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dACi-TA B2/C3

User Manual

Type: dACi-TA 24/120 GB and dACi-TA 24/180 GC Valid for software: 59_101(49)

Version: 20.2.2003

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WARNING: For the installation and use of the inverter this manual and other instructions for additional components must be followed.

WARNING: To avoid any hazard situation always disconnect the battery before working on the inverter or other additional components.

WARNING: Work on the traction motors must only be carried out when the power connection between battery and inverter is disconnected.

WARNING: It is assumed that only trained people who hold the necessary know-how carry out the installation and settings of parameters.

WARNING: All existing safety regulations both electric and mechanical must be followed.

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1 Installation

X6

X3

X1

X5

X4

+ U V W -

140

210

60

198

128

10

ø 6,5

X7

Figure 1a: Outline B2

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X1

X3

X2

X4

X5

X6

X7

W

-

V

+

U

200,0

155,0

9,5138,0 9,0

182,0

ø 9,0

M8

70,0

Figure 1b: Outline C3

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2 Connections

2.1 Power Stage Important:

The minus-connection always has to be connected first. When disconnecting the system the minus has to be the last one to be disconnected. Terminal + and -

The power supply (battery voltage) is connected to these terminals. The power cables have to be protected by a fuse (see ‘Technical data’ for fuse size). The diameter of the power cables has to be determined according to the dimension of the fuse.

Note: A polarity inversion will damage the inverter.

Terminal U,V,W

The motor is connected to these terminals. Basically the motor has to be connected to the inverter as Umotor to Uinverter and so on also for V and W.

2.2 Control stage The following schematic gives an example for the numbering of a 6- and 10-pin connector:

10 9 8 7 6

5 4 3 2 1

6 5 4

3 2 1

Figure 3: Numbering of connector viewed in direction to the inverter

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2.2.1 X1, Key-switch X1.1 Key-switch

Battery voltage has to be supplied to this input in order to power on the inverter. The inverter does not work without the key-switch being connected to the supply voltage – in that moment the current consumption on the main terminals is less than 10mA. A 5A fuse that can be reached from outside the housing protects this input. This input provides the supply voltage for other external components connected to the controller.

X1.2 Not in use. Do not connect!

X1.4 Not in use. Do not connect!

X1.3 Not in use. Do not connect!

2.2.2 X2, optional inputs and output (only C3)

X2.1,2 Protected key switch voltage

On these pins the fuse protected key-switch voltage is available for supply to other components in the system. Not in use. Do not connect!

X2.3 Optional digital input. Not in use. Do not connect!

X2.4 Optional digital output. Not in use. Do not connect!

X2.5 Battery minus, internally connected

X2.6 Optional digital input. Not in use. Do not connect!

2.2.3 X3, valve, contactor, switches and horn X3.1,2 Protected key switch voltage

On these pins the fuse protected key-switch voltage is available for supply to other components in the system.

X3.3 Positive supply voltage for the horn, coming from X6.10

X3.4 Positive supply voltage for the lowering valve coming from X6.9

X3.5 Positive supply voltage for the contactor that switches on the pump-motor, coming from X6.8

X3.6 Input safety socket The drive can only be activated if this input is high (+24V), i.e safety socket should be mounted on the holder.

X3.7 Input lift limit If the max. hight is exceeded this input has to go low to switch off the contactor.

X3.8 B- for the horn, internally connected

X3.9 B- for the lowering valve, internally connected

X3.10 Digital output for the contactor that switches on the pump-motor Open-drain output; switching to 0V, freewheeling diode to X3.5

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2.2.4 X4, Connections for the motor (thermistor and encoder)

X4.1 Supply voltage for the brake

Fuse-protected key switch voltage.

X4.2, Temperature sensor (motor), Not in use. Do not connect!

X4.3 Encoder signal A (open collector or push-pull)

X4.4 Encoder signal B (open collector or push-pull)

X4.5 Digital output for the brake Open-drain output; switching to 0V, freewheeling diode to X4.1

X4.6 Temperature sensor (motor), Not in use. Do not connect!

