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USER MANUAL - SLS-Sinusleistungssteller!

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1. 3 70 Temp_Lim C 10 4 trace intervall msec 328 sec Ring Buffer MV Servo Signal Not Filtered Open Save as Close picture 6 6 parameter window SLS The derating temperature the trace memory and the evaluation of the servo signal can be changed in the SLS tab Temp Lim C This parameter defines when the temperature derating begins In the area between Temp Lim and 90 C will be derated In practice this threshold should be between 65 C and 75 C trace interval msec This function adjusts the interval in which the SLS saves data to the trace memory Values of 10ms up to 10000ms 10s are possible The maximum number of cycles is restricted to 10 cycles for trace intervals between 10 and 99ms in order to limit write cycles to trace memory if ring buffer is activated Ring Buffer The trace memory will be configured as a ring buffer Servo Signal Not Filtered Setting this checkbox causes the servo signal to be processed directly i e without filtering If filtering is active this function allows to bridge over possible short interferences in radio communications The trace memory will be deleted if the settings are changed by pressing the Replace button 16 6 4 Additional Functions and Options Useful functions and chargeable options are summarized in this menu The options can be activated by requesting a activation code See point 6 4 6 for more informat
2. 33 10 3 SLSi 60 240 SLSi 60 360 EU Konformit tserkl rung EU Declaration of cir 1 Ger tetyp Produkt SinusleistungsSteller Apparatus model Product 2 Name und Anschrift des Herstellers Ing B ro Rolf Zimmermann Name and address of the manufacturer Industnestr 7 D 97297 Waldb ttelbrunn 3 Die manufacturer 4 Gegenstand der Erkl rung Object of the declaration alleinige f r die Ausstellung dieser Konformit tserkl rung tr gt der Hersteller This declaration of conformity is issued under the sole responsibility of the SLSi 60 240 SLSi 60 360 5 Der oben beschriebene Gegenstand der Erkl rung erf llt die einschl gigen orschriften der Union The object of the declaration desenbed above is in conformity with the relevant Union harmonisation legislation RICHTLINIE 2014 30 EU DES EUROPAISCHEN PARLAMENTS UND DES RATES vom 26 Februar 2014 zur Harmonisierung der Rechtsvorschriften der Mitgliedstaaten ber die elektromagnetische Vertr glichkeit DIRECTIVE 2014 30 EU OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL of 26 February 2014 on the harmonisation of the laws of the Member States relating to elecromagnetc compatibility 6 Angabe der einschl gigen harmonisierten Normen die zugrunde gelegt wurden einschlie lich des Datums der Norm oder Angabe anderer technischer Spezifikationen f r die die Konformit t erkl rt wird einschlie lich des Datums der Spezifikation References to the relevant harmonised standa
3. Answer Principally YES because the cSLS SLS does not see whether it draws its current from a power source or battery If supplied by power supply it must be ensured that the cSLS SLS does not regenerate current back e g rapid braking of a inertia or the power supply must be able to source and sink currents By using a not suitable power supply cSLS SLS and or power supply can be damaged by over voltage During battery operation with a connected charger always make sure that the max voltage of the cSLS SLS is not exceeded Some chargers produce very high voltage pulses e g desulfation of lead acid batteries which could damage the cSLS SLS Especially when the battery pack consists of multiple serial connected 12V lead acid batteries which are recharged each with a separate 12V charger this is where the pulses of the individual chargers can add up to dangerous voltages Disconnect the cSLS SLS from the battery during recharge to keep the cSLS SLS safe In any case use the existing precharge function to turn the controller on internal precharge circuit of the cSLSi external AVS2 or EBS Especially when the controller is operated near its maximum DC voltage Turning the device on via a mechanical switch generates excessively high charging currents in the electrolytic capacitors and in addition produces dangerous over voltages that may result in permanent controller damage A in this way damaged controller carries the ri
4. Signal Curve Firmware Update Close cSLS 60 035 SN 1 from 16 2 2015 Firmware CSLS1 493 www SinusLeistungsSteller de MW picture 6 1 main menu of the SLS Windows Monitor The main menu offers sub menus which are explained below The main menu also contains important information regarding the version of the SLS Windows Monitor Further type serial number firmware version of the connected controller as well as a direct link to the SLS homepage By clicking the country flag right bottom in the main menu the SLS Windows Monitor language can be changed currently English and German 10 6 1 Status Window The status window displays the actual operation values of the SLS live x T_P 24 5 C battery voltage 21 3 Iq current 0 0 ac Id current 0 0 ac speed 0 rpm servo signal 1500 psec trace buffer 52 min of 55 min free picture 6 2 status window T_P Temperature of the power module in C T_E Temperature of the capacitors only for SLSi in C battery voltage DC voltage in Volt measured by the controller Iqcurrent The torque current in A It is not the DC current from the source but the current in the motor phases Id current The magnetizing current in A speed The motor speed in RPM revolutions per minute servo signal The us values imported via servo interface trace buffer Information about the internal trace memory Ifthe ring
5. SinusLeistungsSteller USER MANUAL eSLSi 24 75 WK cSLSi 60 70 WK cSLSi 24 110 WK cSLSi 60 100 WK cSLSi 24 140 WK cSLSi 60 140 WK SLSi 60 240 WK SLSi 60 360 WK ce Ing B ro Zimmermann Industriestra e 7 D 97297 Waldb ttelbrunn Tel 49 0 931 78011030 www SinusLeistungsSteller de info SinusLeistungsSteller de Contents 1 General Oi a a A 3 A a A 3 2 Safety Instrmeti ns Hana als ee neue ee 4 A A A A 5 3 1 MolorConneetion se rasen 5 3 2 Battery Connections oree ei a o dat 5 3 3 Servo Interface SetpointSpeeificatien auu anansnsenate nenn Hi Adnan 6 DL a E A ALA EER a ee 6 33 2 DES ee ernennen nat 6 3 4 Serial Interface 2 nass ann 7 JA OS ee ee een 7 BRD DL O 7 4 Cooling and Mounting A bee elta 8 5S Signaling via LEDS Asa taa 9 SECS ESIN A T E A A a E O ANG 9 A EE ahnen TEE handess iat seamen slate 9 6 Configuration via SLS Windows Monitor uussessseesseesssesnennnnennnnnnnensnennnnennnensnnnnnnnnnn nenn 10 6 1 Stat s IO pd 11 A A ee O A AE 13 63 Parametern angeeignet 14 6 4 Help Functions and Options anna 17 6 4 1 Signal Cie Bye sn di den 18 BA 2 OSet Ser Vo 101 0 een ee es eis 19 6 4 3 Operation Point Live Paid Option nannten na illane 19 6 4 4 U I Vector Representation Live Paid Option ccccescceseceseeeeeeeteeeseeenteeeseeeeseneees 21 6 4 5 Control Panel Paid Option een es ap ann 22 64 6 Act yale OPUONS a A A ay cease 23 60 5 Si
