D

DVT

Appllications
Refference
M
Manual

177/52505
Sevcon Ltd
Kingsway South
Gateshead, NE11 0QA
England
Tel +44 (0)191 497 9000
Fax +44 (0)191 482 4223
sales.uk@sevcon.com

Sevcon, Inc.
155 Northboro Road
Southborough, MA 01772
USA
Tel (508) 281 5500
Fax (508) 281 5341
sales.us@sevcon.com

Sevcon SAS
Parc d’Activité du Vert Galant
Rue Saint Simon St Ouen
l’Aumône
95041 CERGY-PONTOIS
Cedex
France
Tel +33 (0)1 34 30 35 00
Fax +33 (0)1 34 21 77 02
sales.fr@sevcon.com

Sevcon Japan
Kansai Office
51-26, Ohyabu, Hikone
Shiga, Japan 522-0053
Tel +82-70-7534-8027
Fax +82-2-6455-8027
sales.jp@sevcon.com

Sevcon Asia Ltd

Room No.202
Dong-Ah Heights Bldg
449-1 Sang-Dong Wonmi-Gu
Bucheon City Gyeounggi-Do
420-816
Korea
Tel +82 (0)32 215 5070
Fax +82 (0)32 215 8027
sales.kr@sevcon.com
 Introduction

Sevcon Germany
Hintere Str.32
73266 Bissingen an der Teck
Germany
T: +49 (0)170 9980294
E: de.info@sevcon.com

www.sevcon.com

Doc. # 177/52701 3
Rev. 2
Conteents
......................................................................................................... 1

Intro
oduction
n 2
Intrroduction ...................................................................................... 4

Cha
apter 1: DVT
D Maiin Page 5
Sta
arting out ...................................................................................... 6
CA
AN Window
w ................................................................................... 9
Baud Rate ...................................................................................... 10
Vehicle interrface ............................................................................ 11
ormation Window
Info W ....................................................................... 13
Inp
put Window ................................................................................. 14
Acc
cessing th
he Helperr ..................................................................... 15
Acc
cessing Different
D Nodes
N ............................................................ 16

Cha
apter 2: Main
M He
elper Fun
nctions 17
Ge
etting Controller Info
ormation........................................................ 18
Op
perational and Pre-O
Operation
nal .................................................. 19
Go
o Operatio
onal .............................................................................. 19
Go
o Preopera
ational ......................................................................... 19
Baseline Pro
ofile .............................................................................. 20
Loc
cal Limits .................................................................................... 21
Driveability Profiles
P ........................................................................ 23
Analogue Ra
anges .......................................................................... 25
 Voltage Cutb
back ............................................................................ 26
wer Maps
Pow s ................................................................................... 27
Battery Settiings ............................................................................. 29
Co
ontrol Mod
des ............................................................................... 30
Co
ontrolling Gains
G ........................................................................... 31
Co
ontrolling the
t Torque
e ................................................................... 33
Ste
eering ......................................................................................... 35
Virtual test box
b ................................ Error! Bookm
mark not d
defined.
PM
MAC Enco
oder .............................................................................. 37
PM
MAC Max Speed Vo
oltage ............................................................ 38
Loc
cal IO Mo
onitor ............................................................................ 39
Firmware Ins
stallation ..................................................................... 40
ploading and Downlloading Se
Up ettings (D
DCF) ................................ 42

Cha
apter 3: Tree
T 47

Cha
apter 4: Input/ou
I utput Co
onfigurattion 52
Mo
otor Contro
ol ................................................................................. 55
Dig
gital Inputs
s .................................................................................. 55

Cha
apter 5: TPDOs/R
T RPDOs 56
TPDOs/RPD
DOs .............................................................................. 58
TPDOs ........................................................................................... 59
RP
PDOs .......................................................................................... 62
........................................................ Error! Bookm
mark not d
defined.

