Emdrive User Manual - v2 - 2

emDrive Motor Controllers
User Manual
Rev. 2.2
Emsiso d.o.o.
+386 2 461 2 907
Pesnica pri Mariboru 20a
www.emsiso.com SI-2211 Pesnica pri Mariboru www.emdrive-mobility.com
Slovenia
Important Notice
This guide is delivered subject to the following conditions and restrictions:
• This guide contains proprietary information belonging to Emsiso d.o.o.
• The text and graphics included in this manual are for the purpose of illustration and
reference only. The specifications on which they are based are subject to change
without notice.
• Information in this document is subject to change without notice. Corporate and
individual names and data used in examples herein are fictitious unless otherwise
noted.
Copyright © 2020
Emsiso d.o.o.
All rights reserved.
Revision History:
Version Author Date Changes/Remarks
2.0 A. K., A. K., G. K. August 2020 Initial version
A.K. Added:
November
2.1 - CanOpen chapter
2020
- Application1 description
A.K.
2.2 February 2021 Modified specification for resolver with added waveforms.
emDrive Motor Controllers User Manual
Contents
1 Introduction ..................................................................................................................................... 1
1.1 About user manual .................................................................................................................. 1
1.2 Support .................................................................................................................................... 1
1.3 General emDrive information ................................................................................................. 1
Motor control features .................................................................................................................... 1
Position sensors ............................................................................................................................... 2
1.4 Protection functions ................................................................................................................ 2
1.5 Set-up ...................................................................................................................................... 2
2 Handling and safety instructions ..................................................................................................... 3
3 Technical specifications ................................................................................................................... 4
3.1 emDrive classification.............................................................................................................. 4
3.2 emDrive 150 ............................................................................................................................ 6
3.3 emDrive 500 ............................................................................................................................ 7
3.4 emDriveH300........................................................................................................................... 8
4 Mechanical specification ................................................................................................................. 9
4.1 Important instructions ............................................................................................................ 9
4.2 Dimension and mounting drawings ........................................................................................ 9
emDrive 150 .................................................................................................................................... 9
emDrive 500 .................................................................................................................................. 10
emDriveH300................................................................................................................................. 11
4.3 Mechanical installation instructions ..................................................................................... 12
4.4 Cooling ................................................................................................................................... 12
Air cooling ...................................................................................................................................... 12
Liquid cooling................................................................................................................................. 12
4.5 Sizing a conductor ................................................................................................................. 13
5 Electrical specification ................................................................................................................... 14
5.1 Important instructions .......................................................................................................... 14
5.2 Earthing of the system .......................................................................................................... 14
5.3 Insulation monitoring device ................................................................................................. 16
5.4 Power installation.................................................................................................................. 16
Basic power wiring ........................................................................................................................ 16
Power terminals identification ...................................................................................................... 16
emDrive 150 .................................................................................................................................. 17
emDrive 500 .................................................................................................................................. 17
Copyright © Emsiso d.o.o. Rev. 2.2

www.emsiso.com
www.emdrive-mobility.com All rights reserved.
emDriveH300................................................................................................................................. 18
5.5 DC-link discharge ................................................................................................................... 18
5.6 DC-link pre-charge ................................................................................................................. 18
5.7 Fuse rating ............................................................................................................................. 19
5.8 Minimum relay/contactor rating........................................................................................... 19
6 System integration guideline......................................................................................................... 20
6.1 emDrive architecture............................................................................................................. 21
emDrive 150 block diagram........................................................................................................... 21
emDrive 500 block diagram........................................................................................................... 21
emDriveH300 block diagram ......................................................................................................... 22
6.2 Requirements for building electric drivetrain system ........................................................... 22
6.3 emDrive system connector.................................................................................................... 23
Functional safety (STO) ................................................................................................................. 25
6.4 Equipment and Installation Check (commissioning) ............................................................. 26
6.5 Connection sequence ............................................................................................................ 26
6.6 Basic wiring example ............................................................................................................. 27
7 emDrive USB-CAN Interface .......................................................................................................... 30
7.1 Installation ............................................................................................................................. 31
8 emDrive Configurator tool (SW version 2.0 or higher) ................................................................. 32
8.1 Installation ............................................................................................................................. 32
8.2 emDrive Configurator user interface .................................................................................... 33
Menu bar ....................................................................................................................................... 33
Status panel ................................................................................................................................... 39
Main Window ................................................................................................................................ 40
Main window - Live Charts ............................................................................................................ 41
Main window - Oscilloscope.......................................................................................................... 42
Docked Window ............................................................................................................................ 44
Status bar....................................................................................................................................... 45
8.3 First time use of emDrive Configurator and SDO Browser.................................................... 46
9 Emsiso Connection Box ................................................................................................................. 48
10 Pairing emDrive and motor (controller configuration steps) .................................................... 51
10.1 Motor type ............................................................................................................................ 53
10.2 Controller/motor protections ............................................................................................... 53
Voltage protection (traction battery protection) .......................................................................... 53
Controller and motor current protections and settings................................................................ 54
Controller and motor temperature protections and settings ....................................................... 54
www.emsiso.com
Motor maximum velocity protection ............................................................................................ 57

Output current limitation (Limiter) ............................................................................................... 57
10.3 Motor position measurement ............................................................................................... 58
Auto align procedure (positon sensor offset calibration) ............................................................. 58
Verifying the electrical angle measurement ................................................................................. 60
10.4 Torque mode (current control) ............................................................................................. 66
Tuning current control parameters ............................................................................................... 67
10.5 Position feedback compensations......................................................................................... 72
Motor phase offset compensation ................................................................................................ 72
FOC calculation delay .................................................................................................................... 75
10.6 Velocity mode........................................................................................................................ 76
Tuning velocity control parameters .............................................................................................. 77
10.7 IPM MTPA and Field weakening (Output voltage control).................................................... 79
11 Control of emDrive over software (CANopen protocol) ........................................................... 87
11.1 emDrive CAN Introduction .................................................................................................... 87
11.2 Physical structure of a CANopen network............................................................................. 88
11.3 Object Dictionary, Electronic Data Sheet and Device Configuration File .............................. 88
11.4 Communication and protocol................................................................................................ 89
11.5 Network management (NMT) ............................................................................................... 90
11.6 Data transfer – Service Data Object (SDO) ............................................................................ 92
SDO Read ....................................................................................................................................... 93
SDO Write ...................................................................................................................................... 94
11.7 Data transfer – Process Data Object (PDO) ........................................................................... 96
PDO mapping ................................................................................................................................. 97
11.8 Device states and possible control sequences .................................................................... 101
11.9 State Transitions .................................................................................................................. 101
12 Control emDrive over hardware I/O (Application 1) ............................................................... 103
12.1 Setting torque mode (without braking) .............................................................................. 105
Potentiometer: Unipolar throttle ................................................................................................ 105
Potentiometer: Bipolar throttle .................................................................................................. 107
Servo PWM throttle..................................................................................................................... 109
12.2 Setting velocity mode .......................................................................................................... 111
Potentiometer: Unipolar throttle ................................................................................................ 111
Potentiometer: Bipolar throttle .................................................................................................. 113
Servo PWM throttle..................................................................................................................... 115
12.3 Selecting driving modes (normal, eco, sport)...................................................................... 117
www.emsiso.com
13 Warnings and Errors ................................................................................................................ 118

13.1 Status LEDs .......................................................................................................................... 118
13.2 Warnings.............................................................................................................................. 118
13.3 Errors ................................................................................................................................... 119
14 How to set ............................................................................................................................... 121
14.1 Mode of operation .............................................................................................................. 121
15 References ............................................................................................................................... 122

www.emsiso.com
Figures
Fig. 3-1: Controller numbering system (Example: emDrive 500) ............................................................ 4

Fig. 3-2: Controller serial number structure (Example: emDriveH300A) ................................................ 4
Fig. 3-3: Controller serial number structure (Example: emDrive500) ..................................................... 4
Fig. 3-4: emDrive identification label (Example: emDriveH300A) ........................................................... 5
Fig. 4-1: emDrive 150 – Dimensions and mounting holes drawing......................................................... 9
Fig. 4-2: emDrive 500 – Dimensions and mounting holes drawing....................................................... 10
Fig. 4-3: emDriveH300 – Dimensions and mounting holes drawing ..................................................... 11
Fig. 4-4: emDrive cooling circuit diagram .............................................................................................. 13
Fig. 5-1: EDS earthing system according to IEC 60364-1:2005 .............................................................. 15
Fig. 5-2: emDrive earthing system diagram .......................................................................................... 15
Fig. 5-3: emDrive basic power wiring .................................................................................................... 16
Fig. 5-4: emDrive power terminals identification for emDriveH300 ..................................................... 17
Fig. 5-5: emDriveH300 power cable assembly ...................................................................................... 18
Fig. 6-1: emDrive 150 architecture block diagram ................................................................................ 21
Fig. 6-2: emDrive500 architecture block diagram ................................................................................. 21
Fig. 6-3: emDriveH300 architecture block diagram .............................................................................. 22
Fig. 6-4: emDrive system connector pinout numbers ........................................................................... 23
Fig. 6-5: emDrive mating connector and crimp pin ............................................................................... 24
Fig. 6-6: STO input connection example................................................................................................ 25
Fig. 6-7: Connection sequence .............................................................................................................. 27
Fig. 6-8: Basic wiring example ............................................................................................................... 28
Fig. 6-9: Cable wiring for different position sensors ............................................................................. 29
Fig. 6-10: CAN bus cable wiring (for Emsiso USB/CAN interface) ......................................................... 29
Fig. 7-1: emDrive USB-CAN Interface .................................................................................................... 30
Fig. 7-2: emDrive USB-CAN Interface installation wizard ...................................................................... 31
Fig. 8-1: emDrive Configurator application installation security warning............................................. 32
Fig. 8-2: emDrive Configurator application run security warning ......................................................... 32
Fig. 8-3: emDrive Configurator user interface....................................................................................... 33
Fig. 8-4: emDrive Configurator Menu bar -> Network -> Connection................................................... 36
Fig. 8-5: emDrive Configurator Menu bar -> Network -> Connection (show connection menu) ......... 36
Fig. 8-6: emDrive Configurator Menu bar -> Network -> Nodes ........................................................... 36
Fig. 8-7: emDrive Configurator Menu bar -> Device -> Firmware update ............................................ 37
Fig. 8-8: emDrive Configurator Menu bar -> Device -> Firmware update (Save DFC file) .................... 37
Fig. 8-9: emDrive Configurator Menu bar -> Device -> Firmware update (Uploading progress) .......... 37
Fig. 8-10: emDrive Configurator Menu bar -> Device -> Firmware update (Load DFC file) .................. 38
Fig. 8-11: emDrive Configurator Menu bar -> Device -> Firmware update (end message) .................. 38
Fig. 8-12: emDrive Configurator Menu bar -> Device -> Script ............................................................. 38
Fig. 8-13: emDrive Configurator Status panel ....................................................................................... 39
Fig. 8-14: emDrive Configurator Status panel (General) ....................................................................... 39
Fig. 8-15: emDrive Configurator Status panel (NMT commands) ......................................................... 39
Fig. 8-16: emDrive Configurator Status panel (Shortcuts and edit shortcut)........................................ 39
Fig. 8-17: emDrive Configurator Status panel (Sync) ............................................................................ 40
Fig. 8-18: emDrive Configurator Status panel (Status).......................................................................... 40
Fig. 8-19: emDrive Configurator Main Window (Start Page) ................................................................ 40
Fig. 8-20: emDrive Configurator Main Window (SDO browser) ............................................................ 41
Fig. 8-21: emDrive Configurator Main Window (Live Charts controls) ................................................. 41

www.emsiso.com
Fig. 8-22: emDrive Configurator Main Window (Live Charts) ............................................................... 42

Fig. 8-23: emDrive Configurator Main Window (Oscilloscope) ............................................................. 42
Fig. 8-24: emDrive Configurator Main Window (Oscilloscope additional settings) .............................. 43
Fig. 8-25: emDrive Configurator Docked Window (Watch) .................................................................. 44
Fig. 8-26: emDrive Configurator Docked Window (Sliders) .................................................................. 44
Fig. 8-27: emDrive Configurator Status panel (Error log window) ........................................................ 45
Fig. 8-28: emDrive Configurator Status bar........................................................................................... 45
Fig. 8-29: emDrive Configurator connection example .......................................................................... 46
Fig. 8-30: emDrive Configurator Scan network example ...................................................................... 47
Fig. 9-1: Connection Box ........................................................................................................................ 48
Fig. 10-1: emDrive controller interfacing options, ................................................................................ 52
Fig. 10-2: R-T charachteristic for NTC 10k ............................................................................................. 56
Fig. 10-3: R-T charachteristic for KTY 84-130 with 2nd order polyinomical function aproximation ...... 56
Fig. 10-4: R-T charachteristic for KTY 81-210 with 2nd order polyinomical function aproximation ...... 56
Fig. 10-5: Configuring Oscilloscope for measuring Electrical angle....................................................... 61
Fig. 10-6: SSI type position sensor; electrical angle .............................................................................. 62
Fig. 10-7: Timing diagram for RM44AC sensor from RLS (picture source: www.rls.si) ......................... 63
Fig. 10-8: Sin/cos type positon sensor; raw data and electrical angle .................................................. 63
Fig. 10-9: Hall type position sensor; raw data and electrical angle....................................................... 64
Fig. 10-10: Hall type position sensor; motor velocity............................................................................ 64
Fig. 10-11: Resolver signals ................................................................................................................... 65
Fig. 10-12: Torque mode - current control scheme .............................................................................. 66
Fig. 10-13: Setting current controller P and I gains ............................................................................... 67
Fig. 10-14: Configuring Oscilloscope for tuning current control parameters ....................................... 69
Fig. 10-15: Current control responses at different P and I gain settings .............................................. 71
Fig. 10-16: Slider configuration for setting Motor phase offset compensation .................................... 72
Fig. 10-17: Setting Motor phase offset compensation.......................................................................... 73
Fig. 10-18: Slider and Watch window configuration for setting FOC calculation delay compensation 75
Fig. 10-19: Setting FOC calculation delay compensation ...................................................................... 75
Fig. 10-20: Velocity mode control scheme ............................................................................................ 76
Fig. 10-21: Setting velocity controller P and I gains .............................................................................. 77
Fig. 10-22: Velocity control related object in Watch Window and Slider ............................................. 77
Fig. 10-23: Velocity control tuning example.......................................................................................... 78
Fig. 10-24: IPM MTPA and Field Weakening control scheme ............................................................... 79
Fig. 10-25: IPM MTPA curve .................................................................................................................. 80
Fig. 10-26: Field weakening related object in Watch Window and Slider ............................................ 81
Fig. 10-27: Field weakening operation; setting I gain at anti-windup gain = 100, P gain = 0 ................ 82
Fig. 10-28: Field weakening operation; setting anti-windup gain at I gain = 2000, P gain = 0 ............. 83
Fig. 10-29: Field weakening operation; setting P gain at I gain = 2000, anti-windup gain = 200 .......... 84
Fig. 10-30: Field weakening operation for increasing velocity above base velocity and to compensate
DC link voltage drop .............................................................................................................................. 85
Fig. 10-31: Field weakening operation for compensate DC link voltage drop from 32 V to 22 V ......... 86
Fig. 11-1: Communication architecture ................................................................................................. 87
Fig. 11-2: CAN physical architecture example ....................................................................................... 88
Fig. 11-3: State diagram......................................................................................................................... 90
Fig. 11-4: SDO; client server communication model ............................................................................. 92
Fig. 11-5: PCAN-View trace, SDO Read example ................................................................................... 93
Fig. 11-6: PCAN-View trace, SDO Write example .................................................................................. 95
www.emsiso.com
Fig. 11-7: PCAN-View trace, PDO example .......................................................................................... 100

Fig. 11-8: Device State Machine Block Diagram .................................................................................. 101
Fig. 12-1: Control emDrive over hardware I/O (example Application 1) ............................................ 103
Fig. 12-2: Simplified control scheme of Application 1 ......................................................................... 104
Fig. 12-3: Simplified torque request scheme of Application 1 – potentiometer unipolar throttle..... 105
Fig. 12-4: Potentiometer unipolar throttle; throttle voltage/target torque function......................... 105
Fig. 12-5: Simplified torque request scheme of Application 1 – potentiometer bipolar throttle ....... 107
Fig. 12-6: Potentiometer bipolar throttle; throttle voltage/target torque function .......................... 107
Fig. 12-7: Simplified torque request scheme of Application 1 – Servo PWM throttle ........................ 109
Fig. 12-8: Servo PWM throttle; PWM width/target torque function .................................................. 109
Fig. 12-9: Simplified velocity control scheme of Application 1 – potentiometer unipolar throttle .... 111
Fig. 12-10: Potentiometer unipolar throttle; throttle voltage/reference velocity function ............... 111
Fig. 12-11: Simplified velocity control scheme of Application 1 – potentiometer bipolar throttle .... 113
Fig. 12-12: Potentiometer bipolar throttle; throttle voltage/reference velocity function ................. 113
Fig. 12-13: Simplified velocity control scheme of Application 1– Servo PWM throttle ...................... 115
Fig. 12-14: Servo PWM throttle; PWM width/reference velocity function ........................................ 115
Fig. 12-15: External circuit for selecting different driving modes (normal, eco, sport) ...................... 117

www.emsiso.com
Tables
Table 3-1: emDrive controller’s family classification .............................................................................. 4

Table 3-2: emDrive 150 technical specifications ..................................................................................... 6
Table 3-3: emDrive 500 technical specifications ..................................................................................... 7
Table 3-4: emDriveH300 technical specifications ................................................................................... 8
Table 4-1: Recommended wire cross section........................................................................................ 13
Table 5-1: Recommended pre-charge resistor values for charge time of 2 s ....................................... 19
Table 5-2: Fuse rating ............................................................................................................................ 19
Table 5-3: Minimum relay/contactor rating.......................................................................................... 19
Table 6-1: Available accessories (overview) .......................................................................................... 23
Table 6-2: emDrive system connector pin description ......................................................................... 24
Table 6-3: Functional safety (STO) electrical data ................................................................................. 25
Table 7-1: emDrive USB-CAN Interface DB9 Male connector pinout ................................................... 30
Table 7-2: emDrive USB-CAN Interface termination ............................................................................. 30
Table 7-3: emDrive USB-CAN Interface LED status ............................................................................... 30
Table 8-1: emDrive Configurator Menu bar options ............................................................................. 33
Table 9-1: Connection Box technical specifications .............................................................................. 48
Table 9-2: Connection Box LED status ................................................................................................... 48
Table 9-3: Connection Box available controls ....................................................................................... 49
Table 9-4: Connection Box RESOLVER DB9 Female connector pinout .................................................. 49
Table 9-5: Connection Box SSI MASTER DB9 Female connector pinout ............................................... 49
Table 9-6: Connection Box SSI SLAVE DB9 Female connector pinout ................................................... 49
Table 9-7: Connection Box EXT HALL DB9 Female connector pinout ................................................... 50
Table 9-8: Connection Box CAN DB9 Female connector pinout ........................................................... 50
Table 9-9: Connection Box SIN/COS DB9 Female connector pinout ..................................................... 50
Table 9-10: Connection Box RS232 DB9 Female connector pinout ...................................................... 50
Table 10-1: Configuration steps in different interfacing options .......................................................... 52
Table 10-2: Controller/motor protection setting parameter objects ................................................... 53
Table 10-3: Resistance/Temperature characteristics for different motor temperature sensors ......... 55
Table 10-4: Current limiter (protections) related object ...................................................................... 57
Table 10-5: Setting motor positon feedback parameters ..................................................................... 58
Table 10-6: Torque mode related object .............................................................................................. 66
Table 10-7: Velocity mode related object ............................................................................................. 76
Table 10-8: IPM MTPA and Field weakening (Output voltage control) related object ......................... 79
Table 11-1: Functions available in different states ............................................................................... 91
Table 11-2: Transition events and actions .......................................................................................... 102
Table 12-1: Settings for APP1; torque mode with potentiometer unipolar throttle .......................... 106
Table 12-2: Settings for APP1; torque mode with potentiometer bipolar throttle ............................ 108
Table 12-3: Servo PWM throttle input requirements ......................................................................... 109
Table 12-4: Settings for APP1; torque mode with Servo PWM throttle ............................................. 110
Table 12-5: Settings for APP1; velocity mode with potentiometer unipolar throttle ........................ 112
Table 12-6: Settings for APP1; velocity mode with potentiometer bipolar throttle ........................... 114
Table 12-7: Settings for APP1; velocity mode with Servo PWM throttle ............................................ 116
Table 12-8: Setting options for different driving mode ...................................................................... 117
Table 12-9: Setting driving modes in Application 1............................................................................. 117
Table 13-1: emDrive controller LED status .......................................................................................... 118
Table 13-2: Warning codes - all controller types ................................................................................ 118

www.emsiso.com
Table 13-3: Error codes – emDrive150 ................................................................................................ 119

Table 13-4: Error codes – emDrive500 ................................................................................................ 119
Table 13-5: Error codes – emDriveH300 ............................................................................................. 120
Table 14-1: Modes of operation .......................................................................................................... 121

www.emsiso.com
1I P a g e
1 Introduction
1.1 About user manual

The document contains following information about emDrive motor controllers:
• General information
• Handling and safety instructions
• Technical specifications
• Mechanical specification and installation instructions
• Electrical specification and installation instructions
• System integration guideline (commissioning and adjustment)
• USB-CAN interface
• emDrive Configurator application installation and usage
• Control emDrive over software (CanOpen protocol)
• Control emDrive over Hardware I/O (Application 1)
• Error and warning description
• The manual is used for:
o emDrive150 family motor controllers
o emDrive500 motor controller
o emDriveH300 motor controller
1.2 Support
Please contact our web page www.emdrive-mobility.com for technical support.
1.3 General emDrive information

• Advanced motor controllers for e-drive system supporting:
o BLDC (brushless 3 phase motor with trapezoidal BEMF shape)
o PMSM (permanent magnet synchronous motor with surface mounted magnets)
o Field weakening operation
• CANOpen compatible (device profile CiA DSP 402)
• Multiple rotor position sensor supported
• emDrive can be used in listed applications but it is not limited to:
o Vehicle electrification
o High performances motorcycle
o Industrial applications
o Boat, jet-ski and sub-marine
o Gliders and ultra-light aircraft
Motor control features

• Vector current control minimizes torque ripple and vibration of the motor
• Vector current control with inexpensive hall sensors using observer to generate
sinusoidal motor currents
• Four quadrant operation
www.emsiso.com
2I P a g e
• Integrated velocity control

• Analog input to control motor torque or motor velocity
Position sensors
• Standard three hall sensors with 60° or 120° configuration
• Absolute digital SSI encoder with RS422 interface (for example RLS RM44SC)
• Analog 5V sin/cos (for example RLS RM44AC)
• Resolver with TR = 0,5 ±10%; for example Tamagawa seiki TS2620N1095E161
o For resolver with TR out of specifications please contact support
1.4 Protection functions

