PLUS+1 TM Guide. PLUS+1 TM Inverter Function Block Library Rev AA Jan

Transcription

1 PLUS+1 TM Inverter Function Block Library Rev AA Jan

2 Revisions History of Revisions Table of Revisions Date Page Changed ECO No. Rev All valid since software version Rev A Rev B Rev C Rev D Rev D Rev E 22 Jan, 2009 All Released AA Sauer-Danfoss welcomes suggestions for improving our documentation. If you have suggestions for improving this document, please contact Sauer-Danfoss at doc.eh.de.nms@sauer-danfoss.com. 2009, Sauer-Danfoss Sauer-Danfoss can accept no responsibility for possible errors in catalogs, brochures and other printed material. Sauer-Danfoss reserves the right to alter its products without prior notice. This also applies to products already ordered provides that such alterations can be made without affecting agreed specifications. All trademarks in this material are properties of the respective owners. Sauer-Danfoss,the Sauer-Danfoss logotype, the Sauer-Danfoss S-icon, PLUS+1 TM, what really matters is inside and Know-How in Motion TM are trademarks of the Sauer-Danfoss Group Rev AA Jan 2009

3 Contents Analog Input 4 Analog Input... 4 Calibration... 4 Manual Calibration... 4 Semi-Automatic Calibration... 4 Semi-Automatic Calibration with enable input... 5 Set Defaults... 5 Inputs/Outputs... 5 Basic Function... 7 Battery Discharge Indicator 8 Battery Discharge Indicator (BDI)... 8 Discharge Characteristic, Voltage per Cell... 8 Inputs/Outputs... 9 Brake and Power 10 Brake and Power...10 Inputs/Outputs...11 Derating 13 Derating...13 Inputs/Outputs...13 Direction Signals 14 Direction Signals...14 Inputs/Outputs...14 Dynamic Drive Curve Generator 15 DDCG...15 Inputs/Outputs...15 Error History 20 Error History...20 Inputs/Outputs...20 Error Status Handler 22 Error Status Handler...22 Inputs/Outputs...22 Hour Counter 25 Hour Counter...25 Inputs / Outputs...25 Main Contactor 26 Main Contactor...26 Inputs/Outputs...26 Roll Off 27 Roll Off...27 Inputs/Outputs...27 Seat Switch 30 Seat Switch...30 Inputs/Outputs...30 Service Counter 31 Service Counter...31 Inputs/Outputs...31 Shunting 32 Shunting...32 Inputs/Outputs...32 Solenoid Chopper 33 Solenoid Chopper...33 Inputs/Outputs Rev AA Jan

4 Analog Input Analog Input Rev AA Jan 2009 Notes: The two calibration points must be connected to s16 memory locations. By default, they are connected using the dynamic memory inside the Local_Para page. To use with static memory, delete the Local_Para page and use the Para bus to route the signals to the static memory. If multiple Sensor_2Pt_AC function blocks are to be used in one application then the Namespace feature will have to be used or the memory names will have to be changed. The Fault timer is an up/down counter. This allows faults to be detected if they occur in more than 50% of program cycles. StorePara and SetDef are outputs intended to control the EE_PROM blocks in the parameters pages. Calibration When using the local parameters included inside, the block, calibration can be accomplished by one of the three methods outlined below. Manual Calibration CalLo and CalHi are stored in an EE memory location with a distinguishable alias for easy updating. Use the PLUS +1 TM GUIDE Service and Diagnostic Tool to update CalLo and CalHi. Semi-Automatic Calibration The two calibration points are stored in the same EE memory locations as in Manual Calibration. The Calibration Command must be set to one (Enable Semi-automatic Calibration). When the values stored for CalLo and CalHi are zero, the function is not calibrated and the input is used for semi-automatic calibration. The Expected Calibration Point specifies the center of the window size of Calibration Window. When the input falls within the window for a specific calibration point for Calibrate Time, the last value is captured and stored for that calibration point. After completing this for both calibration points, semi-automatic calibration will be complete. Force the function block into a calibrated mode by either setting the Calibration Command input to equal 4 or when the Input at Zero fault is declared if the Calibration Command equals 1.

