly setup a simulation to perform tests on their choice of motor and inverter circuit The model provided already includes all the required I O access for such classic applications as position control and speed control as shown in Figure 12 and Figure 13 Simulink Speed Reference CurrentFeedback Optical Encoder Speed Reference CurrentFeedback Controller current amp speed is not included in the model provided Everything else is in the Simulink model Speed Feedback Optical Encoder Figure 13 Speed control schematic if users wish to modify the models or perform other tests a more advanced knowledge is required Refer n Note Basic knowledge of RT LAB is sufficient to use the DriveLab kit with its preconfigured models however to the RT LAB User Guide and to the training material for more details 21 Opal RT Technologies DriveLab User Manual CONTROL SOFTWARE HOW the MODEL WORKS THE MODEL The model provided with the DriveLab kit contains multiple subsystems that users may modify in order to implement their own c
21. d by an external power supply provided with the kit The power converters have all the drivers and circuit accessories needed to be controlled by PWM logical signals Current voltage and mechanical angle speed sensors give the required feedback to the real time control prototyping system 36 VDC BUS Power Power Drivers amp Saneas Drivers amp Protection Protection RT LAB Real Time Prototyping System HOST PC Figure 1 DriveLab solution block diagram The image Figure 2 shows the four major DriveLab kit components motors power electronics control hardware real time simulator and control software in relation to the function diagram MOTORS Power Converter Drivers amp Sensors Drivers amp Protection Protection RT LAB Real Time Prototyping System HOST COMPUTER SIMULATOR 36 VDC BUS Figure 2 DriveLab solution schematic with components DriveLab User Manual Opal RT Technologies 8 OVERVIEW HOW THE DRIVELAB BOX WORKS HOW THE DRIVELAB BOX WORKS The DriveLab box is a motor drive system in which the PWM pulses generated by the real time simulator dictate the modulation of a voltage source converter and then control the motor It consists of two identical independent 3 phase PWM inverter circuits each one with 3 MOSFE Ts that allow driving two motors simultaneously Both circuits provide current feedback for the first two phases A amp B A 36 VDC bus voltage is provided to re
22. duce electrical hazards Feedback of this bus voltage level is also provided The DriveLab box passes the encoder feedback to the real time simulator The box also provides fault detection and clearance ome ome an A G ee gt u ua KONER OPAL RT 1 TECHNOLOGIES 5V 12 AXN CLEAR MOTOR DC d L 2 PHASES PHASES ANALOG INPUTS CONNECTOR CONTROL SIGNALS CONNECTOR INVERTER 1 INVERTER 2 e r pus m p 4 4 Figure 3 The DriveLab box interface A Encoder connectors Enc_1 is an 8 pin connector and Enc_2 is a 5 pin connector See the Motors on page 16 section for details B Fault LEDs for each motor and a clear button see fault detection and fault clearance on page 10 Label Display Motor 1 A fault on motor 1 via inverter circuit 1 Motor 2 A fault on motor 2 via inverter circuit 2 C Power Indicator LEDs display power status for the various power supplies If all LEDs are off some functions may not work Label Display 5V The DriveLab box is properly powered with 5V 12V The DriveLab box is properly powered with 12V 12V The DriveLab box is properly powered with 12V D Analog inputs connector Connects DriveLab box to simulator analog inputs E Control signals connector Connects DriveLab box to simulator digital signals encoders hall e