• Maximum motor current protection
• Low voltage battery protection with total battery voltage measurement – gradual
decrease of maximum current when total battery voltage indicates empty battery (BMS
still should be used to monitor individual cell separately)
• High voltage battery protection – protection from over-voltage situations when
regenerating with full or damaged battery (BMS still should be used to monitor
individual cell separately)
• Controller thermal protection – gradual decrease of maximum motor current
• Motor thermal protection (input for motor temperature sensor) – gradual decrease of
maximum motor current when motor temperature reaches set limit
• Motor over velocity protection (input for position sensor feedback) – gradual decrease
of maximum motor current when motor maximum velocity reaches limit
• Motor stall protection – limit motor current if motor rotor is blocked for a certain time
• Full self-test of power stage at start up
• High throttle pedal protection – disable operation if powered-up with non-zero throttle
Warning: If motor temperature sensor or position sensor feedback are not used or available then motor thermal
and motor velocity protection are not in function.
1.5 Set-up
• CANOpen connection for setting the parameters and data acquisition
• All settings are stored as parameters and can be changed – no “hard-wired” limits and
settings
• Parameter settings can be stored in file (.dcf)
• Easy set-up with emDrive configurator SW tool (emDrive USB to CAN interface card is
required)
• Internal FLASH memory for storing all selected data (battery voltage, motor current,
velocity, controller and motor temperature, …)

www.emsiso.com
3I P a g e
2 Handling and safety instructions
Before operating with emDrive motor controllers it is necessary that safety instruction provided
in this user manual are implement; that will keep personnel and work area safe. Please read
warning and important notes carefully. Following three signs are used during user manual.
Dangerous: Very important information. High risk of danger to life and/or damage to the product, process or
surroundings.
Warning: Is an instruction that draws attention to the risk of danger to life and/or damage to the product,
process or surroundings!
NOTE: Important information: Usually it is something we recommend.
In this chapter only general handling and safety instructions are provided. Additional
instructions where needed are provided in other chapters.
Dangerous: High voltage! Risk of electric shock! Danger to personnel!
Dangerous: Installation, adjust and maintain of emDrive must be done only by trained personnel under non-
energized conditions!
Dangerous: Before servicing or replacing any component, battery must be disconnected! After battery has been
disconnected wait for the internal capacitors to discharge to less than 60 V before handling the controller or
working near terminals!
Warning: Read and understand this manual carefully before starting operating with emDrive!
Warning: Installer of the emDrive motor controller takes over the responsibility for safety of the complete electric
drivetrain system!
Warning: Proper application circuitry shall include safety precautions such as protective fuse and an adequate
electrical insulation arrangement!
Warning: Use cables of the appropriate rating and fuse according to the applicable national vehicle and electrical
regulations!
Warning: While unpacking the emDrive special care have to be taken in to account that emDrive is heavy. Do not
drop emDrive itself or in the packaging since it can be damaged/destroyed or it can cause an injury!
Warning: Product must not be opened. Any attempt causes loss of warranty. There are no serviceable parts inside
of emDrive!
Warning: All user accessible metal parts and interface connectors meet basic isolation requirements. Basic
isolation test voltage is 2,5 kV for 1 min between metal parts and logic subsystem to high voltage power
subsystem.
NOTE: If anything is unclear please contact Emsiso at [email protected].
NOTE: For recycling and disposal of emDrive consider regional requirements for recycling and disposal of
electronic equipment.

www.emsiso.com
4I P a g e
3 Technical specifications
3.1 emDrive classification

The emDrive motor controller classification is summarized in Table 3-1.
Table 3-1: emDrive controller’s family classification
Family Controller Type
emDrive 150_250/60 Standard = 0, STO = 3
emDrive 150 emDrive 200_400/60 Standard = 1, STO = 4
emDrive 150_300/120 Standard = 2, STO = 5
emDrive 500 emDrive 500_800/120 Standard = 0
emDriveH300 emDriveH300_450/450 Standard = 0
emDrive 500_800/120
Maximum DC link voltage

1 minute peak motor current
Continuous motor current
Voltage level
None: up to 120V
H: up to 450V
Fig. 3-1: Controller numbering system (Example: emDrive 500)
The emDrive motor controller serial number is 11 digits long and it is located on device
informational label. Serial number is composed of device family number (first 3 or 4 digits),
production week (next 2 digits), production year (next 2 digits) and serial number (last 3 or 4
digits). Serial number and identification label structure are shown on pictures below.
300A15170004
Serial number
Production year number
Production week number
Device family number
Fig. 3-2: Controller serial number structure (Example: emDriveH300A)
The emDrive motor controller serial number is 13 digits long and it is located on device
informational label. Serial number is composed of device family number (first 3 digits), device
type (1 digit), production week (next 2 digits), production year (next 4 digits) and serial number
(last 3 digits).
5000152017004
Serial number (3)

Production year number (4)
Production week number (2)
Device type (1)
Device family number (3)
Fig. 3-3: Controller serial number structure (Example: emDrive500)

www.emsiso.com
5I P a g e
NOTE: emDrive motor controller serial number structure before end of year 2018 was slightly different and it
was 11 digits long. For further information about this change contact [email protected]
Controller type and

Product family name
IP rating
INPUT:
- DC voltage OUTPUT:
- max. current* - Phase to phase AC voltage 3 phase
- Power (max. power*) - max. phase RMS current*
- Power (max. power*)
Serial number Manufacturer information

(*) max. current and max. power are defined as peak one minute operation
Fig. 3-4: emDrive identification label (Example: emDriveH300A)

www.emsiso.com
6I P a g e
3.2 emDrive 150

Table 3-2: emDrive 150 technical specifications
emDrive 150 150_250/60 200_400/60 150_300/120 unit
Electrical data
Output continuous current (peak one minute) 150 (250) 200 (400) 150 (300) ARMS
Input DC link voltage range 20 to 60 20 to 60 20 to 120 V
Input DC link current (maximum) 250 300 200 A
Input continuous power (peak one minute) 10 (17) 13 (27) 21 (43) kW
Output phase to phase voltage range 0 to 40 0 to 40 0 to 84 VRMS
Output continuous power (peak one minute) 10 (17) 13 (27) 21 (43) kVA
Input DC link capacitance 6240 13120 2400 µF
Switching frequency (number of output phases) 16 (3) kHz
Output frequency range 0 to 1,2 kHz
EMI Y capacitor, DC + and DC – to heat sink 2 µF
Discharge resistor: DC + to DC – none
Output short-circuits current 3 kA
Control unit electrical data
Supply voltage range (Ignition voltage) 12 to 60 12 to 60 70 to 120 V
Supply current range (Ignition current) 200 200 80 mA
Protection functions
DC link under/over protection (adjustable) 0 to 60 0 to 60 0 to 120 V
Maximum controller current (adjustable) 0 to 250 0 to 400 0 to 300 ARMS
Secondary current (adjustable) 0 to 300 0 to 500 0 to 400 ARMS
DC link capacitors temperature (derating point) 75 °C
MOS-FET temperature (derating point) 110 °C
Motor over temperature protection 140 °C
Measurements
DC link voltage measurement range (resolution) 0 to 65 (0,1) 0 to 65 (0,1) 0 to 130 (0,1) V
Output current measurement range (resolution) 0 to 650 (0,25) 0 to 1000 (0,25) 0 to 650 (0,25) ARMS
Motor temperature sensor input type KTY 84-130, KTY 84-210, NTC
Insulation
DC + to heat sink, DC – to heat sink 100 100 250 V
DC + to logic level, DC – to logic level 100 100 250 V
Logic level to heat sink 100 100 250 V
Insolation resistance: DC + to heat sink, DC – to heat sink 100 M
Protective class (read section Earthing of the System) I
Mechanical data
Weight 1,7 kg
Height x Width x Length (chassis) 58 x 200 x 150 mm
Power contacts tightening torque (M6) 4,5 to 5,5 Nm
Chassis screws tightening torque (M6 x 40 or longer) 8 to 12 Nm
Cooling data
Power dissipation 300 650 770 W
Environmental data
Operating ambient temperature -20 to 65 °C
Storage ambient temperature -40 to 85 °C
Enclosure protection level IP65
Operating altitude up to 2000 m

www.emsiso.com
7I P a g e
3.3 emDrive 500

Table 3-3: emDrive 500 technical specifications
emDrive500 500_800/120 unit
Electrical data
Output continuous current (peak one minute) 500 (800) ARMS
Input DC link voltage range 30 to 120 V
Input DC link current (maximum) 800 A
Input continuous power (peak one minute) 62 (110) kW
Output phase to phase voltage range 0 to 84 VRMS
Output continuous power (peak one minute) 62 (110) kVA
Input DC link capacitance 14520 F
EMI Y capacitor, DC + and DC – to heat sink 3 F
Discharge resistor: DC + to DC – none
Supply voltage range (Ignition voltage) 12 to 30 V
Supply current range (Ignition current) 750 mA
DC link under/over protection (adjustable) 0 to 120 V
Maximum controller current (adjustable) 0 to 800 ARMS
Secondary current (adjustable) 0 to 900 ARMS
MOS-FET temperature (derating point) 100 °C
Motor over temperature protection 140 °C
Measurements
DC link voltage measurement range (resolution) 0 to 135 (0,1) V
Output current measurement range (resolution) 0 to 1000 (0,25) ARMS
Insulation
DC + to heat sink, DC – to heat sink 250 V
DC + to logic level, DC – to logic level 200 V
Logic level to heat sink 200 V
Mechanical data
Weight 4,9 kg
Power contacts tightening torque (M8) 18 to 22 Nm
Cooling data
Power dissipation to coolant 1,8 kW
Required coolant flow 5 l/min
Coolant temperature (derating point) 60 °C
Operating pressure (pressure drop @ 5 l/min @ 25 °C) 2 (0,3) bar
Coolant volume 60 cm3
Coolant mixture (distilled water/glycol) 50/50 %
Environmental data

www.emsiso.com
8I P a g e
3.4 emDriveH300
Table 3-4: emDriveH300 technical specifications
emDriveH300 H300_450/450 unit
Electrical data
Output continuous current (peak one minute) 300 (450) ARMS
Input DC link voltage range 50 to 450 V
Input DC link current (maximum) 450 A
Input continuous power (peak one minute) 135 (200) kW
Output phase to phase voltage range 0 to 302 VRMS
Output continuous power (peak one minute) 135 (200) kVA
Input DC link capacitance 1000 µF
EMI Y capacitor, DC + and DC – to heat sink 220 nF
Discharge resistor: DC + to DC – typ. 200 k
Self-discharge time from 450 V to 60 V 5 min
Supply voltage range (Ignition voltage) 12 to 30 V
Supply current maximum (Ignition current) 2,5 A
DC link under/over protection (adjustable) 0 to 450 V
Maximum controller current (adjustable) 0 to 450 ARMS
Secondary current (adjustable) 0 to 550 ARMS
IGBT module temperature (derating point) 65 °C
Motor over temperature protection (derating point adjustable) 50 to 150 °C
Measurements
DC link voltage measurement range (resolution) 0 to 520 (0,125) V
Output current measurement range (resolution) 0 to 580 (0,353) ARMS
Insulation
DC + to heat sink, DC – to heat sink 2,5 kV
DC + to logic level, DC – to logic level 2,5 kV
Logic level to heat sink 0,1 kV
Mechanical data
Weight 7,5 kg
Power contacts tightening torque (M6 nut) 4,5 to 5,5 Nm
Water fitting tightening torque 65 to 75 Nm
Cover screws tightening torque (2,5 x 10 mm) 0,6 to 0,8 Nm
Cable gland tightening torque (M25) 10 to 12 Nm
Cooling data
Power dissipation to coolant 4,5 kW
Required coolant flow 10 l/min
Coolant temperature (derating point) 60 °C
Operating pressure (pressure drop @ 10 l/min @ 25 °C) 1 (0,1) bar
Coolant volume 85 cm3
Coolant mixture (distilled water/glycol) 50/50 %
Environmental data

www.emsiso.com
9I P a g e
4 Mechanical specification
4.1 Important instructions

Strength and rigidity of mounting surfaces: mounting surface – aluminum base plate of emDrive
is intended for mounting of emDrive only. Do not mount other devices/equipment to the
mounting surface of emDrive. What have to be connected to emDrive is earthing conductor
only (see chapter Earthing of the system). Mounting surface flatness where emDrive will be
mounted has to be 0,2 mm or better.
Warning: Failure to comply with specified flatness can cause deformation to emDrive base plate which can lead
to permanent damage!
4.2 Dimension and mounting drawings
emDrive 150
Fig. 4-1: emDrive 150 – Dimensions and mounting holes drawing

www.emsiso.com
10I P a g e
emDrive 500
Fig. 4-2: emDrive 500 – Dimensions and mounting holes drawing

www.emsiso.com
11I P a g e
emDriveH300
Fig. 4-3: emDriveH300 – Dimensions and mounting holes drawing

www.emsiso.com
12I P a g e
4.3 Mechanical installation instructions

emDrive mounting location has to be chosen with care taking in to account the following
considerations:
• do not mount emDrive where it may be susceptible to damage due to minor collisions
or impact from road debris
• emDrive has a high degree of ingress protection but anyway avoid mounting the
emDrive in locations where it may be subjected to long term exposure to water or jets
of water
• mount emDrive away from heat sources (e.g. internal combustion engine, exhaust, ...)
emDrive are not sensitive to mounting orientation. Controller can be mounted in any
orientation. Liquid cooling system in liquid cooled emDrive version has to be degassed.
4.4 Cooling
emDrive is equipped with temperature monitoring circuit to protect itself and motor from
overheating. If cooling is not sufficient emDrive/motor will overheat and reduced power will be
delivered from emDrive to motor.
Air cooling
emDrive 150 are versions with air cooling system. Mount emDrive 150 to sufficient large metal
sheet or install heat sink which is capable carrying enough heat. Heat losses are defined in
section 3.2.
Liquid cooling
emDrive with liquid cooling system have to use cooling liquid mixture as specified in sections
3.3 and/or 3.4. Before starting up the electric drive train with liquid cooling system has to be
degassed (no air pockets in the cooling loop).
Warning: Cooling system with air pockets can lead to overheating or thermal destruction of electric drive train
system components! Only degassed cooling system will operate properly!
Basic cooling circuit diagram is shown in figure below. Main cooling circuit components are:
water pump, emDrive, radiator and electric motor.
Left side of figure present’s simple circuit with only emDrive being liquid cooled. Direction of
cooling liquid is that emDrive hot liquid outlet is inlet to radiator. Between radiator through
pump toward emDrive only cooled liquid flows.

www.emsiso.com
13I P a g e
Fig. 4-4: emDrive cooling circuit diagram
Right side of figure presents circuit where emDrive and motor are liquid cooled. When using
more components in cooling circuits that generates heat (e.g. charger, motor controller, motor,
etc.) components sequence is very important. First component in the loop is radiator which
cools down cooling liquid. Next is pump. All other components are ordered so that first
component is the one which generates the least heat losses and last in sequence is the one that
generates the most heat losses. This is because least heat losses add least temperature rise and
vice versa.
Warning: In cooling circuit use only approved components that meet thermal and pressure requirements!
4.5 Sizing a conductor

We recommend using shielded silicone insulated, screened copper, single core high voltage
automotive cables like Coroplast (www.coroplast.de) or equivalent. Recommended wire cross
section for maximum phase current and maximum power are shown in table below.
Table 4-1: Recommended wire cross section

Max. wire length
Drive / conductor Phase Battery Earthing Pre-charge
Phase Battery
emDrive 150_250/60 25 mm2 25 mm2 16 mm2 1,5 mm2
2m 5m
95 mm2 or 95 mm2 or
emDrive500_800/120 50 mm2 2,5 mm2
2 x 50 mm2 2 x 50 mm2
emDriveH300_450/450 50 mm2 50 mm2 25 mm2 1,5 mm2
Warning: Regarding to the standard ISO 6469, electrically propelled road vehicles Safety specifications – part 3,
protection of persons against electric shock defines that the outer covering of the cables and harness for
maximum working voltage class B (60 to 1500 V) electric circuits shall be orange color!

www.emsiso.com
14I P a g e
5 Electrical specification
5.1 Important instructions
Dangerous: Assembly and installation work must be taken only in non-energized conditions and by trained
personnel only!
Warning: None of emDrive has protection against reverse polarity on input DC link terminals! If installation
polarity is wrong the device will be destroyed!
Warning: Lay power cables and control cables spatially separated!
Warning: Use correct cable cross-section!
Warning: Tie all cables into fixed position to prevent the cable from moving and thereby damaging the insulation!
Use shielded cable for all connections to the motor and the battery. Keep cables as short as
possible and close together to minimize emitting and receiving surfaces – loops. Keep battery
positive and negative cables as close as possible to minimize impedance. Keep motor power
cables as close as possible to minimize their impedance.
Keep all signal wiring harness as short as possible and route wiring close to metal framework.
Keep all signal wiring away from power cables as far as possible. Use only shielded cables.
Where using shielded cables beware of generating ground loops in which currents may be
induced or which may cause noise currents to flow via unintended paths.
Warning: Make sure that cable is not applying any torque or force to the phase or DC link terminal!
Warning: Cables carrying high AC current are subjected to alternating forces. Tie cables into fixed position to
prevent long-term fatigue!
Warning: When selecting cable cross section, consideration must be given to cable length, grouping of cables,
the maximum allowable temperature rise and the temperature rating of the chosen cable!
5.2 Earthing of the system

Acceptable earthing of EDS (Electric Drivetrain System) is shown at figure below and is
summarized from IEC 60364-1:2005. EDS have to be earthed as shown on figure. All power
supply connections and all electrical installation connections have to provide basic insolation
from accessible conductive parts of the installation.
Dangerous: Do not operate emDrive motor controller without protective earthing conductor connected or without
equipotential bonding!

www.emsiso.com
15I P a g e
Fig. 5-1: EDS earthing system according to IEC 60364-1:2005
NOTE: Additional earthing of the PE in the installation may be provided.
Dangerous: Protective class specified in section 3 specification is valid only if earthing is done correctly. If
earthing is not possible see section Insolation monitor device.
Fig. 5-2: emDrive earthing system diagram
Every EDS or EDS element (motor, controller, battery) requiring connection to earth by
protective bonding have a means of connection for the protective earthing conductor, located
near the terminals for the respective live conductors. Earthing conductor of EDS has to be of a
minimal cross section specified in the section Sizing a conductor in green/yellow or green color.
Dangerous: A protective earthing conductor shall be connected at all times when high voltage power is connected
to the system!
Dangerous: It is forbidden and life-threatening to operate EDS which is not earth wired as specified!

www.emsiso.com
16I P a g e
5.3 Insulation monitoring device

When emDrive is mounted to the vehicle (car, airplane, boat, etc.) where ground connection is
not possible installation must include insolation monitor device. Device has to meet voltage
ratings of emDrive specified in section 3. Device detects if vehicle chassis is energized. This
means that insolation of some component has failed. Device will turn off main DC power supply
to protect user from hazardous voltage and prevent electric shock. We recommend using
insolation monitor device from producer BENDER ordering code ISOMETER iso165C or
equivalent.
Dangerous: In vehicle application where ground connection is not possible use of insolation monitor device is a
must!
5.4 Power installation
Basic power wiring

Figure below presents basic power wiring diagram. Power wiring shall include safety
relays/contactors for safety disconnection of power supply (batteries) when EDS is not in use.
When EDS is going in to use at first pre-charge must be done via pre-charge resistor. Required
pre-charge resistor for each emDrive are specified in section DC-link pre-charge. EDS wiring
have to be fuse protected. Fuse ratings for each emDrive are specified in section Fuse rating.
Power cable cross section is defined in section Sizing a conductor.
Fig. 5-3: emDrive basic power wiring
Power terminals identification

Figure below shows power terminal identification for emDriveH300 with important information
that must be checked before connecting power supply and load to emDrive controller. For
other emDrive controller’s information is available on device cover. Input power supply
(typically battery) is connected to terminals market with B+ and B-. Input voltage range for
emDrive controllers are specified in section 3. Output load (typically BLDC/PMSM/induction
motor type) is connected to terminals market with U, W, V. Output voltage/current/power
range for emDrive controllers is specified in section 3.

www.emsiso.com
17I P a g e
Fig. 5-4: emDrive power terminals identification for emDriveH300
emDrive 150
emDrive 150 has a M6 power terminals for connecting battery and motor cables. For
connecting cables use cable lug of proper size that suits selected cable cross section and for M6
tightening screw. Recommended cable lugs are from producer Cembre in sizes:
• 16 mm2: A3-M6
• 25 mm2: A5-M6
• 35 mm2: A7-M6 or A7 B-M6/11.5
• 50 mm2: A10-M6 or A10 B-M6/11.5
NOTE: emDrive 150 package includes controller with cable fixing screws.
emDrive 500
emDrive 500 has a M8 power terminals for connecting battery and motor cables. For
connecting cables use cable lug of proper size that suits selected cable cross section and for M8
tightening screw. Recommended cable lugs are from producer Cembre in sizes:
• 50 mm2: A10-M8
• 95 mm2: A19-M8 or A19 B-M8/15.5
NOTE: emDrive500 package includes controller with cable fixing screws.

www.emsiso.com
18I P a g e
emDriveH300
Only shielded high voltage cables are acceptable for emDriveH300 installation. Protective
shields of high voltage cables shall be installed correctly as shown at figures below. Use only
certified high voltage industrial or automotive cables. Supplied cable lugs are 50 mm2 from
producer Cembre, ordering code: A10-M6.
NOTE: emDriveH300 package includes controller with lugs and fixing nuts.
Fig. 5-5: emDriveH300 power cable assembly
5.5 DC-link discharge

emDrive 150 and emDrive 500 does not have discharge resistor integrated. System integrator
has to take care for emDrive 150/emDrive 500 DC capacitor discharge. emDriveH300 has
integrated discharge resistor which is always connected to DC capacitor bank. Resistor value is
specified in section 3.
Dangerous: Before servicing or replacing any component, battery must be disconnected! After battery has been
disconnected wait for the internal capacitors to discharge to less than 60 V before handling the controller or
working near terminals.
5.6 DC-link pre-charge

emDrive has large DC link capacitor bank for filtering voltage ripple due to PWM switching
operation. Capacitor bank capacitance is specified in section 3. Pre-charge wiring example is
shown in chapter 0. Based on RC charge circuit, resistor value and resistor power rating for
charge time of 2 seconds are calculated and given in table below. The calculations are made
under consumption that capacitor bank is fully charged in 5 time constant; tCharge = 5

www.emsiso.com
19I P a g e
Table 5-1: Recommended pre-charge resistor values for charge time of 2 s