6. rTQ_VDZ 8LP modulation setpoint m speed control a torque control sa spin backward mm spin forward wm parking brake active wem parking brake inactive ET ee nr speed torque Step Counter 8 k a Signal Step us feo 1100 1450 insert Step Modulation po 100 0 0 0 Sareea elete Active step Seas Torque Control lv lv Active Step Reverse Direction Replace Parking Brake Active picture 6 14 example of a signal curve 1 Xx 1 Torque Profile New A new empty signal curve opens Open An already existing signal curve can be opened from the hard drive Save as The currently displayed signal curve will be saved to the hard disk Replace The currently displayed signal curve is transferred to the SLS Insert Step A new step will be inserted between the current and the next step Delete Active Step Deletes the selected step Torque Profile With this button you will enter the current profile window more information in the next section Select the active step via the top numerical box Active step The active step is marked as a vertical red line extending the entire diagram The individual steps are numbered from left to right Below the selected steps the settings for this step middle column for the previous left column and for the next step right column are displayed A step can be moved with the coordinate information
7. voltage and temperature limits and adjust them to his needs Question Can a SLS only be used with the motor it was matched for Answer The parameter set must always match on the motor connected to the SLS But the user can switch the parameter set to another parameter set and operate the SLS with another suitable motor All parameter sets can be read entirely from the SLS and saved on the PC in form of a file You will need our USB Seriell Interface USI to change replace parameter sets and a installation of the SLS Windows Monitor The USI is also required to read trace data or load firmware updates and is in most cases already available or a worthwhile investment The SLS Window Monitor can be downloaded for free from the Download Area on our homepage Question Which types of motors can be operated with the SinusLeistungs Steller Answer All 3 phase motors that match the basic concept of a permanent magnet synchronous motor PMSM BLDC It makes no difference whether it is an inrunner or outrunner Ideal but not mandatory is a sine induced voltage if the voltage differs from pure sine efficiency slightly drops Due to the sine commutation there are restrictions on the maximum field frequency it should not exceed a maximum of 1 000Hz 60 000rpm field For motors with very small winding inductance the PWM frequency must be increased in order to keep the current ripple small As a result additional losses occur increased switch l
8. Gegenstand der Erkl rung CSLS 24 75 cSLSi 24 75 Object of the deciaration Der oben beschriebene Gegenstand der Erkl rung erf llt die einschl gigen Harmonisierungsrechtsvorschriften der Union The object of he deciarabon descnbed above is in conformity vath the relevant Union harmonisation legisiation RICHTLINIE 2014 30 EU DES EUROPAISCHEN PARLAMENTS UND DES RATES vom 26 Februar 2014 zur Harmonisierung der Rechtsvorschriften der Mitgliedstaaten ber die elektromagnetische Vertr glichkeit DIRECTIVE 2014 30 EU OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL of 26 February 2014 on the harmonisation of the laws of the Member States relating to electromagnetic compatibility Angabe der einschl gigen harmonisierten Normen die zugrunde gelegt wurden einschlie lich des Datums der Norm oder Angabe anderer technischer Spezifikationen f r die die Konformit t erkl rt wird einschlie lich des Datums der Spezifikation References to the relevant harmonised standards used including the date of the standard or references to the other technical specifications including the date of the specification in relation to which conformity is declared DIN EN 61000 6 2 VDE 0839 6 2 2006 03 Elektromagnetische Vertr glichkeit EMV Teil 6 2 Fachgrundnormen St rfesigkeit f r Industriebereiche IEC 61000 6 2 2005 EN 61000 6 2 2005 DIN EN 61000 6 4 VDE 0839 6 4 2011 09 Elektromagnetische Vertr glichkeit EMV Teil 6 4 Fachgrundnormen
9. St rausssendung fur Industriebereiche IEC 61000 6 4 2006 A1 2010 EN 61000 6 4 2007 A12011 Nicht zutreffend No apphcable ben Zusatzanga Additonal information Unterzeichnet f r und im Namen von Ing B ro Rolf Zimmermann Signed for and on behalf of Industriestr 7 D 97297 Waldbuttelbrunn Ort und Datum der Ausstellung Wakib ttelbrunn 21 08 2014 place and date of issue Ingenieurb ro Name und Funktion name function f i mermann D 9 e ma oi Tel 0931 7801103 0 Fax 8 Rolf Zimmermann Dipl Ing FH Inhaber 32 10 2 cSLSi 60 xxx 2 Name und Anschrift des Herstellers Ing B ro Rolf Zimmermann Name and address of the manufacturer Industriestr 7 D 97297 Waldbuttelbrunn 3 Die alleinige Verantwortung f r die Ausstellung dieser Konformit tserkl rung tr gt der Hersteller This deciaration of conformity is issued under the sole responsibility of the manufacturer 4 Gegenstand der Erkl rung cSLS 60 70 cSLSi 60 70 Object of the declaration ceSLS 60 100 cSLSi 60 100 CSLS 60 140 cSLSi 60 140 s Der oben beschriebene Gegenstand der Erkl rung erf llt die einschl gigen Harmonisierungsrechtsvorschriften der Union The object of the declaration described shown iss or TAI Re platano es RICHTLINIE 2014 30 EU DES EUROP ISCHEN PARLAMENTS UND DES RATES vom 26 Februar 2014 zur Harmonisierung der Rechtsvorschriften der Mitgliedstaaten ber die elektromagnetische Vertr glichkeit DIRECTIVE 2014 30
10. LED green continuously ON Internal powerup self test completed successfully SLS is ready flashing Loss of EEPROM information reload the SLC parameter file LED yellow Data logger is active short pulses when data is being saved Communication via the serial interface is active short pulses LED red continuously ON SLS in failsafe under overvoltage or overtemperature shutdown pulses SLS operates in derating undervoltage overvoltage overtemperature 5 2 SLSi The SLSi indicates its status via 4 LEDs LED green continuously ON Internal powerup self test completed successfully SLS is ready pulses Loss of EEPROM information reload the SLC parameter file LED yellow1 Data logger active short pulses when data is being saved LED yellow2 Communication via serial interface is active short pulses LED red continuously ON SLS in failsafe under overvoltage or overtemperature shutdown pulses SLS operates in derating undervoltage overvoltage overtemperature The failsafe state protects the SLS hardware and battery This state can only be reset via power cycle separating the SLS from battery for at least 30 seconds 6 Configuration via SLS Windows Monitor The SLS have a series of parameters which define the operational behavior and enable the control The settings are managed via SLS Windows Monitor BER SLS WMon_1 490 407 673 SinusLeistungsSteller Trace Parameter Options
11. Signal Step Modulation Further settings are for the areas between two neighboring steps These are torque control reverse direction and parking brake The corresponding check boxes are arranged accordingly in between the steps 25 6 5 1 Torque Profile Chargeable Option olx current f speed motor current minimal motor current maximal generator current minimal generator current maximal 50 speed Pt Active Step 1 RPM 4 00 0 0 122 Y Step Counter fin Motor Current maximal foo 3 jar 3 la 3 Insert Step Motor Current minimal 2 foo 3 foo 3 0 0 Generator Current minimal foo foo fo Generator Current maximal foo 2 1 f picture 6 15 example of a current profile The enabled current in can be adjusted via the actual speed using the optional current profile The motor current is plotted upwards in positive direction the generated current downwards in negative direction All entries are absolute values without sign The maximum number of steps in this case is 32 There are different curves possible for motor and generated current Both for the maximum as well as the minimum currents Insert Step A new step will be inserted in between the active and the next step Delete Actual Step Deletes the selected step Accept The entries are applied the window is closed Attention The current profile has not been transmitted to the controller yet On
