Enhanced BLDC Drive – AKT Motor and Drive

DSL806 Low Voltage Brushless DC Servo Drive

admin — Wed, 27 Oct 2021 18:53:34 +0000

Safety Precautions Please read carefully before using in order to avoid the damage of the drive

Open box to check

If found any parts missing or found drives damaged, do not install them.
The servo drive must be used with a matching servo motor.

Installation

Installed on a non-flammable metal frame to prevent intrusion of dust, corrosive gases, conductive objects, liquids and flammable materials, and maintain good heat dissipation conditions;
When installing, be sure to tighten the mounting screws of the drive. The servo drive and servo motor should be protected from vibration and must not be subjected to impact.

Wiring

Please perform the wiring work by professional electrical engineers;
Before wiring, please confirm that the input power is in the off state. Wiring and inspection must be performed after the power is cut off and the drive indicator is off to prevent electric shock;
When plugging and unplugging the terminal of the drive, please make sure that the drive indicator is off;
The grounding terminal PE must be reliably grounded through the left side of the drive;

Please set the emergency stop circuit outside the controller;
Do not connect the power input cable to the output U, V, W terminals;
Tighten the output terminals with a suitable torque.

Power on

Please confirm whether the main circuit input power supply and the rated working voltage of the drive are consistent; Do not test the drive for high voltage and insulation performance;
Do not connect the electromagnetic contactor or electromagnetic switch to the output circuit.

General

DSL806 low voltage direct current servo drive is developed by high-performance processor, which provides users with a cost-effective servo control.

The solution is to ensure the stability and reliability of the system and to meet the most common application functions and performance.
Compared with stepping products, the servo drive has the advantage of low noise, low heating, high speed, constant torque output, no loss of step.
Compared with stepping servo products, this servo drive completely abandoned the inherent disadvantages of stepping products. Function, performance and reliability are better.
Compared with worldwide well known high-voltage servo, this drive has the similar performance with cheaper price and easy to use.

I. Basic Characteristics

Working voltage: 18V-60VDC;
Output current: rated 8A, peak 24A;
Rated speed: 3000RPM, supporting the highest 10000RPM;
Compatible motor: 5W-600W low voltage servo motor, DC brushless motor with encoder or hollow cup motor.
Control mode: external pulse, analog, RS232 communication control. For position, speed and torque mode;
Parameter adjustment: RS232 communication, PC debugging software written, or handheld debugger.
Abnormal protection: with under-voltage, over-voltage, overload, over-current, encoder abnormal functions. Alarm output function inside.

II. Applicable fields

All kinds of electronic processing equipment, production line transmission equipment, medical equipment, instruments and meters, precision testing equipment, channel or gate control, AGV/RGV, Cartesian robot, servo length positioning, garage block control, and equipment, Feeding equipment, auxiliary motion equipment, grabbing and handling machinery, jet printers, photo machines, households and office automation devices.

III. Technical indicators

Using FOC field oriented control technology and SVPWM space vector modulation algorithm. The parameters for the motor can be easily modified to fit various specifications of the motor, built-in electronic gear, graphical debugging and monitoring software. Customization is available according to the user’s functional required. Simple control functions can be integrated.

Repeat tracking error: ±1pulse;
Speed control accuracy: ±1RPM;
Receiving frequency range: 1MHZ;
Maximum speed support: 10000RPM;
Minimum speed support: 1RPM;
Positioning accuracy support: 1/10000;
Maximum no-load acceleration: 200RPM/ms;
Suitable motor: 24V/36V/48V/60V low voltage servo motor, brushless DC motor with encoder or hollow Cup motor.

IV. Interface identification

4.1 Power Motor Connector CN1

Item	Mark	Description	Note
1	VDC	Input Power +	DC 18V-60V
2	GND	Input Power –	DC 18V-60V
3	U	U phase	Must be connected to the motor as indicated
4	V	V phase
5	W	W phase

Figure 4-1

4.2 Encoder Connector CN2

Item	Mark	Description	Item	Mark	Note
1	GND	Output Power Ground	7	B+	Encoder B phase positive input
2	VCC	Output Power +5V	8	A+	Encoder A phase positive input
3	W+	Encoder W phase positive input	13	Z-	Encoder Z phase negative input
4	V+	Encoder V phase positive input	14	B-	Encoder B phase negative input
5	U+	Encoder U phase positive input	15	A-	Encoder A phase negative input
6	Z+	Encoder Z phase positive input

Figure 4-2

4.3 Control Connector CN3

Item	Mark	Description	Note
1	PUL+	Phase positive input	Pulse signal: pulse rising edge is effective. 4-5v at high level, 0-0.5v at low level, Pulse width should be greater than 1.6us, If you use 12V or 24V, you must connect 1.5-2.2K resistors in series.
2	PUL-	Phase negative input
3	DIR+	Direction positive input	Direction signal: input between DIR+ and DIR- Reverse at high level, and vice versa. The direction signal should be established at least 5us before the pulse signal. 4-5V at high level and 0-0.5V at low level. If you use 12V or 24V, you must connect 1.5-2.2K resistors in series.
4	DIR-	Direction negative input
5	ENA+	Enable positive input	Enable signal: This signal is used to enable or disable the servo motor. When the high level between ENA+ and ENA-, the drive will cut off the motor power, leaving the motor in a free state and not responding to the pulse. Enable the motor when the low level between ENA+ and ENA-, If you use 12V or 24V, you must connect 1.5-2.2K resistors in series.
6	ENA-	Enable negative input

Figure 4-3

4.4 Communication Interface CN4

Terminals No.	Description	Note
2	RXD	Connect to Computer serial port TXD
5	TXD	Connect to Computer serial port RXD
6	+5V	Drive external +5V output, maximum 100mA
3	GND	Signal ground

