Hi, I'm Tony Heiser with KEB America. In this video I'd like to demonstrate just
how quick and easy setup with the KEB T6 auxiliary inverter for eMobility
applications can be. This will be a start to finish demonstration beginning from
default settings, to set up a permanent magnet servo motor to run in sensorless
operation with CAN j1939 process data commands. Since this is a
demonstration I may go over some areas quickly but we'll post another video
which goes through the process in more details.
So for now let's get started.
Here I've launched COMBIVIS the free software for
KEB inverter setup and troubleshooting. I have two nodes. One for the embedded
controller or MCU, and one for the inverter control or DCU. I'll start with the
inverter, which opens up the Wizards dashboard. Then I'll step through the
Wizards needed to set up the inverter to run the motor. Starting in the basic
settings tab I'll disable the process data since I don't have the CAN bus setup,
and in the motor data tab I'll select manual input. I will select the motor type.
And then enter in the basic motor nameplate data. This includes the motor
rated current, speed, voltage, torque, and frequency.
Then in the feedback mode tab, I'll ensure that encoderless is selected and
then in the controller data tab I'll put in a nominal value for the inertia
value. This pre-calibrates the speed control PI loop. Then in the identification
tab, I'll just follow through the steps to start the motor learn process.
Then give the hardware enable to initiate the motor learn.
You can hear the process has started,
and will typically take two to three minutes. So I'll
fast-forward through this part since there isn't much to see. During the
process the inverter will learn the motor resistances and inductances then
towards the end will ramp up to speed to measure other characteristics.
When the process is complete I'll click to confirm, and save the data, and turn off
the hardware enable. Next I can go to the test run tab, start the test wizard, enter
in some values for speeds. So 1000 rpm, negative 500 rpm. I can also select a
pre-configured scope trace which shows the command speed in the actual speed,
Then I will give it the start command and a hardware enable. There I'll select
the different speeds and I can see on the scope trace that it's ramping up to
speed. Go back down to zero and in the other direction.
Now that the motor is running
I can activate the CAN process data. So I'll go to the field bus tab and
then activate the process data mappings.
now I can switch over to the embedded controller. Here it can enter controller
settings such as the CAN baud rate. Next I'll select the application I want to
run for the inverter node. Applications are pre-configured programs and there
are different options available. I'll be using the default torque and speed
control app which pre-configured the CAN process data mappings. Then there
are the corresponding application settings. we don't have a wizard for this yet, but
some of the typical parameters would be things like CAN cycle times.
This my CAN controller. It's a third party program. So here I will Start COMM,
put it in simulation mode, claim an ECU address, go to the transmit tab, enter in
the PGN of the DCU note I want to write to, setup cyclic data. Then from there
I'll paste in the the data I want to send. And then send that through the bus.
So you can see communication there. What I'm sending is essentially a start
command and a speed command. So I can go back to my COMBIVIS program. Go to
device parameters. And open up the "ru" parameter group. And here you can see a
speed can be given, as well as a feedback command, current and voltage output.
So there you have it, from start to finish with the KEB T6 auxilary inverter
running a permanent magnet servo motor and
sensorless operation with CAN j1939 process data.
I hope you found this video useful and thanks for watching.