Intro
oduction
n

D
Doc. # 177/xxxx
Draft 1
 About the DVT

About the DVT

Doc. # 177/52701 3
Rev. 2
Intrroduction
Designn Verificatio
on Test systeem, or DVT, is the main interface prrogram used to interface
with th
he Sevcon motor
m controlller. Over th
he course of this manuall, you will bee instructed
on howw to effectiv
vely use the DVT
D and thee user interfaace known aas the helper.

D
Doc. # 177/xxxx
Draft 1
 About the DVT

Chapter 1: DVT Main

Page

Doc. # 177/52701 5
Rev. 2
Starrting out
o
Upon first installing DVT,
D the userr will receivve a prompt aasking the usser to
accept the terms and coonditions off use, as welll as a licensee file. This liicense file
is used to ensure
e the co
opy of DVT is genuine.
 

 
 
To accept the
t terms an
nd conditionss, the user w
will have to select the cheeck box that
says “Acceept”

After emaiiling the add

dress shown above,
a the uuser will receeive a licensee via email
as soon as possible.
 

D
Doc. # 177/xxxx
Draft 1
 About tthe DVT

Loading th he License innto DVT is as

a follows, fiirst by selectting the “broowse”
button to open
o the locaal computer’s file directoory. The filee can be founnd wherever
the user saaves it.
 

 
 
After seleccting the file, its pathway
y will show iin the activaation window
w:
 

Doc. # 177/52701 7
Rev. 2
  
 
Select the “Activate”
“ button
b and reestart DVT. D
DVT will thhen be ready for use.

This iss the main paage of DVT. From heree all of the fuunctions andd settings of tthe Sevcon
motor controller can be accesssed:
 

D
Doc. # 177/xxxx
Draft 1
 About tthe DVT

CAN
N Windo
ow
When there is an active
a conneection betweeen DVT andd the Sevconn motor contrroller. The
CAN window,
w fou
und in the up
pper left corn
ner of the DV
VT, will shoow the trafficc being
transm
mitted:

Doc. # 177/52701 9
Rev. 2
Bau
ud Rate
e
The baaud rate is th
he Button on
n the main sccreen is usedd to set the D
DVT to comm
municate at
the con
nfigured Sev vcon controlller baud ratee.

D
Doc. # 177/xxxx
Draft 1
 About tthe DVT

The diifferent baud

d options can
n be seen insside the red bbox. There is currently aan incorrect
baud of
o 100 kHz rate
r selected. This is visiible because the CAN window (seenn in the blue
box) iss empty, and onsive. If ann incorrect baaud rate is selected thenn
d the softwarre is unrespo
the CA
AN window remains blan nk.

If corrrect baud is selected

s then
n CANBus trransmissionss will be seeen scrolling iin the CAN
windoow. The DVT T is now read
dy to perform
m operationss

Veh
hicle intterface
e
The DVT
D comes with
w a feature that will alllow the userr to view a vvariety of infformation
on thee motor, such
h as the curreent voltage and
a the tempperature, in rreal time. Thhis is the
vehicle interface and
a it can be accessed by y selecting thhe “ ” buttton found heere:

Doc. # 177/52701 11
Rev. 2
Selectting the butto
on will open
n a window separate to thhe DVT thatt looks like thhis:

D
Doc. # 177/xxxx
Draft 1
 About tthe DVT

This window
w will update in reeal-time with
h settings andd informatioon about the motor
contro
oller setup. In
nformation displayed
d deepends on thee TPDO setuup of the mootor
oller. 
contro

Info
ormatio
on Wind
dow
The window
w found
d in the centter of the DV
VT homepagge is known aas the “Inforrmation
Windo ow”. This window
w can give
g a variety y of informaation to the uuser such as current
faults inside the co
ontroller, DL
LD download progress aand EDS filee creation proogress.
 

Doc. # 177/52701 13
Rev. 2
For ex
xample, heree the window
w shows a “lo
ow battery” fault in the ccontroller:

After clearing
c the fault, the DV
VT will repo
ort to the useer that the faault has beenn cleared by
showinng the error message in green.

