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User`s Manual for the Motor Controller Family SAC

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1. 23 ZA Slope MIMS L e a Hr 24 2 5 Direcion put INP T ue vec rco era d d p cates OH a et pa 25 2 6 Auto power off and Auto 25 2 7 Switching TTequeroy Bata faa teeta LA EE 25 2 8 Under voltage and Over voltage 26 2 9 Thermal protection of the 27 2 10 Thermal protection of the 27 2 11 Constant speed Ee en 28 2 12 5peed tegulatOFr kk kk ta po ak pe ES 29 2 S MANI e o 29 GAN NO NB kri tl im rg va eee e eco def Ex etai devi ae 29 2 141 Ba d rate uae aeter aia cease m torte anc Stan cad eo e dus 30 2 142 Variable Scalirig Ecos o s eid ida a pite a t tede dep a 30 2143 o e be PULCRA pM n veda s ek e eti ask S err 32 2 14 4 Period for variables that are to be send periodically from controller 32 2 14 95 BaselD SOUNN a hod ates 33 2 14 6 CAN messages rec etis a coheed ee 33 214 7 GAN ODeratior SOU PI kass
2. No PARAMETER DESCRIPTION Speed command With other operating modes this parameter is not used 1 07 REVERSE This parameter selects the wiring for reversing BUTTON SWITCH 0 button SELECTION 1 switch 1 08 MAX REVERSING Up to the speed given with this parameter the speed can SPEED be changed with the button switch Above this speed the button switch action won t change the direction of rotation or the direction of the torque 1 09 MAXIMAL STATOR The continuous allowed current limited by motor and or CURRENT inverter 1 10 CURRENT OVERLOAD Maximal current allowed for short period of time 1 18 MAX IDC Maximal battery current allowed the current is calculated from electrical power and may be not exact SAC41 fw 1 41 1 11 OVERLOAD Parameter is proportional to the overload energy CONSTANT Recommended value is 4 1 12 MINIMAL BATTERY The function of this parameter is to prevent the battery to VOLTAGE discharge too deeply It determines the minimal battery voltage for operation With the voltage lower than the voltage given with this parameter the motor won t produce any torque unit V 1 13 UBAT MIN ZONE The zone when the torque reduction is linearly applied It is Scaled to maximal applicable current 1 14 MAXIMAL BATTERY The function of this parameter is to prevent the VOLTAGE overcharging of the battery It determines the maximal battery voltage for operation With the voltage greater than the voltage given with this parame
3. 15 M tor a to AN NG ph PTUS 15 Mechanical sensor auto TUNING lo ba de ank eek pan ken po kk kn MO L ko 16 2 1 4 Settings for the MQAUCUONAMOUON ko e a e n aig bk a koka ta Sere e See aime 17 2 1 4 1 Magnetizing Iridiictarice A aaa ae 17 2 1 4 2 High speed mode HSM and Low speed mode 5 18 2 1 4 3 MAX xd ora ess 18 2 14 MINIMAL ISD CURRENT ics rete ee eoe citi en ope seeds 18 VER 2015 07 08 Page 2 49 SAC User s Manual Piktronik d o o 2 1 4 5 ISD CURRENT LOWSPEED 1 40 18 2 1 4 6 FLUX ESTIMATOR TIME CONSTANT FOR LOW SPEED 19 2 1 5 Settings for the permanent magnet synchronous 19 21 91 Magnetizing Tuta ipe tecta UE epe onte tais fasi 19 2 1 9 2 Freldweakehlrig E na pen on eu teer teen 20 2 2 Operating Mee 20 2 3 Potentiometer mode 21 Unipelar Tode cesse ned et nee acre 22 2 35 2 BIDOlar modestes dae teas oido teh e od fodere bong bap Mag e CU ab E 22 2 9 9 EM MOUNE S rd adc a ARUM RE IQ ABRE EAR ERREUR YR 23 2 3 4 Potentiometer
4. Aditional Options Show all parameters Fig 3 Options frame The command reads the parameters from the device It is only active when the parameters page or diagnostics page is displayed The application checks whether the parameter and controller version matches loaded configuration In diagnostics page it loads the information about the inverter and show the history of inverter errors that occurred The command stores all parameters to the controller It is only active when the parameters page is displayed Please note that all parameters are set to the controller not only visible and therefore controller behavior can be modified also by non accessible parameters The complete image of information in the controller is read and stored to disk It serves for later inspection of the complete data set in the factory Menu shows available serial communication channels Currently selected channel is shown disabled Different serial channel can be selected manually even when auto detect is disabled in options Note The serial interface should be connected before the terminal program is started in order to recognize the new communication port and avoid unexpected behavior It is not recommended to disconnect the communication port while the program is running VER 2015 07 08 Page 8 49 SAC User s Manual Piktronik d o o Document with this manual is displayed About SACTERM SACTERM Version 1
5. Piktr nik POWER FOR RELIABILITY User s Manual for the Motor Controller Family SAC SAC1 SAC4 SAC30 SAC40 SAC41 SAC50 SAC60 SACTERM V1 0 4 0 Piktronik d o o Cesta k Tamu 17 2000 Maribor Slovenia www piktronik com info piktronik com May 2015 SAC User s Manual Piktronik d o o Table of Contents LSAG TERM PC user intemace cocoons kl tn usd DNE DA fads 4 W LI ONA tes oes rel bs hae Rae Poe std ve ott 4 1 2 Establishing GONNECHON bo cece redo eade een ita e a 4 1 3 User interface layout 4 Toolbar sehortculs 6 Men options descriptio cci cete tea eder atria t oa cedo a cedi occidi P eee 6 ge rm 6 Load parametersJG FRLE JO s o sa at ske sasa d eget ido aep i enr ia OR aad 6 Save parameters sS oeste aes ke pat M e D RR 6 M TP 7 ge ee eer eer MO 7 Copy all ate E 7 TOONS RET 7 General cease ky an Circ ie tapis ane tu n ke e a iu FE AVE eod aea lt 7 Comm Auto Detect tie b d a Cu VR eT Oc Qn sia PU def p e aea bud 7 Dioec 7 Double chieck paramblets unco ve kak kori opea ad REA ki pa ke ik ba pk 7 be app ai na
6. SAC User s Manual Piktronik d o o e Power limit is the ability to reduce motor power 0 no limit 127 maximum motor power limit 128 no generator limit 255 maximum generator limit valid after firmware V1 41 revision 156 e Temperature AD input 16 bit should contain AD value from the motor temperature sensor e Motor Speed 16 bit contains the estimated motor speed e Battery Voltage 16 bit contains the battery voltage e Motor Current 16 bit contains RMS value of the motor current e Status 16 bit contains the error code see the table of error codes on lower 8 0 7 bits bit8 reflects bridge_on status bit9 relay_on bit10 speed_mode e Motor temperature 8 bit contains the motor temperature e Controller temperature 8 bit contains the controller temperature e Digital Inputs Potentiometer contains values of three digital inputs and potentiometer value e Analog Input ADCO 16 bit contains the value of 10 bit analog input ADCO e Battery current 16 bit contains estimated battery current e Digital Inputs Potentiometer contains values of three digital inputs and potentiometer value 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 INP3 INP2 INP1 0 0 0 Potentiometer 0 1023 Byte 3 Byte 4 e Analog Input ADCO 16 bit contains the value of 10 bit analog input ADCO 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 0 ADCO 0 1
7. more and more discharged the available torque power is smaller and smaller m 1 CURRENT OVERLOAD MAXIMAL STATORCURRENT Uo U MINIMAL UBAT UBAT MAXIMAL BATTERY MIN MAX BATTERY VOLTAGE ZONE ZONE VOLTAGE Figure 2 6 Battery discharge and overcharge protection The zone of reduction can be adjusted and applies on motor current The actual battery voltage zone when reduction is started at continuous current can be recalculated as MAXIMAL STATOR CURRENT UBAT MIN ZONE U uz m max Similar the UBAT MIN ZONE Parameter in SACTERM is VER 2015 07 08 Page 26 49 SAC User s Manual Piktronik d o o I UBAT MIN ZONE MAXIMAL STATOR CURRENT U where Uminzi is required voltage range where the current limitation is effective Simplified for typical maximal stator currents UBAT MIN ZONE K sa Table 2 11 Absolute current computation values Note that these values are not maximum controller ratings Controller type 4 MAXIMAL STATOR 1 212 60 75 90 3 53 2 83 1 67 4 424 205 2 07 40 424 240 1 77 41 566 240 2 36 50 566 240 2 36 60 566 330 1 71 Approximately the same is true for the over voltage protection When the motor is running in the generative mode and the voltage gets close to maximum voltage limit the
8. 0 2 9 Copyright 2008 2014 Piktronik d o o SAC1 fw 1 38 1 39 1 SAC4 fw 1 36 1 39 1 SAC40 fw 1 37 1 39 SAC41 fw 1 41 fw 1 41 SAC60 fw 1 39 The information about the program version is displayed In the PIN section at the bottom the user PIN entry is available to enable additional functionality of the program The Load license button serves to load the license file containing PIN codes The license file is copied to the program path After pressing OK L sat EN button the new PIN is accepted and access is granted to program options depending on the level The level and username is shown in status bar at the bottom PIN PIN Leadlicense 9 When the PIN code is not available one can get access by clicking on Piktronik button Then call the company and they will give you one time access in case you forgot your PIN code or you having trouble getting the licence Fig 4 About box with PIN entry 1 3 1 Diagnostics page Diagnostics page provides with controller information such as serial number software version number of starts and total running time The information is transferred from the controller when the device becomes Online Below are two separated columns representing error counters On the left side the total count of each error that occurred is shown On the right side is a history list of recent errors that occurred Each line consists of er
9. 27 58 Par 1 09 200 00 Par 1 09 200 00 User amp Evgen 09 27 58 User amp Evgen 09 11 35 Par Locked to Mureny User Mario1 09 11 35 Par Unlocked User Mario1 09 11 35 Parl ocked ta Marin1 USB 5 4141 L100 MAXIMAL STATOR CURRENT 205 00 Fig 6 Parameter changes history After changing the parameters the user who changed the parameters at given operating time is stored along with each parameter value what is changed In parameter page the changed parameter is shown in yellow By hoovering the mouse cursor on the parameter VER 2015 07 08 Page 10 49 SAC User s Manual Piktronik d o o the history of changes is shown The history one could copy to clipboard by context menu right mouse click and selection copy all Parameters page The parameters page shows the list of the parameters separated in groups Each parameter is described with its Number and Name followed by its Value Unit and finally with Description The parameter value can be changed between the minimum and maximum value The values of the parameters are transferred from the controller when the device becomes Online If another set of parameters is already loaded the message box appears allowing reading the parameters from controller and replacing the data shown in SACTERM by selecting Read When Write is selected the parameter values in SACTERM are transferred to the cont
