Axor Microspeed Plus Series User manual

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MICROSPEED
Mcs-Plus-gb Ver.21/02/2002
The MICROSPEED PLUS series of amplifiers are marked CE
because they conform to European Directives for
Electromagnetic Compatibility and Low Voltage.
This manual describes the mechanical and electrical
characteristics of the Microspeed Plus servoamplifier series.
It is important that the installation procedures are only
performed by qualified personnel in accordance with local
safety guidelines.
Whoever installs the equipment must follow all of the
technical instructions printed in this manual.
For more information, please contact AXOR's technical
department.
All rights reserved. Reproduction in whole or in part is prohibited without prior
written consent of the copyright owner. All specifications are subject to change
without prior written consent of the copyright owner. All specifications are subject
to change without prior notification.

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Index
Indice
1) Description
1.0 Security Standards ......................................................... 4-5
1.1 Introduction and Options .............................................. 6-7
1.2 Technical Data ................................................................... 8
1.3 Microspeed Plus Description ......................................... 9
1.4 Drive Dimensions .......................................................10-11
1.5 Drive Label Description ................................................. 12
1.6 Connections...................................................................... 13
1.7 Signal Inputs and Outputs ........................................14-17
1.8 Power Supply Inputs and Outputs................................ 17
2) Indicator LEDs and Regulations
2.0 Potentiameter Adjustments .......................................18-19
2.1 Protections ........................................................................ 20
2.2 Indicator LEDs ................................................................. 21
3) Installation
3.0 Installation Notes ............................................................. 22
3.1 Ventilation.....................................................................22-23
3.2 Power Supply Construction and Rating .................24-28
3.3 Multiple Microspeed Connections .............................. 29
3.4 Ground and Shield Connections .............................30-31
3.5 Istructions for EMC Requirements .........................32-35
3.6 Example of Microspeed Plus Connections................ 36
3.7 Speed Reference ............................................................. 37
3.8 Current Reference........................................................... 38
3.9 Current Output Limitation.........................................39-40
3.10 Limit Switch Input +/-................................................... 41
3.11 Power Connections ....................................................... 42

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4) Start up procedures
4.0 Preliminary Checks......................................................... 43
4.1 Starting Procedures ...................................................43-44
5) Adjustments
5.0 Personalization and Settings ......................................... 45
5.1 Adjustments on Personalization Base .....................46-47
5.2 Solder Bridges ............................................................48-49
5.3 Speed Adjustments with D.T. Feedback ..................... 50
5.4 Speed Adjustments with Armature Feedback ......51-52
5.5 Speed Balance Adjustments (Offset)........................... 52
5.6 Nominal and Peak Current Adjustments .................... 53
5.7 Ramp Time Adjustments ................................................ 54
5.8 Dynamic Constant Adjustments...............................55-56
6) Troubleshooting
7.0 Troubleshooting ............................................................... 57
7) Option
7.1 Option Encoder ..........................................................58-61
7.2 Option PWM+DIR......................................................62-63
Conformity Declaration ........................................................ 64
Index

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Danger Sign
This symbol is used where security directives should
be adhered to, where substantial risks are involved, and
where life endangerement or injury could occur.
Installers must scrupulously adhere to
prescribed directives and must communicate
them to the users.
Warning of Current being present
This symbol warns the user/installer to pay particular
attention to the presence of dangerous voltage (up to
270Vdc).
It's recommended to always remove drive from the
power supply net before working on the drive.
Warning
This symbol is present in all particularly important
points.
It's used where the intent is to highlight useful
considerations, prescriptions, indications, and the
correct execution procedures of every type of
intervention and prevention of damaging both systems
and drives.
General Security Directives
Along with what is prescribed in the manual, pay
attention to the security directives for prevention
of accidents and risks.
Always remove the power supply (disable) from both
the system and the drive prior to any type of intervention
on electric or mechanical parts.
1.0 Security standards
General Description

