Deif IMD 100 Manual de uso y cuidado

INTEGRATION MANUAL

Integrated motor drive

IMD 100

Document no.: 4189360015 Rev.: G

Date: 2020-09-25

Language: EN-GB

DEIF A/S ∙ Frisenborgvej 33 ∙ DK-7800 Skive

Tel.: +45 9614 9614 ∙ Fax: 9614 9615

[email protected]m ∙ www.deif.com/wind-power

IMD 100 Integration manual 4189360015 Rev. G

www.deif.com/wind-power Page 2 of 243

Disclaimer

The contents of this document are subject to revision without notice. DEIF A/S shall have no liability for any

error or damages of any kind resulting from the use of this document.

The English version of this document is the original language, and always takes precedence if there is any

discrepancy with a translation of the document.

Trademarks

DEIF

DEIF is a registered trademark of DEIF A/S

CAN®

CAN is registered trademark of Robert Bosch GmbH

CiA®

CiA is a registered trademark of CAN in Automation e. V.

CANopen®

CANopen is a registered trademark of CAN in Automation e. V.

All trademarks mentioned in this document are the properties of their respective owners.

IMD 100 Integration manual 4189360015 Rev. G Contents 
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Contents 
Introduction...................................................................................................................... 9 
1 Conventions....................................................................................................................10 
Safety precautions ........................................................................................................ 11 
1 Mechanical work.............................................................................................................11 
2 Electrical work................................................................................................................11 
3 Thermal precautions......................................................................................................13 
Avoiding damage to the IMD ........................................................................................ 14
1 Connecting the safe energy...........................................................................................14 
2 Switching mains ON and OFF........................................................................................14 
3 Overloading the ballast resistor....................................................................................14 
4 Connecting the mains with overvoltage .......................................................................14 
Mechanical integration.................................................................................................. 15
1 Integrating the IMD in a cabinet.....................................................................................15 
1.1 Environmental requirements .................................................................................15 
1.2 Temperature considerations..................................................................................15 
1.3 Mounting of the IMD in the cabinet........................................................................19 
Electrical HW connections and requirements............................................................. 22
1 Shielding and EMC.........................................................................................................27 
2 Power connections (X1).................................................................................................28 
2.1 Motor connections requirements...........................................................................30 
2.2 Mains supply connections requirements................................................................33 
2.3 Safe energy connection requirements...................................................................34 
2.4 Ballast resistor requirements.................................................................................35 
3 Peripheral and temperature connections (X2, X3, X4, X5)...........................................36 
3.1 Connecting the motor brake (X2) ..........................................................................37 
3.2 Connecting the temperature sensors (X3, optional)...............................................37 
3.3 Connecting the resolver (X4).................................................................................39 
3.4 Connecting the SSI (X5), optional.........................................................................41 
4 Communication..............................................................................................................44 
4.1 Connecting the CAN bus (X6)...............................................................................44 
5 Connecting 24V, digital and safety I/O (X7, X8, X9)......................................................46 
5.1 Connecting digital inputs (X9) ...............................................................................47 
5.2 Connecting safety I/O and digital outputs (X8) ......................................................49 
5.3 Connecting 24V (X7).............................................................................................52 

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Functions description................................................................................................... 55 
1 IMD states .......................................................................................................................55 
2 Internal flags...................................................................................................................61 
3 Safe energy monitoring..................................................................................................62 
4 Brake control..................................................................................................................63 
4.1 Brake engagement (Brake output OFF) ................................................................64 
4.2 Brake disengagement (Brake output ON)..............................................................65 
Communication ............................................................................................................. 66 
1 CAN/CANopen interface.................................................................................................66 
1.1 CANopen network structure and management......................................................66 
1.2 CAN proprietary Interface......................................................................................67 
1.3 CANopen interface................................................................................................69 
2 Serial data interface .......................................................................................................78 
IMD configuration.......................................................................................................... 79
1 Prerequisites...................................................................................................................79 
1.1 Hardware..............................................................................................................79 
1.2 Software................................................................................................................79 
2 Safety ..............................................................................................................................80 
3 Turning the power on.....................................................................................................80 
4 Configuring general parameters ...................................................................................81 
4.1 Configuring the general servo fields......................................................................81 
4.2 Configuring motor data..........................................................................................88 
4.3 Configuring the safety run fields............................................................................95 
4.4 Configuring the CAN bus.......................................................................................97 
4.5 Configuring the safe energy test............................................................................97 
4.6 Configuring pre-heating.........................................................................................99 
4.7 Configuring virtual limit switches .........................................................................100 
4.8 Configuring manual operation.............................................................................100 
4.9 Configuring input-output logic..............................................................................101 
5 Configuring the control parameters data....................................................................103 
5.1 General PID parameters .....................................................................................103 
5.2 Configuring speed parameters............................................................................106 
5.3 Configuring current parameters...........................................................................110 
5.4 Configuring magnetic field weakening parameters..............................................112 
5.5 Configuring position parameters..........................................................................113 
6 Configuring async. motor parameters and resolver offset .......................................113 
6.1 Configuring resolver offset ..................................................................................113 

