I-CAN BLDH1500RA User manual

Brushless DC Motor Drive
Dongguan ICAN Technology Co., Ltd
BRUSHLESS DC MOTOR DRIVE
BLDH1500RA
User manual

Brushless DC Motor Drive｜BLDH1500RA
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Nov 2022
1. Brief introduction
BLDH1500RA is designed by ICAN-Tech with high-performance and low-cost which used for high voltage brushless DC
motors less 1500W. It supports Modbus communication protocol, and also provides more flexible choices for users among
actual practice.
1.1 Features
● Support Modbus communication protocol，can be controlled by touch screen or PC
● Built-in RV speed setting
● External potentiometer speed setting
● External analog signal speed setting
● Pulse frequency and PWM speed setting
● Support 100V~220VAC voltage range
● Support -25℃~+50℃ temperature range of working environment
● Open / closed loop control
● Works for 1500W or lower power of BLDC motor
● 5seconds waiting time for locked-rotor
2. Electrical performance and environment indicators
2.1 Electrical indicators
①Under closed loop, the minimum speed of the motor is 100 only if the pole number is set on the driver correctly.
2.2 Environment indicators
Environment factors
Environment indicators
Heat Sinking Method
Natural cooling or fan-forced cooling
Atmosphere
Avoid dust, oily mist and corrosive air
Operating Temperature
-25℃~+50℃
Storage Temperature
-30℃~+70℃
Driver parameter
Min.
Rated value
Max.
Input voltage AC (V)
100
220
250
Phase Current Peak (A)
-
-
13
Motor rotate speed (rpm)
100①
-
-

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3. Driver interface and wiring diagram
3.1 Driver interface

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3.2 Signal port description
Signal category
Terminal
Functional Description
Power supply input
E
AC Power supply ground electrode
L
AC Power supply input
N
AC Power supply input
Motor connector
U
Motor line U phase
V
Motor line V phase
W
Motor line W phase
Hall signal connector
GND
Hall signal ground electrode
HW
Hall sensor signal HW
HV
Hall sensor signal HV
HU
Hall sensor signal HU
+5V
Hall sensor signal power supply+
Control signal connector
SPEED
Rotate speed output in form of frequency
COM
Common port
EN
Stop signal terminal;
EN and COM connect, motor runs;
EN and COM disconnect, motor stops.
+5V
5V power supply
SV
1External potentiometer speed setting input;
2External analog signal input, 0 ~ 5V input.
ALM
Fault output, refer to 6.3
Normal : high level
Fault : low level
PWM / F
PWM or pulse frequency speed setting input terminal
(chosen by SW4).
The largest input voltage is 5VDC.
BRK
Motor brake stop signal;
BRK and COM disconnect, motor runs;
BRK and COM connect, motor stops and then braking.
F/R
Motor direction control terminal;
F/R and COM disconnect, motor rotates clockwise;
F/R and COM connect, motor rotates anticlockwise.

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3.3 Dimension (Units : mm)
3.4 The connection of ALM 、SPEED and PLC
The internal structure of ALM and SPEED ports is following as below, the connection with PLC depends on the input terminal
type. For example, the PLC input module AX40/741/42/50/60 and QX40/41/42 of Mitsubishi only support Sourcing Input, users
should connect according to the characteristics of this input type.
Output interface circuit of brushless driver
R1,R2=1KΩ 12V
R1,R2=2KΩ 24V
Notice:

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3.5 Speed port description
This port feeds motor rotate speed and outputs in form of frequency, 1000rpm=1000Hz, 500rpm=500Hz; Notice that the precision
of feedback depends on correct poles setting ：
1) Closed loop mode : accurate feedback;
2) Open loop mode : 4 poles motor rotate speed feedback in default which is underlying setting and cannot be modified by
customer.
4. Current limit adjustment P-sv
The current limit adjustment knob P-sv can limit the peak value of motor phase current, thereby limiting the calorific value of
wingding and protecting the motor.
Customers can use the current limit value between scale 3 and scale 10, when adjusting it to the maximum 10, the phase line limit
current is 13A.
Notice: If P-sv is adjusted to 0, the motor will not rotate, and if there is a speed adjustment value at this time, it will alarm
and be locked-rotor.
5. Speed setting via external signal
When switching to external analog control mode, the built-in potentiometer RV must be closed.(RV knob is rotated anticlockwise
to the limit position)
When multiple speed setting signal exist at the same time, the signal priority is as below :
Frequency > PWM > Internal Potentiometer > SV
Below pictures are linearity test curve of external signal speed setting :
（1KHz）duty ratio value range：2% ~ 95% ；(50%duty ratio) frequency speed setting：X Hz = X rpm
Duty ratio %
External analog voltage (V)
Rotating speed
Rotating speed