Drive Pre-charge resistor [] Peak power [W] Average power [W]
emDrive150_250/60 68 53 6
emDrive200_400/60 33 110 12
emDrive150_300/120 180 80 9
emDrive500_800/120 27 534 53
emDriveH300_450/450 470 431 51
Warning: Failure to use a pre-charging may lead to damage the line relay/contactor or the emDrive!
NOTE: Pre-charge resistor values have been calculated at maximum DC-link voltage and rounded to standard
E12 series values. High Pulse Capability wire wound resistors are recommended. For example, Arcol HS10-
HS300 or Tyco HSA & HSC Aluminium Housed Power Resistor series.
5.7 Fuse rating

The power supply wiring must be fused to protect the battery, vehicle’s wiring and the emDrive
in the event of a fault. Maximum current and minimum voltage fuse ratings for emDrive are
given in table below. Size fuse ratings according to the emDrive, battery and motor used in
drive train installation. Main fuse type must be fast acting and Interrupting Rating must be
higher than available short circuit current from battery.
Table 5-2: Fuse rating
Main fuse F1 Pre-charge fuse F2 Logic supply fuse
Drive / Fuse rating
max. Current min. Voltage max. Current min. Voltage max. Current min. Voltage
[ARMS] [VDC] [ARMS] [VDC] [ARMS] [VDC]
emDrive 150_250/60 160 80 2 80 0,5 63
emDrive 200_400/60 250 80 4 80 0,5 63
emDrive 150_300/120 200 150 2 150 0,2 125
emDrive 500_800/120 630 150 7,5 150 1,5 63
emDriveH300_450/450 315 500 2 500 4 63
Warning: In table only, maximum current and minimum voltage fuse ratings for emDrive are shown. Actual fuse
rating must be selected according actual battery and motor specification used in drive train installation.
Warning: Use DC voltage rating fuse only.
5.8 Minimum relay/contactor rating

The power supply wiring must include power relays/contactors to disconnect main DC power
supply from emDrive for safety reasons. Relay/contactor has to satisfy basic insolation when
power contacts are opened. Used relays/contactors have to meet minimum requirements
specified in the table below.
Table 5-3: Minimum relay/contactor rating
Main Pre-charge
Drive / Relay-Contactor rating min. Current min. Voltage min. Current min. Voltage
[ARMS] rating [VDC] [ARMS] rating [VDC]
emDrive 150_250/60 300 80 2 80
emDrive 200_400/60 400 80 4 80
emDrive 150_300/120 300 150 2 150
emDrive 500_800/120 1000 150 10 150
emDriveH300_450/450 500 600 2 600

www.emsiso.com
20I P a g e
6 System integration guideline
Depending on application requirements, motor type, battery, position sensor feedback,

controller and auxiliary components are selected. Normally in first step suitable motor is chosen
and other components depending on selected motor. Motor manufacturers usually provide
guideline for selecting motor that best fits application requirements. Starting information for
choosing motor are desired rpm and torque. For other motor characteristics and limitations
that may be important for application and could influence selecting right motor check motor
manufacturer guideline or consult with motor manufacturer. emDrive controller can be also
used with dual winding motors. Dual winding motor can be used to split the power to two
controllers (if proper dual position feedback is used) or to have controller redundancy. In both
cases two emDrive controller work independently.
Based on selected motor and application requirements next step is selecting appropriate
battery. Basic battery parameters important for selecting battery are battery voltage, current
(continuous, peak) and capacity. Selection of position sensor feedback type depends on desired
sensor accuracy, reliability and price. Usually position sensors used for motor are Hall, SSI,
SIN/COS and resolver type. All mentioned position sensors are also supported by emDrive
controller. For best performance we suggest use of the SSI position sensor. In case of SIN/COS
or resolver is strongly recommended to use multipole type of sensor. Meaning motor pole pairs
are multiple of sensor pole pairs. The best accuracy is achieved when multiple equals one.
Once motor, battery and position sensor are determined emDrive controller type is chosen.
Basic selection criteria for selecting right controller are desired continuous and peak motor
current and battery voltage (Input DC link voltage) that are specified in section 3. Additional to
basic parameters check if controller logic voltage range suits and if other parameters or
features needed for application are supported by selected emDrive controller type.
NOTE: In case of dual windings motor only torque mode should be used. Operation possible only with tandem
resolver position sensor.

www.emsiso.com
21I P a g e
6.1 emDrive architecture
emDrive 150 block diagram

Block diagram below presents basic electrical architecture of emDrive 150.
Fig. 6-1: emDrive 150 architecture block diagram

emDrive 150 power stage is based on discrete power MOS-FETs switching devices. MOS-FETs
are directly soldered to IMS (Isolated Metal Substrate) which is mounted to aluminum base
plate. Base plate is cooling interface of emDrive 150. MOS-FETs gate are controlled by DSP
(Digital Signal Processor). Control PCB has integrated: power supply converters for DSP and
other sub units, DSP (Digital Signal Processor), gate drivers, DC link capacitors, DC link voltage
measurement, phase current measurement, motor positon measurement and safety circuits.
Based on requested input and measured quantities DSP calculate motor control algorithms.
The motor control algorithm is based on Field Oriented Control (FOC).
emDrive 500 block diagram

Block diagram below presents basic electrical architecture of emDrive 500.
Fig. 6-2: emDrive500 architecture block diagram

www.emsiso.com
22I P a g e
emDrive 500 power stage architecture is very similar to emDrive 150. Main difference is that
DC link capacitors are on the separate PCB and it has liquid cooling instead of air cooling.
emDriveH300 block diagram

Block diagram below presents basic electrical architecture of emDriveH300.
Fig. 6-3: emDriveH300 architecture block diagram

This emDrive’s heart is direct cooled IGBT module. IGBT is driven with IGBT driver, where all
IGBT’s power supplies, gate signals, temperatures and voltage measurements are generated.
Gate driver isolates high voltage to low logic supply and control signals with isolation specified
in the section 3. Control PCB is unit with protection for all I/O’s, power supply converters for
DSP and other sub units. DSP measure: DC link voltage, IGBT, capacitor and motor
temperatures, currents, motor position and runs all motor control algorithms (FOC) with
communication. This version of emDrive has integrated DC link capacitors with permanently
connected discharge resistor and EMC Y capacitors CY.
6.2 Requirements for building electric drivetrain system

General requirements
• emDrive motor controller
• emDrive USB to CAN interface card
• emDrive Configurator tool installed on PC
• Motor (permanent magnet synchronous motor)
• Motor position sensor
• Battery or adequate DC voltage power supply
Optionally (depends on usage or procedure)

• Additional power supply for controller logic (only if battery voltage is out of logic voltage
range)

www.emsiso.com
23I P a g e
• Auxiliary components (CAN, Throttle, Brake, FWD, REV, ...) or Emsiso Connection Box
(contact Emsiso for offer)
Requirements for emDrive Configurator application and emDrive USB-CAN interface

• PC with Windows operating system 7 or later
• Installed Microsoft .NET Framework version 4.5.1 or later
• Windows Installer 3.1 or later
• emDrive Configurator (download available on web page https://www.emdrive-
mobility.com/)
• emDrive USB-CAN Interface (not included with emDrive controller) or third-party CAN
interface
o USB cable (USB type A Male to USB type B Male). Cable is not included.
o CAN bus cable.
▪ Connection Box (DB9 Male to DB9 Female, 1:1). Cable is not included.
▪ In other cases, check emDrive USB-CAN Interface connector pinout for
correct wiring.
Available accessories (overview)

Table 6-1: Available accessories (overview)
Device Included (with emDrive) Comment
emDrive Battery terminal screws/nuts Not included:
Motor terminal screws/nuts - System mating connecter
- Crimps for mating connector
- Mounting material
emDrive Configurator Yes (Emsiso web page) Licence (on request)
USB-CAN Interface No (Contact Emsiso for order) Without any cables
Connection Box No (Contact Emsiso for order)
6.3 emDrive system connector

emDrive system connector is from TE Connectivity (AmpSeal 35 pin waterproof).
Fig. 6-4: emDrive system connector pinout numbers
emDrive control interface mating connector is 35 pin female AMPSEAL with ordering code:
• connector housing (Manufacturer Part No: 776164-1)
• female crimp pins (Manufacturer Part No: 770854-3 (gold) or 770854-1 (tin))

www.emsiso.com
24I P a g e
Fig. 6-5: emDrive mating connector and crimp pin

More information about connector assembly, crimp pins, crimping tool and distributors are
available at www.te.com
NOTE: Unused contact positions must be sealed to maintain IP rating.
Table 6-2: emDrive system connector pin description

Pin Name Description/comment
1 Ignition GND Ground. Used for ignition. Internally connected with pin 3
2 Ignition VCC Power supply for controller logic (check emDrive specification!)
3 Logic GND Ground. Used for throttle and other inputs
4 VCC out 5 V for powering throttle and brake control (Max. current 200 mA)
5 Throttle input Analog input (0-5 V). Throttle input
6 FW upgrade input Used for FW upgrade. Only for factory use
7 RS232 Tx Used for FW upgrade. Only for factory use
8 RS232 Rx Used for FW upgrade. Only for factory use
9 SSI Clock + Absolute digital SSI encoder with RS422 interface (output)
10 SSI Clock - Absolute digital SSI encoder with RS422 interface (output)
11 SSI Data + Absolute digital SSI encoder with RS422 interface (input)
12 SSI Data - Absolute digital SSI encoder with RS422 interface (input)
13 Forward digital input Motor rotation direction. Switch to GND (Active Low)
14 Reverse digital input Motor rotation direction. Switch to GND (Active Low)
15 Brake digital input Electrical braking (regeneration). Switch to GND (Active Low)
16 Open collector output 1 Digital output
17 Open collector output 2 Digital output
18 Brake input Analog input (0-5 V). Electrical braking (regeneration).
19 CAN GND In standard (non-isolated) version this pin is connected with pin 3
20 Resolver exc + Resolver power supply (output). 10 Vpp; 8.2 kHz.
21 Resolver exc - Resolver power supply (output). 10 Vpp; 8.2 kHz.
22 SIN/COS (SIN)* SIN/COS sensor. Analog input (0-5 V)
23 SIN/COS (COS) SIN/COS sensor. Analog input (0-5 V)
24 Feedback GND Ground. Used for sensors feedbacks. Internally connected with pin 3
25 Hall U** Hall sensor input
26 Hall V** Hall sensor input
27 Hall W** Hall sensor input
28 Feedback VCC 5 V used for powering position sensors (Max. current 50 mA)
29 Motor temperature Temperature sensor input (KTY or NTC). For GND use pin 24
30 CANL CAN bus Low signal
31 CANH CAN bus High signal
32 Resolver SIN + Resolver sensor. Analog input (0-5 V)
33 Resolver SIN - Resolver sensor. Analog input (0-5 V)
34 Resolver COS + Resolver sensor. Analog input (0-5 V)
35 Resolver COS - Resolver sensor. Analog input (0-5 V)
* input is optionally used for detection of driving mode selection (normal, sport, eco)
** input is on emDrive 150 optionally used for Functional safety (STO). Option needs to be ordered (additional hardware).

www.emsiso.com
25I P a g e
Warning: In standard (non-isolated) version controller has no galvanic insolation between power stage and
control section. Screw connection battery minus (–B) is internally connected with pins 1, 3 and 24.
Functional safety (STO)

The Safe Torque Off (STO) inputs are a digital inputs intended for nominal 24 VDC, positive logic
(enabled when high). The STO function is available only for emDrive 150 and must be ordered
up front.
Table 6-3: Functional safety (STO) electrical data
Electrical data Value
Absolute maximum voltage range -30 V to +30 V
Logic threshold 15,5 V ± 2,5 V
Typical input current at +24 VDC 3,5 mA
Maximal response time at nominal voltage 60 ms
System will not respond to 1 ms “disable” test pulses with frequency less than 100 Hz.
Fig. 6-6: STO input connection example

www.emsiso.com
26I P a g e
6.4 Equipment and Installation Check (commissioning)

The purpose of the equipment check is to verify that correct equipment was received with
proper specifications and parameters. The purpose of the installation check is that connections
and parameters setting where done correctly for safe device usage. Upon equipment reception
visual inspection should be performed. Received equipment must be in good physical condition
and all of the requested parts and accessories must be present in delivery. Check also device
label and production test report of the device before using and connecting equipment. Before
any installation work is done read carefully whole user manual (especially electrical and
mechanical installation chapters).
Dangerous: Installation, adjust and maintain the emDrive must be done only by trained personnel under non-
energized conditions!
Before starting up the electric drivetrain system with liquid cooling check if coolant mixture is
correct and system has been degassed. For air cooling system check if heat sink is capable
carrying enough heat and enough airflow is provided. More information about cooling
requirements are in cooling and technical specification chapter. Before connecting any external
power supply or battery to the electric drivetrain check if all electrical connections have been
done according to electrical installation, fuse rating and power installation chapters. Check also
that used cables are without isolation damage and correctly tightened. In case of system
earthing check if earthing is done correctly (more information in earthing of the system
chapter).
6.5 Connection sequence

To lower risk of unintended short circuit, sparks and similar follow recommended connection
sequence below.
1. Connect USB cable between PC and USB/CAN interface.
2. Connect CAN bus cable between USB/CAN interface and
a. emDrive System connector (for details see description of system connector)
b. Emsiso Connection Box.
3. Connect Auxiliary components (CAN, Sensor feedback, Throttle, Brake, FWD, REV, ...) to
emDrive System connector (for details see description of system connector).
4. Connect emDrive 3 phase outputs to motor (read chapter with wire cross section for
maximum phase current and maximum power)
5. Connect sensor feedback
a. position sensor (if used)
b. motor temperature sensor (if available)
6. Connect logic power supply to
a. emDrive system connector (for voltage level see technical specification for
corresponding emDrive type).
b. Emsiso Connection Box (for voltage level see technical specification) or
7. Connect Battery to emDrive (read chapter with wire cross section for maximum phase
current and maximum power)
www.emsiso.com
27I P a g e
Battery
+ -
emDrive
Configurator 7
B+ B- 4
USB cable emDrive
USB/CAN W
1 System connector
V
MOTOR
U
CAN
2
bus
3 5
Sensor feedback
6
Auxiliary components and interconnections
Logic power +
(CAN, Sensor feedback, Throttle, Brake, FWD, REV, ...)
supply -
or Emsiso Connection Box
Fig. 6-7: Connection sequence
6.6 Basic wiring example

Wiring example shown on figures below represents basic application for electric drivetrain.
Functionalities of electric drivetrain are:
• Switch for enable/disable controller (Ignition)
• Motor position sensor feedback
• Motor temperature sensor feedback
• Switch for direction (forward and reverse) – used with Application 1
• Potentiometer for throttle setting – used with Application 1
• Potentiometer for brake setting – used with Application 1
• CAN for connection with emDrive Configurator (USB/CAN interface)
NOTE: Read and apply instructions found in other chapters since Pre-charge, Discharge, Fuses, Contactors,
Earthing, etc. are not shown in basic wiring example!

www.emsiso.com
28I P a g e
emDrive Auxiliary components

System connector
1
or Connection Box
Ignition GND
GND ingnition
2
Ignition VCC Ignition VCC
Ignition (see emDrive specification
3
Logic GND for Ignition voltage level)
GND logic
4
VCC out (5V)
5 Throttle Brake
Throttle input (0-5V) 10 k 10 k
18 GND logic
Brake input (0-5V) GND logic
Forward digital input

FWD
14
Reverse digital input
REV GND logic
31
CAN High
CAN High
30
CAN Low CAN Low
19 CAN GND
CAN GND
29
Motor temperature
Position sensor feedback** ** see cable wiring for different

position sensors
MOTOR
B-
-
Battery
W
V
B+
+
U
Fig. 6-8: Basic wiring example

www.emsiso.com
29I P a g e
Hall sensor System connector SSI sensor

24
System connector Feedback GND
24 9
Feedback GND SSI clock +
25 10
Hall U SSI clock -
26 11
Hall V SSI data +
27 12
Hall W SSI data -
28 28
Feedback VCC Feedback VCC
SIN/COS sensor Resolver

System connector
24
Feedback GND
20
Resolver exc +
21
System connector Resolver exc -
24 32
Feedback GND Resolver SIN +
22 33
SIN/COS (SIN) Resolver SIN -
23 34
SIN/COS (COS) Resolver COS +
28 35
Feedback VCC Resolver COS -
Fig. 6-9: Cable wiring for different position sensors
System connector
CAN High
30
CAN Low
19
CAN GND
5 4 3 2 1
CAN DB9 9 8 7 6
Female
Fig. 6-10: CAN bus cable wiring (for Emsiso USB/CAN interface)

www.emsiso.com
30I P a g e
7 emDrive USB-CAN Interface
General information
• CAN interface for the USB connection (USB 1.1, compatible with USB 2.0 and USB 3.0)
• Bit rates from 5 kbit/s up to 500 kbit/s
• CANOpen compatible
• CAN bus connection via D-sub Male, 9-pin
• USB connection via USB type B Female
• Galvanic insolation on the CAN up to 500 V
Housing
• Aluminum housing – Dimensions (Height x Width x Length) 30 x 70 x 60 mm
• Weight 93 g
• IP20 protection
1 5
6 9
Fig. 7-1: emDrive USB-CAN Interface
Table 7-1: emDrive USB-CAN Interface DB9 Male connector pinout

Pin Name Description
1 / Not connected
2 CAN Low Isolated CAN Low
3 CAN GND Isolated CAN GND
4 / Optional RS232 Tx
5 / Optional RS232 GND
6 / Not connected
7 CAN High Isolated CAN High
8 / Optional RS232 Rx
9 / Optional Ext. 12V power supply in
Table 7-2: emDrive USB-CAN Interface termination

Position Description
ON Internal 120  termination resistor on CAN bus enabled
OFF Internal 120  termination resistor on CAN bus disabled
Table 7-3: emDrive USB-CAN Interface LED status

LED \ status OFF Flashing ON
CON (green) No connection / Connection ok
DATA (red) No CAN traffic CAN traffic /

www.emsiso.com
31I P a g e
7.1 Installation
Read system requirements chapter for emDrive USB-CAN Interface basic demands. Software
download is available from web page https://www.emdrive-mobility.com/. After download go
to download folder and extract files. Run file with filename corresponding to used operating
system (32/64bit). Follow installation wizard information until device driver installation is not
complete.
Fig. 7-2: emDrive USB-CAN Interface installation wizard

www.emsiso.com
32I P a g e
8 emDrive Configurator tool (SW version 2.0 or higher)
emDrive Configurator is CAN open tool developed by Emsiso. It was primarily designed for
usage with Emsiso products, but it can be used with any third-party device supporting CAN
open protocol. emDrive Configurator also has some additional features specific only for Emsiso
products (for example unique oscilloscope feature) that will not work on third-party devices. If
emDrive Configurator is used with third-party CAN interface specific features (outside CAN
open protocol) will also not work (for example oscilloscope feature will not work).
8.1 Installation
Download emDrive Configurator from web page and follow installation information (in case of
security warning message proceed by selecting Run/Install option). After application first run
unselect “Always ask before opening this file”. Licence Management window will appear if valid
licence was not found (follow application instructions for getting and applying licence). In case
of upgrade from version less than 2.0 to version 2.0 or higher notification window regarding
old licence type will appear. It is advised to contact us for new licence type. Without new licence
type emDrive Configurator will work as before, but some new features may not be available.
Fig. 8-1: emDrive Configurator application installation security warning
Fig. 8-2: emDrive Configurator application run security warning

www.emsiso.com
33I P a g e
8.2 emDrive Configurator user interface

emDrive Configurator is divided to menu bar, status panel, main window, docked window and
status bar. All main and docked windows can be shown or hidden in View menu and they can
be freely docked anywhere or even floated separately (double mouse click or left mouse click
on window name).
MENU BAR
STATUS PANEL
MAIN WINDOW DOCKED WINDOW
STATUS BAR
Fig. 8-3: emDrive Configurator user interface
Menu bar
Table 8-1: emDrive Configurator Menu bar options
Menu name Menu option Short description
File Save project Save current project
Load project Load project
Save EDS Save Electronic Data Sheet
Save DCF Save Device Configuration File
Load DCF Load Device Configuration File
Exit Exit/close emDrive Configurator
View Start page Main window enable/disable page.
SDO browser Main window enable/disable page
Live chart Main window enable/disable page
Oscilloscope Main window enable/disable page
Watch Docked window enable/disable page
Sliders Docked window enable/disable page
EMCY messages Docked window enable/disable page
Network Connection Connection menu. See pictures following this table
Nodes Nodes menu. See pictures following this table
Device Firmware update Firmware update. See pictures following this table

www.emsiso.com
34I P a g e
Save parameters (Ctrl + S) Save parameters (on emDrive device)
Set parameters to default (Ctrl + D) Set parameters to default (on emDrive device)
Script Edit/running scripts. See pictures following this table
Help View help (Ctrl + F1) Help
About emDrive Configurator About information

www.emsiso.com
35I P a g e
File menu
Save/Load project. emDrive Configurator allows user to save/load project file for later use on
PC drive. Project file includes Network description (EDS files), Watch, Shortcuts, Sliders and
other user settings.
Save EDS. Electronic Data Sheet (EDS) is standard CANopen file that contains list of all objects
supported by device with their parameters. With this command user can download EDS file
directly from emDrive device. Downloaded EDS file is standard text file with .eds extension.
Save/Load DCF. Device Configuration File (DCF) is standard CANopen file that contains list of
objects with values in moment that was saved. DCF can be saved and loaded with any CANopen
software that supports this functionality. To save or load DCF file make sure that connection to
the device is working and communication port is opened with right Node-ID selected. Select
Save DCF or Load DCF from menu and browse computer for file path.
View menu
Menu options in View are described in Main and Docked window chapter.
Network menu
Connection window. To obtain bitrate of the USB-CAN interface click Read CAN card bitrate. To
select different CAN bitrate, use Change CAN bitrate dropdown menu and click Apply to confirm
new setting. Click Read CAN card protocol to obtain information about selected protocol. To
select different CAN protocol, use Set CAN protocol dropdown menu and click Apply to confirm
new setting (if dropdown menu is disabled licence for this option is not installed). In Manual
connecting mode select from dropdown menu COM Port (use Refresh button to update list of
available communication ports). For opening/closing communication port use Open and Close
buttons. In Automatic connecting mode application will automatically select and open
connection based on device name (for Emsiso USB-CAN interface correct string is already set
by default). If Show connection menu checkbox is selected additional connection menu will be
shown under menu bar for quick access to communication setting control. If Check connection
is selected emDrive Configurator will send periodically CAN requests to device to verify if device
is still connected. If Read on click is selected, reading object values in SDO browser is done by
single click on SDO browser object structure (if read on click is not selected reading object value
is done by additional click on read button). Addition information about communication is visible
in Status of command queue. Waiting queue is cleared with click on Clear buffer button.