X4.7 +15V Power supply for encoder

X4.8 0V connection for encoder

The speed of the traction motor is when setup as “Speed Control” always be monitored and controlled. An incremental encoder suitable for 15V supply must be connected at the terminals mentioned above. The encoder must deliver two 90° phase shifted signals (A and B). Phase sequence of encoder signals: Phase sequence of encoder signals and phase sequence of motor currents have to fit together. When the shaft of the motor turns right (right sequence U,V,W), the inverter expects signal A before signal B. Signal A before signal B is calculated as positive speed.

2.2.5 X5, tiller and status LED X5.1,2 Protected key switch voltage

On these pins the fuse protected key-switch voltage is available for supply to other components in the system.

X5.3 Digital input, tiller switch n.o In the upright position of the tiller this input has to be low, under working condition it has to be high.

X5.4 Digital output 1 Open-drain output; switching to 0V, freewheeling diode to X5.1 (key-switch input), see ‘Technical data’ for max current. The configuration of the digital output can be set by parameter #70.

X5.5 Battery minus, internally connected

X5.6 Digital input, tiller switch n.c. If a tiller switch with complementary signals is used, then the second channel has to be connected here. Parameter 223 has to be 1 to activate the supervision of the two inputs. If only X5.3 is used, then parameter 223 has to be 0.

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2.2.6 X6, analogue and digital inputs

X6.1 Protected key switch voltage

On this pin the fuse protected key-switch voltage is available for supply of switches and electrinic components in the tiller head.

X6.2 Digital input: Forward

X6.3 Digital input: Backward

X6.4 Digital input: Belly switch In normal operating condition this input has to be high.

X6.5 Digital input: Brake release If the tiller switch has stopped the vehicle (upright position), this input can be activated for driving with reduced speed.

X6.7 Battery minus for the tiller head, internally connected

X6.8 Input: Lift brings voltage to X3.5

X6.9 Input: Lower brings voltage to X3.4

X6.10 Input: Horn brings voltage to X3.3

X6.6 Speed reference input Control voltage (0..10V)

X6.11 Output 10V to supply a potentiometer, max 100mA, internally protected

X6.12 Digital input: Speed reduction Not in use. Do not connect!

2.2.7 X7, RS485 interface

X7.1 +15V

A 15V supply is available for an external interface converter or external display.

X7.2 0V The RS485 do not necessary need a 0V connection. To avoid floating potential it is recommended to use it anyway. It is necessary for the handheld console or for the external display.

X7.3 RS485, A signal

X7.4 RS485, B signal

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3 User Instructions

Potentiometer The Drive system needs an analog speed reference signal. In the tiller head an electronic sensor produces a signal between 0V and 5V.

Encoder signal The encoder pulse number is set by parameter 168. At a right turning motor flux from U,V,W the encoder signal A must be come before the signal B with a phase shift of 90°.

A

B

Figure 4: incremental encoder signals

Acceleration and deceleration ramps: Basically the slope of the speed demand signal determines the acceleration of a traction system. A ramp function is controlling the slope of the speed demand, and is always activated a speed reference signal and a release of the traction system. The setting of the speed ramp slope is done by parameter 133.

Deceleration (brake) can be performed different ways.

• By removing or lowering the speed reference signal or by removing the drive direction signal the inverter will always use the deceleration ramp set by parameter 134.

• A steeper deceleration ramp can be set for use by reversing the drive direction, parameter 139.

• If the vehicle drives into the tiller-direction and the belly-switch gets pushed, the speed will be reduced very fast (parameter 142) and then the vehicle will drive into the opposite direction for a max. time (parameter 122) with an adjustable speed (parameter 121)

Speed: The speed input is at pin X6.6 (Plus) and X6.7 (Minus).

Temperature: The inverter will monitor the temperature of the heat sink in the region close to the power transistors.

Actions by faults: The inverter is constantly monitoring fault situations. If a fault occurs the attached motor is instantaneously disconnected from power. The type of fault can easily be observed from the integrated LED.

The flash sequence LED will indicate the fault code that can be seen from the fault table in paragraph 0, parameters.