10. FREQUENCY Note Default value for SAC is around 1 1 5 s where T 2 14 4 Period for variables that are to be send periodically from controller With operating modes 4 and 5 parameter CAN SEND PERIOD determines period at which messages are to be sent In version V 1 39 the parameter is set in milliseconds When the firmware version is below V1 39 period in seconds is calculated as Period PERIOD FOR AUTOMATIC DATA SENDING T 2 SWITCHING FREQUENCY where T Note The default value is set to 250 ms The values under 150 ms can produce undesirable packet overflow on the GD display VER 2015 07 08 Page 32 49 SAC User s Manual Piktronik d o o 2 14 5 BaselD setting Valid BaselDs are only those with lower 4 bits zero BaselD has to be entered in two parts lower 16 bits CAN BASE ID LO PART and upper 13 bits CAN BASE ID HI PART Both parts have to be entered as decimal numbers not hex For example 0x400 is entered as 1024 If BaselD is greater than the greatest possible ID for the selected mode the upper bits will be ignored for example if 10 0 4312 0 is entered for standard ID the 0x431000 will be ignored and the controller will use the ID 0x2a0 From firmware version 1 38 onwards there are separated parameters for receiving and sending addresses In such a way there exists a possibility to control more than one controller with single unit Default value CAN ID READ LOW is set to 100 Default v
11. LOCKED Evgen wo jJ Cancel Fig 8 Parameter locking By clicking on LOCK the parameters are locked to the ID which is in the same user group After performing change the controller must be restarted VER 2015 07 08 Page 12 49 SAC User s Manual Piktronik d o o 1 4 Accessing the features User interface enables access to specific options parameters and data depending on the entered user PIN number which can be found in Help About menu or accessed with shortcut F2 Current access level is shown on status bar LO After entering the correct pin the user name and level is shown on status bar SACTERM SAC4 1 39 Edit Settings Tools Help About SACTERM Main Diagnostics SACTERM Version 1 0 0 2 Copyright 2008 Piktronik d o o GUI for SAC inverters PIN code entry Load licence Access level INVERTER OFF Comm Port LusBcoM4 sac41 39 o L0 Fig 9 SACTERM About window 1 5 Communication port settings Serial port can be selected via menu Settings Some newer notebooks are not equipped with a COM port anymore In this case it is possible to use the external COM port connected to the USB interface The operation in both cases is identical Baud rate and other communication parameters are set automatically Selected COM port COM1 COM2 etc and communication status Online Offline are always visible in the status line on the bottom of
12. be embedded into the motor The VER 2015 07 08 Page 27 49 SAC User s Manual Piktronik d o o temperature sensor can either be connected to the controller via analog input provided for the temperature measurement SAC4 only or to the external device which is sending motor temperature signal via can bus The input source must be set with the parameter MOTOR TEMPERATURE SOURCE and sensor type with the parameter MOTOR TEMPERATURE SELECTOR Adaptation of the motor resistance MOTOR TEMPERATURE SELECTOR 3 is available in firmware version V1 39 and when motor temperature sensor is connected It improves sensorless operation in wide motor temperature range If you don t use any motor temperature sensor you must set both parameters MOTOR TEMPERATURE SOURCE and MOTOR TEMPERATURE SELECTOR to zero otherwise the motor won t start In that case there is no thermal protection of the motor 1 MAXIMAL TEMPERATURE MOTOR ZONE TEMPERATURE Figure 2 7 The thermal motor protection It is recommended to use the temperature sensor KTY84 130 although similar sensors could be used with proper parameter setting which includes the following parameters QUANT MIN QUANT MAX QUANT OFFSET PARAMETER A PARAMETER PARAMETER and PARAMETER D To obtain values for those parameters contact controller manufacturer The maximal motor temperature must be set with the MOTOR TEMPERATURE ZONE par
13. current 1 10 CURRENT OV 230 00 Maximal overload current 2 MINIMAL 45 00 The controller won t allow to operate the motor bellow the battery voltage gi UBAT MIN ZONE MIN MAXIMAL BATT otor above the battery voltage 9 UBAT MAX ZO Loaded parameters are not matching to controller MAXIMAL POW parameters CRC Would you like to read parameters m the DC source battery controller write parameters to controler ry Recommended at parameter CRC error or work offline MOTOR TEMP MOTOR TEMP Read J 3 Ris adaptation Name i Description MINIMAL BATTERY The controller won t allow to operate the motor bellow the battery voltage given with VOLTAGE this parameter usBcoM4 5 41 39 Guest 11 Data loaded Fig 7 Parameter page displays the list of parameters along with their settings Parameter protection With firmware V1 41 and revision 187 there is a possibility to lock the parameters to user group The user with level under 25 can only change unlocked parameters or parameters locked to his user ID The user with level up to 90 can unlock the controller parameters lock or lock the parameters to his ID On the left side is shown currently lock state with user ID and name If the parameters are not locked ID is 0 and message is UNLOCKED a Unlock Current ID 55 01 New_lock_ID 255 02 User Ewald New_User
14. field weakening region With greater value of this parameter it is possible to reach bigger torque at high speeds but with lower efficiency Lower values result in lower maximal torque at higher speeds but the drive has a better efficiency To disable field weakening set the value to 7 9 4 02 MINIMAL ISD This parameter is active only with the induction motor It CURRENT determines the minimal magnetizing current The value of this parameter is a compromise between the losses at standstill and the ability to detect the motor rotation unit A 4 03 ISD CURRENT AT This parameter is active only with the permanent magnet LOW SPEED synchronous motor The ISD current at low speeds improves the starting torque but on the other hand it causes some additional losses in the motor unit A 4 04 LSM CURRENT Proportional gain of the PI current regulator Calculated CONTROLLER GAIN from auto tuning procedure To reduce high frequency noise at no load set this value lower 4 05 LSM CURRENT Integral gain of the PI current regulator Calculated from CONTROLLER auto tuning procedure 4 06 HSM D AXIS CURENT Proportional gain of the the D axis PI current regulator for CONTROLLER GAIN high speed and induction motor 4 07 HSM D AXIS CURENT Integral gain of the D axis PI current regulator for high CONTROLLER Speed and induction motor 4 08 HSM Q AXIS CURENT Proportional gain of the the axis PI current regulator for CONTROLLER GAIN high speed and induction mot
15. physical variable A scaling factor parameter scaling offset parameter Reciprocal to obtain scaled value from physical the following equation should be used x k x B Scaling factors for following variables are Variable k B name VER 2015 07 08 Page 31 49 SAC User s Manual Piktronik d o o rom 3 27701 32767 T Nm 32 7761 32767 u V 100 amplitude O A 77 234987 peak 32767 54 61496 rms Besides previously mentioned variables with configurable scaling the temperature scaling is predetermined and defined with the equation Temperature C 55 In general the maximal 16 bit valid CAN variable value is always 65534 Value 65535 is reserved for non valid data For 8 bit data like a temperature the value 255 is reserved for non valid data CAN scaling as described is valid for both received variables from the motor controller and sent variables to the motor controller 2 14 3 Time out Time out parameter CAN TIMEOUT determines time in which the next command value valid message with BaselD 1 has to be received If time after the last received command is greater than time out time the motor controller enters disabled state Time out in is set in miliseconds When the firmware version is below V1 39 the timeout in seconds can be calculated approximately with the following equation Timeout TIMEOUT 2 T 2 SWITCHING
16. pwatik eei aai os deer opc bb aoa t aoo e a d e ea 34 2 14 0 GAN Operation do eee ek etii enne ta Spei aded auth cients 34 2 14 9 Generator uices cte rer Ch 35 Maximum power Tracklpg eure Ce pea irre AOU pk oi pei oupa epe peng 35 2 15 Motor Controller Parameters ei kika kn ol ke ok kit ke kana e a e ay ke kre ik a EE MS 36 SO ENON RM tah dat tt tk kt ECCE 44 AMI EE 48 5 tace ben die oko et ks Be A 49 D Connection CIAQI altis dan ko do rebel 50 VER 2015 07 08 Page 3 49 SAC User s Manual Piktronik d o o 1 SACTERM PC user interface 1 1 Introduction SACTERM is aimed for the communication with the motor controller SAC This software tool can be used for the following tasks e drive operation monitoring e parameter management editing uploading downloading saving and loading e controller history investigation SACTERM is a MS Windows program which runs under Windows 98 Windows 2000 Windows XP and Vista and requires NET 2 0 framework to operate For the hardware connection between the motor controller and the PC computer see the connection diagram for the motor controller SAC in the chapter 6 1 2 Establishing connection Before starting the program please check if the communication cable is connected to the controller and the serial interface is correctly inst
17. torque becomes limited in order to keep the voltage under the maximum voltage limit Additionally to the under voltage and over voltage limits there exist under voltage and over voltage trips as well These two trips turn the motor controller off when the supply voltage is either to low or to high for the safe operation of the motor controller The dynamic of the current limitation can be set with UBAT LIMIT FILTER used to prevent system oscillations due to battery voltage drop Higher cutoff frequency enables faster reaction necessary to prevent voltage trip but can cause system oscillations 2 9 Thermal protection of the controller Thermal protection protects the motor controller from overheating It is functioning in such a way that it is linearly decreasing the maximal current limit with the temperature rise The lowest operating temperature of the controller can be set with the parameter MINIMAL OPERATING TEMPERATURE and the highest operating temperature with the parameter MAXIMAL OPERATING TEMPERATURE The current reduction zone can be set with CONTROLLER TEMPERATURE ZONE see 2 10Thermal protection of the motor The thermal protection of the controller depends on the type of the controller and it is set by manufacturer Invalid setting can cause controller failure 2 10 Thermal protection of the motor SAC motor controllers SAC1 SAC4 and SACAO can provide motor thermal protection The sensor for the winding temperature sensing should
