ANTEK DC6AT User manual

Operating Manual
1Q-Drive regulator of the series
DC6AT

Operating Manual 1Q- drive regulator
DC6AT
Document R0073dGB.doc
Version 11/17

Operating manual DC6AT Page 3 of 28
Contents:
Page
1. PREFACE AND GENERAL 5
1.1 MANUFACTURER 5
1.2 DRIVE ENGINEERING 5
1.2.1 OVERVIEW 5
1.2.2 CONTROL OPERATION IN DRIVE CONTROLLERS FOR 3-PHASE MOTORS 6
1.2.3 IXR–COMPENSATION 6
1.3 EXTEND OF DELIVERY 8
1.3.1 BRIEF DESCRIPTION 8
1.3.2 PROPER USE 9
1.3.3 DISCLAIMER 9
1.3.4 DEFINITIONS 10
2. SAFETY 11
2.1 OPERATING MANUAL 11
2.2 SYMBOLS 11
2.3 GENERAL SAFETY INFORMATION 11
2.4 OPERATOR RESPONSIBILITIES 12
2.5 PERSONNEL 12
2.6 DRIVE REGULATOR 12
3. TECHNICAL DATA 13
3.1 REFERENCE DATA DC6AT 13
3.2 DIMENSIONS 13
3.3 KEY VALUES,CONTROL CIRCUITS 14
3.4 GENERAL DATA /OPERATING CONDITIONS 14
4. INSTALLATION 17
4.1 MECHANICAL INSTALLATION 17
4.2 ELECTRICAL INSTALLATION 17
4.3 INFORMATION ON EMC 18
4.4 CONNECTION 19
4.4.1 VOLTAGE SUPPLY 19
4.4.2 MOTOR CONNECTION 19
4.4.3 CONTROL CONNECTION 19
5. SERVICE – INFORMATION 21
5.1 PARAMETER OVERVIEW 21
5.2 CONFIGURATION AND USEFUL INFORMATION ON PARAMETERS 22
5.2.1 READ ONLY PARAMETERS 22
5.2.2 DEVICE TYPE 22
5.2.3 OPERATING HOURS COUNTER 22
5.2.4 STATUS 22
5.2.5 MEASUREMENTS 22
5.2.6 LOCKING TIME DURING CHANGE OF ROTATIONAL DIRECTION 22

Page 4 of 28 Operating manual DC6AT
5.2.7 CLAMPING 22
5.2.8 MOTOR CONSTANT 23
5.2.9 OHMIC RESISTANCE OF THE MOTOR 23
5.2.10 OFFSET SET SPEED /SET SPEED MULTIPLIER 23
5.2.11 THRESHOLD OVERTEMPERATURE /OVERVOLTAGE 23
5.2.12 ACCELERATION RAMP 23
5.2.13 RESPONSE AFTER FAULT 23
5.2.14 P/I BEHAVIOUR SPEED CONTROLLER/CURRENT CONTROLLER 24
5.2.15 FIXED SET VALUES N1…N3 24
5.2.16 FUNCTION IN CASE OF CONTROLLER BLOCK 24
5.2.17 RESET BEHAVIOUR 24
5.2.18 END STAGE,MOTOR OUTPUT IN CASE OF FAULT 24
6. FINDING AND ELIMINATING FAULTS 25
6.1 RESETTING FAULTS 25
6.2 POSSIBLE CAUSES OF FAULTS 25
7. MAINTENANCE 26
8. MANUFACTURER’S DECLARATION 26
9. OPERATING SOFTWARE 27
9.1 UNIDESK 27
9.2 SERIAL INTERFACE 27
10. INDEX 28
-Errors and omissions excepted, subject to alterations-

Chapter 1: PREFACE AND GENERAL
Operating manual DC6AT Page 5 of 28
1. Preface and general
1.1 Manufacturer
ANTEK GmbH
Im Köchersgrund 1
71717 Beilstein
[phone]
[phone]
[email protected]
www.antek-online.de
1.2 Drive engineering
1.2.1 Overview
Drive technology is differentiated basically in devices for different “quadrants”: these quad-
rants relate to the direction of speed and torque of the motor with respect to one another.
Speed
Torque
Quadrant 1
Quadrant 2Quadrant 3
Quadrant 4
The following can be derived from the diagram above:
Quadrant 1: Speed and torque positive, the motor operates in driving mode (outputs power
to the shaft –driving)
Quadrant 2: Speed positive, torque negative, the motor operates in generative mode (ab-
sorbs power from the shaft – braking).
The direction of rotation is the same as in Quadrant 1.
Quadrant 3: Speed and torque negative, the motor operates in driving mode, but in the
opposite direction as in Quadrant 1.
Quadrant 4: Speed negative, torque positive, the motor operates in regenerative mode.
This corresponds to the situation in Quadrant 2, but in the opposite direction of rotation.

