I-CAN BLD1500RA User manual
Brushless Motor Driver 丨BLD1500RA
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ICAN 2021.03
LOW VOLTAGE HIGH POWER DRIVER
BLD1500RA
1 Profile
BLD1500RA brush less DC motor driver is independently developed by Dongguan ICAN Tech
Technology Co., Ltd. It is a high-performance and low-cost brushless driver for 1500W low-voltage brushless
DC motor. The DC brushless driver supports Modbus communication protocol and motor deceleration
braking function, providing users with more flexible choices in practical applications.
⚫ACC/DEC time setting
⚫Phase current limiting adjust
⚫Motor speed setting/ close loop setting/pole pairs setting
⚫Multiple speed control
⚫Speed of revolution tolerance is ±0 . 01%
⚫Alarm signal
⚫Supporting Modbus communication and suitable for PC control by user.
⚫Connecting Resistance braking
2 Electrical properties and environmental indicators
2.1Electrical properties
2.2 Environmental indicators
Driver parameter
Min Value
Typical Value
Max value
Unit
Current input (A)
-
40
-
A
Voltage input
DC(V)
20
48
50
V
Current limit(A)
22
-
82
A
Output Power(W)
-
1500
1500
W
Apply speed
-
3000
-
rpm
The parameters of this table are suitable for normal temperature 25 ℃
Heat sinking Method
Natural cooling or fan-forced cooling
Used occasion
Avoid dust,oily mist and corrosive air
Operating Temperature
-20℃~+40℃
Storage Temperature
-30℃~+50℃
Dielectric Strength
500VAC
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3 Dimension(Unit:mm)
4 Driver interface and function description
4.1Driver interface
78 7,5 3179 37,5
200
135
17,5
5
6,5
31
?5
7,5
4142
U V WGND VDC
VDC:+20~+50V
GND
HW
HV
HU
+5V
SV
GND
F/R
EN
BRK
SPEED
ALM
RV
限流
报警
运行
BLD1500RA
200
接制动电阻
22
30
45 58
72
82
SW1=OFF
SW2=OFF 4Pole-pairs
SW1=OFF
SW2=ON
SW1=ON
SW2=OFF
SW1=ON
SW2=ON
Speed c losed- loop s election
Hall Self-learning
Unit:A
PCL
Phase Current
2Pole-pairs
5Pole-pairs
RS485
SW
PCL
ACC
146
Motor wire connecting port
W/V/U port
connecting
port
HW/HV/HU
PORTPOR
Tport
connecting
port
Control signal port
Power input port
connecting port
RS communication port
connecting port
Function setting port
connecting port
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4.2 Port signal description
Power connection
VDC
DC Power supply positive electrode
GND
DC Power supply negative electrode
Motor connection
U
Motor line U phase
V
Motor line V phase
W
Motor line W phase
Motor Hall
signal
+5V
BLDC Hall signal power positive pole
HU
Hall sensor signal HU
HV
Hall sensor signal HV
HW
Hall sensor signal HW
GND
BLDC Hall signal power negative electrode
Control signal
SV
External speed setting signal input terminal;
EN
Motor stop signal port: When EN and GND disconnect, motor
stops slowly while when they connect, motor runs.
F/R
Motor direction control terminal: F/R and GND disconnect,
motor will rotate clockwise, and otherwise, motor will rotate
anticlockwise.
BRK
Motor brake stop control port; when BRK and GND
disconnect, motor run, otherwise, the motor stop
GND
Control signal grounding screw (common port)
Output signal (connect
Pull up resistance
2K-20K )
SPEED
Pulse frequency output corresponded with running speed.
Speed can be figured out according N(rpm)= (F/P)×10
F:Output pulse frequency
（Hz）；P:Motor pole pairs；
N:Motor
speed
For example: Motor has 4 pole pairs
F=500Hz
N(rpm)=(500/4)×10=1250
ALM
Alarm signal output port. When fault occurs, the voltage
changes to 0V from 5V.
Built in control signal
ACC
Acceleration and deceleration time adjustment (Factory
default minimum)
PCL
Phase line current limit adjustment (Factory default
maximum)
SW
Pole pairs selection and self-learn(Factory default
SW1=OFF,SW2=OFF)
Connected to braking
resistance
Brake resistance connection port
RS485
MODBUS communication connection
RV
Built in potentiometer speed regulation
Fan
Two built-in fans are temperature controlled fans (starting
temperature 70 ℃)
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4.3 Input circuit description
The internal structure of F / R terminal, EN terminal and BRK terminal of the driver is as
follows: the low level is less than 0.5V and the high level is greater than 2.5V. The external
analog SV input wiring is shown in the figure below.