18. variables are presented in the Me Edt Settings Toos table form where in the first V MES column 16 variable number Lan Parameters Diagnostics followed by its name current umbe Name i scription an XU Sra value unit and finally short 1 02 Ubat Battery voltage description The data is refreshed 1 03 Tctrl Controller temperature PR fortasse automatically periodically when the 1 04 Us Motor voltage controller is powered 1 05 Is j Motor current 1 06 wd Speed command On the bottom of the Main page is 1 07 w Estimated speed status line which reports the 3 01 Md ji Torque command 3 02 Psi Flux controller current activity 3 06 Po Electrical power INVERTER ON INVERTER 4 00 Pot Potenciometer a0 OFF In case of controller faults they are shown in the red color uc ERR Please see the error codes section use Sac 41 39 o Guesti L1 for possible errors Fig 2 SACTERM user interface Main page Warnings In the status line also warnings are shown they occur when one of the operation points is out of the optimal range There are Battery voltage too low Battery voltage too high motor temperature too high controller temperature too high current overload overspeed power too high battery current to high VER 2015 07 08 Page 5 49 SAC User s Manual Piktronik d o o Toolbar schortcuts Table 1 1 SACTERM Toolbar Icon Descriptions I
19. 023 Byte 5 Byte 6 2 14 7 CAN operation setup Before using the CAN mode make sure the following parameters are set properly e CAN baud rate CAN BAUDRATE PRESCALER e BaselD upper 13 bits CAN BASE ID HI PART and the lower 16 bits CAN BASE ID LO PART e CAN TIMEOUT values from 0 to 32000 zero means no time out PERIOD FOR AUTOMATIC DATA SENDING e scaling constants 2 14 8 CAN Operation The operation can be shortly described with these steps 1 In order to enable the motor controller you have to send message with BaselD and VER 2015 07 08 Page 34 49 SAC User s Manual Piktronik d o o with the value 0x01 2 Cyclically send the message with BaselD 1 with the command value and mode selector example 0x8000 0x00 3 To stop the operation you can either stop sending message with BaselD 1 after the time out the controller will became disabled or send the message with the BaselD and data 0x00 to disable the controller immediately In this case the motor will stop spinning without the motor breaking and without the energy flow back to the battery If you want to stop the motor faster then you should set the motor speed command firstly to zero the motor will operate as an generator and send the energy back to the battery till the motor stops and then disable the motor controller 2 14 9 Generator principle The generator principle allows to recharge batte
20. AXIMAL POSITIVE TORQUE for torque mode linearly with the potentiometer position in positive direction and from zero to the minimal value MINIMAL REVERSE SPEED for speed mode or MAXIMAL NEGATIVE TORQUE for torque mode This is shown in figure 2 3 Forward reverse operation is selected with the direction input INP1 see the section 2 5 Parameters needed for this mode are shown in the table 2 6 MIN MAX POTENTIOMETER POTENTIOMETER S Max positive POSITION POSITION 1023 z speed torque ri position 8 8 9 5 o o g g 2 g 2 3 a gt a 0 MIN 1023 Pot position V speed torque POTENTIOMETER POTENTIOMETER POSITION POSITION Figure 2 3 Unipolar potentiometer mode 2 3 2 Bipolar mode With bipolar potentiometer mode the command value speed or torque can be changed from the maximal negative value MINIMAL REVERSE SPEED for speed mode or MAXIMAL NEGATIVE TORQUE for torque mode to the maximal positive value MAXIMAL FORWARD SPEED for speed mode or MAXIMAL POSITIVE TORQUE for torque mode Somewhere in the middle there is a zero output zone The zone position can be programmed with the parameter NEUTRAL POTENTIOMETER POSITION and the zone width with the parameter POTENTIOMETER DEAD ZONE Maximal speeds for positive and negative direction have to be set separately The static potentiometer characteristics for bipolar mode is shown in the figure 2 4 All parameters needed for thi
21. GE Scaling constant for the voltage SCALING A 8 11 CAN VOLTAGE Scaling constant for the voltage SCALING B 8 12 CAN CURRENT Scaling constant for the current SCALING A 8 13 CAN CURRENT Scaling constant for the current SCALING B 8 14 PERIOD FOR determines the period for automatic data sending AUTOMATIC DATA OPERATING MODE 4 5 unit ms fw V1 39 SENDING RELAY OUTPUTS Valid only for SAC4 60 SAC40 SAC41 and SAC60 9 01 CONTROLLER Relay on temperature for controller cooling COOLING TEMPERATURE 9 02 MOTOR COOLING TERelay on temperature for motor cooling MPERATURE 903 RELAY1 CONTROL Operating mode for RELAY1 O RELAY OFF 1 RELAY ON 2 controller cooling 3 motor cooling 4 controller motor cooling 5 DC link relay output 5 4 60 value 16 relay will be turned on with the RELAY2 additionally 9 04 RELAY2 CONTROL Operating mode for RELAY2 O RELAY OFF 1 RELAY ON 2 controller cooling 3 motor cooling 4 controller motor cooling 5 DC link relay output SAC4 60 value 16 relay will be turned on with the RELAY1 additionally VER 2015 07 08 Page 42 49 SAC User s Manual Piktronik d o o 3 Errors Errors are reported in two ways e with LED blinking with the error message inside of the user interface 2 Atevery startup the led diode blinks shortly This is for the test purpose and doesn t represent any error 3 PC computer has to be connected in order to see these messages VER 2015 07 08 Page 43 49 SAC U
22. ITCH TO HSM parameter even more If this parameter is to big you will notice a sudden temporary or permanent lack of the torque at the motor speed near the transition speed during the acceleration If this parameter is too small the consequence could be instable operation i e over current error The other parameter HYSTERESIS FOR SWITCH TO HSM introduces hysteresis in order to minimize the excessive switching between the two modes Suggested value for this parameter is 100 RPM Note For proper operation also the current controller parameters in HSM need to be setup Set the HSM current controller D and Q axis parameters to the same values as LSM controller parameters 2 1 4 3 MAX RATIO ISQ ISD This parameter determines the torque limit and efficiency in the field weakening region Default value 2 5 For more information see 2 15 2 1 4 4 MINIMAL ISD CURRENT This parameter determines the minimal magnetizing current In implemented motor control the magnetizing current changes according to the torque command in order to minimize the motor losses However even at the zero torque command there should be the magnetizing current present in the motor in order for the control algorithm to detect the motor rotation caused by external torque This parameter determines the minimal magnetizing current during the operation Default value for this parameter is 5 95 of the nominal current 2 1 4 5 ISD CURRENT AT LOWSPEED V1 40 One can set the
23. P FREQ FOR TAO INCREASE For the frequencies greater than this parameter the flux estimator time constant remains at the value given with the parameter FLUX ESTIMATOR TIME CONSTANT FOR HIGH SPEED CONTROLLER 7 05 FLUX ESTIMATOR Proportional gain of the Pi regulator for the flux observer CONTROLLER GAIN This parameter is used only for PMSM control 7 06 FLUX ESTIMATOR Integral gain of the Pi regulator for the flux observer This parameter is used only for PMSM control CAN BUS 8 01 CAN BAUD RATE CAN Baud rate selection parameter for the CAN interface BAUD PRESCALER 8 02 CAN BASE ID HI Base identifier ID settings higher bits PART 8 03 CAN BASEID LOW Base identifier ID settings lower bits PART 8 04 CAN ID WRITE LOW Base identifier ID setting for writing lower bits 8 05 CAN TIMEOUT This parameter represents the maximal distance between the two received command messages If the time between VER 2015 07 08 Page 41 49 SAC User s Manual Piktronik d o o No PARAMETER DESCRIPTION the messages is greater then the inverter will turn off unit ms fw V1 39 8 06 CAN SPEED SCALING Scaling constant for the motor speed A 8 07 CAN SPEED SCALING Scaling constant for the motor speed B 8 08 CAN TORQUE Scaling constant for the torque SCALING A 8 09 CAN TORQUE Scaling constant for the torque SCALING B 8 10 CAN VOLTA
24. R RESOLUTION Common steps In order to start the mechanical sensor auto tuning procedure one has to set the parameter OPERATING MODE to the value which equals the desired operating mode plus 220 Example The desired mode is operating using CAN OPERATING MODE 4 1 Connect PC computer to the motor controller and start PC user interface SACTERM 2 Set parameter OPERATING MODE 224 where 224 4 220 4 desired operating mode after auto tuning is speed control mode with potentiometer 220 mechanical sensor tuning 3 Turn off the motor controller 4 Turn on the motor controller At this point the controller start turning the motor slowly then stopped and started to turn in opposite direction On the display will be shown an error CAN BUS TIMEOUT This will last for several seconds When the procedure is finished the LED will blink for ten times cyclically with a pause when the LED is available in the system and the main switch will turn off 5 Turn the motor controller off and then turn it on again The motor controller should be in the desired operating mode now in this case CAN operating mode VER 2015 07 08 Page 16 49 SAC User s Manual Piktronik d o o The mechanical sensor tuning procedure will set the parameter 4 17 PAR K2 ROT If the auto tuning procedure is not successful the error message will be shown in the SACTERM AUTO TUNING ERROR That may occur when the mechanical sensor is not operating correctly is not
25. a e er coe ar dem anlo e be oke n en pa AM 7 Additional ON NR DR UPPER b 7 Read data GTRESR abo i ipe e n Re loan on Er 8 Write data LRESWL sous ka n a aka fec ER acute 8 Read entire block 5 nennen 8 SMUG Si sere H 8 PIS Ie dete nato nsa tote tuo ee k a foo levee tito edo wanted cea auster acia ci Rd 9 ss a ia ki e e e n e e a a kn pp UE 9 About A l A 3 a Gh des iaa otc n e co n pre pe fa 9 1 3 1 Diagnostics a oe ee PS 9 Read parameter log CTRL L rrirrritrrrrttttrtttttttttttttttostooonnoosnnonnnnnonononnoonnnn 10 w l i i rgo mM 11 Parameter protecllOTius ouest caido ta kl edes oli e tq Dues iul a lalate gu 12 Tools Parameter LOCKING tie ee art anced tes 12 T4 ACCESSING ING features oie pe nee ad auc ue rta Eines i E ors eect 13 1 5 Communication port SOUS 2 kid ka kk ao l kk n kk ki eki pe d 13 Son kt TS 14 2 1 Motor control setup scena bout det a tat e kk hi ke pak ke e da a a n Rule c Cati a e ks a 14 2 1 1 Motor t pe selectioM seco d ah kaa ka ode de eta an 14 2 1 2 Motor parameters Setup Com recie ad m pa k e ra ki kt oak f lo eode lan 14 2 129 Wy ERER KA MAT A A MO Ye PAPIE e ME ee teen on MAR YON