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6.2 Configuring additional motor parameters.............................................................118 
6.3 Configuring volt/freq control for async. motor......................................................119 
7 Configuring SE charger parameters (option) .............................................................120 
7.1 Charger configuration management....................................................................120 
7.2 Configuring the charger with a script...................................................................120 
7.3 Configuring the charger manually........................................................................122 
Operational procedures.............................................................................................. 129
1 Brake test......................................................................................................................129 
1.1 Prerequisites.......................................................................................................129 
1.2 Activation............................................................................................................129 
1.3 Operation............................................................................................................129 
1.4 Deactivation........................................................................................................129 
2 Changing actual position value (Pos. preset) ............................................................130 
2.1 Prerequisites.......................................................................................................130 
2.2 Activation............................................................................................................131 
2.3 Operation............................................................................................................131 
2.4 Deactivation........................................................................................................131 
3 Disconnecting AC mains from DC-link (Mains, disconnect) .....................................131 
3.1 Prerequisites.......................................................................................................132 
3.2 Activation............................................................................................................132 
3.3 Operation............................................................................................................133 
3.4 Deactivation........................................................................................................133 
4 Enabling the power module.........................................................................................133 
5 Forcing speed zero.......................................................................................................134 
5.1 Prerequisites.......................................................................................................135 
5.2 Activation............................................................................................................135 
5.3 Operation............................................................................................................135 
5.4 Deactivation........................................................................................................135 
6 Manual operation..........................................................................................................136 
6.1 Reg. 0x01 bit 23 (SCI state) set to OK ................................................................136 
6.2 Reg. 0x01 bit 23 (SCI state) set to Not OK (safety chain tripped)........................137 
7 Manual operation 360...................................................................................................138 
7.1 Prerequisites.......................................................................................................138 
7.2 Activation............................................................................................................138 
7.3 Operation............................................................................................................138 
7.4 Deactivation........................................................................................................138 
8 Manually activating the fan..........................................................................................139 
8.1 Prerequisites.......................................................................................................139 

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8.2 Activation............................................................................................................139 
8.3 Operation............................................................................................................139 
8.4 Deactivation........................................................................................................139 
9 Manually initiating a Safety run...................................................................................140 
9.1 Prerequisites.......................................................................................................140 
9.2 Activation............................................................................................................140 
9.3 Operation............................................................................................................141 
9.4 Deactivation........................................................................................................141 
10 Normal operation..........................................................................................................141 
10.1 Prerequisites.....................................................................................................141 
10.2 Activation..........................................................................................................141 
10.3 Operation..........................................................................................................141 
10.4 Deactivation......................................................................................................141 
11 Pre-heating the motor ..................................................................................................141 
11.1 Prerequisites.....................................................................................................141 
11.2 Activation..........................................................................................................142 
11.3 Operation..........................................................................................................142 
11.4 Deactivation......................................................................................................142 
12 Restarting the IMD (by communication).....................................................................142 
12.1 Prerequisites.....................................................................................................143 
12.2 Activation..........................................................................................................143 
12.3 Operation..........................................................................................................145 
12.4 Deactivation......................................................................................................145 
13 Safe energy (ultra-capacitors only) discharging........................................................145 
13.1 Prerequisites.....................................................................................................145 
13.2 Activation..........................................................................................................145 
13.3 Operation..........................................................................................................146 
13.4 Deactivation......................................................................................................146 
14 Tripping safety-chain outputs .....................................................................................147 
14.1 Prerequisites.....................................................................................................147 
14.2 Activation..........................................................................................................147 
14.3 Operation..........................................................................................................147 
14.4 Deactivation......................................................................................................147 
15 Turning the power to the IMD on.................................................................................148 
16 Updating Firmware.......................................................................................................148 
16.1 Updating firmware with the Service USB connector method..............................149 
16.2 Updating firmware with  method