23. ed However the fault LEDs on the DriveLab kit external are OFF Unable to make faults with the DC motor and DC generator Solution Make sure the encoder cable is properly connected at both ends on the motor and on the DriveLab box The connector on the DriveLab box side may be hard to push all the way in to the end for a secure connection with the cable Make sure you are monitoring the right encoder Some tests may require running a motor on inverter circuit 1 but it may an encoder connection that only fits encoder 2 Therefore you need to ensure that you are monitoring encoder 2 not encoder 1 Make sure the power connections are secured 36V from external power supply and that the external power supply is turned on Make sure the DriveLab box is turned on Make sure the cables from the real time simulator plugged into the DriveLab box Make sure the 3 phase A B 4 C cables are properly plugged from the DriveLab box to the motor and are not inverted see detail for each motor in this document to make sure your connections are good Make sure you are driving the right inverter circuit You may drive inverter circuit 1 while your motor is connected to inverter circuit 2 Make sure there is no fault on the inverters If you are using your own model try to use the model provided by Opal RT to run the motor first The BLDC model is the only one that requires feedback from the encoders U V
24. el for the digital signals to be outputted In the DriveLab application this voltage is fed by the DriveLab box to the real time simulator In this configuration digital outputs are used to provide signals to the DriveLab box e Firing of phase A1 B1 amp C1 PWMs on inverter circuit 1 e Firing of phase A2 B2 amp C2 PWMs on inverter circuit 2 e Fault clearance signal common to both circuits DriveLab User Manual Opal RT Technologies 14 CONTROL HARDWARE REAL TIME SIMULATOR CABLES Real time simulator inputs and outputs must be properly connected to the DriveLab box to interact with it This is why Opal RT provides two custom cables to connect both systems each cable has two different connectors at either end 113 0371 ANALOG INPUT CABLE e Standard DB37M connector to connect to the simulator analog slot 50 connector to connect to the DriveLab box analog inputs connector Refer to pin assignments on page 29 for the analog input DB37 pin description and for the 50 pin analog inputs connector pin description 113 0372 DIGITAL I O CABLE e Standard DB37M connector to connect to the simulator digital I O slot e 40 connector to connect to the DriveLab box control signals connector Refer to pin assignments for the digital DB37 pin description and for the 40 pin control signals connector pin description CAUTION The analog input and the c
25. ffects clear fault and gate firing for all 3 phases for each inverter F Phases Voltage output from the three phases A B and C of inverter 1 and 2 G Power connector 36V external power supply connector to power the board s DC bus 9 Opal RT Technologies DriveLab User Manual OVERVIEW HOW THE DRIVELAB BOX WORKS POWER ELECTRONICS The DriveLab box circuit board manages inputs and outputs see schematic in Figure 4 using MOSFET switching devices converters inverters and sensors among numerous other components These components are linked to interfaces provided on the DriveLab box see Figure 3 for details Each interface provides a connection to another component such as a host computer simulator or motors The PCB housed within the DriveLab box also offers additional connector components and switches and should only be accessed by qualified technicians and in certain cases advanced users Additional details are provided in Appendix B on page 43 FAULT DETECTION AND FAULT CLEARANCE The DriveLab box is physically protected against overcurrents When an overcurrent occurs it generates a fault which is indicated in two ways 1 The front LED lights indicate a fault status Motor 1 or Motor 2 depending on which inverter is in fault status of the front associated to that inverter circuit If the LED is on it means a fault has occurred on this inverter The protection ensures the circuit is not damaged and will stop any
26. he system was specifically designed for teaching experimentation and research The system consists of four major components motors power electronics control hardware and control software The purpose of this document is to provide information instructions and details about those components DRIVELAB KIT CONTENTS e 1 Real time simulator target computer e 1 TestDrive pack model with user interface e motors 1 PM DC DC motor see Motor on page 17 1 PM DC Gen DC generator with encoder see Dc Generator on page 18 1 BLDC BLDC motor with encoder see BLDC Motor on page 19 1 Async AC Induction motor with encoder see AC Induction Motor on page 20 1 DriveLab