Figure 4-4

4.5 Expansion interface CN5

Item	Mark	Description	Note
1	VCC	Output power +5V	Drive external +5V output, maximum 100mA
2	GND	Output power ground
3	A+	Differential output A+	Encoder feedback output, consistent with the encoder input line number
4	A-	Differential output A-
5	B+	Differential output B+
6	B-	Differential output B-
7	Z+	Differential output Z+
8	Z-	Differential output Z-
9	AI	Analog input	0-5V，0-2.5 REV，2.5-5V FWD
10	GND	Output power ground
11	Fault	Open set alarm output	Above 5V, it needs to be connected in series with 2K resistors.
12	COM	Open set output common port	Connect controller common port

Figure 4-5

V: Control Mode

5.1 Basic control

This drive provides three basic operating modes: position, speed and torque. Using a single control mode, all operating modes and instructions are listed below.

Control mode selection	Control source selection	Note
Position control mode	External pulse input	The drive accepts a position command to control the motor to the target position. The position command is input by the terminal, and the signal type is pulse + direction
	PC digital input	Relative position: The drive enable start time is mechanical zero point, each time the PC digital value inputted, the motor rotates the target distance. Absolute position: The drive enable start time is mechanical zero point, each time the PC digital value inputted, the motor is referenced to the mechanical zero point and is rotated to the target position.
	External analog input	When the external analog input is 0~+5V, the motor rotates in absolute position mode -16384~+16384 pulses
Speed control mode	PC digital input	Input range：-10000RPM~+10000RPM
Speed control mode	External analog input	When the external analog input is 0~+5V, the motor runs at -12000RPM~+12000RPM.
Torque control mode	PC digital input	The input range is -7500~+7500. The corresponding output current is 24A. When the input is positive va;ie, it corresponds to the positive torque, the negative value corresponds to the reverse torque.
Torque control mode	External analog input	When the external analog input is 0~+5V, the corresponding digital torque range is: -16384~+16384. Drive internal limit to a maximum of 7500

Figure 5-1

5.2 Communication Control

In addition to the basic control methods described above, the drive also provides RS232 communication control. When selecting the communication control mode, whether you select any of the control modes, the control source must select the PC digital input, then transmit data according to the communication format and drive. The following are some specific instructions for communication control.

Function	Data address(A1)	Data up 8 bits (A2)	Data low 8 bits (A3)	Data checksum (A1+A2+A3)		Note
Motor start	0x00	0x00	0x01	0x01		Write motor enable
Motor stop	0x00	0x00	0x00	0x00		Write motor disable
Speed mode selection —PC digital input	0x02	0x00	0xc4	0xc6		Control mode given command source selection
Position mode selection — External pulse input	0x02	0x00	0xc0	0xc2		Control mode given command source selection
Position mode selection –PC digital input	0x02	0x00	0xd0	0xd2		Control mode given command source selection
Speed proportional gain	0x40			Take low 8 bits (A1+A2+A3)		It is recommended to make the changes based on the factory default parameters according to the actual situation.
Speed integral gain	0x41			Take low 8 bits (A1+A2+A3)
Speed differential gain	0x42			Take low 8 bits (A1+A2+A3)
Position proportional gain	0x1a			Take low 8 bits (A1+A2+A3)
Position differential gain	0x1b			Take low 8 bits (A1+A2+A3)
Position feed forward gain	0x1c			Take low 8 bits (A1+A2+A3)
Speed mode (available when PC digital input)– acceleration and deceleration speed setting	0x0a	acceleration	deceleration	Take low 8 bits (A1+A2+A3)	Actual speed=( acceleration and deceleration speed/250)*6000
	0x0a			Take low 8 bits (A1+A2+A3)
Speed mode –PC digital input — speed given	0x06			Take low 8 bits (A1+A2+A3)	Set digital 16384 corresponding to the actual speed 6000RPM
Position debugging mode The position is given a up 16 bit –PC– position	0x50			Take low 8 bits (A1+A2+A3)	Up 16 bits of the 32-bit data input
Position debugging mode The position is given a low 16 bit –PC– position	0x05			Take low 8 bits (A1+A2+A3)	Low 16 bits of 32-bit data input
Find Z signal, mechanical origin	0x53	0x00	0x00	0x53
Absolute position/relative position switch control in position mode	0x52	0x00	0x00	0x52	Absolute position
	0x52	0x00	0x01	0x53	Relative position
Speed limit value in position mode (The actual speed at the given position under the position command)	0x1d			Take low 8 bits (A1+A2+A3)	Set digital 16384 corresponding to the actual speed 6000RPM
Speed limit value in position mode: In the position mode PC input acceleration/deceleration setting parameter, “Acceleration/Deceleration” set to maximum will be the leading role, otherwise it will affect the final speed limit value. For example, in the host computer debugging software, input “Acceleration: 255 / Deceleration: 255” in the position mode PC input acceleration/deceleration setting, then submit the input. After the input is completed, the final speed value for the limit is the value assigned to the address of register 0x1d.