12. function to display the motor characteristic 1 f n dynamically together with the current operating point displayed as a red dot The limits set for AC motor current AC generator current and speed are displayed simultaneously including the hardware related maximum currents The limitations are shown dynamically The motor limit changes for example with the DC voltage level Derating limits will also be displayed if the controller operates in derating mode This may be the case with overvoltage undervoltage or overtemperature The motor characteristic on the next page is calculated at a DC voltage of 26Vdc On the motoric side max 25A are enabled on the generatoric side max 25A The user however can enable up to 100A The default setting for the speed limit is 60 of 10 000rpm 6 000rpm The area enabled as active will be displayed in dark green and the possible range not yet enabled as a light green area Displayed are only the two right quadrants the two left quadrants result by reflection at the origin and are displayed in the area of the right quadrants The curved boundary towards high speeds originates from the motor constants and the DC link voltage It represents the given limit without field weakening Id 0 Exceeding this limit in motor mode la gt 0 is not possible In the generator mode Iac lt 0 however this limitation can be exceeded by over speed Since uncontrollable high currents can flow from
13. the controller is operated near its maximum DC voltage Turning the device on via a mechanical switch generates excessively high charging currents in the electrolytic capacitors and in addition produces dangerous over voltages that may result in permanent controller damage A in this way damaged controller carries the risk of a battery short circuit along with the risks of a possible electric arc First connect the minus pole of the SLS with the minus pole of the voltage source Then precharge the input capacitors of the SLS with the internal precharging circuit or an external AVS2 Only after the steps above are followed connect the positive pole of the source with the positive pole of the SLS When using a battery supply the use of a appropriately dimensioned fuse is mandatory for applications dedicated to safety we recommend in addition the use of a EBS The SLS is ready as soon as the green LED lights up If operated via power source this source must be able to sink generated currents alternatively a small battery for buffering which is connected parallel to the power source can be used The parameter for the regenerated current must also be adjusted in the SLS Windows Monitor to ensure that no dangerous voltage increase occurs at the SLS input capacitors and DC source e g at a regenerated current during slow down of a inertia 3 3 Servo Interface Reference Signal Specification Selecting a reference signal is possible via
14. the SLS due to diode commutation an operation outside these limit must be avoided 19 Operating Point live O x active setup KT4023 1lc Ude 26 0V F 2 E E 5 2 ipeed RPM picture 6 10 operation point at 26Vdc The following picture shows the same motor with reduced input voltage 20Vdc In this case the input voltage is in the derating area between U_Batt_Lim and U_Batt_Low The input power is thereby reduced to avoid a too deep battery discharge The limitations of the enabled motoric operational area will be further derated and the current operating point adjusted downwards The generator area on the other hand is not restricted Operating Point live active setup KT4023 1lc Ude 20 0V current Aac peed RPM picture6 11 operation point derated 20 6 4 4 U l Vector Representation Live Chargeable Option The vector representation of current and voltage is currently still in a beta version This will be completed in the future CA la U l Vectors 21 6 4 5 Control Panel Chargeable Option The control panel is used to control and set the reference values of the SLS via the serial interface 8 Control Panel x speed motor current generator current enable control panel pS 100 100 100 E Start Stop 50 50 50 forward backward clear error y 0 ay 0 0 0 RPM 0 0 O0Aac 0 0 0
15. the SinusLeistungsSteller cSLS cSLSi SLSi must not be used in the man carrying area We hereby explicitly prohibit such use This does not include applications for testing and research purposes which were reviewed and approved by us IBZ in written form If the buyer user performs such application using one of our controllers without our written consent this will be at his own risk We do not accept liability on our part for damages that might occur directly or indirectly When being installed in machines the intended operation of the SLS is forbidden until it has been ensured that the machine meets the machinery directive and EMC directive During operation the SLS may have unprotected contacts as well as hot surfaces Assembly and commissioning must be carried out by qualified personnel Qualified personnel in the sense of the general notes of safety are persons who are familiar with setting up assembling starting up and operating this device or possess the corresponding knowledge within their field of work All SLS are allowed to operate only with an appropriately sized current fuse for reasons of safety Itis necessary to maintain a safe distance from all movable parts when connecting motor and source with the SLS because the motor can accidentally start up due to incorrect operation or electric defect A starting electric motor can cause serious injury It is important to ensure that no property damage or p
16. 0 Aac 0 0 I parking brake active Te Spannung UBatt Max Cutoff fi ramp up accel rate 466 RPM sec T Max Cutoff 30 C fi ramp down decel rate 466 RPM sec UBatt Max Lim T Max Lim 40 0 C UBatt Low Lim N i UBatt Low 25 5 C 20 0 SinusLeistungsSteller picture 6 12 control panel 3 sliders are located in the control panel window They can specify e g the target speed Currents necessary to reach this target value must be enabled in advance via the corresponding motor current slider If the preset current is high enough the SLS will be in speed controlled mode otherwise the controller operates in torque controlled mode The position of the slider represents the reference value the bar on the left shows the actual value Reference and actual value are displayed with the corresponding numerical value the reference value in percent the actual value in real units The control panel is enabled by checking the box enable control panel The buttons start and stop start or stop the motor forward and backward select the rotational direction Direct reversal is not possible at this moment The clear error button resets all errors displayed in the status window Checking the box parking brake active means that the motor is blocked during standstill by shorting the 3 motor phases to ground GND The remaining bars in the lower half of the window display the actual values for temperature and DC voltage t