box 1 External DC power supply 2 1 O cables one for digital control signals and one for analog input signals 2 Encoder cables 5 pin and 8 pin 8 Banana plug cables 3 for inverter 1 3 for inverter 2 and 2 for external power supply Other interface cables power cord ethernet cable etc 7 Opal RT Technologies DriveLab User Manual OVERVIEW HOW the kit WORKS HOW THE KIT WORKS The DriveLab kit consists of two electric motors fixed on a base plate Since the motors can be physically coupled this document assumes that one of the motors is used as a motor and that the other is used as a generator load of the motor Each motor is driven by a separate power converter connected to a common 36 VDC bus This DC bus is powere
27. is model part The model feedback section circled in green is also located in the master subsystem SM of the RT LAB model Note that the final displays and graphical interfaces are found in the console SC as per visual requirements but the main routing and logic addition if needed will be in the master subsystem It is connected to the common I O interface by retrieving the information provided by analog and digital inputs of the real time simulator For each motor a specific feedback routing is implemented to obtain the right values For example the BLDC motor s encoder can only be connected to encoder 1 connection of the DriveLab box Therefore the routing found in the BLDC feedback subsystem is consequent and returns encoder 1 feedback regardless of the inverter circuit to which the BLDC is actually connected DC Mobr Ovpit Processhig I2 DC Mobr Processhg er DC Ge Process 19 DC Pross Ing nio BLOC_Owpits_Process 19 hp Pross hgh Motor Select la Motr SekctOnt Model Controls Section Model Feedback Section Figure 15 Control and Feedbacks model sections 23 Opal RT Technologies DriveLab User Manual CONTROL SOFTWARE THE testdrive INTERFACE THE TESTDRIVE INTERFACE The interface provided with the DriveLab kit uses TestDrive software Opal RT Technologies solution for clean and efficient interfacing The TestDrive software is based on NI NI
28. linx s chip with PCI Express interface digital I O boards and 16V analog board are the main components of the I O category For the DriveLab kit application we will focus on the interface REAL TIME SIMULATOR I O ANALOG INPUTS Opal RT s standard analog input range is 20V The DriveLab application scales the voltages in order to comply with this specification The analog input carrier connector on the real time simulator is known as a DB37F connector see I O Cables on page 15 for details In this configuration analog inputs are used to read the phase currents and the DC bus voltage e Currents Al and B1 of inverter circuit 1 e Currents A2 and B2 of inverter circuit 2 e 36V common DC bus voltage Note that currents are measured and sent as voltages by the DriveLab box see Power electronics section for more details A gain is applied during the conversion See Control software section on how to retrieve the exact current values in the model DIGITAL INPUTS Opal RT digital inputs are opto isolated In this configuration digital inputs are used to read encoder feedback provided by the DriveLab box and the encoders Fault detection on inverter circuit 1 Fault detection on inverter circuit 2 Encoder feedback A B Z from both encoders Hall effects U1 V1 W1 of encoder 1 8 pin Opal RT digital outputs are opto isolated and require an external DC voltage source as a voltage reference lev
29. ment setting Return the fuse to the holder Slide the holder back into the plug assembly OT Remove the fuse cartridge Rotate the fuse holder to set the right AC voltage Put the right fuse And put everything back 2 Remove the fuse holder beige from the cartridge Figure 26 Fuse adjustment instructions DriveLab User Manual Opal RT Technologies 48 49 Opal RT Technologies Appendix C DriveLab User Manual Limited Warranty LIMITED WARRANTY Limited Warranty Opal RT Technologies Inc warrants to the original purchaser and or ultimate customer Purchaser of Opal RT products Product that if any part thereof proves to be defective in material or workmanship within one 1 year such defective part will be repaired or replaced free of charge at Opal RT Technologies discretion if shipped prepaid to Opal RT Technologies Inc at 1751 Richardson suite 2525 Montreal Quebec Canada H3K 3G6 in a package equal to or in the original container The Product will be returned freight prepaid and repaired or replaced if it is determined by Opal RT Technologies Inc that the part failed due to defective materials or workmanship Otherwise the fees will be charged to the client see article Warranty Limitation and Exclusion The repair or replacement of any such defective part shall be Opal RT Technologies sole and exclusive responsibility and liability under this limited warr