Input Wind
dow
The DVT
D comes with
w a low-leevel input wiindow for giiving commaands manuallly to the
Sevcon motor con
ntroller, and is
i found heree:

ool is recom
This to mmended for more experiienced users of DVT onlly, for more
inform
mation pleasee contact Sev
vcon.

D
Doc. # 177/xxxx
Draft 1
 About tthe DVT

Acccessing
g the He
elper
The heelper is the main
m user intterface found d in the DVT T. Its functioon is to make
viewin
ng/changing settings insiide the contrroller easier,, creating TP
PDO/RPDO’’s and
managging Input/ou utput connecctions with a user friendlly interface. The helper can be
accesssed through selecting
s thee found
d here:

w be detaileed in the folllowing chaptter.

This iss the helper, and all of itts features will

Doc. # 177/52701 15
Rev. 2
Acccessing
g Differe
ent Nod
des
If therre is more than a single node
n connectted to the neetwork, DVTT can be usedd to access
each node
n via the helper. This is done thro
ough the nodde ID switchh found here::

By clicking the smmall arrows seen

s above, I can cycle tthrough diffeerent node ID
D numbers.
Theree is no alert system
s or nootification. As
A soon as thhe number cchanges; helpper
commmands will bee sent to thatt node.

D
Doc. # 177/xxxx
Draft 1
 About the DVT

Chapter 2: Main Helper

Functions

Doc. # 177/52701 17
Rev. 2
Gettting Co
ontrolle
er Inforrmation
Basic hardware an
nd software information
i about the Seevcon controoller can be ffound by
selectiing the “ ” button.
b The ffirst button ffound on thee main page
of the helper.

Selectting this buttton will causse a new win

ndow to openn, which willl fill with innformation
on thee controller:

This in
nformation can
c be refresshed at any time by seleccting the
button
n again.
Gen4 is designed to
t detect a raange of operrational faultts. Selecting the
button will
w open a window
w whiich displays the Fault ID
D code and
simply
y description
n of any activ
ve faults at that
t time.

D
Doc. # 177/xxxx
Draft 1
 About tthe DVT

Ope
erational and Pre-Op
peratio
onal
Two of
o the most im
mportant buttons on the Helper are tthe “ ” and “
” buttons. These bu
uttons are ussed to activatte critical fuunctions
within
n the gen4.

Go Operattional
Selectting the “Go--Operationall” button willl essentiallyy set the conttroller to “reeady to
drive””. While in this
t mode, th he many of th he motor conntrollers’ setttings cannoot be
changeed.

Go Preope
erational
Many of the controllers’ objeccts can only be
b changed while in pree-operationall mode.
When in pre-operaational modee, CAN PDO O messages w
will not be trransmitted fr
from the
contro
oller.

Doc. # 177/52701 19
Rev. 2
Basseline Profile
P
Once the
t helper iss open, accesss to the majority of the vvariables wiithin the DV
VT’s object
databaase is granted
d. Take for example: the maximum forward andd reverse rpm m in the
motor. These are two
t settings that can bothh be change d very easilyy

First, select
s the bu
utton labeled
d“ ”. D
Doing so willl bring up thhis menu
full off objects on the
t right sidee of the help
per:

Doing
g so will brin
ng up this meenu full of ob
bjects on thee right side oof the helperr:

The seetting highlig

ghted above is going to be
b changed ((in this case,, the maximuum forward
rpm) to
t 600 and th he reverse to
o 450. To do this, first cliick inside off the approprriate text
box, and
a delete thee contents.

D
Doc. # 177/xxxx
Draft 1
 About tthe DVT

Then, enter the desired figuress into the box

xes like so:

Finally
y select the button found
d in the botttom right of the window to finalize
the values.

Loccal Limiits
DVT Gives
G the usser control ov
ver the limits in both currrent and torrque of a mootor through
use off the controlller. The easieest way to acccess these ffunctions thee local limitss “
” button found heree:

Selectting this buttton will open

n up the locaal limit menuu.

