Axor Microspeed 12 User manual

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MICROSPEED REV 04/05
The amplifier series is distributed with the CE mark, because they
are in accordance with the European Directives on EMC and Low
Voltage.
WARNING!
ELECTRICAL AND CONTROL EQUIPMENT CAN BE
DANGEROUS IF HANDLED IMPROPERLY
This manual describes the mechanical and electrical
characterists of the Microspeed 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.
Allrightsreserved.Reproductioninwholeorinpartisprohibitedwithoutpriorwritten
consentofthecopyrightowner.
Allspecificationsaresubjecttochangewithoutpriornotice.
English

MICROSPEED
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Pag
3
4
5
6
6-7
8
9
10
11-13
14-20
21-24
25-26
26
27
28
28
29
30-31
32-33
34
35
36-39
40-41
42-43
44
1) Description
1.1 Introduction
1.2 Technical features
1.3 Inputs and outputs
1.4 Drive dimensions
2) Adjustments
2.1 Personalizations and settings
2.2 Solder bridges
2.3 Potentiometer adjustments
3) Diagnostic
3.1 L.E.D. indicators
4) Installation
4.1 Power supply rating
4.2 EMC requirements
4.3 Connections
5) Commissioning
5.1 Initial start up
6) Setting up the drive
6.1 Speed adjustment with tacho feedback
6.2 Nominal current adjustment
6.3 Peak current adjustment
6.4 Offset adjustment
6.5 Ramp time adjustment
6.6 Adjustment with armature feedback
6.7 Dynamic costant adjustment
7) Troubleshooting
8) Options
8.1 Available options
8.2 Encoder feedback
8.3 Limit switch
8.4 Pwm+Direction command
8.5 Block Diagram
Chapter 1
Index

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The Microspeed 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 drive small to medium sized brushed
servo motors (up to 2Nm) where high dynamic perfor-
mance 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
imput voltage is from 12 to 130 Vdc max "See Tecnical
Data". (Chapter 4 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.
Feedback Types: Tachogenerator, Armature,
Encoder(option), PWM+Dir (option)
Two inputs are present for the disabling of clockwise
and counter-clockwise motor rotation (+LM SW,-LM
SW.option)
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.
1.1 Introduction

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Sizes I Nom. (A) I Peak (A)
MICROSPEED CURRENT SIZES
1/2 +/- 1 +/- 2
2,5/5 +/- 2,5 +/- 5
6/12 +/- 6 +/- 12
10/20 +/- 10 +/- 20
Microspeed 12 9 - 28 Vdc*
Microspeed 60 20 - 80 Vdc*
Microspeed 110 30 - 130 Vdc*
MICROSPEED VOLTAGE
22Khz
32°-104°F (0°+40°C)
12°-158°F (-10°+70°C)
+/-5 uV Degree F
+/-10Vdc
+/-7,5Vdc = (PK. curr.)
+/-10Vdc ( 4mA Max.)
2.5Khz
12.69oz (360 gr.)
10/95% not-condensing
--PWM frequency
--Operating Temperature
--Storage Temperature
--Drift
--Analog inputs
--Current Monitor (Imot)
--Auxiliary power supply
--Band Width Current
--Weight
--Humidity
TECHNICAL DATA CHARACTERISTICS
* Minimum and maximum voltage.
Nominal are: 12Vdc, 60Vdc, 100Vdc.
1.2 Tecnical Data

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The Following are descriptions of the output drive connector.
1Drive OK NC (open collector max current 100mA)
2Demand current
3Common zero signal
4Auxiliary output voltage +10 volts 4 mA max
5Auxiliary output voltage -10 volts 4 mA m a x
6Enable(+10/30 volt drive enabled )
7Input speed reference +(Non inverting input)
8Input speed reference -(inverting input)
9Tacho input +
10 Tacho input -
+AT Power supply input positive pow. supply
- AT Power supply input negative pow. supply
+M Positive motor terminal
- M Negative motor terminal
1.3 Inputs and Outputs
Power terminals
Signal terminals

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WARNING : After switching off to do the adjustments,
please wait for about 30 sec before working inside the
drive.
If the drive isnt adjusted with the proper servomotor, follow
these procedures.
Allof the personalizations are located inside of the
Microspeed .
-To enter to the adjustment components and the solder
bridges , unscrew (10) , and remove the cover (11).
NOTE: Dimensions mm ( INCHES)
1.4 Drive dimensions
2.1 Personalizations and setting