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6. Status indicator and trouble shooting
6.1 Status indicator
When appearing locked-rotor, Hall fault, over-temperature and over voltage, driver will give an alarm signal and stop working.
6.2 Trouble shooting
When any of abnormal indicator in above table occurs, a reset command should be issued to driver to clear the alarm signal
off. If the alarm signal still exists, then proceed as below table.
*The reset command refers to one of the following commands :
Adjust all speed setting signals to 0, including built-in potentiometer, external analog signal, PWM and pulse frequency；
BRK connects to GND again；
Power-on again；
Alarm indicator
Status description
The green light flashes intermittently and rapidly，and
the motor doesn’t stop
Normal, driver is limiting current
The red light flashes twice, and the motor stops
Driver components over temperature (over 85℃)
The red light flashes 3 times, and the motor stops
Over voltage
The red light flashes 4 times, and the motor stops
Under voltage
The red light flashes 5 times, and the motor stops
Hall fault
The red light flashes 6 times, and the motor stops
Motor locked-rotor or driving circuit abnormal
The red light flashes 7 times, and the motor stops
Components on circuit board abnormal
Alarm indicator
Exception handling
The green light flashes intermittently and rapidly，and the
motor doesn’t stop
No need to deal with
The red light flashes twice, and the motor stops
Reset the alarm or power on again after the driver cools down to
below 60℃
The red light flashes 3 times, and the motor stops
Check to make sure power supply voltage is normal
The red light flashes 4 times, and the motor stops
Check to make sure power supply voltage is normal
The red light flashes 5 times, and the motor stops
Check motor connecting wire is stable and ensure motor is not
damaged
The red light flashes 6 times, and the motor stops
Check if the load is too heavy and the motor is damaged, if not,
please change another same type driver to test
The red light flashes 7 times, and the motor stops
Adjust all speed setting signals to 0, power-on again, if still any
problem, please change another driver
Frequency (Hz)
Rotating speed

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6.3 Alarm signal output
If any of alarm in 6.2 table happens, ALM terminal would output low level; if driver is normal, ALM would output high level.
7. Acceleration and deceleration potentiometer
Acceleration and deceleration time refers to the time required for the motor from 0 to the set speed. (Notice : the motor rotate
speed is not actual value)
8. Dial switch function（dial it down = 1，no dial by default = 0）
8.1 Dial switch function
SW1
0
Terminal resistance not connected
1
Terminal resistance connected
SW4
0
Frequency speed setting
1
PWM duty ratio speed setting
The function of SW5~SW8 is setting slave address，the setting modes are listed as below table.
SW1 = OFF : disconnect the terminal resistance (R=120Ω, paralleled to 485 bus)
SW2
SW3
0
0
Open loop
1
0
Closed loop 2 poles
0
1
Closed loop 4 poles
1
1
Closed loop 5 poles
SW5
SW6
SW7
SW8
Slave address
0
0
0
0
Broadcast communication
0
0
0
1
0x01
0
0
1
0
0x02
0
0
1
1
0x03
0
1
0
0
0x04
0
1
0
1
0x05
0
1
1
0
0x06
0
1
1
1
0x07
1
0
0
0
0x08
1
0
0
1
0x09
1
0
1
0
0x0A
1
0
1
1
0x0B
1
1
0
0
0x0C
1
1
0
1
0x0D
1
1
1
0
0x0E
1
1
1
1
0x0F