26. actual value of the braking torque is depended on on the actual speed When the speed approaches zero the torque is reduced linearly down from double speed to zero at speed set in the parameter 1 06 COMMANDED SPEED The purpose of this reduction is to overcome problems due to oscillations in the measurement of the speed at zero speed The torque is set to braking when braking reference is set in both speed directions when the speed increases over the parameter 1 06 When CAN is used as reference input in the torque mode the potentiometer value is directly obtained from CAN as reference input 2 3 4 Potentiometer parameters There are four potentiometer parameters that define characteristic potentiometer positions which is measured in quants of A D converter range 0 1023 In speed or torque operating mode the meaning of these parameters in dependence of potentiometer mode is shown in the table 2 6 Table 2 6 Potentiometer parameters PARAMETER UNIPOLAR MODE BIPOLAR MODE EV MODE MIN potentiometer potentiometer potentiometer POTENTIOMETER position for zero position for maximal position for maximal VER 2015 07 08 Page 23 49 SAC User s Manual Piktronik d o o PARAMETER UNIPOLAR MODE BIPOLAR MODE EV MODE POSITION speed or torque negative speed breaking torque torque MAX potentiometer potentiometer potentiometer POTENTIOMETER position for maximal position for maximal posit
27. alled When SACTERM is started it checks for available communication ports shown under Settings menu By default the program checks if the device is present on any of the available communication ports Each check is shown with next to Online Offline status After switching on the power to the controller the status should change to Online showing on which communication port is the device recognized Please check the troubleshooting section when the status remains Offline after start Tip clicking Online Offline status controller can be logically disconnected connected 1 3 User interface layout description Title bar Menu bar File Edit Settings Tools Toolbar TRY selector Main Parameters Description Operating parameters 1 09 MAXIMAL 5 240 00 Maximal continuous motor current 1 10 CURRENT 270 00 Maximal overload current 1 12 MINIMAL BA 185 00 The controller won t allow to operate the motor bellow the batter 1 13 UBAT MIN Z 29 99 Voltage zone for current limiting at UBAT_MIN 114 MAXIMAL B 270 00 The controller won t allow to operate the motor above the batter 1 15 UBAT MAX 4 99 Voltage zone for current limiting at UBAT MAX 1 25 MAXIMAL 59995 This parameter limits the power drawn from the DC source batt Relay outputs 9 01 CONTROLL 351 Relay on temperature for controller cooling Parameter page 902 MOTOR CO 60 Relay on temperature f
28. alue CAN ID WRITE LOW is set to 102 2 14 6 CAN messages The structure of CAN messages is presented in table 2 16 Table 2 16 CAN message structure Byte 1 Byte2 Byte 3 Byte4 Byte5 Byte6 Byte7 Byte 8 BaselD Enable Disable INPUT BaselD 1 Command Command Mode selector Power limit Temperature Temperature INPUT HIGH LOW 0 no limit AD input AD input HIGH LOW BaselD 2 Motor speed Motor speed Battery voltage Battery Motor current Motor Satus Status OUTPUT HIGH LOW HIGH voltage LOW HIGH current HIGH LOW LOW ERROR CODE BaselD 3 Motor Controller Digital inputs Digital inputs Analog input Analog input Battery Battery OUTPUT temperature temperature potentiometer potentiometer HIGH LOW current current H L HIGH LOW Message descriptions e General Enable Disable 8 bit 0x00 General Disable Motor control disabled 0x01 General Enable Enables the motor controller under condition that there are no errors present 0x02xx Reverse rotation bit d9 in case of 16 bit from V1 41 rev 156 e Commanded value 16 bit should contain either the motor speed command or the motor torque command e Mode selector 8 bit selects either the speed mode or the torque mode 0x00 0x01 0x02 0x03 speed mode torque mode EV mode with CAN Generator principle mode torque VER 2015 07 08 Page 33 49
29. ameter and the zone where the motor current gradually decreases to zero is given with the MOTOR TEMPERATURE ZONE parameter 2 11 Constant speed operation This operating mode can be used in applications that require on off operation with the constant speed The desired speed has to be set with the parameter COMMANDED SPEED and the parameter OPERATING MODE has to be set to 6 After parameter upload to the controller the controller has to be turned off In order to operate the drive in this mode the controller has to be turned on and by tying the INP1 digital input to the ground GND the motor will accelerate according to the ACCELERATION SLOPE parameter setting to the desired speed given with parameter COMMANDED SPEED f one breaks the contact of INP1 with GND the drive will decelerate according to the DECELERATION VER 2015 07 08 Page 28 49 SAC User s Manual Piktronik d o o SLOPE If the application requires only simple on off operation at the given speed the INP1 digital input can be permanently connected to the GND and the drive can be started with START input In this case there will be no current consumption from the energy source when the drive operation is not required Important Constant speed operation only works with the parameter AUTO POWER OFF DELAY set to zero otherwise the inverter will not be enabled 2 12 Speed regulator The motor controller uses PI speed regulator which is active only in speed operating mod
30. ameter by value and store value back to MAGNETIZING INDUCTANCE parameter Then reset the motor controller and spin the motor again to verify if the imr and isd are not more than 10 apart now If both parameters do match then you can set the MINIMAL ISD CURRENT parameter back to the default value 2A and this procedure is successfully concluded VER 2015 07 08 Page 17 49 SAC User s Manual Piktronik d o o 2 1 4 2 High speed mode HSM and Low speed mode LSM The induction motor control operates with two algorithms One is active at low speeds Low Speed Mode LSM and the other is active with the high speeds High Speed Mode HSM Selection between the two modes occurs automatically with regard to the current motor speed and parameters SWITCH TO HSM and HYSTERESIS FOR SWITCH TO HSM The low speed mode is usually active between the zero speed and 75 of the nominal speed This is valid only when the nominal motor voltage approximately equals to the dc U supply voltage divided by 2 m and the maximal motor torque needed for specific application is not greater than the nominal torque For the rest of the speed range the high speed mode is used For a custom motor the SWITCH TO HSM parameter can be calculated as U battery SWITCH TO HSM 0 53 RPM U nominal If you intend to operate the motor with the torque greater than the nominal motor torque you may have to decrease the SW
31. ameters A and B For particular physical value the scaling is determined with the following parameters Table 2 15 CAN scaling PHYSICAL VALUE PARAMETER A PARAMETER B voltage CAN VOLTAGE SCALING VOLTAGE SCALING B current CAN CURRENT SCALING A CAN CURRENT SCALING B speed CAN SPEED SCALING A CAN SPEED SCALING B torque CAN TORQUE SCALINGA TORQUE SCALING B Parameters A and B can be calculated using MS Excel with the file scaling xls One needs only to enter minimal and maximal physical values and corresponding parameters are calculated automatically After calculating parameters A and B these parameters can be programmed to motor controller There is a restriction with CAN scaling an absolutely arbitrary scaling can not be chosen due to the fixed point nature of calculation For that reason e parameter A cannot be smaller than 1000 and greater than 32767 and e parameter B cannot be smaller than 32768 and greater than 32767 So if calculated parameters A or B are outside of these limits the desired scaling can not be implemented In this case the range of physical value has to be changed so that parameters A and B will be inside of the allowable boundaries Currently implemented variables sent from SAC controller are scaled using following equation NN B where x is physical variable is 16 bit integer scaled variable sent over CAN is scaling factor for that particular
32. an not accept enough energy during regenerating mode Check the parameter 1 16 UBAT LIMIT FILTER settings 1 14 MAXIMAL BATTERY VOLTAGE and 1 15 UBAT MAX ZONE UNDER VOLTAGE Voltage on the DC link is too low Battery can not deliver required energy Check the battery filter parameter settings 1 16 and parameters 1 12 MINIMAL BATTERY VOLTAGE and 1 13 UBAT MIN ZONE BATTERY VOLTAGE LOW AT START Measured battery voltage is too low Please ensure that battery is correctly connected to power terminal of the controller If error still persists contact service POTENTIOMETER ERROR DURING OPERATION The potentiometer wire might be broken or potentiometer damaged Also check the potentiometer parameter settings POTENTIOMETER NOT ZERO AT START At start the potentiometer must be set to neutral position Check the potentiometer parameter settings OVER TEMPERATURE Controller temperature during operation has become too high In water cooled system please check the cooling When the controller is air cooled the ambient temperature is too high for required output power UNDER TEMPERATURE Ambient or coolant is too cold TEMPERATURE SENSOR ERROR Controller temperature measurement error Send the controller to service CURRENT OFFSET ERROR Problem with controller supply or battery power When the supply is constant during switch on send the controller to service DC LINK CHARGING ERROR Check the battery power supply If error remain
33. ant speed operation Speed command has to be set with parameter Commanded speed see the section 2 11 100 106 Motor parameter auto tuning mode It is the same regardless on operation mode parameter The difference is that after the successfully finished auto tununing procedure OPERATION MODE parameter value automatically changes to Operating mode 100 see the section 2 1 3 220 226 Mechanical sensor auto tuning mode It is the same regardless operation mode parameter The difference is that after the successfully finished auto tununing procedure OPERATION MODE parameter value automatically changes to Operating mode 220 see the section 2 1 3 2 3 Potentiometer mode selection There are three possible settings for the potentiometer They can be selected with the parameter POTENTIOMETER MODE This is presented in the table 2 5 The unipolar and bipolar modes can be used either with the speed or torque operating mode while the EV mode is suitable only for the torque mode operation Table 2 5 Potentiometer modes POTENTIOMETER MODE Description 0 Unipolar mode see 2 3 1 1 Bipolar mode see 2 3 2 2 EV Electrical Vehicle mode see 2 3 3 VER 2015 07 08 Page 21 49 SAC User s Manual Piktronik d o o 2 3 1 Unipolar mode With unipolar potentiometer mode the command value speed or torque can be changed from zero to the maximal value MAXIMAL FORWARD SPEED for speed mode or M