Chapter 1: PREFACE AND GENERAL
Page 6 of 28 Operating manual DC6AT
Accordingly, one-quadrant (1Q) devices can operate a motor in one direction, whereby the
motor outputs power to its shaft; i.e., it drives the machine. 1Q devices can also be used for
a reversal of direction. In this case, the motor operates in Quadrant 3. The term 1Q device is
still used, to avoid confusion.
Two-quadrant (2Q) devices can drive a motor forward (Quadrant 1), and can perform con-
trolled braking of the motor in forward direction (Quadrant 2).
Four-quadrant (4Q) devices can drive a motor in both directions of rotation (Quadrants 1 and
3) and perform controlled braking in both directions (Quadrants 2 and 4).
1.2.2 Control operation in drive controllers for DC-motors
ANTEK DC6AT series drive controllers hold the torque constant within very close tolerances
without having to resort to a speed feed-back (tacho). The operating principle is based on a
speed controller with underlying current controller.
Speed
controller with
IxR-
compensation
Current controller
Motor current
=M
Set value
With the underlying current controller the motor is operated with continuous current, which
results in nearly constant torque. Load changes on the motor shaft are reflected therefore in
speed changes that are recognised by the speed controller as lower terminal voltage on the
motor and directly controlled. The advantage of this constellation is that the control variable
of the speed controller acts on the set value of the current controller and the motor is thus
returned with high torque from standard deviations to solid speed.
1.2.3 IxR – Compensation
With an ideal DC-motor without loss the motor voltage would be proportional to the speed.
The following equivalent circuit diagram shows that the terminal voltage is equal to the EMF1.
I
deal motor
=M
UklEMF
LMot

Chapter 1: PREFACE AND GENERAL
Operating manual DC6AT Page 7 of 28
EMF: electromotive force
LMot: inductance of the motor (not relevant for the current observation)
Ukj: terminal voltage of the motor
Real motor
=M
UklEMF
LMot IMot RV
EMF: electromotive force
LMot: inductance of the motor (not relevant for the current observation)
RV: loss resistance of the motor (all losses of the motor combined)
Ukj: Terminal voltage of the motor
IMot: motor current
Unfortunately, real motors have losses (ohmic losses, magnetic losses, commutator losses)
that make it complicated to determine over the terminal voltage. However, if the resistance
RVis known, the necessary terminal voltage can be calculated as follows:
Ukl = EMK +IMot * RV
Thus, the correction value IMot * RVis added to the actual set value for the speed.
For good controlling behaviour of the drive controller, therefore, the correct setting of the pa-
rameter RVis very important. It contains not only the pure ohmic loss of the motor winding,
but represents all losses that occur in the motor.

Chapter 1: PREFACE AND GENERAL
Page 8 of 28 Operating manual DC6AT
1.3 Extend of delivery
The following are shipped with the unit:
♦1 Drive Regulator DC6AT-xx-xx
♦1 Operating Manual
♦connector X1
Upon receipt, examine the contents for completeness. The manufacturer, ANTEK - GmbH,
assumes no liability for later shortage claims.
1.3.1 Brief description
♦Overload-proof end stage
♦1Q drive controller
♦Additional voltage range 18…42.4 VDC
♦Nominal output current 4 ADC
♦EMF feed-back system with IxR compensation
♦Optional: feed-back by means of incremental encoder
♦Temperature-dependent monitoring of the end stage
♦All internal auxiliary voltages are generated from the intermediate circuit
♦Programming and diagnosis with easy control software (RS232)
♦Intermediate circuit connection of multiple devices possible

