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Remote Motor Control

Introduction

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

Warning

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

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.

Configuration

Danger

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 or BACDoor®. Setting these values requires you to send the commanded values on a heartbeat within the absolute and average command timeout thresholds, accordingly.

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

For Speed regulator mode set to 0 / Speed.

  1. 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.
  2. Set Remote Maximum Motoring Current to limit motoring phase current.
    • If the Remote speed command in RPM is non-zero, it has priority over the Remote speed command.

    Set your target speed using Remote speed command in % of rated motor speed, or Remote speed command in RPM

    Warning

    The Remote Speed command and Remote Speed Command in RPM values are signed. Setting this value negative will command the motor to spin in the opposite direction. Causing it to run in reverse for example.

  4. To enable the motor set the Remote state command to 2 / Run.

  5. To disable the motor, set the Remote state command to 0 / Off.

For Speed regulator mode set to 1 / Torque.

Danger

There is no speed control in this mode and the motor will spin as fast as it can, based on the applied current.

  1. 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.

  2. Set Remote Maximum Motoring Current to limit motoring phase current.

    Warning

    The Remote Torque Command value is signed, setting this value negative will command the motor to spin in the opposite direction. Causing it to run in reverse for example.

  3. Set the Remote torque command to the desired setpoint as a % of phase current.

  4. To enable the motor set the Remote state command to 2 / Run.
  5. To disable the motor, set the Remote state command to 0 / Off.

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

  1. 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.

  2. Set Remote Maximum Motoring Current to limit motoring phase current.

    Warning

    The Remote Torque Command value is signed, setting this value negative will command the motor to spin in the opposite direction. Causing it to run in reverse for example.

  3. 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.

    Warning

    The Remote Speed command and Remote Speed Command in RPM values are signed. Setting this value negative will imply a speed at which to limit torque output. If the speed command and the Remote torque command are opposite signs, the vehicle may not be speed limited. Ensure the signs are complimentary to limit speed. Positive is forward, negative is reverse.

  4. Set the Remote torque command to the desired setpoint as a % of Rated motor current.

  5. To enable the motor set the Remote state command to 2 / Run.
  6. To disable the motor, set the Remote state command to 0 / Off.

For more information on speed regulator modes please see the Speed Regulator Modes.