34. ck if motor is blocked at start check the motor and control parameter settings or contact technical support MOTOR OVERSPEED Check if motor is rotating at start check the motor and control parameter setting or contact technical support COMMUNICATION SAC lt gt DISPLAY The device received no message in specified timeout or message was corrupt Check if the reference message is sent periodically within timeout limit For safety reason normally timeout should be twice as reference period If persists contact technical support The error available after V1 41 rev 203 OVER CURRENT HW SAC50 V1 42 Hardware detected too high current Could be issue in wiring motor or parameters OVER VOLTAGE HW SAC50 V1 42 The voltage rose above the limits Battery disconnected during the operation EXCESSIVE MOTOR PHASE VOLTAGE SAC4 V1 42 The motor phase voltages to high issue with measurement CPU ERROR V1 41 Contact technical support VER 2015 07 08 Page 46 49 SAC User s Manual Piktronik d o o 4 Warnings Warnings are showing the reason why the system is limiting the control output the value is close to the limit Warning codes are binary encoded Table 4 1 Warning codes Warning Name 0 No warning Controller temperature high Motor temperature high Battery voltage low Battery voltage high Overspeed Overload Note Warnings are imp
35. con Description bd Loads the parameters from a file Ctrl O B Saves the parameters to a file Ctrl S la Read the parameters from the device Ctrl R a Write the parameters to a device Ctrl W Menu options description Menu is divided in following sections File Edit Settings Tools Manual and access level activation license Exchange data and control the SAC Communication channel selection Copy displayed data to clipboard Operation with data on PC Serves to load saved parameters from disk The option is available only in Parameters page When the controller is Online it is possible to write complete parameter set to the controller by selection Write button on popup dialog see Fig 7 Note To import parameter file with extension edf one needs to select the extension in Load dialog box After selection the correct controller type needs to be selected After loading the parameter file all values needs to be checked if import is successful We recommend that this operation would be performed by controller manufacturer It is used to save the parameters to disk The option is available in Parameters page and when the data is loaded from the file before or from the SAC VER 2015 07 08 Page 6 49 SAC User s Manual Piktronik d o o Exits the application The data displayed on the page is copied as text to clipboard and transferred to other a
36. e As described in the table 2 12 the speed regulator has two parameters Additionally the output of the speed regulator is limited by the torque limit The torque limit is given by parameters MAXIMAL POSITIVE TORQUE and MAXIMAL NEGATIVE TORQUE Table 2 12 PI speed regulator parameters Parameter Description SPEED REGULATOR GAIN Gain of the PI regulator SPEED REGULATOR KI This value is inverse proportional to the integrating constant 2 13 Speed limit In the torque operating mode the speed is limited in both directions Speed limits can be set by parameters MAXIMAL FORWARD SPEED and MAXIMAL REVERSE SPEED In speed operating mode both parameters are used for the speed range setting The speed limit is not valid when using CAN speed control Please see the setting for 4 18 TRQ CTRL SPD LIM SLOPE when using torque control 2 14 CAN mode There are 4 CAN operating modes CAN mode can be selected with the parameter OPERATING MODE Table 2 13 CAN bus operating modes OPERATING DESCRIPTION MODE 2 standard ID controller data are sent only on remote request 9 extended ID controller data are sent only on remote request 4 standard ID controller data are sent periodically 5 extended ID controller data are sent periodically VER 2015 07 08 Page 29 49 SAC User s Manual Piktronik d o o 2 14 1 Baud rate setting Baud rate selection parameter can be accessed in user interface under
37. e is speed control mode with potentiometer OPERATING VER 2015 07 08 Page 15 49 SAC User s Manual Piktronik d o o MODE 0 1 Connect PC computer to the motor controller and start PC user interface SACTERM 2 Set parameter OPERATING MODE 100 where 100 0 100 0 desired operating mode after auto tuning is speed control mode with potentiometer 100 autotuning 3 Turn off the motor controller 4 Turn on the motor controller At this point the controller will measure parameters This will last for several seconds Usually you can hear some noise from the motor during this operation When the procedure is finished the LED will blink for ten times cyclically with a pause when the LED is available in the system 5 Turn the motor controller off and then turn it on again The motor controller should be in the desired operating mode now in this case speed operating mode with potentiometer 6 Go to section 2 1 4 and follow further instructions Mechanical sensor auto tuning Before starting mechanical sensor auto tuning procedure the motor auto tuning procedure or motor tuning must be successful Parameter must be set to 1 02 MOTOR TYPE 2 HALL Sensor auto tuning procedure Hall sensors must be connected to the controller and the parameter must be set 4 40 RESOLVER RESOLUTION 0 SAC41 fw 1 41 Resolver auto tuning procedure Resolver must be connected to the controller and the parameter must be be set properly 4 40 RESOLVE
38. everse speed and with the operating mode 1 potentiometer torque mode this parameter defines the reverse speed limit unit RPM 1 22 MAXIMAL NEGATIVE With operating mode this parameter defines the negative TORQUE torque limit of the speed regulator and with the operating mode 1 this parameter determines the maximal negative torque Unit Nm 1 23 MAXIMAL POSITIVE With operating mode 0 this parameter defines the positive TORQUE torque limit of the speed regulator and with the operating mode 1 this parameter determines the maximal positive torque Unit Nm 1 24 BREAKING TORQUE Breaking torque This parameter is only active for EV potentiometer mode when using a special breaking digital input When using generator principle refer to Generator principle the parameter represents MPPT gain To disable MPPT set this parameter to zero 1 25 MAXIMAL POWER This parameter limits the maximal power that can be drawn from the battery unit W 1 26 MAXIMAL START Maximal allowed speed at start valid for PMSM and SAC4 SPEED 60 V1 39 MOTOR DATA 2 01 STATOR RESISTANCE Stator resistance per phase motor cable resistance internal inverter resistance unit 2 02 ROTOR RESISTANCE Rotor resistance of induction motor unit 2 03 STATOR Stator inductance per phase of PMSM unit mH INDUCTANCE 2 04 MAGNETIZING Magnetizing inductance of induction motor unit mH INDUCTANCE 2 05 STATOR LEAKAGE Stator leakage inductance of induction moto
39. ge 40 49 SAC User s Manual Piktronik d o o TAO INCREASE No PARAMETER DESCRIPTION POSITION position at which the command value is zero unit AD quants 6 04 POTENTIOMETER This parameter is valid only with the bipolar potentiometer DEAD ZONE mode It defines the dead zone around the neutral potentiometer position In this dead zone the command value remains zero unit AD quants 6 05 POTENTIOMETER Parameter determines the potentiometer mode MODE 0 unipolar mode 1 bipolar mode 2 EV electric vehicle mode 6 06 ACCELERATION Determines the accelerating limiting slope for the command SLOPE value 0 slope limiter disabled 1 30000 slope limiter enabled 1 the most gentle slope 30000 the steepest slope 607 DECELERATION Determines the decelerating limiting slope for the SLOPE command value 0 slope limiter disabled 1 30000 slope limiter enabled 1 the most gentle slope 30000 the steepest slope FLUX ESTIMATOR 7 01 FLUX ESTIMATOR Estimator time constant for frequencies lower than the TIME CONSTANT FOR frequency given with the parameter STARTING FREQ LOW SPEED FOR TAO INCREASE 7 02 FLUX ESTIMATOR Estimator time constant for frequencies greater than the TIME CONSTANT FOR the frequency given with the parameter STOP FREQ HIGH SPEED FOR TAO INCREASE 7 03 STARTING FREQ FORFor the frequencies greater than this parameter the time constant of the flux estimator starts increasing 7 04 STO
40. ion for maximal POSITION speed or torque positive speed or accelerating torque torque NEUTRAL not used center position for potentiometer POTENTIOMETER zero speed or position for zero POSITION torque torque POTENTIOMETER used dead zone for zero used DEAD ZONE speed or torque position EV mode potentiometer setting The potentiometer parameters should be set as EV mode together with display GD2 set for EV mode Table 2 7 Potentiometer parameters for EV with GD2 set for EV No PARAMETER EV MODE SETTING 6 01 POTENTIOMETER POSITION 0 602 POTENTIOMETER POSITION 1023 603 NEUTRAL POTENTIOMETER POSITION 512 604 POTENTIOMETER DEAD ZONE 1 605 POTENTIOMETER MODE 2 2 4 Slope limiter In addition potentiometer input can be slope limited Parameter ACCELERATION determines acceleration slope and parameter DECELERATION determines deceleration slope If parameters ACCELERATION or DECELERATION are zero then no slope limiting is active With parameter value 1 the strongest slope limiting is active and with rising parameter value the slope limiting is getting linearly weaker for both parameters SLOPE RPM 454 T s For speed control the slope can be calculated as T is acceleration time and RPM is entered maximum speed The integer result is limited between 1 0 289 rpm s and 32767 eg 9487 rpm s When firmware version is below 1 39 the slope limi
41. ith the other motor Lets assume you have measured the effective back EMF voltage e The MAGNETIZING FLUX parameter can the be determined as MAGNETIZING FLUX 1096 p RPM m p RPM pole pairs and RPM is motor speed revolutions per minute 7 8 where p is the number of 2 1 5 2 Field weakening With the field weakening it is possible to extend the operating speed of the PMSM with injection of the negative d axis current Some motors are more and some less suitable for field weakening The field weakening operation can be influenced by a single parameter called MAX RATIO ISQ ISD Table 2 3 PMSM field weakening setting MAX RATIO ISQ ISD Description less than 1 not valid between 1 0 and 7 0 ratio between 7 001 and 8 0 field weakening turned off With some motors it would be practically possible to reach speeds that are multiple base speeds With such high speeds it exists a great danger that in the case when the controller would be for some reason shut down the induced voltage would rise so high that it could destroy the inverter For that reason at the initialization phase the maximal speed parameters MAXIMAL FORWARD SPEED and MAXIMAL REVERSE SPEED are always checked if they are inside of the safe area If this is not true the maximal speed is internally set to a lower value at which the motor can be safely operated 2 2 Operating modes The motor controller SAC is offering different operating mode
42. lemented from firmware version 1 41 revision 56 VER 2015 07 08 Page 47 49 SAC User s Manual Piktronik d o o 5 Technical specifications See data for individual controllers VER 2015 07 08 Page 48 49 SAC User s Manual Piktronik d o o 6 Connection diagram See connection diagrams for individual controllers VER 2015 07 08 Page 49 49