Chapter 1: PREFACE AND GENERAL
Operating manual DC6AT Page 9 of 28
1.3.2 Proper use
♦The DC6AT series drive controllers are electronic controllers for control and adjustment of
variable speed permanently excited DC motors
♦The drive of the series DC6AT is intended for installation in switching cupboards or cabinets
for drive systems.
♦Drive systems incorporating the regulator DC6AT comply with EG-standards for EMI when
installed per the directives for CE-typical drive systems.
♦The CE-typical drive systems with these voltage changers are intended for
– operation on public and non-public networks.
– use in the industrial area as well as in residential and business areas.
♦The drive regulators are not household devices; they are intended for the construction of
drive systems for commercial use.
♦The drive regulators are not machines according to the EG-directives for machines.
The converter is only to be operated under the operating conditions stated in this operation
manual.
Before installing the device, read this manual from beginning to end and follow the directions
stated herein: Store this manual near the drive regulator for future reference.
1.3.3 Disclaimer
Liability
The information, data and instructions contained in this operating manual were up-to-date as
of the date of publication. No claims may be made in respect of inverters delivered previously
on the basis of statements, illustrations/photos or descriptions contained in this operating
manual.
The process-specific instructions and circuit extracts contained in this manual are recom-
mendations. Their applicability to the task in hand must first be verified.
The firm ANTEK –GmbH assumes no liability for the suitability of the processes described
and the suggested circuits contained herein.
No liability will be assumed for damages or malfunctions caused by:
♦disregarding this operating manual
♦unauthorized modifications made to the drive regulator
♦operator errors
♦improper working on and with the drive regulator

Chapter 1: PREFACE AND GENERAL
Page 10 of 28 Operating manual DC6AT
Warranty
Warranty claims are to be made to the manufacturer as soon as a fault / defect is discovered.
The warranty will be voided by:
♦improper use of the drive regulator
♦improper working on and with the drive regulator
1.3.4 Definitions
Qualified Personnel
Qualified personnel are persons who, due to their training, experience and instructions, as
well as their knowledge of relevant standards and directives, safety-regulations, company
policies, and entitled by those responsible for the safety of the system, are justified to carry
out necessary tasks and recognize and avoid possible dangers.
(Definition for qualified employees per IEC 364)
Operator
An operator is any natural person or legal entity who operates the inverter, or in whose name
the frequency inverter is operated.

Chapter 2: SAFETY
Operating manual DC6AT Page 11 of 28
2. Safety
2.1 Operating Manual
This operating manual contains safety instructions for correct operation on and of the drive-
regulator, they are to be followed.
In addition to the general safety instructions contained in this chapter, the instructions con-
tained in the manual text must also be followed.
No claim is made that the safety instructions are complete. Please contact the manufacturer
in the event of questions or problems.
This manual must be available to all persons who work on or with the drive-regulator and
must remain in good, readable condition.
2.2 Symbols
In these instructions important explanations are highlighted with the following symbols:
Caution: this explanation indicates hazards which, under certain circumstances, may lead to
personal injury or material damage.
Attention required / Check: please pay special attention to the points described.
Information: provides you with further information relating to the product.
2.3 General Safety Information
The drive-regulator was state-of-the-art at the time of delivery and is considered principally
safe to operate. The drive-regulator may present certain dangers to personnel, the frequency
inverter or other assets of the operator when:
♦non-qualified personnel work on or with the drive-regulator,
♦Operation of the drive-regulator in other mountings or connections, other than described in
this manual.
♦the drive-regulator is improperly used.
Then exists danger for
♦Persons
♦the drive-regulator
♦other real value of the operator
The installations in which the drive-regulator is incorporated must be designed so that they
fulfil their functions when set up correctly and when used in accordance with the instructions
in fault-free operation and do not cause any danger to persons. This also applies to the inter-
action of the frequency inverter with the installation as a whole.
Take additional measures to limit consequences of error functions which can prove to be
dangerous for people:
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
!
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Chapter 2: SAFETY
Page 12 of 28 Operating manual DC6AT
♦other independent devices which safeguard against possible malfunction of the drive-
regulator
♦electrical and non-electrical safety devices (locking or mechanical stops )
♦measures covering the system
Take appropriate measures to see that in case of malfunctioning of drive-regulator there is
no material damage.
2.4 Operator Responsibilities
Responsibilities of the operator or safety officer:
♦to ensure adherence to all relevant directives, instructions and laws
♦to ensure that only qualified personnel operate on or with the drive-regulator
♦to ensure that the operating manual is available to all personnel
♦to ensure that unqualified personnel do not work with the drive-regulator
2.5 Personnel
Only qualified personnel may work on or with the inverter.
2.6 Drive Regulator
Only operate the drive regulator in faultless condition. The authorized operating conditions
and power limits are to be adhered to.
Retrofitting, modification or conversion of the drive regulator is prohibited. Any of these must
first be discussed with the manufacturer. The drive regulator is a device for use in industrial,
high-voltage systems. All covers must be in place during operation to prevent the possibility
of electrical shock.
.
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Chapter 3: TECHNICAL DATA
Operating manual DC6AT Page 13 of 28
3. Technical data
3.1 Reference data DC6AT
Type
DC6AT
DC6AT (UL)
Nominal input voltage
U
in,nom
Input voltage range Uin / UControl
VDC
VDC
35
18...65 / 6…15
35
18...42 / 6…15
Nominal input current
I
in,nom
Output current Uout
ADC
VDC
6,5
0...98% Uin
Nominal output current
I
out,nom
Nominal output power Pous,nom
ADC
W
6
210
4
210
Efficiency % 90
Dimensions Mm 80x101x33
Weight
g
200
Temperature range
°C
5…40
Protection IP44
Degree f contamination
2
Connection Terminal /Connector
Fuse internally
12,5 AT
Controlling
digital
Interface RS-232
Control range
1
with EMF
-
control
1:50
Control range with speed control 1:500
3.2 Dimensions
11Dependent on the motor type used
80
101 *)
74
33
*) bei Verwendung einer Tragschiene 35x7,5mm nach
EN50 022

