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OZMTR3000 Motor Controller

1. ccccccccccessssssscececesesessesecesccseceseaeaeeseeeeeceeseauaeeeeeesseesaeaeeeeeens 65 Figure 14 Current Fold Back Pl Regulator cccccssssscecccecessesececeeecesseeuaeseceeecnsusesesaeseeeeecesseseaaeeesesssseegs 66 Figure 15 Speed Control Pl Regulator rrrrrnnrnannnnnnrvrvrnssnannnnnnvenssnannnnnnnnnvenssnsnsrnnnnnnnsnnssnsnrnnnnrnnssnsnnnnnnnnnn 67 Figure 16 Zero Sequence PI Regulator cccccccessesssseceeececessneseceeecessesesaeseeecescusecesaeaeeesecseseseaaeeeseseessegs 68 Publication UM 0045 vii Table of Contents Table of Tables Table 1 J11 SKiiP Power Module Pin Assignment s ssssnsnssesssenrrssseserresnssssrrernrsssssenrrerrennssssrnernesnsssseeenn 21 Table 2 J11 Current Sense Pin Assignment s nssseesesssressssesnrerrssssesrrnernssssrnernnsrnssssrsernennssssrnennessseneneenn 23 Table 3 J8 Relay Drive Pin Aeslgnnment 24 Table 4 J12 RS 485 Pin Aeslignment ves nrnssrannnnnnrnnnrsssnnnnnnnnsenssnennnn 24 Table 5 J14 Half Bridge Power Module Pin Assignment csccsscccceesesesseaeceeeceseeseaeaaeceeeeseesseseeaeeeeess 25 Table 6 J12 Encoder Interface Pin Assignment ccccsssccececessesaececececeeseaeaeseeecesceseesaaaeceeeessessesaeeeesens 26 Table 7 J4 Pin Asslenment EEN ENEE 27 Table 8 P2 CAN Bus Pin Assignment rsnnrrvnranrrvnrenarrenrsnsrrenresrrensensrrenssssrrensssvenenssnsrsnnsssnrsnnssnsrsesssnrseessne 27 Table 9
2. 2 2 6 Current Fold Back For protection purposes the drive supports a current fold back feature for both the torque Iq and field ly current commands in the event that the applied stator voltage gets too close to the maximum achievable level dictated by the DC link voltage The fold back threshold is OZMTR3000 Motor Controller User s Manual Functional Description independently programmable for both and ly PIDs Ox80F3 and 0x80F7 The threshold defines the maximum modulation index percent of applied voltage relative to the DC link voltage above which the corresponding current will be reduced For most applications the system should be designed such that the DC link voltage provides ample voltage headroom to achieve the desired speed and torque from the motor In this case the fold back controllers are not required and remain disabled PIDs Ox80F2 and Ox80F6 Otherwise for systems with minimal voltage headroom these fold back controllers may be employed to prevent losing current regulation and potentially faulting off the drive To limit the torque producing current al simple PI regulator is used to decrease the current in order to maintain an applied voltage below the specified modulation index The output of the PI regulator is a limit factor a value between 0 and 1 0 that is multiplied with the desired current command When the DC link voltage high enough to produce the desired torque without exceeding the specified modul
3. P2 CAN Bus Pin Assignment Pin Description 2 CAN Low 3 CAN Ground Isolated 7 CAN High e OZDSP3000 Connector Part Number AMP 747844 5 e Mating Connector Part Number Industry Standard DB9 Male 3 1 10 1 J18 19 CAN Termination Jumpers Jumper blocks J18 and J19 provide a means to terminate the CAN bus lines CAN high CANH and CAN low CANL Note that termination should only be placed at the end terminals of the CAN communication network reference Figure 9 Publication UM 0045 OZDSP3000 Hardware Interfacing E D HE ov Gy 1 XCVR Geer ES XCVR i 9 NN Figure 9 Multi Node CAN Network Configuration Standard 0 1 jumpers should be installed on both J18 and J19 to enable the termination With no jumpers installed the lines remain un terminated Refer to Figure 10 for the applicable interface circuit J19 J18 ES fr 1 7 1 2 2 60 4 60 4 _ 4700 pF GO s L aaao gt gt CANH 3s Unn gt gt CANL 51 uH 5A 100 pF 100 pF 4 ISO1 Figure 10 CAN Interface Circuit OZMTR3000 Motor Controller User s Manual OZDSP3000 Hardware Interfacing 3 2 Electrical Interfaces The approximate location of the connectors jumper blocks LEDs and test hooks are illustrated in Figure 11 OFA el bell Esc CI 1010 J12 E O 10741 REV C ww OLTESCORP cam Figure 11 Appro
4. cccccccccccssssssssceeeecessesseaececeescesseaesaeaeeeeeeeseeseeaeas 59 4 3 12 4 Inverter Temp Derating Low Threshold cccsessssecececesessaececeeecessesseaeeeeecesessseseaaees 59 4 3 12 5 Inverter Temp Derating High Thresbold A 59 4 3 12 6 Inverter Temp Min Derating Factor 59 4 3 12 7 Motor Temp Enable secsees egigggecserteeg ege kusiner ENEE a Sa EEEE Ea Eii 59 4 3 12 8 Motor Temp Coefficients CO through CH 59 4 3 12 9 Motor Temp Derating Enable ccccccssscccccceesessssscececeessesssaeeeeeessessesaesasaeeeeseeseeseaaeas 60 4 3 12 10 Motor Temp Derating Low Thresbold 60 4 3 12 11 Motor Temp Derating High Threshold ccccccccssssssecececesesssaeeeeecesessesssaeesaeeesensees 60 4 3 12 12 Motor Temp Min Derating Factor esesssesssesssssssseseseseseserrrrrerrrrrrrrrrrrrrrersrsrerererereeees 60 4 3 12 13 Brake Temp Enable suv uvemebasvatsestive EES used ee 60 4 3 12 14 Brake Temp Coefficients CO through C3 60 4 3 13 Encode r Parameters sses aasi ai ASNE EAE EAS AASE A aieiaa 61 daat Encoder Line Count sserncsiusrsrnnnsrsi riire A knr keen endda Eaa i 61 4 3 13 2 Encoder Positive Direction r eranrvvvnrnarrvnrsnsrrvnrensrrenrssrrensssersenssssrrenssnesrrenssssrnenssssrsesse 61 4 3 13 3 Encoder Clock Timer Prescaler rrrnnranrvvnnanarvvnrensrrenssnsrenssserrenssssrrenssnsrrrsessssrsenssssnseese 61 4 3 13 4 Encoder Event Counter Prescaler 61 4 3 13 5 Encoder De bounce Drescaler esseen 62 4 3 13 6 E
5. CAN Interface Parameter Summary PID he Description Units do Min Max ee 0x8010 U16 CAN Group ID Integer 3 1 15 RW 0x8011 U16 CAN Module ID Integer 1 1 31 RW 0x8012 U16 CAN Baud Rate ENUM 250kbps 50kbps 1Mbps RW 0x8013 U16 CAN Status Destination Group ID Integer 1 0 15 RW 0x8014 U16 CAN Status Destination Module ID Integer 1 0 31 RW 0x8015 U16 CAN Timeout 1 ms 0 0 65535 RW 0x8016 U16 CAN Automatic Alarm Transmit Enable boolean TRUE FALSE TRUE RW 0x8017 U16 CAN Update Rate Motor Status 1 ms 100 0 65535 RW 0x8018 U16 CAN Update Rate Brake Status 1ms 100 0 65535 RW 0x8019 U16 CAN Update Rate System Status 1ms 100 0 65535 RW Ox801A U16 CAN Update Rate Alarm Status 1 ms 100 0 65535 RW 4 3 2 1 CAN Group ID This parameter specifies the Group ID used by the firmware For more information see FS 0047 4 3 2 2 CAN Module ID This parameter specifies the Module ID used by the firmware For more information see FS 0047 4 3 2 3 CAN Baud Rate This parameter is used to configure the serial baud rate for the CAN interface The legal values are as follows e 0 1 Mbps e 1 500kbps e 2 250kbps e 3 125 kbps e 4 100 kbps e 5 50kbps 4 3 2 4 CAN Status Destination Group ID This parameter specifies the Destination Group ID that this firmware will use when sending the Status messages Note that the Illegal CAN Message and Co
6. Fault RESCt senreaga aai i aa a A 33 4 2 1 6 Configuration Password cccesscesssscsesceceseeessaeeesseecessecseneessuecessaecseaseessaeeesaaeeseneessaess 33 4 2 1 7 Configuration Reser 33 4 2 1 8 Configuration Reload 34 42 1 9 Contactor Control s 22 c cvsscccanssscanessssecatessstaekeedscadnessctaeaesdvsdeat ecs deena ddeeeaseiaaeadiecsdesaetanens 34 4 2 2 Instrumentation Registers eee cccccceceeeeseenececeeeeeeeeaaaeceeeeeeeeeaaeaeceeeeeeeeeeaaeaeeeeeeeeneeeaeaeeeeess 34 G Ze ZE e e gie EC 35 4222 Operating MOE vrei aces Georges Eege Eege ee stadt 35 4 2 2 3 Motor TEMperature EE 35 OZMTR3000 Motor Controller User s Manual Table of Contents 42 24 MOtOPSPCOG EE 35 4 2 2 5 MOTOR e autodb sene 35 4 2 2 6 Motor el Tree EE 36 4 2 2 7 Motor Current Inverter A RB 36 422 Brake State eegen deeg eege degen gathers dagegen Eege deed 36 4 2 2 9 Brakefemperature oeiee nanei E Eaa a aaia CEEA En S 36 4 2 2 10 Brake Temperature 36 4 2 2 11 Inverter A Temperature 36 4 2 2 12 Inverterbfemperature eeaeee ea ae aee a aa r EER 36 e e GN E NEE Lee TEE 36 ET Warning Status csc lt 25sc28isiavsacscveieds iaieysigiseeeradis Eege eege deele deefe ER GB E e EE 37 4 2 2 16 Register Operation Status rnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnannnnnnnnnnnnnnnnnnnnnnen 38 4 2 2 17 DSP Software Revision Malor Mingor 38 4 2 2 18 FPGA Firmware Revision Major Minor s ssssssssssssssnsssssssnss
7. Inflection Freq PID 0x80A2 Zero Hz Voltage PID 0x80A3 Min V Hz Rated Max V Hz Frequency Frequency Her PID 0x8072 PID 0x80A1 PID 0x80A0 Speed Command Hz Figure 2 Volts Hertz Profile OZMTR3000 Motor Controller User s Manual Functional Description In addition to the configurable profile discussed above the user can configure the starting frequency PID 0x80A5 that the drive will use when first turning on and a pause time PID 0x80A6 in which to hold the drive at this startup frequency before slewing to the commanded speed Because the Volts Hertz controller is inherently an open loop controller it does not require any feedback from the motor such as current speed temperature etc to operate Not including these additional sensors in the application will reduce system cost and complexity but at the expense of losing the ability to monitor those values and provide potential fault protection For this reason it is recommended that current sensors be used at a minimum for over current protection 2 2 2 Field Oriented Control Figure 3 presents a simplified block diagram of the field oriented control scheme employed in the motor drive firmware PI regulators are used to control both the torque l and field Iq current components using current feedback calculated from the three phase current measurements l p a b c from the inverter The current regulators are implemented in the synchronous DQ
8. OZMTR3000 Motor Controller User s Manual UM 0045 11 Continental Blvd Merrimack NH 03054 v 603 546 0090 f 603 386 6366 oztekcorp com 10 BuLyuLyy aADEAOUUuT UOLJEJUSWNIJSUJ pue About Oztek Oztek Corp is proven innovator of power control and instrumentation solutions for the most demanding industrial applications Oztek products include variable motor drives grid tie inverters frequency converters stand alone inverters DC DC converters and DSP based control boards for power control applications Trademarks OZDSP3000 is a trademark of Oztek Corp Other trademarks registered trademarks and product names are the property of their respective owners and are used herein for identification purposes only Notice of Copyright Oztek OZMTR3000 Motor Controller User s Manual March 2012 Oztek Corp All rights reserved Exclusion for Documentation UNLESS SPECIFICALLY AGREED TO IN WRITING Oztek Corp Oztek A MAKES NO WARRANTY AS TO THE ACCURACY SUFFICIENCY OR SUITABILITY OF ANY TECHNICAL OR OTHER INFORMATION PROVIDED IN ITS MANUALS OR OTHER DOCUMENTATION B ASSUMES NO RESPONSIBILITY OR LIABILITY FOR LOSSES DAMAGES COSTS OR EXPENSES WHETHER SPECIAL DIRECT INDIRECT CONSEQUENTIAL OR INCIDENTAL WHICH MIGHT ARISE OUT OF THE USE OF SUCH INFORMATION THE USE OF ANY SUCH INFORMATION WILL BE ENTIRELY AT THE USER S RISK C IF THIS MANUAL IS IN ANY LANGUAGE OTHER THAN ENGLISH ALTHOUGH STEPS HAVE BEEN TA
9. 300mA e Differential termination 1000 e Electrical Interface Differential inputs Logic high Vip 2 0 2V Logic low Vip lt 0 2V e Max Rating Input voltage 14V Differential voltage 14V 3 1 8 J16 Expansion Board Interface Resolver Daughter Card optional The OZDSP3000 control board provides an expansion board interface at the J16 connector An optional Resolver Interface daughter board Oztek part 10780 xx has been developed for the motor controller application This daughter board is designed to mount on this expansion board interface Contact Oztek sales for additional information the resolver daughter board OZMTR3000 Motor Controller User s Manual OZDSP3000 Hardware Interfacing 3 1 9 J4 Motor Temperature Input optional Connector J4 may optionally be used by the user to connect an external temperature sensor for the purpose of monitoring the motor temperature This interface provides connections for a typical 10kQ thermistor Table 7 J4 Pin Assignment Pin Description 1 Temperature input pulled up to 3 0V through 2kQ 2 Ground 24V Return e OZDSP3000 Connector Part Number Molex Micro Fit 2 Position Header 43650 0215 e Mating Connector Part Number Molex Micro Fit 2 Position Receptacle 43645 0200 3 1 10 P2 Isolated CAN Bus Interface Connector P2 provides an isolated CAN Bus communications interface The interface is a shielded female DB9 style connector Table 8
10. this parameter is used to specify the amount of current to regulate through the windings of the motor during the alignment process PM Align Time This parameter is used to determine how long to apply the align current for and wait for the rotor to settle into the align position Once this time has expired the current is then set to zero amps and the drive is then ready for use Parameter Register Interface 4 3 9 5 PM Align Maximum Speed Threshold This parameter indicates the maximum speed at which the drive will attempt to align the motor If the motor is presently spinning faster than this speed the alignment process will be aborted and a system Alignment Error Fault will be generated 4 3 9 6 PM Align Angle Offset Once alignment is complete the present aligned motor position is read by the firmware and then adjusted by 90 degrees to create the proper torque alignment for the motor This parameter is used to allow the user to enter an additional angle offset in addition to the 90 degrees automatically applied by the drive This may be useful for calibration purposes or for non standard PM motor arrangements that requires additional alignment offsets for example if multiple motors are connected to the same rotor shaft only one is used during the alignment process and the phase of the other motors is intentionally offset from the one used for alignment 4 3 10 Volts Hertz Drive Parameters The parameters descr
11. Command Register Set 32 Table 10 Instrumentation Register Set 34 Table 11 Configuration Control Parameter Summary ccccsccesssecssssceeseecseeeessaeeesaeceseeeessasessaaeenseeeesaess 40 Table 12 CAN Interface Parameter Summary 42 Table 13 Instrumentation and Measurement Scaling Parameter Summary c cccccecessssssteeeeeeseesees 44 Table 14 Fault and Warning Parameter Summary 45 Table 15 Inverter Control Parameter Summary 48 Table 16 Drive Configuration Parameter Summary asrvrrrannvvvnrennvrenennrrensennrrvnsennrsvrenensrsessennrsesssnarsvssenen 49 Table 17 General Motor Parameter Summary 51 Table 18 AC Induction Motor Parameter Summary 52 Table 19 Permanent Magnet Motor Parameter Summary 54 Table 20 Volts Hertz Parameter Summary ccceseceessecesscecssseecseeccsaecesseecesseecsaeeeceasecesseccsaeeecsaecesseeesess 55 Table 21 Maximum Torque Profile Parameter Summary 57 Table 22 Temperature Measurement and Derating Parameter Summary 57 Table 23 Encoder Parameter SUMMary c cccccccssssssssecesececesseseeaeeeccssseseeaeseceeecesesaeaaeaeceeecessesesasaeeeesesees 61 Table 24 Motor Speed Calculation Parameter Summary 62 Table 25 Current Regulator Parameter Summary c cccccccesesssssecesessseseaeseceeecessesesaeeseeeseceseeseaeaeeeesensees 64 Table 26 Speed Regulator Parameter Summary 66 Table 27 Dual Interleaved I
12. Maximum 0 1 Nm 10000 0 65535 RW 0x8064 S16 Torque Command Default at Turn On 0 1 0 1000 1000 RW 0x8065 U16 Speed Command Slew Rate RPM s 100 1 65535 RW 0x8066 U16 Speed Command Maximum RPM 3000 0 65535 RW 0x8067 S16 Speed Command Default at Turn On 0 1 0 1000 1000 RW 0x8068 U16 Torque Speed Mode Default at Power On ENUM 1 0 1 RW 4 3 6 1 Motor Drive Type This parameter is used to indicate the type of motor drive being implemented by the controller as follows e OQ None drive disabled e 1 Closed loop Field Oriented AC Induction Motor Controller e 2 Closed loop Field Oriented Permanent Magnet Motor Controller e 3 Open loop AC Induction Volts Hertz Controller 4 3 6 2 Motor Speed Feedback Device Select This parameter is used to configure the type of speed feedback device being used by the controller as follows e OQ None e 1 Digital Quadrature Encoder e 2 Resolver Publication UM 0045 Parameter Register Interface 4 3 6 3 Torque Command Slew Rate This parameter defines the slew rate to use when user changes the commanded torque value This parameter is only used when the drive is being operated in direct torque control mode This parameter is specified as a percent of the Torque Command Maximum see next parameter per second For example if this parameter is set to 1000 this would indicate that the torque command slew rate will be zero to 100 of the specified maximum torque command in one
13. Motor Temperature Fault Warning Threshold configuration parameters PIDs 0x8039 0x803A 4 3 12 8 Motor Temp Coefficients CO through C3 These parameters define the coefficients used by the 3 order polynomial fitting routine within the firmware to convert raw ADC readings to C See section 4 3 12 2 Inverter Temp Coefficients for a description of these polynomial coefficients Publication UM 0045 60 Parameter Register Interface 4 3 12 9 Motor Temp Derating Enable This parameter enables the thermal derating feature where the user s motor torque command can be reduced based on high motor temperatures If this parameter is set to FALSE the motor temperature will not be used to adjust the commanded torque If this parameter is set to TRUE and the Motor Temp Enable parameter is TRUE i e the sensor is present and being used then the thermal derating feature will be enabled and will operate as discussed in section 2 2 4 4 3 12 10 Motor Temp Derating Low Threshold This parameter specifies the lower motor temperature threshold at which thermal derating will begin Temperatures below this value will not cause torque derating Temperatures above this value will cause the user s torque command to be reduced as described in section 2 2 4 4 3 12 11 Motor Temp Derating High Threshold This parameter specifies the upper motor temperature threshold at which the user s torque command will be reduced to the minimum derating value speci
14. Region Start RPM 3000 0 65535 RW 4 3 11 1 Torque Profile Enable This is parameter is used to enable the Maximum Torque Profile feature When this parameter is set to FALSE the torque profile parameters are ignored and no torque limiting is performed When set to TRUE the motor drive enforces the maximum allowable torque versus speed profile as defined by the parameters below 4 3 11 2 Torque Profile Maximum Torque This parameter defines the maximum allowable torque when operating at the lower speed ranges Region 1 4 3 11 3 Torque Profile Maximum Power This parameter defines the maximum allowable power The speed at which the torque profile switches from torque limiting to power limiting Region 1 to Region 2 is determined by the combination of this parameter and the specified maximum torque described in the previous section 4 3 11 4 Torque Profile Power Speed Region Start This parameter defines the speed at which the torque profile switches from power limiting to power speed limiting Region 2 to Region 3 4 3 12 Temperature Measurement and Derating Parameters Table 22 Temperature Measurement and Derating Parameter Summary PID SE Description Units GE Min Max EE Ox80B8 U16 Inverter Temp Enable boolean TRUE FALSE TRUE RW Ox80B9 32 Inverter Temp Coefficient CO Q16 19 67 10000 0 10000 0 RW Ox80BA S32 Inverter Temp Coefficient C1 Q16 120 6 10000 0 10000 0
15. Space Vector Modulator Publication UM 0045 Functional Description 2 Functional Description The OZMTR3000 controller is used to provide speed and or torque control for AC induction or permanent magnet motors by converting DC power to AC power as required by the motor application The DC AC inverter controls are bidirectional being able to not only provide power to the motor but also able to absorb power during regeneration Typical OZMTR3000 applications include e Renewable energy systems such as wind turbines e Flywheel energy storage systems e Traction motor drives for vehicle applications e Servo application for industrial controls 2 1 Typical Hardware Implementation Figure 1 illustrates a typical OZDSP3000 based motor drive system The diagram shows several optional interfaces such as a brake chopper a contactor to disconnect the motor from the drive and various motor sensors for temperature and speed feedback In the simplest form the system could consist of an inverter rated motor that is directly connected to the integrated power stage module with a DC input and bypass capacitors 4 A i Ei Ka KG Spem Motor Optional E Optional ENE NE Filter H Brake I Control a 5 fy fr I DC SA A C Contactor Control optional 24V DC gt OZDSP3000 a
16. Speed Warning Threshold RPM 6000 0 65535 RW 0x8041 U16 Motor Over Speed Warning Recover Threshold RPM 5750 0 65535 RW 0x8042 U16 Inverter Error Pin Active High boolean TRUE FALSE TRUE RW 0x8043 U16 Inverter Over Temp Pin Active High boolean TRUE FALSE TRUE RW 0x8044 U16 Brake Hardware Error Pin Active High boolean TRUE FALSE TRUE RW 0x8045 U16 Brake Hardware Over Temp Pin Active High boolean TRUE FALSE TRUE RW 4 3 4 1 DC Link Over Voltage Fault Threshold This parameter defines the DC link over voltage fault threshold If the DC link voltage rises above this value the application will automatically transition to the FAULT state and operation of the inverter will be disabled and forced OFF 4 3 4 2 DC Link Over Voltage Warning Threshold This parameter defines the DC link voltage threshold above which the firmware will report a high voltage warning Once above this warning threshold the voltage must drop below the corresponding recover threshold before the firmware will clear the high voltage warning 4 3 4 3 DC Link Over Voltage Recover Threshold See warning threshold description above 4 3 4 4 Inverter Temperature Fault Threshold This parameter defines the inverter temperature fault threshold If the temperature rises above this value the controller will automatically transition to the FAULT state and drive operation will be disabled and forced OFF Publication UM 0045 46 Parameter Register Interface 4 3 4
17. current will return zero For dual interleaved inverter operation each inverter s current is reported separately in the respective register 4 2 2 8 Brake State The present state of the brake controller is reported as follows Value State 0 Disabled 1 Off 2 On 3 Fault 4 255 Reserved for future use 4 2 2 9 Brake Temperature This register reports the measured brake chopper temperature if a sensor has been enabled in the Brake Temp Enable configuration parameter PID Ox80CA This register will return zero when a temperature sensor is not enabled 4 2 2 10 Brake Temperature This register reports the measured brake chopper temperature if a sensor has been enabled in the Brake Temp Enable configuration parameter PID Ox80CA This register will return zero when a temperature sensor is not enabled 4 2 2 11 Inverter A Temperature This register reports the measured temperature for inverter A if a sensor has been enabled in the Inverter Temp Enable configuration parameter PID Ox80B8 This register will return zero when a temperature sensor is not enabled 4 2 2 12 Inverter B Temperature This register reports the measured temperature for optional secondary interleaved inverter B power module if a sensor has been enabled in the Inverter Temp Enable configuration parameter PID Ox80B8 This register will return zero when a temperature sensor is not enabled or if dual interleaved inverter operation is disabled 4