www.emsiso.com
36I P a g e
Fig. 8-4: emDrive Configurator Menu bar -> Network -> Connection
Fig. 8-5: emDrive Configurator Menu bar -> Network -> Connection (show connection menu)
Nodes window allows scan network and loading existing EDS file from computer or
downloading it from device. Start scan will start scan for available network nodes. This step can
be skipped if ID number of devices is already known (in this case Node-ID number is entered in
table). Scanning process can also be stopped when Node reaches the ID number of connected
devices. Normally default emDrive device node ID is 1. Refresh button will check only status of
Node-IDs that are already in table. Download button is used to get EDS information from device.
If EDS file of device is already available loading file is possible instead of downloading file again.
Select “…” and browse for EDS file. After loading EDS file SDO browser is automatically updated.
Fig. 8-6: emDrive Configurator Menu bar -> Network -> Nodes

www.emsiso.com
37I P a g e
Device menu
Firmware update of device is possible in this window. Check Node ID value of emDrive device
value before starting firmware update procedure (if needed change Node ID in Status panel
under General Node-ID). Browse for Firmware file and click Update button. Follow instruction
messages that appear during procedure.
Fig. 8-7: emDrive Configurator Menu bar -> Device -> Firmware update
Fig. 8-8: emDrive Configurator Menu bar -> Device -> Firmware update (Save DFC file)
Fig. 8-9: emDrive Configurator Menu bar -> Device -> Firmware update (Uploading progress)

www.emsiso.com
38I P a g e
Fig. 8-10: emDrive Configurator Menu bar -> Device -> Firmware update (Load DFC file)
Fig. 8-11: emDrive Configurator Menu bar -> Device -> Firmware update (end message)
Save parameters (Ctrl + S). Save parameter values to device internal memory (EEPROM).
Set parameters to default (Ctrl + D). Command will Reset all device parameters to default
values.
Script window allows Run or Edit created scripts. Script usage is only for advanced users (usually
Emsiso provides script file and customer uses only Browse and Run script).
Fig. 8-12: emDrive Configurator Menu bar -> Device -> Script

www.emsiso.com
39I P a g e
Status panel
Status panel is divided to General, NMT commands, Shortcuts, Sync and Status section.
Fig. 8-13: emDrive Configurator Status panel
General section. Node-ID of device that we want to control/monitor is selected. With Get
Device-ID button unique identification number of connected device is obtained.
Fig. 8-14: emDrive Configurator Status panel (General)
NMT commands (Network Management) section allow user to set state of one or all nodes on
CAN network. Stopped disables transmit or receive any messages except node guarding or
heartbeat messages as well NMT messages. Comm Reset will reset CAN communication. Reset
will reset controller. Preoperational state is mainly used for making changes of CAN node
parameters (it disables DSP402 state machine so that parameters can be safely changed. In this
state power stage of the controller is disabled). Putting CAN node device into Operational will
start DSP402 state machine and enable PDO communication. Operational state is mandatory
condition to run motor.
Fig. 8-15: emDrive Configurator Status panel (NMT commands)
Shortcuts section is part of status panel and is designed to allow user easy and fast access to
six predefined object writes. Shortcuts offers user six ready to be customized buttons. Shortcuts
are also triggered with keyboard hotkeys F1 to F6. To Add object to shortcut, browse for object
in SDO Browser, right click object, chose Add to shortcut menu and select shortcut number. To
edit shortcut right click on shortcut, click Edit, edit Value and Shortcut text, click Apply.
Fig. 8-16: emDrive Configurator Status panel (Shortcuts and edit shortcut)

www.emsiso.com
40I P a g e
Sync section. Sync is used to produce Sync messages with Emsiso USB-CAN interface.
Fig. 8-17: emDrive Configurator Status panel (Sync)
NOTE: To use Sync feature it is necessary to use Emsiso USB-CAN interface! Sync time is not guaranteed!
Status shows status of connection between PC and USB-CAN interface and status of connection
between USB-CAN interface and emDrive device with green/red colored line.
Fig. 8-18: emDrive Configurator Status panel (Status)
Main Window
In Main Window Start page, SDO browser, Live Charts and Oscilloscope are visible if enabled in
View menu.
Start Page shows list of saved recent projects and Open Other Projects button.
Fig. 8-19: emDrive Configurator Main Window (Start Page)
SDO Browser. To open this window chose SDO Browser from View menu. SDO Browser is used
to Read or Write value to any object that is supported in device dictionary. SDO Browser is also
used to Add objects to Watch, Oscilloscope, Shortcuts and Slider (with right click on object).
Search and select wanted object in SDO browser by scrolling or use search dialog box to enter
object text string. Representation of object read and write value can be hexadecimal or decimal
(right mouse click inside object Value box).

www.emsiso.com
41I P a g e
Fig. 8-20: emDrive Configurator Main Window (SDO browser)
Main window - Live Charts

To open Live Chart window chose Live Chart from View menu. It is possible to select up to four
charts (with checkbox) and on every chart one or more objects can be shown. Objects are
added to chart in watch window (described in docked window). Any object in watch can be
added to chart. In watch window select chart number and object will be available in Live Chart
at selected chart number. In Live charts Main controls, Enable charts and Automatic scaling
sections are available.
Fig. 8-21: emDrive Configurator Main Window (Live Charts controls)
In Live charts Main controls section Run/Pause, Clear history, Refresh rate, Export and Import
data are available. To show/pause drawing logged data of selected object click Run/Pause
button in Live Chart. Clear history button will clear currently logged object data (data collecting
will start from beginning). Refresh rate setting is used to optimize chart response and overall
application performance (for example if large number of data is expected in chart then value
for refresh rate can be adjusted to improve performance). Export data will save all data
monitored in watch window to .csv file. Import data will load all data stored in .csv file.
NOTE: Run/pause button is only for running/pausing Live Chart. Run/pause button will not stop collecting data.
To stop collecting data unselect Enable checkbox in watch window or remove object from watch window.
NOTE: Importing data from file will clear live charts and watch window. Watch Enable checkbox is unselected.
To compare live and imported values add SDO objects into watch window after importing data.
In Live charts Enable charts section Chart 1 to Chart 4 checkbox are available.
In Live charts Automatic scaling section Autoscale Y, Slide X and value for slide X are available.
With selected Autoscale Y checkbox Y-axis will automatically adjust to values in chart. For X-axis
scaling enable Slide X and set window period that is shown for X-axis. Live charts chart drawing
area. With left mouse and selection or mouse scroll inside graph window zooming is done (use

www.emsiso.com
42I P a g e
Pause button before using zoom). Other graph options are available with right mouse click
inside graph window.
Fig. 8-22: emDrive Configurator Main Window (Live Charts)
Main window - Oscilloscope

Oscilloscope is Emsiso special functionality for advanced analysis of device behavior. With
oscilloscope user can set device to record any object values with predefined sample rate (the
lowest sample rate is 1 which correspond to FOC sample time of 61,035 s) and save them to
internal RAM or EEPROM memory. For later analyze export/import of CSV file is possible.
Oscilloscope window is divided to Chart area, Settings, Trigger and Channels section.
SETTINGS
CHART AREA
TRIGGER
CHANNELS
Fig. 8-23: emDrive Configurator Main Window (Oscilloscope)
Objects for oscilloscope are selected and added in SDO browser. After objects are added, the
oscilloscope needs to be configured. Available options for configuration for every oscilloscope
section are described below. In general, basic steps that are needed to use oscilloscope are:
add object/parameter to oscilloscope, select Chart no., add and set trigger settings, set settings
and at the end click WriteConf. After basic settings use Run/Stop button and Read Data button.

www.emsiso.com
43I P a g e
Chart area. Recording of objects is done with Run and Stop button. Continue button allows
continuing recording objects without clearing previous recorded data. Oscilloscope status
shows current status of oscilloscope. It is possible to select up to four charts (with checkbox)
and on every chart one or more objects can be shown. Read data reads and shows recorded
data in chart (reading progress is shown in Read progress). With left mouse and selection or
mouse scroll inside chart window zooming is done. Other chart options are available with right
mouse click inside chart window.
Settings section. Select recording target Memory (RAM, FLASH) from dropdown menu and set
Sample rate or Sample time (Sample rate and sample time values are connected. Changing one
will change other). Store results to flash will record data to controller flash memory. Recorded
information in controller flash memory is permanent and can be read if controller was turned
off in meantime. Once all Oscilloscope settings are done write setting configuration with Write
configuration (Settings, Trigger and Channels list are saved to controller). With Read
configuration existing oscilloscope configuration is loaded from device and shown. Export .csv
file will export data to CSV file that can be later loaded with Import .csv file. In Additional
settings window Oscilloscope frequency can be set Automatic or Manual. In manual mode value
can be manually entered. Default values are set with emDrive and BMS button. In section
Osciloscope unit select between Samples or Time setting. If parameters have been changed
save changes with Save settings button.
Fig. 8-24: emDrive Configurator Main Window (Oscilloscope additional settings)
NOTE: Read configuration and Import .csv file will not load Chart no. numbers. After Read configuration or
Import .csv file select Chart no. numbers manually.
Trigger section. To set trigger Source right click on parameter in Channels section and chose
Set trigger. Different trigger options are selected with trigger Mode dropdown menu. Trigger
Level is decimal value used for trigger condition. Pretrigger % value represent percentage of
data that was measured and shown in oscilloscope chart before trigger condition was fulfilled.
For Pretrigger % decimal values from 0 to 99 are valid.
Channels section. Search in SDO browser for wanted objects and add them to Oscilloscope with
right mouse click in SDO browser (select Add to oscilloscope). After objects for oscilloscope
have been added to Oscilloscope select Chart no. in channel section. With right mouse click and
selecting Remove or Remove all objects are removed from channel list. With right mouse click
and selecting Set trigger object is added to trigger section where more options for trigger are
available.

www.emsiso.com
44I P a g e
Docked Window
In Docked Window are visible Watch, Sliders and EMCY messages (if enabled in View). In docked
window also Firmware update window will appear (if selected in Device menu). Firmware
update is described under Device menu.
Watch window is used to periodically read multiple objects values from device. If Enable
checkbox is selected watch window readings will periodically refresh. Period of reading values
is set in ms. With Read all button manual reading of all object/parameters in watch is done.
Direct value write for objects that are write type is done by entering new value to value column.
Watch window is also used to add/remove objects in Live Charts (in watch window set Chart
value from 1 to 4 to add object or empty for removing object). Use right mouse click to select
hexadecimal or decimal representation of object value. Other watch options are available with
right mouse click inside chart window.
Fig. 8-25: emDrive Configurator Docked Window (Watch)
NOTE: If Enable checkbox is checked object data will be logged until checkbox is unselect. To clear previous data
use right mouse and select Clear history (will clear only selected objects) or Clear history for all.
Sliders. To see Sliders select Sliders from View menu. Object/parameter is added to slider in
SDO browser (with right click on object). Sliders can be used only for objects that are write type.
If needed set maximum and minimum value (value must be inside object absolute limits). If
Sync (1s) is enabled reading of object value will be done every second. To change object value,
move Slider up/down with mouse or manually type value in Current value box.
Fig. 8-26: emDrive Configurator Docked Window (Sliders)

www.emsiso.com
45I P a g e
EMCY messages window is used to periodically read EMCY messages from device. EMCY
messages are CANopen emergency messages. If Enable checkbox is selected EMCY window
readings will periodically refresh. Period of reading values is set in ms. Clear history button will
clear EMCY messages window. EMCY message information has Time, Node-ID, Error code and
Description. For detailed error description read device user manual and chapter with errors and
warnings.
Fig. 8-27: emDrive Configurator Status panel (Error log window)
NOTE: EMCY message time is application (computer) time of reading EMCY and not the time when error appeared
on device.
Status bar
Status bar shows basic information about connection status and errors related to
communication or device status (for example connection status and EMCY message reception).
Fig. 8-28: emDrive Configurator Status bar

www.emsiso.com
46I P a g e
8.3 First time use of emDrive Configurator and SDO Browser

Check if device, USB-CAN interface, cables, logic power supply are correctly connected and
working. Run emDrive Configurator application. At first run application will ask for licence
(follow application instructions for getting licence). After licence was applied emDrive
Configurator is ready for usage. For using emDrive Configurator with emDrive devices correct
connection setting are needed and get device information. Procedure is described in steps
below.
Document assumes that reader has an understanding of CAN protocol and its usage. CAN open
device objects are described by its Object Dictionary. emDrive Configurator SDO Browser is
used to Read or Write values off any object that is in device dictionary. An Electronic Data Sheet
(EDS) is a text file representing the Object Dictionary structure which doesn’t objects data
values. Device Configuration File (DCF) is a text file similar to an EDS except that it contains data
values as well as the Object Dictionary structure.
NOTE: It is assumed that everything is correctly connected and working. It is also assumed that emDrive
Configurator is used with emDrive USB-CAN interface.
NOTE: It is assumed that reader is familiar with CAN open protocol. For this reason, only basic information
needed for reading and using this user manual is provided.
NOTE: For future connections to same device this procedure/steps can be skipped if project was already saved
(menu File->Save project). In such cases only Load project is needed (menu File->Load project)
Step 1: Select menu Network -> Connection -> select Automatic connecting
Fig. 8-29: emDrive Configurator connection example
NOTE: For manual connection read emDrive Configuration user manual chapter.

www.emsiso.com
47I P a g e
Step 2: Select menu Network -> Nodes
Fig. 8-30: emDrive Configurator Scan network example
NOTE: If ID number of devices is known, ID can be entered manually and device status is just checked with
Refresh.
After these steps device dictionary structure is visible in SDO browser. Meaning and usage of
individual parameters is not described in this user manual.

www.emsiso.com
48I P a g e
9 Emsiso Connection Box
For testing and demonstration purposes emDrive Auxiliary components (CAN, Sensor feedback,
Throttle, Brake, FWD, REV, ...) or Emsiso Connection Box can be used. Connection Box was
designed to simplify first usage of emDrive and to speed up emDrive integration into customer
application. In this chapter basic information about available controls and connectors for
Connection Box is provided.
LED 1 LED 2 LED 3
Fig. 9-1: Connection Box
Table 9-1: Connection Box technical specifications

Connection Box Value unit
Electrical data
Input voltage range (Ignition voltage) see emDrive specification V
Input current range (depends on emDrive) see emDrive specification A
Mechanical data
Weight 0,7 kg
Environmental data
Table 9-2: Connection Box LED status

LED \ status OFF ON Description
LED 1 (red) OC OUT1 disabled OC OUT1 enabled emDrive system connector pin 16
LED 2 (red) OC OUT2 disabled OC OUT2 enabled emDrive system connector pin 17
LED 3 (green) Ignition OFF Ignition ON Indicating ignition status

www.emsiso.com
49I P a g e
Table 9-3: Connection Box available controls

Control name Type Description
IGNITION Button Enables ignition pin on emDrive system connector
POT/PWM Button Throttle control input (potentiometer THROT or PWM BNC input)
THROT Potentiometer Throttle potentiometer
BRAKE Potentiometer Brake potentiometer (analogue braking)
BOOT Button Only for advanced usage
REV Button Reverse direction enable/disable
BRAKE Button Brake enable/disable
FWD Button Forward direction enable/disable
Table 9-4: Connection Box RESOLVER DB9 Female connector pinout

1 RESOLVER SIN+ Resolver sensor feedback SIN
2 RESOLVER SIN- Resolver sensor feedback SIN
3 RESOLVER COS+ Resolver sensor feedback COS
4 RESOLVER COS- Resolver sensor feedback COS
5 GND Ground
6 RESOLVER REF+ Resolver sensor reference signal
7 RESOLVER REF- Resolver sensor reference signal
8 NTC Motor temperature
9 / Not connected
Table 9-5: Connection Box SSI MASTER DB9 Female connector pinout
1 / Not connected
2 SSI CLK+ SSI sensor clock
3 SSI CLK- SSI sensor clock
4 / Not connected
5 VCC (+5 V) Sensor power supply
6 SSI DATA+ SSI sensor data
7 SSI DATA- SSI sensor data
9 GND Ground
Table 9-6: Connection Box SSI SLAVE DB9 Female connector pinout
1 / Not connected
2 SSI CLK+ SSI sensor clock
3 SSI CLK- SSI sensor clock
4 / Not connected
5 / Not connected
6 SSI DATA+ SSI sensor data
7 SSI DATA- SSI sensor data
9 GND Ground

www.emsiso.com
50I P a g e
Table 9-7: Connection Box EXT HALL DB9 Female connector pinout
1 GND Ground
3 / Not connected
4 HALL 1 HALL sensor feedback 1
7 / Not connected
8 / Not connected
9 / Not connected
Table 9-8: Connection Box CAN DB9 Female connector pinout

1 / Not connected
2 CAN Low CAN Low
3 CAN GND CAN Ground
4 / Not connected
5 / Not connected
6 CAN GND CAN Ground
7 CAN High CAN High
8 / Not connected
9 / Not connected
Table 9-9: Connection Box SIN/COS DB9 Female connector pinout

2 GND Ground
3 / Not connected
4 / Not connected
5 / Not connected
6 SIN SIN/COS SIN
7 COS SIN/COS COS
8 / Not connected
Table 9-10: Connection Box RS232 DB9 Female connector pinout

1 / Not connected
2 TX RS232 TX
3 RX RS232 RX
4 / Not connected
5 GND Ground
6 / Not connected
7 / Not connected
8 / Not connected
9 / Not connected

www.emsiso.com
51I P a g e
10 Pairing emDrive and motor (controller configuration steps)
Before using emDrive controller with motor it needs to be configured i.e. controller parameters
set to specific configuration and usage (motor type, temperature sensor type, position sensor
type, Auxiliary components, application type, …). Some configuration steps deepens on
emDrive controller interfacing option.
There are three ways of interfacing controller:

• Using emDrive USB/CAN interface card and emDrive Configurator
In this option USB/CAN interface card operate as external master device which is controlled
using emDrive Configurator tool running on PC (Windows platform only). Therefore, this
interfacing option is used for initial emDrive settings and/or electric motor test bench
applications.
The configuration tool main functionalities are: emDrive parameter configuration, real time
data acquisition in numerical and graphical form, integrated parameter info, saving and
restoring customized emDrive parameters, virtual oscilloscope for recording transient data,
emDrive firmware update.
• Using external master device with CANOpen connectivity

In this option external master device (ECU, VCU,…) is used to gather user command and
subsystem signals and set (using CANOpen) required torque or velocity based on algorithm
developed by the user. External master device interface option is recommended for embedded
electric drive systems with advanced application and/or traction algorithms running on master
device control unit. In this case combination of controller and motor represents controlled
torque source subsystem (slave mode).
• Using emDrive Application 1 (APP1)

Application named APP1 is used to control emDrive with digital and analog inputs. Basic
configuration is one switch for enabling the drive control and one potentiometer for setting the
current in torque mode or velocity in velocity mode. This interface option is used for simple (no
traction algorithm) embedded electric drive systems.

www.emsiso.com
52I P a g e
emDrive
Configurator Potentiometers, switches
External
Master
Device
USB/CAN CAN BUS
System Connector: System Connector:

CAN_L, CAN_H Analog and Digita Inputs
APP1 software layer
CANOpen
Motor Control Algorithm

emDrive
Fig. 10-1: emDrive controller interfacing options,
For configuring the emDrive in different interfacing options follow the steps in table below. The
individual setting guidance can be found within chapter 13.1.
In case of interfacing emDrive with external master device with CANOpen connectivity, the
parameters can be set using NMT controls and SDO services. However we advise that due to
the simplicity and visualization features the initial setting are done with emDrive configurator
(emDrive USB to CAN interface card required).
Table 10-1: Configuration steps in different interfacing options

Controller interface option
Step Settings emDrive USB/CAN External master device Application 1
1 Motor type chapter 10.1 chapter 10.1 chapter 10.1
2 Controller/motor protections chapter 10.2 chapter 10.2 chapter 10.2
3 Motor positon measurement chapter 10.3 chapter 10.3 chapter 10.3
4 Tuning current control parameters chapter 10.4 chapter 10.4 chapter 10.4
(Torque mode)
5 Position feedback compensations1 chapter 10.5 chapter 10.5 chapter 10.5
6 Tuning velocity control parameters2 chapter 10.6 chapter 10.64 chapter 12
(Velocity mode)
7 IPM MTPA and field weakening3 chapter 10.7 chapter 10.7 chapter 10.7
8 Network management (NMT) - -
9 SDO services - chapter 11 -
10 PDO services - -
Remarks:
1 – for advance operation
2 – only if emDrive should be operating in velocity mode
3 – for setting MTPA polynomic function for IPM motor type, and set field weakening operation for IPM and PMSM type
4 – the velocity control can also be implemented on external master device; in this case controller is operating in torque
mode
Steps 1-4 are mandatory.