30. o Connect the Drivelab Box GETTING STARTED HOW TO CONNECT THE DRIVELAB BOX The DriveLab box has thirteen 13 connectors one in the back and twelve in the front POWER 51 12V AXN MOTOR 1 CLEAR i MOTOR DC PHASES PHASES B1 C1 ANALOG INPUTS CONNECTOR CONTROL SIGNALS CONNECTOR INVERTER 1 INVERTER 2 FRONT BACK Figure 5 DriveLab box connectors Location Used for Back Standard 120VAC power cord Front Encoder cable 8 pin type Encoder cable 5 pin type External power supply 36V MOTOR DC External power supply ground Control signals digital and feedback from to simulator Feedback returned to simulator through analog signals Controlling phase A of motor on inverter circuit 1 Controlling phase B of motor on inverter circuit 1 Controlling phase C of motor on inverter circuit 1 Controlling phase A of motor on inverter circuit 2 Controlling phase B of motor on inverter circuit 2 Controlling phase C of motor on inverter circuit 2 Table 1 DriveLab box connectors DriveLab User Manual Opal RT Technologies 12 getting started How To Connect the Drivelab Box CABLING Before turning the DriveLab box on make sure all connections are secured power cord encoder cables external power supply cables motor cables and l O cables PMDC GENERATOR PMDC MOTOR OP5330 16 DA Simulator 08 a 0P5353 32 DI 0753401640 o 07535432 DO 5 5
31. ols the signal power to the board The green LED 070 C 2 indicates if the supply is available to the board or not Fuses F90 C 2 and F95 B 2 provide protection for the 12V and 12V supplies respectively see Figure 21 43 Opal RT Technologies DriveLab User Manual Appendix B ME Figure 21 Analog power LED fuses The board has over current protection for each inverter An over current fault on inverter 1 is indicated by the red LED labeled MOTOR FAULT 1 and an over current fault on inverter 2 is indicated by the red LED labeled MOTOR FAULT 2 see Figure 22 72 EE Figure 22 Motor fault LEDs DriveLab User Manual Opal RT Technologies 44 Appendix B Probe points are provided to observe the inverter quantities BNC connector VOLT DC B 4 is provided to probe the DC bus voltage Note that the scaling factor of the DC bus input voltage is 1 10 See the following figure Z Hu 815 055 055 gt 3 1 lt E 4 7 1 Pl 8 59 37 2 RESET 1 g BD RIZ Ey E MOTOR ES E 1 SA rU ul HM Men i T 7 E w e MOTOR2 FAULT 1 a a Bhase B currents a rele ship of the 2 2 i T s ne i E ira Tn t IS 0 5 SHAS PHASE 3 6
32. ontrol and algorithms The references controls and feedbacks are easily accessible and can be modified as needed The common I O interface subsystem should only be modified by advanced users The model references are located in the console subsystem SC of the RT LAB model which includes frequency voltage and duty controls that are used as references for the various motors The reference range and type can be modified to suit different type of controls Motor selection and clear fault options are also available Make sure to select which motor is connected to which inverters before using the references controls We dk model 1 5 2 sc subsystem Control_Invl d i 4 File Edit View Simulation Format Tools Help lt gt OSD Normal EJ g he s RT LZ File Edit View Simulation Format Tools Help Deus 2 Normal E ga B RE m Feedback Controls NOTE The current frequency control applies to the AC Induction motor only The motor voltage applies to the DC motor and to the DC generator only The motor duty cycle applies to the BLDC only Changing the value 3 AG induction i i 2 DC Motor of the wrong control will have no impact on the Motor Select Inv 1 2 nola molor en 3 DC Generator Motor Select Inv1 Select which motors 4 BL are connected to which verters depending your hardware setup befor Motor Duty Cycle 0 Mo Motos accessing the controls 1