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The Microspeed Plus must only be installed by trained, qualified
and authorized personnel.
Any intervention or modifications effected on Microspeed Plus,
and their components or accessories, constitutes loss of
guarantee.
Isolate the drive from the power supply net before removing it
(by removing fuses or turning off the principal power switch).
The drive is equipped with electronic protections that disactivate
it in case of abnormalities, therefore the motor becomes
uncontrolled; this could cause the stoppage or idle motor ( for a
period determined by the type of system used).
In some cases the drive could restart automatically when the
reason for blockage is corrected.
In this case, some systems could be damaged or destroyed
endangering the welfare of personnel.
In this case the user must remove the drives' and systmes' power
supply so that the motor cannot automatically restart or prevent
such an event in the controller's program.
The Microspeed Plus terminals must always be grounded as per
the instructions in this manual.
General Description

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Capitolo 1
1.1 Introduction
General Description
The Microspeed Plus Servo Amplifier is a compact full DC four
quadrant drive. The (MOSFET)output power stage is controlled
by a 22 Khz PWM (Pulse With Modulation)signal that allows it t
drive small to medium sized brushless servo motors (up to 6Nm)
where high dynamic performance and precise speed is required.
The Microspeed only requires a single power supply to operate
and develops all needed voltages on board to make power supply
design easy and convenient.The input voltage is from 20 to 270
Vdc max "See Tecnical Data". (Chapter 3 describes how to design
a proper supply.)
Closing the velocity feedback loop to motor may be done in
several different ways to accommodate most applications. Three
types of velocity feedback are available with these drives. Refer
to Chapter 5 for the setup procedures that will effect your
application.
Feedback Types:
-Tachogenerator
-Armature.
-Encoder (Option)
-Pwm+Direction (Option)
Two inputs are present for the disabling of clockwise and counter-
clockwise motor rotation (+LM SW,-LM SW).
The possibility to completely adjust the Dynamic Constant exists
by inserting new values "as opposed to the standard mounted
values".
The insertion of various prearranged operational drive values
are easily realized by opening and closing solder points. The
intervention of drive protections are all visible with LEDs on the
front of the drive.
The nominal current, as well as peak current is adjusted through
resistance on the base.
The operating temperature is from 0 to +40 °C (32° to 104°F).
In accordance with the current size and model, supplemental
ventilation can be requested.

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Characteristic and Options
The speed feedback present on the Microspeed Plus are
highlighted.
Speed Feedback from Tachogenerator
Speed Feedback from Armature
Speed Feedback from Encoder
External Power Supply + Brake for plus .60
External Power Supply + Brake for plus .140
External Power Supply + Brake for plus .200
=Standard.
=Standard on sizes 14/28 ,20/40.
=Optional
General Description
Current Reference (torque mode)
Pwm+Dir command
Version with Booster
Limit switch

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1.2 Technical Data
MICROSPEED PLUS VOLTAGE
22Khz
32°-104°F (0°+40°C)
12°-158°F (-10°+70°C)
+/-5uV Degree F
+/-10Vdc
+/-7Vdc = (PK. curr.)
+5/+12Vdc ( 220 mA Max)
+/-10Vdc ( 4mA Max.)
250Khz Max.
2.5Khz
26.45 oz (750 gr.)
44.1 oz (1250 gr.)
10/95% non-condensing
--PWM frequency
--Operating Temperature
--Storage Temperature
--Drift
--Analog inputs
--Current Monitor (Imot)
--Encoder and Hall Signal
Power Supply (+V Optional)
--Auxiliary power supply
--Encoder Max.Freq. (Optional)
-- Band Width
--Weight Microb plus
--Weight Microb plus w/booster
--Humidity
TECHNICAL DATA CHARACTERISTICS
Size I nom. (A) I peak(A)
MICROSPEED PLUS CURRENT SIZES
1/2 +/-1 +/-2
2.5/5 +/- 2.5 +/- 5
6/12 +/- 8 +/- 16
10/20 +/- 10 +/- 20
14/28** +/- 14 +/- 28
20/40** +/- 20 +/- 40
* Minimum and maximum voltage. Tipical voltage are: 60Vdc,
140Vdc and 200Vdc.
Note a) The Microspeed plus 60 is produced only in sizes 14/28 e
20/40.
General Description
Microspeed 60 20 - 80 Vdc* Note a)
Microspeed 140 40 - 180 Vdc*
Microspeed 200 60 - 270 Vdc*