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4 Setup

4.1 Setup using the hand held terminal, type BPK The hand held terminal is used for: • Setting of parameters • Check of parameters • Monitor the actual drive condition • Fault display • Monitoring of inputs and outputs • Display time counter • Save and load total parameter sets Figure 5

Connection The BPK unit is connected to plug X7 on the inverter. The connection of the terminal can take place at any time, also when the inverter is in operation.

First display First the terminal will show its own software version, and then look for any attached inverter. If an inverter is found it will show the serial number and the software version of the attached inverter.

Example: SN.: 594200006 Version: 10149

Keys ↑ ↓

By activating the keys it is possible to scroll up and down through the parameter list. Only the released parameters can be displayed and changed. Information parameters are only for display. First activation of the key ↓: Shortly the message „Searching next parameter“ will show up. In this period the unit will search for the next released parameter on the list. When the first parameter is found the first display will show the parameter text and in the second line the parameter number.

Displayed shortly: serial number 7

Shortly hereafter the displayed parameter number will be replaced with the parameter value:

Display of Serial Number:

serial number

594200006

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List of succeeding displayable parameters: Text parameter number software version 0 serial number 7 operating hours 9 actual speed 10 speed set value 11 temp. inverter 17 operating state 25 value speed pot. 30 temp. inverter 32 battery voltage 33 connector X1 46 connector X2 47 connector X3 48 connector X4 49 connector X5 50 connector X6 51

Description of the parameters: Serial number: Explicit number identifying each individual unit Operating hours: Actual counted time in which the motor has been operated. Actual speed: The actual measured speed of the controlled motor. Speed set value: The actual speed demand of the controlled motor. Operating state: 0= Fault, 1= Ready, 2= Power stage active (current in motor) Speed potentiom.: Displays the analog voltage on input pin X6.6 in the range of 0..1023. This input is the speed reference coming from the tiller head. Battery voltage: Displayed in % of the nominal voltage (e.g. 24V, 48V or 80V)

State display for connectors X1 - X6: Example 1:

Connector X1 connector X1 2

This display shows that the pin 2 on connector X1 is active, meaning that the internal transistor connects pin 2 to battery minus. Pin 1: Key Switch (Battery voltage) Pin 2: Digital output 2 Pin 3: Analogue output minus Pin 4: Analogue output

Example 2:

Connector X3 connector X3 67 A

This display shows that the inputs pin 6, pin 7 and pin 10 (A=10) are activated. Pin 1: Protected key switch voltag Pin 2: Protected key switch voltag Pin 3: Supply voltage for the horn Pin 4: Supply voltage for the lowering valve Pin 5: Supply voltage for the contactor that switches on the pump-motor Pin 6: Input safety socket Pin 7: Input lift limit Pin 8: Battery minus for the horn

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Pin 9: Battery minus for the lowering valve Pin 10: Digital output for the contactor that switches on the pump-motor Example 3:

Connector X4 connector X4 3 4 5

This display shows that pin 3,4 and 5 are active at this time. Pin 3 and 4 shows the actual state of two encoder inputs A and B. When the motor runs the inputs will shift according the pulse sequence of the encoder. The display cannot follow the switching frequency at higher motor speeds. When the motor is spinning slowly it is possible to observe the pulse sequence. Depending on direction of rotation the display could be: 3 4 ; 3 _ ; __ ; _ 4. Active pin 5 means that the belonging internal transistor is active, connection pin 5 to battery minus. If an electro magnetic brake is connected to pin 1 and 5 a current will flow and the brake activated (released) Pin 1: Battery plus for brake Pin 2: Connection for motor temperature sensor Pin 3: Signal A from encoder Pin 4: Signal B from encoder Pin 5: Switched negative pole for brake Pin 6: Connection for motor temperature sensor Pin 7: 15V supply for encoder Pin 8: 0V supply for encoder

Example 4:

Connector X5 connector X5 3 4

This display shows that pins 3 and 4 are active. The meaning is: There is an input voltage at pin 3. The transistor at pin 4 is on. Pin 1: Protected key switch voltage Pin 2: Protected key switch voltage Pin 3: Digital input, tiller switch n.o. Pin 4: Digital output 1 Pin 5: Battery minus, internally connected Pin 6: Digital input, tiller switch n.c.