33. ontrol signal connectors on the DriveLab box are different sizes therefore there is no risk of plugging in the wrong connector However the connectors on the simulator are the same size therefore it is IMPERATIVE to plug the analog input cable into the analog input slot and the control signal cable into the digital 1 0 slots Failure to do so may result in hardware damage of the DriveLab box the cable and the real time simulator If you are not sure refer to the System Integration documentation found on the CD provided with the system or refer to your project manager EXTERNAL POWER SUPPLY The external power supply provided with the system is used to power the DriveLab box which requires an external 36VDC source to power the common DC bus Although the power supply provided be able to reach higher voltages it must be set to 36VDC Higher voltages may result in damage to the DriveLab box and to other hardware components Before connecting the external power supply to the DriveLab box set the power supply to OV Then connect the external power supply to the DriveLab box and power them It is important to power the DriveLab box and the external power supply after both units are connected together 19 Opal RT Technologies DriveLab User Manual Motors REAL TIME SIMULATOR MOTORS The DriveLab kit includes four different motor types DC AC induction BLDC and DC generator Motors can be coupled as shown or
34. pendix A Speed torque curves ER EFF SPEED CURVE 350 00 300 00 250 00 200 00 150 00 100 00 50 00 0 00 k c O 0 11 0 2 0 3 04 05 06 0 7 0 8 TORQUEW n I POWERW AC INDUCTION EQUIVALENT CIRCUIT MODEL AND TORQUE SPEED CURVE 11 6 9381 Imc 3 4874 12 5 2491 Ri tte 0 1607 o s 0 0000 VRi 1 1150 VX1 3 6175 VX2 2 8030 NY I VR2 13 7110 R2 V1 Re 0 1690 17 3205 131 7460 0 0647 1 0 1062 slip IMag 3 4858 A DriveLab User Manual Opal RT Technologies 40 41 Opal RT Technologies Appendix A Speed torque curves DriveLab User Manual Appendix B DriveLab User Manual Opal RT Technologies 42 Appendix B APPENDIX B LIST AND LOCATION OF COMPONENTS ON THE DRIVELAB BOARD Figure 19 The DriveLab board Each 3 phase inverter uses MOSFETs as switching devices The 3 phase outputs for both inverters are identified as B1 and 1 for Inverter 1 and A2 B2 and 2 for Inverter 2 see Figure 20 The power supply for the 3 phase bridge drivers for the inverters is derived from the DC bus through a flyback converter A 2 The inverters are driven by 3 phase bridge drivers IR2133 The PWM inputs are isolated before being fed to the drivers See the following figure Figure 20 DriveLab board phase connectors 12V signal supply is required for the isolated analog signals outputs of the DriveLab box Switch 590 C 2 contr
35. rameters 1 1400400 Motort Controller Name OP5142EX1 Ctrl 2 DNO ______ 00 DataOut port number 2 02 81 Number of channels 8 05 22 DN2 8 9 DINOB A Motr2 o owe 9 10 DINO9 1 bno KES u 5 31 Opal RT Technologies DriveLab User Manual pin assignments db37 and 40 pin connector pin assignments OP5142EX1 Digital In Simulink Block and OP5353 Simulink block library path RT LAB I O N Opal RT N OP5142 N OP5142EX1 Digitalln RT LAB I O N Opal RT OP5142 1 OpCtrl OP5142EX1 bit OP5142_1 EX 0000 2_1_b1 DK 02 06 bin Pinout Description Ch Pin DB37 Comments Connector Connector A Diaaram ch 0 15 OP5142EX1 Digitalln Parameters DINO3 Fault 1 Controller Name OP5142EX1 Cur 128 DINS 4 5 DINO4 Hall effect U1 T 02 Number of channels 8 5 6 DINO5 Hall effect V1 03 04 6 7 DINO6 effect W1 06 07 09 12 12 13 DIN12 Hall effect U2 134 14 DIN13 Hall effect V2 user 14 15 DIN14 Hall effect w2 __ 34 2 DriveLab User Manual Opal RT Technologies 32 pin assignments db37 and 40 pin connector pin assignments OP5142EX1 EventGenerator Simulink Block and OP5353 Simulink block library path RT LAB I O N Opal RT N OP5142 OP5142EX1 Encoder In RT LAB I O N Opal RT OP5142 1 OpCtrl OP5142EX1 bit OP5142_1 EX 0000 2_1_b1 DK 02 06 bin Pinout