18. ee 0x8100 U16 Speed Control Enable boolean FALSE FALSE TRUE RW 0x8101 532 Speed Controller Kp Q16 0 2 0 0 32767 99 RW 0x8102 S32 Speed Controller Ki Q16 0 0 0 0 32767 99 RW 0x8103 S16 Speed Controller Maximum Current 0 1 Arms 100 32768 32767 RW 0x8104 S16 Speed Controller Minimum Current 0 1 Arms 100 32768 32767 RW 4 3 16 1 Speed Control Enable This parameter is used to enable the use of the closed loop speed controller Setting this parameter to TRUE will allow the user to operate the drive in either direct torque control mode OZMTR3000 Motor Controller User s Manual Parameter Register Interface or in speed control mode depending on the user s Mode command sent to the controller over the CAN bus Setting this parameter to FALSE will disable the use of the speed controller and will only allow the drive to be operated in direct torque control mode Any attempts to change the operating mode to speed control via CAN will be ignored and the drive will remain in direct torque control mode 4 3 16 2 Speed Controller Gain Constants Kp Ki Speed Cmd error l lim min Speed FB Figure 15 Speed Control PI Regulator These parameters define the gain constants for the PI controller that is regulating the motor speed The integral gain K parameter should be entered as the continuous gain or sometimes referred to as the analog gain The firmware handles c
19. engaged Once the voltage then falls below the lower recover threshold the brake resistor will be disconnected The brake contains optional hardware fault and temperature monitoring capabilities in the event that these are provided by the brake chopper power device and its corresponding gate drive solution In the event that the fault is detected the brake controller state machine will go to a FAULT state and braking function will be disabled If this occurs while the motor drive is in operation the Brake Controller Fault Motor Response parameter PID 0x8113 can be used to configure the motor drive response as follows e Continue operating ignoring the brake fault e Treat this as a drive fault and shut down regardless of the configured drive type and torque speed mode being used e Continue operating but not allow a braking torque command this is only pertinent when operating the drive as a closed loop FOC controller running in direct torque control mode otherwise for speed control or Volts Hertz operation this setting is ignored 2 4 State Sequencing A state machine is used to provide deterministic control and sequencing of the motor drive states If a fault is detected in any of the operating states the inverter is immediately disabled and the state machine is latched into the FAULT state Figure 7 illustrates the operating states as well as the transition logic employed in the controller s state machine OZMTR3000 Motor Contro
20. in the Fault Status instrumentation register PID Ox400E and also reported on the CAN bus in the Alarm Status CAN message The controller remains in the FAULT state and the latched fault flags remain set until explicitly reset with a Fault Reset command PID 0x0004 This is true even if the source s of the fault s are no longer active Upon receiving the Fault Reset command the firmware will attempt to clear all latched fault bits It then examines the sources of all fault conditions and if none are active the controller will transition back to the IDLE state If upon re examination any sources of faults are still active their respective fault flags are latched again and the controller will remain in the FAULT state 2 5 2 1 Inverter IGBT Errors The firmware provides a means to recognize hardware based IGBT error signals from the main Inverter A interface as is present on a typical Semikron SKiiP interface If the Interleaved Inverters Enable configuration parameter PID 0x80108 is set to TRUE the firmware will also monitor the error signals from the secondary Inverter B interface Publication UM 0045 Functional Description 2 5 2 2 Inverter Hardware Over Temperature The firmware provides a means to recognize a hardware based over temperature error signal from the main Inverter A interface as is present on a typical Semikron SKiiP interface If the Interleaved Inverters Enable configuration parameter PID 0x8108 is set to TRUE the
21. insured in the original packaging or equivalent This warranty will not apply where the product is damaged due to improper packaging Include the following e The RMA number supplied by Oztek clearly marked on the outside of the box e A return address where the unit can be shipped Post office boxes are not acceptable e A contact telephone number where you can be reached during work hours e A brief description of the problem Ship the unit prepaid to the address provided by your Oztek customer service representative If you are returning a product from outside of the USA or Canada In addition to the above you MUST include return freight funds and you are fully responsible for all documents duties tariffs and deposits Out of Warranty Service If the warranty period for your product has expired if the unit was damaged by misuse or incorrect installation if other conditions of the warranty have not been met or if no dated proof of purchase is available your unit may be serviced or replaced for a flat fee If a unit cannot be serviced due to damage beyond salvation or because the repair is not economically feasible a labor fee may still be incurred for the time spent making this determination To return your product for out of warranty service contact Oztek Customer Service for a Return Material Authorization RMA number and follow the other steps outlined in Return Procedure Payment options such as credit card or money order wil
22. is set to true the checks for whether or not an automatic transmission should be sent occur on 1ms boundaries so there may be up to 1ms of latency between when the offending event occurs and when the Alarm message is sent When disabled parameter is set to false a change in any warning or fault bit does not cause an automatic transmission of the Alarm Status message 4 3 2 8 CAN Update Rate Motor Status Message This parameter specifies the rate at which the Motor Status CAN message will be automatically transmitted by the firmware This value specifies the period between message transmissions in terms of milliseconds Setting this parameter to zero disables automatic periodic transmission of this message All other values ms 65 535ms are valid 4 3 2 9 CAN Update Rate Brake Status Message This parameter specifies the rate at which the Brake Status CAN message will be automatically transmitted by the firmware This value specifies the period between message transmissions in terms of milliseconds Setting this parameter to zero disables automatic periodic transmission of this message All other values ms 65 535ms are valid 4 3 2 10 CAN Update Rate System Status Message This parameter specifies the rate at which the System Status CAN message will be automatically transmitted by the firmware This value specifies the period between message transmissions in terms of milliseconds Setting this parameter to zero disables aut
23. pass digital filter that is used to filter the measured motor speed The measured speed is used for both instrumentation purposes sent in the Motor Status message as well as for control purposes when operating in torque mode or closed loop speed control mode The low pass filter is updated at the PWM rate specified in the Pulse Width Modulation Frequency parameter PID 0x8050 so this parameter should be set to a value less than this PWM rate 4 3 14 5 Motor Speed Deadband Period Low Speed This parameter is used to determine the encoder event timer count dead band period above which the speed is considered zero This parameter is expressed in terms of the number of encoder timer clock periods above which the speed is forced to zero Publication UM 0045 64 Parameter Register Interface This parameter is only used when using the low speed method for calculating motor speed In this mode of operation the calculated speed is updated only at encoder event boundaries or when the event timer saturates which could be a long time This dead band period parameter allows the user to shorten the effective saturation timer count so that zero speed can be determined sooner 4 3 14 6 Motor Speed Update Prescale High Speed This parameter is used when the motor speed is being calculated at high speeds In this mode the speed is calculated as A position A time where the change in position is determined using the encoder position counter an
24. reference frame The outputs of the PI regulators are then used to control a space vector modulator SVM which generates the gating commands to the power switches M T Gr g Field ha Current H 5 l d 0 AJ lp abc Current Controller D Torqueema SPDema Mode kb Torque or Spd Slip Positionp i Estimator i Motor Type AC or PM Speed Controller Figure 3 FOC Controller Functional Block Diagram When operating in direct torque control mode the torque current l4 is calculated from the torque command provided by the user In the case of AC induction motor applications the torque to current calculation is performed based on the specified induction motor parameters PIDs 0x8080 to 0x8084 In the case of permanent magnet motor applications the firmware simply uses the specified PM Torque Constant parameter PID 0x8090 parameter to make this conversion Publication UM 0045 6 Functional Description When operating in closed loop speed control mode a PI type regulator is used to control the motor speed The speed reference commanded by the user is compared to the measured motor speed providing the error input to the PI regulator The output of the speed controller serves as the torque current command for the inner current controller The field current ly reference depends on which type of motor has been selected see Motor Drive Type PID 0x8060 For AC induction motors
25. rotor so in this case knowledge of the rotor position and field is necessary When configured to operate with a quadrature encoder the motor controller supports an automatic alignment procedure at startup Using this procedure the controller specifies a DC alignment current PID 0x8092 and duration 0x8093 for which it is applied to the motor at startup Once the specified time has passed it is assumed that the rotor has rotated into alignment with the applied current and the drive stores the necessary position offset required to then operate the drive For proper alignment operation it is required that the rotor be able to move freely If enabled this process is only executed the first time the drive is enabled following a power on reset of the controller Thereafter the controller will use the stored position offset for subsequent turn on events When resolver feedback has been selected it is assumed that the position reported by the resolver is already properly aligned with the rotor field and no additional alignment features are provided by the drive 2 2 3 Dual Interleaved Inverter Operation For specialty motor applications that require very low current ripple and harmonics the OZMTR3000 controller provides support for an optional second inverter interface to be used when driving a dual interleaved inverter power stage This system would look very similar to OZMTR3000 Motor Controller User s Manual Functional Descriptio
26. second 4 3 6 4 Torque Command Maximum This parameter defines the maximum torque command used by the drive When operating in direct torque control mode the user commands a torque value as a percentage 100 to 100 of this value 4 3 6 5 Torque Command Default at Turn On This parameter defines the default torque command to use when turning on the drive in direct torque control mode The drive will initially turn on with a zero torque command and will then slew to this value at a rate defined by the Torque Command Slew Rate parameter see above 4 3 6 6 Speed Command Slew Rate This parameter defines the slew rate to use when user changes the commanded speed value This parameter is only used when the drive is being operated in speed control mode 4 3 6 7 Speed Command Maximum This parameter defines the maximum speed command used by the drive When operating in speed control mode the user commands a speed value as a percentage 100 to 100 of this value 4 3 6 8 Speed Command Default at Turn On This parameter defines the default speed command to use when turning on the drive in speed control mode When the drive initially turns on it will sense the present motor speed It will then slew the speed command from the sensed speed to the value specified in this parameter at a rate defined by the Speed Command Slew Rate parameter see above 4 3 6 9 Torque Speed Mode Default at Power On This parameter defines the default control
27. specify the initial magnetizing current to use when first turning the drive on For motors with long rotor time constants it may be desirable to set this parameter to a value higher than the nominal magnetizing current parameter as this will shorten the time it takes to induce the magnetic field in the rotor Once the drive has estimated that the rotor field has reached the desired level the magnetizing current will then be reduced to the nominal magnetizing current specified by the parameter above This parameter should be set to the nominal magnetizing current for applications that do not require a faster initial magnetization period 4 3 8 7 AC Motor Minimum Magnetizing Current This parameter is used to specify the minimum magnetizing current l4 to use when calculating the necessary torque producing current el based on the commanded torque value In general OZMTR3000 Motor Controller User s Manual Parameter Register Interface this parameter is only pertinent when operating at very high motor speeds that require significant field weakening i e at a very low ly current This parameter is used mainly to simplify the firmware and to avoid divide by zero issues with the calculation This parameter should be set at or below the anticipated minimum field weakened magnetizing current for the drive 4 3 8 8 AC Motor Magnetizing Current Slew Rate This parameter is used to set the magnetizing current slew rate when turning on the drive
28. speed using the Motor Speed Low to High RPM parameter see next parameter Using manual mode may be useful in situations where the encoder edge accuracy or signal timing is poor 4 3 14 2 Motor Speed Low to High RPM When manual speed crossover mode is selected see previous parameter this parameter is used to specify the motor speed at which the speed calculator will switch between the low and high speed calculation techniques When using manual crossover mode the user will generally set this value to be a lower value than the automatically calculated crossover point to avoid noise or edge accuracy affects on the speed resolution when using the low speed calculation technique 4 3 14 3 Motor Speed Low to High Hysteresis This parameter determines how much hysteresis to use when switching between the low and high speed calculation techniques This hysteresis value is used in both AUTO and MANUAL crossover mode The speed calculator will switch from low speed to high speed mode when the motor speed is at the switchover speed plus the value defined by this parameter Similarly the speed calculator switches from high speed to low speed mode when the motor speed is at the switchover speed minus the value defined by this parameter This behavior results in a hysteresis band equal to twice the value specified by this parameter 4 3 14 4 Motor Speed Low Pass Filter Cutoff Freq This parameter is used to set the cutoff frequency of the first order low
29. the field current is set to the specified magnetizing current PID 0x8084 An optional automatic field weakening controller may also be configured and enabled PIDs 0x8088 0x8089 to allow for reducing the magnetizing current based on the available DC link voltage and motor speed When initially turning on the AC motor drive the magnetizing current may optionally be increased to reduce the time it takes to develop the corresponding magnetic field in the rotor This may be useful in applications that want to be able to turn on quickly but are using motors with large rotor time constants For permanent magnet motor applications no field weakening is performed by the drive the field current is simply commanded to zero The generation of the electrical angle theta 8 also depends on the specified motor type and the specified feedback device quadrature encoder or resolver specified in PID 0x8061 For AC induction motor applications the relative changes in position from the feedback device are used to calculate the mechanical speed of the motor This speed is used in conjunction with a slip estimator block to determine the desired electrical speed from which the desired electrical angle is derived The slip estimator requires accurate motor parameters to be specified for the induction motor PIDs 0x8080 0x8084 For permanent magnet motor applications the electrical angle must be synchronous with the rotating field from the
30. the optional auxiliary contactor as follows 0 OPEN contactor 1 CLOSE contactor 4 2 2 Instrumentation Registers Table 10 Instrumentation Register Set PID Data Description Units Access Type Level 0x4000 U16 Operating State ENUM R 0x4001 U16 Operating Mode ENUM R 0x4002 U16 Motor Temperature C R 0x4003 32 Motor Speed 0 1 RPM R 0x4004 S16 Motor Power 10 W R 0x4005 S16 Motor Current 0 1 Arms R 0x4006 S16 Motor Current Inverter A 0 1 Arms R 0x4007 S16 Motor Current Inverter B 0 1 Arms R 0x4008 U16 Brake State ENUM R 0x4009 U16 Brake Temperature C R 0x400A U16 Inverter A Temperature C R 0x400B U16 Inverter B Temperature C R 0x400C U16 DC Link Voltage 0 1 V R 0x400D U32 Warning Status n a R Ox400E U32 Fault Status n a R Ox400F U16 Register Operation Status ENUM R OZMTR3000 Motor Controller User s Manual Parameter Register Interface PID Data Description Units Access Type Level 0x4010 U16 DSP Software Revision Major Integer R 0x4011 U16 DSP Software Revision Minor Integer R 0x4012 U16 FPGA Revision Major Integer R 0x4013 U16 FPGA Revision Minor Integer R 0x4014 U16 PCB Variant Integer R 0x4015 U16 Contactor State ENUM R 4 2 2 1 Operating State The present operating state is reported as shown in the table below See section 2 4 for details on each of these operating st
31. value will cause the user s torque command to be reduced as described in section 2 2 4 4 3 12 5 Inverter Temp Derating High Threshold This parameter specifies the upper inverter temperature threshold at which the user s torque command will be reduced to the minimum derating value specified in the Inverter Temp Min Derating Factor parameter PID Ox80CO as discussed in section 2 2 4 4 3 12 6 Inverter Temp Min Derating Factor This parameter is used to define the minimum derating factor to use when reducing the user s torque command due to high inverter temperatures Normally at low temperatures with no torque reduction the thermal derating factor is 1 0 or 100 This parameter specifies the maximum amount of torque reduction allowed This parameter should be set to a value between zero 0 being the maximum derating which reduces the torque command to zero at the maximum temperature and 100 100 being no derating 4 3 12 7 Motor Temp Enable This is parameter is used to determine if there is a motor temperature sensing device present and if it should to be used to measure the motor temperature If this parameter is set to FALSE the motor temperature is not monitored or calculated and the reported motor temperature will default to 0 C When set to TRUE the temperature is calculated according to the user provided temperature coefficients see next section and is also monitored for possible over temperature conditions according to the
32. 0 CAN Update Rate System Status Message 43 4 3 2 11 CAN Update Rate Alarm Status Message 43 4 3 3 Instrumentation and Measurement Scaling Parameter 44 4 3 3 1 Instrumentation Interrupt Rate 44 4 3 3 2 DC Link Voltage Measurement Full Scale rrrrnnrorrrnrrnnnnnnnnrnvrrnsrannnnrnrvnnnrnsnnnsrnnnnrnnsene 44 4 3 3 3 Motor Current Measurement Full Scale ssssssssssssssssssssrssssrrsserrrssrrrrssrrnnsrsrenrssrenne 44 4 3 3 4 Motor Current Measurement Polarity Select 44 4 3 3 5 Low Pass Filter Cutoff Motor Current 44 4 3 3 6 Low Pass Filter Cutoff DC Link rererranvrvnrannrrvnrennvvvnrsnsvenssnsvrnnsensrrnnsensrrrvessssrrenssssvvneenn 44 4 3 3 7 Low Pass Filter Cutoff Temperature 44 4 3 4 Fault and Warning Parameters rrrrrrnrnnnnnnrorvrnnrrannnnnnrnvnrnssrnnnnnnrsnnssnsnrnnnnrnrnnnnssssrnnnnnnnrsnnssnssnn 45 4 3 4 1 DC Link Over Voltage Fault Threshold r rrrrnnnnrorvvnnrnnnrnnnrrrnrrnsrnnnnnrnrvnnsennensnrnnnnrnnsene 45 Publication UM 0045 Table of Contents 4 3 4 2 DC Link Over Voltage Warning Threshold rrnnnorrrrrnnnnannnnnvvrnnnnsnnnnnnrvnvnnssnnnsrnnnnrnnsene 45 4 3 4 3 DC Link Over Voltage Recover Thresbold 45 4 3 4 4 Inverter Temperature Fault Threshbold A 45 4 3 4 5 Inverter Temperature Warning Threshold ssssssssssssssssssssssrrssssrrssrsrnssernnssrensrssrennssees 46 4 3 4 6 Inverter Temperature Recover Thresbold 46 4 3 4 7 Brake Temperature Fault Tbresbhold 46 4 3 4 8 Br
33. 0 is equivalent to 100 duty cycle For example setting the max duty cycle parameter to 0 95 would be equivalent to clamping the duty cycle to be no greater than 97 5 OZMTR3000 Motor Controller User s Manual Parameter Register Interface fA9 4 3 5 4 Inverter Power Stage Dead Time This parameter is used to specify the interlock dead time enforced by the inverter s power stage drivers This is the time between turning off one switch and turning on the complementary switch in the same half bridge In some systems particularly those with high PWM switching rates this hardware enforced dead time may add a small but noticeable distortion to the inverter s current waveforms The controller provides a dead time compensator that adds a correction to the PWM output signals to remove these distortions For proper operation the value programmed in this register must match the actual dead time enforced by the power stage driver hardware For systems where the dead time distortion is not an issue or to otherwise disable the compensator in the controller simply set this parameter to zero 4 3 6 Drive Configuration Parameters Table 16 Drive Configuration Parameter Summary PID SE Description Units Gei Min Max ee 0x8060 U16 Motor Drive Type ENUM 1 0 3 RW 0x8061 U16 Motor Speed Feedback Device Select ENUM 1 0 2 RW 0x8062 U16 Torque Command Slew Rate 0 1 s 1000 1 65535 RW 0x8063 U16 Torque Command