4.4 Output circuit description
The internal structure of ALM terminal and speed terminal of the driver is as follows. Its
wiring mode with PLC is related to the type of PLC input terminal. For example, input modules
such as AX40 / 741 / 42 / 50 / 60 of Mitsubishi a series PLC and QX40 / 41 / 42 of Q series
only support the source mode, and users should connect according to the characteristics of
this input type.
Driver internal
5v DC power
Driver
Driver internal
Driver internal
Please connect resistance to
limit the current under 30mA
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5 Function setting
5.1 ACC/DEC time setting
Setting the acceleration and deceleration
time of the motor. Turning the ACC knob
left and right to reduce and increase the
acceleration and deceleration time
respectively. The setting range is 0.6 ~
15s. The acceleration time is the time
from the stop state to the rated 3000rpm,
and the deceleration time is the time
from 3000rpm to the stop state
5.2 Motor closed loop pole pair selection
In order to correspond to the number of
poles of the motor, it has the function of
selecting the number of poles. When the
load does not exceed the rated load, the
motor speed will not be affected
4 polar closed loop：SW1=OFF,SW2=OFF
2 polar closed loop：SW1=OFF,SW2=ON
5 polar closed loop：SW1=ON,SW2=OFF
Hall self-learning：SW1=ON,SW2=ON
Please set the SW setting corresponding to the number of motor poles.During hall
self-learning, please ensure that the communication is disabled and the control signal is
not input. After successful learning, the motor will run at low speed and the learning data
will be lost after power failure.
5.3 Phase current limiting adjust
Adjust the PCL knob to limit the peak
output current. When the load suddenly
increases, the output current is output
according to the set value to reduce the
discharge resistance
Alternative
name
Discharge resistance, braking
resistance, stop resistance
Recommend
ed
resistance
2.5Ωto 7.5Ω
Recommend
ed power
500W to 1500W
Recommend
ed type
Trapezoidal aluminum shell
resistance
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motor speed
Please set the peak current according to the following figure on the right. The setting range
is 22A ~ 82A (default 30A), but the actual use will be deviated by the tolerance of the knob.
Therefore, for safety, please set the peak output current slightly lower
When current limiting occurs, the white light will be on. At this time, please turn up the
PCL knob appropriately (adjusting this knob will linearly adjust the current limiting
value).
5.4 Low speed protection function
When the rotor is detained, the load rises suddenly or hits an obstacle, if the speed of the
motor is less than half of the set speed, it will continue to operate for 2 seconds. If the reason
restricting the rotor is solved within 2 seconds, the driver will operate as usual. After 2 seconds,
if the reason for restricting the rotor is not solved, the driver stops and the under-speed alarm
(this under speed time can be changed through communication)
5.5 Start and stop
The factory setting of the product is that
the EN Port is not connected to the GND
port, so the driver does not drive the motor
when the power is input. After connecting
the EN Port wiring with the GND port
wiring, the motor is allowed to run.
If a switch is installed between EN Port
and GND port, the start and stop states of the motor can be simply switched
5.6 Brake
The default setting is that the BRK port
is not connected with the GND port, so
the driver is allowed to drive the motor
after inputting the power. After
connecting the BRK port with the GND
port, the driver slows down and stops
and brakes.
If a switch is installed between BRK
port and GND port, the braking and running state of the motor can be simply switched
EN and BRK start modes are opposite. Although both EN and BRK can slow down and
stop the motor, the BRK mode will keep braking status.
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5.7 Switching of rotation direction
If a switch is installed between F / R
terminal and GND terminal, the rotation
direction of the motor can be simply
switched
Disconnect: the motor rotates clockwise
Connection: motor rotates
counterclockwise
※ According to the specifications of the
motor (see the following figure on the right)
The factory setting is that the F / R port is not
connected with the GND port, so the motor rotates clockwise when the power is input.
6 Speed Control
6.1 Built in potentiometer RV speed control
Turn the internal speed regulating
potentiometer knob to the right, and the
motor starts to rotate after the "click" sounds
If you rotate to the right continually, the
motor speed will gradually rise. Turn to the
left and the motor will slow down gradually.
Then rotate to the left limit (click sound), the
output to the motor becomes disconnected and the motor stops
Attention: Please do not connect to SV port.
6.2 External analog speed control
Please use 10KR potentiometer for
speed regulation.
Be sure to connect the central pin of
the potentiometer to the SV port, and the
other pins to the GND port and + 5V port
respectively
6.3 Analog DC 0 ~ 5V speed control
1.Rotate the RV potentiometer to the "click" position to the left
2.Be sure to set the correct number of motor poles
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Relationship between control voltage and motor speed（When the maximum speed is
3000rpm）
When the input voltage is 0.3V, the motor speed is 186rpm. When the input voltage is about
5V, the motor speed is 3000rpm.