17. C from the disk When a file is loaded the SLS Windows Monitor checks if it is compatible with the connected SLS Finally the parameters are updated into the SLS by clicking the replace button Save as The active parameter set is saved on the hard disk Replace The active parameter set is loaded to the SLS Close Closes the parameter menu Replacing the parameters will delete the trace memory Derating voltages can be changed in the Battery tab U_Batt_Max Vdc Specifies the max DC voltage on the SLS For batteries this voltage corresponds to the final charge voltage The SLS begins to derate regenerative current Volt below this limit If the voltage is reached this process stops U_Batt_Lim Vdc Sets the point at which the undervoltage derating begins The speed and the motor current are reduced gradually up to U_Batt_Low U_Batt Low Vdc At this voltage rotational speed and motor current are derated to 0 For batteries this voltage corresponds to the final discharge voltage 14 fe Parameter Setup active setup T2455 motor current limit 2 35 0 Aac generator current limit 3 5 Aac 10 0 start current limit 3 5 Aac 5 0 minimal current 1 8 Aac 20 0 J speed limit 2000 RPM 1 ramp up accel rate 466 RPM sec ramp down decel rate 466 RPM sec _ gg M Change Direction Open Save as Close picture 6 5 parameter w
18. EU OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL of 26 February 2014 on the harmonisation of the laws of the Member States relating to electromagnebc compatibility 6 Angabe der einschl gigen harmonisierten Normen die zugrunde gelegt wurden einschlie lich des Datums der Norm oder Angabe anderer technischer Spezifikationen f r die die Konformit t erkl rt wird einschlie lich des Datums der Spezifikation References to the relevant harmonised standards used including the date of the standard or references to the othar technical specifications including the date of the specification in relation to which conformity is declared DIN EN 61000 6 2 VDE 0839 6 2 2006 03 Elektromagnetische Vertr glichkeit EMV Teil 6 2 Fachgrundnormen St rfestigkeit fur Industriebereiche IEC 61000 6 2 2005 EN 61000 6 2 2005 DIN EN 51000 6 4 VDE 0839 6 4 201 1 09 ee Vertraghchkeit EMV Teil 6 4 Fachgrundnormen Storausssendung f r EC 61000 6 4 2006 A1 2010 EN 61000 6 4 2007 A12011 7 Nicht zutreffend No applicable 8 Zusatzangaben Additional information Unterzeichnet f r und im Namen von Ing B ro Rolf Zimmermann Signed for and on behalf of Industriestr 7 D 97297 Waldb ttelbrunn Ort und Datum der Ausstellung Waldbuttelbrunn 21 08 2014 place and date of issue s ieurbOro Name und Funktion Ca RAH Ziinm name function D 97297 Waldb ttelbrunn Tel 0931 7801103 0 Fax 8 Rolf Zimmermann Dipl Ing FH Inhaber
19. a externally connected PWM signal For example a Sollwertgeber SG2 is able to produce this signal 3 3 1 cSLSi The cSLSi 3 pin connector is assigned as follows brown GND red 5V orange signal The 5V have to be supplied to the SLS from the outside because the internal optocoupler needs also to be supplied 3 3 2 SLSi The SLSi reference signal is supplied via the the included 4 pin connector The pin assignment is shown below PWM2 Optional PWM1 Ext_ 5V Ext_GND picture 3 1 SLSi servo input The PWM2 signal is reserved for future enhancements 3 4 Serial Interface The SLS Windows Monitor can access the controller through the serial interface This makes it possible e g to change limit values and store them non volatile in the SLS exchange complete parameter sets or display the SLS status live This way internally recorded trace data can be read out and displayed graphically The connection between the PC and SLS should be as short as possible specifically the USB cable If you need to extend the interface cable extend to the RS232 side of the USB Seriell Interface USI The risk of ground loops is prevented by the realized galvanic insulation through the USB Seriell Interface USI Therefore do not use other interfaces that does not have the necessary galvanic insulation The software protocol is identical for all SLS Basically the response message is seen after sending a comm
20. and Only after receiving the response a new command can be send The communication can only be initiated by the host The settings of the serial interface are 115kBd 1 start bit 8 data bits 1 stop bit no parity 3 4 1 cSLSi The cSLSi has a serial connection implemented via a female connector in a 2 54mm grid with round 0 5mm pins The pin marked on the cable points towards the LEDs POWER COM MEM ERROR TX SLS gt RX PC GND RX SLS lt TX PC picture 3 2 cSLSi serial LED 3 4 2 SLSi The SLSi has a serial connection input realized via the 3 pin connector next to the 4 LEDs TX SLS gt RX PC POWER ON Green COM Yellow GND MEMORY Yellow RX SLS lt TX PC ERROR Red picture 3 3 SLSi serial LED 4 Cooling and Mounting Both cSLSi and SLSi are available with a water cooling option WK Without water cooling the aluminum potting is used as a heat sink and as a interface for external larger heat sinks 4 through holes can be used for mounting You will find the exact dimensions in the respective installation drawings located on our homepage During assembly several points have to be considered 1 Do not attempt to open the SLS or apply additional tooling Electronic components found directly under the protective potting could be damaged Intruding moisture can damage the electronics interfere with their function and result in permanent damage 2 Avoid all forces and bending moments a
21. arameter set One of the most important parameters are the number of pole pairs the winding resistance and the inductances of the motor phases Question What happens if the SLS parameters are not suitable for the motor Answer Of course the SLS must be able to compensate some deviations in motor parameters which may occur due to unavoidable temperature rise of the motor windings or manufacturing tolerances On larger deviations the efficiency drops the motor might start badly or not at all all SLS operate sensorless If wrong parameters the simulated model does not fit the control loops for current and speed could become unstable which may lead to permanent damage of the controller in extreme cases Always make sure that the loaded parameter set matches on the motor in use Question What does the tuning procedure look like What is required How long does it take What are the costs Answer The tuning has to be performed in our laboratory and is basically divided into two steps 1 Determination of the motor parameters and tuning in loadless mode basic setup In the simplest case we need only the motor You have to send us the motor for the duration of the tuning process The operation under load must then be tested by the customer by gradually increasing the load itself 2 Tuning the motor with load load optimized setup For this two identical motors would be ideal to build a motor generator pair so that we can set and meas