34. 039 2 5 2 6 Motor Over Speed If a speed feedback device has been enabled by the Motor Speed Feedback Device Select parameter PID 0x8061 the firmware will monitor the motor s speed and will set this flag if the speed exceeds the Motor Over Speed Fault Threshold parameter PID 0x803F 2 5 2 7 Motor Align Error This fault is used to indicate when the drive is configured to operate as a permanent magnet motor drive with alignment at startup enabled PID 0x8091 and the motor was spinning faster than the allowable maximum align speed PID 0x8094 2 5 2 8 Brake Switch Hardware Error The firmware provides a means to recognize a hardware based error signal from the brake chopper interface as is present on a typical Semikron SKiiP Half Bridge or Brake Chopper module OZMTR3000 Motor Controller User s Manual Functional Description 2 5 2 9 Brake Switch Hardware Over Temperature The firmware provides a means to recognize a hardware based over temperature error signal from the brake chopper interface as is present on a typical Semikron SKiiP Half Bridge or Brake Chopper module 2 5 2 10 Brake Switch Software Over Temperature If the Brake Temp Enable configuration parameter PID Ox80CA is set to TRUE the firmware will monitor the brake switch temperature and will assert a fault if it exceeds the Brake Switch Temperature Fault Threshold configuration parameter PID 0x8036 2 5 2 11 DC Link Over Voltage The firmware monitors t
35. 2 2 13 DC Link Voltage This register reports the measured voltage on the DC link OZMTR3000 Motor Controller User s Manual 4 2 2 14 Warning Status Parameter Register Interface Warning bits are active when set to 1 and not present when set to 0 See section 2 5 for details on each warning The warning bits are mapped into the register as follows 4 2 2 15 Fault Status N CH 14 26 ojn CH WIWINININ Piel e Warning Inverter A High Temperature Inverter B High Temperature Inverter A High Current Inverter B High Current Motor High Temperature Motor High Speed Torque Limited to Maximum Torque Limited by Brake Fault Torque Limited by High Temp lq Current Foldback Id Current Foldback DC Link High Voltage Reserved Brake Switch High Temperature Reserved 24V Supply Out of Tolerance 15V Supply Out of Tolerance 5V Supply Out of Tolerance 3 3V Supply Out of Tolerance 15V Supply Out of Tolerance Fault bits are active when set to a 1 and not present when set to a 0 If a fault occurs the corresponding bit is set to a 1 and remains set until a 1 is written to the Fault Reset command register PID 0x0004 When a fault occurs the controller will go to the FAULT state and the drive will stop operating The controller will stay in the FAULT state until the Fault Reset command is received See section 2 5 for details on each fault condition The fault bits are Gi mapped as follow
36. 5 Inverter Temperature Warning Threshold This parameter defines the inverter temperature threshold above which the firmware will report a high temperature warning Once above this warning threshold the temperature must fall below the corresponding recover threshold before the firmware will clear the high temperature warning 4 3 4 6 Inverter Temperature Recover Threshold See warning threshold description above 4 3 4 7 Brake Temperature Fault Threshold This parameter defines the brake switch temperature fault threshold If the Brake Temperature Sensor Enable configuration parameter PID Ox80CA is set to TRUE and the temperature rises above this value the controller will automatically transition to the FAULT state and drive operation will be disabled and forced OFF 4 3 4 8 Brake Temperature Warning Threshold This parameter defines the brake switch temperature threshold above which the firmware will report a high temperature warning if the Brake Temperature Sensor Enable configuration parameter is set to TRUE Once above this warning threshold the temperature must fall below the corresponding recover threshold before the firmware will clear the high temperature warning 4 3 4 9 Brake Temperature Recover Threshold See warning threshold description above 4 3 4 10 Motor Temperature Fault Threshold This parameter defines the motor temperature fault threshold If the Motor Temperature Sensor Enable configuration parameter PID 0x80C1
37. 6 Contactor Control ENUM 0 1 RW 4 2 1 1 On Off Control This register is used to turn the motor drive ON or OFF as follows 0 OFF This turns the drive OFF 1 ON This turns the drive ON 4 2 1 2 Mode Control This register is used to indicate the desired operating mode The default mode following a power on reset is specified in the configuration memory see section 4 3 6 9 for details The mode may not be changed while the drive is ON 0 Speed Control Motor speed is controlled in this mode 1 Torque Control Motor torque is controlled in this mode 4 2 1 3 Torque Setpoint This register is used to adjust the torque command when the drive is running in direct torque control mode The default torque command used when turning the drive on in torque control mode is specified in the configuration memory Torque Command Default at Turn On PID 0x8064 The value written to this register does not change the default torque stored in the configuration memory rather it merely provides a dynamic and temporary override from the default value The torque command is specified as a percentage of the Torque Command Maximum PID 0x8063 This value is specified as a signed 2 s complement number in units of 0 1 For example 10 would be entered as 100 decimal or 0x0064 hexadecimal Negative 10 would be represented as OxFF9C hexadecimal The legal range for this command is 1000 to 1000 Values outside of this range will be igno
38. 8 RW 0x8081 U32 AC Motor Stator Leakage Inductance uH 175 0 1E 08 RW 0x8082 U32 AC Motor Rotor Leakage Inductance uH 175 0 1E 08 RW 0x8083 U32 AC Motor Rotor Resistance uQ 19400 0 1E 08 RW 0x8084 U16 AC Motor Magnetizing Current 0 1 Arms 620 1 65535 RW 0x8085 U16 AC Motor Initial Magnetizing Current 0 1 Arms 1360 1 65535 RW 0x8086 U16 AC Motor Minimum Magnetizing Current 0 1 Arms 100 1 65535 RW 0x8087 U16 AC Motor Magnetizing Current Slew Rate Arms s 1400 1 65535 RW 0x8088 U16 AC Motor Field Weakening Enable boolean TRUE FALSE TRUE RW 0x8089 U16 AC Motor Field Weakening Minimum Speed RPM 100 1 65535 RW 0x808A U16 AC Motor Temperature Coefficient 0 001 C 400 1 65535 RW 4 3 8 1 AC Motor Mutual Inductance This parameter is used to specify the motor s mutual inductance 4 3 8 2 AC Motor Stator Leakage Inductance This parameter is used to specify the motor s stator leakage inductance 4 3 8 3 AC Motor Rotor Leakage Inductance This parameter is used to specify the motor s rotor leakage inductance 4 3 8 4 AC Motor Rotor Resistance This parameter is used to specify the motor s rotor resistance 4 3 8 5 AC Motor Magnetizing Current This parameter is used to specify the nominal magnetizing current for the motor When field weakening is not in effect the magnetizing current to the motor will be controlled to this value 4 3 8 6 AC Motor Initial Magnetizing Current This parameter is used to
39. CAN Al Control Board Motor Temperature optional Encoder or Resolver I F optional Figure 1 Typical Drive Electrical System Schematic 2 1 1 Power Module The power module is a three phase semiconductor bridge which controls the power transfer from the DC link to the motor and vice versa Oztek control boards are designed to interface directly with Semikron SKiiP power modules In addition to the power devices these modules OZMTR3000 Motor Controller User s Manual Functional Description provide current sensing DC link voltage sensing temperature sensing and protection features including over voltage over current and desaturation protection 2 1 2 Brake Controller In systems that employ single quadrant DC link supplies that can only source power to the motor a brake controller can be used to prevent regenerative braking energy from the motor from increasing the DC link voltage to dangerously high levels The OZMTR3000 controller provides features that support a hysteretically controlled brake switch The switch can be used to connect a brake resistor across the DC link when the voltage rises above a configurable threshold The resistor would then be disconnected when the DC link voltage falls below a configurable lower recover threshold 2 1 3 Control Board The control board is used to generate the gating signals to the power switches in order to control the motor current and or speed The contro
40. KEN TO MAINTAIN THE ACCURACY OF THE TRANSLATION THE ACCURACY CANNOT BE GUARANTEED APPROVED OZTEK CONTENT IS CONTAINED WITH THE ENGLISH LANGUAGE VERSION WHICH IS POSTED AT WWW OZTEKCORP COM Date and Revision April 2013 RevB Part Number UM 0045 Contact Information USA Telephone 603 546 0090 Fax 603 386 6366 Email techsupport Qoztekcorp com Table of Contents EE Table of Contents dee Tv rn AEE EAE saat iuuecnuaccdescaudsssecneaesacvsdvevovadecuwevicdsunecsucstsuevedstvecetcsescodstueuscngeass 1 1 1 Cl e Meel ln TEE 1 1 2 Nell le RE 1 2 Functional Description isi sisissssecnans eweg due tice egenen dE EE EE AER GER 2 2 1 Typical Hardware Implementation 2 SET Power Module i cascisvadeccncbccdiseusadieneanastiatetedesancwendtaceladeateoeddesscenadesuietandbateneceral Eege 2 21 2 Br k Controller E 3 2 13 Control BOA aie sdscisresdicccedsesaneactduredededalieraddsarevaudvaneeagdecdovedexannssdestmabundtaceddeceanebeddbutess ceueeedgoeee 3 2 2 Description OF Oper tioh auvrssa denne dele dead Eaa EEEa RaR NEEE 3 2 2 1 Volts Hertz Control 3 2 212 Field Ori nted CONTOl icc aescsediieecicedesesedeleeeecavetuwavesivercedetvandzevadatadsasvunsdeledenedaveiestdebesetaedoated 5 2 2 3 Dual Interleaved Inverter Operation 6 2 2 4 Temperature Based Torque Derating r rrrnnrrvnrsnrrvnrsnarrvnrsnarenrsnsrrenssnarsenssnrsenerssarsensssarsvssener 8 2 2 5 Maximum Torque Profile 9 2 26 Current elle Ne 10 2 3 Brake COmtr
41. RW Ox80BB S32 Inverter Temp Coefficient C2 Q16 28 31 10000 0 10000 0 RW Ox80BC S32 Inverter Temp Coefficient C3 Q16 6 679 10000 0 10000 0 RW Ox80BD U16 Inverter Temp Derating Enable boolean FALSE FALSE TRUE RW Ox80BE U16 Inverter Temp Derating Low Threshold C 90 0 150 RW Ox80BF U16 Inverter Temp Derating High Threshold C 100 0 150 RW Ox80CO U16 Inverter Temp Min Derating Factor 10 0 100 RW Ox80C1 U16 Motor Temp Enable boolean FALSE FALSE TRUE RW Publication UM 0045 Parameter Register Interface PID a Description Units Geer Min Max ee 0x80C2 S32 Motor Temp Coefficient CO Q16 3 929 10000 0 10000 0 RW 0x80C3 32 Motor Temp Coefficient C1 Q16 152 8 10000 0 10000 0 RW Ox80C4 32 Motor Temp Coefficient C2 Q16 13 88 10000 0 10000 0 RW Ox80C5 32 Motor Temp Coefficient C3 Q16 13 96 10000 0 10000 0 RW Ox80C6 U16 Motor Temp Derating Enable boolean FALSE FALSE TRUE RW Ox80C7 U16 Motor Temp Derating Low Threshold C 90 0 150 RW 0x80C8 U16 Motor Temp Derating High Threshold C 100 0 150 RW 0x80C9 U16 Motor Temp Min Derating Factor 10 0 100 RW Ox80CA U16 Brake Temp Enable boolean FALSE FALSE TRUE RW Ox80CB S32 Brake Temp Coefficient CO Q16 148 2 10000 0 10000 0 RW Ox80CC S32 Brake Temp Coefficient C1 Q16 212 8 10000 0 10000 0 RW Ox80CD S32 Brake Temp Coefficient C2 Q16 212 3 10000 0 10000 0 RW Ox80CE S32 Brake
42. SING WHETHER BY CONTRACT TORT NEGLIGENCE PRINCIPLES OF MANUFACTURER S LIABILITY OPERATION OF LAW CONDUCT STATEMENT OR OTHERWISE INCLUDING WITHOUT RESTRICTION ANY IMPLIED WARRANTY OR CONDITION OF QUALITY MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE TO THE EXTENT REQUIRED UNDER APPLICABLE LAW TO APPLY TO THE PRODUCT SHALL BE LIMITED IN DURATION TO THE PERIOD STIPULATED UNDER THIS LIMITED WARRANTY IN NO EVENT WILL OZTEK BE LIABLE FOR a ANY SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES INCLUDING LOST PROFITS LOST REVENUES FAILURE TO REALIZE EXPECTED SAVINGS OR OTHER COMMERCIAL OR ECONOMIC LOSSES OF ANY KIND EVEN IF OZTEK HAS BEEN ADVISED OR HAD REASON TO KNOW OF THE POSSIBILITY OF SUCH DAMAGE b ANY LIABILITY ARISING IN TORT WHETHER OR NOT ARISING OUT OF OZTEK S NEGLIGENCE AND ALL LOSSES OR DAMAGES TO ANY PROPERTY OR FOR ANY PERSONAL INJURY OR ECONOMIC LOSS OR DAMAGE CAUSED BY THE CONNECTION OF A PRODUCT TO ANY OTHER DEVICE OR SYSTEM AND c ANY DAMAGE OR INJURY ARISING FROM OR AS A RESULT OF MISUSE OR ABUSE OR THE INCORRECT INSTALLATION INTEGRATION OR OPERATION OF THE PRODUCT IF YOU ARE A CONSUMER RATHER THAN A PURCHASER OF THE PRODUCT IN THE COURSE OF A BUSINESS AND PURCHASED THE PRODUCT IN A MEMBER STATE OF THE EUROPEAN UNION THIS LIMITED WARRANTY SHALL BE SUBJECT TO YOUR STATUTORY RIGHTS AS A CONSUMER UNDER THE EUROPEAN UNION PRODUCT WARRAN
43. TY DIRECTIVE 1999 44 EC AND AS SUCH DIRECTIVE HAS BEEN IMPLEMENTED IN THE EUROPEAN UNION MEMBER STATE WHERE YOU PURCHASED THE PRODUCT FURTHER WHILE THIS LIMITED WARRANTY GIVES YOU SPECIFIC LEGAL RIGHTS YOU MAY HAVE OTHER RIGHTS WHICH MAY VARY FROM EU MEMBER STATE TO EU MEMBER STATE OR IF YOU DID NOT PURCHASE THE PRODUCT IN AN EU MEMBER STATE IN THE COUNTRY YOU PURCHASED THE PRODUCT WHICH MAY VARY FROM COUNTRY TO COUNTRY AND JURISDICTION TO JURISDICTION OZMTR3000 Motor Controller User s Manual Warranty and Return Return Material Authorization Policy Before returning a product directly to Oztek you must obtain a Return Material Authorization RMA number and the correct factory Ship To address Products must also be shipped prepaid Product shipments will be refused and returned at your expense if they are unauthorized returned without an RMA number clearly marked on the outside of the shipping box if they are shipped collect or if they are shipped to the wrong location When you contact Oztek to obtain service please have your instruction manual ready for reference and be prepared to supply e The serial number of your product e Information about the installation and use of the unit e Information about the failure and or reason for the return e A copy of your dated proof of purchase Return Procedure Package the unit safely preferably using the original box and packing materials Please ensure that your product is shipped fully
44. Temp Coefficient C3 Q16 142 5 10000 0 10000 0 RW 4 3 12 1 Inverter Temp Enable This is parameter is used to determine if there is a temperature sensing device present from the IGBT inverter interface and if it should to be used to measure the inverter temperature If this parameter is set to FALSE the inverter temperature is not monitored or calculated and the reported inverter temperature will default to 0 C When set to TRUE the temperature is calculated according to the user provided temperature coefficients see next section and is also monitored for possible over temperature conditions according to the Inverter Temperature Fault Warning Threshold configuration parameters PIDs 0x8033 0x8034 4 3 12 2 Inverter Temp Coefficients CO through C3 These parameters define the coefficients used by the 3 order polynomial fitting routine within the firmware to convert raw ADC readings to C The temperature is calculated using the normalized ADC measurements values in the range of 0 to 1 corresponding to the 12 bit ADC input range of 0x000 to OxFFF and the coefficient parameters as follows Temperature C3 X C2 X C1 X CO Where X is the normalized ADC reading in the range of O 1 CO C3 are the coefficient parameters The factory default values for these coefficients are based on the temperature sensors contained within a typical Semikron SKiiP power module When non SKiiP based temperature
45. The drive initially turns on with a regulated current of zero amps It will then ramp up the magnetizing current at a rate defined by this parameter 4 3 8 9 AC Motor Field Weakening Enable This parameter is used to enable the field weakening controller If this parameter is set to FALSE the field weakening feature will be disabled and the magnetizing current will be held at the nominal specified magnetizing current If this parameter is set to TRUE the field weakening feature will be enabled allowing the magnetizing current to be reduced at high motor speeds Note that the maximum available motor torque and or motor speed may be limited if field weakening is disabled depending on the motor ratings and the DC link voltage 4 3 8 10 AC Motor Field Weakening Minimum Speed This parameter is used to define the minimum speed at which field weakening will be calculated If field weakening is disabled this parameter is not used This parameter is provided mainly to simplify the firmware and to avoid divide by zero issues with the field weakening calculations This parameter should be set to a value below the minimum speed at which field weakening is expected to occur 4 3 8 11 AC Motor Temperature Coefficient This parameter is used to specify the thermal coefficient of the motor s rotor material The controller s slip estimator uses this parameter along with the measured motor temperature to estimate the change in rotor resistance as the tempera
46. User Configuration Revision Integer 0 0 OxFFFF RW 0x8006 U16 Configuration Password Integer Ox1111 0 OxFFFF RWP 4 3 1 1 EEPROM Header This is a read only header word that is used to indicate whether or not the configuration memory contains valid configuration data This header word is a fixed constant and is not expected to change for any revision of the drive firmware At startup the firmware attempts to read this value and if it does not match the expected value the firmware assumes the configuration memory does not contain valid configuration data i e not previously programmed If this is the case the firmware will automatically reset the contents of the configuration memory to the factory defaults 4 3 1 2 Factory Configuration Revision Major This is a read only value that represents the major revision of the factory configuration stored in the configuration memory Major revision changes to the default factory configuration are those that are not compatible with previous configurations such as when new parameters are added to the memory that are required for proper drive operation or if existing parameters change locations or formats At startup the firmware will read this value from the memory and compare it against the factory default for the present build of the firmware If the two values do not match the firmware will automatically reset the memory to the factory default values built into that version of the firmware Upd
47. achine will sequence to the Magnetizing state For permanent magnet operation if the PM Align At Startup Enable parameter is set to TRUE PID 0x8090 and this is the first time turning on after a POR the state machine will transition to the Align state For all other cases the state machine will transition to the Running state 2 4 4 Magnetizing When in this state the controller is ramping up the magnetizing current in the AC induction motor to the desired level Once at this initial magnetizing current the controller waits for the induced magnetic field to finish charging in the rotor based on the estimated rotor time constant While magnetizing the torque current is forced to zero amps and all attempts send a torque or speed command will be ignored Once magnetization is complete the state machine will transition to the Running state where the user torque or speed command will then be accepted If an OFF command is received during the magnetization process the controller will immediately transition back to the Idle state and will disable the inverter 2 4 5 Align When in this state the controller is performing the automatic alignment process for the permanent magnet motor The controller will remain in this state for the period of time specified in the PM Align Time parameter PID 0x8093 during which it will be regulating the align current specified in the PM Align Current parameter PID 0x8092 While aligning all attempts send a
48. adians second when using units of Watts for power and Nm for torque When the user commands a torque that would result in a motor power that exceeds the specified maximum power the controller will automatically limit the torque so that the resulting power is clamped to the maximum value e Region 2 Power Speed Limit This is the high speed region This region begins at the motor speed specified by the Torque Profile Constant Power Speed Region Start parameter PID 0x80B3 This speed value is used along with the specified maximum power to calculate a maximum Power Speed value As the motor speed increases the controller will calculate the power speed value and compare it to the maximum value specified If the maximum is exceeded the torque will then be reduced such that the power is reduced to maintain the maximum Power Speed value The figure below shows a pictorial summary view of the three regions created by the torque profile Note that the w ps represents the speed at which Region 3 starts as specified in parameter PID 0x80B3 Region 1 Region 2 Region 3 Mmax Prax D DI z Oo Wi gt O X Oo ke Torque Power Orase Oeps SPEED Figure 6 Torque and Power in the Three Speed Regions This torque profile feature is only available when operating the drive in direct torque control mode When operating in Volts Hertz mode or closed loop speed control mode the torque profile is not used
49. ake Temperature Warning Thresbold A 46 4 3 4 9 Brake Temperature Recover Threshold cccccsesssececeeeseesaeceseessessesesaeeeeeesseeseesenaeas 46 4 3 4 10 Motor Temperature Fault Threshold rrrrrrnrnrnnnnrorvrnnrnnnrnrnrvnnrnnsnnnnnnnnrvnnsrnnsnsnnnnnnrnnsene 46 4 3 4 11 Motor Temperature Warning Thresbhold A 46 4 3 4 12 Motor Temperature Recover Threshold A 46 4 3 4 13 Motor Over Current Fault Thresbold 46 4 3 4 14 Motor Over Current Warning Threshold rrnnnrorvrnnrnnnnnnnvrrvrrnsnrnnnnrnrvnnernsnnanrnnnnrvnnene 47 4 3 4 15 Motor Over Current Recover Thresbold A 47 4 3 4 16 Motor Over Speed Fault Threshold ssnnsnssnnssensnsnssssesrssssssnnennnssssesnnernnsnessssrnennnssssene 47 4 3 4 17 Motor Over Speed Warning Threshold rrrrrrnnnnrorvrnnrrnnrnnnnrnvrnnsrnnnnnnnrvnnnnnsnnannnnnnrnnsene 47 4 3 4 18 Motor Over Speed Recover Threshold ssssssnsnssssssesrnrnsssnenrnssssesnnernnssssensrnernnssssene 47 4 3 4 19 Inverter Error Pin Active High 47 4 3 4 20 Inverter Over Temp Pin Active High 47 4 3 4 21 Brake Hardware Error Pin Active High 48 4 3 4 22 Brake Hardware Over Temp Pin Active Hieb 48 4 3 5 Inverter Control Parameters rnrnannvrnnnrnnvnvrrennrrnsernnrrssennrssseennrsssesnnrssseenenrssseennrssssennrssssennsne 48 4 3 5 1 Pulse Width Modulation Freouency 48 4 3 5 2 Pulse Width Modulation Deadband Time 48 4 3 5 3 Pulse Width Modulation Max Min Duty Cycle 48 4 3 5 4 Inverter Power Stage Dead T