5 Analog Input Analog Input (continued) Semi-Automatic Calibration with enable input The two calibration points are stored in the same EE memory locations as in Manual Calibration. The Calibration Command must be set to two (Enable Semi-automatic Calibration with enable input). When the values stored for CalLo and CalHi are zero, the function is not calibrated and the input is used for semi-automatic calibration with enable input. The Expected Calibration Point specifies the center of the window size of Calibration Window. When the input falls within the window for a CalHi calibration point for Calibrate Time, the last value is captured and stored for that calibration point. When the input falls within the window for a CalLo calibration point and the Enable Input has a rising edge (0 -> 1) the value is captured and stored for that calibration point. After completing this for both calibration points, semiautomatic calibration will be complete. Force the function block into a calibrated mode by either setting the Calibration Command input to equal 4 or when the Input at Zero fault is declared if the Calibration Command equals 1 Set Defaults When the Calibration Command equals tree, the Set Defaults variable in the parameter bus is TRUE. If this is used as the SET_DEF inputs for the CalLo and CalHi memory blocks, then the DEF_VALUE will be stored into memory. Inputs/Outputs Inputs Cal Cmd (0-4) Rst Para Flt (BOOL) Rst In Flt (BOOL) Snsr Pwr ( ) Input ( ) Enable (BOOL) 0: Manual calibration 1: Semi Auto Cal 2: Semi Auto Cal with enable input 3: Set Calibration values to defaults 4: Clear Calibration T: Fault is not latched F: Fault is latched until fixed and power is cycled T: Fault is not latched F: Fault is latchet until fixed and power is cycled Sensor Power in mv Used for ratiometric calculations of calibration points, deadbands and faults Input mv If true and In is in CalLo win, value is saved. Note: Only available if calibration mode = Rev AA Jan

6 Analog Input Inputs/Outputs (continued) Output Status (U16) Standard Bitwise pattern Fault (U16) Standard Bitwise pattern Active (BOOL) HIGH if output is not 0 In % (U16) Percentage of input value from SnsrPwr Out (S32) Output value scaled from LoOut to HiOut Out % (U16) 0 to in.01% Parameter StorePara (BOOL) Signal used to store calibration values SetDef (BOOL) Signal used to set default calibration values CalLo (0 9999) Input value associated with output = 0 Specified by units of.01% of Snsr Pwr CalHi (0 9999) Input value associated with output = Specified by units of.01% of Snsr Pwr Fault % (0 to 10000) Input Fault Percent in.01% A fault is declared when the input is either above Hi Cal or below LoCal by at least (Hi Cal-Lo Cal) * (SnsrPwr) * (Fault %) LoOut (S32) Is the calibrated minimum value of Out HiOut (S32) Is the calibrated maximum value of Out DbndLo (0 5000) The output = 0 when the input is below (SnsrPwr)*[Dbnd_1 + (Dbnd_1)*(CalHi - CalLo)] Specified by units of.01% of Snsr Pwr DbndHi (0 5000) The output = when the input is above (SnsrPwr)*[CalHi (Dbnd_2)*(CalHi CalLo)] Specified by units of.01% of Snsr Pwr ExpCalLo ( ) Expected value used to determine center of acceptable calibration window. Specified by units of.01% of Snsr Pwr ExpCalHi ( ) Expected value used to determine center of acceptable calibration window. Specified by units of.01% of Snsr Pwr CalWin (0 5000) Amount +/- expected calibration points used to determine acceptable calibration window. Specified by units of.01% of Snsr Pwr CalDetTm ( ) Calibration capture time in ms FltDetTm ( ) Fault detection time in ms. The time that a fault needs to be present before it is declared Rev AA Jan 2009