Read monitoring parameters	Sending 0x80 0x00 0x80 directly, drive will return the corresponding monitoring information
Failure state	0x80	0x00	Status_word	Take low 8 bits (A1+A2+A3)	Status_word is customized parameters
	The fault information corresponding to each bit of Status_word is as follows (highly effective) : Status_ov_i = Status_word^1; over current Status_ov_u = Status_word^2; over voltage Status_err_enc = Status_word^3; encoder error Status_ov_q = Status_word^5; under voltage Status_ov_load = Status_word^6; over load
Busbar voltage	0xe1			Take low 8 bit (A1+A2+A3)	(Deviation 2V)
Output current	0xe2			Take low 8 bit (A1+A2+A3)	The actual current will reduced by 100 times
Output speed	0xe4			Take low 8 bit (A1+A2+A3)	Returned digital 16384 corresponding to the actual speed 6000RPM
Position give up 16 bits	0xe6			Take low 8 bit (A1+A2+A3)	If the position is given as 32-bit data, the actual value is recombined according to the up 16 bits and the low 16 bits.
Position give low 16 bits	0xe7			Take low 8 bit (A1+A2+A3)
Position feedback up 16 bits	0xe8			Take low 8 bit (A1+A2+A3)	If the position feedback is 32-bit data, the actual value is recombined according to the up 16 bits and the low 16 bits.
Position feedback low 16 bits	0xe9			Take low 8 bit (A1+A2+A3)

Figure 5-2

Detailed description of the communication control instructions:

(1) The data command format received by the controller is: address + data up 8 bits + data low 8 bits + data checksum
(take the low 8 bits value of the summary of first three data) If the host computer sends correctly in this format, the drive will immediately return the two addresses of the command to the host computer, which indicates that the drive has successfully received the command. For example: the host computer sends: 0x09 0x32 0x32 0x6d, the drive returns to the host: 0x09 0x09, at this point, it means the drive has been finished receiving. (Note: There must be more than 1ms delay between each data instruction, otherwise the data is prone to error).

(2) When the position debug mode is selected and the host machine sends the control command through the serial port, the setting sequence is: set the drive to position debugging mode (send 0x02 0x00 0xd0 0xd2)  set the speed limit value in position mode  motor start (0x00 0x00 0x01 0x01)  position given up 16 bits  The position is given by the low 16 bits. If the position debug mode has been determined and the motor has been started, it will not need to be sent repeatedly when it is sent next time.

(3) If all parameters have been set when the drive is debugging parameters, such as acceleration and deceleration, control mode, speed limit (the factory has set a suitable value). At this time, it is only necessary to set the motor to start, and then send the position. Step: Motor start (0x00 0x00 0x01 0x01) position is given up 16 bits position is given low 16 bits.

(4) The input length given by the position is a 32-bit data, which must be decomposed to a up 16 bits and a low 16 bits when transmitted.
Moreover, the 16-bit data is also need to be decomposed into up 8 bits and low 8 bits. The data splitting will be done by the data format generator in the file. The user only needs to input the data to be sent, it can be automatically split into the format used for communication.

(5) Use of the data format generator. For example, set the acceleration and deceleration to 50 and place it in the 16-bit data generation box: Address: 09 Acceleration input 50, Deceleration input 50 then display. At this time, the data format is generated 0x09 0x32 0x32 0x6d and then the host computer can send this command to set the acceleration and deceleration in the position debugging mode.

(6) Set the 32-bit position reference command. The 32-bit data corresponds to the number of pulses. For example, when the numerator value and denominator value are both set to 1 in the electronic gear, and the encoder lines is 2500, the number of pulses required per one revolution of the motor is 10000.

When the position reference is written as 10000, the drive starts at the mechanical zero point and the motor rotates once. When 100000 is written, the motor rotates 10 revolutions. If 0 is written again, the motor rotates to the position just when starting.

(7) Regarding the position mode, whether the transmission position command is an absolute position or a relative position. When the send command is 0X52 0X00 0X00 0X52, the send position is the absolute position. When the send command is 0X52 0X00 0X01 0X53, the position is the relative position.

(8) In position mode, the maximum stable speed limit of the motor output is determined by VLimit (provided that the acceleration/deceleration in position mode has been set to a maximum value of 255). The send command is (0x1d set value up 8 bits set value low 8 bit checksum) where the set value corresponds to the limit speed = (requires set limit speed / 6000) * 16384 , the obtained data is rounded off. For example, if the motor requires 3000 RPM, the set value is 8192. If 1RPM is required, the set value is 3 (rounded).

(9) About the problem of finding the origin of the mechanical Z signal, after the parameter configuration is completed, after sending the origin operation (0x53 0x00 0x00 0x53). And after sending the motor start (0x00 0x00 0x01 0x01), the motor will rotate slowly until the Z signal origin is found, and then it will not move.

(10) About monitoring commands. Send the monitoring command is (0x80 0x00 0x80), after receiving the command, the drive returns the following data: fault information, busbar voltage, output current (which has been amplified by 100 times, the actual display current needs to be divided by 100. For example, the received value is 123. It means the current is 1.23A), output speed (output speed is digital, the conversion relationship is: actual speed = (digital speed / 16384) * 6000), the current position given value up 16 bit, the current position given value low 16 bits, the current position feedback value up 16 bits, and the current position feedback value low 16 bits. Please refer to the above table for the corresponding relationship. The format returned is four data per frame.

The format is: Address Data up 8 bits Data low 8 bits Checksum (takes the low 8 bits).

VI. The use of the host computer debugging software

The drive provides easy-to-use debugging software, all parameters can be written to the inside of the drive through the debug software, while monitoring the status of the drive. The following details will show the use of the software.

6.1 Serial Port Operation

After opening the software, there is a serial port setting in the file drop-down list. Select the serial port number of the PC, and the other ones are as default like the picture below. After setting, apply the settings and open the serial port. The first time the software is opened, the parameters of the drive are read out by default. If the user needs to load the parameters that have been stored and modified, the stored parameter file can be opened from the software.

Figure 6-1

6.2 Basic parameter settings

Pulse direction reference selection (this option is only valid when the position mode external pulse input):

When forward rotation is selected, the input signal is:

pulse + direction (high level), at this time the drive is rotating forward.

pulse + direction (low level), at this time the the drive is rotating reversed.