Example 5:

Connector X6 connector X6 2 4 C

This display shows that pin 2, 4 and 12 are active (C means 12). Pin 1: Protected key switch voltage Pin 2: Digital input: Forward Pin 3: Digital input: Backward Pin 4: Digital input: Belly switch Pin 5: Digital input: Brake release Pin 6: Speed reference input Pin 7: Battery minus for the tiller head Pin 8: Input: Lift Pin 9: Input: Lower Pin 10: Input: Horn Pin 11: Output 10V Pin 12: Digital input: Speed reduction

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The following parameters will have a direct influence on the performance and behavior of the vehicle: english text parameter-number stop mode tiller 98 warn.temp.invert 107 rev.speed belly 121 max.time belly 122 Acceleration 133 deceleration 134 smoothing curve 137 progress. curve 138 reverse braking 139 dec. belly.tiller 142 min.batt.voltage 173 max.batt.voltage 174 value low batt. 175 vred.low.battery 176 vmax forward 211 vmax backward 216 vred. X6-12 221 vred.brake rel. 222 tiller type 223 error message 249 teach-in speed 251

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Keys ← →

In order to make a parameter ready for change one of these keys must be pressed. The last (right) digit of the parameter value will flash and can now be changed by using the keys ↑ or ↓. The key ← can select digits to the right; herby total number change is possible. Example: The right end digit is underlined and flashing:

vmax. forward Change to the max speed

1450 rpm

By pressing key ← again the digit 2 is flashing:

vmax. forward Change to the max speed 1450 rpm

By pressing key ↑ once the digit is changed from 5 to 6, setting the value to 1460 rpm.

vmax. forward Change to the max speed 1460 rpm

After 1 sec of no key activations the new value is active and the new value can be used. As long as a digit is flashing it is not activated and can be reset by the Esc-key. By activating the key ↵ all changes are made active, and at this point the parameters is saved. Teach-In procedure for the speed input (potentiometer):

Teach-in speed 0

Using one of the keys ← or → the digit zero is underlined and begins to flash.

Teach-in speed 0

Now the digit is changed to 1 by using key ↑.

Teach-in speed 1

By pressing the ↵ key the Teach-in procedure is started. Within 15 sec the accelerator switch must be slowly moved to the max. forward value. At this point the pedal is kept for about 1 sec, then to the negative value and hereafter brought back the neutral position. After 15 sec the digit will turn back to zero, indicating that the Teach-in procedure is done. The inverter is during the Teach-in blocked and will not turn the motor.

Pressing keys ← and → at the same time This will bring the display to extended menues like: List of errors (Fault history) Write (BPK->dACi) (Load parameters from the hand held terminal (BPK) to the inverter) Read (dACi->BPK) (Retrieve parameters from the inverter to the hand held terminal (BPK)) Search device (Search for inverter addresses)

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Select address (Select an inverter address) Select language (Select language for the hand held terminal (BPK)) Back to main menu (Return to the parameter setting menu) The menues can be selected by pressing the keys → or ↓ to go down, and the keys ← or ↑ to go up the list. The function is activated by the key ↵. List of errors (Fault history) Displays in timely order the faults that have occurred in the system. A total number of 8 different faults can be displayed. Repeating failures of the same kind will only be shown once. Write (BPK->dACi) (Load parameters from the hand held terminal (BPK) to the inverter)) Read (dACi->BPK) (Load parameters from the inverter to the hand held terminal (BPK))) The “Read” function will store a copy the actual parameters within the connected inverter on the hand held terminal (BPK). For this purpose 8 memories are available on the BPK, and can be selected using the arrow keys. Using the “Write” function it is possible to select from 8 stored parameters sets on the BPK to be loaded down to the connected inverter. Search device (Search for inverter addresses) Basically the and held terminal (BPK) can communicate with more inverters on the some communication bus therefore the actual unit address must be known. If the address is not know it is possible to make a search to obtain the addresses of the units connected. If only one unit is connected this function is not used. Select address (Select an inverter address) If more units are connected to the BPK the address of the unit to address is selected here. If only one unit is connected this function is not used. Select language (Select language for the hand held terminal (BPK)) Two languages are available, English and German.