50. aphical User Interface GUI that provides the user a simple graphical interface for interacting with Oztek s embedded Power Control products The PCC provides the ability to control monitor and configure the motor controller For detailed information and operating instructions please refer to UM 0036 Power Control Center GUI User s Manual 6 Maintenance and Upgrade The firmware image on the OZDSP3000 can be upgraded in system using the resident CAN bootloader For detailed information on how to upgrade the firmware or directly interface with the bootloader please reference UM 0015 Oztek TMS28x CAN Bootloader Users Manual OZMTR3000 Motor Controller User s Manual Warranty and Return Warranty and Product Information Limited Warranty What does this warranty cover and how long does it last This Limited Warranty is provided by Oztek Corp Oztek and covers defects in workmanship and materials in your OZDSP3000 controller This Warranty Period lasts for 18 months from the date of purchase at the point of sale to you the original end user customer unless otherwise agreed in writing You will be required to demonstrate proof of purchase to make warranty claims This Limited Warranty is transferable to subsequent owners but only for the unexpired portion of the Warranty Period Subsequent owners also require original proof of purchase as described in What proof of purchase is required What will Oztek do During the Warranty P
51. are read and filtered by the drive software 4 3 3 2 DC Link Voltage Measurement Full Scale This parameter defines the full scale value of the voltage sensor used to measure the DC link voltage This full scale value is relative to the signal at the DSP s ADC input that would cause a full scale ADC reading i e ADC reading of OxFFF 4 3 3 3 Motor Current Measurement Full Scale This parameter defines the full scale value of the motor phase current sense measurements This full scale value is relative to the signal at the DSP s ADC input that would cause a full scale ADC reading i e ADC reading of OxFFF 4 3 3 4 Motor Current Measurement Polarity Select This parameter defines the polarity of the measured phase currents A value of zero 0 indicates that current flowing from the power switches to the motor is positive A value of one 1 indicates that current flowing from the power switches to the motor is negative 4 3 3 5 Low Pass Filter Cutoff Motor Current This parameter defines the cutoff frequency for the digital low pass filter used to calculate the RMS motor current 4 3 3 6 Low Pass Filter Cutoff DC Link This parameter defines the cutoff frequency for the digital low pass filter used to calculate the DC link voltage used for instrumentation purposes 4 3 3 7 Low Pass Filter Cutoff Temperatures This parameter defines the cutoff frequency for the digital low pass filter used to calculate the vari
52. ates 4 2 2 2 Operating Mode The present operating mode is reported as follows 4 2 2 3 Motor Temperature State Initializing Calibrating Idle Magnetizing Aligning Running Fault Value State 0 Speed Control 1 Torque Control 2 255 Reserved for future use Unknown Reserved for future use This register reports the measured motor temperature if a sensor has been enabled in the Motor Temp Enable configuration parameter PID 0x80C1 This register will return zero when a temperature sensor is not enabled 4 2 2 4 Motor Speed This register reports the present motor speed 4 2 2 5 Motor Power This register reports the estimated motor power using the relationship Power Torque Speed The torque is estimated based on the specified permanent magnet torque constant or the AC induction motor parameters Publication UM 0045 Parameter Register Interface 4 2 2 6 Motor Current This register reports the RMS motor currents If single inverter operation is enabled this register will report the current from the main inverter A If dual interleaved inverter operation is enabled this register will report the sum of the currents from both inverter A and inverter B 4 2 2 7 Motor Current Inverter A B These registers report the measured RMS motor current as reported by each inverter interface For single inverter operation the Inverter A current will match the reported Motor Current PID 0x4005 and the Inverter B
53. ates to the major factory revision value are expected to increment the previous value by 1 4 3 1 3 Factory Configuration Revision Minor This is a read only value that represents the minor revision of the factory configuration stored in the configuration memory Minor revisions are those that do not require reloading the memory to the factory default values This could be a result of a minor value change to the default value for a particular parameter or the addition of a new parameter that is not needed OZMTR3000 Motor Controller User s Manual Parameter Register Interface for proper drive operation Updates to the minor factory revision value are expected to increment the previous value by 1 4 3 1 4 Application Configuration Data Revision This value is used to represent the revision of the application specific configuration data as programmed by the factory This field is meant to store the revision of any custom configuration settings programmed at the factory for a specific end user application The factory default prior to customization for this field is zero indicating that no custom settings have been made to the configuration memory Application specific updates to the configuration data are expected to increment this parameter by 1 This parameter is password protected to prevent accidental modification by the end user 4 3 1 5 Hardware Configuration This read only register is provided for future use only It is presen
54. ation index the current will not be reduced the compensator output will be 1 0 If the DC link were to drop causing the modulation index to increase to the specified limit the commanded current will be linearly reduced based on the compensator output When this condition occurs a warning flag is asserted that indicates to the user that the current is presently being limited by this controller In the event that the torque current is reduced to zero and the modulation index is still too high a second controller may also be used to fold back the magnetizing current l4 This second controller is only useful when the drive is configured to control an AC induction motor i e where a magnetizing current is being regulated For permanent magnet motors the ly current is already being controlled to zero and cannot be reduced any further The fold back threshold for the ly controller should be set higher than the fold back threshold so that it will not be engaged unless the I fold back is not adequate In general the l4 current should not need to be clamped particularly if field weakening has been enabled PID 0x8088 The l4 fold back has been added as a potential backup protection mechanism This may be useful for systems with fast dynamic changes in either motor speed or DC Link voltage both of which affect field weakening The rate of change of the actual field within the motor is based on the rotor time constant so there could be scenarios whe
55. aw ADC readings to C See section 4 3 12 2 Inverter Temp Coefficients for a description of these polynomial coefficients OZMTR3000 Motor Controller User s Manual Parameter Register Interface 4 3 13 Encoder Parameters Table 23 Encoder Parameter Summary PID SE Description Units en Min Max inky Ox80D8 U32 Encoder Line Count Integer 2048 0 1E 08 RW Ox80D9 U16 Encoder Positive Direction ENUM 1 0 1 RW Ox80DA U16 Encoder Clock Timer Prescaler ENUM 6 0 7 RW Ox80DB U16 Encoder Event Counter Prescaler ENUM 2 0 11 RW Ox80DC U16 Encoder Debounce Prescaler ENUM 4 0 255 RW Ox80DD U16 Encoder Debounce Select ENUM 2 0 2 RW 4 3 13 1 Encoder Line Count This parameter is used to specify the line count for the encoder being used 4 3 13 2 Encoder Positive Direction This parameter is used to define the phase relationship between A and B that results in a positive speed calculation by the motor controller The legal values for this parameter are as follows e 0 A LEADS B a positive speed is calculated when A leads B by 90 e 1 BLEADSA a positive speed is calculated when B leads A by 90 4 3 13 3 Encoder Clock Timer Prescaler This parameter is used to configure the clock that is used to time the QEP input events The clock will be set to SYSCLK 2 where N is the value specified by this parameter and SYSCLK is the internal clock rate of the DSP on the control boa
56. ct Oztek directly at USA Telephone 603 546 0090 Fax 603 386 6366 Email techsupport Qoztekcorp com Direct returns may be performed according to the Oztek Return Material Authorization Policy described in your product manual What proof of purchase is required In any warranty claim dated proof of purchase must accompany the product and the product must not have been disassembled or modified without prior written authorization by Oztek Proof of purchase may be in any one of the following forms e The dated purchase receipt from the original purchase of the product at point of sale to the end user e The dated dealer invoice or purchase receipt showing original equipment manufacturer OEM status e The dated invoice or purchase receipt showing the product exchanged under warranty Publication UM 0045 Warranty and Return What does this warranty not cover Claims are limited to repair and replacement or if in Oztek s discretion that is not possible reimbursement up to the purchase price paid for the product Oztek will be liable to you only for direct damages suffered by you and only up to a maximum amount equal to the purchase price of the product This Limited Warranty does not warrant uninterrupted or error free operation of the product or cover normal wear and tear of the product or costs related to the removal installation or troubleshooting of the customer s electrical systems This warranty does not apply to and Oztek will not b
57. d INV_BOT_U V W respectively Feedback of phase currents temperature and DC link voltage are provided on INV_IOUT_U V W INV_TEMP INV_UDC signals respectively Error signals from the module are similarly provided via INV_ERR_U V W and INV_OVT Please refer to the Semikron datasheet for the particular module being used for more information Table 1 J11 SKiiP Power Module Pin Assignment Pin Description 1 Ground 2 INV_BOT_U Phase A 3 INV_ERR_U Phase A 4 INV_TOP_U Phase A 5 INV_BOT_V Phase B 6 INV_ERR_V Phase B 7 INV_TOP_V Phase B 8 INV_BOT_W Phase C 9 INV_ERR_W Phase C 10 INV_TOP_W Phase C 11 INV_OVR_TEMP 12 n c 13 INV_UDC 14 24V 15 24V 16 n c 17 n c 18 Ground 19 Ground 20 INV_TEMP 21 INV_IOUT_U_RTN Phase A 22 INV_IOUT_U Phase A 23 INV IOUT V RTN Phase B 24 INV IOUT V Phase B 25 INV IOUT W RTN Phase C 26 INV IOUT W Phase C Publication UM 0045 OZDSP3000 Hardware Interfacing e OZDSP3000 Connector Part Number AMP 499922 6 e Mating Connector Part Number AMP 1658621 6 e Power 24V 1 5A 3 1 2 Custom Driver Interface Considerations When attempting to use the OZDSP3000 motor controller with a custom designed power stage the hardware must be designed to provide the appropriate signals expected at the J11 interface Generally some sort of custom printed circuit board will be required to interface t
58. d the change in time is normally set to the control ISR period which is equal to the configurable PWM rate This parameter is used to pre scale the time interval to be a multiple of the PWM period from 1 to 16 to allow for adjustable speed resolution The controller stores the position counter every PWM period in a 16 deep buffer The speed calculator compares the last position count value to the counter value from N cycles ago where N is the value specified in this parameter This effectively produces a larger window of time over which to look at the change in the position count which in turn increases the effective resolution of the calculated speed Note that using this implementation method the speed calculation is still updated every PWM period not every Nth PWM period 4 3 15 Current Regulator Parameters Table 25 Current Regulator Parameter Summary PID Ge Description Units an Min Max en OxOOFO 32 Current Controller Kp Q16 1 0 0 0 32767 99 RW Ox00F1 32 Current Controller Ki Q16 1000 0 0 32767 99 RW 0x00F2 U16 Id Current Foldback Enable boolean TRUE FALSE TRUE RW 0x00F3 U16 Id Current Foldback Mod Index Threshold 0 1 960 0 1000 RW Ox00F4 32 Id Foldback Controller Kp Q16 0 2 0 0 32767 99 RW OxOOF5 S32 Id Foldback Controller Ki Q16 200 0 0 32767 99 RW OxOOF6 U16 Iq Current Foldback Enable boolean TRUE FALSE TRUE RW OxOOF7 U16 Iq Current Fo
59. ded to the magnetizing current or the lower field weakened current if enabled when driving AC induction motors or to zero when driving permanent magnet motors The current commands and current feedback terms as seen by the PI regulators are normalized relative to the full scale motor current specified by the Motor Phase Current Measurement Full Scale configuration parameter PID 0x8022 The output of each PI block is then used to command an appropriate V V applied voltage command to the Space Vector Modulator as shown earlier in this document in Figure 3 with a scale of 0 to 100 modulation index The Kp and Ki gain constants should be scaled appropriately based on this normalization 4 3 15 2 Id Iq Current Foldback Enable These parameters are used to enable the Igor foldback mechanism When set to FALSE the corresponding current foldback controller is disabled When set to TRUE the corresponding current foldback controller is enabled 4 3 15 3 Id Iq Current Foldback Modulation Index Threshold These parameters specify the modulation index level at which the corresponding controller should start folding back the commanded current For proper foldback operation this Publication UM 0045 66 Parameter Register Interface parameter should be set slightly below 100 generally in the mid 90 s Also the intention of the foldback mechanism is to foldback I prior to folding back l so the Iq threshold should be set slightly
60. drive 7 Relay drive return e OZDSP3000 Connector Part Number Molex Micro Fit 2x4 Header 43045 0824 e Mating Connector Part Number Molex Micro Fit 2x4 Receptacle 43025 0800 e Output Range 24V 2A continuous 5A inrush 3 1 5 J25 Bias Power Input amp SPI Boot Enable The OZDSP3000 requires 24VDC power input on terminal block J25 pins 1 and 5 Pins 2 and 4 are connected to the 24VDC GND supply for optional external use of the supply connections Pin 3 is used for SPI boot enable It should be left floating or connected to ground for normal Flash Boot operation SPI bootloader is disabled It should be connected to 24VDC pin 2 to enable the SPI bootloader functionality Table 4 J12 RS 485 Pin Assignment Pin Description 1 24 VDC 2 24 VDC spare 3 SPI Boot Enable 4 24V Return spare 5 24V Return e OZDSP3000 Connector Part Number Phoenix Contact 1733606 e Mating Connector Part Number n a terminal block style e Voltage 24V nominal 18V min 28V max e Current 4 5A maximum Inrush current while powering three SKiiP modules 3 1 6 J14 Brake Chopper Power Module Interface optional Connector J14 provides an optional interface to a SKiiP style Semikron half bridge and brake module This interface is only used if the Brake Controller Enable parameter PID 0x8110 is set OZMTR3000 Motor Controller User s Manual OZDSP3000 Hardware Interfacing to TRUE Otherwise if the brake co
61. e allowable torque power based on the minimum expected DC link voltage In doing so the operator i e driver will not notice these fluctuations in available torque due to DC link voltage variations even when they maintain a constant position with the accelerator pedal To facilitate the ability to restrict the maximum torque as a function of speed the controller provides a configurable maximum torque profile feature This feature is enabled using the Torque Profile Enable configuration parameter PID 0x80B0 The profile consists of three speed regions as follows e Region 0 Torque Limit This is the low speed region of the profile and it starts at 0 RPM In this region the torque command will be limited to the value specified in the Torque Profile Maximum Torque parameter PID 0x80B1 Any commands from the user that exceed this value will be ignored and this value will be used instead e Region 1 Power Limit This is the mid speed region In this region the motor power is limited to the value specified in the Torque Profile Maximum Power parameter PID 0x80B2 The speed at which this region begins can be calculated based on the fact that motor power equals torque times speed Therefore the speed at which the motor will reach this maximum power threshold can be calculated as the specified maximum Publication UM 0045 Functional Description power divided by the specified maximum torque This speed Wpase Will be in units of r
62. e responsible for any defect in or damage to a The product if it has been misused neglected improperly installed physically damaged or altered either internally or externally or damaged from improper use or use in an unsuitable environment b The product if it has been subjected to fire water generalized corrosion biological infestations or input voltage that creates operating conditions beyond the maximum or minimum limits listed in the Oztek product specifications including high input voltage from generators and lightning strikes c The product if repairs have been done to it other than by Oztek or its authorized service centers hereafter ASCs d The product if it is used as a component part of a product expressly warranted by another manufacturer e The product if its original identification trade mark serial number markings have been defaced altered or removed f The product if it is located outside of the country where it was purchased g Any consequential losses that are attributable to the product losing power whether by product malfunction installation error or misuse Disclaimer Product THIS LIMITED WARRANTY IS THE SOLE AND EXCLUSIVE WARRANTY PROVIDED BY OZTEK IN CONNECTION WITH YOUR OZTEK PRODUCT AND IS WHERE PERMITTED BY LAW IN LIEU OF ALL OTHER WARRANTIES CONDITIONS GUARANTEES REPRESENTATIONS OBLIGATIONS AND LIABILITIES EXPRESS OR IMPLIED STATUTORY OR OTHERWISE IN CONNECTION WITH THE PRODUCT HOWEVER ARI
63. e specified frequency based on the rated Publication UM 0045 SSS Functional Description voltage frequency ratio Note that the controller does not immediately apply this new frequency but rather slowly slews the applied frequency from the present operating value to the newly commanded value based on the programmed Speed Command Slew Rate PID 0x8065 When the user s speed command results in a frequency above the rated frequency the drive will allow for a higher frequency while keeping the applied voltage to the specified rated voltage up until a maximum defined frequency PID 0x80A1 For low speed operation the drive provides a voltage boost feature to avoid stalling the motor This feature allows the user to modify the low speed portion of the Volts Hertz curve based on two additional parameters First the voltage at zero hertz can be specified PID 0x80A3 to be a value greater than zero volts Second an inflection point is specified PID 0x80A2 that defines the frequency from which the voltage boost curve deviates from the rated Volts Hertz curve For applications that require a minimum speed frequency this can be programmed into the controller using PID Ox80A0 Speed commands below this value will be overridden with the minimum value specified by this parameter The resulting programmable Volts Hertz profile is depicted in the figure below Rated Voltage PID 0x8071 EI D ZS 2 gt ki a 2 2 lt
64. eGaeesrenaddveredd 18 25 26 Motor OV r Sp d EE 18 2 5 2 7 gt Motor Align EN Oleee eser eean eee eea r eege AE 18 2 5 2 8 Brake Switch Hardware Error 18 2 5 2 9 Brake Switch Hardware Over Temperature ccceceessssecececessssnaeeeeeeseesseseaeeeeeeeseeses 19 Publication UM 0045 it Table of Contents 2 5 2 10 Brake Switch Software Over Temperature 19 25 211 DC Link Over VoOlta ge um egdedbe geheie deed EE 19 2 5 2 12 Configuration Memory Error 19 25 2213 eegen OT 19 2 5 2 14 Communications TIMEOUT ce eeccessssssesssesssessssssneseeaeeeseeeseeeseaeaeaeseaesseeseeeseeeaeneasaenes 20 3 OZDSP3000 Hardware Interfacing i cisicscciecacatetancrsetavacunstanceaeianeentidanenicstacatsbedandiaceaseratwes 20 3 1 Application Intertaces irnn seened araa aE EEEE a eaaa E ERAEN Er sins 20 3 1 1 J11 SKiiP Power Module Interface Inverter A 21 3 1 2 Custom Driver Interface Considerations 22 3 1 2 1 POW EE 22 3122 E ein M eut Elle EE ER 3 1 2 3 Error TA DUT sats Geessen ates cts edd S bteegete ages ooeaddeweandeeescun deeg e deeg 22 3 1 2 4 DC Link Voltage Sensing ccceesssssscecececessessaececesseessaeseceesesseeeaaesueeeseesseesesesaeeeeess 22 3 1 2 5 DC Link Hardware Over Voltage Protecton 22 3 1 2 6 Hardware Over Current and Desaturation Brotectlon 22 3 1 2 7 Current Sense Signals cccccccccccssssssssececececessesseaeeeecesseseasaecesecusseeasauseseeeesssesesesaeeeeens 23 3 1 2 8 Temperature Sense Signal
65. ed to as the analog gain The firmware handles converting this to the discrete time gain by automatically dividing this by the sample frequency at which the controller is updated the PWM frequency The PI topology used by the zero sequence current controller is the same as that used by the main current controllers in that the proportional and integral correction terms are summed together see the figure above The output of the PI block is then summed into the PWM OZMTR3000 Motor Controller User s Manual Parameter Register Interface 69 modulator outputs effectively acting as a DC offset to the commanded Vy g c voltage waveforms The current feedback signals la g c in the figure above are normalized relative to the full scale inverter current specified by the Motor Phase Current Measurement Full Scale configuration parameter PID 0x8022 The output of the PI controller is added to the PWM duty cycle commands effectively increasing or decreasing the overall PWM modulation index The Kp and Ki gain constants should be scaled appropriately based on this normalization In general these gains can be set to the same values as the main la lq current loops these parameters are provided to increase system level tuning flexibility 4 3 18 Brake Controller Parameters Table 28 Brake Controller Parameter Summary PID ae Description Units r Min Max seer 0x8110 U16 Brake Controll