When reverse is selected, the input signal is:

pulse + direction (low level), at this time the drive is rotating forward.

pulse + direction (high level), at this time the drive is rotating reversed.

Overload factor: The setting parameter range is 0~300%, the default is 200%. This setting is the maximum current allowed to output of the drive. If exceeded the set overload time, it will stop and alarm.

Analog dead zone: The approved range of mechanical zero, zero speed, and zero torque when using analog control. For example, when set to 50, when the digital quantity sampled by AD is less than 50, the drive forced sample value will be 0.

Electronic gear: actual position command = input pulse command * (numerator of the electronic gear ratio / denominator of the electronic gear ratio).

The specific settings are shown in Figure 6-2-1, 6-2-2.

Figure 6-2-1

Figure 6-2-2

6.3 Drive PI Parameter Settings

The parameters that the drive is now open are position loop PDF, speed loop PID. There is a great relationship between parameter adjustment and response. The actual working environment is subject to adjustment.

Under the default parameter setting, if the motor vibrates, reduce the value of the speed loop KpV and increase the value of the speed loop KI appropriately after vibrating situation. If the speed loop KpV is reduced, however the motor is still vibrated, and then reduce the KpP value of the position loop.

In the case of none vibration, slowly increase the KpV value of the speed loop while reducing the KiV value of the speed loop. Under the condition of rigid demand, appropriately increasing the value of the speed loop KdV can reduce the vibration of the motor, and increasing the excessive KdV will cause high-frequency noise, please pay attention, If the above cannot reduce the vibration, properly reduce the KpI value of the current loop. The PI parameter of the current loop is now encrypted. For modification, please contact the factory.

Figure 6-3

Figure 6-4 / Figure 6-5

6.4 Mode Selection and PC Reference

The drive provides 7 control source options, users can select different control methods according to different needs. In the corresponding mode of PC digital input, the text area of the three modes is valid, but the acceleration and deceleration settings are valid only in the PC input mode.

6.5 Status Monitoring
The host computer software provides real-time monitoring of the bus voltage, output current, motor speed, position reference, and position feedback information. The specific status monitoring is shown in Figure 6-5.

6.6 Simple Oscilloscope
The debugging software provides periodic monitoring of U-phase digital current, V-phase digital current, current reference, current feedback, speed reference, speed feedback, position reference, and position feedback signal. At the same time, the current sample waveform or the load history waveform can be recorded

Figure 6-6

Figure 6-7 Password: 8888

6.7 Setting of motor parameters
The motor parameters are fixed when the drive leaves the factory with the motor, and the user can not change them at will, otherwise the drive and equipment will be damaged.
Note: if you want to replace the motor, please confirm the parameters with the motor provider and drive manufacturer and write the relevant setting again .Motor related parameters are non-modifiable parameters after the drive is energized. After modification, it will be valid only after re-energized or the drive system reset.
Number of encoder lines: the resolution of the encoder corresponding to the motor nameplate;
Angle offset: the Angle offset value of the encoder Z signal corresponding to the motor U opposite to the electromotive force negative over zero;
Number of pole pairs: motor pole pairs.

VII. Typical wiring of control signals

Figure 7-1 Wiring diagram of differential mode control signal interface

Figure 7-2 Single-ended mode control signal interface wiring diagram

Special reminder: When the control signal is 12V or 24V, an external current limiting resistor is required. 12V is connected to 1K resistor and 24V is connected to 2K resistor. Otherwise, long-term operation will damage the drive’s opto-isolated device.

BLSD-D-02-H Brushless DC Motor Drive

admin — Wed, 27 Oct 2021 17:09:46 +0000

Caution: Read the operating instructions carefully before putting the driver into operation with power

1. Summary

BLSD-D-02-H BLDC motor driver is a closed-loop speed controller, which uses IGBT and MOS power, uses the Hall signal of the DC brushless motor to perform double-loop speed control, and has a PID speed regulator in the control link. The system control is stable and reliable.
It can always reach the maximum torque at low speed, and the speed control range is 150~10000rpm.

Features

PID speed, current double loop regulator
With best price performance ratio
20KHZ chopper frequency
Electrical stop to ensure the quickly action
Over load radio larger than 2, the torque can always reach the maximum at low speed.
Fault alarm function with Over voltage, Under voltage, Over current, Over temperature, and Hall signal illegal.

Product Characteristic

Input voltage: 24~48VDC. (Under the power<2000W)
Accelerate time constant(default) : 2 seconds
Motor stall protection time: 3 seconds, other can be customized

2. Terminal and Control Signal

Control Terminal

No.	Terminal Name	Description
1	COM	COM terminal
2	F/R	CW/CCW terminal
3	EN	Stop/Start terminal
4	BR	Brake terminal
5	SV	Analogy signal input terminal
6	PG	Speed output terminal
7	ALARM	Alarm output terminal
8	+5V	+5V power output terminal

Hall Signal Terminal

No.	Name	Description
1	GND	Hall sensor Negative
2	HA	Hall sensor A phase
3	HB	Hall sensor B phase
4	HC	Hall sensor C phase
5	+5V	Hall sensor Positive

Motor Connection Terminal

No.	Name	Description
1	DC+	DC+
2	DC-	DC-
3	FG	Ground wire
3	MA(U)	Winding U phase(A)
4	MB(V)	Winding V phase(B)
5	MC(W)	Winding W phase(C)

3. Control Signal

No.	Terminal Name	Description
1	GND	Signal ground
2	F/R	CW/CCW terminal
3	EN	Stop/Start terminal
4	BK	Brake terminal
5	SV	Analogy signal input terminal
6	PG	Speed output terminal
7	ALM	Alarm output terminal
8	+5V	+5V power output terminal

GND: Signal ground

F/R: Forward and reverse control, reverse when connected to GND, forward if not connected, turn off EN when switching between forward and reverse.