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Motor driver BLDH1500R adopts two-wire electrical interface according to EIA/TIA-485 standard, three wires need to be
connected for such interface : B,A and GND.RJ45 plug is equipped with these three wires, the detail wiring diagram can refer
to 7.3.2 section of national standard GB/T 19582.2-2008. Concerning the industry practice, RJ45 plug also leads out 3.3V
voltage, users can decide to connect it or not based on actual situation.
B A GND +3.3V
8.2 Address of all holding registers of the server
All server holding register addresses that can be read by client：
Server
address
(1byte)
Function
code (1byte)
Holding register
access initial
address (2byte)
Access data size
(2byte)
CRC check
(2byte)
Function description
0xnn
0x03
0x0056
0x0001
CRC check
Read driver setting rotate speed(unit:rpm)
0xnn
0x03
0x005F
0x0001
CRC check
Read motor feeding back rotate speed(unit:rpm)
0xnn
0x03
0x0066
0x0001
CRC check
Read driver whether enable,
0=enable state
1=disable state
0xnn
0x03
0x006A
0x0001
CRC check
Read driver whether brake,
0=brake
1=not brake
0xnn
0x03
0x006D
0x0001
CRC check
Read driver rotate direction,
1=forward rotation
0=reverse rotation
0xnn
0x03
0x0076
0x0001
CRC check
Read alarm code, for an example: 5=Hall error
0xnn
0x03
0x0086
0x0001
CRC check
Read set value of poles
0xnn
0x03
0x008A
0x0001
CRC check
Read set value of ACC/DEC time (unit:s)
0xnn
0x03
0x0092
0x0001
CRC check
read the highest rotate speed of analog speed
setting (unit:rpm)
0xnn
0x03
0x00B6
0x0001
CRC check
Read RS-485 connection state
0xnn
0x03
0x00BB
0x0001
CRC check
Driver program version
RJ45 Plug

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All server holding register addresses that can be written by client：
Server
address
(1byte)
Function
code
(1byte)
Holding
register access
initial address
(2byte)
Register
address
(2byte)
CRC check
(2byte)
Function description
0xnn
0x06
0x00B6
-
CRC check
Write RS-485 connected state (the function of setting this parameter
is deciding to follow which one when the driver receives both speed
setting signals : built-in signal and signal from client);
Write 0=485 control disable, client can only read holding register,
but cannot write other holding register except 0x00B6;
Write 1=485 control enable, client can read and write register.
0xnn
0x06
0x0040
-
CRC check
Post-back function setting, which would affect communication rate,
but be convenient to adjust machine. If write 0, then data would be
post back.
For an example: 0x0040 wrote 0, every time the PLC sending 06
function code command to driver, the driver would execute and post
back data at once. 0x0040 write 1, driver would only execute but not
post back.
0xnn
0x06
0x0056
-
CRC check
Set motor rotate speed(unit:rpm), the value range of register is
0-60000
0xnn
0x06
0x0066
-
CRC check
Write 0: enable state; write 1: disable state
0xnn
0x06
0x006A
-
CRC check
Write 0: brake state; write 1: not brake state
0xnn
0x06
0x006D
-
CRC check
Write 1: forward rotation; write 0: reverse rotation
0xnn
0x06
0x0076
-
CRC check
Write non-zero, register keep the original value；
Write 0: reset alarm
0xnn
0x06
0x0086
-
CRC check
Motor poles setting ，the largest writable value of this register is
255;
Write 0: open loop 4 poles; write non-zero X: closed loop X poles
0xnn
0x06
0x008A
-
CRC check
Acceleration time setting(unit:s, range:0~15)
For an example: the time is set as 12, the given rotate speed of
driver accelerating from 0 to 3000 needs 12s.
Notice : the actual rotate speed and given speed are out of sync.
0xnn
0x06
0x0092
-
CRC check
The highest rotate speed of analog speed setting(unit:rpm), the value
range of this register is 0-60000 ，writing other value is invalid 。
This parameter means the actual motor rotate speed when SV input
5V, if SV input 1V，then the speed should be parameter/5.
Notice : this parameter is not useful for speed setting range of client.
0xnn
0x06
0x00BC
-
CRC check
Write 1: save each setting parameter once
0xnn
0x06
0x00CC
-
CRC check
Restore factory settings
Write 1: Restore factory settings;
Write 0: Do not restore factory settings or restore factory settings
successfully