Doc. # 177/52701 21
Rev. 2
 
From this
t menu, th he user can access
a the to
orque and cuurrent settinggs of the mottor attached
to the system. To change
c the current
c limit (the minimuum voltage tthat can be set without
ne contactor opening) fro
the lin om 275A to 280A,
2 the prrocess is as ffollows:

First, clear
c the text box of the current limit.

And now
n enter thee desired und
der voltage limit
l (in this case, 280A))

To con
nfirm the change, select the button iin the bottom
m right of thee window.

D
Doc. # 177/xxxx
Draft 1
 About tthe DVT

Drivveabilitty Profiles

DVT can
c be used to set alternaate Drive Pro
ofiles in the Sevcon conntroller. Throough the “
” and “ ” buttons.

hicle operation under diffferent speedd, torque, accceleration

Driveaability profilles allow veh
and deeceleration. The buttonss to access thhem are showwn below:

Selectting either off these button

ns will openn the approprriate profile window. Thhe available
param
meters in DP1 1 and 2 are iddentical to th
he menu fromm “Baselinee Profile” andd can be
edited
d in the same way.

Doc. # 177/52701 23
Rev. 2
V/F Ratio
DVT can
c be used to control th
he voltage/freequency of tthe motor coontrol througgh the “
” button
n found here:

Selectting this buttton will open

n up the v/f window
w in frront of the hhelper:

D
Doc. # 177/xxxx
Draft 1
 About tthe DVT

Ana
alogue Rangess
DVT allows
a the usser to adjust the minimu
um and maxi mum alloweed voltages oon all of the
analog
g inputs attacched with th
he motor con
ntroller. Thesse functions can be accesssed
throug
gh the “ ” button found
f here:

n a menu on the right sidde of the helpper:

Selectting this buttton will open

The seetting highlig

ghted above is going to be
b changed ((in this case,, the minimuum allowed
voltag
ge of AU2) from
fr 0 to 5v. To do this, first click innside of the aappropriate ttext box,
and deelete the con
ntents.

Then, enter the desired figuress into the box

xes like so:

Doc. # 177/52701 25
Rev. 2
Finally
y select the button found
d in the botttom right of the window to finalize
the values.

Volttage Cu
utback

The DVT
D will allo ntroller. This can be
ow control over the voltaage cutbackss for the cont
accesssed through the
t “ ” found hhere:

In the table below, it is shown

n that the volltage for the connected ccontroller is bbetween
36v an de this rangee, the torque applied by tthe motor wiill be as rated. Above or
nd 60v. Insid
below these limitss however; thhe torque will decrease iin proportionn to the actuaal measured
voltag
ge.

D
Doc. # 177/xxxx
Draft 1
 About tthe DVT

These limits are cu

ustomisable however. Each
E value haas two arrow
ws shown heere:

Each click
c of one of these arro
ows will incrrease/decreaase the valuee in the correesponding
box by
y a value of 1.

Altern
natively, new
w values can be entered into
i the boxees manually through the keyboard.
The saame customiisation can be
b applied to the level off torque that is cut back iin the same
way. This
T is seen under
u the “N
New cutbackk” gain.

Pow
wer Maps

The DVT
D can be used
u to plot the
t entire torrque/speed rrelationship oof a motor thhrough the
use off the “ ” button
n found heree:

Doc. # 177/52701 27
Rev. 2
Selectting this buttton will creatte a dropdow
wn from the button that llooks like thhis:

Selectting a map will

w open a taable and grap
ph like this:

From this
t table/graph, the speeed and torqu
ue settings caan both be chhanged throuugh the
same means
m used in the Voltag
ge Cutback section
s of thhis manual.

D
Doc. # 177/xxxx
Draft 1
 About tthe DVT

The main
m function n of the poweer limit tablee is to protecct the motor it is connectted to. If
the useer tries to ap
pply a torquee beyond the motors’ cappabilities, thee battery willl apply
more current
c to co
ompensate; th his can cause serious dam amage to the motor and oother
compo onents through overloadiing. By settiing a peak toorque and apppropriate torrques for
the speeed being ussed, this can prevent thesse problems..