EN: Enable control: EN connect to the ground, motor turn (online state), EN not connected, motor does not turn (offline state).
BK: Brake control: When it is not grounded and works normally, when it is grounded, the motor is electrically braked. When the load inertia is large, it should be used pulse width signal mode, control the brake by adjusting the pulse width amplitude.

SV: ADJ: External speed attenuation: can be attenuated from 0~100%, when the external speed command is connected to 6.25V, the potentiometer can be used to speed and test the motor.
PG: Motor speed pulse output: When the pole pair is P, 6P pulses per revolution (Open Collector input).
ALM: Alarm output: When the circuit is in the alarm state, the output is low (Open Collector output).

+5V: Speed regulation voltage output, the potentiometer can be continuously adjusted at SV and GND.

Dial code switch: Adjust the motor speed gain and the speed range from 0 to 100%.

Connection Diagram of motor and driver

4. Mounting Dimension

5. Function and Usage

Choose any of the below speed command：
Build-in potentiometer: Speed reduced while CCW potentiometer, otherwise speed increased. Set the potentiometer at minimum while use the external speed command.

External potentiometer: Connect on the GND and +5V of the drives, speed can be adjusted on external potentiometer ((5K~100K) when connect SV terminal. Input simulate voltage through other control command (e.x. PLC, SCM etc.) to SV terminal to achieve the speed adjust as well (relative GND). The range of the SV terminal is DC OV~+5V, the relevant motor speed is 0~rated speed.

External digital signal speed regulation: Add 5V between SV and GND, speed can be adjusted by PWM control between the 1KHz~2KHz, motor speed is influenced by duty. At this time, by adjusting the R-SV potentiometer, SV digital signal amplitude can be 0~1.0 ratio attenuation processing. Generally, adjust R-SV to 1.0, SV input digital signal without attenuation processing.

Motor running/stop control (EN)
Control the brushless motor to run or stop by controlling the terminal “EN” and “GND” connecting. The motor will running when we connect the terminal “EN” to “GND”; if shut down, the motor will stop, and the stopping time will decided by the motor inertia and load adding on the motor.

Motor rotation direction control（F/R)
Control the motor rotation direction by controlling the terminal “F/R” and “GND” connecting. When shut off terminal “F/R” to terminal “GND”, the motor will run at CW (view from motor output side), and when connect on, the motor will run at another direction. For avoiding to damage the driver, please stop the motor running and then change the motor rotation direction.

Brake the motor to stop(BK)
Motor stop can be controlled by connect BK and GND terminal. When shut off the BK and GND terminal, motor running, otherwise motor will fast stop. Motor stopping time is decided by the motor inertia and load adding on the motor. If it is unnecessary to fast stop the motor, please don’t use this function since it has some electrical and mechanical impact on the motor and controller.

Speed signal output(PG)
The speed pulse output port is OC, output 30V/10mA max. You can connect with a resistance (3K ohm ~10K ohm) between signal and input power to get the pulse signal, this port will output serial pulses which has fixed extent ( it is 50uS). This output pulse from every rotation of motor is 3 x N, “N” means the total pole number of the magnet.For example, 2 pair of poles,means 4 poles motor, 12 pulses per turning, when the motor speed is 500rpm, the pulses out from the PG is 6000.

Alarm output
The alarm output port is OC, output 30V/10mA max. You can connect with a resistance (3K ohm ~10K ohm) between signal and input power to get the alarm signal. When alarm, this port and the GND is connecting (Low voltage), and the controller will stop working and keep in alarm status.

Driver failure
Drivers enter to protection status while inner overload or over current, drivers and motor will stop automatic, the blue led will flashed on the driver. The alarm can be released by reset the enable terminal (shut off EN and GND) or switched off. Please check the motor connection wires when failure.

6. Display and keyboard

Display and Keyboard Operation
Remark: “SET”：Start/Stop, (backspace)
“△” ：“+”，Plus 1
“▽” ：“-” , Minus 1
“ENT”：“ENTER” (Recall setting parameter)

6.1 Parameter Setting Sequence

Please insure that the motor is under the stop situation when set the parameter. That is, in the case of panel mode, the motor is in the stop state or an external port mode, the motor is enabled to disconnect.

In standby condition, press “ENTER” to call out the system parameters, press “ENTER” again, it will call out the parameter value.
Press “△”or “▽”to the parameter number. Press “SET” to return to standby mode if there is no value need to change.
Press “ENTER” to show the parameter setting value. Press “SET” to return to standby mode if there is no need to change value.
Press“△”or “▽” to change the value demanded.
Press “ENTER” to save the changes, then press “SET” to return to standby mode.

Note: At setting mode, it will return to display interface if there is no press within one minute.

6.2 Working mode

Motor works at two modes. One is the panel mode, the other is external terminal control. The motor runs as the setting, LED digital display shows the speed of motor. Under the panel mode, Press “SET” to start/stop the motor, long press “△”or “▽” to acceleration or deceleration speed, press “ENTER” to insure and know the running speed. The motor runs as setting speed.