Steps 5-7 optional.
www.emsiso.com
53I P a g e
10.1 Motor type

Motor type is set under object 0x2034. The supported types are PMSM and IPM.
10.2 Controller/motor protections

For proper working of electric drivetrain, emDrive controller protection functions must be
configured according to motor and traction battery specifications. The protections are listed in
below table.
Table 10-2: Controller/motor protection setting parameter objects
Object Object name Unit Note
0x2054 Overvoltage limit V For value see traction battery specifications.
0x2055 0x01 Undervoltage limit V For value see traction battery specifications.
0x2055 0x03 Undervoltage min voltage V For value see traction battery specifications.
0x2050 Maximum controller current mARMS For value see motor and emDrive specifications.
0x2051 Secondary current protection mARMS For value see motor and emDrive specifications.
0x2057 0x02 Motor maximum temperature °C For value see motor specifications.
0x2052 0x01 Maximum velocity User defined unit For value see motor specifications.
Voltage protection (traction battery protection)

Overvoltage protection protects controller power stage from too high input voltage (DC link
voltage). At the same time the traction battery is protected from over-charging during
regeneration.
Overvoltage limit in V units is set at object 0x2054. If measured DC link voltage (0x6079) is
above overvoltage parameter setting, the power stage is disabled and error flag (0x3210) is set
in error code object 0x603F. The red LED is turned on indicating error state.
Undervoltage protection protects the traction battery from over-discharging. Protection is

implemented in two levels.
Undervoltage limit in V units is set at object 0x2055 0x01. If measured DC link voltage (0x6079)
is below undervoltage limit parameter setting, the output current is reduced with gain defined
at 0x2055 0x02. The warning flag (0x04) is set in warnings object 0x2027. The yellow LED is
turned on indicating warning state.
Undervoltage min voltage in V units is set at object 0x2055 0x03. If measured DC link voltage
(0x6079) is below undervoltage min voltage parameter setting, the power stage is disabled and
error flag (0xFF0C) is set in error code object 0x603F. The red LED is turned on indicating error
state
NOTE: Traction battery protections are based on total battery voltage measurement. BMS still should be used to
monitor and protect individual cell.

www.emsiso.com
54I P a g e
Controller and motor current protections and settings

Maximum controller current protects motor from overcurrent because of unintended user
demand for higher current setting as motor declared maximum current.
Maximum controller current in mARMS units is set at object 0x2050. If requested current is
above the maximum controller current parameter setting, the requested current is limited to
maximum controller current.
If motor has also temperature sensor Maximum controller current parameter is set to
maximum motor specified current. If temperature sensor is not available or used by emDrive
then Maximum controller current parameter is set to nominal current motor specification.
Secondary current protection protects motor and controller power stage from overcurrent; the
protection is measured based.
Secondary current protection current in mARMS units is set at object 0x2051. If measured
current is above the secondary current protection parameter setting, the power stage is
disabled and error flag (0x2220) is set in error code object 0x603F. The red LED is turned on
indicating error state.
Secondary current protection is usually set to 10 % higher value than Maximum controller
current.
Motor rated current is parameter used for setting request motor torque current (iq) in regard
to torque command input Target Torque (0x6071) in torque mode operation.
Motor rated current in mARMS units is set at object 0x6075. The requested current in torque
mode is defined with following equation:
𝑇𝑎𝑟𝑔𝑒𝑡 𝑇𝑜𝑟𝑞𝑢𝑒
𝑖𝑞𝑟𝑒𝑞 = 𝑀𝑜𝑡𝑜𝑟 𝑟𝑎𝑡𝑒𝑑 𝑐𝑢𝑟𝑟𝑒𝑛𝑡
1000
Motor rated torque parameter at object 0x6076 is defined by device profile CiA DSP 402. For
emDrive devices this parameter is set to the same value as motor rated current.
Controller and motor temperature protections and settings

Controller have two temperature protections; DC link capacitors temperature protection and
power stage temperature protection. All Controller temperatures measurements can be found
under object 0x2026 and its sub-indexes. The limits where controller starts to reduce output
current and the limits where controller disable power stage are hardcoded (cannot be set by
the user) and can be FW depended.
In case of reduced output current due to the controller temperature the warning flag (0x01) is
set in warnings object 0x2027. The yellow LED is turned on indicating warning state.
In case of disabled power stage due to the controller temperature the error flag (0xFF10) is set
in error code object 0x603F. The red LED is turned on indicating error state.
Controller can protect motor from overheating if motor temperature sensor is connected. The
protection is set under Motor temperature config object 0x2057 and its sub-indexes. By default
controller support NTC10k, KTY84-130 and KTY81-210 sensor type (0x2057 0x01). The

www.emsiso.com
55I P a g e
Resistance/Temperature characteristics for individual temperature sensor are given in Table

10-3. Under object 0x2057 0x02 maximum motor temperature is set. If measured motor
temperature (0x2025) is above maximum motor temperature parameter setting, the output
current is reduced with gain defined at 0x2057 0x03. The warning flag (0x02) is set in warnings
object 0x2027. The yellow LED is turned on indicating warning state.
NOTE: If motor temperature sensor is not used or it is disabled within parameter setting, then motor thermal
protection is not in function.
Table 10-3: Resistance/Temperature characteristics for different motor temperature sensors

Motor temperature value (°C) Resistance (Ohm) Resistance (Ohm) Resistance (Ohm)
0x2025 NTC 10 k KTY 84-130 KTY 81-210
0 14260 500 1608

5 12070 508 1678
10 10590 524 1744
15 8850 547 1821
20 7380 570 1904
25 5750 593 1990
30 4108 615 2071
35 2940 639 2152
40 2272 664 2238
45 1821 685 2335
50 1529 709 2424
55 1313 739 2513
60 1133 762 2613
65 984 789 2694
70 855 817 2788
75 745 843 2882
80 636 871 2971
85 548 900 3071
90 470 931 3160
95 390 958 3262
100 326 990 3350
105 264 1023 3444
110 209 1055 3550
115 149 1091 3639
120 98 1122 3731
125 51 1159 3828
130 0 1198 3915
135 - 1236 4012
140 - 1274 4108
145 - 1314 4205
150 - 1351 4291

www.emsiso.com
56I P a g e
NTC 10k
140
Motor temperature object value (°C)
130
120
110
100
90
80
70
60
50
40
30
20
10
0
0 2000 4000 6000 8000 10000 12000 14000
Resistance ()
Fig. 10-2: R-T charachteristic for NTC 10k
KTY 84-130
150
140
130
120
110 y = -7E-05x2 + 0,3072x - 131,64
100
90
80
70
60
50
40
30
20
10
0
500 600 700 800 900 1000 1100 1200 1300 1400
Resistance ()
Fig. 10-3: R-T charachteristic for KTY 84-130 with 2nd order polyinomical function aproximation
KTY 81-210
150
140
130
120
110
100 y = -2E-06x2 + 0,0658x - 99,03
90
80
70
60
50
40
30
20
10
0
1600 1800 2000 2200 2400 2600 2800 3000 3200 3400 3600 3800 4000 4200 4400
Resistance ()
Fig. 10-4: R-T charachteristic for KTY 81-210 with 2nd order polyinomical function aproximation

www.emsiso.com
57I P a g e
Motor maximum velocity protection

Maximum velocity protection protects motor from rotating above allowable velocity.
Velocity limit in user units is set at object 0x2052 0x01. If measured motor velocity (0x606C) is
above maximum velocity parameter setting, the output current is reduced with gain defined at
0x2052 0x02. The warning flag (0x40) is set in warnings object 0x2027. The yellow LED is turned
on indicating warning state.
Output current limitation (Limiter)

Limiter is set of functions which reduce output current if case of active controller/motor
protections. If any of current limits i.e. protections are active, warning yellow LED will be turned
on and value in warnings object 0x2027 will be set.
Table 10-4: Current limiter (protections) related object

Object Object name Unit Note
0x2026 0x01 Controller temperature °C Controller power stage temperature
protection; fixed limit depending from
controller type and FW version.
0x2026 0x02 Capacitor temperature °C Capacitor temperature protection; fixed
limit depending from controller type and
FW version.
0x2026 0x06 I2T °C I2t – one minute max peak current
protection; fixed limit depending from
controller type.
0x2050 Maximum controller current ARMS Usually defined by maximum motor
current.
0x2052 0x01 Maximum velocity rpm* If motor velocity increase above this value
output current will be reduce.
0x2052 0x02 Maximum velocity gain (1/1000 maximum controller Output current reduction gain due to
current)/rpm* maximum velocity protection.
0x2055 0x01 Undervoltage limit V If DC link voltage decrease below this
value output current will be reduce.
0x2055 0x02 Undervoltage gain (1/1000 maximum controller Output current reduction gain due to DC
current)/V link undervoltage protection.
0x2057 0x02 Motor maximum temperature °C If motor temperature rise above this
value output current will be reduce.
0x2057 0x03 Motor maximum temperature (1/1000 maximum controller Output current reduction gain due to
gain current)/°C motor maximum temperature protection.
0x2057 0x03 Motor maximum temperature (1/1000 maximum controller Output current reduction gain due to
gain current)/°C motor maximum temperature protection.

www.emsiso.com
58I P a g e
10.3 Motor position measurement

Controller support following position sensor types:
- SSI; like RLS RM44SC
- resolver; like Tamagawa seiki TS2620N1095E161
- sin/cos; like RLS RM44AC
- hall (due to low resolution we advise to use HALL sensor only in torque mode)
- encoder (for induction motor only; therefore not listed in table below)
For setting feedback parameters follow the settings in table below.
Table 10-5: Setting motor positon feedback parameters

Parameter Description SSI Resolver sin/cos HALL
0x2033 Motor pole pairs p/kFB p/kFB p/kFB 1
0x2040, 0x01 Feedback type 2 3 4 6
0x2040, 0x02 Motor phase offset Result of auto-alignment procedure
0x2040, 0x05 Hall configuration1 - - - 0 or 1
0x2040, 0x06 Feedback resolution 4096 4096 4096 6
0x2040, 0x07 Electrical angle filter2 0 50 30 30
0x2040, 0x08 Motor phase offset compensation2 190 30 30 0
0x6094, 0x01 Velocity encoder factor Numerator3 60/kFB 60/kFB 60/kFB 60
0x6094, 0x02 Velocity encoder factor Divisor3 4096 4096 4096 6*p
Remarks:
p – number of motor pole pairs
kFB – ration between number of sensor output signal periods at 1 mechanical turn (usually 1)
1 – deepens on Hall configuration
2 – most common used value, can be changed based on application needs
3 – to get the motor velocity in rpm
Auto align procedure (positon sensor offset calibration)

For proper FOC (Field Oriented Control) operation the offset between motor electrical angle
and absolute position sensor angle needs to be known. The offset is measured automatically
with so-called auto align procedure. The procedure is done only once, except if sensor
mechanical position is changed or motor phases are swapped to change motor direction. In
those cases, the procedure must be repeated. To enable the procedure set Modes of operation
object 0x6060 to -4 (auto align motor position).
NOTE: It is assumed that everything is correctly connected and working. It is also assumed that emDrive
Configurator is running, CAN communication between controller and PC is working and EDS information is already
loaded into SDO browser.
NOTE: Auto align procedure should be done at no – loaded motor (motor can spin freely).
NOTE: Auto align procedure should be done at PMSM motor type; 0x2034 = 0.
NOTE: If unsure about other emDrive parameters it is advised to clear/reset all parameters before starting.
Select menu Device -> Set parameters to default (Ctrl + D). If emDrive was already configured and only Auto
align procedure needs to be repeated then skip clear/reset step.
DANGEROUS: In case of wrong parameter settings software protection functions may not work. This may lead
to damage of EDS elements (motor, emDrive, battery, fuse, …)..

www.emsiso.com
59I P a g e
Steps for auto-align procedure from emDrive Configurator:

Set values directly in SDO browser or add them to watch window and set values.
Step 1: Set controller/motor protections

For motor rated current (0x6075) and motor rated torque (0x6076) parameters use value 20%
to 40% of motor rated current specified by motor producer.
Step 2: Set motor position sensor

Set position sensor parameters according to Table 10-5.
Step 3: Enable auto align procedure

In SDO Browser search for object 0x6060 – Mode of operation and set object value to -4.
Step 4: Save parameters

Select menu Device -> Save parameters (Ctrl + S). In case of turning emDrive controller OFF
saving parameters will prevent losing settings.
Step 5: Reset controller

Status panel -> NMT section -> Reset button
Step 6: Put controller into operational state

Status panel -> NMT section -> Operational button.
After Operational command the motor should start spinning firstly in positive direction then in
reverse direction and then stop. The positive direction is the direction in which motor will rotate
in case of positive applied torque. If positive direction is not appropriate with application needs,
than two motor phase connections needs to be swapped and auto align procedure repeated.
Step 7: Check controller status (errors, warnings)

Warnings: In SDO Browser search for object 0x2027 - Warnings and read object value.
Errors: In SDO Browser search for object 0x603f – Error code and read object value.
If there is no error than the auto align was successful and mode of operation (0x6060) is set
automatically to value 10 (torque mode). The measured offset is stored under parameter
Motor phase offset at 0x2040 0x02.
In case of any error in auto align procedure the error code is set to 0xFF0B (motor feedback);
for solving error refer to chapter warnings and errors. Repeat the auto align procedure unit
successfully finished.
For solving warning issue refer to chapter warnings and errors.
Step 8: Save parameters

Select menu Device -> Save parameters (Ctrl + S). This will store Motor phase offset parameter.

www.emsiso.com
60I P a g e
Verifying the electrical angle measurement

For all position sensor types
The measured electrical angle is stored under object Electrical angle at 0x201F. To verify the
electrical angle measurement record the Electrical angle in emDrive Configurator Oscilloscope
while no-loaded motor is operating in torque mode. At constant motor velocity the electrical
angle signal should be saw-tooth wave like. The electrical angle unit is quant; where [-π, π] is
scaled to [-32768, 32767].
Steps for verifying electrical angle measurement:

Step 1: Creating shortcuts for Controlword
Select SDO Browser and search for object 0x6040 - Controlword (right mouse click on object
and select Add to shortcut). Make two shortcuts for the same object. After both shortcut have
been added, set shortcut Value and Shortcut text (on created shortcut use right mouse click
and select Edit).
Shortcut 1: object 0x6040 - Controlword (Set Value to 6 and Shortcut text to CW 6)
The command sequence CW = 6 and CW = 15 enables PWM i.e. power stage. To disable PWM
CW = 6.
Step 2: Creating slider for Target torque

Select SDO Browser and search for object 0x6071 – Target torque (right mouse click on object
and select Add to slider control). Set slider Min value to 0 and Max value to 200. Put slider to
Min positon.
Step 3: Add Electrical angle to oscilloscope

In SDO Browser search for object 0x201F – Electrical angle and it to Oscilloscope (right click and
select Add to oscilloscope).
Step 4: Configuring Oscilloscope

After parameter have been added, Oscilloscope needs to be configured. Follow procedure
below point by point to configure Oscilloscope.
1. Recording target: RAM
2. Sample Rate: 1
3. Trigger source: Electrical angle (right click on Electrical angle in Channels window,
use Set trigger option)
4. Mode: Continuous
5. Level: 0
6. Pretrigger %: 0
7. Put Electrical angle on Chart1, using Chart drop down menu in Chanel window
8. Enable checkbox Chart 1
9. Click Write Configuration (Oscilloscope configuration write successful! window
should appear)

www.emsiso.com
61I P a g e
Fig. 10-5: Configuring Oscilloscope for measuring Electrical angle
Step 5: Run motor in torque mode

After Oscilloscope was configured run motor in torque mode. Follow procedure below point by
point.
1. Click Preoperational; the CAN RUN green LED is flashing
2. Click Operational; the CAN RUN green LED is turned on
3. Check for warnings and errors; if there is not warnings and errors continue to next
step. Otherwise solve the warnings and/or errors issue
4. Click Shortcut CW 6 (Controlword = 6)
5. Check for warnings and errors
6. Click Shortcut CW 15 (Controlword = 15); the CAN RUN green LED and DRIVE green
LED are turned on
8. Apply requested current with Slider – Target Torque; the motor should start to spin
in positive direction. If the motor is not spinning, increase slider Max limit.
9. Adjust the slider in such a way that motor is spinning with low constant velocity
(<500 rpm).The measured motor velocity (0x606C) can be observed in Live Chart
Step 6: Record Electrical angle in oscilloscope

During motor spinning go to Oscilloscope and press Run (start recording data); wait for 3 s and
then press Stop (stop recording data).
Step 7: Stop motor

Follow procedure below point by point.
1. Set requested current to 0, by setting Slider – Target Torque to min. value i.e. 0
3. Click Operational
4. Click Preoperational

www.emsiso.com
62I P a g e
Step 8: Plot Electrical angle in oscilloscope

For plotting Electrical angle data in Chart 1 click Read data in Oscilloscope window.
Fig. 10-6: SSI type position sensor; electrical angle

www.emsiso.com
63I P a g e
Sin/cos type position sensor

The position sensor outputs are sin/cos unipolar voltages (offset added), like shown on Fig.
10-7. The offset for each signal is determine automatically with auto-alignment procedure and
can be read in quant unit at objects SinCos zero voltage sin (0x2040 0x0B) and SinCos zero
voltage cos (0X2040 0x0C).
Measured sin/cos sensor raw outputs signals (voltages) with subtracted offsets can be observed
at objects 0x2073 0x01 and 0x02 (AD Sin_Cos_Sin and AD Sin_Cos_Cos). At constant motor
velocity the outputs are sine waves with constant frequency and 90° phase difference. The
signals unit is quant. Fig. 10-8 shows measurement of sensor outputs and electrical angle using
emDrive Configurator Oscilloscope while motor is operating in torque mode. The electrical
angle filter is set to corner frequency of 30 Hz.
Fig. 10-7: Timing diagram for RM44AC sensor from RLS (picture source: www.rls.si)
Fig. 10-8: Sin/cos type positon sensor; raw data and electrical angle

www.emsiso.com
64I P a g e
Hall type position sensor

For Hall sensor raw output signal (combination value of three hall sensors) can be observed at
Hall sensor bit pattern objects 0x2022 0x02. The integer value range is [1, 6] values 0 and 7 are
invalid. Figure below show measurement of hall sensor bit pattern using emDrive Configurator
Oscilloscope while motor is operating in torque mode. The electrical angle filter is set to corner
frequency of 30 Hz.
Fig. 10-9: Hall type position sensor; raw data and electrical angle
In figure below motor velocity is shown. Due to low angle measurement resolution also velocity
resolution is low. Low velocity resolution can cause problems when emDrive is operating in
velocity mode. Therefore we advise to use Hall type positon sensor only in torque mode.
Fig. 10-10: Hall type position sensor; motor velocity

www.emsiso.com
65I P a g e
Resolver type position sensor

The controllers support resolvers with a Transformation Ration TR = 0,5 ±10%. TR cannot be
set by the user. To verify the compatibility for resolvers with different TR please contact
support. The excitation signal for the resolver is 10 Vpp, 8,2 kHz.
Angle = 0
Yellow – excitation
Measured between exc+ (pin 20) and exc- (pin 21)
Cyan – resolver sin

Measured between sin+ (pin 32) and sin- (pin 33)
Magenta – resolver cos

Measured between cos+ (pin 34) and cos- (pin 35)
Angle = Angle + 90°
Fig. 10-11: Resolver signals

www.emsiso.com
66I P a g e
10.4 Torque mode (current control)

In torque mode current control Field Oriented Control (FOC) scheme is implemented with
sample frequency being 16384 Hz. As shown on picture below two Proportional Integral (PI)
controllers are controlling current in d-axis (id) and q-axis (iq) in d, q rotor reference frame
coordinate system. The current id is setting desired flux while current iq is setting desired
torque. Reference for id is defined with output of field weakening regulator in case of PMSM,
or combination of MTPA algorithm and field weakening regulator output in case of IPM motor
type. User reference for iq is defined by Target torque (0x6071) in 1/1000 of Motor rated
current (0x6075). To enable torque mode set Modes of operation object 0x6060 to 10.
0x60F6 0x01
0x60F6 0x02
LIMITER + usa POWER

0x6071 0x201A 0x201B 0x01 0x201B 0x03
and x d, q STAGE
- PI
SCALING Ph1
SVPWM
0x2050 Ph2 MOTOR
0x201C 0x01 + 0x201C 0x03 usb
0x6075 C2Q a, b
- PI Ph3
1000
0x60F6 0x03 0x201F Positon

0x60F6 0x04 Sensor
0x201C 0x02 isa 0x200F

a, b 3
0x2010
isb -
0x201B 0x02 -
d, q 2
Fig. 10-12: Torque mode - current control scheme
Table 10-6: Torque mode related object

Object Object name Description Unit
0x6071 Target torque Reference input for iq current. 1/1000 of Motor rated
current
0x2050 Maximum controller current Maximum controller current. mARMS
0x6075 Motor rated current Motor rated current. mARMS
0x201A Current demand Actual reference for iq current (after 1/1000 of Motor rated
limiter). current
0x201B 0x01 Torque regulator requested Reference for iq current. quants
0x201B 0x02 Torque regulator actual Measured iq current. quants
0x201B 0x03 Torque regulator out Regulator output uq voltage. quants
0x201C 0x01 Flux regulator requested Reference for id current. quants
0x201C 0x02 Flux regulator actual Measured id current. quants
0x201C 0x03 Flux regulator out Regulator output ud voltage. quants
0x60F6 0x01 Current control torque regulator P gain Proportional gain for iq current regulator.
0x60F6 0x02 Current control torque regulator I gain Integral gain for iq current regulator.
0x60F6 0x03 Current control flux regulator P gain Proportional gain for id current regulator.
0x60F6 0x04 Current control flux regulator I gain Integral gain for id current regulator.
0x60F6 0x05 Current control regulator ramp Current ramp; for ramp disabling set quants/foc_sample
value to 32 000.
0x200F Phase A current Stator current in phase A. quants
0x2010 Phase B current Stator current in phase B. quants
0x201F Electrical angle Measured electrical angle. quants
Remarks:
C2Q – constant for scaling current units

www.emsiso.com
67I P a g e
Tuning current control parameters

During tuning current control parameters procedure gains for id and iq current controllers are
set. Current controller is PI controller in parallel form as shown in figure below. The current
error signal (difference between requested and actual current) is fed to PI controller. The
control signal (controller output voltage) is equal to the proportional gain P times the error plus
the integral gain I times the integral of the error with respect to time. The control signal –
controller output voltage is applied to the motor and the new actual current is measured. The
new actual current is then fed back and compared to the requested current to find the new
error signal. Based on this new error signal controller computes an update of control signal.
This process continues while the controller is in effect.
Main goal of tuning current control is to determine P gain and I gain where current control
response is suitable. Tuning procedure must be done in torque mode (Modes of operation
0x6060 = 10) at nominal DC link voltage. If possible, the tuning procedure should be done at
block rotor.
At tuning procedure, the reference for flux current is set to 0 (use PMSM motor type).
Reference for torque current is square wave with amplitude defined by Target torque (0x6071)
and period defined by Pulse mode counter (0x2032 0x01). The amplitude is set around 30 % of
motor rated current. Normally the Pulse mode counter is set to 500, which corresponds to
period of 1000/(128^2) = 61 ms.
0x60F6 0x03
0x201C 0x01 + +
0 P 0x201C 0x03
- +
0x60F6 0x04
0x201C 0x02
Reference for iq 0x60F6 0x01

0x2032 0x01
0x201B 0x01 + +
0x6071 P 0x201B 0x03
- +
0x60F6 0x02
0x201B 0x02
Fig. 10-13: Setting current controller P and I gains

www.emsiso.com
68I P a g e
Steps for tuning current control parameters:

Step 1: Creating shortcuts for Controlword
Step 2: Set Motor rated current object

Set Motor rated current object 0x6075 to 1/3 of motor rated current (specified by motor
producer).
Step 3: Creating slider for Target torque

Select Target torque object 0x6071 and add it to slider control. Set slider Min value to 0 and
Max value to 1000; put slider to Min positon.
Step 4: Add current control related object to oscilloscope

In SDO Browser search for below listed objects and at them to it to Oscilloscope (right click and
select Add to oscilloscope).
• 0x201B 0x01 – Torque regulator requested
• 0x201B 0x02 – Torque regulator actual
• 0x201C 0x01 – Flux regulator requested
• 0x201C 0x02 – Flux regulator actual
Step 5: Configuring Oscilloscope

1. Recording target: RAM
2. Sample Rate: 1
3. Trigger source: Torque regulator requested
4. Mode: Continuous
5. Level: 0
6. Pretrigger %: 0
7. Put Torque regulator objects on Chart1 and Flux regulator objects on Chart2
8. Enable checkboxes for Chart 1 and Chart 2
9. Click Write Configuration (Oscilloscope configuration write successful! window
should appear)

www.emsiso.com
69I P a g e
Fig. 10-14: Configuring Oscilloscope for tuning current control parameters
Step 6: Set Pulse mode counter

Set Pulse mode counter object 0x2032 0x01 to value 500, so that square wave period will be
1000 FOC samples i.e. 61 ms.
Step 7: Run motor in torque mode