66. eive a 0 10V temperature signal on pin 12 that corresponds to the hot spot temperature of the power device Publication UM 0045 OZDSP3000 Hardware Interfacing The top half bridge PWM output HB_TOP and the current feedback pins HB_IOUT and HB IOUT RTN are not used by the brake controller and can be left unconnected 3 1 7 J12 Quadrature Encoder Interface optional Connector J12 provides an optional interface to an incremental quadrature encoder The interface provides for the A and B quadrature inputs If enabled to use the encoder interface see parameter Motor Position Speed Feedback Device Select PID 0x8061 the controller will use this interface for determining the motor speed using the A and B inputs The controller does not use this interface for absolute position feedback and as such the index signal pins 5 and 10 is not used these pins may be left unconnected 5V power and ground are also provided on the connector to power the encoder device Table 6 J12 Encoder Interface Pin Assignment Pin Description 1 5V 2 No connect 3 A Signal Positve 4 B Signal Positive 5 Index Positive not used 6 No Connect 7 Ground 8 A Signal Negative 9 B Signal Negative 10 Index Negative not used e OZDSP3000 Connector Part Number Molex Micro Fit 2x5 Header 43045 1012 e Mating Connector Part Number Molex Micro Fit 2x5 Receptacle 43024 1000 e Power 5V
67. er Enable boolean false false true RW 0x8111 U16 Brake Controller Voltage Threshold 0 1V 7250 0 15000 RW 0x8112 U16 Brake Controller Recover Voltage Threshold DIN 7000 0 15000 RW 0x8113 U16 Brake Controller Fault Motor Response ENUM 1 0 2 RW 0x8114 U16 Brake Gate Driver Signal Active High boolean true false true RW 4 3 18 1 Brake Controller Enable This parameter is used to enable the brake chopper controller When this parameter is set to FALSE brake chopper operation and all related features are disabled In this case the brake controller state will always read as OFF the switch output will always be inactive and the temperature measurement block will be disabled When this parameter is set to TRUE the brake chopper is allowed to operate as specified in section 2 3 4 3 18 2 Brake Controller Voltage Threshold This parameter specifies the DC Link voltage above which the brake chopper should engage the brake resistor Once the brake resistor is engaged it remains connected until the DC Link voltage drops below the value specified by the Brake Controller Recover Voltage Threshold 4 3 18 3 Brake Controller Recover Voltage Threshold This parameter specifies the DC Link voltage at which the brake chopper should disconnect the brake resistor if it is currently engaged This value should be set to a value less than the Brake Chopper Voltage Threshold in order to provide some hysteresis between turning the brake resistor on and of
68. eriod Oztek will at its option repair the product if economically feasible or replace the defective product free of charge provided that you notify Oztek of the product defect within the Warranty Period and provided that through inspection Oztek establishes the existence of such a defect and that it is covered by this Limited Warranty Oztek will at its option use new and or reconditioned parts in performing warranty repair and building replacement products Oztek reserves the right to use parts or products of original or improved design in the repair or replacement If Oztek repairs or replaces a product its warranty continues for the remaining portion of the original Warranty Period or 90 days from the date of the return shipment to the customer whichever is greater All replaced products and all parts removed from repaired products become the property of Oztek Oztek covers both parts and labor necessary to repair the product and return shipment to the customer via an Oztek selected non expedited surface freight within the contiguous United States and Canada Alaska Hawaii and locations outside of the United States and Canada are excluded Contact Oztek Customer Service for details on freight policy for return shipments from excluded areas How do you get service If your product requires troubleshooting or warranty service contact your merchant If you are unable to contact your merchant or the merchant is unable to provide service conta
69. esaeeeeeeseeeseesenaees 55 4 3 9 6 PM Align Angle Offset 55 4 3 10 Volts Hertz Drive Parametere 55 4 3 10 1 V Hz Minimum Ereguency 55 4 3 10 2 V Hz Maximum Frequency rrerarnrannvnnenvvnnnvvrrnnvnnennvnsenverenvrsrnvnsennrnsennnsesvarssnnvssenvrsssvsene 56 4 3 10 3 V Hz Inflection Frequency cccccccssesesssccesseeessececsseccsseceseccsaececsaeceessecesaeeeesaesecseeenaees 56 4 3 10 4 V Hz Zero Hertz Voltage ccccessccessecsessecesseeessececsseccseecesseecsaeecesaeceesseeesaeecesesecseeesaees 56 4 3 10 5 V Hz Synchronous Startup Enable 56 4 3 10 6 V Hz Startup Frequency rrnrrrrorrrrnnvnnenvvnrevrrrrnrrrennnnennvnrsnvrsrnrrsennrnsenvnsersrssennvsssnnrssvssne 56 4 3 10 7 V Hz Startup Pause Time 56 4 3 11 Maximum Torque Profile Parameter 56 4 3 11 1 Torque Profile Enable isssiisssiriisssinessesernsissereeiirirassarsnannscosesna ranes nea sia eass si deke ii kanastia 57 4 3 11 2 Torque Profile Maximum Torgue rrnnnnrnnrnnnrnnnnnnnnrnvnvnssnsnrnnnrnnnsnnsrnnnnnnnrvnnsnnssnsnnnnnnrnnsene 57 4 3 11 3 Torque Profile Maximum Power 57 4 3 11 4 Torque Profile Power Speed Region Start 57 4 3 12 Temperature Measurement and Derating Parameters cccccccccccsesssssceeeeecessessneesaeeeeess 57 4 3 12 1 Inverter Temp Enable uangseedee voceenaccueedaeueddestacddecutae dieepdsnests suandedeee thadecnecPbeesbaccees 58 4 3 12 2 Inverter Temp Coefficients CO through Cl 58 4 3 12 3 Inverter Temp Derating Enable
70. f 4 3 18 4 Brake Controller Fault Motor Response This parameter is used to specify whether or not the motor controller is affected by a brake controller fault The allowable settings for this parameter are Publication UM 0045 Oztek PCC Tool e 0 MOTOR FAULT when this mode is selected the motor controller will go to the FAULT state any time a brake controller fault occurs e 1 NO BRAKING TORQUE when this mode is selected and the motor drive is in direct torque control mode the motor drive is allowed to continue operating with the exception that any braking torque commands are ignored and instead the torque command is set to 0 This behavior is only supported when the motor drive is in torque control mode if the drive is in speed mode and this mode is selected a brake controller fault will force the motor controller to go to the FAULT state e 2 DO NOTHING when this mode is selected brake faults have no affect on the motor controller 4 3 18 5 Brake Gate Driver Signal Active High This parameter specifies the logic level that is used to turn ON the gate driver If the value is set to TRUE the drive signal out of the control board is driven low when the Brake Chopper is off i e the signal is treated as active high to connect the brake resistor If this value is set to FALSE the signal is driven high when the Brake Chopper is off 5 Oztek PCC Tool The Oztek Power Control Center PCC is a Microsoft Windows based Gr
71. faults that are hard coded into the newly installed firmware Differences in the minor revision will not cause the memory to be reset Using this factory configuration revision scheme the minor revision number is expected to change for minor changes that do not change the layout and format of the data in the configuration memory i e a simple change to a default value for a particular parameter or its legal data range The major revision number is required to change any time Publication UM 0045 40 Parameter Register Interface new parameters are added or parameter locations or formats are changed The user must take care when updating the firmware to understand whether or not the configuration memory will be reset so as not to lose any custom settings previously stored The present factory revision of the configuration memory is stored in the Factory Configuration Revision registers PIDs 0x8001 0x8002 4 3 1 Configuration Control Parameters Table 11 Configuration Control Parameter Summary PID ore Description Units er Min Max je 0x8000 U16 EEPROM Header Integer 0x0159 0 OxFFFF R 0x8001 U16 Factory Configuration Revision Major Integer 1 0 OxFFFF R 0x8002 U16 Factory Configuration Revision Minor Integer 0 0 OxFFFF R 0x8003 U16 Application Configuration Data Revision Integer 0 0 OxFFFF RWP 0x8004 U16 Hardware Configuration Integer 0 0 OxFFFF R 0x8005 U16
72. fied in the Motor Temp Min Derating Factor parameter PID 0x80C9 as discussed in section 2 2 4 4 3 12 12 Motor Temp Min Derating Factor This parameter is used to define the minimum derating factor to use when reducing the user s torque command due to high motor temperatures Normally at low temperatures with no torque reduction the thermal derating factor is 1 0 or 100 This parameter specifies the maximum amount of torque reduction allowed This parameter should be set to a value between zero 0 being the maximum derating which reduces the torque command to zero at the maximum temperature and 100 100 being no derating 4 3 12 13 Brake Temp Enable This is parameter is used to determine if there is a temperature sensing device present in the brake chopper drive interface and if it should to be used to measure the switch temperature If this parameter is set to FALSE the brake temperature is not monitored or calculated and the reported brake temperature will default to 0 C When set to TRUE the temperature is calculated according to the user provided temperature coefficients see next section and is also monitored for possible over temperature conditions according to the Brake Temperature Fault Warning Threshold configuration parameters PIDs 0x8036 0x8037 4 3 12 14 Brake Temp Coefficients CO through C3 These parameters define the coefficients used by the 3 order polynomial fitting routine within the firmware to convert r
73. firmware will also monitor the over temperature signal from the secondary Inverter B interface 2 5 2 3 Software Inverter Over Temperature The firmware monitors the main Inverter A temperature and will assert a fault if it exceeds the Inverter Temperature Fault Threshold configuration parameter PID 0x8033 If the Interleaved Inverters Enable configuration parameter PID 0x8108 is set to TRUE the firmware will also monitor the temperature from the secondary Inverter B interface and check this against the same fault threshold value 2 5 2 4 Software Inverter Over Current If the Inverter Temp Enable configuration parameter PID Ox80B8 is set to TRUE the firmware will monitor the RMS current to the motor from the main Inverter A and asserts a fault if it exceeds the Motor Over Current Fault Threshold configuration parameter PID 0x803C If the Interleaved Inverters Enable configuration parameter PID 0x8108 is also set to TRUE the firmware will monitor the current from the secondary Inverter B interface as well In the case of dual interleaved inverter operation the fault threshold is first divided by two and then compared against the current from each inverter 2 5 2 5 Motor Over Temperature If the Motor Temp Enable configuration parameter PID 0x80C1 is set to TRUE the firmware will monitor the motor s temperature sensor and assert a fault if the temperature exceeds the Motor Temperature Fault Threshold configuration parameter PID 0x8
74. firmware will monitor the motor s speed and will set a warning flag if the speed exceeds the Motor Over Speed Warning Threshold configuration parameter PID 0x8040 This flag will remain set until the speed falls below the Motor Over Speed Recover Threshold configuration parameter PID 0x8041 2 5 1 5 Clamped Torque Command If the Torque Profile Enable parameter PID 0x80B0 is set to TRUE and the user attempts to operate the drive in torque control mode with a torque command above the maximum allowed by the profile the firmware will limit the applied torque to the maximum value from the profile When this is the case the motor drive will set this flag to indicate that the requested torque command is not being used and that a lower torque is actually being commanded This warning flag is automatically cleared when the motor torque returns to being controlled to the requested torque value from the user 2 5 1 6 Braking Torque Disabled If the brake controller is enabled PID 0x8110 the Brake Controller Fault Motor Response parameter PID 0x88113 is set to 1 and a brake fault is detected the firmware will not allow braking torque commands from the user Instead the torque command will be clamped to zero to override the braking command from the user If this occurs the controller will set this warning flag to indicate to the upper level controller that the requested braking torque command is not being used and that the torque has been se
75. he J11 signals to the gate drivers current sensors etc 3 1 2 1 Power The OZDSP3000 supplies 24V on J11 pins 14 amp 15 This 24V may be used to power the electronics on the interface board The supply is capable of providing 1 5A 3 1 2 2 Switch Commands The six switching commands are provided on pins 2 4 5 7 8 and 10 These switch command signals are driven off of the OZDSP3000 at 15V logic level using MC14504B level shifting devices 3 1 2 3 Error Inputs The OZDSP3000 expects three logic level error inputs one associated with each phase on pins 3 6 and 9 When active these inputs cause the firmware to latch the system off into the FAULT state Pull ups to 3 3V are provided on board and the signals are active high Depending on the features provided in the custom design these signals can be used to interface single error sources multiple protection circuits or none at all The custom interface board should drive the pin with an open collector style circuit In the case where no protection is provided the pins should be grounded to disable the faults 3 1 2 4 DC Link Voltage Sensing The OZDSP3000 expects a signal proportional to DC link voltage to be provided on J11 pin 13 with respect to pin 21 This signal should be scaled such that 0 10 V represents the measurable DC link voltage range 3 1 2 5 DC Link Hardware Over Voltage Protection When designing a custom interface it is highly recommended that hardware ove
76. he DC link voltage and will assert a fault if it exceeds the DC Link Over Voltage Fault Threshold parameter PID 0x8030 2 5 2 12 Configuration Memory Error This fault occurs any time a read from the configuration memory is performed and the CRC for the block being read does not match the CRC stored in the memory This may occur if the data was corrupted in transmission during the read or this may occur if the data stored in memory was corrupted Unlike all other fault sources this fault condition is not cleared with the Fault Reset command PID 0x0004 as the fault condition indicates the possibility that the control parameters are not as intended Instead this fault is considered a major system fault and needs to be addressed as follows 1 Attempt to reload the system configuration using the Configuration Reload command PID 0x0007 or cycle power to the control board Either of these actions will reset the CPU on the control board which then forces a re initialization of the application including reading the configuration parameters from the external configuration memory If this completes without error this implies the previous error occurred while the data was being read 2 If after executing step 1 above a configuration error is still present this may indicate bad data in the configuration memory In this case the memory will need to be reset to the factory defaults using the Configuration Reset command PID 0x0006 Once the memory co
77. he parameters are stored and treated as 16 bit unsigned values 4 1 2 1 Specifying Fixed Point Parameters Some parameters listed in the following sections are specified as 32 bit signed numbers with the units specified as Q16 fixed point numbers Using this data format the lower 16 bits LSW represents the fractional portion of the parameter and the upper 16 bits MSW represent the integer portion of the parameter For example the number 10 25 would be entered as 0x000A4000 where the MSW 0x000A hex 10 decimal and the LSW 0x4000 hex 0 25 0x4000 0xFFFF 4 1 3 Access Level The access level for each register is defined as follows e W writeable the parameter is writable by the user e R readable the parameter is readable by the user e P password protected the parameter may only be accessed by supplying a password Publication UM 0045 Parameter Register Interface 4 2 Volatile Registers 4 2 1 Command Registers Table 9 Command Register Set PID Data Description Units Min Max Access Type Level 0x0000 U16 On Off Control ENUM 0 1 RW 0x0001 U16 Mode Control ENUM 0 1 RW 0x0002 S16 Torque Setpoint 0 1 32768 32767 RW 0x0003 S16 Speed Setpoint 0 1 32768 32767 RW 0x0004 U16 Fault Reset ENUM 0 1 RW 0x0005 U16 Configuration Password n a 0 65535 RW 0x0006 U16 Configuration Reset ENUM 0 1 RWP 0x0007 U16 Configuration Reload ENUM 0 1 RW 0x0008 U1
78. higher than the I foldback reference see section 2 2 6 for more details 4 3 15 4 Id lq Current Foldback Controller Gain Constants Kp Ki These parameters set the proportional and integral gain constants for the PI regulator that is used by the foldback controllers The PI topology is the same as the main current regulators shown above with the exception of a clamp on the integrator and output The calculated error input to the regulator is the difference between the maximum modulation index and the actual modulation index The output from the compensator is a number between 0 and 1 0 that is multiplied by the corresponding current command where a value of 1 0 indicates no foldback a value of 0 9 would indicate that the corresponding current command has been reduced by 10 See section 2 2 6 for more details on the current foldback mechanism Limit Threshold Factor max 1 max 1 min 0 min 0 Mod Index Figure 14 Current Fold Back PI Regulator 4 3 16 Speed Regulator Parameters The parameters described in this section are only used if the controller is configured as a Closed loop Field Oriented Motor Controller for either PM or AC Induction motors as specified in the Motor Drive Type parameter PID 0x8060 and the drive is operated in speed control mode Otherwise these parameters are not used by the controller Table 26 Speed Regulator Parameter Summary PID ES Description Units E Min Max
79. ibed in this section are only used if the controller is configured to operate as an Open loop Volts Hertz Controller for AC induction motors as specified in the Motor Drive Type parameter PID 0x8060 Otherwise these parameters are not used by the controller See section 2 2 1 for more details on general Volts Hertz operation and configuring the desired Volts Hertz operating profile Table 20 Volts Hertz Parameter Summary PID Cen Description Units saa Min Max en Ox80A0 U16 V Hz Minimum Frequency 0 1 Hz 10 0 10000 RW Ox80A1 U16 V Hz Maximum Frequency 0 1 Hz 600 0 10000 RW Ox80A2 U16 V Hz Inflection Frequency 0 1 Hz 100 0 10000 RW Ox80A3 U16 V Hz Zero Hertz Voltage 0 1 Vrms 60 1 65535 RW Ox80A4 U16 V Hz Synchronous Startup Enable boolean TRUE FALSE TRUE RW Ox80A5 U16 V Hz Startup Frequency 0 1 Hz 100 0 10000 RW Ox80A6 U16 V Hz Startup Pause Time 1ms 1000 0 65535 RW 4 3 10 1 V Hz Minimum Frequency This parameter is used to set the minimum allowable frequency to apply to the motor This parameter takes precedence over the start frequency if the start frequency is less than this parameter it will be ignored and instead this parameter is used as the start frequency when first turning on Care should be taken to not set this too high when using both positive and negative speed commands otherwise when the speed command changes direction there will be a noticeable ju
80. ieeesedcousaveavssceens 6 Maintenance and Upgrade cccsssscccccssssscccccsssscecccssceececesseeeees Warranty and Product Information ccsssssccccssssssceccssssceccenesseeeees Return Material Authorization Policy sssssscccssssssececssssseeccssssees OZMTR3000 Motor Controller User s Manual 4 3 14 1 Motor Speed Low to High Crossover Mode Table of Contents Table of Figures Figure 1 Typical Drive Electrical System Schematic rrnnrrnnrannrrvnrsnrvvnrsnarrvnrenrrenssnnnrsenrsnarsenssnarsenssssresssnnns 2 Figure 2 Volts Hertz Profile ioeina na a EEEa a ANNES EAE 4 Figure 3 FOC Controller Functional Block Diagram 5 Figure A Typical Interleaved Drive Electrical System Schematic 7 Figure 5 Interleaved Controller Functional Block Diagram 8 Figure 6 Torque and Power in the Three Speed Region 10 Figure 7 Controller State Machine 13 Figure 8 OZDSP3000 Motor Drive Application Electrical Connections nrnrrrvrnnsnnnnnrnvvrnnrnnnnnnnnnvnvsnnssnnnnn 20 Figure 9 Multi Node CAN Network Configuration s sssssensssseesseenssrneessenrnssrnensseennnssnnennsennnssrnenssennssne 28 Figure 10 CAN Interface Circuit 28 Figure 11 Approximate Connector Jumper LED and Test Hook Locations 29 Figure 12 OZDSP3000 Mechanical Dimensions rrrnnnnrorvrnnrnanrnnnnrvvnrnsnrnnnnrnrvnnssnsnrnnnnnnnvrnnssssnnnnnnrnrsnnssnsnnn 30 Figure 13 Current Control PI Regulators
81. ime 49 4 3 6 Drive Configuration Parameters ssessssssssesrsssssssrreerisssrrernrsrssssrreennsssssssenrrnesnssesreernesnssene 49 4 3 6 1 Motor Drive Type siressa iiae aE aE raaa a ies beds EEE 49 4 3 6 2 Motor Speed Feedback Device Select 49 4 3 6 3 Torque Command Slew Rate 50 4 3 6 4 Torque Command Maximum ceceeessesssecececesseseeaecececeseeuaecececsseseeseaeseeeeeseeseeseaaeas 50 4 3 6 5 Torque Command Default at Turn On 50 4 3 6 6 Speed Command Slew Rate 50 4 3 6 7 Speed Command Maximum 2 ececccssesssssssecececeeeesceaeceeecsseseeaeeeeeescessesneaeeeaeeeseeseeseaaeas 50 4 3 6 8 Speed Command Default at Turn On 50 4 3 6 9 Torque Speed Mode Default at Power On 50 4 3 7 General Motor Parameters ics ccisccssasdeweastivaceasisuadesatsisacsessnccessuuadeesdouededehseavieenasindesausiaceseasiiee 51 4 3 7 1 Motor Pole Pair Count scissors rrasa asiaan i aS EE E AS Eet 51 4 3 7 2 Motor Rated Voltages icc cise isccciteccvecodise docstoc cectte en NEEN dessdateaedtccadeentanpeent cess 51 4 3 7 3 Motor Rated Frequency cscssccccccsccesssssecececsseesesaaeecescesseeeaeeeeeessessesseeaeaeeeeeeesenseaaeas 51 4 3 7 4 Motor Maximum Current arannnnrnrrnnnvnnnrnnnnrvnnnnnnranennnnrnnnnnerennnnrnrnnnnnsenennnennnrsnsnesssenennrnn 51 4 3 7 5 Motor Maximum Freouency rrneinniraninnnnn ua iinne EN ia 51 4 3 8 AC Induction Motor Parametere 51 4 3 8 1 AC Motor Mutual Inductance sssssssusnecssirusssssrsnursuuinecrnsirnu