※The above chart is the experimental chart.
Input voltage(V)
Motor speed（rpm）
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7 Alarm indication and handling
7.1 Alarm indication
When the signal of Hall sensor is
wrong due to over voltage and over
temperature of motor, ALM port will be
automatically connected to GND port,
ALM port will change to low level, and
the driver will stop working
Red light indication description
Flicker
times
Alarm name
Description of abnormal state
Remark
2
over temperature protection
PCB temperature over 85 ℃ detected
If an alarm occurs,
please try to use
shutdown to reset the
alarm. After the
motor stops, the
alarm will be reset
3
over voltage protection
The power supply voltage exceeds 63v
4
lower temperature protection
The power supply voltage is less than 14V
5
Hall alarm
The driver received an incorrect Hall signal
8
Under speed protection
Motor locked rotor, under speed or
abnormal driving circuit
10
Abnormal learning
An exception occurred when the driver
learned the hall line sequence
11-20
Drive damaged
Abnormal internal IO port detected during
power on
21-24
Storage exception
Storage exception detected
Green light indication
Signal
Explanation
Remark
Switch signal
input
F/R
When the input state of the switch signal
changes, the display state of the green
light will change
Green light indicates
priority:
Switch signal input =
analog signal input >
Run > idle
EN
BRK
SW1
SW2
Analog signal
input
RV
When the analog signal input state
changes rapidly, the display state of the
green light will change accordingly
SV
ACC
PCL
Motor status
Run
cycling on for 0.5 seconds and off for 0.5
seconds
Free
On 0.99 seconds and off 0.01 seconds
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White light indication
Status
Explanation
Remark
on
Current is limiting
The signal comes
from hardware, and
the signal is
presented to the
main chip and then
the current is limited
by the main chip
off
Current is not limiting
7.2 Alarm processing
If the abnormality in the above table happen ,
please send a reset command to the driver to
eliminate the alarm signal. If the alarm signal
cannot be eliminated, deal with it according to
the requirements in the following table.
The reset command refers to one of the
following six commands
◆Set the internal potentiometer to zero
◆Set the external potentiometer to zero
◆EN disconnect
◆BRK connect
◆Communication stop motor
◆Power on again
Red light exception handling
Flicker times
Alarm name
Description of abnormal state
Remark
2
over
temperature
protection
Power on after the drive cools down
If an alarm occurs,
please try to use
shutdown to reset the
alarm. After the motor
stops, the alarm will be
reset
3
over voltage
protection
Please check the power supply voltage
4
low voltage
protection
Please check the power supply voltage
5
Hall alarm
Please check whether the motor wiring is secure and
ensure that the motor is not damaged
8
Under speed
protection
Please confirm whether the motor load is too large, and
the motor is not damaged. If not, please replace
another drive of the same type for experiment
10
Abnormal
learning
Check wiring, motor, etc.
11-20
Drive damaged
Please contact your supplier
21-24
Storage
exception
Please power on again. If it still doesn't work, please
contact your supplier
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8 Modbus communication
8.1Communication interface and wiring mode
The communication function of the driver
adopts Modbus protocol and conforms to the
national standard GB / T 19582.1-2008. The
two-wire serial link communication based on
RS485 is used. The physical interface adopts
RJ45. The terminal definition is shown in the
figure below. Three wires need to be connected:
B, A and GND (wiring is prohibited for other
terminals in this RJ45 interface). The
communication address is set through
communication. The 120 Ω terminal matches the
resistance and needs to be externally connected
by the user.