6.3 Protect mode

While Motor operates abnormally, display will show Err×
(1) Err-01: motor stall
(2) Err-02: over current
(3) Err-04: hall fault
(4) Err-05: motor stall and hall fault
(5) Err-08: under-voltage
(6) Err-10: over-voltage
(7) Err-20: peak current alarm
(8) Err-40: temperature alarm

6.4 Drives parameter setting:

P00X：Operating Parameter
Function Code	Function Name	Setting Range	Unit	Default value	Change
P000	Control mode	00 non inductive external control mode 18 non inductive mode panel control and 485 communication control mode 40 forced sensing external control mode 58 inductive mode panel control mode and 485 communication control mode		40 forced sensing external control mode
P001	Pair of Pole	1~255	Pairs	2
P002	Rated Speed	1~65535 (external port mode effective )	RPM	3000
P003	Display mode	00: speed display		00
P004	starting torque	1~255		16
P005	Initial speed w/o sensor start	1~255		04
P006	Acceleration time	1~255	0.1S	0
P007	Deceleration time	1~255	0.1S	0
P008	Current setting	1~255		44
P009	Temperature alarm setting	1~255		34
P010	Panel speed setting	1~65535 only external port mode effective	RPM	2000
P011	Brake force	0-1023		1023
P012	Site address	0~250		1
P013	Reserved
P014	Current adjusting parameter	0-FF	Hexadecimal	3A
P015	Reserve
P016	Reserve

7. System Usage

Connect on the wires of the motor and driver (motor winding wires, Hall wires and power lines) strictly as request. It can not achieve the CW and CCW through changing the wires connection like asynchronous motor. The motor will run abnormality with the wrong wires connection, like brushless motor will shake much or heat quickly (the temperature will up to 80 degree in seconds to 2 min.),and will damage the motor and driver.

Please run the motor while connect the power supply, Hall wires and drive power supply. Firstly set the potentiometer to the minimum, press the start switch, increase the motor potentiometer a little, the motor should run. If the motor does not run, or shaking, maybe did the wrong wires connection, please recheck the brushless motor wires till the motor running normally.

8. Communication Mode

This communication model is used standard Mod bus protocol, implement national standards GB/T 19582.1 – 2008. It is using RS485 two-wire serial link communication, Physical interface uses two 3.81mm spacing 3 core Phoenix terminals, serial connection is very convenient. Transmission mode is RTU, testing mode is CRC, CRC start word is FFFFH. Data mode is 8 bit asynchronous serial, 1 is stop bit, without invalid bit. Currently there is only one communication speed 9600bps,

No.	address	name	Setting range	Default	unit
00	$8000	First byte: control bit state Second byte: Hall angle and pair of poles	First byte： Bit0：EN Bit1：FR Bit2：BK Bit3：NW1 Bit4：NW Bit5：KHX Bit6：HR60 Bit7：KH Second byte： Bit0-7: pair of poles 1-255	00H 02H
01	$8001	Maximum speed in analog adjustment	0-65535	3000	RPM
02	$8002	First byte: start torque Second byte: start speed without sense start	1-255 1-255	10H 04H
03	$8003	First byte: accelerate time Second byte: decelerate time	1-255	10 10	0.1s
04	$8004	First byte: max. Current Second byte: temperature alarm point		35H 30H
05	$8005	External speed setting	0-65535	2000	RPM
06	$8006	Brake force	0-1023	1023
07	$8007	First byte: site address Second byte: reserved	1-250	1 0
08-0F		$8008-$800F	Segmental speed value
10-17		$8010-$8017	reserved
18	$8018	Real speed
19	$8019	First byte: bus voltage Second byte: bus current
1A	$801A	First byte: control port state Second: analog port value	Bit0：SW1 Bit1：SW2 Bit2：SW3 Bit3：SW4
1B	$801B	First byte: fault state Second byte: motor running state	Bit0: stall Bit1: over current Bit2：hall abnormality Bit3：low bus voltage Bit4：over bus voltage Bit5:peak current alarm Bit6：temperature alarm Bit7：reserve
1C		$801C-$801F	Reserve
20		$8020 above illegal

Site address 8000H-8017H Read-write register
Site address 8018H-801FH Read-only register
Other address is illegal
8000：first byte：
EN: when NW=0，0：external EN low level effective 1：external EN high level effective
when NW=1，0：EN ineffective 1： EN effective
FR: when NW=0，0：external FR low level effective 1：external FR high level effective
when NW=1，0：FR ineffective 1：FR effective
BK: when NW=0，0：external BK low level effective 1：external BK high level effective
when NW=1，0：BK ineffective 1：BK effective
NW1：0：external control effective （EN,FR,BK） 1：internal effective
NW: 0: Speed external effective, 1:speed internal internal effective(under panel speed adjusting mode, PWN speed adjusting mode and segmental speed adjusting mode, it must set to 1)
KHX: stall alarm under the open loop w/sense mode. 0: stall alarm 1: NO alarm
HR60: 0: 120° hall control 1: 60° hall control temporarily not supported
KH: 0：closed loop control 1：open loop control

For example:
1. Write 1500 speed
01 06 80 05 DC 05 28 C8
2. Write 2 pair of poles EN start
01 06 80 00 19 02 2A 5B
3. Write EN stop
01 06 80 00 18 02 2B CB
4. Write brake
01 06 80 00 1D 02 28 9B
5. Checking the fault state
01 03 80 1b 00 01 DD CD
6. 01 06 80 00 19 02 2A 5B EN start 2 pair of poles
7. 01 06 80 05 D0 07 AC 09 Write 2000
8. 01 06 80 05 E8 03 BE 0A Write 1000
9. 01 60 80 00 18 02 2B CB EN stop
10. 01 06 80 00 19 01 6A 5A 1 pair of pole EN start

The write message is explained as follows

Message	Explain
01	address
10	Function code
00 1B	Start address register
00 05	The numbers of register
0A	Total byte digits
02 58	Write the first register data
02 58	Write the second register data
00 F0	Write the third register data
00 03	Write the fourth register data
0D 40	Write the fifth register data
CD 83	CRC testing(from the address to the fifth register data)