82. ines the motor current threshold above which the firmware will report a high current warning Once above this warning threshold the current must fall below the corresponding recover threshold before the firmware will clear the high current warning For dual interleaved inverter operation this value is divided in half and used by each inverter s current controller If either inverter exceeds 50 of the value stored in this register the controller will indicate a warning condition for the corresponding inverter The over current warning condition is reported separately for each inverter in the Warning Status instrumentation register PID Ox400D 4 3 4 15 Motor Over Current Recover Threshold See warning threshold description above 4 3 4 16 Motor Over Speed Fault Threshold This parameter defines the motor speed fault threshold If the motor speed rises above this value the controller will automatically transition to the FAULT state and drive operation will be disabled and forced OFF 4 3 4 17 Motor Over Speed Warning Threshold This parameter defines the motor speed threshold above which the firmware will report a high speed warning Once above this warning threshold the speed must fall below the corresponding recover threshold before the firmware will clear the high speed warning 4 3 4 18 Motor Over Speed Recover Threshold See warning threshold description above 4 3 4 19 Inverter Error Pin Active High This parameter determines the p
83. ing figure Publication UM 0045 Functional Description Current Controller B gt SVM PWM INVB SVM PWM INVA 0 Figure 5 Interleaved Controller Functional Block Diagram 2 2 4 Temperature Based Torque Derating To prevent the inverter and or motor from overheating and causing an over temperature fault shutdown the controller provides a mechanism to limit the available torque at high temperatures Two separately enabled and configurable thermal derating blocks exist one based on inverter temperature and one based on motor temperature A low and a high temperature threshold define the temperature range in which to limit the user s torque command When the temperature is below the low threshold the user torque command is not affected by thermal derating When the temperature is between the low and high thresholds the user torque command is multiplied by a derating factor that is calculated as follows T T DerateFactor 1 Ga i 1 Derate in high ow The minimum derating value Deratemin is configurable and it determines how much the drive is allowed to reduce the torque command Above the high threshold the derating factor will be set to this minimum value If derating is enabled based on both inverter temperature and motor temperature the derating factor is configured and calculated separately for each The lower of the two derati
84. is set to TRUE and the temperature rises above this value the controller will automatically transition to the FAULT state and drive operation will be disabled and forced OFF 4 3 4 11 Motor Temperature Warning Threshold This parameter defines the motor temperature threshold above which the firmware will report a high temperature warning if the Motor Temperature Sensor Enable configuration parameter is set to TRUE Once above this warning threshold the temperature must fall below the corresponding recover threshold before the firmware will clear the high temperature warning 4 3 4 12 Motor Temperature Recover Threshold See warning threshold description above 4 3 4 13 Motor Over Current Fault Threshold This parameter defines the motor over current fault threshold If the current rises above this value the controller will automatically transition to the FAULT state and drive operation will be disabled and forced OFF OZMTR3000 Motor Controller User s Manual Parameter Register Interface For dual interleaved inverter operation this value is divided in half and used by each inverter s current controller If either inverter exceeds 50 of the value stored in this register the controller will transition to the FAULT state The over current fault condition is latched and reported separately for each inverter in the Fault Status instrumentation register PID Ox400E 4 3 4 14 Motor Over Current Warning Threshold This parameter def
85. l active their respective fault flags are latched again and the controller will remain in the Fault state Otherwise if no faults remain active the controller will transition either back to the Calibrate state if the calibration process was not completed or back to the Idle state if calibration has already been run 2 5 Fault and Warning Conditions The motor controller provides warning indicators and fault protection in the event of conditions that may cause damage to the equipment or injure personnel The various conditions that are monitored by the controller are listed and described in the following sections 2 5 1 Warnings The motor controller provides the warning indicators listed below These warning conditions do not prohibit operation of the drive they are merely reported for informational purposes only Each warning condition described below is reported in the Warning Status instrumentation register PID 0x400D and also reported on the CAN bus in the Alarm Status CAN message 2 5 1 1 High Inverter Temperature If the Inverter Temp Enable parameter PID Ox80B8 is set to TRUE the firmware will monitor the main Inverter A temperature and will set a warning flag if it exceeds the Inverter Temperature Warning Threshold configuration parameter PID 0x8034 If the Interleaved Inverters Enable configuration parameter PID 0x8108 is also set to TRUE the firmware will monitor the secondary Inverter B temperature and compare this to the sa
86. l be explained by the Customer Service Representative In cases where the minimum flat fee does not apply as with incomplete units or units with excessive damage an additional fee will be charged If applicable you will be contacted by Customer Service once your unit has been received Publication UM 0045
87. l board also provides instrumentation and user control functions 2 2 Description of Operation The motor controller can be programmed to operating in the following drive configurations e Open loop Volts Hertz control for AC induction motors e Closed loop field oriented current control supporting the following motor types o ACinduction motors o Permanent magnet motors These drive configurations are discussed in more detail in the following sections 2 2 1 Volts Hertz Control The OZMTR3000 controller provides a Volts Hertz control mode for those AC induction motor applications that do not require the advanced control and performance of the closed loop field oriented current controller In addition to using the general motor parameters specified in PIDs 0x8070 0x8074 this controller is enabled and configured using V Hz specific parameters in PIDs Ox80A0 Ox800A6 These parameters are used to determine the desired relationship between motor speed i e electrical frequency in Hertz and the applied line to line RMS voltage In the simplest form the Volts Hertz curve can be a straight line starting at the origin 0 Hz OV and ending at the specified rated voltage PID 0x8071 and frequency PID 0x8072 for the motor When the user commands a particular motor speed the controller will determine the corresponding electrical frequency Hertz based on the specified motor pole pairs PID 0x8070 and will apply a voltage to the motor at th
88. ldback Mod Index Threshold 0 1 950 0 1000 RW Ox00F8 S32 Iq Foldback Controller Kp Q16 0 2 0 0 32767 99 RW OxO0F9 32 Iq Foldback Controller Ki Q16 200 0 0 32767 99 RW 4 3 15 1 Current Controller Gain Constants Kp Ki These parameters define the gain constants for the PI controllers that are used to regulate the direct field producing current l4 and the quadrature torque producing l4 current when the control loops are updated The integral gain K parameter should be entered as the continuous OZMTR3000 Motor Controller User s Manual Parameter Register Interface gain or sometimes referred to as the analog gain The firmware handles converting this to the discrete time gain by automatically dividing this by the sample frequency at which the controller is updated at the specified PWM frequency la command lg command error lq measured Figure 13 Current Control PI Regulators As the figure above shows the PI topology uses separate proportional and integral correction terms that are then summed together to create the desired voltage command Va or Va There are two separate PI blocks one used to regulate the Ig current and one to regulate the l current The torque producing current I is either commanded indirectly by the user when operating in torque mode or commanded by the outer speed loop when operating in closed loop speed control mode The field producing current ly is comman
89. lers brushless DC motor controllers and Active Front End regulators This section describes the hardware interfaces on the OZDSP3000 that are supported by the motor controller firmware in a typical motor drive application 3 1 Application Interfaces Brake Resistor optional Voc Voc OZDSP3000 SKiiP Brake Chopper optional 24 VDC SKiiP Power 24V RTN Module Inverter A SPI Boot Enable optional SKiiP Power Module Inverter B af optional CANH CANL GND AAA Auxiliary Contactor EEN optional Motor Temp optional Encoder optional J16 Resolver Daughter Card js optional Resolver optional Figure 8 OZDSP3000 Motor Drive Application Electrical Connections OZMTR3000 Motor Controller User s Manual OZDSP3000 Hardware Interfacing 3 1 1 J11 SKiiP Power Module Interface Inverter A Connector J11 provides an interface to SKiiP style Semikron power modules This interface complies with Semikron s required specifications The OZDSP3000 supplies 24V power to the power module via pins 14 and 15 PWM commands 15V logic level are supplied to the top and bottom switches of each of the three half bridges via signals INV_TOP_U V W an
90. ller User s Manual Functional Description Initialization Complete Calibrate Fault Detected Fault Reset Cal Not Complete Cal Complete Fault Reset Cal Complete Fault Detected ON Cmd AC Induction FOC Magnetizing OFF Cmd ON Cmd PM FOC Align Enabled Magnetized ON Cmd V Hz or PM w o align Running Align Complete Figure 7 Controller State Machine 2 4 1 Initialize The state machine resets to the nitialize state following a power on reset POR event While in this state the power hardware is not operable the firmware is initializing hardware peripherals configuring variables and performing self health tests Upon successful initialization the state machine will auto transition to the Calibrate state 2 4 2 Calibrate The Calibrate state is used to calibrate system hardware as applicable Power hardware is not operable while in the Calibrate state Following successful calibration the state machine will auto transition to the Idle state Publication UM 0045 Functional Description 2 4 3 Idle Once in the Idle state the controller is ready for use The state machine will remain in the Idle state indefinitely transitioning either due to a fault condition or a turn on command When turning on the next state depends on the configured Motor Drive Type PID 0x8060 For closed loop field oriented control of an AC induction motor the state m
91. me warning threshold value These flags will remain set until the temperature s falls below the Inverter Temperature Recover Threshold configuration parameter PID 0x8035 2 5 1 2 High Motor Current The firmware monitors the RMS inverter current going to the motor and will set a flag if it exceeds the Motor Over Current Warning Threshold configuration parameter PID Ox803D It does this for both the main Inverter A and the secondary Inverter B if the Interleaved Inverters Enable configuration parameter PID 0x80108 is set to TRUE These flags remain set until the respective current falls below the Motor Over Current Recover Threshold configuration parameter PID 0x803E In the case of dual interleaved inverter operation the warning and recover thresholds are first divided by two and then compared against each inverter current A and B 2 5 1 3 High Motor Temperature If the Motor Temp Enable parameter PID 0x80C1 is set to TRUE the firmware will monitor the motor s temperature sensor and will set a warning flag if the temperature exceeds the Motor Publication UM 0045 Functional Description Temperature Warning Threshold configuration parameter PID 0x803A This flag will remain set until the temperature falls below the Motor Temperature Recover Threshold configuration parameter PID 0x803B 2 5 1 4 High Motor Speed If a speed feedback device has been enabled by the Motor Speed Feedback Device Select parameter PID 0x8061 the
92. mode 0 speed control 1 torque control following a power on reset of the controller assuming the user has not sent a Mode command via the corresponding CAN message Once the mode has been changed by the user via the corresponding CAN message the drive will always turn on in the mode that was last specified OZMTR3000 Motor Controller User s Manual Parameter Register Interface 4 3 7 General Motor Parameters Table 17 General Motor Parameter Summary PID SC Description Units naan Min Max EN 0x8070 U16 Motor Pole Pair Count Integer 3 1 65535 RW 0x8071 U16 Motor Rated Voltage 0 1 Vrms 4140 1 65535 RW 0x8072 U16 Motor Rated Frequency 0 1 Hz 1016 1 65535 RW 0x8073 U16 Motor Maximum Current 0 1 Arms 2900 1 65535 RW 0x8074 U16 Motor Maximum Frequency 0 1 Hz 3500 1 65535 RW 4 3 7 1 Motor Pole Pair Count This parameter is used to indicate the number of pole pairs for the motor being controlled 4 3 7 2 Motor Rated Voltage This parameter is used to indicate the rated voltage for the motor being controlled 4 3 7 3 Motor Rated Frequency This parameter is used to indicate the rated frequency for the motor being controlled 4 3 7 4 Motor Maximum Current This parameter is used to indicate the maximum allowable current for the motor being controlled When operating in closed loop speed or torque mode the controller will attempt to clamp the operating current to this value Torq
93. mp discontinuity in frequency when transitioning through zero Applications that expect to support bipolar speed commands should set this parameter to zero or very small Publication UM 0045 Parameter Register Interface This parameter is mainly intended for unipolar operation where a minimum electrical frequency is required 4 3 10 2 V Hz Maximum Frequency This parameter is used to set the maximum allowable frequency to apply to the motor The motor speed will be clamped to this maximum frequency whenever the user s speed command would require a frequency greater than this parameter 4 3 10 3 V Hz Inflection Frequency This parameter is used to set the inflection point on the Volts Hertz profile curve Above this the point the controller will use the nominal Volts Hertz constant determined by the rated motor voltage and frequency Below this point the Volts Hertz relationship is set by the slope between the Zero Hertz Voltage see below and this point 4 3 10 4 V Hz Zero Hertz Voltage This parameter is used to set the voltage to apply to the motor at zero speed 0 Hz thus establishing the low speed Volts Hertz slope between this point and the V Hz Inflection Frequency point defined above 4 3 10 5 V Hz Synchronous Startup Enable When this parameter is set to TRUE the controller will turn on at the measured motor speed When this parameter is set to FALSE the controller will turn on at the specified starting frequency see belo
94. n the single inverter system shown in Figure 1 with the addition of a second IGBT bridge and a filter between the inverters and the motor as shown in the figure below DC lt p S Power Stage terface A Motor 7 gu 24V DC gt Control Board Motor Temperature lt CAN gt Encoder or Resolver I F Figure 4 Typical Interleaved Drive Electrical System Schematic From a control perspective when operating in dual interleaved inverter mode the controller uses the same control scheme as with a single inverter with the addition of a second current controller and PWM modulator The commanded current is generated the same as the single inverter mode and is then divided by two and sent to each of the two internal current controllers With this scheme each inverter is handling 50 of the overall load The PWM pulses on the second inverter use the exact same frequency as the main inverter but are phase shifted by 180 degrees to achieve the desired current ripple cancellation benefit provided by the interleaved system Additionally to prevent a circulating DC current from developing between the two inverters the second current controller also uses a PI compensator to maintain a regulated DC current of zero This interleaved control scheme is illustrated in the follow
95. ncoder De bounce Select 62 Publication UM 0045 Table of Contents 4 3 14 Motor Speed Calculation Parameters 4 3 14 2 Motor Speed Low to High RPM 4 3 14 3 Motor Speed Low to High Hysteresis 4 3 14 4 Motor Speed Low Pass Filter Cutoff Freq 4 3 14 5 Motor Speed Deadband Period Low Speed 4 3 14 6 Motor Speed Update Prescale High Speed 4 3 15 Current Regulator Parameters cccccccccessssssseceeecesesssseeeeeeseesees 4 3 15 1 Current Controller Gain Constants Kp Ki 4 3 15 2 Id Iq Current Foldback Enable 4 3 15 3 Id Iq Current Foldback Modulation Index Threshold 4 3 15 4 Id Iq Current Foldback Controller Gain Constants Kp Ki 4 3 16 Speed Regulator Parameters rrrrrrnnrnnnnnrnvvrnrrnsnrnnnnrsrvensnrnnnnvnnsen 4 3 16 1 Speed Control Enable rnnnrornrnannannnnnnrvvvrrnnrnnnnnvnvvnnsnnnnnnnen 4 3 16 2 Speed Controller Gain Constants Kp Ki 4 3 16 3 Speed Controller Maximum Minimum Current 4 3 17 Dual Interleaved Inverter Parameters 4 3 17 1 Dual Interleaved Inverter Enable 4 3 17 2 Zero Sequence Current Control Enable 4 3 17 3 Zero Sequence Current Controller Gain Constants Kp Ki 4 3 18 Brake Controller barameters 4 3 18 1 Brake Controller Enable A 4 3 18 2 Brake Controller Voltage Threshold 4 3 18 3 Brake Controller Recover Voltage Threshold 4 3 18 4 Brake Controller Fault Motor Response 4 3 18 5 Brake Gate Driver Signal Active High 5 Oztek PCC TOO isicessccccssiccssccssotsddeciscacssveanstdecsatvecas
96. nfiguration Response messages use the Group Module information from the sending device as the Destination Group Module when responding so this parameter is not used for those messages For more information see FS 0047 4 3 2 5 CAN Status Destination Module ID This parameter specifies the Destination Module ID that this firmware will use when sending the Status messages Note that the Illegal CAN Message and Configuration Response messages use the Group Module information from the sending device as the Destination Group Module OZMTR3000 Motor Controller User s Manual Parameter Register Interface when responding so this parameter is not used for those messages For more information see FS 0047 4 3 2 6 CAN Timeout This parameter specifies the timeout period to use when checking for CAN communications errors This value specifies the timeout period in terms of milliseconds Setting this parameter to zero disables checking for CAN communications timeouts When CAN timeout checking is enabled parameter is set to a legal non zero value a timeout counter is used to time the period of inactivity on the CAN bus This timer is reset upon the receipt of any of the valid receive messages supported by this application 4 3 2 7 CAN Automatic Alarm Transmit Enable This is a Boolean parameter that is used to enable automatic transmission of the Alarm Status message upon a change of value of any warning or fault bit Note that when enabled parameter
97. ng factors is then chosen to reduce the user torque command For example OZMTR3000 Motor Controller User s Manual Functional Description gt Inverter Motor Deratemin 10 Motor Deratemin 10 Inverter low threshold 90 C Motor low threshold 85 C Inverter high threshold 100 C Motor high threshold 105 C Inverter measured temp 94 C Motor measured temp 91 C Inverter Derating factor 0 64 Motor Derating factor 0 73 User command 50 of Torquemax Derated user command 50 0 64 32 A warning flag is reported to indicate when the user torque command is being reduced due to thermal derating This feature is only available when operating the drive in direct torque control mode When operating in Volts Hertz mode or closed loop speed control mode the thermal derating controller is not used 2 2 5 Maximum Torque Profile The maximum available motor torque and power is affected by the present value of the DC Link and the operating motor speed For systems with fixed regulated DC links the maximum torque and power curves will be fairly deterministic and predictable However for systems in which the DC Link is allowed to vary such as with battery based systems the maximum torque and power will vary as the DC link varies Depending on the motor application it may be undesirable to make the user be aware of this fluctuation in torque or power For example in a vehicle application it may be desirable to limit th
98. ntents have been reset and any values changed to their customized settings step 1 above should be executed to force a reload of the system variables 3 If neither of the above result in clearing the configuration error then there is likely an issue with the control board hardware At this point the board should be sent back to the factory for diagnosing and repairing of any defects see the RMA process described at the end of this document 2 5 2 13 Calibration Error When first powering up the control board the firmware attempts to calibrate the controller s internal ADC This error is asserted if the controller is unable to perform the required calibration There is likely an issue with the control board hardware if this error occurs in which case the board should be sent back to the factory for diagnosing and repairing of any defects see the RMA process described at the end of this document Publication UM 0045 OZDSP3000 Hardware Interfacing 2 5 2 14 Communications Timeout If the CAN Timeout configuration parameter PID 0x8015 is set to a non zero value the firmware will monitor the amount of time elapsed between received CAN messages A fault will be asserted if the specified timeout threshold is exceeded 3 0ZDSP3000 Hardware Interfacing The OZDSP3000 is a highly integrated DSP control solution for power control applications Typical applications include voltage output inverters grid tie inverters AC induction motor control