43. lly activated with a nonzero commanded value from the potentiometer Table 2 9 Auto enable AUTO ENABLE DESCRIPTION 0 Inverter is disabled 1 Inverter is enabled at start 3 Inverter is enabled at start pulses switched off when the command is zero Available at V1 39 2 7 Switching frequency The switching frequency depends on the motor type selection and the parameter SWITCHING FREQUENCY With this parameter you can select either the normal or VER 2015 07 08 Page 25 49 SAC User s Manual Piktronik d o o double switching frequency Table 2 10 Switching frequency setting SWITCHING MOTOR TYPE FREQUENCY kHz FREQUENCY 1 SAC40 SAC41 SAC60 SACA 0 0 IM 55 7 0 1 PMSM 6 7 1 0 IM 11 1 14 1 1 PMSM 13 3 Effects of the double switching frequency are following e motor current ripple reduction e motor losses reduction e decreased noise level e increased inverter losses Note Double frequency is disabled for SAC40 and SAC60 2 8 Under voltage and Over voltage protection Under voltage protection protects the battery from too deep discharging When the battery voltage drops into the region of under voltage limit the motor current is limited to such a value that the voltage doesn t drop under the under voltage limit This allows the motor drive still to operate but the maximal torque power will be reduced As the battery gets
44. minimal magnetizing current at low speed Lower value enables better VER 2015 07 08 Page 18 49 SAC User s Manual Piktronik d o o sensor less operation but on other hand results in lower dynamic of the system Normally this value is the same as MINIMAL ISD CURRENT 2 1 4 6 FLUX ESTIMATOR TIME CONSTANT FOR LOW SPEED Basically all today s sensor less controllers have certain control problems at very low speeds and the SAC is not an exception However with good tuning the SAC can provide good starting torque as required for electric vehicles The basic condition is that the motor parameters are correctly tuned to the motor Additionally there are some control parameters that influence the low speed performance Such crucial parameter is FLUX ESTIMATOR TIME CONSTANT FOR LOW SPEED Its role is to determine the slip frequency at zero speed If the slip frequency was set to the optimal value the motor will develop the maximal possible torque per ampere The default value for this parameter is 120 The best method to tune this parameter is to measure the motor torque directly or indirectly and change the parameter in steps of 10 in order to find the maximal torque Normally the default value should not be far from the optimal value of this parameter 2 1 5 Settings for the permanent magnet synchronous motor e Va w Figure 2 2 Equivalent circuit for PMSM With the permanent magnet synchronous motor the flux and field weakening conditi
45. nce is in the motor control and consequently there are some parameters used only with the IM in parameter editor they are marked with IM and some parameters are used only with the PMSM marked with the SM Control for both motors also operate with different switching frequencies see the section 2 7 2 1 2 Motor parameters set up The motor controller needs certain motor parameters in order to be able to control the motor The table 2 2 shows which motor parameters are needed for the control of the IM and which parameters are needed for the control of the PMSM The most recommended way to obtain motor parameters is the auto tuning procedure which is described in 2 1 3 There are more reasons why to use the auto tuning Motor parameters are usually not written on the motor plate Furthermore the stator resistance parameter value for example depends not only on the motor resistance but is a sum of the stator resistance of the motor cable resistance and the controller internal resistance For that reason two identical motor drive systems SAC motor where everything is the same except the cable lengths different cable resistance would need different stator resistance VER 2015 07 08 Page 14 49 SAC User s Manual Piktronik d o o Table 2 2 Motor parameters Parameter IM PMSM STATOR RESISTANCE R R ROTOR RESISTANCE R not used STATOR INDUCTANCE not used L MAGNETIZING INDUCTANCE La not u
46. ons have to be additionally set by the user It is necessary to check both settings in order to achieve the stable and efficient operation R L 2 1 5 1 Magnetizing flux Flux of the PMSM is determined the motor design and its value is essential for the proper drive operation Two ways of determining of the flux are presented here The first one is the easiest and the most preferred e Obtaining the magnetizing flux with SAC If the MAGNETIZING FLUX parameter value is too big the motor probably won t start running In this case you have to set the parameter to some small value 5 mWb for example After changing the parameter you have to turn off the controller and then turn in on again Now the motor should start Increase the motor speed to some value over 500 RPM Now read the value magnetizing flux from the main screen This value should be quite stable Remember or write down the value and set the motor parameter MAGNETIZING FLUX to the same value Turn the controller off and then on again Check again the value since magnetizing flux is limited relatively to the parameter value Iteratively the value should stabilize at the correct value e Determining the magnetizing flux from the back EMF In this case you need to know the back EMF of the motor You can measure it between the two motor winding terminals if you spin the motor with the known VER 2015 07 08 Page 19 49 SAC User s Manual Piktronik d o o constant speed w
47. or 4 09 HSM Q AXIS CURENT Integral gain of the Q axis PI current regulator for high CONTROLLER Speed and induction motor 4 10 TORQUE FILTER Time constant ratio Ts Tf Inverse value of the time constant for the torque filter V1 39 cutoff frequency in Hz 4 11 SPEED FILTER Time constant ratio Ts Tf Inverse value of the time constant for the speed filter showing the motor speed V1 39 cutoff frequency in Hz VER 2015 07 08 Page 39 49 SAC User s Manual Piktronik d o o No PARAMETER DESCRIPTION 4 12 ELECTRICAL POWER FILTER Time constant ratio Ts Tf Inverse value of the time constant for the electrical power filter V1 39 cutoff frequency in Hz 4 13 SWITCH TO HSM Switching point between the Low Speed Mode LSM and the High Speed Mode HSM for IM control In PMSM control with Hall sensors or resolver it is used to determine switching point between Hall and sensorless operation When using sensorless mode with PMSM this parameter determines the swithcing point between reference control and pure sensorless 4 14 HYSTERESIS FOR SWITCH TO HSM Hysteresis for the switching between LSM and HSM 4 15 D AXIS DUTY MAX Maximal duty cycle for d Axis Increasing the value can improve instability issues at maximal speed operation but reduces the achieved maximal speed SLOPE 416 PAR K1ROT Angle correction for current controller 417 PAR K2ROT Angle correction for Hall sensor Re
48. or motor cooling Status bar LUsBCOM4 Offline Guesti LI Fig 1 SACTERM user interface showing parameter page VER 2015 07 08 Page 4 49 SAC User s Manual Piktronik d o o Starting SACTERM exe opens the user interface with only the page Main available In this mode one can monitor the drive operation but there is no user interaction possible Changing the controller drive behavior is enabled when appropriate PIN code is entered See Accessing the features The main display is divided into Title bar on top followed by Menu bar and graphics Toolbar The main part of the user interface is divided into pages displaying controller status and settings Additional information and status bar is provided at the bottom Pages are divided into Main Displays controller voltages currents temperatures reference points Diagnostics History of errors occurred to the controller Parameters Controller parameter table user level 1 and more Menu structure on the top depends on the operation mode and currently displayed page The Toolbar enables quick access to most commonly used features such as reading writing parameters to disk The additional buttons are provided for reading and writing the parameters to the device The Main page Fig 9 gives access to the most important SAC variables such as voltages currents RPM temperature and potentiometer position EB SACTERM SAC4 1 39 asi The
49. pplication available for documentation and later inspection Comm Auto Detect The inverter connected on serial channel can be automatically detected when the setting is applied The setting can lead to slow connection when there are many available communication channels When there are more than one controllers connected on one PC it is recommended to disable this setting to avoid ambiguity Auto scan When the option is selected the available list of communication channels are continuously scanned when the controller is not detected That feature enables to detect new SAC USB interface without restarting SACTERM Double check parameters This option ensures that parameters and data are correctly transferred and stored It is recommended to enable this option when firmware is older than 1 39 Language setting Language can be set from menu Tools Options Currently supported is English Default A version in German language can be selected with choosing de DE After the selection is confirmed the application must be restarted for new settings to be applied Additional options Show all parameters checkbox When this option is checked all possible parameters are available in parameters page ready for inspection VER 2015 07 08 Page 7 49 SAC User s Manual Piktronik d o o Options General options Communication options Comm auto detect v Auto scan V Double check parameters Language Language Default
50. properly connected there was not correct parameter setting or there was mechanical obstacle preventing smooth mechanical shaft turning 2 1 4 Settings for the induction motor R L L Figure 2 1 Equivalent circuit for IM 2 1 4 1 Magnetizing inductance In a case of induction motor the magnetizing inductance is only roughly estimated within the auto tuning procedure It is recommended to carry out the following procedure after the auto tuning 1 Set the parameter MINIMAL ISD CURRENT to 50 of the motor nominal current For example if the nominal motor current was 40A set the MINIMAL ISD CURRENT to 20A Run the motor at approx 50 of the nominal speed with no load or at the constant load and read the values imr and isd on the main screen If the controller is properly tuned to the motor these two values should be approximately the same If the difference between the two parameters is less than 10 the magnetizing inductance is accurately set and you need to return the MINIMAL ISD CURRENT value back to the original value In this case the tuning procedure for magnetizing inductance is concluded otherwise follow the next step If the values imr and isd are more than 10 apart then it is advisable to correct the MAGNETIZING INDUCTANCE parameter If the isd is greater than imr then MAGETIZING INDUCTANCE is too big and in the opposite case the MAGETIZING INDUCTANCE is to small You need to multiply the MAGNETIZING INDUCTANCE par