36. s DriveLab User Manual CONTACT Opal RT Corporate Headquarters 1751 Richardson Suite 2525 Montreal Qu bec Canada H3K 166 Tel 514 935 2323 Toll free 1 877 935 2323 Technical Services www opal rt com support Note While every effort has been made to ensure accuracy in this publication no responsibility can be accepted for errors or omissions Data may change as well as legislation and you are strongly advised to obtain copies of the most recently issued regulations standards and guidelines This publication is not intended to form the basis of a contract Document ID UG 1213079 OP1 03 2012 O Opal RT Technologies Inc
37. s the user to run the DC generator using inverter circuit 1 or inverter circuit 2 depending on the desired application The feedback returns encoder based quantities speed angle and direction currents on phase 1 and phase 2 fault status and the DC bus voltage DriveLab User Manual Opal RT Technologies 18 Motors BLDC Motor BLDC MOTOR The DriveLab kit is equipped with a third party COTS BLDC motor that must be connected to the DriveLab box You must follow the connection instructions provided in Table 4 to connect this motor to the DriveLab box inverter connectors CONNECTIONS The BLDC motor has four 3 phase connectors Phase 1 red on the DriveLab box must be connected to the red connector on the BLDC motor Phase 2 yellow must be connected to the yellow connector on the BLDC motor and Phase 3 blue must be connected to the blue connector of the BLDC motor BLDC Motor Connectors DriveLab box connectors Table 4 BLDC connectors Here is an example of connections in which the BLDC motor is connected to inverter circuit 2 MOTORS 113 0362 DC Gen BLDC 113 0357 Simulator I Os 0P5353 32 DI 0P5354 32 DO S 07533016 DA 5 POWER OP5340 16 AD pow 5 5 OS HA t gt CLEAR enc2 e Z MOTOR DC phases PHASES Power 36 V 5 B1 2 2 ES 1 20V 240V ANALOG INPUTS CONNECTOR CONTROL SIGNALS CONNECTOR OP5142 FPGA backplane INVERTER 1 7
38. ter connectors CONNECTIONS The DC generator has three 3 connectors Phase 1 red on the DriveLab box must be connected to the red connector on the DC generator Phase 2 yellow on the DriveLab box must be connected to the black connector on the DC generator DC Generator Connectors DriveLab Box Connectors Table 3 DC generator connectors Here is an example of connections in which the DC generator is connected to inverter circuit 1 MOTORS DC Gen DC 113 0357 Generator Simulator I Os 0P5353 32 DI 0P5354 32 DO ____ OP533016DA Li 5 B POWER OP5340 16 AD O os BRE PAR 5 2 CLEAR CHR ue I as MOTOR DC Power 36 V B1 ct 2 E2 c2 1 20V 240V ANALOG INPUTS CONECTOR CONTROLSIGNALS CONNECTOR LII 1 i INVERTER 1 7 INVERTER2 OP5142 FPGA backplane Enc_1 8 pins for BLDC use cable 113 0362 Enc 2 5 pins for DC Gen or Async use cable 113 0357 113 0464 Figure 9 DC generator setup example MODEL Opal RT provides a basic control and feedback open loop model for users who do not have their own DC generator RT LAB model The DriveLab RT LAB Simulink model contains control interface and feedback subsystems to run the DC generator The control is a simple DC voltage slider that offers 36V to 36V voltage range with bi directional control The model subsystem also provides fault clearance control The interface allow
39. tor I Os 0P5353 32 DI 0P5354 32 DO E 0P5330 16 DA C SS mem O 095340 16 AD am eee RPA RR 45V AN AN ns CLEAR 2 EU MOTOR DC PHASES PHASES Power 36 V 1 Bi ci A2 2 2 ANALOG INPUTS CONNECTOR CONTROL SIGNALS CONNECTOR Q I OP5142 FPGA backplane 120V 240V INVERTER 1 INVERTER 2 Enc 1 8 pins for BLDC use cable 113 0362 Enc 2 5 pins for DC Gen or Async use cable 113 0357 113 0464 Figure 8 DC motor setup example MODEL Opal RT provides a basic control and feedback open loop model for users who do not have their own DC motor RT LAB model The DriveLab RT LAB Simulink model contains control interface and feedback subsystems to run the DC motor The control is a simple DC voltage slider that offers 36V to 36V voltage range with bi directional control The model also provides fault clearance control The I O interface allows the user to run the DC motor using inverter circuit 1 or inverter circuit 2 depending on the desired application The feedback returns the currents on phase 1 and phase 2 fault status and the DC bus voltage 17 Opal RT Technologies DriveLab User Manual Motors Dc Generator DC GENERATOR The DriveLab kit is equipped with a third party COTS DC generator that can be connected to the DriveLab box You must follow the connection instructions provided in Table 3 to connect this generator to the DriveLab box inver