99. ntroller is not enabled this interface is not used and may be left unconnected Table 5 J14 Half Bridge Power Module Pin Assignment Pin Description 1 Ground 2 HB BOT 3 HB ERR 4 HB TOP not used 5 HB OVR TEMP 6 24V 7 24V 8 n c 9 n c 10 Ground 11 Ground 12 HB TEMP 13 HB IOUT RTN not used 14 HB IOUT not used e OZDSP3000 Connector Part Number AMP 499922 2 e Mating Connector Part Number AMP 1658621 2 e Power 24V 1 5A The OZDSP3000 supplies 24V power to the brake module via pins 6 and 7 A brake enable disable command 15V logic level is provided on the HB_BOT pin pin 2 The polarity of this pin is programmable using the Brake Gate Driver Signal Active High parameter PID 0x80114 The OZDSP3000 monitors the hardware error HB ERR pin 3 and hardware over temperature HB OVR TEMP pin 5 signals from the power module These are logic level open collector inputs to the OZDSP3000 When active these inputs cause the firmware to disable the brake control function Pull ups to 3 3V are provided on board In the case where one or both of these signals is not provided by the power module the pins should be grounded to disable the respective fault condition The brake controller may be configured to monitor the temperature of the brake switch Brake Temp Enable PID 0x80CA if this feature is provided by the power module If enabled the controller expects to rec
100. nverter Parameter Summary 68 Table 28 Brake Controller Parameter Summary 69 OZMTR3000 Motor Controller User s Manual Introduction 1 Introduction This document is intended to provide instruction on how to employ the Oztek OZMTR3000 firmware application on a standard Oztek OZDSP3000 controller in an actual hardware system It describes the electrical connections as well as the scaling of the various signals required by the control firmware 1 1 Referenced Documents Ref Document Description 1 UM 0018 OZDSP3000 Users Manual 2 FS 0046 OzCan Protocol Function Specification 3 FS 0066 OzCan Motor Controller Device Profile 4 UM 0015 Oztek TMS28x CAN Bootloader Users Manual 5 UM 0036 Power Control Center GUI User s Manual 1 2 Definitions ACI A C Induction Motor CAN Controller Area Network DSP Digital Signal Processor EEPROM Electrically Erasable Programmable Read Only Memory EMC Electro Magnetic Compatibility EMI Electro Magnetic Interference FOC Field Oriented Control GND Ground low side of input power supply GUI Graphical User Interface HMI Human Machine Interface IPM Intelligent Power Module NC Not Connected PCB Printed Circuit Board PCC Power Control Center PI Proportional and Integral Compensator PLC Programmable Logic Controller POR Power On Reset PMSM Permanent Magnet Synchronous Machine PWM Pulse Width Modulation SVM
101. olarity of the hardware error input pins from the power module interface INV ERR U V W listed in section 3 1 1 When this parameter is set to TRUE the input pins are treated as active high meaning a high input is considered a fault condition 4 3 4 20 Inverter Over Temp Pin Active High This parameter determines the polarity of the hardware over temperature input pin from the power module interface INV OVR TEMP listed in section 3 1 1 When this parameter is set to TRUE the input pin is treated as active high meaning a high input is considered a fault condition Publication UM 0045 SS Parameter Register Interface 4 3 4 21 Brake Hardware Error Pin Active High This parameter determines the polarity of the hardware error input pin from the half bridge power module interface HB ERR listed in section 3 1 6 When this parameter is set to TRUE the input pins are treated as active high meaning a high input is considered a fault condition 4 3 4 22 Brake Hardware Over Temp Pin Active High This parameter determines the polarity of the hardware over temperature input pin from the half bridge power module interface HB_OVR_TEMP listed in section 3 1 6 When this parameter is set to TRUE the input pin is treated as active high meaning a high input is considered a fault condition 4 3 5 Inverter Control Parameters Table 15 Inverter Control Parameter Summary PID Se Description Units SE Min Ma
102. oll et oniran stapadesacsecdbeh tne deesadendudsasaveddbasinadacandeadesanavcde 12 2 4 State Sequencing ws ee nde eege EE EEN eg EE EE Seed EEN ees 12 241 ld EE 13 242 Call Pate EE 13 243 EE 14 2 44 M gnetizingusasusdaesdeata seg a deg Add Eed de de Sege 14 2 45 OT EE 14 2 46 RUNDING errero rn einne e E Ea added 14 SZ e SE GC EE 14 2 5 Fault and Warning Conditions 15 251 TE du LTC 15 2 5 1 1 High Inverter TEM PCr ature eege ereecht ata Grine 15 2 5 1 2 High Motor Cunrent EEN 15 2 5 1 3 High Motor TEMP Ee TEE 15 2 5 1 4 High Motor SP Ed RE 16 2 5 1 5 Clam ped Torque Command eisccdecvcseessievetnccceseestebexesecedesteeseead e EEES cede cedeuvasealevteweeesd 16 2 5 1 6 Braking T rqu Disabled isisisi seeneniit eege eege 16 2 5 1 7 Motor Torque Reduced Due to Thermal Derating rnnnnrnnnrnnnnannnnrvvennsnnnrnnnnrnvsenssnnnnnn 16 2518 ll Current FOIADGCK tegen eters aii 16 25 19 High DC ne TEE 17 2 5 1 10 High Brake Switch Temperature 17 2 5 1 11 Local Bias Supply Tolerance Warnings rrrnnnnnnrvrvrnnsrannnnnnvenrrnnnrnnnnrnnvenssnsnrnannnnnrsnnssnsnnn 17 252 Fa ltS enera ts a a a a eaaa a A Eae E ENSE oE E EEEE Ra 17 2 5 2 1 Inverter IGBT Dee 17 2 5 2 2 Inverter Hardware Over Temperature 18 2 5 2 3 Software Inverter Over Temperature 18 2 5 2 4 Software Inverter Over Current r rrarnrnnnrnrnrnrvrnrnrnrvrsrvrsevvnsnenennnsnvnsnvernvnresvevevevnvevevevnvene 18 2 5 2 5 Motor Over Temper ture uuneagsdaaaneesausesrtdnead
103. omatic periodic transmission of this message All other values ms 65 535ms are valid 4 3 2 11 CAN Update Rate Alarm Status Message This parameter specifies the rate at which Alarm Status CAN message will be automatically transmitted by the firmware This value specifies the period between message transmissions in terms of milliseconds Setting this parameter to zero disables automatic periodic transmission of this message All other values ms 65 535ms are valid Publication UM 0045 44 Parameter Register Interface 4 3 3 Instrumentation and Measurement Scaling Parameters Table 13 Instrumentation and Measurement Scaling Parameter Summary PID Ce Description Units Sean Min Max CH 0x8020 U16 Instrumentation Interrupt Rate 1 Hz 2000 500 10000 RW 0x8021 U16 DC Link Voltage Measurement Full Scale 0 1V 10000 100 15000 RW 0x8022 U16 Motor Current Measurement Full Scale 0 1A 5000 100 65535 RW 0x8023 U16 Motor Current Measurement Polarity Select ENUM 0 0 1 RW 0x8024 U16 Low Pass Filter Cutoff Motor Current 1Hz 100 1 1000 RW 0x8025 U16 Low Pass Filter Cutoff DC Link 1Hz 100 1 1000 RW 0x8026 U16 Low Pass Filter Cutoff Temperatures 1Hz 5 1 1000 RW 4 3 3 1 Instrumentation Interrupt Rate This parameter specifies the rate at which the instrumentation interrupt is executed in the controller This is the rate that the various measurements
104. onverting this to the discretized gain by automatically dividing this by the sample frequency at which the controller is updated specified by the Pulse Width Modulation Frequency parameter PID 0x8050 As above illustrates the PI topology used sums the proportional and integral correction terms and then clamps the output to the specified current limits based on the Speed Controller Maximum Minimum Current configuration parameters see next section It is important to note that the speed setpoint and measured speed feedback used at the input to the speed regulator are actually normalized relative to the maximum motor frequency value specified by the Motor Maximum Frequency configuration parameter PID 0x8074 Similarly the resulting current command output is also a normalized current relative to the full scale motor current specified by the Motor Phase Current Measurement Full Scale configuration parameter PID 0x8022 The Kp and Ki gain constants should be scaled appropriately based on this normalization 4 3 16 3 Speed Controller Maximum Minimum Current These parameters specify the current limits used by the speed controller For flexibility there are separate parameters provided for the positive and negative current limits The output of the speed loop will be clamped to be within these current limits Publication UM 0045 SSS Parameter Register Interface 4 3 17 Dual Interleaved Inverter Parameters Table 27 Dual Interlea
105. or speed and encoder line count 4 3 14 Motor Speed Calculation Parameters The following set of parameters affects how the controller calculates the motor speed when using a digital quadrature encoder device for speed feedback If an encoder is not being used these parameters will not be used by the controller Table 24 Motor Speed Calculation Parameter Summary PID SC Description Units Are Min Max SE Ox80E0 U16 Motor Speed Low to High Crossover Mode ENUM 0 0 1 RW Ox80E1 S32 Motor Speed Low to High RPM RPM 1000 1 65535 RW Ox80E2 S32 Motor Speed Low to High Hysteresis RPM 100 1 65535 RW Ox80E3 S32 Motor Speed Low Pass Filter Cutoff Freq Hz 1000 1 65535 RW Ox80E4 U16 Motor Speed Deadband Period Low Speed Counts OxCO00 0x0064 OxFFFF RW OZMTR3000 Motor Controller User s Manual Parameter Register Interface Data ems z Factory Access PID Type Description Units Default Min Max Level Ox80E5 U16 Motor Speed Update Prescale High Speed Counts 8 1 16 RW 4 3 14 1 Motor Speed Low to High Crossover Mode This parameter is used to determine when the speed calculator switches between low speed and high speed calculation techniques as follows e 0 AUTO the firmware automatically determines where the speed resolution of the two techniques is equal and uses this as the switchover speed e 1 MANUAL the user specifies the desired switchover
106. otor The firmware uses this value to convert the user s commanded torque value to the corresponding current command for the motor For applications where the torque constant is unknown or if it is desirable to simply command current instead of torque this can be achieved by doing the following set this parameter to a value of 1000 i e 1 Nm 1 Arms and set the Torque Command Maximum parameter PID 0x8063 to the desired maximum current command By doing this the firmware will take the user s normalized torque command value 100 to 100 and convert this to a percentage of the maximum desired torque current 4 3 9 2 energize the windings with a DC current and wait for the shaft of the motor to align to the PM Align At Startup Enable This parameter is used to enable automatic alignment of a permanent magnet motor at startup When set to true the first time a motor is started after power up the drive will generated field This process is only done once following a power up reset If set to false no alignment is performed and it is assumed that the speed and position device resets to a known alignment point When this feature is enabled and the alignment is attempted following a power on reset of the controller the shaft of the motor MUST be allowed to rotate freely for proper position alignment to occur 4 3 9 3 4 3 9 4 OZMTR3000 Motor Controller User s Manual PM Align Current When automatic alignment is enabled
107. ous temperatures reported by the controller OZMTR3000 Motor Controller User s Manual Parameter Register Interface 4 3 4 Fault and Warning Parameters Table 14 Fault and Warning Parameter Summary PID Sr Description Units de Min Max SEH 0x8030 U16 DC Link Over Voltage Fault Threshold 0 1 V 7600 0 12000 RW 0x8031 U16 DCLink Over Voltage Warning Threshold 0 1V 7550 0 12000 RW 0x8032 U16 DC Link Over Voltage Recover Threshold 0 1V 7500 0 12000 RW 0x8033 U16 Inverter Temperature Fault Threshold SC 115 0 150 RW 0x8034 U16 Inverter Temperature Warning Threshold K 110 0 150 RW 0x8035 U16 Inverter Temperature Recover Threshold C 105 0 150 RW 0x8036 U16 Brake Temperature Fault Threshold C 115 0 150 RW 0x8037 U16 Brake Temperature Warning Threshold C 110 0 150 RW 0x8038 U16 Brake Temperature Recover Threshold Ke 105 0 150 RW 0x8039 U16 Motor Temperature Fault Threshold C 115 0 150 RW 0x803A U16 Motor Temperature Warning Threshold C 105 0 150 RW 0x803B U16 Motor Temperature Recover Threshold C 100 0 150 RW 0x803C U16 Motor Over Current Fault Threshold 0 1 Arms 3250 0 65535 RW 0x803D U16 Motor Over Current Warning Threshold 0 1 Arms 2900 0 65535 RW Ox803E U16 Motor Over Current Recover Threshold 0 1 Arms 2800 0 65535 RW 0x803F U16 Motor Over Speed Fault Threshold RPM 6250 0 65535 RW 0x8040 U16 Motor Over
108. pin 20 that corresponds to the hot spot temperature of the power devices 3 1 3 J13 SKiiP Power Module Interface Inverter B optional Connector J13 provides a second interface to SKiiP style Semikron power modules This interface is identical to the J11 interface described in the previous section This is an optional interface that is only used if the OZDSP3000 motor controller is configured to drive a dual interleaved inverter power stage if the Dual Interleaved Inverters Enable configuration parameter PID 0x8108 is set to TRUE When this second inverter interface is enabled all of the J13 signals are used with the exception of the DC link voltage sense input INV_UDC pin 13 For dual interleaved inverter operation both inverters must be tied to the same DC link and therefore only the voltage sense input from Inverter A is used The J13 interface is not used when the second inverter interface is not enabled In this case it is safe to leave connector J13 unconnected Publication UM 0045 OZDSP3000 Hardware Interfacing 3 1 4 J8 Auxiliary Contactor Relay Drive Interface optional The controller provides the user with basic ON OFF control for an auxiliary relay or contactor If this optional interface is used the device must be connected according to the table below If this feature is not used the J8 interface can be left unconnected Table 3 J8 Relay Drive Pin Assignment Pin Description 3 Relay 24V
109. r voltage protection be implemented This can be implemented with a comparator using the DC link voltage sense output The output of this comparator can be used to gate off the switch commands as well as assert the error inputs on each phase 3 1 2 6 Hardware Over Current and Desaturation Protection Semikron SKiiP power modules provide fast hardware over current and desaturation protection When designing a custom power solution these additional protection features OZMTR3000 Motor Controller User s Manual OZDSP3000 Hardware Interfacing should also be considered When including over current desaturation and over voltage protection into the design the fault flags must be logically OR d together and reported using the open collector Error signal inputs to the OZDSP3000 3 1 2 7 Current Sense Signals The OZDSP3000 expects to receive a current sense signal for each half bridge phase output This should be a bipolar signal where 10V corresponds to the full scale current range The current sense signals should be provided on the following pins Table 2 J11 Current Sense Pin Assignment J11 Pin Description 22 Current Phase A U 21 Gnd Reference for Current Phase A U 24 Current Phase B V 23 Gnd Reference for Current Phase B V 26 Current Phase C W 25 Gnd Reference for Current Phase C W 3 1 2 8 Temperature Sense Signals The OZDSP3000 expects to receive a 0 10V temperature signal on
110. ration Reset This register causes the system to restore its non volatile configuration memory to the factory default configuration Legal values are 0 NOP No reset action requested 1 RESET Request to reset the configuration register is auto cleared to 0 Successful execution of this command requires the following conditions be met e The Configuration Password register PID 0x0005 must have been previously loaded with the correct password e The controller must be in the IDLE state i e the drive must be OFF CAUTION Upon execution all currently stored configuration data will be permanently destroyed and over written with the factory default configuration data Publication UM 0045 Parameter Register Interface 4 2 1 8 Configuration Reload This register causes any modifications to the configuration register space to be loaded from the non volatile configuration memory Legal values are 0 NOP No reload action requested 1 RELOAD Reload the operational parameters from the configuration space register is auto cleared to 0 Successful execution of this command requires the following conditions be met e The controller must be in the IDLE state i e the drive must be OFF CAUTION Either execution of this command or a Power On Reset POR is required before changes to the configuration space are used for operation 4 2 1 9 Contactor Control This register will attempt to open or close
111. rd 150MHz The legal values for this parameter are 0 through 7 yielding a range of clocks from SYSCLK 2 150MHz to SYSCLK 2 1 17MHz This clock timer is used when the motor speed is being calculated at low speeds In this mode the speed is calculated as A position A time where the change in position is fixed and based on the Encoder Line Count and the Encoder Event Counter Prescale and the change in time is measured using the clock timer specified by this parameter 4 3 13 4 Encoder Event Counter Prescaler This parameter is used to determine the encoder event an edge on the A or B input pre scale value to use when the motor speed is being calculated at low speeds With no pre scale an encoder event is defined as any edge on the encoder input either A or B and so the controller would be timing the duration between any two adjacent edges The event pre scale is set to EVENT 2 where N is the value specified by this parameter The legal values for this parameter are 0 through 11 yielding a range of event periods from EVENT 2 time the Publication UM 0045 Parameter Register Interface duration between every event to EVENT 2 EVENT 2048 time duration between every 2048 event 4 3 13 5 Encoder Debounce Prescaler When encoder pin debounce is enabled see next parameter this parameter is used to define the clock period of the debounce clock The debounce clock is set to SYSCLK 2 N where N is the value
112. re the la current may need to fold back at high speeds and at high rates of change of either the DC Link voltage or motor speed This feature is only available when operating the drive in closed loop field oriented control i e not Volts Hertz mode This feature is mainly targeted at applications that are running in direct torque control mode where the torque command is simply reduced When this feature may also be enabled and used when the drive is operated in closed loop speed control mode However if the fold back feature is engaged when running in speed mode the speed loop will no longer be in regulation and the resulting motor speed will change based on the load conditions Publication UM 0045 Functional Description 2 3 Brake Controller For scenarios where the motors are creating regenerative energy that is flowing back to the DC link as with commanding a braking torque and causing the DC link voltage to rise this controller provides an optional brake controller This controller can be used to engage a brake resistor across the DC link thus preventing the voltage from rising to high values that could result in over voltage fault shut downs or even component damage When enabled Brake Controller Enable PID 0x8110 the controller uses two voltage thresholds PIDs 0x8111 and 0x8112 to create a simple hysteretic control for engaging the brake resistor If the voltage rises above the upper trip threshold the brake resistor will be
113. red OZMTR3000 Motor Controller User s Manual Parameter Register Interface 4 2 1 4 Speed Setpoint This register is used to adjust the speed command when the drive is running in speed control mode The default speed command used when turning the drive on in speed control mode is specified in the configuration memory Speed Command Default at Turn On PID 0x8067 The value written to this register does not change the default value in the configuration memory rather it merely provides a dynamic and temporary override from the default value The speed command is specified as a percentage of the Speed Command Maximum PID 0x8066 This value is specified as a signed 2 s complement number in units of 0 1 For example 10 would be entered as 100 decimal or 0x0064 hexadecimal Negative 10 would be represented as OxFF9C hexadecimal The legal range for this command is 1000 to 1000 Values outside of this range will be ignored 4 2 1 5 Fault Reset This register is used to reset any latched fault conditions and to return the controller to the IDLE state if no further faults exist Legal values are 0 NOP No reset action requested 1 RESET Attempt to reset all fault conditions 4 2 1 6 Configuration Password This register is used to supply a password for those configuration operations that are password protected The password is cleared to zero at the end of the next parameter read or write operation 4 2 1 7 Configu
114. rersrensrensrenssensreresrensrenses 38 42 2 19 PCB TE E 38 G2 2 20 gelee 38 4 3 Non Volatile Configuration Registers cc cccccssscccssssececesseeececseeeeceeseeeecseseeeeceeseeeaeeeeseeaeeeeeenaees 39 4 3 1 Configuration Control Parameters cccccccccsessscccssseeecesececsesaeeecsesaeeecsesaeaeecsesaeeeesesaeesenaas 40 43 1 1 EEPROM Header iivsscscc cece ccctdeseutacs cyutietes AN OEN A EA ee eene 40 4 3 1 2 Factory Configuration Revision Malor 40 4 3 1 3 Factory Configuration Revision Minor 40 4 3 1 4 Application Configuration Data Revislon 41 4 3 1 5 Hardware Confteuration narr arnnsrnssnsnsnnnnrnnsne 41 4 3 1 6 User Configuration Revision cccccccccssssssssssecececsssssaeeeceessesseseaaeeeceessessseseaaeaeeeesensees 41 4 3 1 7 Configuration Password cccesccesssscseseeceeceessaeeessaeceseecseeeesuseessaecseaseessaeeussaeeseeeeesaess 41 4 3 2 CAN Interface Barameters tnt 41 4321 CAN Group RI sscanininrennneenn a a n 42 43 22 E e CRT ELE WT 42 43 23 CAN Baud Rate vacicstecacwests cctwssesctcassscacnes ange Eed EE EA dE 42 4 3 2 4 CAN Status Destination Group ID 42 4 3 2 5 CAN Status Destination Module ID 42 4 3 26 CAN TMC OU eege aenaran aaa e aaa ia Eegeregie ee dees 43 4 3 2 7 CAN Automatic Alarm Transmit Enable cceccccccccsssnecesseeceeseeeeceeseeeeceeseseaeesseenaees 43 4 3 2 8 CAN Update Rate Motor Status Message 43 4 3 2 9 CAN Update Rate Brake Status Message 43 4 3 2 1
115. s ccccccsssccececessessneceseceseseceseceeecesseseaeseeeeeeesssesnsesaeeeeess 23 3 1 3 J13 SKiiP Power Module Interface Inverter B loptional 23 3 1 4 J8 Auxiliary Contactor Relay Drive Interface optional 24 3 1 5 J25 Bias Power Input amp SPI Boot Enable sssssesnsnssssesssrssssssereernssssssrrernnsnessssrnennnssssesreenn 24 3 1 6 J14 Brake Chopper Power Module Interface optional 24 3 1 7 J12 Quadrature Encoder Interface optional cccccccsscecsssesecssseeecssaeeecsesaeeeesssaeeeeseaes 26 3 1 8 J16 Expansion Board Interface Resolver Daughter Card optional 26 3 1 9 J4 Motor Temperature Input Ioptional 27 3 1 10 P2 Isolated CAN Bus Interface 27 3 1 10 1 J18 19 CAN Termination Jumpers 27 3 2 Electrical Int rfaces varar ease sne 29 3 3 Mechanical INterta Ces scccces sacuiess eege saxcudesstccucesssccucessseudesscicacess bicecseesscdadenaticddessanceessanccdesatiecies 30 4 Parameter Register Interface eskkegugEeENEEEENENENEEENENENSKEAKSEEKHESEEREKNEAEESEKEEEE EEN ENEEREE EEN 31 4 1 Register Properties EE 31 EE P r meter ID suassad adelen 31 4 1 2 Data TYPES sico esenea d aaa ea dE dE hace EE dE 31 4 1 2 1 Specifying Fixed Point Parametere 31 413 ACCESS level osasia EEA EE 31 4 2 e WI 32 4 2 1 Command Registers 2erdb e e ugedE dee yenc kiraia NEE deed ACEN ed 32 ADA ONO CONDON EE 32 4 212 Mode Control EE 32 G e NR Sg ele WER Le Un EE 32 42 14 Speed STOO dE 33 4 2 1 5