22. ax 14S LiPo Output current OAac CSLSi 60 70 70Aac Note 1 cSLSi 60 100 100A cSLSi 60 140 140A PWM frequency 8kHz 60kHz Note 2 3 5V at the servo input 3 3V 5 0V 7 0V Voltage at the PWM input 1 0V low level Voltage at the PWM input 3 3V 5 0V 7 0V high level PWM High time 800us 2200us PWM Low time 100us 20ms 50ms Timeout if no reference gt 0 35 0 55 motor stops Environmental temperature 0 C 50 C during operation Storage temperature 0 C 70 C Dimensions 82 x 59 x 43 mm 102 x 59 x 49 mm with option WK Weight with 20cm cable 6 370g mm 470g with option WK 29 7 2 SLSi 60 xxx SLSi 60 xxx min typical max Input voltage 16Vdc 60Vdc max 14S LiPo Output current OAazc SLSi 60 240 240Aac Note 1 SLSi 60 360 360Aac PWM frequency 8kHz 60kHz Note 2 3 5V at the servo input 3 3V 5 0V 7 0V Voltage at the PWM input 1 0V low level Voltage at the PWM input 3 3V 5 0V 7 0V high level PWM High time 800us 2200us PWM Low time 100us 20ms 50ms Timeout if no reference gt 0 35 0 55 motor stops Environmental temperature 0 C 50 C during operation Storage temperature 0 C 70 C Dimensions 150 x 89 x 43 mm 170 x 89 x 53 mm with option WK Weight 880g 1150g with option WK Note 1 Continuous operation at high currents might require additional external cooling Note 2 The PWM frequency is set and fixed duri
23. buffer is not active the remaining free trace memory will be displayed Ifthe ring buffer is active the buffer time is displayed For very small trace intervals lt 100ms a limitation of the buffer cycles is necessary to prevent excessively frequent writing Max 10 cycles are possible in this case Already completed cycles will be displayed Possible error messages are displayed between the speed and the trace memory status SwitchOff OverTemp The maximum temperature 100 C has been exceeded The SLS stops further operation The power supply must be disconnected in order to fix the error Attention Give the SLS enough time to cool down 11 CutOff MaxTemp The SLS has derated the reference to zero both for speed and current For resetting the error set the reference to neutral and give the SLS enough time to cool down Limit MaxTemp The SLS is in temperature derating mode The speed and current are constantly derated with increasing temperature until a thermal balance is achieved SwitchOff OverVolt The max allowed voltage on the DC input of the SLS was exceeded Operation is not possible anymore The error cause must be fixed To solve the problem the SLS must be restarted and it must ensured that the error does not occur anymore An excessively high voltage can damage the SLS permanently SwitchOff UnderVolt The input voltage is too low for a safe operation or the battery is empty The SLS voltage needs to b
24. completely new start attempt must be initiated Phaseloss_Flt The synchronization to the rotating field was lost A commutation is not possible the motor must be restarted 12 6 2 Trace Memory The SLS trace memory can be read or deleted in the trace memory menu Saved SLT files can be viewed system variables are recorded to a internal memory trace buffer comment optional Save as Clear Open Close picture 6 3 trace memory window Save as reads the internal trace memory of the SLS displays the content graphically and stores it on the hard disk In addition it is also possible to enter a comment for the trace file which is then stored and displayed on the chart Clear deletes the trace memory in the SLS Open a trace file stored on the hard disk SLT is opened and displayed Close the trace memory window will close The trace files can also be opened directly by double click e g from the Windows Explorer 13 6 3 Parameters The active SLS parameters can be edited in the parameter menu complete parameter sets can also be opened and saved on the hard disk BER Parameter Setup xj active setup T2455 13 Motor SLS 43 9 U_Batt_max Vdc 21 8 U_Batt_Lim dc 21 8 U_Batt_Low vdc Open Save as Close picture 6 4 parameter window Battery Open This button is used to load parameter files SL
25. cting from outside the controller Contacts or heat sinks exposed to external forces or bending moments can lead to cracks at the transition of the potting compound whereby the intruding of moisture is possible 3 Fix the DC and AC lines near the SLS The SLS can not absorb any external forces or vibrations of heavy and long leads Therefore ensure strain relief is existing on the actual contacts 4 Use thermal paste to achieve a good heat transfer between aluminum potting and external heat sink do not use thermal compound The SLS can be significantly damaged bending moments during a necessary disassembly of the heat sink when using thermal compound and lead to permanent damge Therefore the warranty expires when using thermal compound and attempting disassembly When using thermal paste please make sure to slowly tighten the screw to the cooling plate of the SLS in order to give the paste enough time to spread evenly Only use the amount of paste that is absolutely necessary Remove the screw during disassembly and then pull the aluminum potting with a slight turning motion to the side Never lift off the heat sink e g with a screw driver 5 Operate the SLS only with enough external cooling heatsink or fan up to its limits Rapid change from cold to warm or vice versa leads to mechanical stresses and possibly to cracks on the potting transition 5 Signaling via LEDs 5 1 cSLSi The cSLSi indicates its status via 3 LEDs
26. e increased or the battery must be recharged CutOff MaxVolt The maximum allowed SLS operating voltage is reached The current regeneration is derated to 0 A further increase in voltage is prevented With battery operation the final charge voltage is reached CutOff MinVolt The minimum SLS operating voltage is reached The SLS does not provide additional motor current The target speed is derated to 0 Limit MaxVolt The overvoltage derating is reached the current regeneration reduces until no further voltage increase occurs The battery is approaching the end charge voltage Limit MinVolt The undervoltage derating started The motor current and speed are reduced gradually until no further decrease in voltage occurs The battery approaches its final discharge voltage FailSave_Stop Switch SES off on The SLS disabled itself The controller must be restarted The error cause has to be removed LoadLess_Flt This error occurs when the load is too low Dependent on the speed a minimum load can be set using the option current profile If the min load is not reached the SLS turns off OvrSpd_ Fit The rotation speed exceeds the set limit The device shuts down for reasons of safety 1_Offset_Flt The SLS offset current measurement is too big A new start up is required ZeroSpd_Flt The minimum speed was not reached after a start command Retry_Flt Even after several starting attempts no successful start was possible A
27. ersonal injury occurs when commissioning the controller The controller has to be protected against electrostatic discharges in order to avoid damage A damaged controller e g due to moisture mechanical or electrical influences must never be used otherwise it may result in controller failure The controller is designed for operation with batteries If operated via a power source this source must be able to sink eventually generated currents and must have a galvanic insulation to the grid Extending DC or motor cables can influence the EMC characteristics and possibly requires an adjustment of controller parameters Extending or shortening the cables is carried out at your own risk 3 Electrical Connection 3 1 Motor Connection Connect the 3 motor phases to the 3 phase connections of the SLS The assignment of the connections initially does not matter A possibly wrong direction of rotation can be fixed later by interchanging two of the three phases or by activating the Change Direction parameter in the SLS Windows Monitor 3 2 Battery Connection Connect the power source in the following order with the SLS Make absolutely sure that the voltage is in the permitted range no reverse polarity exists and nobody is located within the dangerous area of the motor In any case use the existing precharge function to turn the controller on internal precharge circuit of the cSLSi external AVS2 or EBS Especially when