Batttery Se
ettings

Both the
t maximum
m and minim
mum voltages that can bee applied to tthe controlleer are
accesssible in the DVT.
D These settings can be changed using the “
” butto
on, which caan be found here:
h

Selectting the butto

on will bringg up a menu on its’ rightt side containning the volttage
setting
gs for the conntroller. To change
c the under
u voltagge limit (the m
minimum vooltage that
can bee set withoutt the line con
ntactor openiing) from 211.0V to 30V,, the processs is as
follow
ws:

First, clear
c the text box of the current limit.

And now
n enter thee desired und
der voltage limit
l (in this case, 30v)

To con
nfirm the change, select the button iin the bottom
m right of thee window.

Doc. # 177/52701 29
Rev. 2
Con
ntrol Modes
The Seevcon motorr controller can
c be config
gured to mottor torque, oor speed conttrol mode.
DVT can
c be used to switch beetween the tw
wo modes, b y using the “
” button
n found:

Once this
t button iss selected, a small dropd
down menu w
will come frrom the buttoon:

D
Doc. # 177/xxxx
Draft 1
 About tthe DVT

When switching th
he control mode,
m DVT will
w first be aautomaticallyy put into prre-op.

The DVT
D will thenn confirm whether
w ot to set the ddefaults of thhe set mode. It is
or no
recom
mmended to only
o apply th
hese settingss if the defauult torque or speed modee
config
guration is neeeded config
guration.

Con
ntrollin
ng Gains
DVT allows
a adjusstment of varrious motor control loopp configuratioon, proportioonal and
integraal gains. Th
hese functionns allow tuniing of the mootor control gains to smooothly

Doc. # 177/52701 31
Rev. 2
acceleerate/deceleraate and main ntain the req
quested speedd. The “ ”
buttonn gives accesss to these seettings and can be found :

Selectting this buttton will open

n up the gain
ns window.

 The propoortional and integral gainns are relateed to the speeed control g
gain.
 The low sppeed proporttional and in
ntegral gains are also reelated to the speed
control.
 The currennt control prroportional and integrall gains belon ng to the currrent
control sch
heme.

In order to
o get a smoooth response from the conntroller perfform slight changes on
these valuees until obtaiin the right desired
d respoonse. For moore informattion about
tuning techhniques pleaase contact Sevcon.

D
Doc. # 177/xxxx
Draft 1
 About tthe DVT

Con
ntrollin
ng the Torque
T
While the baselinee profile givees access to the percentaage at whichh torque is appplied
during
g a drive/brak
king. The acctual values for
f the torquue can be acccessed throuugh the
button. It can be fo
ound here:

Selectting the butto

on will open
n a separate window
w that looks like thhis:

The peeak torque sh howed on th his trace is th

he actual torqque configurred (See locaal limits
windoow) in Nm an nd its depend dent on the motor
m manuffacturer. Thee values showed below
peak torque are alll related to thhe peak torqque and the ppercentages set in the baaseline
profilee. The torquee limits are in
i Nm and raates are Nm//s.

Doc. # 177/52701 33
Rev. 2
The brraking torqu
ue (highlighteed above) will be changeed from 3.5N Nm to 20Nm m as an
exampple of how to
o change a seetting. To do
o this, first cclick inside oof the approppriate text
box, and
a delete thee contents.

Then, enter the new value into

o the box:

And fiinally select the button to finalize thhe values.

Once the
t values haave been chaanged, there will also bee changes to some valuess in the
baselin
ne profile ass they are dirrectly related
d.

D
Doc. # 177/xxxx
Draft 1
 About tthe DVT

Stee
ering
Twin motor
m system
ms, which usse the drive motors
m for tuurning, requuire some meeans of
determ
mining the an
ngle of the stteering wheeel. Completee control of tthis is given in the “
” button
n.