The successful feedback message is explained as follows

message	01	10	00 1B	00 05	70 0D
explain	address	Function code	The start register address	The wrote register number	CRC testing code

9. Communication wires connection

RS-485 communication can be carried out by using the RJ45 cable connector The RJ45 connector pins are defined as follows：

Pin	Description
8	GND
6	A+
3	B-

BLSD-D-02-S Brushless DC Motor Drive

admin — Wed, 27 Oct 2021 16:02:18 +0000

1. System Characteristic

Input voltage: 24VDC 36VDC 48VDC
Continuous current: 30A 25A 20A
Max. output power: 750W 750W 750W
Working temp.: 0~+45°C
Storage temp.:-20~+85°C
Working & storage humidity: <85% (no frosting)
Structure: wall-mountable box type

2. Basic Characteristic

Cooling: Radiator
Control terminals: Isolation
Protection: Over load, over heat, over speed, over voltage, lost voltage will cause the power abnormal
Panel: 6 digit LED display, 4 digit keypad operation

3. Installation attention

Do not measuring or touch any components without housing while operating.
Should check soleplate or change fuse 1minute later after power off.
Operating without housing is forbidden.
Make sure to connect the ground terminal, otherwise the brushless motor will working unsteadily
Sudden damage while drives working, our company only affords the service and replace in guarantee. Personal injury and motor damage caused by the accident will invalidate the guarantee.

Mounting Dimension: 166x102x67mm

Control Terminal

No.	Terminal Name	Description
8	COM	COM terminal
7	F/R	CW/CCW terminal
6	EN	Stop/Start terminal
5	BK	Brake terminal
4	SV	Analogy signal input terminal
3	PG	Speed output terminal
2	ALARM	Alarm output terminal
1	+5V	+5V power output terminal

4. Terminal and Signal

Hall Signal Terminal

No.	Name	Description
1	GND	Hall sensor Negative
2	HA	Hall sensor A phase
3	HB	Hall sensor B phase
4	HC	Hall sensor C phase
5	+5V	Hall sensor Positive

Motor Connection Terminal

No.	Name	Description
1	DC+	DC+
2	DC-	DC-
3	FG	For the ground
4	U	BLDC winding U phase(A)
5	V	BLDC winding V phase(B)
6	W	BLDC winding W phase(C)

5. Function and Usage

Choose any of the below speed command:
Build-in potentiometer: Speed reduced while CCW potentiometer, otherwise speed increased. Set the potentiometer at minimum while use the external speed command.
External potentiometer: Connect on the GND and +5V of the drives, speed can be adjusted on external potentiometer ((5K~100K) when connect SV terminal. Input simulate voltage through other control command (e.x. PLC, SCM etc.) to SV terminal to achieve the speed adjust as well (relative GND). The range of the SV terminal is DC 0V~+5V, the relevant motor speed is 0~rated speed.
External digital signal speed regulation: Add 5V between SV and GND, speed can be adjusted by PWM control between the 1KHz~2KHz, motor speed is influenced by duty. At this time, by adjusting the R-SV potentiometer, SV digital signal amplitude can be 0~1.0 ratio attenuation processing. Generally, adjust R-SV to 1.0, SV input digital signal without attenuation processing.

Motor rotation direction control (F/R)
Control the motor rotation direction by controlling the terminal “F/R” and “GND” connecting. When shut off terminal “F/R” to terminal “GND”, the motor will run at CW (view from motor output side), and when connect on, the motor will run at another direction. For avoiding to damage the driver, please stop the motor running and then change the motor rotation direction.

Brake the motor to stop (BK)
Motor stop can be controlled by connect BK and GND terminal. When shut off the BK and GND terminal, motor running, otherwise motor will fast stop. Motor stopping time is decided by the motor inertia and load adding on the motor. If it is unnecessary to fast stop the motor, please don’t use this function since it has some electrical and mechanical impact on the motor and controller.

Speed signal output (PG)
The speed pulse output port is 0C, output 30V/10mA max. You can connect with a resistance (3K ohm ~10K ohm) between signal and input power to get the pulse signal, this port will output serial pulses which has fixed extent ( it is 50uS). This output pulse from every rotation of motor is 3 x N, “N” means the total pole number of the magnet. For example, 2 pair of poles means 4 poles motor, 12 pulses per turning, when the motor speed is 500rpm, the pulses out from the PG is 6000.

Alarm output
The alarm output port is 0C, output 30V/10mA max. You can connect with a resistance (3K ohm ~10K ohm) between signal and input power to get the alarm signal. When alarm, this port and the GND is connecting (Low voltage), and the controller will stop working and keep in alarm status.

6. Display and keyboard

Display and Keyboard Operation
Remark: “SET”: Start/stop, (backspace)
“△” : “+”，Plus 1
“▽” : “-” , Minus 1
“ENT”: “ENTER” (call out setting parameter)

6.1 Parameter Setting Sequence
Please insure that the motor is under the stop situation when set the parameter. That is, in the case of panel mode, the motor is in the stop state or an external port mode, the motor is enabled to disconnect
1. In standby condition, press “ENTER” to call out the system parameters, press “ENTER” again, it will call out the parameter value.
2. Press “△”or “▽” to the parameter number. Press “SET” to return to standby mode if there is no need to change value.
3. Press “ENTER” to show the parameter setting value. Press “SET” to return to standby mode if there is no need to change value.
4. Press“△”or “▽” to the value demanded.
5. Press “ENTER” to save the changes, then press “SET” to return to standby mode.
Note: At setting mode, it will return to display interface if there is no press within one minute.

6.2 Working mode
Motor works at two modes. One is the panel mode; the other is external terminal control. The motor runs as the setting, LED digital display shows the speed of motor. Under the panel mode, Press “SET” to start/stop the motor, long press “△”or “▽” to acceleration or deceleration speed, press “ENTER” to insure and know the running speed. The motor runs as setting speed.