28. gnal CUNA a aia 23 6 5 1 Current Profile Paid Opio 26 6 0 Firmware Update Re 27 0 7 ER nee E A E A EEE E AAT 27 AA A Er Mame a cra iaaee 28 A ER 28 TSE O er mee ote 28 TAPS Si I NAAA ERLERNT E 29 T2 DSTI OR O ia 30 Be RS CUMIN iat hdr ora RO NON 31 9 Warranty Ret rning th Prod iii ee ld 31 10 EG Deelaration of Contorno 32 IE TESESIPED dat 32 TOD BSUS OU A zes ern gap k datennmesanoohes 33 10 3 SLS1 60 240 SESEOO 300 as 34 11 FAQ frequently ask eduqueseons Ni er 35 1 General Information The SinusLeistungsSteller SLS is shipped in completely potted form Silicon cables of adequate cross section are brought out of the cSLSi potting on the DC side battery and AC side motor for electric contacting The SLSi contacts are realized by M8 screw terminal blocks The potting has the task to insulate electrically and to protect the sensitive internal parts from moisture dirt and mechanical influences from outside The SLS are not plug amp play All SLS must be tuned for the type of motor or drive train on which they will be used Therefore other motors can not be used until proper parameters are loaded on the SLS which are suitable for the new motor 1 1 Content of Delivery cSLSi cSLSi user manual SLSi user manual 5 x screw M8 5 x ring washer M8 5 x serrated lock washer M8 plug for the servo connection PHOENIX CONTACT MC 1 5 4 ST3 5 2 Safety Instructions All constructional variants of
29. ic capacitors when turning ON the controller before connecting the controller to the battery Answer Hard switching can damage the SLS by over current and over voltage In some cases controllers failed when they were connected to the battery without precharging the capacitors We examined the occurring problem in detail see P03 pdf and conclude that the use of the existing precharge options is mandatory You can use the precharge circuit integrated in the SLS thin red wire an external AVS2 or our EBS We will not grant warranty for damages caused by turning ON without precharging 39
30. indow Motor The tab Motor allows a few changes regarding the motor parameters motor current limit Indicates the maximum motor current in based on the current released in the data set The released current is displayed in A 100 corresponds to the current released in the data set generator current limit This feature allows to set the max generated current start current limit This parameter allows to define the current during start up Open Loop Attention Please change only after consultation and in small steps minimal current The minimum current is only important in torque mode This feature allows to set a min required current for secure operation speed limit The maximum rotation speed can be set via the speed limit 100 corresponds to the speed released in the data set ramp up accel rate The acceleration rate is active in the speed controlled mode This feature allows you to set the size of the speed change A big value will rapidly accelerate the motor Additionally a calculated value of the speed change is displayed in RPM sec ramp down decel rate The same as the acceleration rate with the difference that this parameter defines how fast the rotation speed is reduced Change Direction This function allows to reverse the rotational direction it is the same as interchanging two motor phases 15 ee Parameter Setup xj active setup T2455 Battery Motor SL
31. ion Not activated functions are displayed in gray picture 6 7 additional functions and options 17 6 4 1 Signal Curve Live o x AutoD_OBSLP modulation setpoint speed control torque control spin backward spin forward parking brake active parking brake inactive gna ua 1500 Stop MV simulate Servo Signal 1500 2200 picture 6 8 example of a signal curve The loaded signal curve can be displayed in the SLS Windows Monitor The present operating point within the signal curve is displayed with a vertical red cursor This way the signal curve can be checked for correct function It is also possible to override the external servo signal and to specify the usec signal directly To enable check the box simulate servo signal To change the value use the slider or enter the numerical value directly 18 6 4 2 Servo Signal Offset fee Servo Signal offset xi Servo Signal offset in psec ls 5 cu picture 6 9 servo signal offset The servo input has a galvanic insulation via an optocoupler Slight differences can occur in the evaluation of the pulse width due to manufacturing tolerances This is e g not desirable in the synchronous operation of several controllers The offset can therefore be adjusted in the range of 127 127usec By Save the previous offset in the SLS is replaced 6 4 3 Operation Point Live Chargeable Option The SLS in combination with the SLS Windows Monitor offers the
32. irection forward backward can be adjusted to the servo input range e g aligning a potentiometer in center position It can also be determined whether the motor is inhibited parking brake or free to rotate in the neutral range With activated parking brake the 3 motor phases are short circuited through ground and inhibited by the induced short circuit currents during rotation However not completely blocked The motor must not be driven mechanically during active parking brake since the currents will not be limited and this could damage the SLS hardware in extreme cases 23 A new signal curve can be generated by the user within the SLS Windows Monitor Complete signal curves can be generated according to individual needs using linear connected steps By inserting a sufficient number of such steps nonlinear relationships can also be approximated A file with the extension SLP is generated when saving a new created signal curve This file contains the actual signal curve in binary form A target value is assigned for each us value of the servo signal in accordance with the piecewise linear specification The SLS generates reference values for internal control during runtime on the basis of the characteristic signal curve The file also contains steps in a kind of vector format This way the signal curve can be edited and changed The name of this file can be freely choosen by the user However it should not exceed 8 characters to av