7 Analog Input Basic Function Fault: The Fault output is the fault code of the function block. Bit Position Value Range/Type -- 0x0000 Block is OK 1 0x8001 Input value is too low 2 0x8002 Input value is too high 16 0xX000 Custom/Standard code bit Status: The Stat output is the status code of the function block. Bit Position Value Range/Type -- 0x0000 Block is OK 1 0x8001 Block is not calibrated 4 0x8008 Invalid Setup/ Calibration 16 0xX000 Custom/Standard code bit Rev AA Jan

8 Battery Discharge Indicator Battery Discharge Indicator (BDI) The Battery Discharge Indicator (BDI) is designed to cover lead acid battery only. There are 11 discharge and one charge characteristics stored in the function block. Each characteristic consists of 10 internal voltage values. All in all 120 different threshold values are available for the calculating algorithm. The different battery types can be handled by adjusting the parameter BDI_BatteryType for the discharge characteristics. A time counter increases if the actual battery voltage is higher than the actual charge threshold and decrease if the actual battery voltage is lower than the actual discharge threshold value. If the time counter = 0 the Level decrease one step. If the time counter reaches Tmax the level increase one step. The actual threshold values are calculated out of the actual level and battery type. Discharge Characteristic, Voltage per Cell Type0 Type1 Type2 Type3 Type4 Type5 Type6 Type7 Type8 Type9 Type10 Charge of battery Level % 1,950 1,963 1,974 1,986 1,997 2,006 2,010 2,014 2,021 2,026 2, ,903 1,922 1,938 1,954 1,970 1,982 1,989 1,995 2,005 2,011 2, ,855 1,880 1,901 1,922 1,943 1,959 1,968 1,976 1,988 1,997 2, ,808 1,838 1,864 1,890 1,915 1,936 1,946 1,957 1,972 1,982 1, ,760 1,797 1,827 1,858 1,888 1,913 1,925 1,937 1,956 1,968 1, ,713 1,755 1,790 1,826 1,861 1,890 1,904 1,918 1,939 1,953 1, ,665 1,713 1,754 1,794 1,834 1,866 1,883 1,899 1,923 1,939 1, ,618 1,672 1,717 1,762 1,807 1,843 1,861 1,879 1,906 1,924 1, ,570 1,630 1,680 1,730 1,780 1,820 1,840 1,860 1,890 1,910 1, ,523 1,588 1,643 1,698 1,753 1,797 1,819 1,841 1,874 1,896 1, Rev AA Jan 2009

9 Battery Discharge Indicator Inputs/Outputs Inputs Level Init (U8) ChgCounter (U32) RstEnblPwr (BOOL) Reset (BOOL) UBatt_mV (U32) When the block is started up, this value is used to initialize the charge level ( 1 10) Note: These values need to be connected to an EEPROM cell (NVRam Input), which is saved at power down. When the block is stated up, this value is used to initialize the charge counter Note: These values need to be connected to an EEPROM cell (NVRam Input), which is saved at power down. Initiates a reset of the block at power on when the following conditions are also fulfilled. Level < 7 U-Batt > BDI-ResetVoltage_mV x cells Power on Initiates a reset of the block Battery power in mv Output ChargeCount (U32) Current value of the discharge/charge timer Note: These values need to be connected to an EEPROM cell (NVRam Output), which is saved at power down. Level (U8) Current discharge level of the battery. (1 10) Note: These values need to be connected to an EEPROM cell (NVRam Output), which is saved at power down. Parameter NmbrCells (U8) Tmax (U32) ResetVoltage_mV (U16) Battery Type (U8) Number of battery cells (^2 Volt/cell) Default: 24 Time in Milliseconds between two levels. Default: ms [ms] Voltage threshold per cell Default: 2090 (0 4000) Selection of the discharge curve Default: 3 (0 10) Rev AA Jan

