TSX - EVDrives

TSX - EVDrives
TSX
Separately Excited Motor Controller
User Guide
Navitas Technologies Ltd.
C-855 Trillium Drive,
Kitchener, Ontario N2R 1J9 Canada
Phone: 1-519-725-7871
Fax: 1-519-725-1645
www.navitastechnologies.com
[email protected]
Navitas Technologies (NVT) is in the business of designing, manufacturing and marketing digital drive and
hydraulic control systems for electric vehicles. NVT control systems are used in battery powered industrial
and commercial vehicles ranging from 96 volt locomotives to 12 volt walkies. NVT’s product advantages lie
in its efficiency, flexible programmability and reliability. NVT also offers application assistance to help design
the best overall solution for your vehicle. NVT is a subsidiary of Tersus Energy Plc. For more information
on Tersus please visit www.tersusenergy.com.
Safety
Operating and working on electric vehicles can be hazardous and is
recommended only for individuals who have the appropriate training and
safety equipment. The vehicle manufacture’s manual should be consulted
before any work is attempted. Always wear safety glasses and use
properly insulated tools to avoid shorts when working on electric vehicles.
Common hazards include electric shock, vehicle run-away, and risk of fire or
explosion from hydrogen gas.
Electric Shock – Battery packs in electric vehicles can generate high-power arcs
if they are short circuited. Always disconnect the battery when working on other
parts of the motor control circuit.
Vehicle Run-Away – Under certain conditions an electric vehicle may run out of
control. Before work begins on the vehicle, disconnect the motor (if not needed)
and/or using a properly rated jack, raise the drive wheels off the ground to
prevent vehicle run-away.
Fire/Explosion – Lead acid batteries emit hydrogen gas during charging and
discharging and can build-up around the batteries. Please refer to the battery
manufacturers safety guidelines.
Revision History
Issue Date
Revision
Author
Changes
First Revision
Table of Contents
OVERVIEW ....................................................................................................................... 1
CONTROLLER WIRING AND CONNECTIONS ........................................................... 2
Mounting the Controller ................................................................................................. 2
Low Current Connections ............................................................................................... 6
Wiring Various Throttle Types ....................................................................................... 8
0-5k Resistive Throttle................................................................................................ 8
0-5v Hall Effect Throttle............................................................................................. 8
Choosing and Using Contactors.................................................................................... 10
High Current Connections ............................................................................................ 11
INTRODUCTION TO THE PC-PROBIT II SOFTWARE.............................................. 13
Installing Navitas PC Probit II Software and Drivers................................................... 13
Connecting the Computer to the TSX 500.................................................................... 14
Configuring Controller Parameters........................................................................... 16
File Handling ............................................................................................................ 36
The Advanced Tab .................................................................................................... 38
Data Logging and Graphing...................................................................................... 40
Drive Status............................................................................................................... 44
Fine Tuning the Throttle Response............................................................................... 45
Optimizing Motor Performance.................................................................................... 46
A couple of basic guidelines:.................................................................................... 46
Setting the Field Max parameter:.............................................................................. 46
Setting the Field Min parameter: .............................................................................. 47
Setting the Field Mid parameter: .............................................................................. 47
Setting the Armature Max parameter:....................................................................... 47
Setting the Armature Min parameter: ....................................................................... 47
Setting the Armature Mid parameter: ....................................................................... 47
Using the Datalogger to help tune the motor:........................................................... 48
INSTALLATION NOTES............................................................................................ 49
TSX – Separately Excited Motor Controllers
OVERVIEW
Thank you for purchasing a Navitas Technologies TSX motor controller. This
document is intended quick reference refresher for electric vehicle technicians already
experienced in installing and programming Navitas TSX controllers. If you have never
installed a Navitas Technologies TSX motor controller before or require additional
information, please refer to the full user manual available from your Navitas distributor
or at www.navitastechnologies.com.
Navitas Technologies Ltd.
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TSX – Separately Excited Motor Controllers
CONTROLLER WIRING AND CONNECTIONS
Mounting the Controller
Position and align the controller in such a way as to allow sufficient access to battery
and motor cables as well as low current control wiring. The controller can be mounted
horizontally, vertically, or at any angle necessary. If possible, keep the 2 diagnostic
LEDs on the top of the cover visible. While the controller is designed to meet IP 66
ingress standards, it is always preferential to mount it in a position which prevents it from
direct exposure to moisture or direct water spray. DO NOT MOUNT THE
CONTROLLER IN ANY POSITION WHERE IT MAY BECOME SUBMERGED IN
WATER.
The mounting surface should be smooth, flat, and have any paint or other debris
removed. Using the supplied cut out, drill and tap 4 holes (1/4 – 20 recommended) into a
suitable area on the vehicle. Preferably, the controller will be mounted on minimum 1/4”
thick aluminum or steel. It is advisable to apply a very thin coating of silicone heat sink
compound to the surface before mounting the controller.