Clicking the button will open a menu to th

he right of thhe helper:

From this
t menu, voltages
v corrresponding to
o fully left (--90 degrees)), straight ahhead (0
degreees) and fully right (90 deegrees) are accessible. Thhe corresponnding valuess are used
by thee Gen 4 to caalculate the steering
s anglle based on tthe analoguee voltages froom the
steerin
ng potentiommeter.

Doc. # 177/52701 35
Rev. 2
The stteering map defines the relationship
r between thee inner and thhe outer wheeel speeds
and thhe steering an
ngle. Each map
m (inside table and outtside table) hhas 4 definabble points;
this caan be seen on
n the graph.

The stteer map cann be defined by 4 points relating

r the ssteering anggle between 0 and 90
degreees and the torque/speed demand
d (p.u
u) between -11 and 1. Wheere a demannd of -1 is
shownn at 90 degreees, this meaans the inner wheel demaand will be eequal and oppposite of
the ou
uter wheel.

In speed mode, thee outer wheeel speed targ

get and maxim mum torquee is scaled acccording to
the ou
uter wheel map, while thee inner wheeel speed targget and maxiimum torquee is scaled
to the outer wheel demands acccording to the inner wheeel map.

que mode, bo
In torq oth inner andd outer wheeel maximum m speeds are scaled accorrding the
outer wheel
w map. The
T outer wheel
w target to
orque comess from the thhrottle. The iinner wheel
target torque is scaaled to the outer wheel actual
a torquee according tthe inner whheel map.
By clicking on Sett steer pot settings
s oncee the data is placed on thhe spaces andd in
preopeerational, thee data shouldd be saved, recycle
r the ppower, go to operational and the
steerin
ng should bee ready to usee.

Drivver Pip
peline
The “ ” button is a useful
u windoow found in the helper thhat can be
used to
o easily acceess some useeful debugging objects fo
found inside the controlleer. The
button
n can be founnd here:

Selectting this buttton will open

n up the driv
ver pipeline w
window to thhe left of thee helper:

D
Doc. # 177/xxxx
Draft 1
 About tthe DVT

PMA
AC Enccoder
The DVT
D can be used
u to manuually align thhe PMAC enncoder signaals with the m mechanical
positio
on of the rotoor. With thiss, the controlller will knoow angle of tthe flux to innduce
torquee into the maachine. A misalignment of o the encodder will causee reduction oof torque
per am
mps availablee. The allow wable range to o configure the offset anngle is betweeen 128 and
-128 degrees.
d The offset anglee can be chan nged in stepss of 1.

Doc. # 177/52701 37
Rev. 2
PMA
AC Maxx Speed
d Voltag
ge
While connected to
t a PMAC motor,
m the DVT
D will perrform a checck on the alloowed
BEMFF (Back-volttage) the attaached motor.. The resultss of these cheecks can be viewed
throug
gh the “ ” buttton found heere:

D
Doc. # 177/xxxx
Draft 1
 About tthe DVT

Selectting this buttton will open

n up a menu containing tthe voltage ddata:

From this
t menu, th he user can view
v all of th
he data regar
arding the mootor’s BEMF F voltage
limits in a more co
onvenient manner then searching
s thrrough the treee (see: chappter 3)

Loccal IO Monitor
M r
DVT can
c be used to monitor all
a of the inputs currentlyy affecting thhe motor conntroller
using the
t “ ” button
n found here::

Selectting this buttton will open

n a menu on the right sidde of the helpper:

Doc. # 177/52701 39
Rev. 2
As shoown here, thhe controller has a forwarrd/reverse sw
witch and a tthrottle. If thhe state of
these inputs
i is chaanged, their value
v on DV
VT will change alongsidee them like sso:

Firm
mware Installation
The firrmware of th he controllerr uses a DLD D file extension and is ann integral paart of
makinng the Sevcon n motor con ntroller function correctlyy. DLD is thhe firmware tthat
configgures the con ntroller to diffferent moto
or types (PM
MAC, AC indduction etc.)..
Sevcon controllerss will come with w a DLD already insttalled that w will suit your motor,
installing a differeent DLD how wever; is fairrly simple.