10 Brake and Power Brake and Power The Brake and Power function control the electromechanical brake and the power stage, at different driving conditions. Start: If the Enbl signal goes active (positive edge) the power stage shall be enabled immediately, but the brake shall be opened (powered) with a time delay (BrkOpen_ms). Emergency stop (Emc): The power stage shall be disabled and the brake shall be closed immediately. Emergency stop has the highest priority. Stop ramp (Mode = 0): If the Enbl signal goes inactive and the stop ramp is activated. The function has to wait until the actual speed is less than a threshold value (BrkThd_rpm1) and then a time (BrkClose_ms) shall be started. After this time the brake shall be closed immediately and a second time (PwrDsbl_ms) shall be started. During this time the brake has time to close and at the end of this time the power stage shall be disabled Rev AA Jan 2009

11 Brake and Power Brake and Power (continued) Coast (Mode = 1): If the Enbl signal goes inactive and the coast function is activated. The power stage shall be disabled immediately. Then the function has to wait unit the actual speed is less than a threshold value (BrkThd_rpm1) and then a time (BrkClose_ms) shall be started. After this time the brake shall be closed. At the beginning of this function, a safety time (SafTm_ms) shall be started. After this time the brake shall be disabled, in any case. Inputs/Outputs Inputs Enbl (BOOL) Emc (BOOL) Spd_rpm1 (S32) Drive enable input Emergency input Actual motor speed [0.1 rpm] Output Brk (BOOL) Pwr (BOOL) Mechanical brake output Power stage enable output Rev AA Jan

12 Brake and Power Inputs/Outputs (continued) Parameter BrkOpen_ms (U16) BrkClose_ms (U16) PwrDsbl_ms (U16) SafTm_ms (U16) BrkThd_rpm1 (U16) Mode (U8) Brake open delay time Default 500 ms (0 1000) [ms] Brake open delay time Default ms ( ) [ms] Power stage off delay time Default 200 ms (0 1000) [ms] Safety time Default 5000 ms ( ) [ms] Brake close threshold Default 50 rpm (0 2500) [0.1 rpm] Mode 0: ramp Mode 1: coast Default 0 (0 1) Rev AA Jan 2009

13 Derating Derating This function can be used for derating the max motor current dependant on the inverter temperature as well as for a derating dependant of the motor temperature. There are two separate derating curves, one for motor mode (acceleration) and one for generator mode (deceleration). If ActTemp is lower than Temp100perc, the output is at (100%) If ActTemp is higher than TempDerate the output is IDerateG (GenMode=1) or IDerateM (GenMode=0) If ActTemp is between Temp1 and Temp2 the output is reduced by a linear curve between 100% and IDerateM (GenMode=0) or IDerateG (GenMode=1) Inputs/Outputs Inputs ActTemp [S16] GenMode [BOOL] Actual Temperature 0/F = Motor Mode 1/T = Generator Mode Output Derating [U16] Derating factor ( ) [0.01%] Status [U8] Status of the function. 0 = Temperature ok 1 = Temperature High -> Derating starts 2 = Temperature too high -> Derating at max. Parameter Temp100perc [S16] Temperature at which the derating curve starts TempDerate [S16] Temperature at which the derating curve ends IDerateM [U16] Derated curve for motor mode [0.01%] IDerateG [U16] Derated curve for generator mode [0.01%] Rev AA Jan

14 Direction Signals Direction Signals Use the FNR Direction block to handle the forward, neutral and reverse logic of a vehicle. With the Precondition input it can be avoid, that the truck starts to move with out some start up sequence and that a rising edge (0->1) is necessary on the FWD or RWD Switch. Inputs/Outputs Inputs PreCond (BOOL) Fwd SW (BOOL) Rvs SW (BOOL) Fdbk (S32) Fault (U16) Must be TRUE to enable Fwd and Rvs switch. Fwd and Rvs must be FALSE to enable PreCond. If PreCond goes to FALSE Fwd and Rvs will be disabled Forward switch signal Reverse switch signal Must be zero before output direction can change Standard Bitwise pattern Output Direction (S16) Drv Enbl (BOOL) -1 = Reverse 0 = Neutral +1 = Forward T = Exactly one direction input is true F = neutral or Fault Rev AA Jan 2009