When attaching the controller, use either hex head bolts or bolts no larger than 1/4”
(7/16” head size) to ensure tools can access the head of the bolts for tightening. Tighten
the mounting bolts to a minimum of 72 inch pounds of torque. Check to make sure the
controller is flat to the mounting surface once tightened down.
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142 mm
128.5 mm
TSX 500-48 CUTOUT
TEMPLATE
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Low Current Connections
The TSX 500-48 comes supplied with a low current control wire harness. The
drawing below shows the pin configuration for the Ampseal 23 pin I/O connector:
The pin functions are as shown in the chart below:
Pin Number
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
Input/Output
input
input
input
input
input
input
input
input
input
***
***
***
input
input
input
input
output
output
output
output
output
output
input
Function
key
forward enable
reverse enable
brake
SRO
speed limit 3
battery negative
battery positive (pre charge)
primary throttle
***
***
***
speed sensor
speed limit 2/foot switch
auxiliary throttle
battery negative (poly fused)
+12 VDC
line contactor driver
lift contactor driver
steer contactor driver
backup alarm driver
BDI light driver
battery positive
Wire Color
red
white/yellow
white/grey
white/black
white/red
white/purple
black
orange
white
***
***
***
white/brown
white/orange
white/green
white/blue
yellow
grey
brown
blue
green
purple
orange
Note: The TSX 500-48 is available in both positive logic and negative logic. For
positive logic controllers, forward enable, reverse enable, brake, SRO, and speed limits 13 are activated by connecting them to battery +. For negative logic controllers, these are
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activated by connecting them to battery -. Confirm whether your controller is positive or
negative logic before completing low current control wiring connections.
The TSX 500-48 is also capable of operating on a CAN based network either alone or
in a master/slave configuration (multiple controllers). For information regarding CAN
network connections, refer to the full TSX 500-48 manual.
Programming of the TSX 500-48 controller is accomplished with the Navitas PC
Probit II programming package via the 8 pin Ampseal connector and a Windows based
computer. The PC Probit II programming package contains a software CD, serial cable,
and CAN to serial dongle which allows a computer to connect to the controller. If
programming is required, please contact your local Navitas distributor to purchase a PC
Probit II programming package.
The following drawings illustrate commonly used control wiring. Specific wiring
may vary depending on which TSX 500-48 features and throttle types are used.
Basic I/O Wiring (throttle not shown)
Navitas Technologies Ltd.
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Wiring Various Throttle Types
The TSX 500-48 is designed to be able to utilize a number of different types of
throttles. Once the throttle type is determined for the vehicle, chose the correct wiring
configuration from the diagrams below.
0-5k Resistive Throttle
5K OHM
POTENTIOMETER
TSX I/O CONNECTOR
PIN 15
USE CENTER
TERMINAL AND EITHER
OUTSIDE TERMINAL
TSX I/O CONNECTOR
PIN 16
0-5v Hall Effect Throttle
HALL EFFECT
POTENTIOMETER
TSX I/O CONNECTOR
PIN 15
TSX I/O CONNECTOR
PIN 16
SIGNAL
COMMON
VOLTAGE
SUPPLY
TO APPROPRIATE
VOLTAGE SOURCE
(REFER TO THROTTLE
MANUFACTURER)
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ITS (Inductive) Style Throttle
INDUCTIVE
THROTTLE
SENSOR
NORMALLY
CLOSED
TERMINAL
LIMIT SWITCH
COMMON
TERMINAL
TSX I/O CONNECTOR
PIN 9
TSX I/O CONNECTOR
PIN 16
TSX I/O CONNECTOR
PIN 14
B+ FROM SWITCHED
SIDE OF KEY SWITCH
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Choosing and Using Contactors
While the TSX 500-48 is capable of using contactor coils ranging anywhere from 12V
to battery voltage. For example, a vehicle may have a 48V battery and the coils could be
rated for 48V, 36V, 24V, or 12V. The TSX 500-48 has built in “snubber” diodes for all
contactor and brake coil driver circuits, therefore diodes are generally not required on the
contactor coil. The only time an external diode may be required across a coil is if a
switch is connected in series with the coil and the battery + connection.
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High Current Connections
NOTE: Before making any high current connections, make sure the battery is
disconnected from battery +, battery -, or both. Only reconnect the battery after all
connections are complete and double checked.
NAVITAS
DATA
I/O
TSX-500-48
F1
B-
M
B+
F2
MOTOR FIELD
WINDING
F1
MOTOR
ARMATURE
WINDING
A1
F2
A2
LINE
CONTACTOR
TIPS
BATTERY PACK
(24-48VDC)
MAIN B+
FUSE
Navitas Technologies Ltd.