6.3 Protect mode
While Motor operates abnormally, display will show ERR×
(1) Err-01: stall
(2) Err-02: over current
(3) Err-04: hall fault
(4) Err-05: stall and hall fault
(5) Err-08: under-voltage
(6) Err-10: over-voltage
(7) Err-20: peak current alarm
(8) Err-40: temperature alarm

6.4 Drives parameter setting:

P00X: Operating Parameter
Function Code	Function Name	Setting Range	Unit	Default value	Change
P000	Control mode	00 External port mode 18 Panel control mode 485 communication control mode		00 External port mod
P001	Pair of Pole	1~255	Pairs	2
P002	Rated Speed	1~65535 (external port mode effective )	RPM	3000
P003	Display mode	00: speed display 01: PWN speed adjustment 02:segmental speed adjustment 80:current display		00
P004	No sense starting torque	1~255		16
P005	Initial speed w/o sensor start	1~255		04
P006	Acceleration time	1~255	0.1S	0
P007	Deceleration time	1~255	0.1S	0
P008	Current setting	1~255		44
P009	Temperature alarm	1~255		34
P010	Panel speed setting	1~65535 only external port mode effective	RPM	2000
P011	Brake force	0-1023		1023
P012	Site address	0~250		1
P013	Reserved
P014	Current adjusting parameter	0-FF	Hexadecimal	3A
P015	Reserved
P016	Per speed at Segmental speed adjusting

7. System usage

Connect on the wires of the motor and driver (motor winding wires, Hall sensor and power supply) strictly as request. It can not achieve the CW and CCW through changing the wires connection like asynchronous motor. The motor will run abnormality with the wrong wires connection, like brushless motor will shake much or heat quickly (the temperature will up to 80 degree in seconds to 2 min.),and will damage the motor and driver.

8. Communication Mode

This communication model is used standard Mod bus protocol, implement national standards GB/T 19582.1 – 2008. It is using RS485 two-wire serial link communication, Physical interface uses two 3.81mm spacing 3 core Phoenix terminals, serial connection is very convenient. Transmission mode is RTU, testing mode is CRC, CRC start word is FFFFH. Data mode is 8 bit asynchronous serial, 2 is stop bit, without invalid bit, Supports multiple communication rates (see table of parameters)

Note: if the communication mode is required to control the motor, it must be under the internal speed adjustment mode.

No.	address	name	Setting range	Default	unit
00	$8000	First byte: control bit state Second byte: Hall angle and motor poles	First byte: Bit0: EN Bit1: FR Bit2: BK Bit3: NW1 Bit4: NW Bit5: KHX Bit6: HR60 Bit7: KH Second byte: Bit0-7: poles 1-255	00H 02H
01	$8001	Maximum speed in analog adjustment	0-65535	3000	Rpm
02	$8002	First byte: start torque Second byte: start speed without sense start	1-255 1-255	10H 04H
03	$8003	First byte: accelerate time Second byte: decelerate time	1-255	0 0	0.1s
04	$8004	First byte: max. Current Second byte: temperature alarm point		38H 30H
05	$8005	External speed setting	0-65535	2000	RPM
06	$8006	Brake force	0-1023	1023
07	$8007	First byte: site address Second byte: reserved	1-250	1 0
08-0F		$8008-$800F	Segmental speed value
10-17		$8010-$8017	reserved
18	$8018	Real speed
19	$8019	First byte: bus voltage second byte: bus current
1A	$801A	First byte: control port state Second: analog port value	Bit0: SW1 Bit1: SW2 Bit2: SW3 Bit3: SW4
1B	$801B	First byte: fault state Second byte: motor running state	Bit0: stall Bit1: over current Bit2: hall abnormality Bit3: low bus voltage Bit4: over bus voltage Bit5:peak current alarm Bit6: temperature alarm Bit7: reserved
1C		$801C-$801F	Reserved
20		$8020 above illegal

Site address 8000H-8017H Read-write register
Site address 8018H-801FH Read-only register
Other address is illegal
8000: first byte:
EN: when NW=0，0: external EN low level effective 1: external EN high level effective
when NW=1，0: EN ineffective 1: EN effective
FR: when NW=0，0: external FR low level effective 1: external FR high level effective
when NW=1，0: FR ineffective 1: FR effective
BK: when NW=0，0: external BK low level effective 1: external BK high level effective
when NW=1，0: BK ineffective 1: BK effective
NW1: 0: external control effective （EN,FR,BK） 1: internal effective
NW: 0: Speed external effective, 1:speed internal internal effective(under panel speed adjusting mode, PWN speed adjusting mode and segmental speed adjusting mode, it must set to 1)
KHX: stall alarm under the open loop w/sense mode. 0: stall alarm 1: NO alarm
HR60: 0: 120° hall control 1: 60° hall control temporarily not supported
KH: 0: closed loop control 1: open loop control

The write message is explained as follows

Message	Explain
01	address
10	Function code
00 1B	Start address register
00 05	The numbers of register
0A	Total byte digits
02 58	Write the first register data
02 58	Write the second register data
00 F0	Write the third register data
00 03	Write the fourth register data
0D 40	Write the fifth register data
CD 83	CRC testing(from the address to the fifth register data)

The successful feedback message is explained as follows

message	01	10	00 1B	00 05	70 0D
explain	address	Function code	The start register address	The wrote register number	CRC testing code

9. Communication wires connection

RS-485 communication can be carried out by using the RJ45 cable connector
The RJ45 connector pins are defined as follows:

Pin	Function
8	GND
6	A
3	B