Introduction

The controller can be setup to be remotely controlled. In this mode, the controller is slave to network commands, as such you must manually set the target speed or current output, motor and braking current limits accordingly.

Note 1 – Positive and negative, motoring and braking, ramps are not applied and the requested values are applied instantly according to the current regulation and speed regulation control loops, as appropriate. The remote communication device must handle any required ramps for appropriate control of your application.

Note 2 – Remote state command 0/OFF and 1/IDLE have the same behaviour. Some users may use 1/IDLE to differentiate from 0/OFF to know that your control system set the status of the Remote state command. It is 0/OFF when you boot up.

Setup

WARNING – By not setting the Command timeout threshold and the Average Command timeout threshold, you may be unable to disable the motor should you lose communication with the controller. Setting these values requires you to send the commanded values on a heartbeat within the absolute and average command timeout thresholds, accordingly.

CAUTION – If using BACDoor™ to run the controller remotely, be cautious as it only sends messages once, not on a heartbeat. As a result, the controller will time out if the Command timeout threshold and the Average Command timeout threshold are not set to 0.

• Set Control command source to 0 Serial stream.
• Set Command timeout threshold to a non-zero value, for example, 1000ms.
• Set Average Command timeout threshold to a non-zero value, for example, 250ms.

Execution

0 – Speed mode

For Speed regulator mode set to 0, Speed.

• Set Remote Maximum Braking Current to limit motor braking and regen phase current.
  • Braking current is the regen current limit as well as the applied phase current limit when commanding power in the opposite direction to what the motor is currently turning.
• Set Remote Maximum Motoring Current to limit motoring phase current.
• Set your target speed using Remote speed command in % of rated motor speed, or Remote speed command in RPM
  • If the Remote speed command in RPM is non-zero, it has priority over the Remote speed command.
  • These values are signed, setting either negative will command them to run in reverse.
• To enable the motor set the Remote state command to 2, Run.
• To disable the motor, set the Remote state command to 0, Off.

1 – Torque mode

For Speed regulator mode set to 1, Torque. Note that there is no speed control in this mode and the motor will spin as fast as it can, based on the applied current.

• Set the Remote torque command to the desired phase current limit.
  • This value is signed, setting this value negative will command torque in the opposite direction. Causing it to run in reverse for example.
• To enable the motor set the Remote state command to 2, Run.
• To disable the motor, set the Remote state command to 0, Off.

2 – Torque mode with speed limiting

For Speed regulator mode set to 2, Torque mode with speed limiting.

• Set Remote Maximum Braking Current to limit motor braking and regen phase current.
  • Braking current is the regen current limit as well as the applied phase current limit when commanding power in the opposite direction to what the motor is currently turning.
• Set Remote Maximum Motoring Current to limit motoring phase current.
• Set your target speed using Remote speed command in % of rated motor speed, or Remote speed command in RPM
  • If the Remote speed command in RPM is non-zero, it has priority over the Remote speed command.
  • These values are signed, however, this mode ignores that fact. See below.
• Set the Remote torque command to the desired phase current limit.
  • This value is signed, setting this value negative will command torque in the opposite direction. Causing it to run in reverse for example.
• To enable the motor set the Remote state command to 2, Run.
• To disable the motor, set the Remote state command to 0, Off.

Configuration Parameters