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With the controller mounted to the vehicle, connect the motor’s field and armature
connections as shown in the drawing above. Be sure to use adequate sized cabling for the
expected motor and battery current. Make sure all lugs are attached solidly to the cables
and inspect all existing wiring for damage to the insulation such as cuts, nicks or burns.
Replace any questionable cabling. When connecting the battery cables, it is extremely
important to ensure proper polarity. IF THE BATTERY + AND BATTERY – CABLES
ARE CONNECTED IMPROPERLY, THE CONTROLLER WILL BE SEVERLY
DAMAGED. THIS TYPE OF DAMAGE IS NOT COVERED BY NAVITAS
WARRANTY.
Tighten F1 and F2 cables to 72 inch lbs and B+, M, and B- to 180 inch lbs of torque.
The controller is shipped with 2 spare cable fasteners, one 1/4 - 20 x ¾” long for the F1
or F2 connection and one 5/16 – 18 x ¾” long for the B+, M, or B- connection. Ensure
that cable lugs bolted to the controller are separated by a minimum of 1/8” to prevent
electrical short circuits.
Once the controller wiring is completed and double checked, test the vehicle operation
with a fully charged battery and the drive wheels off the ground. If the rotation of the
wheels is opposite to what is require and the direction switch is in the correct position, it
may be necessary to reverse the connections for F1 and F2 at either the motor or the
controller.
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INTRODUCTION TO THE PC-PROBIT II SOFTWARE
In order to complete the installation of the TSX 500-48, the controller must be
programmed to suit the vehicle and tuned to the motor characteristics. The user must be
aware of the motor’s peak and continuous current ratings for both the armature and the
field, as well as the motor’s voltage rating. Information regarding the speed sensor (if
equipped) is necessary should the user intend to implement speed limiting with the
controller.
OPERATING THE MOTOR OUTSIDE OF THE MOTOR MANUFACTURER’S
SPECIFICATIONS MAY CAUSE PERMANENT DAMAGE TO THE MOTOR
AND/OR CONTROLLER. NAVITAS TECHNOLOGIES IS NOT RESPONSIBLE
FOR DAMAGE CAUSED TO A MOTOR DUE TO INCORRECT
PROGRAMMING OF THE CONTROLLER BY THE USER.
Programming the controller requires the use of Navitas’ PC-Probit II user interface
software and dongle package and a Windows based computer running Windows XP or
new operating system and at least one available com port.
Installing Navitas PC Probit II Software and Drivers
***********software information – CD and internet ***************
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Connecting the Computer to the TSX 500
Connect the 8 pin Ampseal connector with programming harness to the 8 pin data port
on the TSX 500-48. The other end of the programming harness (with DB-9 connector)
connects to the PC-Probit II dongle. The supplied USB cable will connect the dongle to
the computer being used for programming. With battery + voltage applied to pin 8 and
battery – connected to pin 7 of the 23 pin I/O connector, open the PC-Probit II software.
The software opens on the “CONNECT” tab.
PC Probit II – “CONNECT” tab
Click on the “SELECT” button to choose the appropriate com port.
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Next, click on the “CONNECT” button to allow the software to begin communicating
with the controller.
Finally, click on “LOAD ALL” to upload the current parameters from the controller to
the computer.
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Configuring Controller Parameters
Once the controller is connected to the computer and the parameters have been
uploaded, select the “CONFIGURATION” tab and move to the “SYSTEM” sub-tab.
In the “SYSTEM VOLTAGE” box, enter the correct values and settings for the vehicle:
Nominal Battery V
Battery Full V
Pre-Charge Voltage
Battery Empty V
Over-Voltage Protection
Over-Voltage Protection
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typical operating voltage of battery
battery voltage with full charge (lead acid batteries
typically measure 2.14 volts per cell.)
voltage level that must be present inside the controller
before line contactor is allowed to pull in
battery voltage when discharged. (lead acid batteries
typically measure 1.75 volts per cell)
Enabled – controller disabled/will not start up if battery
voltage rises above “Trip Point” value
Disabled – controller ignores “Trip Point” value
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In the “BDI SETUP” box, enter the values and settings you wish to use:
BDI Enable State
Trip Voltage
Reset Voltage
Forward Cutback
Reverse Cutback
Lift Disable Timer
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defaults to disabled, select enable to activate BDI features
voltage level at which the controller will go into BDI
cutback mode
voltage level at which the controller will automatically exit
BDI cutback mode
percentage of full forward speed that vehicle will be limited
to during BDI cutback
percentage of full reverse speed that vehicle will be limited
to during BDI cutback
the amount of time (seconds) until the lift contactor (if
used) no longer functions after BDI is tripped
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Settings for “MISC” box:
+12V Output
when enabled, +12VDC is available on pin 17 of the 23 pin
I/O connector
Throt. Decel. Fld
when enabled (recommended) the controller will set field
current to the ‘Field Brake Regen’ level during deceleration
Neutral Field
when enabled the controller will maintain the field current
at the level specified by ‘Fwd Field Min’ value
SRO Forgive Time
specifies in mS amount of time SRO can be open without
forcing controller to go to neutral
Neutral to Stop Time
specifies in mS amount of time controller direction switch
can remain in neutral when changing directions before
throttle must be returned to neutral as well.