33. ly when clicking replace in the signal curve window the current profile is transferred along with the signal curve 26 Select the active step via the top numerical box Active Step The step is marked as a vertical red line extending the entire diagram The steps are numbered from left to right Below the selected steps the settings for this step middle column for the previous left column and for the next step right column are displayed A step can be moved with the coordinate information RPM current The max speed 100 corresponds to the maximum speed which was stored in the parameter set for 100 The motor current and generated current corresponds to the current which has been saved in the parameter set for 100 When the motor current approaches the upper limit given by the current profile motor current maximum the speed is derated When the motor current approaches the lower limit given by the current profile motor current minimum the controller shuts down with the error message Loadless Flt When the generator current approaches the upper limit given by the current profile generator current maximum the speed increases accordingly When the generator current approache the lower limit given by the current profile generator current maximal the controller shuts down with the error message Loadless Flt The motor is released 6 6 Firmware Update If required the SLS can be updated via the option fir
34. mware update There are two different versions at this moment cSLS and cSLSi require the variant eSLSxxxx BIC SLSi needs the variant SLSxxxx BIC without c Based on the connected hardware the SLS Windows Monitor automatically detects which firmware version can be loaded Always make sure that the latest firmware is in use We provide updates for download on our homepage www SinusLeistungsSteller de SWdownload html 6 7 Exit All windows opened by the SLS Windows Monitor will be closed by the exit button The program terminates 27 7 Technical Data 7 1 cSLSi 7 1 1 cSLSi 24 xxx CSL Si 24 xxx min typical max Input voltage 8Vdc 26Vdc max 6S LiPo Output current OAazc CSLSI 24 75 75Aac Note 1 cSLSi 24 110 110Aac CSLSi 24 140 140A PWM frequency 8kHz 60kHz Note 2 3 5V at the servo input 3 3V 5 0V 7 0V Voltage at the PWM input 1 0V low level Voltage at the PWM input 3 3V 5 0V 7 0V high level PWM High time 800us 2200us PWM Low time 100us 20ms 50ms Timeout if no reference gt 0 35 0 5s motor stops Environmental temperature 0 C 50 C during operation Storage temperature 0 C 70 C Dimensions 82 x 59 x 37 mm 102 x 59 x 43 mm with option WK Weight with 20cm cable 6 3709 mm 470g with option WK 28 7 1 2 cSLSi 60 xxx CSL Si 60 xxx min typical max Input voltage 16Vdc 60Vdc m
35. nd a dealer for SLS Answer We distribute the cSLS SLS exclusively ourselves The cSLS SLS is not plug amp play and needs to be tuned on the motor see above This is very hard to accomplish by merchants Question Can the offered water cooling for cSLSi SLSi be used with sea salt water Answer No A sea water resistant design would require a different aluminum alloy but this would also mean a significantly worse thermal conductivity the cSLS SLS water cooling would therefore be too bad We recommend a dual circuit cooling system for applications permanently operating in seawater The internal cooling circuit can operate with normal water possibly with suitable antifreeze and the heat can be dissipated via the outer cooling circuit with sea water to the sea Question loaded an update from the download area into my SLS Now the red LED is permanently ON after turning the device ON Answer No need to worry Starting from firmware version 1 480 the red LED additonally indicates an invalid servo input signal Invalid here means out of range 800us 2200us no Sollwertgeber connected or immediately after turning ON not in the neutral position of the signal curve stored in the cSLS SLS protection against unintentional start up after switching ON Once you connect a valid reference signal e g from SG2 and it is in neutral range the red LED should turn OFF Question s it really necessary to precharge the electrolyt
36. ng tuning Note 3 Small motor inductances require a higher PWM frequency By this more switching losses occur and this may result in a reduction of possible motor current 30 8 Recycling Electric components must not be disposed with household waste but have to be disposed according to local environmental regulations National and local disposal regulations have to be respected You can also send the SLS back to the manufacturer for disposal 9 Warranty Returning the Product Warranty is governed by our terms and conditions which are viewed here www sinusleistungssteller de AGB_ IBZ pdf Returning the product to us for whatever reason requires our prior consent To accept warranty the original invoice is required with information visible for date of purchase and dealer Further we need a written error description with precise indication of the error itself and the circumstances in which the error occurred 31 10 EU Declaration of Conformity 10 1 cSLSi 24 75 EU Konformit tserkl rung EU Declaration of Conformity Geratetyp Produkt SinusLeistungsSteller Apparatus model Product Name und Anschrift des Herstellers Ing Buro Rolf Zimmermann Name and address of the manufacturer Industriestr 7 D 97297 Wakib ttelbrunn Die alleinige Verantwortung f r die Ausstellung dieser Konformit tserkl rung tr gt der Hersteller This deciaration of conformity is sssued under the sole responsibility of the manufacturer
37. ogether with the corresponding limits T_P stands for the power module temperature The SLSi displays in addition the capacitor temperature T_E also with its limits It is also possible to temporarily override the deceleration and acceleration rate After disabling the control panel the values in the data set will be taken again 22 6 4 6 Activate Options fee Enable Options xj Chargeable options can be ordered from SinusLeistungsSteller mailto info 3S inusLeistungsS teller de Enter Key 0000 oooo oo foooo fono foooo faooo fono Enable Options Cancel V Operating Point live I Signalcurve Torque Profile U Vectors live IV Control Panel picture 6 13 activate options With this feature options can be unlocked afterwards Already activated options are marked as such Keys for one or more options can be ordered here info SinusLeistungsSteller de The options are bound to the controller hardware by the serial number therefore we need the number and information about the exact type of the SLS The current price list can be found on the SLS website http www sinusleistungssteller de preise html 6 5 Signal Curve The servo signal in us is translated into reference signal via a configurable and reloadable characteristic curve This signal curve represents a powerful tool to adjust the motor to different requirements So this curve can be used to operate the SLS in speed or torque control The rotational d
38. oid confusion since the SLS stores only the first 8 characters Example of a signal curve The rTQ_vDZ SLP signal curve is shown on the following page In order to explain the possible functions of the SLS The signal curve specifies torque control to be activated for the reverse direction r TQ and speed control for the forward direction vDZ means vorw rts DrehZahlregelung Servo values from 800us up to 1450us are assigned to the reverse direction and servo values from 1550us up to 2200us to the forward direction The range in between 1451s up to 1549us is marked as neutral by setting all values to 0 direction and control mode are not relevant in this area Border areas less then 800us or greater then 2200us will be interpreted as a missing servo signal and will lead to the immediate shutdown of the motor For security the firmware does not start the motor if the SLS is turned ON with a servo position outside the neutral range To start the motor after a power cycle or for error deletion after a failed start attempt the servo signal must first be adjusted to the neutral position Of course it is also possible to set the entire range exclusively for one direction or one control mode The neutral range would then be in the top or bottom range The absolute values for 100 speed or torque are stored together in the SLS parameter set and can not be changed within the signal curve 24 CA a