15 Dynamic Drive Curve Generator DDCG Function: To obtain a comfortable drive feeling the speed curve is generated with a drive curve generator dependant on the variation of the set value. Beside the actual speed, it is also considered how far and how fast the set value is changed. According to the variation of the set value a very sensible and smooth drive feeling can also performed as well as a dynamic driving. Inputs/Outputs Inputs SpdStptln_rpm1 (S32) SpdAct_rpm1 (S32) Init (BOOL) DeacDynCor (BOOL) AcelMax (S32) DecelMax (S32) Speed set value. (-SpdMax_rpm1.SpdMax_rpm1) [0.1 rpm] Actual speed value (motor) ( ) [0.1 rpm] Init. function of the dynamic correction. (see DeacDynCor) (0.1; pos. transition) Dynamic correction of drive curve output value: At inversion from acceleration to deceleration or at a pos. transition at Init input, a correction of the drive curve is made, the drive curve output value is immediately set to the actual speed value (SpdAct_rpm1). (Graph DDCG_1 and Graph DDCG_2) (0 = dynamic correction; 1 = no dynamic i ) Acceleration: Specifies the max. acceleration, without rounding and without progression (R=0, P=0). The maximum acceleration is achieved, if the set value escalates from zero to maximum speed. ( ) [0.1 rpm/s] Deceleration: Specifies the max. deceleration, without rounding and without progression (R=0, P=0). The maximum deceleration is achieved, if the set value jumps down from maximum speed to zero. ( ) [0.1 rpm/s] Rev AA Jan

16 Dynamic Drive Curve Generator DDCG (continued) Graph DDCG_1 without correction speed/% Decel. Delay t/s drive curve actual speed Graph DDCG_2 120 with correction speed/% t/s drive curve actual speed Rev AA Jan 2009

17 Dynamic Drive Curve Generator Inputs/Outputs (continued) Output SpdStptOut_rpm1 (S32) Calculated speed set value. ( ) [0.1 rpm] Parameter Progression (U8) Roundness (U8) SpdMax_rpm1(U32) Specifies the influence of the set value variation to the value of acceleration or deceleration. Progression = 0: Independently of the set value variation always the maximum acceleration or deceleration is active. (Graph DDCG_3) Progression = 100: The value of acceleration or deceleration depends on the variation of the set value on a linear characteristic. (Graph DDCG_4) Default: 0 (0 100) Specifies the strange of the roundness (0: no rounding; 90: max. rounding). The speed curve is always rounded before reaching the final value. A rounding at the beginning of acceleration or deceleration becomes effective only if the set value changes slowly. With a slowly change of the set value a smoothly drive reaction is performed, as acceleration is increased continuously. In case of a fast change of the set value an aggressive drive reaction results, as acceleration achieves it s maximum value precipitously. (Graph DDCG_5) Default: 0 (0 90) Max. speed value of the application. Default 1500 rpm ( ) [0.1 rpm] Rev AA Jan

18 Dynamic Drive Curve Generator Inputs/Outputs (continued) Graph DDCG_3 Speed curve v / % ,5 1 1,5 2 2,5 3 3,5 4 t/s Graph DDCG_4 Speed curve v / % ,5 1 1,5 2 2,5 3 3,5 4 t/s Rev AA Jan 2009

19 Dynamic Drive Curve Generator Inputs/Outputs (continued) Graph DDCG_ v/% ,5 1 1,5 2 2,5 3 3,5 4 t/s drive curve Set Value Rev AA Jan