Dir. Change Forgive Time timer in mS will retard the controller from changing
directions
Outer Loop Time
system parameter, not recommended to be adjusted without
instruction from Navitas Technologies.
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Once all settings are confirmed in the “SYSTEM” sub-tab, move on to the “PRIMARY
THOTTLE” sub-tab and fill in parameters:
“THROTTLE” box settings:
Function Select
Type
Loss Detection
Mode
Error Offset
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not available on primary throttle
select 0-5K, 5K-0, or bi directional throttle
enabling causes controller to shut down if no throttle is
detected or throttle level is too high on the primary input
select between passive (resistive) or active (voltage)
tolerance voltage for throttle loss detection
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Settings for “THROTTLE RATE LIMITS” box:
FWD Accel
FWD Decel
REV Accel
REV Decel
adjusts maximum rate of throttle change in mV/mS during
forward acceleration
adjusts maximum rate of throttle change in mV/mS during
forward deceleration
adjusts maximum rate of throttle change in mV/mS during
reverse acceleration
adjusts maximum rate of throttle change in mV/mS during
reverse deceleration
“REVERSE VOLTS” settings:
Note: these settings are only accessible if the throttle type is set to BI DIRECTIONAL.
Otherwise, this box will be grayed out and only the forward settings can be changed.
Throt Max
Accel. X
Accel. Y%
Dead Band
Throt Min
Throt Mid
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throttle voltage at full speed reverse (100% system throttle)
throttle voltage “knee” (Accel Y% system throttle)
percentage of system throttle at Accel X voltage
throttle voltage at which controller will start driving motor
%age is the minimum output voltage of the controller at
start. This parameter is usually set to the same voltage as
Throt Min and the %age is set to 0%
throttle voltage where controller will start to drive in the
reverse direction
center point of throttle when Bi-directional throttle is used
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“FORWARD VOLTS” settings:
Throt Min
Dead Band
Accel. X
Accel. Y%
Throt Max
throttle voltage at which controller will begin to operate
throttle voltage at which controller will start driving motor
%age is the minimum output voltage of the controller at
start. This parameter is usually set to the same voltage as
Throt Min and the %age is set to 0%
throttle voltage “knee” (Accel Y% system throttle)
percentage of system throttle at Accel X voltage
throttle voltage at full speed (or full speed forward if in Bidirectional mode)
“PRIMARY THROTTLE PROFILE” box:
The curve plotted in this graph represents the way the controller will respond to the
parameters that have been programmed into the software. As changes are made to the
throttle parameters, the shape of the curve will change. For a larger view of the graph,
click “Zoom” in the PC Probit II software.
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Once all settings are confirmed in the “PRIMARY THROTTLE” sub-tab, move on to the
“AUXILIARY THOTTLE” sub-tab and fill in parameters:
Note: the type of throttle or throttle signal that can be used on both the Primary and
Auxiliary throttle inputs will vary with the specific version of controller being used.
Please contact the local Navitas distributor to determine what types of throttles can be
used on a specific controller. In many cases, only the Primary throttle needs to be set up
and the Auxiliary throttle can be left in the “DISABLED” state. Otherwise, follow the
same format for configuring the Auxiliary throttle as the steps shown previously for the
Primary throttle.
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With all throttle settings configured, continue to the “DIGITAL INPUTS” sub-tab:
“AUXILIARY SWITCH 1” settings:
AUX1 Disabled
Speed Limit 1 Input
Belly Switch
Foot Switch
% Cutback
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when disabled, controller ignores this switch input
forces controller into reduced speed mode 1 when active
temporarily forces controller into reverse direction for a
brief period when activated
when enabled, the line contactor/battery solenoid is
activated by closing the foot switch
% of full speed utilized when Speed Limit 1 Input is
activated
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“AUXILIARY SWITCH 2” settings:
AUX2 Disabled
Speed Limit 2 Input
% Cutback
when disabled, controller ignores this switch input
forces controller into reduced speed mode 2 when active
percentage of full speed utilized when Speed Limit 2 Input
is activated
“AUXILIARY SWITCH 3” settings:
AUX3 Disabled
Speed Limit 3 Input
% Cutback
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when disabled, controller ignores this switch input
forces controller into reduced speed mode 3 when active
percentage of full speed utilized when Speed Limit 2 Input
is activated
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“MOTOR SPEED SETUP” parameters:
Speed Encoder
Sensor Poles
Motor Speed Limiting
Max Rev RPM
Max Fwd RPM
Anti Roll Away
Speed Limit
Max Rev RPM
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when enabled, controller will report current motor speed on
Drive Status screen and also allows motor speed limiting
and anti roll away
number of pulses per revolution of motor
when enabled, will limit the top speed of motor to preset
value
when Motor Speed Limiting enabled, the maximum RPM
of motor in reverse
when Motor Speed Limiting enabled, the maximum RPM
of motor in forward
when enabled, controller will prevent vehicle from rolling
away if left on a slope.