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Except register address, users also need to know about the way to store data and call data of this driver, more details are listed as
below:
Holding
register access
initial address
(2byte)
Function description
Whether to save
the value in
memory chip
after writing 1 to
0X00BC
when B6 holding
register=1, whether
to call the value
saved in memory
chip to set server
When B6 holding
register=0, whether
to call the value
saved in memory
chip to set server
Default
value
0x0040
Set whether posting back data
Yes
No
No
0
0x0056
Set motor rotate speed(unit:rpm) ，value
range: 0-60000
Yes
No
No
0
0x0066
Write 0: enable; write 1: disable
Yes
No
No
1
0x006A
Write 0: brake; write 1: not brake
Yes
No
No
1
0x006D
Write 1: forward rotation;
write 0: reverse rotation
Yes
No
No
0
0x0076
Write non-zero, register keep the original
value, don’t clear alarm；
Write 0: clear alarm
No
No
No
1
0x008A
Acceleration time setting(unit:s,
range:0~15)
For an example: the time is set as 12, the
given rotate speed of driver accelerating
from 0 to 3000 needs 12s.
Notice : the actual rotate speed and given
speed are out of sync.
Yes
Yes
Yes
0
0x0092
The highest rotate speed of analog speed
setting(unit:rpm), the value range of this
register is 0~20000 ，writing other value
is invalid 。This parameter means the
actual motor rotate speed when SV input
5V, if SV input 1V ，then the speed
should be parameter/5.
Notice : this parameter is not useful for
speed setting range of client (touch screen
etc).
Yes
Yes
Yes
3000
0x00B6
Write RS-485 connected state (the
function of setting this parameter is
deciding to follow which one when the
driver receives both speed setting
signals : built-in signal and signal from
client);
Write 0=485 control disable, client can
only read holding register, but cannot
write other holding register except
0x00B6;
Write 1=485 control enable, client can
read and write register.
No
No
No
0

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This portion is applicable for PC client and other device, but not for touch screen.
8.2 Communication steps for PC
Before communication, users need to know about below two standards firstly:
GB/T 19582.1-2008:《Industrial automation network specification based on Modbus protocol part 1 ：Modbus
application protocol》
GB/T 19582.2-2008:《Industrial automation network specification based on Modbus protocol part 2 ：
Implementation Guide of Modbus Protocol on Serial Link》
When communicating, users need to write program following below steps:
○
1Confirm the address of driver
○
2Write a single byte program with 1 start bit and 2 stop bits according to the baud rate
○
3Write CRC calibration program
○
4Determine the structure of ADU according to function and send the ADU
○
5Parse data according to the ADU returned by driver
The address of driver could refer to part 8.1 of this manual, the detailed description for ○ 2 ~○ 5is followed as below:
Write a single byte program with 1 start bit and 2 stop bits according to the baud rate
About the details of this portion, users can refer to part 6.5.1 of national standard GB/T 19582.2-2008.
*Notice: each character or byte is sent from left to right:（LSB）…（MSB）
In above picture, the starting signal of a single data packet for serial communication is represented by logical 0 data bit,
and the two stopping signals of data packet are represented by logical 1 data bit.

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Write CRC verification program
The driver adopts CRC-16/Modbus algorithm model. Users can refer to Appendix B.2 of GB/T 19582.2-2008 for more details
about this calibration method. Below is C source program for generating verified code which is for user's reference.
typedef unsigned char u8;
typedef unsigned int u16;
/**
*@brief generating check code
*@param *ptr array for storing information code, the first address of array is placed the first byte of ADU
*@param length bytes of check code removed by ADU
*@retval u16 check 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);
}
Determine the structure of ADU according to function and send the ADU
This drive uses two function codes: 03 and 06, so users need to be familiar with two formats of ADU only. Request ADU and
response ADU of 03 function code can refer to section 7.3 of GB/T 19582.1-2008. Request ADU and response ADU of 06
function code can refer to section 7.6 of GB/T 19582.1-2008. The common ADU is listed in below table for user’s reference.
In below example, the salve address is 1(dial code 8), the serial port assistant debugging is listed when 0X40 register value
is 0, parameters would be returned. Users can determine whether return parameters or not based on the actual situation,
write 1 if not need to return.