40. ual Opal RT Technologies 50 Limited Warranty Warranty Limitation and Exclusion Opal RT Technologies will have no further obligation under this limited warranty All warranty obligations of Opal RT Technologies are void if the Product has been subject to abuse misuse negligence or accident or if the Purchaser fails to perform any of the duties set forth in this limited warranty or if the Product has not been operated in accordance with instructions or if the Product serial number has been removed or altered Disclaimer of Unstated Warranties The warranty printed above is the only warranty applicable to this purchase All other warranties express or implied including but not limited to the implied warranties of merchantability or fitness for a particular purpose are hereby disclaimed Limitation of Liability It is understood and agreed that Opal RT Technologies liability whether in contract in tort under any warranty in negligence or otherwise shall not exceed the amount of the purchase price paid by the purchaser for the product and under no circumstances shall Opal RT Technologies be liable for special indirect or consequential damages The price stated for the product is a consideration limiting Opal RT Technologies liability No action regardless of form arising out of the transactions under this warranty may be brought by the purchaser more than one year after the cause of actions has occurred 51 Opal RT Technologie
41. uction motor and phase 3 blue must be connected to the blue connector of the AC Induction motor AC Induction Motor Connectors DriveLab box connectors Encoder 2 5 pin Table 5 AC Induction connectors Here is an example of connections in which the AC Induction motor is connected to inverter circuit 2 MOTORS Async 113 0357 Simulator I Os ai 0P5353 32 DI 0 53543200 07533016 DA 5 B i POWER OP5340 16 AD wO NN 5 VO AN 316 amp 58 P 36 V Z MOTOR DC NEED ILS A B 1 20V 240V ANALOG INPUTS CONNECTOR CONTROL SIGNALS CONNECTOR INVERTER 1 INVERTER2 OP5142 FPGA backplane Enc 1 8 pins for BLDC use cable 113 0362 113 0464 Enc_2 5 pins for PM DC Gen or Async use cable 113 0357 Figure 11 AC Induction setup example MODEL Opal RT provides a basic control and feedback open loop model for users who do not have their own AC Induction RT LAB model The DriveLabKit RT LAB Simulink model contains control I O interface and feedback subsystems to run the AC Induction motor The control is a simple current frequency slider allowing 120Hz to 120Hz frequency range with bi directional control The subsystem also provides fault clearance control The interface allows the user to run the AC Induction motor using the inverter circuit 1 or the inverter circuit 2 depending on the desired application The feed
42. upply Connectors Dimensions HxWxD Weight Operating temperature Storage temperature Relative humidity Maximum altitude DC MOTOR specifications DC motor SPECIFICATIONS DriveLab Connection Box 429 0001 Universal 120 220 standard power connector 36 Vdc external 6 banana jack Phases A1 B1 C1 and A2 B2 C2 2 encoder one 5 pin one 8 pin 2 banana jack power 40 pin analog 50 pin control signals 8 7 x 43 x 26 7cm 3 43 16 93 x 10 51 x x Kg x x Ib depending on conditioning board configuration 10 to 40 C 50 to 104 F 55 to 85 C 67 to 185 F 10 to 90 non condensing 2000 m 65862 ft See Appendix A Speed torque curves on page 39 for DC motor speed torque current torque and power efficiency speed curves Rated volts Maximum Speed Arm resistance av incl brushes amp leads Ke Kt Rated output Peak rated output Encoder type Dimensions HxWxD Weight 27 36 VDC 4000 RPM 0 59 ohm 7 51 V KRPM 0 074 Nm A 250 W 350 W for 20 seconds No encoder 12 5 x 17 x 15cm 4 92 6 7 x 6 3 0 Kg 6 611b Opal RT Technologies DriveLab User Manual specifications Motor coupling base BLDC MOTOR Specifications Value Rated power 200 W Rated volts 36 VDC Maximum Speed 3000 RPM Ke 9 5 V KRPM Resistance L L 0 4 Ohms Inductance L L 540 uH Encoder type 8 pins Dimensions HxWxD 12 5 x 17 x 15cm 4 92 6 7 x 6 Weight 3 0 Kg 6
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