when enabled, limits the maximum speed that vehicle is
allowed to roll when left on a slope
maximum RPM when in Anti Roll Away
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With “DIGITAL INPUTS” configured, move to the “CONTACTOR” sub-tab:
All contactor outputs utilize PWM driver logic. These outputs, when activated, provide a
voltage between B+ and the drive circuit that briefly starts out at “Pull In Voltage” and
transitions to “Hold Voltage” until the corresponding activating signal is removed.
“CONTACTOR SETUP” can be broken down into the following parameters:
“STEERING CONTACTOR”:
Disabled
Enabled
Trigger on:
- Direction Input Selected
- SRO Input Active
Pull-In Voltage
Hold Voltage
Run On Time
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when disabled, steer contactor drive is not used
activates steer contactor drive
energizes steer contactor when direction is selected
energizes steer contactor when SRO input is activated
initial voltage applied when steer contactor is energized
continuous voltage applied to steer contactor
amount of time contactor will be held in after trigger signal
is removed
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TSX – Separately Excited Motor Controllers
“LINE CONTACTOR”:
Disabled
Enabled
Pull-In Voltage
Hold Voltage
when disabled, line contactor drive is not used
activates line contactor drive
initial voltage applied when line contactor is energized
continuous voltage applied to line contactor
“LIFT CONTACTOR”:
Disabled
Enabled
Pull-In Voltage
Hold Voltage
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when disabled, lift contactor drive is not used
activates lift contactor drive
initial voltage applied when lift contactor is energized
continuous voltage applied to line contactor
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“AUXILIARY CONTACTOR”:
Aux 1:
Disabled
Enabled
Status Indicator
- Active Low
- Active High
BDI Indicator
- Active Low
- Active High
Brake Release
Trip On:
- Neutral to Stop Time
when disabled, aux 1 contactor drive is not used
activates aux 1 contactor drive
displays presence of controller fault via aux 1 drive circuit
aux 1 drive circuit drops to “hold voltage” to indicate
presence of fault
aux 1 drive circuit changes from “hold voltage” to open
circuit to indicate presence of fault
indicates controller is in battery discharge state
aux 1 drive circuit drops to “hold voltage” to indicate
BDI state
aux 1 drive circuit changes from “hold voltage” to open
circuit to indicate BDI state
energizes coil to release electric brakes
de-energizes brake coil after “Neutral to Stop Time”
elapses
- SRO Open for Set Time de-energizes brake coil after “SRO Forgive Time”
elapses
Error Code Flasher
displays error codes via aux 1 drive circuit by pulsing to
“Hold” voltage level
Back Up Alarm
activates aux 1 drive circuit when reverse is selected
Hour Meter Enable
activates aux 1 drive circuit when controller is driving
motor
Pull-In Voltage
voltage level applied to aux 1 output when initially
activated (approx 500ms)
Hold Voltage
continuous voltage level applied to aux 1 output until
deactivated
For Aux 2, all settings are the same except for the omission of Brake Release
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Now select “MOTOR CONTROL” sub-tab:
“MOTOR TUNING” is broken down into the following parameters:
“WINDING RESISTANCE (mOMS)”:
Field
Armature
resistance of field winding
resistance of armature winding
“MAXIMUM SPEED %”:
Forward
Reverse
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% of full speed forward
% of full speed reverse
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“RATE LIMITS”:
Fld. (Step)
Arm. (Step)
limits how fast field voltage can decay based on
armature/field map - recommended to have this parameter
set to 1
recommended that this parameter remains at its default
value - do not change without instruction from Navitas
Technologies
“PEAK ARMATURE CURRENT (AMPS)”:
Motor
Regen
Peak Dir. Change
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maximum motor current allowed in armature
maximum current to be pulled from armature during regen
regen current must be less than this value for controller to
switch from forward to reverse or vice versa
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“REVERSE CURRENT (AMPS)”:
Arm. Min
Field Min
Arm. Mid
Field Mid
Arm. Max
Field Max
Field Brake Regen
Field Coast Regen
currents through armature of less than Arm. Min will result
in field currents of Field Min
minimum field current applied to motor
currents through armature of less than Arm. Mid but greater
than Arm. Min will result in field current being interpolated
between Field Min and Field Mid
allows shape of armature/field map to be adjusted for best
performance with motor
currents through armature of less than Arm. Max and
greater than Arm. Mid will result in field current being
interpolated between Field Mid and Field Max - armature
currents greater than Arm. Max will result in Field Max
maximum field current applied to motor
when braking, field is set to this current to provide regen
braking
not currently implemented
“FORWARD CURRENT (AMPS)”:
All settings for “FORWARD CURRENT (AMPS)” are based on the same principals as
“REVERSE CURRENT (AMPS)” except they apply to the forward direction of the
vehicle instead of the reverse direction.