20 Error History Error History Function: In the error history memory, the last 8 errors are stored together with a time stamp (HC_h4) and a error counter. If the same error has appeared, consecutively several time, the error will be shown only once, but with the latest time stamp and with an increased error counter. Inputs/Outputs Inputs Clr (BOOL) HC_h4 (U32) Err (U16) ErrStatAct (Bus) StorLev (U8) Rev AA Jan 2009 If the Clr input goes active (positive edge), the complete error history memory, shall be cleared. Time stamp [0.001h] An error is detected, if the Err input is unequal zero. New error is detected: Err is not equal to the latest error in the memory and the error level is enabled to store. - A new entry is made in the error history memory - The oldest entry is deleted An error is detected again: Err is equal to the latest error in the memory and the error level is enabled to store. - The time stamp of the latest entry is updated. - The error counter is increased. (0 9999) The error active- and status active variables are located in the ErrStatAct bus. This variables indicates, whether the attendant error level is active. ErrLev0Act ErrLev6Act (BOOL) Error level 0 6 is active The StorLev input define, whether an error level can be stored. StorLev (Bit 0...6) Error level 0 6 is enabled to store

21 Error History Inputs/Outputs (continued) Output ErrStor (Array [8]; U16) HCStor (Array[8]; U32) ErrCStor (Array[8]; U16) Error storage (Err0.Err7) Time stamp storage (HC0_h4.HC7_h4) [0.001h] Counter storage (ErrC0.ErrC7) The element 0 from the array is the latest element Rev AA Jan

22 Error Status Handler Error Status Handler The error and status handler collect and administrated all errors and status events. Inputs/Outputs Inputs ClrErr (BOOL) ClrLev (U8) HldErrLev (U8) A positive edge at the ClrErr input clears all error levels, which are select with the ClrLev input. The error levels can only cleared, if the input value of this error variable equal to zero. The ClrrLev input define, whether an error level variable can be cleared with the ClrErr input. ClrLev (Bit0...6) Error level 0 6 is enabled, to clear with the ClrErr input The HldErrLev input define, whether an error variable is held after the first occurrence of the error. HIdErrLev (Bit0 6 ) Error level 0 6 is held Rev AA Jan 2009

23 Error Status Handler Inputs/Outputs (continued) Inputs ErrStat (Bus) The error and status variables are located in the ErrStat bus. Error variable: ErrLev0 (U16) ; level 0 (highest priority) ErrLev1(U16) ; level 1 ErrLev2(U16) ; level 2 ErrLev3 (U16) ; level 3 ErrLev4 (U16) ; level 4 ErrLev5 (U16) ; level 5 ErrLev6 (U16) ; level 6 (lowest priority) The error variable with the level 0 has the highest priority and the error variable with the level 6 has the lowest priority. If the error variables are equal to zero, no error is triggered. If an error variable is set to an error number, an error is triggered, with the attendant error level. Status variable: StatLev0 (U16) ; level 0 (highest priority) StatLev1 (U16) ; level 1 StatLev2 (U16) ; level 2 StatLev3 (U16) ; level 3 (lowest priority) The status variable with the level 0 has the highest priority and the status variable with the level 3 has the lowest priority. If the status variables are equal to zero, no status report is triggered. If a status variable is set to a status number, a status report is triggered, with the attendant status level Rev AA Jan

24 Error Status Handler Inputs/Outputs (continued) Output ErrStatAct (Bus) The error active- and status active variables are located in the ErrStatAct bus. This variables indicates, whether the attendant level is active. Error active variables: ErrLev0Act (BOOL), Error level 0 is active ErrLev1Act (BOOL), Error level 1 is active ErrLev2Act (BOOL), Error level 2 is active ErrLev3Act (BOOL), Error level 3 is active ErrLev4Act (BOOL), Error level 4 is active ErrLev5Act (BOOL), Error level 5 is active ErrLev6Act (BOOL), Error level 6 is active Err (U16) Stat (U16) Status active variables: StatLev0Act (BOOL), Status level 0 is active StatLev1Act (BOOL), Status level 1 is active StatLev2Act (BOOL), Status level 2 is active StatLev3Act (BOOL), Status level 3 is active The Err output displays the value of the active error variable, with the highest priority. If the output is equal to zero, no error is active. (0 9999) The Stat output displays the value of the active status variable, with the highest priority. If the output is equal to zero, no status report is active. (0 9999) The error and status variables can only be connected with the Value Connect component Rev AA Jan 2009