39. on the name plate and not the DC current Answer The AC current is the specification used in the industry This is because the AC current can be translated directly into the torque if the motor constant is known The DC current together with the DC voltage indicates only the input power which is still dependent on the speed and does not provide any information about the actual operating point speed torque Since the AC currents are needed for the field oriented control i e they must be measured the indication of the AC current is obvious The DC current is not measured by the cSLS SLS Question What are the advantages of sine commutation towards block commutation Answer The sine commutation causes a absolutely uniform torque a smooth running of the motor one might demonstrate the difference by comparing round and hexagonal wheels which would you like to have on your car Without torque ripple also the input power from the DC power supply battery or AC adapter is uniform thereby there is no length limitation of the DC supply cables The efficiency of the overall system is higher especially in partial load and there is no reactive power drawn from the supply Finally an almost noise free operation is possible with sine commutation the high frequency squeaking and squealing of block commutation is completely eliminated 37 Question s the operation via power supply or battery with connected charger possible
40. osses this leads further to a derating of the max allowed AC current of the controller Further separately excited synchronous motors and induction motors can not be operated with the cSLS SLS at this moment 36 Question Are the cSLS SLS really safe at partial load Answer Yes absolutely The full AC current indicated on the name plate can be used in all partial load situations Exceeding this maximum current is practically impossible since the real AC currents are measured and limited this way overload is impossible The cSLS SLS has less losses in partial load than in full load for which the cSLS SLS is designed Primarily the AC currents are responsible for the losses of the cSLS SLS not the speed nor the converted power A derating of the max allowed AC current may be necessary for motors with small inductance but applies in this case for all load situations Question s the SLS also suitable for traction drives in vehicles Answer Yes however with certain restrictions The cSLS SLS operates sensorless at this moment and does not support any hall sensors which are used for starts with full torque However at sensorless operation full torque is available only above a certain minimum speed This restriction can be overcome by using a centrifugal clutch which enables the torque free motor start Thus the cSLS SLS with all its advantages is also suitable for traction drives Question Why is the AC current specified
41. rds used including the date of the standard or prin ee including the date of the specification in relation to which conformity is declared DIN EN 51000 6 2 VDE 0839 6 2 2006 03 Elektromagnetische Vertr glichkeit EMV Teil 6 2 Fachgrundnormen St rfestigkeit f r Industriebereiche IEC 61000 6 2 2005 EN 61000 6 2 2005 DIN EN 61000 6 4 VDE 0839 6 4 201 1 09 eo once Vertr glichkeit EMV for Industriebereiche Teil 6 4 Fachgrundnormen IEC 61000 6 4 2006 A1 2010 EN 61000 6 4 2007 A12011 LA Nicht zutreffend No applicable 8 Zusatzangaben Additional information Unterzeichnet f r und im Namen von Signed for and on behalf of Ort und Datum der Ausstellung place and date of issue Name und Funktion name funchon n Tel 0931 7801103 0 Fax 8 Rolf Zimmermann Dipl Ing FH Inhaber 11 FAQ frequently asked questions Our FAQs are updated frequently The latest version can be found here www sinusleistungssteller de SLS_FAO pdf Question Why must a SLS be tuned on a motor Answer All cSLS SLS operate according to the principle of field oriented control The basic idea of the field oriented control is to achieve an ideal orientation of the current and voltage vectors which will result in best efficiency For this the controller simulates a model of the real motor or drive For this simulated model motor parameters are necessary which have to be measured first and saved afterwards in the SLS p
42. sk of a battery short circuit along with the risks of a possible electric arc Question What information is required to send an offer and find the best SLS for our application Answer We will gladly help you in choosing the right cSLS SLS In order to evaluate your application we need further information best case via eMail info SinusLeistungsSteller de A brief general description of your application Have you already selected a motor If so what type of motor How is the motor supplied with energy by battery AC adapter hybrid fuel cell etc Level of the DC voltage min nom max Level of the maximum speed Level power nom max maximum time for Pmax What kind of cooling air cooling water cooling Isita private or commercial application estimated quantity p a Your residence and delivery address 38 Question Why do you deliver only within Europe How can I get a SLS if I live outside of Europe Answer We do not want to deal with the enormous amount of paperwork that would arise for exporting products abroad The EU internal market makes it easier for us to deliver beyond the border of Germany to the neighboring EU countries Everything beyond that is done by a Germany based import export company Unfortunately this company does not work for free so they need to be payed for their services By request we will gladly provide a contact for you Question did not fou
43. ure any operating point Only one motor with the later intended load e g propeller would also be possible the tuning optimization then refers only to this operating point The determination of the parameter set needs about 4 8 hours of work the hourly fee amounts to EUR 75 VAT We also offer additional tuning tasks e g creating a optimal signal curve or creating a current profile optimized for your system etc 35 Question Does each motor same type require to be tuned individually Answer No Every motor type needs to be tuned not every motor device The tuning must be done only once as long it is the same type of motor identical model and the same winding scheme The additional costs will be charged only once You can use this parameter setup to any number of identical drives Question Why is there no way for the user to tune a new motor himself Answer Determining the motor parameters requires special measurement devices theoretical background and experience Because these requirements are not met by all customers with regard to possible damages caused by mismatching we generally reserve the right to determine the setup of new motors The measured motor specific parameters R L Kv etc and the settings for current and speed control remain covered in the background and can not be changed by the user Based on this basic setup or load optimized setup the user can change numerous parameters e g current

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