Chapter 3: TECHNICAL DATA
Page 14 of 28 Operating manual DC6AT
100
80
60
40
20
40 60
50 70
Output
Power
in %
Temperature in °C
3.3 Key values, control circuits
•Speed controller with underlying current control circuit
•Cycle time speed controller: 2 ms
•Cycle time current controller: 250 µs
3.4 General Data / Operating Conditions
Ambient temperature 50°C/(122°F)
0°C/(32°F) ... +40°C/(104°F) without power-loss
40°C/(104°F) ... +70°C/(158°F) with power-loss
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Chapter 3: TECHNICAL DATA
Operating manual DC6AT Page 15 of 28
Power loss diagram:
Altitude tolerance: under 1000m without power-loss
over 1000m with power-loss
Heat sink temperature in dependence on the
Continuous output current with adequate heat sink convection
Heat sink-
temperatur
/ °C
100
20
Output current / A
0
8
2 4 6
40
60
80
ambient temp./°C
20
40
0
Humidity tolerance: Humidity class F without condensation
(average relative humidity 85%)
Degree of soiling: VDE 0110 Part 2 level 2
Interference emission: EN 50081-2, EN 50082-1 requirements
Class B limits per EN 55011 (industrial range)
100
80
60
40
20
1000 2000 3000 4000 5000
Output
Power
in %
Altitude in m
Power loss in
W
15
3
Output current in A
0
6

Chapter 3: TECHNICAL DATA
Page 16 of 28 Operating manual DC6AT
Interference immunity: Meets standards without mains filter.
Requirements per EN 50082-2
Requirement Norm Intensity
Burst EN 61000-4-4 4kV
ESD EN 61000-4-2 Enclosure 8KV
Connectors 4kV
Voltage drops EN 61000-4-11
High frequency EN 50141 10V/m
Voltage surge EN 61000-4-5 Class 1
Insulation: Over-voltage category II per VDE 0100
Protection class: IP 30
Mounting position: vertical