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Read register
Read motor feedback speed
Send: 01 03 00 5F 00 01 B4 18
Receive: 01 03 02 02 48 B9 12
(motor rotate speed : 584rpm)
Read alarm code
Send: 01 03 00 76 00 01 65 D0
Receive: 01 03 02 00 00 B8 44
(alarm code : 0)
Read poles
Send: 01 03 00 86 00 01 65 E3
Receive: 01 03 02 00 04 B9 87
(poles : 4)
Read ACC/DEC time
Send: 01 03 00 8A 00 01 A5 E0
Receive: 01 03 02 00 00 B8 44
(acceleration time : 0)
Read the highest rotate speed of analog speed
setting
Send: 01 03 00 92 00 01 25 E7
Receive: 01 03 02 0B B8 BF 06
(the highest rotate speed : 3000rpm)
Unicast mode write to register
Write 485 control enable
Send: 01 06 00 B6 00 01 A9 EC
Receive: 01 06 00 B6 00 01 A9 EC
Write the set speed 1100rpm
Send: 01 06 00 56 04 4C 6A EF
(when 485 control enable)Receive: 01 06 00 56 04 4C 6A EF
(when 485 control disable)Receive: 01 86 FF 02 20
Write enable
Send: 01 06 00 66 00 01 A8 15
(when 485 control enable)Receive: 01 06 00 66 00 01 A8 15
(when 485 control disable)Receive: 01 86 FF 02 20
Write forward rotation
Send: 01 06 00 6D 00 01 D9 D7
(when 485 control enable)Receive: 01 06 00 6D 00 01 D9 D7
(when 485 control disable)Receive: 01 86 FF 02 20
Write poles 2
Send: 01 06 00 86 00 02 E9 E2
(when 485 control enable)Receive: 01 06 00 86 00 02 E9 E2
(when 485 control disable)Receive: 01 86 FF 02 20
Write acceleration time 9s
Send: 01 06 00 8A 00 5A 28 1B
(when 485 control enable)Receive: 01 06 00 8A 00 5A 28 1B
(when 485 control disable)Receive: 01 86 FF 02 20
Write the highest rotate speed of analog speed
setting 500rpm
Send: 01 06 00 92 01 F4 28 30
(when 485 control enable)Receive: 01 06 00 92 01 F4 28 30
(when 485 control disable)Receive: 01 86 FF 02 20
Broadcast mode write to register (Ignore address dialing status, no returned value)
Write poles 2
Send: 00 06 00 86 00 02 E8 33
Receive: No response
Write the set speed 1100rpm
Send: 00 06 00 56 04 4C 6B 3E
Receive: No response
Write 485 control enable
Send: 00 06 00 B6 00 01 A8 3D
Receive: No response

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Parse data according to the ADU returned by driver
Users should perform CRC verification on the returned ADU firstly, then parse the data. Data in ADU can be stored in two
ways: one is stored in 16 bits register (the data is a 16 bit short integer at this time), the other is to put data in two registers
with consecutive addresses (the data is a 32-bit single precision floating point number at this time). Due to limited space,
this manual only gives the C source program for reading data in the second case as follows :
/**
* @brief Get floating point number
* @param Address 8-bit character array address, the first byte of ADU put in the first address
* @retval float floating point number which can be read
*/
float getFloat(unsigned char *Address)
{
unsigned char *floatAddress=Address+3;
int temp=0;
temp+=(int)(*(floatAddress))<<24;
temp+=(int)(*(floatAddress+1))<<16;
temp+=(int)(*(floatAddress+2))<<8;
temp+=(int)(*(floatAddress+3));
return *(float *)&temp;
}

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After sale 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: 4/F, Block B, RuiLian Zhenxing Industrial Park,
Wanjiang District, Dongguan City, Guangdong Province
Tel: [phone]
Return policy
○
1 After use or man-made damage condition (etc, wrong wiring), no return
○
2 ICAN Technology guarantees the product quality, but product incompatibility is not in the return or maintain
condition.
○
3Customers don't use the products under the specified electrical performance and environment indicators,
no maintain condition.
Dongguan ICAN Technology Co., Ltd
Add:4/F, Block B, RuiLian Zhenxing Industrial Park,
Wanjiang District, Dongguan City,
Guangdong Province, China
Tel: [phone]
Fax:[phone]
Website: ican-motor.com
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