51. r unit mH INDUCTANCE 2 06 ROTOR LEAKAGE Rotor leakage inductance of induction motor unit mH INDUCTANCE 2 07 MAGNETIZING FLUX Motor flux caused by permanent magnets in permanent magnet synchronous motor unit mWb 2 08 NUMBER OF POLE Number of pole pairs PAIRS MOTOR TEMPERATURE PROTECTION 3 01 MOTOR Source of measured value TEMPERATURE 0 AD input SOURCE 1 CAN BUS 3 02 MOTOR Sensor type TEMPERATURE 0 No sensor protection disabled SELECTOR 1 KTY characteristics defined with coefficients A D 3 KTY with Rs adaptation V1 39 3 03 QUANT MIN Maximal valid quant value VER 2015 07 08 Page 38 49 SAC User s Manual Piktronik d o o No PARAMETER DESCRIPTION 3 04 QUANT MAX Maximal valid quant value 3 06 PARAMETER A Approximation polynomial coefficient A 3 07 PARAMETER B Approximation polynomial coefficient B 3 08 PARAMETER C Approximation polynomial coefficient C 3 09 PARAMETER D Approximation polynomial coefficient D 3 10 MAXIMAL MOTOR Maximal allowed motor temperature which must not be TEMPERATURE exceeded 3 11 MOTOR Motor temperature zone for current limiting TEMPERATURE ZONE MOTOR CONTROL 4 01 MAX RATIO ISQ ISD This parameter is active only with induction motor It defines the maximal ratio between the torque producing current component and the magnetizing current component In this way it determines the torque limit in the
52. ries from mechanical power obtained from motor shaft The application is suited for boats with sailing capabilities Note The principle is only available with hardware SAC4 60 R1 with integrated phase voltage measurement and relay Rele1 and firmware version 1 40 onwards The operation is setup for CAN MODE operation only 1 03 OPERATING MODE 4 At start the voltage range is checked from measured controller branch voltages The start condition is limited with parameter in controller 1 26 MAX START SPEED The controller will only start when detected speed is lower Note For correct motor relay operation to switch motor to the controller in hardware SAC4 60 R1 9 03 RELAY1 CONTROL must set to mode 5 When using SAC4 60 R2W RELAY2 is used to switch the motor to the controller and 9 04 RELAY2 CONTROL must be set to mode 5 since RELAYI1 is intended to control controller cooling pump circuit In this mode controller over voltage prevention is active external 3 phase motor relay disconnects the controller from motor in case of over voltage or any of the controller errors Additionally maximum speed is limited in the display with parameter MAXIMAL SPEED Refer to display user manual for additional details Battery overcharging limitation is resolved in display software to reduce torque in generator mode and therefore charging current The limit is adjusted with additional parameter and controller power in display Maxim
53. roller and replace old When Offline is selected the program is disconnected from the controller allowing changing parameters already loaded in SACTERM which does not change any values on the controller When the value is not available the is displayed Also when the value is lower than minimal is shown with sign and when the value is higher than maximal sign is displayed When parameter is out of range when loaded it is represented with red background At load time the comparison with last loaded parameter set is performed The parameters which differ are marked with light blue background color When there are no previously loaded parameters all are marked with light blue background color All visible parameters can be changed when the controller is Online one at the time by clicking to the cell in Value column and entering new value Successful change of the value is displayed on the status bar The parameter changed is automatically changed in the controller Parameters can be changed also in the Offline mode but they are not changed in the controller until it is back Online again and Write is selected VER 2015 07 08 Page 11 49 SAC User s Manual Piktronik d o o Ef SACTERM SAC4 1 39 K PROJEKTINSACTERM Heycop_7kW_20080918 p4_139 f fox Main Diagnostics Parameters Number Value Unit Description Operating parameters 1 09 MAXIMAL STAT 178 39 A Maximal continuous motor
54. ror name how many times was triggered consequently at which operation time was triggered last and at which start number occurred last Note The displayed information is possible to copy to clipboard in text format by using menu File Edit Copy All or shortcut lt CTRL C gt VER 2015 07 08 Page 9 49 SAC User s Manual Piktronik d o o EE SACTERM SACA 1 39 File Edit Settings Tools 1218 Controller software 1 39 Number of starts 3 Running time 14 21 23 Error counters Over current At operation time At start Over valtage Potentiometer not zero at start Under voltage 00 00 00 Battery voltage low start 00 00 00 Potentiometer drivi 00 00 00 00 00 00 Over temperature 00 00 00 Under temperature 00 00 00 Temperature sensor 00 00 00 Current offset 00 00 00 DC link charging error 00 00 00 Relay Error 00 00 00 PDINT error 00 00 00 Bad user parameter 00 00 00 Bad system parameter CR 00 00 00 Use sac41 39 o Guest3 L3 Fig 5 Diagnostics page is displaying basic controller information along with the error history Controllers can now store the history of parameter changes with firmware version V1 41 revision 187 File Edit Settings Tools Help Main Diagnostics Parameter changes Parameters Variables Calibration Tester User amp Evgen 10 06 12 Par 1 09 205 00 User Ewald 09 33 26 Par Locked to Ewald User 0 00 09
55. s send the controller to service RELAY ERROR Check battery power supply If error remains send the controller to service PDPINTA SHORTCUT OR MOSET DRIVER ERROR Motor terminals shortcut voltages on the motor are too high If error persists send the controller to service BAD USER PARAMETER CRC Parameters stored to the controller are corrupted check if parameter version corresponds to controller version Load the parameters using SACTERM If error persists contact service BAD SYSTEM PARAMETER CRC System parameters corrupted send the controller to service BAD FLASH CRC Firmware corrupted send the controller to service WRONG PARAMETER VERSION Parameters stored to controller are not compatible with firmware send the controller to service VER 2015 07 08 Page 45 49 SAC User s Manual Piktronik d o o INVALID MOTOR TYPE Wrong selected motor type Check parameter 1 02 MOTOR TYPE AUTOTUNING ERROR Auto tuning not successful Ensure that battery voltage is constant during auto tuning that the motor is correctly connected to the controller and can turn freely without any external load If error persist contact technical support BOOST ERROR Internal error send the controller to service MOTOR OVER TEMPERATURE Check the motor cooling and operation setting MOTOR TEMPERATURE SENSOR ERROR Check the motor temperature sensor connection or type or contact technical support STALL DETECTED Che
56. s With the regard on the command value input operating modes can be divided into the three groups e modes with potentiometer speed torque command e mode with constant speed command value e modes with CAN communication Additionally the speed control or the torque control mode can be selected At least the controller also offers auto tuning mode which is aimed for the automatic parametrization of the controller Operating mode can be selected with the parameter OPERATING MODE Behavior of operating modes is not influenced by the motor type selection Operating modes are listed in the table 2 4 1 Not available in standard hardware version VER 2015 07 08 Page 20 49 SAC User s Manual Table 2 4 Operating modes Operating Description mode 0 Speed control operation with analog speed command potentiometer see the section 2 3 Torque control operation with analog torque command potentiometer see the section 2 3 Piktronik d o o 2 CAN bus operation using standard 11 bit ID Controller data is sent only on remote request see the section 2 14 3 CAN bus operation using extended 29 bit ID Controller data is sent only on remote request see the section 2 14 4 CAN bus operation using standard 11 bit ID Controller data is sent periodically see the section 2 14 5 CAN bus operation using extended 29 bit ID Controller data is sent periodically see the section 2 14 6 Const
57. s mode are shown in the table 2 6 torque speed POT_ZERO_SPKED POT MIN KK 1023 Pot position Torque speed command ON torque speed DEAD ZONE Figure 2 4 Bipolar potentiometer mode VER 2015 07 08 Page 22 49 SAC User s Manual Piktronik d o o 2 3 3 EV mode This mode is suitable for use with electric vehicles It works only with the torque mode The torque command value output from the potentiometer is bipolar and this value can change between the values given with parameters MAXIMAL BRAKING TORQUE and MAXIMAL POSITIVE TORQUE quadratically with the potentiometer position where the zero output potentiometer position can be selected with the parameter NEUTRAL POTENTIOMETER POSITION The positive part is intended for acceleration and the negative for breaking The static characteristic here has a quadratic form figure 2 5 With such a form a smooth starting from a place and the driving comfort are improved All parameters needed for this mode are shown in the table 2 6 The torque sign is depended from the direction obtained from digital input or over CAN A Torque command Max forward torque MIN IPOTENTIOMETER POSITION 1023 NEUTRAL Pot position POTENTIOMETER POSITION MAXIMAL POTENTIOMETER POSITION Max negative braking torque Figure 2 5 EV potentiometer mode Maximal negative torque is set by parameter 1 24 BREAKING TORQUE The
58. sed STATOR LEAKAGE INDUCTANCE Li not used ROTOR LEAKAGE INDUCTANCE not used MAGNETIZING FLUX not used Wn NUMBER OF POLE PAIRS p p settings 2 1 3 Auto tuning There are two automatic procedures motor auto tuning available for entire SAC family and mechanical sensor tuning HALL sensor SAC1 SAC4 SAC41 V1 40 onwards Resolver sensor SAC41 V1 41 only When performing the auto tuning procedures the motor shaft must be standalone and able to turn freely Caution During the auto tuning procedure the motor shaft will be turning Before starting auto tuning procedure the parameter 1 09 MAXIMAL STATOR CURRENT must be set to nominal current of the motor or less Motor auto tuning Auto tuning is an automatic procedure which measures motor parameters and sets up the current regulator parameters It is advisable to run the auto tuning procedure whenever the motor controller has to be set up for operation with a new motor type or cables when the cable resistance changes significantly The motor controller is sensitive to the stator resistance changes where the stator resistance is being seen as the stator resistance of the motor together with the motor cable It is also advisable that auto tuning procedure is started with the cold motor In order to start the motor auto tuning procedure one has to set the parameter OPERATING MODE to the value which equals the desired operating mode plus 100 Example The desired mod