Chapter 4: INSTALLATION
Operating manual DC6AT Page 17 of 28
4. Installation
4.1 Mechanical Installation
♦The drive regulator may be mounted only vertically.
♦Allow a distance of 50 mm above and below the drive regulator for air-circulation
♦Area to be left clear min. 20mm sideways
♦Ensure the unobstructed circulation of exhaust air
♦When the cooling air is contaminated by dust, lint, aggressive gases and greases, which
could impair the functioning of the drive regulator, sufficient countermeasures must be taken,
e.g. separate air ducts, installation of filters, regular cleaning etc.
♦Do not exceed the permitted operating temperature range.
(see Cap. 3.4)
♦If the drive regulator is exposed to vibrations or tremors, vibration damping is required.
4.2 Electrical Installation
♦The regulator contains components sensitive to electrostatics. Before installation and
service work in the terminal clamp area, the staff must free itself of electrostatic electricity.
The discharging can be achieved by touching a grounded (GRD) metal surface beforehand.
♦To protect the power supply cables, the recommended cable protection fuse is required
♦Control wiring and power cables must always be spatially separated from each other.
♦Set-value inputs must be shielded.
♦Conductor diameters for power supply and motor wiring must be at least 1,5 mm²!
♦Observe the current local safety regulations.
♦Use 60/75°C copper wire only
♦Tightening torque for field wiring terminals
♦Use in a pollution degree 2 environment
♦“Use Class 1 wire only” or equivalent
Motor over temperature sensing according UL 508C is not provided by the drive or
equivalent.
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Chapter 4: INSTALLATION
Page 18 of 28 Operating manual DC6AT
4.3 Information on EMC
In order to warranty electromagnetic compatibility (EMC) in your switch cabinets in an electri-
cally raw environment, the following EMC rules are to be observed during construction and
set-up:
♦All metallic parts of the switch cabinet are to be connected flatly and in a well-conducting
manner (not lacquer on lacquer!). If necessary, use contact or scraper wafers. The cabinet
door is to be connected with as short a circuit as possible via the metal powder tapes (upper,
middle, lower).
♦Signal lines and power cables are to be laid separated from each other in order to avoid
coupling intervals. Minimum distance: 20 cm:
♦Signal lines should be led to the cabinet from only one level, if possible.
Unshielded lines from the same electrical circuit (outgoing and return circuit) are to be trans-
posed, if possible.
♦Contactors, relays and magnetic valves in the switch cabinet, if necessary in the adjacent
cabinets, are to be wired with suppressor combinations, e.g. with RC elements, varistors or
diodes.
♦The braiding from signal lines are to be laid two-way (source and target), large-area and well-
conducting to a ground1. In case of poor potential equalization between shielded connec-
tions, an additional balancing network of at least 10 mm² must be laid parallel to the braiding
to reduce the current.
♦Wiring is not to be laid freely in the cabinet, but should rather lead as tightly as possible to
the cabinet frame or to installation plates. This also applies to reserve cables. At least one
end of them must be grounded (GRD), but preferably both (additional shield effect).
♦Unnecessary wire lengths are to be avoided. Coupling capacities and coupling inductance’s
are thereby kept small.
♦The braiding from leads, such as resolver or incremental tachometer cables, must be laid to
the frame grounding. Approximately 2 cm of the insulation is to be removed in the area
where the cable is to be led into the frame in order to expose the braided cable. The braided
cable may not be damaged while removing the insulation. The cable is to be led at the posi-
tion where the insulation has been removed by grounded terminals (GRD) or taut supports.
cable
taut support
1Generally all metallic conducting parts which can be connected to a protective conductor,
such as cabinet frames, motor frames, foundation grounding (GRD), etc. is designated as a
ground.
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Chapter 4: INSTALLATION
Operating manual DC6AT Page 19 of 28
4.4 Connection
=M
+
-
Ready
7
8
9
10
11
12
13
14
15
16
17
1
2
3
X2
X1
X1
X1
4
5
6
- +
Controller enable
clockwise
Controller enable
counter-clockwise
Set value for s
peed
Reset
Sample wiring
Analogue set
value
Controller enable
clockwise
Controller enable
counter
-
clockwise
Reset
Sample wiring
Fixed set values
Selection fixed set value {
4.4.1 Voltage supply
X1-2: GND
X1-3: +Supply
4.4.2 Motor connection
X1-5: + Connection motor
X1-6: - Connection motor
4.4.3 Control connection
4.4.3.1 Digital input signals
Specification digital inputs:
HIGH = +5,6 …+15 VDC
LOW = -0,5 … +5,5 VDC
Input impedance Ri = 10k
Cycle time 10 ms
X1-13: Reset Pos. flank = reset fault message
X1-14: Fixed speed _21
X1-15: Fixed speed _20
X1-16: Controller enable counter-clockwise rotation (CCR), HIGH = CCR active
X1-17: Controller enable clockwise rotation (CR), HIGH = CR active

Chapter 4: INSTALLATION
Page 20 of 28 Operating manual DC6AT
Through the controller enables for clockwise and counter-clockwise rotation, the direction of
rotation and the shutoff behaviour are defined.
LOGIC DIAGRAM: Controller
enable
clockwise
Controller
enable
counter
-
cloc
k
wise
Stop (acc. to param-
eter 20)
LOW LOW
Clockwise
HIGH
LOW
Counter-clockwise LOW HIGH
Output blocked
HIGH
HIGH
With the input signals fixed speed _20and fixed speed _21fixed speeds or the analogue pre-
set set value can be selected by means of binary coding..
L
OGIC DIAGRAM
Fixed speed
_2
0
Fixed speed
_2
1
Analogue set value
LOW
LOW
Fixed set value n1 HIGH LOW
Fixed set value n2
LOW
HIGH
Fixed set value n3
HIGH
HIGH
4.4.3.2 Tacho feed-back (optional)
X1-11: tacho In (TTL level, 10…1000 strokes/revolution)
X1-4: +5V sensor supply
4.4.3.3 Analogue set speed value
Specification:
Input voltage: 0 ... 10 VDC
Input resistance: 100 kΩ
X1-9: GND
X1-10: Output +10VDC max. load 3mA
X1-12: Analogue set speed value
Analogue signals must generally be shielded!
4.4.3.4 Digital message output
Specification:
max. switching voltage: 35 V≅Ready message of drive controller
max. switching current: 150 mA
X1-7: Ready (potential-free)
X1-8: Ready (potential-free)