25 Hour Counter Hour Counter Active: If the Active signal is true, the output HCounter_h4 runs up. SetHC: After a rising edge (0->1) on the set value SetHC, the output HCounter_h4 is set to the set value HCVal_h4. HCStart_h4: After the switching-on, the output HCounter_h4 is set to the input value HCStart_h4. Inputs / Outputs Inputs Active (BOOL) HCStart_h4 (U32)* Hour counter is active Hour counter value after switching-on [0.001h] Note: These values need to be connected to an EEPROM cell (NVRam Input), which is saved at power down. Output HCounter_h4 (U32) Hour counter value [0.001h] Set Values HCVal_h4 (U32) Set value for the hour counter [0.001h] Note: These values need to be connected to an EEPROM cell(nvram Output), which is saved at power down. SetHC (BOOL) Set the hour counter to the set value HCVal_h Rev AA Jan

26 Main Contactor Main Contactor Function: The intention of this block is to switch on the main contactor after power up if the V_DC_Link_mV is above a defined level. The function avoid a unnecessary high charge current of the DC link capacitors. This block compares the input at V_DC_Link_mV with an adjustable percentage of the voltage at VKey. If the voltage is above that certain level the output is set to TRUE. Once set to TRUE, the output is only reset if the power of the system is shut down. Inputs/Outputs Inputs Enable (Bool) V_DC_Link_mV (U32) Vkey (U32) This signal enable the function. Voltage at power stage [mv] Key voltage [mv] Output Out (BOOL) True if voltage at the power stage has reached a certain level. The value is latched and only reset if the power is shut off. Parameter MCThreshold_% (U16) Define the threshold value the function switch on. ( ) [0.01%] Rev AA Jan 2009

27 Roll Off Roll Off Function: The intention of this block is to avoid unintentional acceleration of the vehicle by creating active a brake torque through the drive system. To achieve this, the set speed of the drive system is set to 0 while this function is active. Furthermore the integral value of the speed controller is overwritten with 0 to get a remaining system deviation. The influence of the integrator value of the speed controller appears through a permanent downhill-rolling in case the roll off function is active. The function is activated when the power stage is inactive and the actual speed of the motor is higher than the specified limit. Inputs/Outputs Inputs Enable [BOOL] PwrStageStat [BOOL] RPM_Stpt [S32] ActSpd [S32] Activates the roll-off function Status of the powerstage. Is needed as an important switch on criteria. Must be false to activate the function. Requested speed setpoint. Is needed to pass the speed setpoint request through the block in case the function is inactive. [0.1 rpm] The current speed of the motor. Is needed as an important switch on criteria. The absolute value must be > than SpeedRollOff value to activate the function. [0.1 rpm] Rev AA Jan

28 Roll Off Inputs/Outputs (continued) Output Status [U16] Enable [BOOL] SpeedKI [U32] RPM_Stpt_Out [S32] 0x8008 = Invalid setup/calibration Hysteresis > RollOffSpd Activates the output enable in case roll off get active. Activates the output enable in case the roll off in inactive but the Input Enable = true Integral gain of the speed controller. [ Nm/rpm/s] Note: Connect value to the Motor Control Interface! Speed setpoint for the motor [0,1 rpm] Rev AA Jan 2009

29 Roll Off Inputs/Outputs (continued) Parameter SpeedRollOff [U32] RollOffHysteresis [U16] SpeedKI [U32] Value at which the function switches to active, assumed other switch on conditions fulfilled. [0,1 rpm] Defines how far the SpeedRollOff value has to be under run to switch of the function. Integral gain of the speed controller. [ Nm/rpm/s] Note: Delete value on the Motor Control Interface Default parameter settings generate a Invalid setup/calibration status Rev AA Jan

30 Seat Switch Seat Switch Function: This function block is a delayed on/off switch. The delay function is active on the negative transition. On a positive transition at the input signal SeatSwitch the output is activated immediately. On a negative transition at the input signal SeatSwitch the output is deactivated after an adjustable delay time. If during the delay time, the input is true again, the output stays true without any interrupts. Inputs/Outputs Inputs SeatSwitch (BOOL) Signal which will be off delayed Output Out (BOOL) Off-delayed input signal Parameter SeatSwDelay_ms (U16) Time after which the output follows the negative transition on the input. Default: 1000 ms ( ) [ms] Rev AA Jan 2009