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Parameters PBP13/16M

Parameters PBP20M

Format/ Scale Unit Factory Default

Description Remark

Connector X1 Connector X1 Indicates the status of the inputs and outputs of the current connector. See description in manual

Connector X2 Indicates the status of the inputs and outputs of the current connector. See description in manual

Connector X3 - Indicates the status of the inputs and outputs of the current connector. See description in manual

Connector X4 Connector X4 Indicates the status of the inputs and outputs of the current connector. See description in manual

Connector X5 - Indicates the status of the inputs and outputs of the current connector. See description in manual

Connector X6 Connector X6 Indicates the status of the inputs and outputs of the current connector. See description in manual

Stop mode tiller - 1,2,3 1 Set a stop mode when tiller is activated: 1 = motor current off and brake voltage off 2 = deceleration ramp 3 = deceleration ramp and brake voltage off

warn.temp.invert - AD-units 0…1023

550 Warning level for the high temperature of the controller.

Rev. speed belly - 0,25 rpm -1500 Set’s a speed for the truck (backward direction) when belly is activated

1500rpm ~1,8km/h

Max. time belly - 1.0 s 5.0 Timer setting for belly function. Truck will drive backwards up to “max .time belly” with a speed of “Rev.Speed belly”. When time is elapsed, truck stops. If set to 0, truck will drive as long as belly is activated.

Acceleration Acceleration 0,4883 rpm/s 3000 Acceleration ramp setting Recommended setting from 1500…4000rpm/s

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Parameters PBP13/16M

Parameters PBP20M

Format/ Scale Unit Factory Default

Description Remark

Deceleration Deceleration 0,4883 rpm/s 3000 Deceleration ramp setting Recommended setting from 1500…4000rpm/s

Smoothing curve - 0 = keine Verrundung

0...9 5 Adjustment for the curve smoothing

Progress. Curve Progression 0 = keine Progression

0...100 75 Adjustment for the curve progression

Reverse braking Dec. change dir. 0,4883 rpm/s 4000 Deceleration ramp when using reverse braking function

Dec.belly..tiller - 0,4883 rpm/s 4000 Deceleration ramp when activating belly or tiller function

Min.batt.voltage - 1 % 50 % value of nominal batt voltage (24V) Max.batt.voltage - 1 % 120 % value of nominal batt voltage (24V) Value low.batt - 1 % 70 % value of nominal batt voltage (24V).

Indicates the level of low battery. Low batt level is reached when battery voltage level is less than “Value low.batt” more than 3 seconds.

Vred.low.battery - 1 % 50 Speed reduction when battery low level is reached % of Vmax. speed setting

Vmax. Forward Max speed forw. 0,25 rpm 4987 Max. Speed forward direction. Value in motor rpm

4987rpm = 6,0km/h 4572rpm = 5,5km/h 4156rpm = 5,0km/h 3740rpm = 4,5km/h

Vmax. Backward Max speed backw.

0,25 Rpm 4987 Max. Speed backward direction. Value in motor rpm.

4987rpm = 6,0km/h 4572rpm = 5,5km/h 4156rpm = 5,0km/h 3740rpm = 4,5km/h

Vred. X6-12 - 1 % 50 Speed reduction when using option % of Vmax. speed setting Vred. Brake rel. - 1 % 50 Speed reduction when using Brake

release- function. % of Vmax. speed setting

- Speed red. 1 Rpm 4166 Only for PBP20M. Do not change! - Speed red. 2 Rpm 4166 Only for PBP20M. Do not change! - Picking speed Rpm -750 Only for PBP20M. Do not change! Tiller type 0,1 1 Changes the type of tiller switch.

0 = use only NO contacts 1 = use NO/NC contacts

Error message Error message xx Take a look at fault code below Teach-in speed Teach-in speed 0,1 - 1 activates the teach in for speed

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accelerator.