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1.3 Microspeed Plus Description
General Description
1 Calibration Area
2 Calibration Potentiometers
3 Hexadecimal Rotating Switch
4 10 poles 5.08 Phoenix Signal Terminals.
5 10 poles 5.08 Extractable Phoenix Terminals.
6 6 poles 3.81 Phoenix Signal Terminals.
7 6 poles 3.81 Extractable Phoenix Terminals.
8 Power Terminals AUGAT
9 Product Cover
10 Fixing screws
11 Serial Number
12 Product ID Label
13 Tacho Test point (Tachometric signal)
The power connector "AUGAT 6PCR-05" is used
on sizes 10/20-14/28 e 20/40A.
Power terminals "Phoenix GMSTB2,5/5-G" 7,62
for Microb sizes 1/2 2,5/5 6/12 .

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MICROSPEED PLUS
KV
DER
BIL
VEL
ACC
+M
-M
-AT
+AT
1.4 Drive Dimensions
NOTE: Dimensions mm ( INCHES)
General Description

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MICROSPEED PLUS WITH BOOSTER
KV
DER
BIL
VEL
ACC
+M
-M
-AT
+AT
General Description
NOTE: Dimensions mm ( INCHES)

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The Product Label is on all MICROSPEED PLUSDrives. The Label
printed above is a typical example. To identify the various options see
below: Product type and Identification:
ADJ is the identification of specific adjustments on the product for
specific motors. If the product is furnished Standard, the ADJ will show
the disbursed current.
ORD is AXOR's internal order number which relates to product
distribution. Always quote this number when asking for technical
assistance.
1.5 Drive Label Description (example)
General Description
Name: MCS PLUS
Model: 060-140-200
Size: 01/02- 2.5/5 -06/12 -10/20 -14/28 -20/40
Heatsink: N=Normal, B=Booster
Protection: S=Standard, T= Tropicalized
1000: Axor identification number
Feedback: T0= Tachogenerator, A0=Armature, E0=Encoder
Control mode: RD= Rifferential mode, I0= Demand current, PD=Pwm+Dir
ORDERING CODE
MCS PLUS-140-5/10-N-S-1000-T0-RD
ADJ 5/10A RA
Date 27/01/01 Ord. 365 /2001

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1.6 Connections
General Description

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2 TPRC(IN)
1 OK(OUT)
The following is the Signal Connector Description.
(10 Poles 5.08 Phoenix signal Terminals)
.
1.7 Signal inputs and outputs
General Description
Drive OK, Open Collector output 50mA Max. (Normally closed,
opens when in protection mode)
This signal can be used in 3 distinct modes:
A) Motor Current Limit Mode:
Soldering point S8 open S9 closed.
Applying a signal between zero and +10V you receive the
current limitation output from zero to max. drive size.
Ex:
Mcs Plus10/20A.......+5V limits the current to +/-10A.
Mcs Plus 14/28A.....+3.2V limits the current to +/-9A.
Note: The drive velocity loop remains active.
Ving=10 x I required
I peak
B) Motor Current Limit Mode:
S8 closed S9 open.
A motor current Limit mode connect an external resistor to
GND (pin 4) reduces the maximun current. Connect a 1/4W o
1/8W resistor between the TPRC and GND terminals.
A 47Kohm resistor reduces the current by 50%.
Note: The drive velocity loop remains active.

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3 GND
5 -10V(OUT)
6 ENABLE(IN)
4 +10V(OUT)
9 +DT(IN)
8 -REF(IN)
7 +REF(IN)
General Description
C) Current Reference (Torque Input):
S8 open S9 closed.
Range: +/- 10V, which corresponds to the drives peak current
output.
In this mode the velocity loop is automatically disabled .
Continued
Drive Common Ground. Corisponds to power supply's nega-
tive -AT input.
Power Supply +10Vdc 4mA Max.
Power Supply -10Vdc 4mA Max.
Drive Enable. Range +8Vdc to +24Vdc.
Reference Positive differential input. (Velocity command)
Reference Negative differential input. (Velocity command)
PositiveTacho input + (Connect to internal GND)
Negative Tacho input -
10 -DT(IN)