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“FIELD TO ARMATURE CURRENT MAPPING”:
This chart graphically represents the armature and field current settings entered into the
“FORWARD CURRENT (AMPS)” and “REVERSE CURRENT (AMPS)” areas.
Clicking on “ZOOM” enlarges the graph and provides more detail. Labeled points on the
graph correspond to specific values for “FORWARD CURRENT (AMPS)” and
“REVERSE CURRENT (AMPS)” shown below each independent value window.
For most single motor applications, no further parameters will need to be added under the
“CONFIGURATION” tab. If multiple controllers are connected via the CAN network,
continue on with the section on the “CAN” sub-tab. Otherwise, skip ahead to the
“APPLYING CHANGES” section.
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Parameters in the “CAN” sub-tab:
“CAN” in “STAND ALONE” mode:
Node ID
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set to Node 1 by default - address used for communicating
with the controller - in Stand Alone mode, it is
recommended to leave as Node 1.
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“CAN” in “MASTER” mode:
Node ID
Dual/Differential Mode
Dual
Differential
Num. of Slaves
Slave IDs (1 through 6)
the address of controller currently being programmed must be different than address of slave controller(s)
mode where speed of Slave is controlled via Master
controller
master and slave controllers react as an electronic
differential with inputs from a single throttle and steer
position sensor
indicates number of Slave controllers connected to network
each Slave controller must be assigned its own unique
Node ID - allows Master to know which Slave to talk to.
“CAN” in “SLAVE” mode:
Slave Node ID
Master ID
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address of Slave controller on network - must be different
than address of Master
address of the Master on network
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“APPLYING CHANGES”
Once all desired parameters have been set into the PC Probit II software the user must
“APPLY CHANGES” or load the parameters or parameter changes into the controller.
Clicking on the “APPLY” button on the bottom right of any tab window starts this
process:
Click “APPLY CHANGED”, and the following prompt will appear:
Click “OK” and then cycle the key switch on and off to ensure the changes are correctly
loaded into the controller’s memory. If any changes have been made to the CAN
parameters of the controller, the main power must be cycled to the controller, not just a
key on/off
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File Handling
“FILE HANDLING” tab, “STANDARD” sub-tab:
“FILE MANAGEMENT FOR ALL PARAMETERS”:
Load Parameter Set From File
Save Full Parameter Set to File
“FILE HANDLING” tab, “CUSTOM” sub-tab:
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“SAVE PARAMETER SUBSET TO FILE” sub-tab:
Auxiliary Throttle Params loads and saves only Auxiliary Throttle parameters
Primary Throttle Params loads and saves only Primary Throttle parameters
Motor Tuning Params
loads and saves only Motor Tuning parameters
A detailed description of parameter subsets is provided on this screen of the PC Probit II
software. Once a parameter sub-set has been chosen, click “SAVE”.
Parameter in the “ADVANCED” tab:
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The Advanced Tab
The “ADVANCED” tab opens a page in the PC Probit II software that will allow the user
access to all available parameters. The top portion of the page is a continuous list of
parameters that may be sorted by any column heading. The columns are as follows:
Use?
Param No.
Controller Value
Parameter Description
Changed Value?
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indicates whether or not specific parameter is active in
software
numeric ID of registry parameter
internal digital value of registry parameter
function of controller affected by parameter value
indicates value of parameter has changed
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The bottom portion of the page contains detailed information regarding a specific
parameter. The parameter detailed is indicated in the top section by the blue arrow in the
leftmost side of the page. This information is broken down into the following headings:
User Lim Lo
User Lim Hi
User Value
lowest available limit of “user value”
highest available limit of “user value”
user specified value for selected parameter
From the “CONFIGURATION” tab and “MOTOR CONTROL” sub-tab, the advanced
screen can be accessed simply by right-clicking on a specific parameter’s value and
selecting “JUMP TO ADVANCED”. This will redirect the user to the “ADVANCED”
page with the chosen “MOTOR CONTROL” parameter selected and detailed view of that
parameter’s values shown on the bottom half of the page.