5 Fault and state reports

No. Type of fault

or state report Flash code LED Remarks Possible cause Possible action

- Watchdog Pulse duty cycle 1:1 (f = 1,25 Hz)

drive disabled, digital outputs switched off Internal fault. Can not be reset by user Replace the inverter

- RAM-fault Pulse duty cycle 1:3 (f = 2,1 Hz)

drive disabled, digital outputs switched off

- FLASH-fault Pulse duty cycle 3:1 (f = 2,1 Hz)

drive disabled, digital outputs switched off

2 New Software version

2 pulses...pause drive disabled, digital outputs switched off (Reset through parameter150)

Will only appear when loading a new software version

Reload the software exactly following the instruction

3 Over current from power stage

3 pulses...pause drive disabled 1.The inverter was loaded at the limit for a long time. This fault will not appear as long as the motor speed is measured correct.

2. A parameter has been changed that is influencing the current or the over current shout down level

Ad 1: Monitor the signals on connector X4 at very low motor speed. Check the encoder sequence. The digits 3 and 4 must appear in a uniform pattern. If the sequence is not right; check the cable and the connections or if necessary change the encoder.

Ad 2: Using PC: Return to a previous setting of parameters, e.g. by loading a saved parameter set.

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No. Type of fault or state report

Flash code LED Remarks Possible cause Possible action

4 Low voltage, Battery

4 pulses...pause If the battery voltage drops below the threshold value set in parameter 175 for more then 3 sec the max motor speed will drop the value specified in parameter 176. If battery voltage drops below the value set in parameter 173 for more then 3 sec, the inverter will shot down. Only switching off and on the supply to the inverter can reset this fault.

The battery voltage was below the value specified in parameter 173 for more than 3 sec. The battery could be close to discharged or there might be to high voltage drops in the supply cables to the inverter.

Check the charge condition of the battery. Check the cable connection for the supply to the inverter.

5 Over voltage, Battery

5 pulses...pause (Depending on the setting of parameter 174)

1. The battery voltage measured by the inverter has exceed the value set in parameter 174 for more than 3 sec, or the value has been exceeding 150% of the nominal voltage. If the battery is intact and the connections to the inverter are good this fault should not occur. (Assuming that parameter 174 is set correctly)

2. The power stage could be damaged.

Ad 1: Check the settings of parameter 174. Check that the connections from battery to inverter are OK

Ad 2: Replace the inverter.

6 Over temperature, Motor

6 pulses...pause (Depending on the setting of parameters 110 and 111) If the temperature shot down threshold (110) is exceeded the inverter will stay shot down. If the measured value is below the value of parameter 111 the inverter interprets a short circuit sensor.

1. The temperature sensor connected to X4 has detected a too high temperature in the motor. The motor could have been overloaded for a too long time.

2. If the motor is not equipped with a temperature sensor pin 2 and 6 on X4 must be short circuit.

3. Parameter 111 is adjusted >0 and there is a short circuit at the sensor.

Ad 1: Check if the traction system is operating sluggish or is defect. Check eventually the motor current. The continuously motor current must not exceed the motor nominal current.

Ad 2: Check the connection on X4.

Ad.3: Remove short circuit or set parameter 111 to 0.

7 Over temperature, inverter

7 pulses...pause (Depending on the setting of parameters 106 and 108) If the temperature shot down threshold (108) is exceeded the inverter will stay shot down.

1. The inverter has been overloaded for a too long time.

2. There is a fault in the temperature measurement of the inverter.

Ad 1: Check that the inverter is mounted according to the directions regarding in order to be able to emit the heat. Check eventually the output current. The continuously current must not exceed the nominal current of the unit.

Ad 2: Replace the inverter

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No. Type of fault or state report

Flash code LED Remarks Possible cause Possible action

8 Drive switch monitoring

8 pulses...pause The power stage is not activated (reset through drive switch)

After power-on the inverter wants to see definite start conditions: Drive signals off, speed reduction on, brake release off, tiller switch (n.o.) off, belly switch on, safety input on, set value near zero.

Check using the service tools BPS, that the drive signals are working (connector X6). Read out parameter 51 and observe that the signal is present. When activating the drive signals, the digits 2 for forward and 3 for backward should be seen.