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1 Product ID Label
2 Serial Number
3 and 4 Calibration Area
5 and 8 Phoenix Signal Terminals "5.08".
6 and 7 Phoenix Power Terminals "5.08".
9 Calibration Potentiometers.
10 Fixing Screws
11 Product Cover
RAMP
SE
SD
SC
Adjustment
Continue

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J1 Normally open. If closed, the activation of IN
protection, inhibits the output of the drives OK transi-
stor. When this situation occurs the green OK LED is
OFF.
J2 -J4 Normally opens. (See chapter 6.5 Ramp time
adjustement).
J3 Normally closed. (See chapter 6.5 Ramp time
adjustement).
J5 -J6 Normally closed. If open, the dynamic constant
CKR and RKV must be inserted on the personalization
socket.(PI loop gain).
J7 Normally open. If closed, enable the armature
feedback (See chapter 6.6 )
Note:For the adjustements SC,SD,SE solder Bridges,
see page 40,42.
All of the adjustments are located in the area behind
the potentiometers .Its there that a socket containing
all of the adjustment components is located..
The socket is made by a double row of components
with pitch 7.62mm/0.3 (resistors) with 8+8 ways, and
2+2 ways for components with pitch 5.08 mm/0.2
(capacitors).
The resistors may be 1/4W.
(RDT)
(RA)
(RCA)
(RIN)
(RIP)
(RKV)
(GAIN)
(RAMP)
(pitch 5,08) (CKV)
(pitch 5,08) (CDER)
2.2 Solder bridges

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ACC
The solder bridges J2-J4 allow
insertion of the acc/dec function
(ramp). With this potentiometer we
can adjust the slope of the ramp in
acceleration and deceleration.
Turning the potentiometer
clockwise (cw) increases the ramp
time from 0,1 to 1 Sec (with 10 V
reference).
It is also possible to increase more,
this time by opening solder bridge
J3 and inserting resistance RAMP on
the socket. (See chapter
ADJUSTMENT)
VEL
Speed potentiometer.Turn the potentiometer clockwise
(cw) to increase the maximum speed and anti-clockwise
(ccw) to reduce the maximum speed.
The range of the adjustment is +/-20%.
BIL
Offset adjustment.Adjust this potentiometer to cancel
any offset in the external speed ref. signal.
(Max ref. compensation +/- 200mV).
KV
With this adjustment we can improve the dynamic
behaviour of the servomotor.With a clockwise turn
(cw)we increase the gain of the PI speed stage, therefore,
improving the response.
DER
Turn the potentiometer clocwise (cw)to increase the
derivative effect,reducing the amount of overshoot in
the system response.
2.3 Potentiometer adjustment
Pot.

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-L2 (RED) IN Normally OFF,it is lit when it exceeds
the programmed value.
(Reversible alarm)
-L3 (RED) ST Normally OFF,it represents
overheating of the heatsink drive. This fault provokes
the activation and memorization of the alarm. To reset
it is necessary that you turn off the power supply, wait
until the heatsink temperature is lower, and then re-
start the power supply.
-L4 (RED) OC Normally OFF. May come
ON,because of a short circuit between motor terminals
or come to ground.It cant be reset and the fault
provokes the memorization of the alarm.
Switch off the system,eliminate the cause and then re-
start the power supply.
Four LEDs are available on the
drive and they signify the following:
-L1 (GREEN) OK Normally
ON, signifying proper operation of
the drive.
When the LED is OFF, it indicates
that at least one of the drive
protection functions is active.
3.1 LED indicators
Leds

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MICROSPEED REV 04/05
V1(ac) = Vmotor
0,9 x 1,36
VOLTAGE :The primary voltage depends on the
available net voltage. The secondary voltage will be
calculated according to the motors characteristics and
according to the voltage drive range.
The value will be:
WARNING:Use the following scheme and
equation shown below to calculate the power
supply rating.
The drive doesnt need auxiliary voltage ,all of the voltages
requested come from an internal flyback.
A single or three phase transformer may be able to
supply one or more drives.
The drive has the internal zero signal connected
with the negative (power), consequently Don’t use auto
transformers.
The factory reccomends using transformers with the
secondary winding that must be delta/triangle-connected.
4.1 Power supply rating
Trasformer