The buttons on the bottom left of the “ADVANCED” page are:
Load Current Param
Write Current Param
Poll Current Param
Poll All Status Params
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reads selected parameter value from controller
writes selected parameter value into controller
constantly refreshes selected parameter value from
controller
constantly refreshes all parameter values from controller
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Data Logging and Graphing
The buttons on the bottom right of the “ADVANCED” page are:
Data Logging
Create New Log
View Saved Log
Print Parameter ‘Map’
Listing
initiates logging software that tracks parameter values over
time (see details)
displays previous log files
creates printable ‘map’ of all parameters
“DATA LOGGING”, “CREATE NEW LOG” details:
“SELECT STATUS ‘REGS’ TO LOG” window:
To create a new data log, review the list of available parameters. Select those parameters
which will be logged from the “Not Logging” list and add them to the “Logging” list by
clicking the parameter and then clicking the single right arrow. To add multiple
consecutive parameters, click on the top parameter of the required set, hold the shift key
down, and use the down arrow key to highlight the remaining parameters. If all
parameters are to be logged, simply click the double right arrow. To remove parameters,
select the parameter(s) on the “Logging” list and click the single or double left arrow as
required. Click “OK” when the “Logging” list is complete. This will open the
“STATUS LOGGING” window.
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“STATUS LOGGING” window:
When the “STATUS LOGGING” window opens, it will show all parameters selected in
the “SELECT STATUS ‘REGS’ TO LOG” window.
Loop Count
Time Stamp
Faster Logging
Start
Cancel
indicates number of parameters that have been logged
system clock value at time parameter was logged
disables visual output of log results
initiates logging
halts logging
When the “START” button is clicked, an additional timer appears:
To stop the data logging, click the “STOP” button. The logging will stop and the “VIEW
LOGGED DATA” window will open.
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“VIEW LOGGED DATA” window:
The “VIEW LOGGED DATA” window shows the logged data in a numerical format.
Any row can be selected to plot into a graph or the data can be saved. Previously saved
data can be loaded into this screen as well.
Filter
Export
Save Raw
Load Raw
Plot Selected
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allows advanced filtering of logged results
sends logged data to a variety of different file formats
saves logged data
loads previously saved logged data
graphs current parameter
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Sample of Logged Data Graph
The above sample graph illustrates the results of plotting logged data relating to the
controller’s armature current during operation. The X axis represents elapsed time and
the Y axis represents the armature current. This graph can be saved or printed from the
menu at the bottom right of the window. Graphs such as this can be produced from data
logged from any of the parameters available in the “SELECT STATUS ‘REGS’ TO
LOG” window.
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Drive Status
The “Drive Status” tab displays ‘live’ parameters from the controller. On this screen, you
can view sensor readings, switch state information and error status from the controller.
The information shown on this tab is ‘live’ whenever the controller is connected to the
software.
The sensors show both a numeric reading of the current sensor value and also a bar-graph
display of the measurement.
Above the bar-graphs, there are a pair of pointers. These pointers indicate the minimum
and maximum value that the sensor has read. When the mouse cursor is placed on top of
the bar-graph, it will show a numeric display of current sensor value along with the
minimum and maximum values that the sensor has read. To reset these pointers, press
the Reset Min/Max Values button under the sensor information.
Motor speed will only be displayed if the input has been enabled.
See: #Motor_Speed_Setup
The indicator next to the switch inputs will light up when the switch has been enabled.
Note: When a bi-directional throttle is used, the indicator will light up when the
controller has determined that a direction has been selected.
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ENHANCING VEHICLE PERFORMANCE
Fine Tuning the Throttle Response
When setting up the throttle, you will want to use as much of the range of the throttle as
possible.
Start by looking at the ‘Drive Status’ tab.
With the throttle at rest, make note of the voltage for the throttle input you are using.
Apply full throttle. Make note of the voltage at full throttle.
Now that you know the sweep of the throttle, we will set the Throttle Min and Throttle
Max parameters.
Switch to the Configuration Tab of the PCProbit and select the tab for the throttle you are
using (Primary/Auxiliary).
We need to create a small window for both the Throttle Min and Throttle Max positions
to ensure that the controller will read the throttle at rest and full throttle properly. To do
this we will use 5% of the throttle sweep as a window for Throttle Min and Throttle Max.
Calculate this by taking the value read at full throttle and subtract the value read at rest.
Multiply this by 0.05.
Take the value read when the throttle was at rest and add the number that was just
calculated to it. Enter this value into the Throttle Min setting on the PCProbit.
Take the value read at full throttle and subtract the calculated number from it. Enter this
value into the Throttle Max setting on the PCProbit.
Note: Apply the opposite for throttles that read from 5V at rest to 0V at full throttle.
If a foot switch is used on the throttle, make Throttle Min measurements from after the
switch closes.
Next we will set the Deadband parameter for the controller.
For most throttles, the Deadband voltage will be equal to Throttle Min. The Deadband
percentage should be set to 0.
To create a ‘Creep’ zone in the throttle, adjust the Accel X and Accel Y% values.