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15 +LM SW (IN)
12 GND
14 CHB(IN) (Optional)
13 CHA(IN) (Optional)
11 +V(OUT) Power supply encoder (Optional)
Note: The inputs 11-12-13-14, are enabled if the
Encoder Option is present.
General Description
Drive Common Ground. Corisponds to power supply's nega-
tive -AT input.
Encoder input Channel A
High logic level from +3,2V to +24Vdc.
Low logic level <1,5V.
+5Vdc 250mA Max.=(Solder bridge S13 closed).
+12Vdc 250mA Max.=(Solder bridge S13 open).
Encoder input Channel B
High logic level from +3,2V to +24Vdc.
Low logic level <1,5V.
Logic input that , disable with positive rotation (CW) of
motor.(Motor limit).
Such a function is enabled, by open soldering point S10 and
connecting a positive Voltage (between +5Vdc e +24Vdc)on
said input. When the voltage on said input is absent, motor
rotation blockage intervenes in a clockwise sense. See
Chapter 3.10
1.7a Signal inputs and outputs (6 poles)

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16 -LM SW (IN)
General Description
Logic input that , disable with positive rotation (CW) of
motor.(Motor limit).
Such a function is enabled, by open soldering point S10 and
connecting a positive Voltage (between +5Vdc e +24Vdc)on
said input. When the current on said input is absent, motor
rotation blockage intervenes in a counter-clockwise sense.
See Chapter 3.10
+AT (Input). Positive continuous power supply.
+M (Output). Motor connection +
GROUND(IN/OUT). Ground drive
-M (Output). Motor connection -
Negative Continuous power supply.
Common Zero Signal GND
-AT (Input).
1.8 Power Supply Inputs and Outputs

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2.0 Potentiometer Adjustments
Adjustments
ACC
The solder bridges S2-S4 select the acc/
dec function (ramp). With this
potentiometer we can adjust the slope of
the acceleration and deceleration ramps.
Turning the potentiometer clockwise
(cw) increases the ramp time from 0,1
to 1 Sec (with 10 V reference).
VEL
Motor speed adjustment.Use this potentiometer to adjust the
maximum motor speed. Turn clockwise (cw) to increase the
motor speed and counter-clockwise (ccw) to reduce the motor
speed. The range of the adjustment is +/-20%.Note:
Potentiometer is disabled in torque mode.
BIL
Offset adjustment. Adjust this potentiometer to cancel any
motor speed when the Ref. input is 0 Vdc.
(Max ref. compensation +/- 200mV).
KV
Gain potentiometer.Use this potentiometer to increase or
decrease the dynamic behavior of the motor
With a clockwise turn (cw)we increase the gain of the PI
speed stage, therefore, improving the response.
Note: Potentiometer is disabled in torque mode.
It is also possible to increase or
decrease the pre-set max acc/dec ramp
time by opening solder bridge S3 and
inserting resistance RAMP.
(See chapter RAMP TIME ADJUSTMENT)

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DER
Derivative potentiometer. Turning this potentiometer clockwise
decreases motor overshoot.
Note: Potentiometer is disabled in torque mode.
Continued
Adjustments
NOTE:
On the Microspeed Plus the KV and DER
functions are constituted by Hexadecimal
rotating switch indentified with numbers from 0
to F.
With 0 you have the minimun function attainable,
and with F you receive the maximum.
WARNING: Increase the gain of KV and DER
in the progressive mode using the various
intermediate positions 1-2-3-4 etc.
Therefore, "turning counter-clockwise from
position 0 to position F" the motor could begin
vibrating.

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Microspeed 60 20 Min 80 Max
Microspeed 140 40 Min 180 Max
Microspeed 200 57 Min 270 Max
MICROSPEED PLUS VOLTAGE Vdc
2.1 Protections
The MICROSPEED PLUS is equipped with protection circuits
to safeguard both the motor and the drive, in case of faults
malfunctions.
All faults are indicated by LEDs on the front of the drive. (See
the next page).
The two types of interventions are Reversible and Irreversible.
----Reversible Protection Intervention:
The drive is automatically reset/restarted when the cause of
intervention has been corrected.
-Over Current limitation
-Over/under voltage input
----Irreversible Protection Intervention:
The drive is not reset/restarted. The power supply must be
removed and the cause of intervention eliminated, then the power
supply can be replaced. *Note: A mininum amount of time must
pass in order to ensure that the drive is completely off prior to
replacing the power supply.
-Short circuit
-Over temperature
-Missing or reversal tachogenerator/Encoder
Adjustments