Communication conditions
Interface
RJ45
Bus
RS485
Agreement
MODBUS
Communication mode
half-duplex
Standard
GB/T 19582.1—2008
Communication rate
9600
data bit
8 bit
Stop bit
1 bit
Check out
Modbus CRC(Little Endian)
communication node
32
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8.2 Read / write register address
Read
Slave
address
(1byte)
Function
code
(1byte)
Access
address
1*
(2byte)
Access
address
2*
(2byte)
Access
data
(2byte)
CRC
Check
code
(2byte)
Read
paramete
rs
Value range
Default
value
unit
0Xnn
0X03
(Read
data)
0X0000
0X0056
0X0001
CRC
check out
code
Set speed
0-Maximum
speed limit
0
rpm
0X0001
0X005F
Feedback
speed
0-65535
0
rpm
0X0002
0X0066
Motor
status
0-3
0
-
0X0003
0X0076
alarm
code
0-24
0
-
0X0004
0X0086
Pole of
Pairs
1-65535
4
-
0X0005
0X0090
Under
speed
time
0-65535
2
s
0X0006
0X0092
Maximum
speed
limit
0-65535
3000
rpm
0X0007
0X0096
Phase
current
limiting
22-82
82
A
0X0008
0X0098
Accelerati
on and
decelerati
on
0-150
6
0.1s
0X0009
0X00A6
mailing
address
1-247
1
-
0X000A
0X00B6
Communi
cation
status
0-1
0
-
0X000B
0X00BB
Program
version
0-65535
-
-
0X000C
0X00C8
Bus
voltage
0-65535
480
0.1V
0X000D
0X00D2
Driving
temperatu
re
-32768-32767
250
0.1℃
0X000E
0X0129
Port
indication
0-65535
-
-
0X0001.*: select one of access address 1 and access address 2. Access address 1 is convenient
for continuous reading, and access address 2 is recommended to use 0x0001 for data access
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Read parameters
explanation
Set speed
is the value that communications write to the drive
Feedback speed
is the speed feedback by the motor
Motor status
0: stop; 1: Forward rotation; 2:Reversal; 3:brake
Alarm code
Please see the charter 7.2
Pole of Pairs
When the communication status is enabled, the value read is the value written
by the communication, otherwise it is the value set by the SW dial code, that is,
the value is always the value currently used by the driver
Under speed time
See description of write parameters
Maximum speed
limit
See description of write parameters
Phase current
limiting
The current limit value is set by the potentiometer, and it is normal if there is a
slight deviation in the value range
Acceleration and
deceleration
When the communication status is enabled, the value read is the value written
by the communication, otherwise it is the value set by the ACC potentiometer,
that is, the value is always the value currently used by the driver
mail address
See description of write parameters
communication
status
See description of write parameters
program version
——
Bus voltage
If the read data is 0X01E0, the bus voltage is 48.0v
Driving
temperature
This parameter is a signed number, that is, a 16 bit integer number; If the read
data is 0xff9c, the maximum temperature of the drive is - 10.0 ℃
Port indication
See port instructions
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Write
Slave address
(1byte)
Function
code
(1byte)
Access
address
(2byte)
Access
data
(2byte)
CRC
Check
code
(2byte)
Write
parameters
Value
range
Default
value
unit
Save
or not
0Xnn
0X06
(Write
data)
0X0056
0X0BB8
CRC
Check
code
Set speed
0-Maximum
speed limit
0
rpm
yes
0X0066
0X0001
Control motor
0-3
0
-
yes
0X0086
0X0004
Pole of Pairs
1-65535
4
-
yes
0X0090
0X0002
Under speed
time
0-65535
2
s
yes
0X0092
0X0BB8
Maximum
speed limit
0-65535
3000
rpm
yes
0X0098
0X0006
Acceleration
and
deceleration
0-150
6
0.1s
yes
0X00A6
0X0001
mail address
1-247
1
-
yes
0X00B6
0X0001
Communication
status
0-1
0
-
No
0X0113
0X0001
factory reset
1
-
-
No
0X0116
0X0001
Reset Program
1
-
-
No
Write
parameters
explanation
Set speed
Setting the speed to less than 200 rpm is not recommended
Control motor
0: stop; 1: Forward rotation; 2: reversal; 3: brake
Pole of Pairs
Changing the number of poles during motor operation is not recommended
Under speed
time
When the under-speed time is set to 0, the driver will not give an under-speed alarm
Maximum
speed limit
It is recommended to set the maximum speed limit to the rated speed of the motor
Acceleration
and
deceleration
The acceleration and deceleration range set by hardware is 6-150, and the communication
setting range is 0-150. It is recommended to increase this value appropriately in case of
rapid braking with large inertia
mail address
It is not recommended to use broadcast mode to set the addresses of multiple drives at the
same time
Communication
status
0: Communication disable; 1: Communication enable (this parameter is not saved, and the
communication status is disabled after each power on
factory reset
0: No effect; 1: The contents stored in the drive will be restored to the factory settings
Reset Program
0: No effect; 1: Reset (can be used to replace power on to restart the drive)
Port indication
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bit31
bit30
bit29
bit28
bit27
bit26
bit25
bit24
bit23
bit22
bit21
bit20
bit19
bit18
bit17
bit16
bit15
bit14
bit13
bit12
bit11
bit10
bit9
SW2
bit8
SW1
bit7
ALM
bit6
SPEED
bit5
BRK
bit4
EN
bit3
F/R
bit2
HW
bit1
HV
bit0
HU
Note: bit31 to bit10 are standby
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8.3 Program the CRC check code
The driver adopts CRC-16 / MODBUS algorithm model. For more details, please refer to appendix B.2 of GB /
T 19582.2-2008. The C source program of generating check code is given below for users' reference.