To provide the smoothest possible throttle, set the Accel X and Accel Y% values to
provide a linear throttle response. This will be seen on the Throttle Profile display as a
straight line from Throttle Min to Throttle Max.
For Bi-directional throttles, there are some differences. In this throttle mode, the Throttle
Min is used to determine the direction command to the controller. It then uses the
Deadband parameter for the start point of the throttle. Leave the Deadband set to 0.
For this type of throttle, it is recommended that the Accel X and Accel Y% values be set
to provide a linear throttle from Deadband to Throttle Max.
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Optimizing Motor Performance
Tuning the controller for the motor will make a large difference in the performance of the
motor. Improperly set, the motor may lack torque, speed or may have drivability issues.
Parameters to control motor performance are found on the ‘Motor Control’ tab of the
PCProbit.
A couple of basic guidelines:
Torque is produced by a combination of Armature current and Field current.
Maximum torque will be produced when the field is at its highest level.
Speed is produced by maximum armature voltage and minimum field current.
There are numerous ways to configure the controller to work with the motor to achieve
the same performance. The goal is to achieve the performance with the best efficiency.
Setting the Field Max parameter:
If the maximum field strength of the motor is known, set the Field Max (both Forward
and Reverse) to this value.
If you know the resistance of the field winding, divide the nominal battery voltage by the
known resistance and enter the result into the Field Max settings.
If the maximum field strength is not known, it can be determined with some testing.
The characteristics of the motor will change with the motor temperature. When the
motor is cold, it is possible to have higher field strength than when the motor is hot.
To set for the maximum torque possible, set the field max when the motor is cold.
To set for the maximum constant torque, set the field max when the motor is hot.
Caution: Do not do the following procedure if the nominal battery voltage is higher than
the rated motor voltage. Damage to the motor could occur.
To determine the maximum field current by measurement, set Field Min, Field Mid and
Field Max to 50A. On the PCProbit, select the ‘Drive Status’ tab. You will be
monitoring the Field current sensor data. Activate the field by selecting a direction and if
necessary, activating the foot switch, it is not necessary to actually apply throttle. The
field current on the ‘Drive Status’ tab should increment. For peak torque, make note of
the current after 20 seconds. For continuous torque, make note of the current after 1
minute. Turn off the key on the controller after making this measurement. Enter the
measured current into the Field Max (both Forward and Reverse) parameters.
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Setting the Field Min parameter:
This parameter will determine the maximum speed of the motor. This parameter also
affects the partial throttle drivability.
If you know the minimum field strength as specified by the motor manufacturer, enter
that into the Field Min parameter.
If you do not have this information, set the Field Min to 5A. Set the Field Mid value to
provide a linear slope between the Field Min and Field Max parameters. With the vehicle
on the ground apply partial throttle and drive slowly. You should not feel any
‘shuddering' or hear any abnormal noises from the motor. If low speed/torque
performance is ok at this level then it is possible to lower the field further to increase
maximum speed. If there are any issues with partial throttle driving, it may be necessary
to increase the Field Min values.
If desired, you can set the Field Min to different values in Forward and Reverse. This
will change the driving characteristics for each direction.
Setting the Field Mid parameter:
In most cases, setting the Field Mid parameter to provide a linear slope from Field Min to
Field Max will provide acceptable performance and drivability. Make adjustments from
here as necessary.
Setting the Armature Max parameter:
This parameter determines when the maximum field strength will be applied to the motor.
Setting this parameter too low will cause drivability issues. Setting this parameter too
high will lower the efficiency of the system.
Setting the Armature Min parameter:
This parameter determines when the minimum field strength will be applied to the motor.
It should be set high enough that when driving on level ground with full weight on the
vehicle the field current can drop to the minimum level.
Setting the Armature Mid parameter:
In most cases, setting the Armature Mid value to the midpoint between Armature Min
and Armature Max provides acceptable performance and drivability. Make adjustments
from here as necessary.
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Using the Datalogger to help tune the motor:
Caution: Make sure you can perform the following tasks safely and that you have room to
do so.
Setup the Datalogger as explained previously.
For the parameter selection, select Armature Current and Field Current.
Start the Datalog, then accelerate at full throttle. When it feels that the vehicle is no
longer accelerating, release the throttle and come to a stop. Stop the datalogger and
select a variable to view. The variables in the datalog are described by their registry
number. For a listing of registry variables in the controller, look at the Print Parameter
Map function on the Advanced screen of the PCProbit.
For our use here, Registry number 208 is Armature Current and Registry number 206 is
Field Current.
On the output of the Datalogger, select one row of the table that has Registry number 208
in it and select ‘Plot Selected’
The object is to get a smooth acceleration curve with the armature current. It should look
similar to the following.
If there are any spikes in the graph, that indicates an area where the armature or field map
variables will need to be adjusted.
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INSTALLATION NOTES
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