31 Service Counter Service Counter Active: If the Active signal is true, the output SHCounter_ha runs down and stops at zero. SHCZero: If the output SHCounter_h4 equal to zero, the output SHCZero goes to true. SetInterval: After a rising edge (0->1) on the set value SetInterval, the output SHCounter_h4 is set to the parameter value SHCInterval_h4. SHCStart_h4: After the switching-on, the output SHCounter_h4 is set to the input value SHCStart_h4. Inputs/Outputs Inputs Active(BOOL) SHCStart_h4 (U32) Output SHCZero (BOOL) SHCounter_h4 (U32) Parameter SHCInterval_h4 (U32) (default value: ) SetInterval (BOOL) Service hour counter is active Counter value after switching-on [0.001h] Note: These values need to be connected to an EEPROM cell (NVRam Input), which is saved at power down. Service hour counter is invalid Service hour counter value [0.001h] Note: These values need to be connected to an EEPROM cell (NVRam Output), which is saved at power down. Service interval Default: 500 h [0.001h] Set service hour counter to the service interval Rev AA Jan

32 Shunting Shunting Function: This block allows to set a RPM setpoint for a specified short time. The function is typically used to move a tractor towards the load, by using two buttons at the back of the vehicle. The operator can move the machine fwd or rvs at a low speed by pushing one or the other shunting button. The speed and time period for this function is limited independent how long the buttons are pressed. To activate this function the EnblStat (Power stage ) needs to be low and the enable needs to be high. Inputs/Outputs Inputs EnblStat (BOOL) Enbl (BOOL) Fwd (BOOL) Rvs (BOOL) Outputs Active [Bool] RPM_Stpt (S32) Parameter ShuntingSpeed (U32) MaxShuntingTime (U16) Status of the PowerStage (disabled/enabled) Needs to be disabled to allow shunting to work This signal enables the function Activates shunting in forward direction Activates shunting in reverse direction Warning: These two inputs must not be high at the same time! This output is TRUE in case of shunting is currently running. Value speed set point. [0,1 rpm] Maximum rpm used when shunting is active [0,1 rpm] Maximum time for which the output is set [1 ms] Rev AA Jan 2009

33 Solenoid Chopper Solenoid Chopper Function: After a rising edge(0->1) on the input signal Activate the output PWM is calculated according to SettlingValue for the time Settling Time_ms and then according to SteadyValue. The PWM_Value is calculated dependant on the actual supply value: If the actual supply value changes the PWM_Value is calculated in order to reach a constant voltage at the load. In order to avoid oscillations at the load voltage the PWM_Value has a hysteresis of 2%. Means the output value only changes if the difference between the result of the calculation and the output value of the previous task is more than 2%. Note: The output value is always 4,99% higher the calculated value. The reason is that the Plus+1 inverters can only handle 10% steps. Inputs/Outputs Inputs SupplyPWR (U32) Activate (BOOL) Supply power for the according output. Can be volt or percentage. Important: This value needs to be of the same scaling and unit as SETTLING VALUE and STEADY VALUE! This signal starts the sequence Rev AA Jan

34 Solenoid Chopper Inputs/Outputs (continued) Output PWM (U16) Value defined by settling resp. steady value calculated according to the supply power. ( ) [0.01%] Parameter SettlingTime_ms (U16) SettlingValue (U32) SteadyValue (U32) Time while settling value is present at the output. ( ) [1 ms] Output value during settling time Important: This value needs to be of the same scaling and unit as SETTLING VALUE and STEADY VALUE! Output value when settling time is over and Activate is still active Important: This value needs to be of the same scaling and unit as SETTLING VALUE and STEADY VALUE! Rev AA Jan 2009

35 Note Rev AA Jan

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