typedef unsigned char u8;
typedef unsigned int u16;
/**
*@brief Create check out code
*@param *ptr Saving inform code in the Number group which first address put in the ADU first byte
*@param length The Number of ADU exclude check out code
*@retval u16 Checkout code
*/
u16 getCRC16(u8 *ptr,u8 length)
{
u8 i;
u16 crc =0xFFFF;
if(length == 0)
length =1;
while(length--){
crc ^= *ptr;
for(i =0;i <8;i++) {
if(crc &1){
crc >>= 1;
crc ^= 0xA001;
}
else
crc >>= 1;
}
ptr++;
}
return(crc);
}
Read / write register example
Read register
remarks
Motor feedback speed
send
01 03 00 5F 00 01 B4 18
The motor speed is 548rpm
receive
01 03 02 02 48 B9 12
Write register
Communication enable
send
01 06 00 B6 00 01 A9 EC
receive
01 06 00 B6 00 01 A9 EC
Set motor speed
send
01 06 00 56 04 4C 6A EF
Set motor speed
1100rpm
receive
01 06 00 56 04 4C 6A EF
Set motor forward rotation
send
01 06 00 66 00 01 A8 15
receive
01 06 00 66 00 01 A8 15
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9 Common problems and Solutions
Fault phenomenon
Possible causes
Treatment method
Motor does not rotate
Driver alarm
Follow the alarm instructions
There is a stop command
Provide motor operation command
Abnormal wiring
Check wiring (including wire sequence)
The holding brake of the
motor is not opened
Open the motor holding brake
Motor drive mismatch
The driver only supports motors with a Hall electric angle of 120 °
Equipment damage
Replace the drive or motor
Motor overheating
Overload
Reduce load
Excessive limiting current
Reduce limiting current
Ambient temperature is
too high
Strengthen environmental heat dissipation
wiring error
Correct wiring
Equipment damage
Replace the drive or motor
Abnormal motor speed
Overload
Reduce load
Abnormal signal input
Check input signal
Wrong pole pairs
Correct the pole pairs
Wrong reduce ration
Calculate using the correct reduction ratio
Wrong setting maximum
speed
Set the maximum speed to the rated speed of the motor actually
used
Abnormal noise during
motor operation
wiring error
Correct wiring
Motor drive mismatch
The driver only supports motors with a Hall electric angle of 120 °
Lack of phase
Please check the motor wiring
Load problem
Motor test without load
Motor problem
Replace the motor
Normal noise
Driving chopper noise and motor commutation noise are
normal
Motor speed
fluctuation
Abnormal signal input
Change to internal speed regulation experiment
overload inertia
reduce load or add reducer
Unstable load
Maintaining a steady load or normal condition
No output signal
pull-up resistor is not
connected
Connect appropriate pull-up resistors to the alarm output
interface and speed output interface
Normal condition
Artificially create alarm or rotate the motor to check the
signal output
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10 Recommended motors
Model
Voltage(V)
Pole pairs
Rated
speed(RPM)
Rated
torque(N.m)
Output
power(W)
Speed without
load(rpm)
110BLF-8015LBB
36
4
3000±10%
5.3
800
3600±10%
110DMW120-17060
48
4
3000±10%
6.37
2000
3600±10%
Model：110DMW120-17060
U
V
W
+5V
Hall A
Hall
B
HallC
GN
D
Red thick
line
Yellow
thick line
Black thick
line
Red thin
line
Blue thin
line
Green thin
line
White thin
line
Black thin
line
Model：110BLF-8015LBB
U
V
W
+5V
HallA
HallB
HallC
GND
Red
thick
line
Yellow
thick
line
Black
thick
line
Red
thin
line
Blue
thin
line
Green
thin line
White
thin line
Black thin
line
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After sales service
Warranty period
Dongguan ICAN Technology provides warranty for 1 year from the date of shipping.
Maintenance process
1 Get the maintenance permission.
2 Ship the package to the following address:
401, No2 Building, No7 Xinhe Shengfeng Road, Wanjiang Street, Dongguan City, Guangdon
g Province
Return Policy
1)After-use or man-made damage condition (etc., wrong wiring), no return.
2) ICAN Technology guarantees the product quality, but the product incompatibility is not in the
return or maintain condition.
3)Customer don’t use the product under the specified electrical performance and environment
indicators, no maintain condition
4)Customers change the internal parts.
Table of contents