Follow procedure below point by point.
1. Click Preoperational; the CAN RUN green LED is flashing
2. Click Operational; the CAN RUN green LED is turned on
3. Check for warnings and errors; if there is not warnings and errors continue to next
step. Otherwise solve the warnings and/or errors issue
6. Click Shortcut CW 15 (Controlword = 15); the CAN RUN green LED and DRIVE green
LED are turned on
8. Set torque reference amplitude with Slider – Target Torque to value 1000; the
motor should start “shake” (if rotor in not blocked).
Step 8: Record current responses

During applied Target torque = 1000, go to Oscilloscope and press Run (start recording data);
wait for 1 s and then press Stop (stop recording data).
Step 9: Disable current control (shut down the power stage)

Set requested current to zero by setting Slider – Target Torque to min. value i.e. 0. Click
Preoperational.
www.emsiso.com
70I P a g e
Step 10: Plot current control responses

For plotting current control signal in Chart 1 and Chart 2 click Read data in Oscilloscope window.
Step 11: Evaluate the current control response

Evaluate the current control response. Adjust current control regulator parameters (0x60F6
0x01 – 0x04) and repeat the tuning procedure if needed.
General rules for evaluation of current control response are:
• Actual torque current must not over-shoot.
• Static error should be zero.
• Actual currents must not oscillate.
• Actual torque current should get very close to requested value in first 1/3* of cycle
period. *This is general rule; at actual settings motor electric time constant should be
considered.

www.emsiso.com
71I P a g e
In example below current control responses are shown at three different settings for P and I
gains.
Response at settings P = 2000 and I = 50; steady state error to large. Unsuitable response.
Response at settings P = 3000 and I = 4500; actual torque current overshoots, actual torque
current response is to stiff. Unsuitable response.
Response at settings P = 1800 and I = 1100; actual torque current does not over shoots, steady
state error is zero, response not to stiff. Suitable response.
Torque regulator response at P = 2000 and I = 50 Flux regulator response at P = 2000 and I = 50
Torque regulator response at P = 3200 and I = 4500 Torque regulator response at P = 3200 and I = 4500
Torque regulator response at P = 1800 and I = 1100 Flux regulator response at P = 1800 and I = 1100
Fig. 10-15: Current control responses at different P and I gain settings
NOTE: The settings are valid for system used in test.

www.emsiso.com
72I P a g e
10.5 Position feedback compensations
Motor phase offset compensation

The compensation is set manually in torque mode with disabled field weakening operation. In
addition the controller must be set to manual applying of flux current id (id can be manual set
by the user).
For disabling field weakening operation and enable manual request of flux current id following
parameter must be set:
• 0x2034 Motor type: 2 (IPM motor)
• 0x201D 0x0C Field Weakening Regulator P Gain: 0 (for disabling field weakening)
• 0x201D 0x0D Field Weakening Regulator P Gain: 0 (for disabling field weakening)
• 0x201D 0x14 Field Weakening Regulator Flux Gain Antiwindup Int: 0 (for disabling field
weakening)
• 0x201D 0x18 MTPA Polynom a2: 0
• 0x201D 0x19 MTPA Polynom a1: 0
• 0x201D 0x1A MTPA Polynom a0: use this object for setting flux current id. The unit is
desired current in ARMS multiplied by 10 000. For instance; to apply id = -10 ARMS the
value is set to -10 000.
The procedure depend on permanent magnet synchronous machine type.
Surface mount magnet type:

During the procedure the motor is spinning in range 80 to 90% of base velocity because of
applied torque current iq. At velocity steady state the flux current id is added. If Motor phase
offset parameter in not correct adding flux current id will add torque which result in velocity
change. The Motor phase offset compensation parameter 0x2040 0x08 is adjust in such a way
that applied id current produce no torque i.e. no velocity change.
Use three sliders to set torque current iq (0x6071 Target Torque), flux current id (0x201D 0x1A
MTPA Polynom a0) and motor phase offset compensation value (0x2040 0x08).
Fig. 10-16: Slider configuration for setting Motor phase offset compensation
www.emsiso.com
73I P a g e
Compensation set to 0: Compensation set to 150:

Applying flux current effect velocity; Applying flux current does not effect velocity;
therefore torque is produced. therefore torque is not produced
Fig. 10-17: Setting Motor phase offset compensation
In case that the motor is installed in test-bench setup with torque measurement equipment
the alternative procedure is to set id current to zero. At velocity 80 to 90% of base velocity the
nominal torque current iq is applied and Motor phase offset compensation parameter is set to
the value where maximal torque is produced.

www.emsiso.com
74I P a g e
Interior mount magnet type:

In case of unloaded motor the torque current iq is set to zero and id current is set to 50 % of
nominal current. Applying only flux current id should not produce any torque, therefore the
motor should not start to spin. If torque is produced then adjust Motor phase offset
compensation parameter 0x2040 0x08.
In case that the motor is installed in test-bench setup with torque measurement equipment
the alternative procedure is to spin the motor at velocity 80 to 90% of base velocity with load
machine. Then flux current id is set to 50 % of nominal current while torque current is set to
zero; no torque should be produced. If torque is produced then adjust Motor phase offset
compensation parameter 0x2040 0x08.

www.emsiso.com
75I P a g e
FOC calculation delay

Motor FOC calculation delay parameter is set manually. Motor is spinning in range 0 - 90 % of
nominal velocity because of externally applied torque (motor is installed in test-bench setup).
During procedure both torque iq and flux id currents are set to zero. The FOC calculation delay
parameter 0x2040 0x10 is adjust to the value where output of flux current regulator (0x201C
0x03 Flux regulator out) is near zero regardless of velocity value.
If motor is not installed in test-bench setup, the torque current iq is apply so that motor is
spinning at 90 % of nominal velocity. The FOC calculation delay is adjust to the value where
output of flux current regulator is slightly above zero regardless of velocity value.
Fig. 10-18: Slider and Watch window configuration for setting FOC calculation delay compensation
Fig. 10-19: Setting FOC calculation delay compensation

www.emsiso.com
76I P a g e
10.6 Velocity mode

In velocity mode outer velocity control loop is added to inner current i.e. torque control loop.
The velocity control loop sample frequency is 128 Hz. As shown on picture below Proportional
Integral (PI) controller is used for controlling velocity with setting reference torque value. The
PI controller output is limited to maximum controller current (0x2050). Velocity reference is
defined by Target velocity (0x60FF) in user units. To enable velocity mode set Modes of
operation object 0x6060 to 9.
POWER
STAGE
0x60F9 0x01 PWM Ph1
0x60F9 0x02
Ph2 MOTOR
+ LIMITER Ph3
0x60FF 0x201A 0x201B 0x01 TORQUE
and x
- PI CONTROL
SCALING
Positon
Sensor
0x2050
0x6075 C2Q
1000
Positon
0x606C
to
Velocity
Fig. 10-20: Velocity mode control scheme
Table 10-7: Velocity mode related object

0x60FF Target velocity Reference velocity input. User unit
0x606C Velocity actual value Measured velocity. User unit
0x60F9 0x01 Velocity control regulator P gain Proportional gain for velocity regulator. -
0x60F9 0x02 Velocity control regulator I gain Integral gain for velocity regulator.
0x2050 Maximum controller current Maximum controller current. mARMS
0x6075 Motor rated current Motor rated current. mARMS
0x201A Current demand Actual reference for iq current (after 1/1000 of Motor rated
limiter). current
0x201B 0x01 Torque regulator requested Reference for iq current. quants
Remarks:
C2Q – constant for scaling current units

www.emsiso.com
77I P a g e
Tuning velocity control parameters

Velocity controller is PI controller in parallel form as shown in figure below. The velocity error
signal (difference between requested and actual velocity) is fed to PI controller. The control
signal is equal to the proportional gain P times the error plus the integral gain I times the
integral of the error with respect to time. The control signal – reference torque is applied to
inner torque control loop and new velocity is measured. The new actual velocity is then fed
back and compared to the requested velocity to find the new error signal. Based on this new
error signal controller computes an update of control signal. The sample frequency of the
control loop is 128 Hz.
During tuning velocity control parameters procedure P and I gain are set to fulfil the velocity
response specifications. Because of many mechanical influences and load changes it is difficult
to predict or model the complete system. For this reason, it is essentially to manually set
velocity control parameter with experimentation. In velocity mode the Integral part is most
important. The Proportional part will help to improve response time, stability and stiffness of
the system. There are different techniques for setting P and I gains. One of possibilities is to
begin the tuning sequence with setting P gain at I gain =0. Set P to a value where actual velocity
in slightly below reference value and system is not oscillating (observe velocity controller
output). Then add I gain and observe response to load variation and change of velocity
reference. There should be no oscillations, acceptability of overshoot depend on application.
Use Watch and Live Chart windows to observe velocity control related object. For setting
velocity reference set Target Velocity object using numerical or slider input.
0x2050
0x6075
0x60F9 0x01
Reference velocity
Target velocity 0x60FF + +
- Slider input P 0x201A
- +
- Numeric input
- CAN message 0x60F9 0x02
0x606C
Fig. 10-21: Setting velocity controller P and I gains
Fig. 10-22: Velocity control related object in Watch Window and Slider

www.emsiso.com
78I P a g e
Load applied
Setting P gain at: Setting I gain at: Setting P gain in order to improve
I gain = 0 P gain = 1000 response to applied load
unloaded motor unloaded motor
Fig. 10-23: Velocity control tuning example

www.emsiso.com
79I P a g e
10.7 IPM MTPA and Field weakening (Output voltage control)

The IPM MTPA (Interior Permanent Magnet motor type, Most Torque Per Ampere) and Field
weakening operation are implemented in single control scheme as shown on figure below.
Therefore, the same scheme is used for surface mount and interior mount permanent magnet
motor. To enable control scheme set Motor Type object at 0x2034 0x00 to 2 (IPM Motor). The
other related object are listed in Table 10-8.
IPM MTPA + Output Voltage Control Field Oriented Control

LIMITER 𝑟𝑒𝑓
0x6071
𝑖𝑞 + 𝑢𝑞 𝑢𝑠𝑎
and x d, q
SCALING PI SVPWM
-
and MOTOR
0x6075 C2Q 𝑧 −1 𝑟𝑒𝑓 POWER
𝑖𝑑 + 𝑢𝑑 𝑢𝑠𝑏
1000 a, b STAGE
0x2050 PI
𝑥 2 − 𝑦2 -
0x201D 0x18
0x201D 0x19 Positon
0.95 0x201D 0x1A Sensor
+
𝑖𝑑 = 𝑓 𝑖𝑞
+ 𝑖𝑑
+ + 3
0x201D 0x10
0x201D 0x0C
0x201D 0x0D
𝑖𝑞
d, q
0x201D 0x0B 0x201D 0x0E +
%2Q
- PI
0x201D 0x14
+ -
AWG
0x201D 0x0F
𝑥 2 + 𝑦2
Fig. 10-24: IPM MTPA and Field Weakening control scheme
Table 10-8: IPM MTPA and Field weakening (Output voltage control) related object
0x2034 Motor type For enabling control set motor type to IPM motor type -
(set to value 2).
0x201D 0x01 PMSM flux mode Set to value 0. -
0x201D 0x0B Field weakening point Reference output voltage; usually set to 85%. %
0x201D 0x0C Field weakening regulator P gain Proportional gain for voltage control. -
0x201D 0x0D Field weakening regulator I gain Integral gain for voltage control. -
0x201D 0x0E Field weakening regulator requested Reference output voltage scaled to quants. quants
0x201D 0x0F Field weakening regulator actual Actual output voltage. quants
0x201D 0x10 Field weakening regulator out Field weakening reference current. Arms
0x201D 0x14 Field weakening regulator flux gain Antiwindup gain for voltage control. -
antiwindup int
0x201D 0x18 MTPA Polynom a2 Polynom coefficients for defining IPM MTPA
0x201D 0x19 MTPA Polynom a1 Coefficient internally divided by 1/10 000.
0x201D 0x1A MTPA Polynom a0 For surface mount magnet type motor all coefficients
are set to zero.
Remarks:
%2Q – constant for scaling reference voltage from % to quants
AWG – antiwindup gain for voltage control.

www.emsiso.com
80I P a g e
The IPM MTPA is realized with 2nd order polynomic function defined as:
𝑖𝑑 = 𝑓 𝑖𝑞 = 𝑎2 𝑖𝑞2 + 𝑎1 |𝑖𝑞 | + 𝑎0
where a2, a1 are polynomic function coefficient. Constant a0 is used for setting flux current
manually. The MTPA data is provided by motor producer.
Example:
From given MTPA current pairs (id and iq) table data provided by motor producer, the curve id
vs. iq is plotted (solid line); Fig. 10-25. The curve can be approximated using 2nd order polynomic
function (dotted line) with coefficients being a2 = - 0.0022, a1= 0.0023 and a0=0.
Because the coefficients are internally divided by 10000 the IPM MTPA settings are:
• 0x201D 0x18 = -22
• 0x201D 0x19 = 23
• 0x201D 0x1A = 0
Fig. 10-25: IPM MTPA curve
For surface mount magnet motor the MTPA point is at id = 0; therefore all coefficient (a2, a1,
a0) are set to zero.

www.emsiso.com
81I P a g e
In order to operate in field weakening region the controller output voltage control is used; Fig.
10-24. The output voltage reference i.e. field weakening points is given % (0x201D 0x0B), where
100 % correspond to 0.95 of the controller output voltage. The output voltage (which is output
of FOC current regulators for id and iq i.e. ud, uq) is regulated by outer control loop using PI
controller. The anti-windup feedback gain is added to prevent integration wind-up when the PI
controller output (field weakening part of flux current id) is saturated. The field weakening part
of flux current is added to MTPA flux current. The total flux current is limited to 95 % of maximal
controller current defined at 0x2050. This limitation is hardcoded, therefore cannot be change
by the user. The torque current limitation deepened on total flux current and maximal
controller current. To disable field weakening operation set P, I and anti-windup gain to zero.
Setting field weakening controller gains (P, I, and anti-windup) are set manually with
experiment. For a start the field weakening can be set at 50 % of nominal velocity. The
controller is operating in velocity mode (because velocity effect the output voltage most), with
max reference velocity being set to 50 % of nominal velocity. Velocity ramp parameter (0x60F9
0x03) can be used to insure linear velocity increase. The reference for output voltage control
(Field Weakening point) is step changed for i.e. 45 % to 55 % and back. The output voltage
control response is evaluated. The guidance for evaluating the response are: overshoot should
be minimal, settling time must be shorter than mechanical dynamics, steady-state error is zero,
no oscillations. Firstly I gain and anti-windup gain are set, at P gain being set to zero. In the
example below I gain is changing at anti-windup gain set to 100; Fig. 10-27. The adequate
response is found at I gain being 2000.
Fig. 10-26: Field weakening related object in Watch Window and Slider

www.emsiso.com
82I P a g e
Fig. 10-27: Field weakening operation; setting I gain at anti-windup gain = 100, P gain = 0

www.emsiso.com
83I P a g e
Then anti-windup gain is increased. At zero velocity (output voltage near zero and below
reference value) field weakening current should be zero. This is true at anti-windup gain being
200; at higher gain values the field weakening “spikes” start to appear; Fig. 10-28.
Fig. 10-28: Field weakening operation; setting anti-windup gain at I gain = 2000, P gain = 0
The most important gains in output voltage control are I gain and anti-windup gain. The
Proportional part is used for improving response time. However the output voltage control is
sensitive to P gain because of “noisy” outputs of flux and torque current control. Therefore P
gain is set to the value where there is no oscillations in field weakening current; Fig. 10-29.

www.emsiso.com
84I P a g e
Fig. 10-29: Field weakening operation; setting P gain at I gain = 2000, anti-windup gain = 200

www.emsiso.com
85I P a g e
In end application the field weakening is used to increase the motor velocity above base velocity
() or to maintain the velocity at lowering DC link voltage because of battery discharge (). In
shown examples the field weakening point is set to 85 %.
NO Field Weakening operation Field Weakening operation
Fig. 10-30: Field weakening operation for increasing velocity above base velocity and to compensate DC link voltage drop

www.emsiso.com
86I P a g e
Fig. 10-31: Field weakening operation for compensate DC link voltage drop from 32 V to 22 V

www.emsiso.com
87I P a g e
11 Control of emDrive over software (CANopen protocol)
The following information provide basic introduction to the CANopen terminology. It is

assumed that the reader understands CAN and is familiar with its use.
If the reader is new to CAN or CANopen please refer to the CiA (CAN in Automation)
www.can-cia.org for further information.
11.1 emDrive CAN Introduction

CAN Communication interface of the emDrive motor controllers follows the CiA CANopen
which is a higher layer protocol defined in the DS301 ‘Application Layer and Communication
Profile’ specification. CANopen also supports standardized profiles, which extend the
functionality of a device. The controller supports CANopen standardized profile: DSP402 (V2.X)
– Device Profile for Drives and Motion Control.
CAN Network
CAN node
CANopen application layer and communication profile

(CiA 301 V4.1, CiA 302 V3.4)
Device profile drives and motion control (CiA 402, V2.0)

Drive Control State Machine
Modes of operation
Cyclic Cyclic Cyclic

synchronous synchronous synchronous
Torque Velocity Position
Mode Mode Mode
Motor
Fig. 11-1: Communication architecture

www.emsiso.com
88I P a g e
11.2 Physical structure of a CANopen network

The underlying CAN architecture defines the basic physical structure of the CANopen network.
Therefore, a line (bus) topology is used. To avoid reflections of the signals, both ends of the
network must be terminated. Maximum permissible branch line lengths for connection of the
individual network nodes are to be observed.
The recommended permissible bit rates for a CANopen network are given in CiA 301: 10 kbps,
20 kbps, 50 kbps, 125 kbps, 250 kbps, 500 kbps, 800 kbps and 1000 kbps. In CiA 301 a
recommendation for the configuration of the bit timing is also given.
Additionally, for CANopen, two additional conditions must be fulfilled:
- All nodes must be configured to the same bit rate and
- No node-ID may exist twice.
There are no mechanisms automatically ensuring these conditions. The system integrator
needs to check the bit rate and node-ID of every single network node when wiring a network
and adjust if necessary. To set the node-ID on the controller setting these parameters is done
via reserved CAN identifier by software with the aid of the so-called "LSS-service" (layer setting
service) as described in CiA 305.
CAN node 1 CAN node 2 CAN node n
CAN shield CAN shield CAN shield

CAN-GND CAN-GND CAN-GND
CAN-L CAN-L CAN-L

120  120 
CAN-H CAN-H CAN-H
Fig. 11-2: CAN physical architecture example
11.3 Object Dictionary, Electronic Data Sheet and Device Configuration File
One of the most important properties of CANopen is a standardized device description called object
dictionary (OD). It is a table which has the same structure for all types of devices. Thus, it is possible to
access all important data, parameters and functions of a device using a logical addressing system (index,
subindex) via the CAN bus. There are two important text files associated with the Object Dictionary.
These are:
Electronic Datasheet (EDS)
An EDS is a text file representation of the Object Dictionary structure only. It contains no data values.
The EDS is used by configuration software such as »EMSISO eDrive Configurator« to describe the
structure of a node’s Object Dictionary. An EDS for each emDrive controller model and software version,
is available on the device itself and can be also provided by EMSISO company. The EDS file format is
described in the DSP306 – Electronic Data Sheet Specification.
NOTE: Each Object Dictionary matches a particular device and software version. Also, its structure is hardcoded
into the device software.

www.emsiso.com
89I P a g e
Device Configuration File (DCF)

This is a text file like an EDS except that it contains data values as well as the Object Dictionary
structure. DCFs are used to:
- Download a complete pre-defined configuration to a node’s Object Dictionary. Download
parameters from PC to controller.
- Save the current configuration of a node’s Object Dictionary for future use. Save parameters
from controller to PC.
11.4 Communication and protocol

The data link layer of CANopen, can only transmit short packages consisting of an 11-bit ID, a
remote transmission request (RTR) bit and 0 to 8 bytes of data. The CANopen standard divides
the 11-bit CAN frame ID into a 4-bit function code and 7-bit CANopen node ID. This limits the
number of devices in a CANopen network to 127 (0 being reserved for broadcast).
In CANopen the 11-bit ID of a CAN-frame is known as communication object identifier, or COB-
ID.
Contents of an 11-bit identified CANopen data frame (also called “base frame format”):
CAN-ID RTR Data length Data
Length 11 bits 1 bit 4 bits 0 – 8 bytes
The default CAN-ID mapping sorts frames by attributing a function code (NMT, SYNC, EMCY,
PDO, SDO...) to the first 4 bits, so that critical functions are given priority.
CAN-ID
Function Code Node ID
Length 4 bits 7 bits
Different types of communication models are used in the messaging between CANopen nodes:
Master/slave: one CANopen node is designated as the master, which sends/requests data
to/from the slaves. The NMT protocol is an example of a master/slave communication model.
Slave is emDrive motor controller.
Client/server: in this relationship the SDO protocol is implemented, where the SDO client sends
data (the object dictionary index and subindex) to an SDO server, which replies with one or
more SDO packages containing the requested data (the contents of the object dictionary at the
given index). SDO server is emDrive motor controller.
Producer/consumer: this model is used in the Heartbeat, Node Guarding and PDO protocols. In
the push-model of producer/consumer, the producer sends data to the consumer without a
specific request, whereas in the pull model, the consumer must request the data from the
producer. Normally, emDrive is in consumer mode.

www.emsiso.com
90I P a g e
11.5 Network management (NMT)

Power-On
Reset
Initialization
Pre-operational
Stopped
Operational
Fig. 11-3: State diagram
Upon power-up eDrive (CANopen slave node) comes out of »power-on reset« and goes into
initialization. It initializes the entire application, CAN/CANopen interfaces and communication.
At the end of the initialization the node tries to transmit boot-up message. As soon as it is
transmitted successfully, the node switches to Pre-operational state.
The NMT Protocol is used by the master node (NMT Master message) to individual nodes or all
nodes back and forth between the three major states: Pre-operation, Operational and Stopped.
The NMT protocols are used to issue state machine change commands (e.g. to start and stop
the devices), detect remote device bootups and error conditions.
The Module control protocol is used by the NMT master to change the state of the devices. The
CAN-frame COB-ID of this protocol is always 0, meaning that it has a function code 0 and node
ID is 0, which means that every node in the network will process this message. The actual node
ID, to which the command is meant to, is given in the data part of the message (at the second
byte). This can also be 0, meaning that all the devices on the bus should go to the indicated
state.
The message format is:
COB-ID (11 bits) RTR Data length Data Byte 0 Data Byte (1)
0x000 0 2 NMT Command (Request state) Addressed node

NMT Command Meaning
0x01 Enter Operational
0x02 Enter Stop
0x03 Enter Pre-operational
0x81 Reset node
0x82 Reset communication
The protocols/functions available in different states are listed in Table 11-1.