59. ser s Manual Piktronik d o o Table 3 1 Error codes Error Name LED code Blink 0 NO ERROR 1 EXCESSIVE MOTOR CURRENT 1 2 OVER VOLTAGE 2 3 UNDER VOLTAGE 2 4 BATTERY VOLTAGE LOW AT START 2 5 POTENTIOMETER ERROR DURING OPERATION 3 6 POTENTIOMETER NOT ZERO AT START 3 7 OVER TEMPERATURE 4 8 UNDER TEMPERATURE 4 9 TEMPERATURE SENSOR ERROR 4 10 CURRENT OFFSET ERROR 5 11 DC LINK CHARGING ERROR 5 12 CONTACTOR ERROR 5 13 SHORT CIRCUIT MOTOR OR OUTPUT STAGE 1 14 BAD USER PARAMETER CRC 6 15 BAD SYSTEM PARAMETER CRC 6 16 BAD FLASH CRC 6 17 WRONG PARAMETER VERSION 6 18 INVALID MOTOR TYPE 6 19 AUTOTUNING ERROR 1 20 BOOST ERROR 5 21 MOTOR OVER TEMPERATURE 4 22 MOTOR TEMPERATURE SENSOR ERROR 4 23 STALL DETECTED V1 39 1 24 MOTOR OVERSPEED V1 40 1 25 COMMUNICATION SAC lt gt DISPLAY V1 41 rev 203 5 26 12V SUPPLY VOLTAGE OR INTERNAL VOLTAGE V1 42 1 27 OVER CURRENT HW V1 42 1 28 OVER VOLTAGE HW V1 42 1 29 EXCESSIVE MOTOR PHASE VOLTAGE V1 42 1 30 CPU ERROR V1 41 6 VER 2015 07 08 Page 44 49 SAC User s Manual Piktronik d o o Error codes description OVER CURRENT Motor phase current has exceeded maximum limit This error occurs when the motor control is not properly setup OVER VOLTAGE Voltage on the DC link has exceeded maximum limit Please check the voltage range of selected controller Battery c
60. solver operation scaled 65536 7360 4 18 CTRL SPD LIM Slope for torque control to limit torque at maximal speed It is only valid in torque control 4 19 SPD EST FLT Time constant ratio Ts Tf for electrical speed estimator Factory setting V1 39 cutoff frequency in Hz 4 20 STALL DETECTION Stall detection when current is 90 Yo nominal at low speed for more than 2 s O disabled 1 enabled allow restart when reference is set back to zero 2 enabled GAIN 4 30 ENCODER PULSES O Off Number of encoder pulses V1 40 for IM 4 40 RESOLVER 0 Off Resolver resolution in bits SAC41 fw V1 41 RESOLUTION PMSM 4 50 RESOLVER P GAIN 0 Reserved fw 1 41 4 60 RESOLVER ANGLE 0 Reserved fw 1 41 SPEED CONTROL 5 01 SPEED CONTROLLER Proportional gain of the PI speed regulator 5 02 SPEED CONTROLLER Integral gain of the PI speed regulator POTENTIOMETER 6 01 MIN Position of the potentiometer at which the command value POTENTIOMETER depending on the value reaches whether the zero or the POSITION maximal negative value unit AD quants 6 02 MAX Position of the potentiometer at which the command value POTENTIOMETER depending on the value reaches the maximal negative POSITION value unit AD quants 6 03 NEUTRAL This parameter is valid only with the bipolar potentiometer POTENTIOMETER mode or with the EV mode It defines the potentiometer VER 2015 07 08 Pa
61. ter is not active when using CAN for reference input VER 2015 07 08 Page 24 49 SAC User s Manual Piktronik d o o 2 5 Direction input INP1 The direction input is active with the unipolar potentiometer mode and with EV potentiometer mode It serves for speed torque reversing Two different modes can be selected with the parameter REVERSE BUTTON SWITCH SELECTION see the table 2 8 Table 2 8 Direction input mode REVERSE DESCRIPTION BUTTON SWITCH SELECTION 0 The pushbutton is selected for direction input To change the direction with the pushbutton the pushbutton has to be pressed for more than 50 ms and then released 1 The switch is selected for direction input With the reverse switch the forward rotation torque corresponds to open switch contacts state OFF and the reverse rotation torque corresponds to the closed switch contacts state ON The actual rotation torque direction depends on the motor connection to the controller It is possible to change the direction by swapping two of the motor phases 2 6 Auto power off and Auto enable This function is activated if the parameter AUTO POWER OFF DELAY has a nonzero value and the OPERATING MODE parameter is set to value or 1 When this function is activated the inverter is automatically switched off when speed command is zero for the time greater than the time defined with parameter called AUTO POWER OFF DELAY The controller is automatica
62. ter the motor won t produce any torque This situation can happen when the motor is operating in generator mode and it is returning the energy back to the battery unit V 1 15 UBAT MAX ZONE The zone when the torque reduction is linearly applied It is Scaled to maximal applicable current 1 16 UBAT LIMIT FILTER Filter setting for motor current limiter as a function of the battery voltage Lower value stabilizes possible dynamic oscillations Higher value ensures faster limiting V1 39 cutoff frequency in Hz 1 17 MINIMAL OPERATING Determines the minimal operating temperature unit TEMPERATURE C omitted in fw 1 40 limit is fixed in firmware 1 18 MAXIMAL OPERATINGDetermines the maximal operating temperature unit C TEMPERATURE omitted in fw 1 40 limit is fixed in firmware 1 119 CONTROLLER Controller temperature zone for current limiting TEMPERATURE ZONE omitted in fw 1 40 limit is fixed in firmware 1 20 MAXIMAL FORWARD With operating mode potentiometer speed mode this SPEED parameter defines the maximal forward speed and with the operating mode 1 potentiometer torque mode this parameter defines the forward speed limit unit RPM VER 2015 07 08 Page 37 49 SAC User s Manual Piktronik d o o No PARAMETER DESCRIPTION 1 21 MAXIMAL REVERSE With operating mode 0 potentiometer speed mode this SPEED parameter defines the maximal r
63. the application window Please note that is necessary to start restart SACTERM after you plug in USB COM port interface to the computer in order to succesfully recognize it Exit application SACTERM before unplugging the USB COM port interface to prevent unstable operation VER 2015 07 08 Page 13 49 SAC User s Manual Piktronik d o o 2 Settings 2 1 Motor control set up Speed sensorless control require more attention to set up the proper operation of the system Firstly the motor controller has to be set to operate with the selected motor Recommended motor control set up should follow these steps 1 motor type selection see 2 1 1 2 enter the number of pole pairs 3 run the auto tuning procedure see 2 1 3 4 manually trim the rest of parameters see 2 1 4 for the IM and 2 1 5 for the PMSM 2 1 1 Motor type selection The motor controller SAC supports two motor types induction motor IM and permanent magnet synchronous motor PMSM The motor type has to be selected with the parameter MOTOR TYPE see the table 2 1 Table 2 1 Motor type selection MOTOR TYPE Description 0 Induction motor IM 1 Permanent magnet synchronous motor PMSM 2 Permanent magnet synchronous motor PMSM with Hall sensors fw 1 40 onwards or resolver SACA1 fw 1 41 Most of the motor controller functions such as potentiometer settings limits etc are the same for both motor types Of course the differe
64. the parameter named CAN BAUD RATE PRESCALER The relation between Baud rate and CAN BAUD RATE PRESCALER parameter is determined by the following equation BaudRate 1 BAUD RATE PRESCALER There are some typical baud rates and corresponding CAN BAUD RATE PRESCALER values presented in the table 2 14 Table 2 14 Baud rates BAUD RATE CAN BAUD RATE PRESCALER 1000 000 1 500 000 3 250 000 7 100 000 19 83 333 23 20 000 99 12 500 159 10 000 199 Other CAN bus timing parameters cannot be changed They are set at the following values e No of sample points 1 e Sample timing 70 of bit time e Synchronization jump width 10 of bit time 2 14 2 Variable scaling Five different physical values can be transferred with CAN bus voltage current speed torque and temperature Variables transferred on CAN bus are always represented as unsigned integers range 0 65535 In general the physical value can be calculated from the CAN value as where SE Y max Y min 65534 VER 2015 07 08 Page 30 49 SAC User s Manual Piktronik d o o Y physical value minimal physical value maximal physical value x scaled CAN variable Note for more detailed information please see the document SAC CAN protocol Due to the fixed point internal computing inside the motor controller the scaling is not determined by parameters m and Yn but by two par
65. ularly 1 the inverter operates normally 3 inverter is enabled at start pulses switched off when the command is zero after V 1 39 1 02 MOTOR TYPE selects the motor type 0 induction motor IM 1 permanent magnet synchronous motor PMSM 2 permanent magnet synchronous motor with HALL sensors fw 1 40 or Resolver SAC41 fw 1 41 1 03 OPERATING MODE selects operating mode 0 speed mode 1 torque mode 2 CAN mode standard ID data is sent on remote request 3 CAN mode extended ID data is sent on remote request 4 CAN mode standard ID data is sent periodically 5 CAN mode extended ID data is sent periodically 6 constant speed mode 100 106 motor auto tuning mode 220 226 mechanical sensor auto tuning mode 1 04 SWITCHING Selects the switching frequency FREQUENCY 0 normal switching frequency 1 double switching frequency disabled for SAC40 SAC60 1 05 AUTO POWER OFF With operating mode 0 or 1 the inverter will be activated DELAY after the command value from the potentiometer speed or torque is zero for the time greater than the time in seconds given with this parameter 0 Auto power off deactivated x 0 xdefines the power off time in seconds 1 06 COMMANDED SPEED With operating mode 6 this parameter gives the constant VER 2015 07 08 Page 36 49 SAC User s Manual Piktronik d o o
66. um power tracking The power obtained from motor shaft is limited with motor speed maximum power production characteristics of the propeller The characteristics and its maximum power point depends of the boat speed The speed of the shaft decreases with load torque in generator mode while power increases with increasing of the speed at given torque When propeller is unable to deliver required torque the speed decreases and the operation point is not optimal Maximum peak power tracking algorithm MPPT tries to VER 2015 07 08 Page 35 49 SAC User s Manual Piktronik d o o adjust the torque to obtain maximum available power The MPPT algorithm stability depends of the electro mechanical dynamics of the system and can be stabilized via 1 24 BREAKING TORQUE used normally in EV operation The value set higher produces better dynamics and tracking but more torque variation resulting to speed variation Setting this value too low can produce non optimal power point Default value of 1 is obtained experimentally When the parameter is set to zero MPPT is disabled 2 15 Motor Controller Parameters This subsection lists motor controller parameters with a short descriptions No PARAMETER DESCRIPTION OPERATING PARAMETERS 1 01 AUTO ENABLE makes possible to enable or disable the inverter 0 the inverter won t be activated in this mode you can test the potentiometer and see if the motor speed command works reg

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