D
Doc. # 177/xxxx
Draft 1
 About tthe DVT

First open
o the tab found near the
t top of thee helper winndow labeledd “Software”” found
here:

Selectting this tap will

w open a small
s drop down
d menu, to begin the process of iinstalling a
new DLD;
D first select the “Entter Bootload
der Mode” opption found here:

While in bootload der mode; thee motor conttroller will bbe unresponssive to comm
mands, and
will diisplay errorss or timeout when
w changes are attemp
mpted to anythhing aside frrom
softwaare.

Selectting the “Sofftware” tab again,

a this tim
me select thee “Program U
Unit” optionn found
here:

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Selectting this will open windo
ows explorerr, select the ddesired DLD
D and open itt.

The DVT
D will thenn being auto
omatically in
nstalling the D
DLD into thhe controller, its
progreess can be viiewed in the “Informatioon” window.

With that,
t the DLD
D is successfully installeed. Open thee software taab again, andd select
“Exit Bootloader
B Mode”
M to co
omplete the process.
p

Uplo
oading
g and Downloa
D ading S
Settingss (DCFF)
Config
guration files have the DCF
D extensio on and are thhe files in whhich the settiings and
param
meters of the controller arre stored. DC
CFs can bothh be uploadeed and downnloaded
from the
t controller through the “Settings” tab near thee top of the H Helper windoow.

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Selectting “Save DCF”

D will sav
ve the curren
nt configurattion inside thhe controllerr to
wherever the user wants. Chan nging DCF however
h is ddone throughh the “Send D DCF to
Unit” option foundd here:

Selectting this option will open

n windows explorer:

Selectting a DCF will

w result in an upload bar
b opening oover the DV
VT main screen showing
the proogress of thee DCF installlation.

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When the bar has filled, a messsage should
d appear at thhe bottom off the input w
window
confirm
ming the succcessful installation.

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Cha
anging Node ID
I Num
mber
DVT can
c be used to change th
he node ID of
o a unit throuugh the helpper’s CAN taab found
here:

Selectting this tab will

w open a dropdown
d menu.
m To chaange the nodde ID of a unnit, select
the “C
Change node Id” option

This will
w open a sm mall windoww inside the helper
h in whhich the userr can set the new CAN
ID, in this scenario
o the ID willl be set to 2.

Selectt “Set Node ID”

I and DVT will promp pt the user too recycle poower on the ssystem.
After the
t power haas been recyycled, the new
w node ID w will be set. T
This can be chhecked by
lookin
ng at the num
mbers in the CAN traffic as shown beelow:

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 ORE (Node ID
BEFO D 1)

AFTE
ER (Node ID 2)

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Chapter 3: Tree

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The eaasiest way to
o navigate th
he settings an
nd features oof the Sevconn motor conntroller is
the menu foound here:

Selectting this tab will

w open thee Tree menu
u:

From this
t menu, th here are a co
ouple of diffe
ferent methodds that can bbe used in seearching for
specifi
fic variables or objects. For
F example,, the most inntensive of thhese is the “
” button. Doing
D so will open a winndow that loooks like so:

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In thiss scenario, a search is go

oing to be perrformed for the “Maxim
mum Battery Voltage”.
To do this, enter thhe term into the search bar
b found at the top of thhe object seaarch
windoow.

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There is then a cho oice betweenn viewing thhe single subb-index that hhas been seaarched for
or the entire objecct the sub-ind
dex is contaiined in. Sele cting either will present the
selecteed object/ind
dex here:

(Single index)

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(Full Object)
O

Alternnatively, the objects can be

b browsed through a seeries of dropp-down menuus found
below the “search”” button. Forr example, to find the unnder voltagee cutback in tthe tree:
first oppen drop dowwn menus by selecting thet “+” icon until findingg the relevannt heading.
In thiss case the batttery underv
volt protectio
on.