9 not used 10 Belly-switch

monitoring 10 Pulses... pause The power stage is not activated see above Check the signal on X6.4.

11 Tiller switch monitoring after power on

11 Pulses... pause The power stage is not activated see above Check the signal on X5.3

12 Set value monitoring

12 Pulses... pause The power stage is not activated see above Check the signal on X6.6

13 not used 14 EEPROM fault 14 pulses...pause Internal fault. Can not be reset by user Replace the inverter 15 Unrealistic

setting of the U/f relationship

15 pulses...pause (Depending on the setting of parameters 189...194)

Parameters set does not make sense for the V/f characteristic of a motor.

Using BPS service tool to return to a previous setting of parameters, e.g. by loading a saved parameter set.

16 Unrealistic parameter settings for speed input transfer function

16 pulses...pause (Depending on the setting of parameters 212...220)

Parameters set using the PC tool that does not make sense for the speed input transfer function

Using BPS service tool to return to a previous setting of parameters, e.g. by loading a saved parameter set.

17 Tiller switch monitoring while system is running

17 pulses...pause (Depending on the setting of parameter 223)

The n.o. and the n.c. contact of the tiller switch are not comlementary to each other.

Check the signals on X5.3 and X5.6

18 Speed reduction monitoring

18 pulses...pause The power stage is not activated see above Check the signal on X6.12

19 Brake release 19 pulses...pause The power stage is not activated see above Check the signal on X6.5 20 Battery charge

switch (safety socket) monitoring

20 Pulses... Pause The power stage is not activated see above Check the signal on X3.6.

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6 Technical Data Power Data Type: dACi-TA- 24/120 GB 24/180GC Unit size B2 C3 Nominal battery voltage [V] 24 Voltage range [V] Continuously Short term (<30s)

17...30 17...35

Rated current [A] 1) 60 90 Maximum current [A] 2) 120 180 Output voltage [V] 3) 3x 0...16 Dimensions [mm] B x H x T 140 x 210 x 60 155 x 200 x 70 Power connections Screw M5 Bolt M8 1) Depending on cooling conditions 2) Time depending on cooling conditions 3) At nominal battery voltage Interface Type: dACi-TA- 24/120 GB 24/180GC Digital Inputs B2: X6.2, .3, .4, .5, .12; X5.3, .6; X3.6, .7 C3: X6.2, .3, .4, .5, .12; X5.3, .6; X3.6, .7; X2.3, .6

Logic High-active Number 9 11 Impedance [Ω] 2,2k Signal Low [V] max 2 Signal High [V] min 12 Analog Input (X6.6) Resolution 10 bit Impedance [Ω] 86k Voltage range [V] 0...10 Digital Outputs Output for pump contactor (X3.10) Low-side switching with freewheeling diode and z-diode Rated current [A] 2,0 Maximum current [A] 3,0 Output Brake (X4.5) Low-side switching with freewheeling diode Rated current [A] 2,0 Maximum current [A] 3,0 Operation mode 1sec 100% then 60% duty cycle Optional output (X2.4; C3 only) Low-side switching with freewheeling diode Rated current [A] 2,0 Maximum current [A] 3,0 Programmable outputs 1 and 2 (X1.2, X5.4) Low-side switching with freewheeling diode Rated current [A] 1,0 Maximum current [A] 1,5

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Analog Output (X1.4) Voltage range [V] 0...10 Impedance [Ω] 100 Encoder input 1 (X4.3, .4, .7, .8) Voltage level [V] 0 / 15 A,B (e.g. sensor bearing) Supply 15V, max 100mA Temperature sensor, Motor (X4.2-6) Type PTC Serial interface (X7) Type RS485 Supply for converter 15V, max 100mA Additional information Switch frequency, power stage 16kHz Standard; selectable 4, 8, 12, 16, 20 kHz Efficiency 95% at rated load Output frequency range 0...300 Hz Temperature range -40°C ... 50°C (At mounting plate) Relative humidity Max. 90%, not condensing Operation indications Integrated LED Connectors Molex Mini-Fit, Jr. Enclosure IP40 * Optional