www.emsiso.com
91I P a g e
Table 11-1: Functions available in different states
State
Function Stopped Pre-operational Operational
NMT Yes Yes Yes
GUARD Yes Yes Yes
EMCY No Yes Yes
SYNC No Yes Yes
TIMESTAMP No Yes Yes
SDO No Yes Yes
PDO No No Yes

www.emsiso.com
92I P a g e
11.6 Data transfer – Service Data Object (SDO)

The Service Data Object (SDO) is based on a client server communication model and provide
access by direct addressing of and object using its index (2 bytes) and subindex (1 byte). It is
used for configuration of a device as the SDO is allowed in pre-operational mode. Using SDO is
also possible to get “process” data values by polling the appropriate object dictionary entry.
SDO Server
SDO Client Object Dictionary
CAN
Fig. 11-4: SDO; client server communication model
SDO protocol always confirms the read/write operation. If the data to be read/written is 4 bytes
or less than expedited packet can be used (one transmit and one confirm receive is necessary).
SDO uses the following COB-IDs

COB-ID (11 bits) NMT Function
0x600 + node ID SDO Receive
0x580 + node ID SDO Transmit
TX/RX direction are from the point of view of the device. So, to query a device on the network
you would send a 0x600+nodeID and get back a 0x580+nodeID.
The SDO packet is defined as:
CAN Header DATA
COB-ID RTR Data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
length
Function + 0 8 Command OD Index OD Sub - Data
node ID Index
The CAN header consists of the COB-ID (11 bits), the RTR bit, and data length definition (4 bits).
This makes the header 2 bytes, so the total packet is 10 bytes.
The SDO packet always contains 8 bytes of data (even if they are not all used). Command
specifies the nature of the transfer read/write etc. The Index of the object dictionary being
queried is the next 2 bytes (Little Endian format), followed by 1 byte specifying the sub-index.
The remaining 4 bytes contain the data of the transfer (or zero if they are not required).

www.emsiso.com
93I P a g e
SDO Read
The message from SDO client for initiate SDO upload service (read data) is structured as:
length
0x600 + 0 8 Command OD Index OD Sub - Zeros
node ID Index

Command Meaning
0x40 Read Dictionary Object
The server (emDrive controller) responds with:

length
0x580 + 0 8 Command OD Index OD Sub - Data
node ID Index

Command Meaning
0x43 Read Dictionary Object reply,
expedited, 4 bytes sent
0x47 Read Dictionary Object reply,
0x4B Read Dictionary Object reply,
0x4F Read Dictionary Object reply,
expedited, 1 byte sent
Example:
Use SDO Read to get value for Current control torque regulator P gain (0x60F6 0x01). The data
type of this parameter is int16 (2 bytes). The controller Node ID is set to 1.
Step1: Generate SDO Read message:

COB-ID Data Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
length
0x601 8 40 F6 60 01 00 00 00 00
Controller responds as:

length
0x581 8 4B F6 60 01 E8 03 00 00
 
2 bytes E8 03 little endian format
sent (3E8)h = 1000 (default gain value)
Fig. 11-5: PCAN-View trace, SDO Read example

www.emsiso.com
94I P a g e
SDO Write
The message from SDO client for initiate SDO download service (write data) is structured as:
length
0x600 + 0 8 Command OD Index OD Sub - Data
node ID Index

Command Meaning
0x23 Write Dictionary Object reply,
0x27 Write Dictionary Object reply,
0x2B Write Dictionary Object reply,
0x2F Write Dictionary Object reply,
expedited, 1 byte sent
The server (emDrive controller) responds with:

length
0x580 + 0 8 Command OD Index OD Sub - Zeros
node ID Index

Command Meaning
0x60 Respond
Example:
Use SDO write to set value for Current control torque regulator P gain (0x606F 0x01) to 1500.
The data type of this parameter is int16. Use additional SDO write to save parameters using
Store Parameter Field Save all Parameters object (0x1010 0x01).
Step 1: Generate SDO Write message to set P gain:

length
0x601 8 2B F6 60 01 DC 05 00 00
 
2 bytes DC 05 little endian format
sent (5DC)h = 1500 (gain value)

length
0x581 8 60 F6 60 01 00 00 00 00
Step 2: Generate SDO Write message to save parameters:

length
0x601 8 23 10 10 01 65 76 61 73
 
2 bytes “save” in Assci code
sent e = 0x65, v = 0x76, a = 0x61, s = 0x73

www.emsiso.com
95I P a g e

length
0x581 8 60 10 10 01 00 00 00 00
Step 3: Use NMT command to Reset or switch OFF/ON logic power supply
COB-ID Data Byte 0 Byte 1
length
0x000 2 81 01

COB-ID Data Byte 0
length
0x701 1 00
Step 4: Use SDO Read message to verify the parameter gain value:
length
0x601 8 40 F6 60 01 00 00 00 00

length
0x581 8 4B F6 60 01 DC 05 00 00
Fig. 11-6: PCAN-View trace, SDO Write example

www.emsiso.com
96I P a g e
11.7 Data transfer – Process Data Object (PDO)

Process Data Objects is a protocol for process data exchange from one node to another. The
PDO protocol is available only in Operational state. Data can be exchange on different events:
on data change, preset periodical interval or SYNC mechanism. The PDO messages have no
fixed format, therefore the contend of a PDO can also not be readily interpreted. Both the
transmitter and the receiver know how the content of a PDO is to be interpreted. The so-called
"PDO mapping" describes which individual process variables in the data field of a PDO are
transmitted, how they are arranged and which data type and length they have. The content
and meaning of the data field of each defined PDO is described in the form of a PDO-mapping
record inside the object dictionary both on the transmit and on the receive side.
There are 4 transmit TX PDO and 4 receive RX PDO messages available, each with data length
up to 8 bytes. PDOs are configured in pairs with a matching TX PDO and RX PDO.
The PDO producer composes the data field of a PDO in accordance with its TX PDO mapping.
For this it takes the current data of the variables to be transmitted from its object dictionary
and copies these into the data field of the PDO before the CAN message (PDO) is sent.
The same happens on the consumer side: based on the RX PDO mapping record, the data bytes
of the received PDOs are copied into local object dictionary entries and thus generally device-
specific actions are triggered.
The TX PDO contains only data:

length
0x180 + 0 1-8 Length bytes of data
node ID
The TX PDO is set by two Object Dictionary entries 0x1Axx and 0x18xx. The RX PDO is set by two
Object Dictionary entries 0x16xx and 0x14xx. The formats of the 0x1Axx and 0x16xx entries are
identical and they need to be a matched pair between the transmitting and receiving nodes.
The controller transmit messages are:

COB-ID Message
0x180 + Node ID TX PDO 1
The controller receive messages are:

COB-ID Message
0x200 + Node ID RX PDO 1

www.emsiso.com
97I P a g e
PDO mapping
The PDO mapping configuration registers 0x1Axx (for TX PDO) and 0x16xx (for RX PDO) specify
which object dictionary entries will be exchanged with the PDO message. Mapping is possible
only for those object dictionary entries whose mapping is enabled with EDS.
Up to 8 configuration bytes are available, but the total amount of data they specify must be 8
bytes or less.
The format of the 0x1Axx and 0x16xx entries is defined as:

Number of Entry 1 Entry 2 Entry 3 Entry 4 Entry 5 Entry 6 Entry 7 Entry 8
elements (0-8)

Each entry (4 bytes long)
Index Sub Data size in bits
2 bytes 1 byte 1 byte
An example for reading controller DC link voltage, controller temperature and DC capacitor
temperature. The OB entities with data types are:
• DC link voltage 0x6079 0x00, int16 (2 bytes data)
• Controller temperature 0x2026 0x01, unsigned 8 (1 byte data)
• Capacitor temperature 0x2026 0x02, unsigned 8 (1 byte data)
The length of all data is 4 bytes therefore using one Transmit PDO is sufficient. The content of
0x1A00 is:
• 0x1A00 0x00: 3 (because 3 process data are mapped)
• 0x1A00 0x01: 0x60790010 (mapping 0x6079 0x00, data length 16 bits 16dec = 10hex)
The object dictionary entries 0x18xx (TX) and 0x14xx (RX) specify the COB-ID of TX and RX
nodes, and different parameters on TX side defining when the PDO messages are transmitted
(COB-ID, Transmission type, Inhibit Time (ms), Compatibility Entry, Event Timer (ms), SYNC start
value).
Transmission type can be:

Type (value) Description
0 Acyclic synchronous
1-240 Cyclic synchronous
241 -251 Reserved
252 Synchronous RTR only
253 Asynchronous RTR only
254-255 Asynchronous
At asynchronous transmission type 254 and 255 the PDO message is transmitted when mapped
data changes. With Inhibit time maximal update rate is set. The Event timer is used to make
asynchronous PDO transmit at given rate when timer expire, thus Event timer set minimum
update rate.

www.emsiso.com
98I P a g e
Cyclic Synchronous PDOs are transmitted with the SYNC message (periodical transmit). In fact,
the SYNC message causes all nodes with Synchronous PDOs configured to sample their inputs
and store the data, the actual data is transmitted on the next SYNC message.
With Acyclic Synchronous transmission type the PDOs are transmitted only when a Remote
request from another device ‘pre-triggers’ the PDO or a device (profile) specific event ‘pre-
triggers’ the PDO.
Procedure for mapping (example for TX PDO):

1. Disable PDO communication for TX and PDO
Set COB-ID to value 0x80000000 (example 0x1800 0x01 = 0x80000000)
2. Disable PDO mapping for TX PDO
Set number of entries to value 0 (example 0x1A00 0x00 = 0)
3. Mapp objects in using mapping object dictionary entries
4. Set transmission type (example 0x1800 0x02 = 1, SYNC type (TX PDO will be sent on every
SYNC))
5. Set COB-ID and enable PDO
COB-ID bit meaning
10 9 8 7 6 5 4 3 2 1 0
PDO number 1 Node ID
6. Save parameter
7. Reset device
8. Set device in operational mode and device is ready to send TPDO according to transmission
type settings
For setting the RX PDO the same procedure must be followed.

www.emsiso.com
99I P a g e
Example:
Controller is working in torque mode. Configure RX PDO to send torque command to the
controller. Configure TX PDO’s to receive the following data from the controller: controller
temperature, controller DC link capacitor temperature, DC link voltage, velocity, warning, and
error status. The controller node ID is set to 1.
Mapping RX PDO 1:
Before setting RX PDO make sure to disable communication and disable mapping.
Mapping Target Torque 0x6071 0x00 (2 bytes)
Object Object name Value Meaning
0x1600 0x00 Number of entries 1 Receiving one data package
0x1600 0x01 PDO Mapping Entry 0x60710010 Mapping Target Torque
Setting RX PDO communication parameters:

0x1400 0x01 COB ID 0x201 0x200 + Node ID
0x1400 0x02 Transmission Type 254 Transmission set to asynchronous
Mapping TX PDO 1:
Before setting TX PDO make sure to disable communication and disable mapping.
Mapping Controller temperature 0x2026 0x01 (1 byte)
Mapping Capacitor temperature 0x2026 0x02 (1 byte)
Mapping DC link circuit voltage 0x6079 0x00 (2 bytes)
Mapping Velocity actual value 0x606C 0x00 (4 bytes)
Note that warning and error status is not possible to map within TX PDO 1, because data
length is full (8 bytes). Use TX PDO 2 to map warning and error status.
0x1A00 0x00 Number of entries 4 Transmitting four data packages
0x1A00 0x01 PDO Mapping Entry 0x20260108 Mapping Controller temperature
0x1A00 0x02 PDO Mapping Entry 0x20260208 Mapping Capacitor temperature
0x1A00 0x03 PDO Mapping Entry 0x60790010 Mapping DC link circuit voltage
0x1A00 0x04 PDO Mapping Entry 0x606C0020 Mapping Velocity actual value
Setting TX PDO1 communication parameters:

0x1800 0x02 Transmission Type 1 Cyclic synchronous transmission
Mapping TX PDO 2:
Mapping Warnings 0x2027 0x00 (2 bytes)
Mapping Error code 0x603F 0x00 (2 byte)
0x1A01 0x00 Number of entries 2 Transmitting two data packages
0x1A01 0x01 PDO Mapping Entry 0x20270010 Mapping Warnings
0x1A01 0x02 PDO Mapping Entry 0x603F0010 Mapping Error code

www.emsiso.com
100I P a g e
Setting TX PDO2 communication parameters:

0x1801 0x02 Transmission Type 1 Cyclic synchronous transmission
Disabling TX PDO 3:
0x1802 0x01 COB ID 0x800000000 Disabling TX
After Save and Reset the parameter value is read as 0x80000001.
Disabling TX PD0 4:
0x1803 0x01 COB ID 0x800000000 Disabling TX
After Save and Reset the parameter value is read as 0x80000001.
NMT: Reset node
NMT: EnterPre-operational
NMT: Enter Operational
SDO Write: ControlWord = 6
SDO Write: ControlWord = 15

RX PDO1: 0x03E8 (set Target Torque to 1000 using first two bytes)
Sending SYNC message every 2 s, for periodical TX PDO
TX PDO1: 0x18 (Controller temperature 24 °C)
0x18 (Capacitor temperature 24 °C)
0x012B (DC link voltage 29,9 V)
0x0160 (Velocity 352 rpm)
TX PDO2: 0x04 (Warning = 0x04 -> Undervoltage)

0x00 (Error = 0x00 -> No error)
Fig. 11-7: PCAN-View trace, PDO example

www.emsiso.com
101I P a g e
11.8 Device states and possible control sequences

Picture below contains detailed description of the device states and all possible controlling
sequences for operating the emDrive. States of the drives are determining which commands
are accepted. States may be changed using the object 0x6040 - Controlword and/or according
to internal events.
Start
Not ready to
switch on
1
15
Switch on Fault
disabled
2 7 14
Ready to 13 Fault reaction
12 10
switch on active
3 6
Switched on
8 9
4 5 Power-off or reset
Quick stop Operation
active 11 enabled
Fig. 11-8: Device State Machine Block Diagram
11.9 State Transitions

State transitions are caused by internal events in the device or by command from host via the
object 0x6040 - Controlword. If command is received which causes a change of state, this
command will be processed completely and the new state attained before the next command
can be processed.

www.emsiso.com
102I P a g e
Table 11-2: Transition events and actions

Transition Event (s) Action (s)
0 Automatic transition after power-on or reset Initialize drive, enable brakes, start local control if enabled
1 Start safety procedure, disable drive function, initialize
Automatic transition
feedback, internal set-points cleared
2 “Shutdown” command from control device or
Disable drive function
local signal received
3 “Switch on” command received from control
Disable brakes
device or local signal
4 “Enable operation” command received from
Enable drive function
control device or local signal
5 “Disable operation” command received from
Drive function disabled, disable brakes
control device or local signal
6 “Shutdown” command received from control
Drive functions disabled, enable brakes
7 “Quick stop” or “disable voltage” command Drive functions disabled, enable brakes, initialize feedback,
received from control device or local signal internal set-points cleared
8 “Shutdown” command received from control
Drive functions disabled, enable brakes
9 “Disable voltage” command received from Drive functions disabled, enable brakes, initialize feedback,
control device or local signal internal set-points cleared
10 “Disable voltage” or “quick stop” command Drive functions disabled, enable brakes, initialize feedback,
received from control device or local signal internal set-points cleared
11 “Quick stop” command received from control
None
12 Disable drive function, initialize feedback, internal set-points
Automatic transition
cleared
13 Fault signal None
14 Automatic transition Disable drive function, enable brakes
15 “Fault reset” command received from control
Clear fault condition if no fault is present

www.emsiso.com
103I P a g e
12 Control emDrive over hardware I/O (Application 1)
Wiring example shown on figure below represents basic application for electric drivetrain.
Functionalities of electric drivetrain are:
• Switch for enable/disable controller (Ignition)
• Switch for direction (forward and reverse)
• Potentiometer for throttle setting
• Potentiometer for brake settings
• CAN for connection with emDrive Configurator (USB/CAN interface), used for setting
the parameters.
NOTE: Read and apply instructions found in other chapters since Pre-charge, Discharge, Fuses, Contactors,
Earthing, etc. are not shown in basic wiring example!
NOTE: Special attention must be paid to the information found in chapter’s safety and connection sequence
described in this manual!
emDrive Auxiliary components

System connector
1
or Connection Box
Ignition GND
GND ingnition
2
Ignition VCC Ignition VCC
Ignition (see emDrive specification
3
Logic GND for Ignition voltage level)
GND logic
4
VCC out (5V)
5 Throttle Brake
Throttle input (0-5V) 10 k 10 k
18 GND logic
Brake input (0-5V) GND logic
Forward digital input

FWD
14
Reverse digital input
REV GND logic
31
CAN High
CAN High
30
CAN Low CAN Low
19 CAN GND
CAN GND
29
Motor temperature
Position sensor feedback** ** see cable wiring for different

position sensors
MOTOR
B-
-
Battery
W
V
B+
+
Fig. 12-1: Control emDrive over hardware I/O (example Application 1)

www.emsiso.com
104I P a g e
The APP1 is part of the software used for constructing simple powertrain, the simplified scheme
is shown in Fig. 12-2. The most basic configuration is one potentiometer (throttle voltage) to
set either requested torque (torque mode) or requested velocity (velocity mode) and two
switches to select desired direction. In addition, software support also braking options,
however braking functionalities are in phase of updating therefore they are not in scope of
following description. Once the APP1 is configured the drive operate without external CAN
communication.
The output of APP1 is always requested torque for lower level software where FOC Torque
Control is running. Therefore, the object Modes of operation must always be set to torque
control (0x6060 = 10). The data between software layers (APP1 layer and FOC Torque control
layer) are exchanged using PDO messages, therefore PDO messages in APP1 cannot be
modified.
For APP1 operating in torque mode object APP1 Control Mode 0x3001 0x01 is set to value 1. In
this case the Throttle voltage is directly scaled to Target torque command.
For APP1 operating in velocity mode object APP1 Control Mode 0x3001 0x01 is set to value 2.
In this case the Throttle voltage is scaled to velocity request command for APP1 velocity control
implemented with PI control. The parameters for APP1 PI velocity controller are set under the
object 0x3004. The output of velocity controller is Target torque command.
In following subchapters settings for torque and velocity mode at different throttle input types
are described. Before setting APP1 steps 1,2, 3, 4, 5 and 7 (optional) given in Table 10-1 must
be done.
0x3003
0x0A:0x10
SCALING
0x3004 Layer: Application1
+
0x3001
PI 0x01
-
DIRECTION
Velocity act. value avg.
and
DRIVE ENABLE
Throttle voltage
Target torque
0x2070 0x01
Controlword
0x2087
0x6071
0x6040
CANOpen TPDO Digital In. Values CANOpen RPDO

Layer: FOC Torque Control
Analog and digital interface
Target torque FOC

Potentiometers, 0x6071 PWM POWER
switches Torque MOTOR
STAGE
Control
Positon
Sensor
Fig. 12-2: Simplified control scheme of Application 1

www.emsiso.com
105I P a g e
12.1 Setting torque mode (without braking)
Potentiometer: Unipolar throttle

Throttle potentiometer is supplied with 5 V. Measured throttle voltage can be read by reading
Throttle voltage object (0x2070, 0x01). When unipolar throttle option is selected, the throttle
voltage is scaled to positive torque only. The motor spinning direction is set by forward and
revere switches. Each switch also enables the drive. The parameters settings are listed in Table
12-1. To prevent unpredictable behaviour, enable APP1 by setting object in last the step.
0x3003: 0x0A
0x0B
0x0C
0x0F 0x3003: 0x01
0x10 0x02
+5V
Throttle voltage
Analog IN
0x2070 0x01 Target torque

SCALING DIRECTION
0x6071
Digital inputs
Digital IN
0x2076 Controlword
DRIVE ENABLE
0x6040
Fig. 12-3: Simplified torque request scheme of Application 1 – potentiometer unipolar throttle
Throttle Max Out Value

(0x3003 0x10)
Target torque (1/1000 of 0x6075)
Max Throttle voltage

(0x2070 0x01)
Throttle Positive Max Voltage

(0x3003 0x0C)
Throttle Min Out Value

(0x3003 0x0F)
Min Throttle voltage (0x2070 0x01)

Throttle Positive Min Voltage (0x3003 0x0B)
0
Throttle voltage (mV)
Throttle voltage
Throttle voltage/Target torque function
Fig. 12-4: Potentiometer unipolar throttle; throttle voltage/target torque function

www.emsiso.com
106I P a g e
Table 12-1: Settings for APP1; torque mode with potentiometer unipolar throttle
Object Object name Value Description Unit

0x3001 0x01 APP1 Control Mode 1 Torque mode. -
0x3003 0x01 APP1 Din 1 Function 1 Switch DIN1 used for selecting forward -
direction.
0x3003 0x02 APP1 Din 2 Function 2 Switch DIN2 used for selecting reverse
direction.
0x3003 0x0A APP1 Throttle Type 1 Setting unipolar throttle type. -
0x3003 0x0B APP1 Throttle Positive Min Voltage See description Put potentiometer in min. position and mV
read throttle voltage at 0x2070 0x01 in
mV. Set APP1 Throttle Positive Min
Voltage 50 mV higher than read value.
0x3003 0x0C APP1 Throttle Positive Max Voltage See description Put potentiometer in max. position and mV
mV. Set APP1 Throttle Positive Max
Voltage 50 mV lower than read value.
0x3003 0x0F APP1 Throttle Min Out Value 0 Requested Target torque value 1/1000
(0x6071) at APP1 Throttle Positive Min
Voltage. Usually set to 0; zero torque
when potentiometer is in min position.
0x3003 0x10 APP1 Throttle Max Out Value 1000 Requested Target torque value 1/1000
(0x6071) at APP1 Throttle Positive Max
Voltage. Usually set to 1000; rated
torque current when potentiometer is
in max position.
MAX VELOCITY PREVERI
0x3000 Select application 1 Enable APP1. -
0x2070 0x01 Throttle voltage Read only Measured voltage on throttle analog mV
input. Read only.
0x2076 Digital inputs Read only Digital value of all digital inputs.
Logic 0 – switch is OFF (DISABLE)
Logic 1 – switch is ON (ENABLE)
Remarks:
Other APP1 parameters set to default values.
When parameters are set, application must be enabled by writing 1 to Select application object.
Put throttle command in zero request position and forward/reverse switch to off position.
After that Save the parameters and Reset the controller.
Right after reset controller will go into Operational state. For enabling drive mode turn on enable switch and
add throttle command to spin the motor.