Selectting this will create a win

ndow to the right of the ttree. The setttings can then be
read/changed usin ng the same method
m as an
ny other tab in the helperr.

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Chapter 4: Input/outp
put
on
Configuratio

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I/O Config
guration
Sevcon motor conntrollers can be configureed to work w
with a varietyy of input/ouutput
compoonents of botth analogue and digital nature.
n Thes e features caan be accessed through
the “ ” tab found here:

Selectting this tab will

w give acccess to the In
nput/output cconfiguratioon menu:

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Mottor Con
ntrol
By deffault, the nod
de control will
w be set to “Motor drivve left informmation”. This is the
defaullt setting wheen a single trraction moto
or system is being configgured, if youu would like
inform
mation on thee other settinngs however, contact Sevvcon.

Dig
gital Inp
puts
Both digital
d and annalogue inpu uts are goverrned by the ppins in the ccontrol unit hharness.
The seettings for th
he digital inp
puts can be found
fo here:

To beg gin with, thee “’# of inputts” setting has to be set eexactly. For example, iff the number
is set to
t four, but there
t are fivee inputs conffigured; the helper will sstop readingg after input
numbeer four.
The # of inputs caan be changed by the smaall arrows (hhighlighted iin blue), whiich will
raise thhe number byb one in eacch direction. Alternativeely, the numbber can be enntered
manuaally in the wh hite box besside the arrowws. Setting tthe number tto anything aabove
thirteeen will resultt in the # of inputs
i back to its defaultt.
To chaange a digitaal input; seleecting the arrrow of the innput that willl be changedd will open
a dropp-down menu u like so:

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Selectt the new inp
put (in this caase, an inch reverse swittch), and select the
button
n to finalize the
t changes.

To enssure that chaanges have taaken place, select

s the buutton.

Chapteer 5:
TPDOss/RPDOs
D
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Chapter 5:
TPDO/RPDO

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TPD
DOs/RP
PDOs
The Seevcon motorr controller can
c be config
gured to trannsmit and/orr receive PDOs
inform
mation packeets, known ass TPDOs and RPDOs reespectively. T The configurred
message structuress can be view
wed and editted through tthe tab, fo
found here:

Selectting the tab will

w open thee PDO config
guration winndow.

Up to five RPDOss and TPDOss can be con nfigured at anny one time,, per Sevconn controller.
The crreation/editin
ng window looks
l like this:

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Each PDO
P must have a uniquee Cob-ID wh hich denotess the priorityy of the assocciated PDO,
the low
wer the nummber; the high
her the priority of the PD DO.
The PDDOs have a data size limmit of 64 bitss (8 bytes), m
meaning thatt the RPDO can only
contain a certain number
n of ob
bjects.

TPD
DOs
Begin by selecting
g the buttonn; this will oopen a windoow in front
of the helper:

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Selectting the searcch button or pressing any
y key will caause the winndow to fill w
with
objectts.

TPDO O 1 in this scenario is goiing to be giv

ven the “Heaatsink temp” object. To ddo this,
enter the
t terms intto the searchh bar found ata the top of tthe add objeect window, and then
select the search button.
b

Selectting the map objects buttton will add the object too the TPDO..

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Finally
y, select the button, cloose and re-oppen the helpeer to ensure
the changes have happened.

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Note: When addin ng objects intto a PDO, en
nsure that thhere are adeequate bits lef
eft for the
desired objects.

RPD
DOs
Begin by selecting g the buttton; this willl open a winndow in
front of
o the helperr:
Selectting the searcch button or pressing any
y key will caause the winndow to fill w
with
objectts:

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RPDOO2 in this sceenario is goin

ng to be giveen the “Batteery Voltage”” and “Vehiccle Speed”.
To do this, the pro
ocedure is the same as seeen in the TP
PDO sectionn of this guidde:

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Selectting the map objects buttton will add the object too the RPDO..

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