16.3 Updating firmware through CANopen................................................................164 

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17 Using digital inputs and outputs.................................................................................165 
17.1 Digital outputs...................................................................................................165 
17.2 Digital inputs .....................................................................................................166 
18 Using SSI Encoder to determine blade position ........................................................167 
18.1 Retrieving position from single-turn encoder .....................................................167 
18.2 Retrieving position multi-turn encoder...............................................................167 
Units conversion ......................................................................................................... 170 
1 Converting position values..........................................................................................170 
2 Converting voltage units to volts................................................................................170 
3 Converting temperature values...................................................................................170 
3.1 Converting power module temperature (T-igbt).................................................170 
3.2 Converting motor temperature (T-motor, KTY 84 sensor)..................................172 
3.3 Converting motor temperature (T-motor, Pt100 sensor)....................................176 
3.4 Converting temperature Pt100 sensor (Pt1 to Pt4)............................................179 
3.5 Converting (internal) air temperature (T-air)......................................................182 
4 Converting current values ...........................................................................................185 
4.1 Converting current raw values to Ampere .........................................................185 
4.2 Converting Ampere to current raw values .........................................................185 
5 Converting speed values.............................................................................................186 
5.1 Converting speed values from raw values to RPM............................................186 
5.2 Converting speed values from RPM to raw values............................................186 
6 Converting torque values ............................................................................................186 
6.1 Converting torque raw values to Nm .................................................................187 
6.2 Converting Torque Nm to raw values................................................................187 
Protection and errors description.............................................................................. 188 
1 Voltage protection and errors......................................................................................188 
1.1 Overvoltage error..............................................................................................188 
1.2 Under voltage error...........................................................................................188 
Errors and warnings.................................................................................................... 189 
1 Error list........................................................................................................................189 
1.1 Charger (option) errors......................................................................................191 
2 Warning list...................................................................................................................192 
2.1 Charger (option) warnings.................................................................................193 
3 Errors log......................................................................................................................193 
Parameter description................................................................................................. 196 
1 Parameter types ...........................................................................................................196 

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2 Parameter bit mapping.................................................................................................197 
2.1 User options (01)...............................................................................................197 
2.2 User state (02)..................................................................................................199 
2.3 User demand (03).............................................................................................201 
2.4 Drive status (40)................................................................................................202 
2.5 Device mode (51)..............................................................................................204 
2.6 Device option (5A).............................................................................................204 
2.7 Errors/warnings (8F) .........................................................................................206 
2.8 Logic Out block (98)..........................................................................................207 
2.9 Logic in block (9B).............................................................................................208 
2.10 User motor options (A4)..................................................................................209 
2.11 Logic in/out block state (D8)............................................................................209 
3 Parameter list................................................................................................................211 
3.1 Charger parameters..........................................................................................228 
3.2 Error history parameters....................................................................................231 
Revision history........................................................................................................... 236 
Product user documentation...................................................................................... 239 
Glossary....................................................................................................................... 242 
1 Terms and abbreviations.............................................................................................242 
2 Units..............................................................................................................................243 
 
 

IMD 100 Integration manual 4189360015 Rev. G Introduction

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1. Introduction

This document describes the IMD 100 in details to enable the integration of the IMD in a pitch system.

It is intended for customers R&D personnel, who will integrate the IMD in the pitch system. All aspects

of the integration are included in this manual:

•Mechanical integration:

oMechanical specifications and requirements

oDescription of mechanical installation options

oSpace requirements

•Electrical requirements:

oDescription of electrical connections

oRequirements for all electrical interfaces

•Configuration

oConfiguration of the IMD for a specific system using the IMD Manager

oCreation of a configuration file for use in production

•Operation control and monitoring

oCommunication

oOperational states

oInput and output states

oMonitoring parameters

oWarnings

oErrors

oInterpretation of numeric representation unitsconversion

•Starting the IMD in the laboratory for the first time

Read instructions

Read the IMD 100 function description(document no. 4189360013) in order to understand

the functions of the IMD. Description of the functions is not repeated in this manual.

References are made in this manual to IMD 100 Installation instructions, IMD Manager

Installation instructions, IMD Manager user manual and IMD 100 Datasheet. Have these at

hand while reading this manual.

IMD 100 Integration manual 4189360015 Rev. G Introduction

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1.1 Conventions

The following conventions are used in this document:

Used in document

Description

Monotype font

Used when describing a path or text input in a machine human interface



Used to illustrate a space and Enter characters

A yellow symbol that illustrates hazard type (this symbol is an example for

general hazard). There are different types such as electrical, chemical and so

on.

Danger!

A signal word used to indicate an imminently hazardous situation, which if not

avoided, will result in death or serious injury. (ISO 3864)

Warning!

A signal word used to indicate an imminently hazardous situation, which if not

avoided, could result in death or serious injury. (ISO 3864)

Caution!

A signal word used to indicate a potentially hazardous situation, which if not

avoided, could result in minor or moderate injury. (ISO 3864)

A blue symbol that illustrates a need for mandatory action. In this example

read instructions. Other types of blue symbols exist and always indicate

mandatory action.

A symbol used to draw attention to extra information or an action that is not

mandatory

Current





IMD

When the IMD is mentioned, it means the IMD 100 series

Binary description

In binary descriptions the first bit is bit zero

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