www.emsiso.com
107I P a g e
Potentiometer: Bipolar throttle

Throttle voltage object (0x2070, 0x01). When bipolar throttle option is selected, the throttle
voltage is scaled to negative and positive torque. Therefore, switches for selecting motor
direction are not used. However, the function for digital input 1 must be set to forward (0x3003
0x01 = 1) and digital input 1 polarity inverted (0x3003 0x07 = 1). The parameters settings are
listed in Table 12-2. To prevent unpredictable behaviour, enable APP1 by setting object in the
last step.
0x3003: 0x0A
0x0B
0x0C
0x0D
0x0E
0x0F
0x10
+5V
Throttle voltage
Analog IN

SCALING DIRECTION
0x6071
Controlword
DRIVE ENABLE
0x6040
Fig. 12-5: Simplified torque request scheme of Application 1 – potentiometer bipolar throttle

(0x3003 0x10)

(0x2070 0x01)
Throttle Positive Max Voltage (0x3003 0x0C)

0
(0x3003 0x0F)
Throttle Negative Max Voltage (0x3003 0x0E)
Throttle Negative Min Voltage (0x3003 0x0D)

Throttle voltage
Throttle voltage/Target torque function
Fig. 12-6: Potentiometer bipolar throttle; throttle voltage/target torque function

www.emsiso.com
108I P a g e
Table 12-2: Settings for APP1; torque mode with potentiometer bipolar throttle

direction.
0x3003 0x07 APP1 Invert Din Polarity 1 DIN1 polarity is inverted (simulating
forward switch turned on)
0x3003 0x0A APP1 Throttle Type 2 Setting bipolar throttle type. -
0x3003 0x0B APP1 Throttle Positive Min Voltage See description Zero torque point in forward direction. mV
Put potentiometer in desired middle
position and read throttle voltage at
0x2070 0x01 in mV. Set APP1 Throttle
Positive Min Voltage 50 mV higher than
read value.
0x3003 0x0C APP1 Throttle Positive Max Voltage See description Max. torque point in forward direction. mV
Put potentiometer in max. position and
0x3003 0x0D APP1 Throttle Negative Min Voltage See description Max. torque point in reverse direction. mV
Put potentiometer in min. position and
mV. Set APP1 Throttle Negative Min
0x3003 0x0E APP1 Throttle Negative Max Voltage See description Zero torque point in reverse direction. mV
Negative Max Voltage 50 mV lower than
read value.
0x3003 0x0F APP1 Throttle Min Out Value -1000 Requested Target torque value 1/1000
(0x6071) at APP1 Throttle Negative Min
Voltage.
Usually set to -200, to prevent max.
torque in negative direction.
0x3009 0x01 In driving modes are not used the (0x6071) at APP1 Throttle Positive Max
0x3003 0x10 parameter is Voltage.
overwritten with parameter 0x3009 Usually set to 1000; rated torque
0x01. current when potentiometer is in max
position.
input. Read only.
Remarks:
Right after reset controller will go into Operational state. For enabling drive mode turn on enable switch and add
throttle command to spin the motor.

www.emsiso.com
109I P a g e
Servo PWM throttle

For emDrive150 family controllers and emDrive500 controller analog input 1 (Throttle input)
can be modified to inquire servo PWM input as throttle reference. This option is available upon
request on controller order. The modification is hardware based; therefore, the throttle input
will accept only PWM input (using potentiometer throttle is not possible). The PWM input
specifications are given in Table 12-3.
Measured PWM width can be read by reading APP 1 PWM Pulse Width Throttle voltage object
(0x3003, 0x15). The PWM pulse width is scaled to positive torque only. The motor spinning
direction is set by forward and reverse switches. Each switch also enables the drive. The
parameters settings are listed in Table 12-4. To prevent unpredictable behaviour, enable APP1
by setting object in the last step.
Table 12-3: Servo PWM throttle input requirements
Min Typ. Max
Signal amplitude (V) 4 5 5,5
Signal frequency (Hz) 50 400
Pulse width (s) 800 2200
0x3003: 0x0A
0x0B 0x3003: 0x01
0x0C 0x02
PWM Pulse Width

Analog IN

SCALING DIRECTION
0x6071
Digital inputs
Digital IN
0x2076 Controlword
DRIVE ENABLE
0x6040
Fig. 12-7: Simplified torque request scheme of Application 1 – Servo PWM throttle

(0x3003 0x10)
Max Width (max(0x3003 0x15))

(0x3003 0x0C)

(0x3003 0x0F)
Min Width (min(0x3003 0x15))

0
PWM width (s)
PWM width
PWM width/Target torque function
Fig. 12-8: Servo PWM throttle; PWM width/target torque function

www.emsiso.com
110I P a g e
Table 12-4: Settings for APP1; torque mode with Servo PWM throttle

direction.
direction.
0x3003 0x0A APP1 Throttle Type 4 Setting Servo PWM throttle type. -
0x3003 0x0B APP1 Throttle Positive Min Voltage See description Set minimal PWM width and read PWM s
width value at 0x3003 0x15 in s. Set
APP1 Throttle Positive Min Voltage 50
s higher than read value.
0x3003 0x0C APP1 Throttle Positive Max Voltage See description Set maximal PWM width and read PWM s
APP1 Throttle Max Voltage 50 s lower
than read value.
0x3003 0x0F APP1 Throttle Min Out Value 0 Requested Target torque value 1/1000
(0x6071) at APP1 Throttle Positive Min
Voltage. Usually set to 0; zero torque at
min. PWM width.
(0x6071) at APP1 Throttle Positive Max
Voltage. Usually set to 1000; rated
torque current at max. PWM width.
0x3003 0x15 APP1 PWM Pulse Width Read only Measured pulse width on throttle input. s
Read only.
Remarks:

www.emsiso.com
111I P a g e
12.2 Setting velocity mode
Potentiometer: Unipolar throttle

Throttle voltage object (0x2070, 0x01). When unipolar throttle option is selected, the throttle
voltage is scaled to positive reference velocity only. The reference velocity unit is the same as
actual velocity unit defined with object Velocity encoder factor (0x6094). The motor spinning
direction is set by forward and revere switches. Each switch also enables the drive. The
parameters settings are listed in Table 12-5. To prevent unpredictable behaviour, enable APP1
by setting object in the last step.
Velocity control parameter are set under the object Application 1 – Velocity regulator settings
0x3004.
0x3003: 0x0A
0x0B
0x0C
0x0F 0x3003: 0x01
0x10 0x02 0x3004
+5V
Throttle voltage
Analog IN
0x2070 0x01 Velocity Ref. + Target

SCALING DIRECTION
PI Torque
-
Velocity Act.
Digital inputs
Digital IN
0x2076 Controlword
DRIVE ENABLE
0x6040
Fig. 12-9: Simplified velocity control scheme of Application 1 – potentiometer unipolar throttle

(0x3003 0x10)
Reference velocity (user unit)
(0x2070 0x01)

(0x3003 0x0C)

(0x3003 0x0F)

0
Throttle voltage
Throttle voltage/Reference velocity function
Fig. 12-10: Potentiometer unipolar throttle; throttle voltage/reference velocity function

www.emsiso.com
112I P a g e
Table 12-5: Settings for APP1; velocity mode with potentiometer unipolar throttle

0x3001 0x01 APP1 Control Mode 2 Velocity mode. -
direction.
direction.
0x3003 0x0A APP1 Throttle Type 1 Setting unipolar throttle type. -
0x3003 0x0B APP1 Throttle Positive Min Voltage See description Put potentiometer in min. position and mV
mV. Set APP1 Throttle Positive Min
0x3003 0x0C APP1 Throttle Positive Max Voltage See description Put potentiometer in max. position and mV
0x3003 0x0F APP1 Throttle Min Out Value 0 Reference velocity value at APP1 user unit
Throttle Positive Min Voltage.
0x3003 0x10 APP1 Throttle Max Out Value See description Reference velocity value at APP1 user unit
Throttle Positive Max Voltage. Set to
maximal reference velocity in
potentiometer max. position.
input. Read only.
Remarks:

www.emsiso.com
113I P a g e
Potentiometer: Bipolar throttle

Throttle voltage object (0x2070, 0x01). When bipolar throttle option is selected, the throttle
voltage is scaled to negative and positive reference velocity. The reference velocity unit is the
same as actual velocity unit defined with object Velocity encoder factor (0x6094). Switches for
selecting motor direction are not used. The parameters settings are listed in Table 12-6. To
prevent unpredictable behaviour, enable APP1 by setting object in the last step.
0x3004.
0x3003: 0x0A
0x0B
0x0C
0x0D
0x0E
0x0F
0x10
+5V 0x3004
Throttle voltage
Analog IN

SCALING DIRECTION
PI Torque
-
Velocity Act.
Controlword
DRIVE ENABLE
0x6040
Fig. 12-11: Simplified velocity control scheme of Application 1 – potentiometer bipolar throttle

(0x3003 0x10)
Referene velocity (user unit)
(0x2070 0x01)
Throttle Positive Max Voltage (0x3003 0x0C)

0
(0x3003 0x0F)
Throttle Negative Max Voltage (0x3003 0x0E)
Throttle Negative Min Voltage (0x3003 0x0D)

Throttle voltage
Throttle voltage/Reference velocity function
Fig. 12-12: Potentiometer bipolar throttle; throttle voltage/reference velocity function

www.emsiso.com
114I P a g e
Table 12-6: Settings for APP1; velocity mode with potentiometer bipolar throttle

direction.
direction.
0x3003 0x0A APP1 Throttle Type 2 Setting bipolar throttle type. -
0x3003 0x0B APP1 Throttle Positive Min Voltage See description Zero reference velocity point in forward mV
direction.
Positive Min Voltage 50 mV higher than
read value.
0x3003 0x0C APP1 Throttle Positive Max Voltage See description Max. reference velocity point in forward mV
direction.
Put potentiometer in max. position and
0x3003 0x0D APP1 Throttle Negative Min Voltage See description Max. reference velocity point in reverse mV
direction.
Put potentiometer in min. position and
mV. Set APP1 Throttle Negative Min
0x3003 0x0E APP1 Throttle Negative Max Voltage See description Zero reference velocity point in reverse mV
direction.
Negative Max Voltage 50 mV lower than
read value.
0x3003 0x0F APP1 Throttle Min Out Value See description Reference velocity value at APP1 user unit
Throttle Negative Min Voltage.
Set to max. reference velocity in
negative direction.
0x3003 0x10 APP1 Throttle Max Out Value See description Reference velocity value at APP1 user unit
Throttle Positive Max Voltage.
Set to max. reference velocity in
positive direction.
0x3000 Select application 1 Enable APP1 -
input. Read only
Remarks:

www.emsiso.com
115I P a g e
Servo PWM throttle

For emDrive150 family controllers and emDrive500 controller analog input 1 (Throttle input)
can be modified to inquire servo PWM input as throttle reference. This option is available upon
request on controller order. The modification is hardware based; therefore, the throttle input
will accept only PWM input (using potentiometer throttle is not possible). The PWM input
specifications are given in Table 12-3.
Measured PWM width can be read by reading APP 1 PWM Pulse Width Throttle voltage object
(0x3003, 0x15). The PWM pulse width is scaled to positive reference velocity only. The
reference velocity unit is the same as actual velocity unit defined with object Velocity encoder
factor (0x6094). The motor spinning direction is set by forward and reverse switches. Each
switch also enables the drive. The parameters settings are listed in Table 12-7Table 12-4. To
prevent unpredictable behaviour, enable APP1 by setting object in the last step.
0x3004.
0x3003: 0x0A
0x0B 0x3003: 0x01
0x0C 0x02 0x3004
PWM Pulse Width
Analog IN

SCALING DIRECTION
PI Torque
-
Velocity Act.
Digital inputs
Digital IN
0x2076 Controlword
DRIVE ENABLE
0x6040
Fig. 12-13: Simplified velocity control scheme of Application 1– Servo PWM throttle

(0x3003 0x10)
Max Width (max(0x3003 0x15))
Referenec velocity (user unit)

(0x3003 0x0C)

(0x3003 0x0F)
Min Width (min(0x3003 0x15))

0
PWM width (s)
PWM width
PWM width/Reference velocity function
Fig. 12-14: Servo PWM throttle; PWM width/reference velocity function

www.emsiso.com
116I P a g e
Table 12-7: Settings for APP1; velocity mode with Servo PWM throttle

direction.
direction.
0x3003 0x0A APP1 Throttle Type 4 Setting Servo PWM throttle type. -
0x3003 0x0B APP1 Throttle Positive Min Voltage See description Set minimal PWM width and read PWM s
APP1 Throttle Positive Min Voltage 50
s higher than read value.
0x3003 0x0C APP1 Throttle Positive Max Voltage See description Set maximal PWM width and read PWM s
APP1 Throttle Positive Max Voltage 50
s lower than read value.
0x3003 0x0F APP1 Throttle Min Out Value 0 Reference velocity value at APP1 user unit
Throttle Positive Min Voltage.
0x3003 0x10 APP1 Throttle Max Out Value See description Reference velocity at APP1 Throttle user unit
Positive Max Voltage. Set to maximal
reference velocity at max. PWM width.
PREVERI MAX VELOCITY
0x3003 0x15 APP1 PWM Pulse Width Read only Measured pulse width on throttle input. s
Read only.
Remarks:

www.emsiso.com
117I P a g e
12.3 Selecting driving modes (normal, eco, sport)

Application 1 support three different driving modes; normal, eco, sport. The settings for
individual mode are set under the objects Application 1 – Power mode – Normal (0x3007),
Application 1- Power mode – Eco (0x3008) and Application 1 – Power mode – Sport (0x3008).
Basic settings options are listed in Table 12-8.
Table 12-8: Setting options for different driving mode
Object Description Normal Eco Sport

Max throttle out Substitute for APP1 Throttle Max Out Value 0x3007 0x01 0x3007 0x01 0x3007 0x01
(0x3003 0x10)
Max velocity Substitute for 0x3007 0x07 0x3007 0x07 0x3007 0x07
For selecting the drive mode, external circuit as shown on picture below is required. Based on
switch SW position (1, 2, 3) the 0 V, 2.5 V or 5 V is applied to pin 22. Pin 22 is primarily used for
sin/cos type position sensor; therefore, driving modes functionality is not possible if sin/cos
type position sensor in used. The value on pin 22 in mV is shown in object Analog inputs Aux
voltage (0x2070, 0x02). To enable driving modes option set parameters according to Table
12-9.
If driving modes are not enabled (0x3006 0x01 = 0), then default mode is Sport mode.
+5V
4k7
3 (Sport) SW
2 (Eco) SIN/COS (SIN), pin22
1 (Normal)
4k7
Fig. 12-15: External circuit for selecting different driving modes (normal, eco, sport)
Table 12-9: Setting driving modes in Application 1

0x3006 0x01 APP1 Power Mode Enable 1 0 – power mode disable -
1 – power mode enable
0x3006 0x02 APP1 Power Mode Active Read only Object value shows selected mode -
1 – Normal
2 – Eco
3 – Sport
0x3006 0x03 APP1 Power Mode Select Voltage 1 1500 If AUX voltage is lower than APP1 Power mV
Mode Select Voltage 1, the Normal
mode is selected.
0x3006 0x04 APP1 Power Mode Select Voltage 2 3500 If AUX voltage is higher than APP1 mV
Power Mode Select Voltage 2, the Sport
mode is selected.
0x2070 0x02 Analog inputs AUX voltage Read only Voltage on pin 22. mV

www.emsiso.com
118I P a g e
13 Warnings and Errors
13.1 Status LEDs

Every emDrive has mounted five LED diodes which represents different states/modes of
emDrive. In table below meaning of every LED diode and possible status is shown.
Table 13-1: emDrive controller LED status
LED \ status OFF Flashing ON
CAN Run (green) NMT state stopped NMT state pre-operational NMT state operational
CAN Error (red) No CAN error Single flash - CAN state passive CAN bus OFF
Double flash - Heartbeat lost
Drive (green) Controller in Controller in Controller in
- Preoperational mode, - Operational mode, - Drive mode PWM enabled,
- PWM disabled, - Safety ok, - Brake disabled
- Safety procedure not started, - PWM disabled,
- Brake enabled - Brake disabled
Warning (yellow) All protections are inactive / One or more of protections active
(object 0x2027)
Error (red) No drive error / Drive error (object 0x603f)
13.2 Warnings
To check emDrive controller warning status select SDO Browser and search for object 0x2027 -
Warnings and read object value. Warnings are organized in bit type form. This means that read
value must be decoded. For example, decimal value of object 0x2027 is 6. First convert object
value to binary value (6decimal = 0110binary) and then check in table below for active bits. Least
significant bit is right-most bit and represents bit 0 in table below. This means that for example
(value 6) bit 1 and bit 2 have active warning status (Motor temperature exceeded and DC link
under voltage). The warnings values are listed in Table 13-2.
When warning is active the controller output current is reduced.
Table 13-2: Warning codes - all controller types

Warning active 0x2027 bit active 0x2027 decimal value
Controller temperature exceeded bit 0 1
Motor temperature exceeded bit 1 2
DC link under voltage bit 2 4
DC link over voltage bit 3 8
DC link over current bit 4 16
Stall protection active bit 5 32
Max velocity exceeded bit 6 64
BMS proposed power bit 7 128
Capacitor temperature exceeded bit 8 256
I2T protection bit 9 512
Field weakening active bit 10 1024

www.emsiso.com
119I P a g e
13.3 Errors
To check emDrive controller error status select SDO Browser and search for object 0x603f -
Error_code and read object value. The error values are listed in Table 13-3 - Table 13-5.
When error is active the controller power stage is disabled. In case that error was active and
error cause was removed emDrive controller will stay in error state until controller reset is not
done
Table 13-3: Error codes – emDrive150

Error active 0x603F hex value
ERROR_CURRENT_A 0xFF01
ERROR_CURRENT_B 0xFF02
ERROR_HS_FET 0xFF03
ERROR_LS_FET 0xFF04
ERROR_DRV_LS_L1 0xFF05
ERROR_DRV_HS_L1 0xFF08
ERROR_DRV_HS_L3 0xFF0A
ERROR_MOTOR_FEEDBACK 0xFF0B
ERROR_DC_LINK_UNDERVOLTAGE 0xFF0C
ERROR_PULS_MODE_FINISHED 0xFF0D
ERROR_APP_ERROR 0xFF0E
ERROR_STO_ERROR 0xFF0F
ERROR_CONTROLLER_OVERTEMPERATURE 0xFF10
ERROR_DC_LINK_OVERVOLTAGE 0x3210
Table 13-4: Error codes – emDrive500

ERROR_HS_FET 0xFF03
ERROR_LS_FET 0xFF04
ERROR_EMERGENCY_BUTTON 0xFF0F

www.emsiso.com
120I P a g e
Table 13-5: Error codes – emDriveH300

ERROR_HS_FET 0xFF03
ERROR_LS_FET 0xFF04
ERROR_IGBT_ERRROR 0xFF0F

www.emsiso.com
121I P a g e
14 How to set
14.1 Mode of operation

Controller can operate in various modes depend on setting in object Modes of operation at
object 0x6060. The mode options are summarized in table below. For electric drive system
torque or velocity mode are used.
Table 14-1: Modes of operation

0x6060 value Mode Purpose Protections and limits
0 No mode - -
-1 Test constant angle Advanced user (developer) No protections and limits are active.
-2 Test stepper voltage Advanced user (developer) No protections and limits are active.
-3 Test stepper current Advanced user (developer) Only maximum controller current limit is active.
-5 Induction VF Advanced user (developer) No protections and limits are active.
-4 Auto align motor position Standard user All protections and limits are active.
8 Cyclic sync position Standard user All protections and limits are active.
9 Cyclic sync velocity Standard user All protections and limits are active.
10 Cyclic sync torque Standard user All protections and limits are active.

www.emsiso.com
122I P a g e
15 References
http://www.byteme.org.uk/canopenparent/canopen/sdo-service-data-objects-canopen/

www.emsiso.com

Emdrive User Manual - v2 - 2

Uploaded by

Copyright:

Available Formats

Emdrive User Manual - v2 - 2

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Emdrive User Manual - v2 - 2

Uploaded by

Copyright:

Available Formats

emDrive Motor Controllers

Copyright © Emsiso d.o.o. Rev. 2.2

Motor maximum velocity protection ............................................................................................ 57

13 Warnings and Errors ................................................................................................................ 118

Copyright © Emsiso d.o.o. Rev. 2.2

Fig. 3-1: Controller numbering system (Example: emDrive 500) ............................................................ 4

Copyright © Emsiso d.o.o. Rev. 2.2

Fig. 8-22: emDrive Configurator Main Window (Live Charts) ............................................................... 42

Fig. 11-7: PCAN-View trace, PDO example .......................................................................................... 100

Copyright © Emsiso d.o.o. Rev. 2.2

Table 3-1: emDrive controller’s family classification .............................................................................. 4

Copyright © Emsiso d.o.o. Rev. 2.2

Table 13-3: Error codes – emDrive150 ................................................................................................ 119

Copyright © Emsiso d.o.o. Rev. 2.2

1.1 About user manual

1.3 General emDrive information

Motor control features

• Integrated velocity control

1.4 Protection functions

Copyright © Emsiso d.o.o. Rev. 2.2

2 Handling and safety instructions

NOTE: Important information: Usually it is something we recommend.

Dangerous: High voltage! Risk of electric shock! Danger to personnel!

NOTE: If anything is unclear please contact Emsiso at [email protected].

Copyright © Emsiso d.o.o. Rev. 2.2

3.1 emDrive classification

Maximum DC link voltage

Serial number (3)

Copyright © Emsiso d.o.o. Rev. 2.2

Controller type and

Serial number Manufacturer information

Copyright © Emsiso d.o.o. Rev. 2.2

3.2 emDrive 150

Copyright © Emsiso d.o.o. Rev. 2.2

3.3 emDrive 500

Copyright © Emsiso d.o.o. Rev. 2.2

Copyright © Emsiso d.o.o. Rev. 2.2

4.1 Important instructions

4.2 Dimension and mounting drawings

Fig. 4-1: emDrive 150 – Dimensions and mounting holes drawing

Copyright © Emsiso d.o.o. Rev. 2.2

Fig. 4-2: emDrive 500 – Dimensions and mounting holes drawing

Copyright © Emsiso d.o.o. Rev. 2.2

Fig. 4-3: emDriveH300 – Dimensions and mounting holes drawing

Copyright © Emsiso d.o.o. Rev. 2.2

4.3 Mechanical installation instructions

Copyright © Emsiso d.o.o. Rev. 2.2

Fig. 4-4: emDrive cooling circuit diagram

4.5 Sizing a conductor

Table 4-1: Recommended wire cross section

Copyright © Emsiso d.o.o. Rev. 2.2

5.1 Important instructions

Warning: Lay power cables and control cables spatially separated!

Warning: Use correct cable cross-section!

5.2 Earthing of the system

Copyright © Emsiso d.o.o. Rev. 2.2

Fig. 5-1: EDS earthing system according to IEC 60364-1:2005

NOTE: Additional earthing of the PE in the installation may be provided.

Fig. 5-2: emDrive earthing system diagram

Position sensor feedback see cable wiring for different