116. s Inverter B S W Over Temp Inverter B S W Over Current Motor Over Temp Publication UM 0045 Parameter Register Interface Bit Faut 13 14 15 16 17 18 19 20 21 22 23 24 31 4 2 2 16 Register Operation Status This register is updated after every parameter read or write operation and indicates whether the operation was completed successfully The status is reported as follows Value State Operation completed successfully Error Illegal unsupported Parameter ID was supplied by the user Error A write was attempted to a Read Only Parameter Error A read was attempted from a Write Only Parameter Error User provided data is not within legal range Error Configuration Memory Hardware Error Error Configuration Memory CRC Mismatch Error Invalid password provided for operation Error Operation not allowed when the drive is ON 5 Unknown Reserved for future use Vo DH Bjely alulsjulnIke o 4 2 2 17 DSP Software Revision Major Minor These registers report the major and minor revisions of the controller software presently loaded in the DSP s FLASH memory 4 2 2 18 FPGA Firmware Revision Major Minor These registers report the major and minor revisions of the FPGA on the control board 4 2 2 19 PCB Variant This value represents the hardware variant of the DSP control board running the application 4 2 2 20 Contactor State This register reports the state of the op
117. s no longer being clamped 2 5 1 9 High DC Link Voltage The firmware monitors the DC link voltage and will set a warning flag if it exceeds the DC Link Over Voltage Warning Threshold configuration parameter PID 0x8031 This flag will remain set until the voltage falls below the DC Link Over Voltage Recover Threshold configuration parameter PID 0x8032 2 5 1 10 High Brake Switch Temperature If the Brake Temp Enable parameter PID Ox80CA is set to TRUE the firmware will monitor the brake switch temperature sensor and will set a warning flag if the temperature exceeds the Brake Switch Temperature Warning Threshold configuration parameter PID 0x8037 This flag will remain set until the temperature falls below the Brake Switch Temperature Recover Threshold configuration parameter PID 0x8038 2 5 1 11 Local Bias Supply Tolerance Warnings The firmware monitors the local bias supplies 24V 15V 5V 3 3V and 15V on the control board and will set a warning flag if the corresponding supply voltage is not within the range required by the on board hardware The various warning flags will remain set while the supply voltages are out of tolerance and will be cleared when the supply is within the required limits 2 5 2 Faults The motor controller provides the fault protection listed below Whenever a fault occurs the firmware will automatically turn the inverter OFF and transition to the FAULT state Each fault condition is latched and reported
118. sensing is employed it is left up to the user to generate these coefficients for the specific sensor s temperature to voltage transfer function The temperature transfer function can be derived using a common tool like Microsoft Excel in which the temperature vs voltage data from the device s datasheet are entered any scaling performed based on the analog signal conditioning prior to the control board connection and then normalizing the resulting voltage OZMTR3000 Motor Controller User s Manual Parameter Register Interface by diving by the control boards voltage input range The resulting ADC to temperature curve can be plotted anda 3 order polynomial trend line can be generated to match the curve 4 3 12 3 Inverter Temp Derating Enable This parameter enables the thermal derating feature where the user s motor torque command can be reduced based on high inverter temperatures If this parameter is set to FALSE the inverter temperature will not be used to adjust the commanded torque If this parameter is set to TRUE and the Inverter Temp Enable parameter is TRUE i e the sensor is present and being used then the thermal derating feature will be enabled and will operate as discussed in section 2 2 4 4 3 12 4 Inverter Temp Derating Low Threshold This parameter specifies the lower inverter temperature threshold at which thermal derating will begin Temperatures below this value will not cause torque derating Temperatures above this
119. specified by this parameter The legal range for this parameter is N 0 debounce clock SYSCLK 150MHz to N OxFF debounce clock SYSCLK 510 294kHz For electrically noisy environments that could cause false noise induced edges on the encoder inputs the user may wish to configure aggressive debounce a slower debounce clock and a higher number of debounce edges One side effect of doing so is that the resulting encoder signals used by the controller will be quantized by the configured debounce period This quantization effect could be undesirable if a precise speed measurement is required by the end application For systems where noise is not an issue or where it is important to preserve the exact timing of the encoder pulses minimal debounce should be used 4 3 13 6 Encoder Debounce Select This parameter is used to select the encoder input debounce event period as follows e 0 0FF no debounce is performed e 1 X3 three consecutive samples must be the same value to be considered a valid transition as clocked by the prescaled clock configured in the previous parameter e 2 X6 six consecutive samples must be the same value to be considered a valid transition as clocked by the prescaled clock configured in the previous parameter The user should take care to ensure that the debounce time consecutive samples debounce clock period does not exceed the minimum expected period of the encoder input signals determined by the maximum mot
120. ssssnnarsuuinedsnudnnnnusnediia inuuna 52 4 3 8 2 AC Motor Stator Leakage Inductance cc cccccecesssssseeececesesseaececcescesseeeaeeeeeeeeeeseeseaaeas 52 4 3 8 3 AC Motor Rotor Leakage Inductance 52 4 3 8 4 AC Motor Rotor Resistance rnrnranrnnnnvnrnnnnnnavennnnrnnnnnnnrnennrnrnnnnensvennnnrnrnnnrenserenennnnrnnsen 52 4 3 8 5 AC Motor Magnetizing Current rrnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnannnnnnnnnnnnnnnnen 52 OZMTR3000 Motor Controller User s Manual Table of Contents 4 3 8 6 AC Motor Initial Magnetizing Current rerrrrnrnannnnnnrnrrrnnsnnnnnrnrvnnssnsnnnnnnrvnsnnsvensnrnannrnnsene 52 4 3 8 7 AC Motor Minimum Magnetizing Current esssesesssessssssssssesesersrrrerrrerrrerrrrrrrerrrsrerererens 52 4 3 8 8 AC Motor Magnetizing Current Slew Rate 53 4 3 8 9 AC Motor Field Weakening Cnable 53 4 3 8 10 AC Motor Field Weakening Minimum Speed 53 4 3 8 11 AC Motor Temperature Coefficient 53 4 3 9 Permanent Magnet Motor Parameters rnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnen 53 4 3 9 1 PM TOrG Ue E TEE 54 4 3 9 2 PM Align At Startup Enable rserrrnrnnnnnnrorrrnnrnnnnnnnnrnvvnnsnnnnnnnnrsnnrnssrnnnnnrnrnnnnrnssnsnnnnnnrnnsene 54 4 3 9 3 PM Align Current csccccsccceseescssrorsseesecendsconeessascessesesteesdsessessearseccnesdeseesedseasencdseseavests 54 43 94 PMAlgn Nr EE 54 4 3 9 5 PM Align Maximum Speed Threshold cccsceesessscececeeecseseaeceeeescesses
121. t to zero The warning flag will be cleared when no clamping is being performed either the brake fault is cleared or the user s torque command changes back to a motoring command 2 5 1 7 Motor Torque Reduced Due to Thermal Derating If the controller has been configured to enable thermal derating from either a high motor temperature PID 0x80C6 or a high inverter temperature PID 0x80BD the firmware will reduce the user torque command applied to the motor when the corresponding temperature is too high When this occurs the controller will set this warning flag to indicate to the upper level controller that the requested torque command is not being used and that a lower torque is actually being commanded due to thermal derating The warning flag will be cleared when no thermal derating is being performed i e the temperature s are below their minimum derating values 2 5 1 8 ly l Current Foldback If the current fold back feature is enabled PID Ox80F2 or 0x80F6 the firmware will reduce the and or ly currents if the voltage applied to the motor gets too close to the full utilization of the DC Link voltage i e a high modulation index When this is the case the motor drive will set these bits one for Ig one for l to indicate that corresponding current is actively being OZMTR3000 Motor Controller User s Manual Functional Description reduced These warning flags are automatically cleared when the corresponding current i
122. tional auxiliary contactor as follows 0 Contactor is OPEN 1 Contactor is CLOSED OZMTR3000 Motor Controller User s Manual Parameter Register Interface 4 3 Non Volatile Configuration Registers Many operating parameters in this application have been made configurable so as to support various motor drive topologies as well as to support other similar products in the future As such the software contains provisions for storing these configuration parameters in an external non volatile EEPROM device Once one or more configuration parameters have been updated by writing to the applicable configuration register the actual operating configuration variables remain unaffected until one of two events occur either the user cycles power on the control board or the Configuration Reload command register PID 0x0007 is written to In the second case the reload is only allowed if the drive is not enabled Attempts to reload the system configuration while the drive is in operation will result in the command being ignored and an error being reported in the Register Operation Status register PID Ox400F The Configuration Reset command register PID 0x0006 is used to reset the EEPROM back to the original factory default values The user should take care when using this command as any custom configuration settings will be lost when the entire contents of the configuration memory is overwritten with the factory defaults This command is only allo
123. tly not used by the motor drive application and will return a value of zero when read 4 3 1 6 User Configuration Revision This is a generic parameter that is provided to allow the user or a higher level controller to maintain revision information for custom settings to the configuration memory The firmware does not use this value The protocol for numbering and maintaining custom configurations is left up to the user 4 3 1 7 Configuration Password This parameter defines the configuration password stored in the configuration memory To access any parameter that is marked as password protected the user must provide a password that matches the value stored in this parameter See the Parameter Read Write messages described in FS 0066 OzCan Motor Controller Device Profile for further details on providing this password value Note that this parameter is password protected as well The firmware has its own unpublished master password that can be used to override the password stored in this register In the event that the password is changed from the factory default listed and then subsequently lost contact Oztek for the master password or for other alternatives to reset the value in the configuration memory 4 3 2 CAN Interface Parameters The following set of parameters are provided to allow for customizing the CAN interface for the end user s application Publication UM 0045 Parameter Register Interface Table 12
124. torque or speed command will be ignored Once alignment is complete the state machine will transition to the Running state where the user torque or speed command will then be accepted If an OFF command is received during the alignment process the controller will immediately transition back to the Idle state and will disable the inverter 2 4 6 Running While in the Running state the motor drive is enabled and processing either speed or toque commands from the user The state machine will remain in the Running state indefinitely transitioning either on a fault or a turn off command When a turn off command is received the state machine will immediately disable the inverter and go to the Idle state 2 4 7 Fault The Fault state indicates that a latched fault condition has occurred and that the drive is inoperable The various fault conditions are reported in the Fault Status instrumentation register PID Ox400E and also reported on the CAN bus in the Alarm Status CAN message OZMTR3000 Motor Controller User s Manual Functional Description The controller remains in the Fault state and the latched fault flags remain set until explicitly reset with a Fault Reset command PID 0x0004 This is true even if the source s of the fault s are no longer active Upon receiving the Fault Reset command the firmware will attempt to clear all latched fault bits It then examines the sources of all fault conditions and if any sources of faults are stil
125. ture increases above the nominal 20 C If a motor temperature sensor is not enabled then this parameter will not be used This parameter is specified in units of 0 001 C For example the thermal coefficient of copper is approximately 0 4 C meaning that if the temperature increases by 1 C the resistance will increase by 0 4 This value would be stored as 400 The rotor resistance adjustment can be disabled by setting this parameter to zero 4 3 9 Permanent Magnet Motor Parameters The parameters described in this section are only used if the controller is configured to operate as a Closed loop Field Oriented Permanent Magnet Motor Controller as specified in the Motor Drive Type parameter PID 0x8060 Otherwise these parameters are not used by the controller Publication UM 0045 Parameter Register Interface Table 19 Permanent Magnet Motor Parameter Summary PID i Description Units aia Min Max ERC 0x8090 U16 PM Torque Constant 0 001 Nm Arms 1000 1 65535 RW 0x8091 U16 PM Align At Startup Enable boolean FALSE FALSE TRUE RW 0x8092 U16 PM Align Current 0 1 Arms 100 0 65535 RW 0x8093 U16 PM Align Time 10 ms 1000 1 65535 RW 0x8094 U16 PM Align Maximum Speed Threshold 0 1 RPM 50 1 65535 RW 0x8095 U16 PM Align Angle Offset 0 01 Degrees 0 0 65535 RW 4 3 9 1 PM Torque Constant This parameter is used to specify the torque constant of the permanent magnet m
126. ue or speed commands that would otherwise result in a current above this value will result in the motor current being clamped to this value In this case the resulting torque will be reduced or the speed will fall out of regulation depending on the direction of the load 4 3 7 5 Motor Maximum Frequency This parameter is used to indicate the maximum allowable electrical frequency for the motor being controlled This value is used by the firmware as the full scale frequency for normalization purposes This parameter should be set above the maximum expected operating frequency for the motor in order to provide some margin for headroom when operating at high speeds As a rule of thumb a reasonable margin for headroom would be around 10 to 20 For example if the expected maximum operating frequency of the motor was 300Hz then a reasonable value for this parameter would be 350Hz 4 3 8 AC Induction Motor Parameters The parameters described in this section are only used if the controller is configured to operate as a Closed loop Field Oriented AC Induction Motor Controller as specified in the Motor Drive Type parameter PID 0x8060 Otherwise these parameters are not used by the controller Publication UM 0045 Parameter Register Interface Table 18 AC Induction Motor Parameter Summary PID Se Description Units GH Min Max ERC 0x8080 U32 AC Motor Mutual Inductance uH 4841 0 1E 0
127. ved Inverter Parameter Summary PID ae Description Units dr Min Max EE 0x8108 U16 Dual Interleaved Inverter Enable boolean FALSE FALSE TRUE RW 0x8109 U16 Zero Sequence Current Control Enable boolean TRUE FALSE TRUE RW Ox810A S32 Kp Zero Sequence Current Controller Q16 1 0 0 0 32767 99 RW Ox810B S32 Ki Zero Sequence Current Controller Q16 1000 0 0 32767 99 RW 4 3 17 1 Dual Interleaved Inverter Enable When set to TRUE this parameter enables controls for a second inverter in parallel with the main inverter for use in a dual inverter interleaved power stage When set to FALSE the controller will only drive one inverter interface and all other parameters in this section are ignored 4 3 17 2 Zero Sequence Current Control Enable Setting this parameter to TRUE will enable a PI regulator to be used to force the zero sequence current on the second inverter to zero This is intended to prevent a DC current offset from developing and circulating between the two parallel inverters 4 3 17 3 Zero Sequence Current Controller Gain Constants Kp Ki VABC Offset la measured d bn IB measured Ic measured Figure 16 Zero Sequence PI Regulator These parameters define the gain constants for the PI controller that is used to regulate the zero sequence current in the second inverter The integral gain K parameter should be entered as the continuous gain or sometimes referr
128. w 4 3 10 6 V Hz Startup Frequency This parameter sets the starting frequency to apply when first turning on the motor This parameter will be ignored if V Hz Synchronous Startup has been enabled or if the V Hz Minimum Frequency is greater than the value specified by this parameter 4 3 10 7 V Hz Startup Pause Time This parameter determines the length of time to maintain the start frequency when first turning on the motor Once this time has expired the controller will then go to the commanded motor speed set by the user 4 3 11 Maximum Torque Profile Parameters The parameters described in this section are only used if the controller is configured as a Closed loop Field Oriented Motor Controller for either PM or AC Induction motors as specified in the Motor Drive Type parameter PID 0x8060 and the drive is operated in direct torque control mode Otherwise these parameters are not used by the controller See section 2 2 5 for more details on configuring the desired maximum torque operating profile OZMTR3000 Motor Controller User s Manual Parameter Register Interface Table 21 Maximum Torque Profile Parameter Summary PID Se Description Units GN Min Max gece Ox80B0 U16 Torque Profile Enable boolean FALSE FALSE TRUE RW Ox80B1 U16 Torque Profile Maximum Torque Nm 1000 1 65535 RW Ox80B2 U16 Torque Profile Maximum Power 10 W 10000 1 65535 RW 0x80B3 U16 Torque Profile Power Speed
129. wed if the drive is not enabled Attempts to reset the EEPROM data while the drive is in operation will result in the command being ignored and an error being reported in the Register Operation Status register There are multiple scenarios in which the firmware may automatically program the configuration memory at startup with the factory default values First when the drive boots following a reset it attempts to read a predefined read only header stored in the EEPROM If the header does not match the expected value the memory is considered uninitialized and the firmware will automatically write the default factory configuration values into the memory This would be the case if a new control board were just being loaded with the firmware and operated for the first time in which case the configuration memory wouldn t contain valid data The second scenario in which the firmware will automatically update the configuration memory occurs when the firmware has been updated on the control board and its associated configuration memory map is not compatible with the previously programmed version of the firmware The configuration memory contains two factory revision values a major and a minor revision At startup the firmware will read the major revision value and compare it against the default major revision for that particular build of the firmware If the two do not match the firmware will automatically reset the configuration memory to the factory de
130. x er 0x8050 U16 Pulse Width Modulation Frequency 1Hz 5000 1000 25000 RW 0x8051 U16 Pulse Width Modulation Deadband Time 1ns 2100 0 65535 RW 0x8052 32 Pulse Width Modulation Max Duty Cycle Q16 0 95 0 0 9999 RW 0x8053 32 Pulse Width Modulation Min Duty Cycle Q16 0 95 1 0 RW 0x8054 U16 Inverter Power Stage Dead Time 1ns 0 0 65535 RW 4 3 5 1 Pulse Width Modulation Frequency This parameter defines the PWM switching rate as well as the frequency at which the control ISR will be executed 4 3 5 2 Pulse Width Modulation Deadband Time This parameter defines the amount of dead band time to use between switching the complementary top and bottom switches in the half bridges i e the time that both PWM outputs are OFF 4 3 5 3 Pulse Width Modulation Max Min Duty Cycle These parameters specify the minimum and maximum duty cycles allowed on the PWM outputs to the power switches The controller will clamp the PWM pulses to these values preventing any pulses narrower than the minimum specified value or greater than the maximum specified value These parameters can be used to guarantee minimum pulse widths if required by the power switches The dead band time either enforced by the power module hardware or by the controller software parameter should be taken into account when setting these parameters The duty cycle is encoded such that 1 0 is equivalent to 0 duty cycle 0 0 is equivalent to 50 duty cycle and 1
131. ximate Connector Jumper LED and Test Hook Locations Publication UM 0045 OZDSP3000 Hardware Interfacing 3 3 Mechanical Interface wi 330 OUTER PAD 189 DRILL HOLE 5 PLACES 7 000 6 700 2 PLACES CH TI ei 2 630 d EE TE L 300 300 2 PLACES 2 PLACES 5 665 8 700 2 PLACES 9 000 Figure 12 OZDSP3000 Mechanical Dimensions OZMTR3000 Motor Controller User s Manual Parameter Register Interface 4 Parameter Register Interface The motor drive is controlled monitored and configured via a parameter register set This register set can be accessed through the CAN bus serial communication link 4 1 Register Properties 4 1 1 Parameter ID The Parameter ID PID listed in the tables below represents a numerical identifier for each parameter 4 1 2 Data Types The actual parameters are stored internally as either 16 bit or 32 bit quantities and are treated as either signed or unsigned entities The tables below indicate this information using the following abbreviations for the Data Type e U16 Parameter is an unsigned 16 bit entity e U32 Parameter is an unsigned 32 bit entity e S16 Parameter is a signed 16 bit entity e 32 Parameter is a signed 32 bit entity Parameters that are specified as Boolean are stored as 16 bit entities a value of all zeros indicates FALSE and any non zero value indicates TRUE Unless otherwise specified in the parameter description t

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