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The factory suggests keeping a margin by choosing AC
voltage to avoid too high voltage during the deceleration
phases of the motor;this value is 60 VDC (44 VAC)
Max value is 80Vdc and minimum value is 22 Vdc.
The power rating of the transformer is calculated in
accordance with the total power (SUM) of all single
motors used:
P(VA)=Power absorbed servomotor 1+power abs.
servomotor 2+....etc)
Notice:If multiaxis application is required,the
transformer power rating may be reduced by 30 %
respecting the original equation.
REF. the filter capacitor - the factory reccomends one
with a working voltage of at least 100 Vdc.
The appropriate value may be find with the follow
equation: C (mF) = P (VA) trasfo. x 2000
V2
V2 = DC voltage on the terminals capacitor without
load.
The capacitor serves to filter the voltage from the bridge
and recover the energy during the motors deceleration
phases.
Power supply rating (continued)

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MICROSPEED REV 04/05
F 1° = P (VA) trasnf. x 1,1
V (primary) ac
F2 X MCS 1/2 = 2A
X MCS 2,5/5 = 5A
X MCS 6/12 =10A
X MCS 10/20 = 20A
A fuse should be fitted into each of the transformers
primary and secondary windings,F1 and F2.
These fuses may be replaced with a magneto-termic
switch with the same value.
The F1 fuse mounted on the primary protects the
transformer.
This fuse must be the slow type.
The F2 fuse mounted on the secondary also protects
the transformer and that fuse must be the slow type.
Power supply rating (continued)
Fusibili

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The regulated standard in accordance with conformity of
electromagnetic is summarized in Regulation CEI EN 61800
(complete).
Microspeed conformity is assured only if it is installed
following the precise assembly criteria expressed below.
The fundamental assembly characteristics are summarized
bolow:
-- Use of appropriate network to filter the line (transformer
input), from disturbances conducted or produced by the
drive.
A series of filters released by AXOR are available for this
purpose.
-- Use of shielded cables, both for power connection (to
the transformer and the motor), and for signal connection
(also to the controller).
-- Using the division of cables technique. Separate power
cables from signal cables.
-- The correct ground connection of predisposed parts.
-- It is important that the drive's ground connections are as
short as possible and no longer than 8 inches (20 cm).
The figure shows the connection using terminals fixed to
the drive's base (bottom). This connection also reduces
disturbances in the net.
--The Motor ground cable has to be external (not inserted
in a multipolar cable) with minimun section 1.5 mmq (0,059
square inch).
4.2 Instructions for EMC Requirements

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WARNING

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Of all of the mentioned system, the use of network filters is
without a doubt fundamental in soppressing disturbances.
Axor, after tests, has recognized some good solutions, about
its products.
Concerning equipment where are mounted other sources,
Axor cant evaluate the global equipment. In the following
page, are reported some foundamental configurations, with
the suggested filters.
We did an agreement with Schaffner and Timonta
products. The market offers other product with the same
characteristics, but not yet checked from Axor.
When other products will be checked and approved, it will
be notified.
Follow reported an example about the noise level with and
without filter as explained in the following pages.
Filters

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MICROSPEED REV 04/05
The recommended filters for the product lines in some of
the main configurations are shown in the table on page 34-
35. These filters are produced by SCHAFFNER and
TIMONTA.
Other products with the same characteristics may be
sufficient, but have not been tested or evaluated by AXOR.
In choosing the filter, we also considered the current
absorption of its connecting devices. AXOR recommends
connecting the filter before the power supply transformer.
This method, besides offering better disturbance
soppression result, also allows for the use of filters capable
of supporting a lot less current, consequetly they're cheaper
(takes advantage of the transformer's ratio).
Follow the formula below for the filter dimensions to be
used with the MicroB.
I(A) = P tot
1.73 x V primary
Where:
I=is the nominal current in Amperes for the necessary
filter.
Vprimary= is the voltage of Transformer.
Ptot=is the motor's max. power absorption in watts(VA)
Ptot=VA=Motor power1+motor power 2+...ect.

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For filter connection (divert to building ground the
unwanted frequency) considering such devices can pro-
duce small leakage current towards building ground (this
current amounts to "some" of milliamperes). For these
precautionary reasons, it is necessary to connect the filter
to building ground prior to connecting the power supply.
Regarding current leakage, remember that it must be
considered when sizing differential devices, thus avoiding
undesired interventions. The precise data relative to our
filters can be found below.
--As shown, the filter must be placed before the trasformer.
--All connections of the Net filters must be shielded and
shouldn't be longer that the length shown in the scheme.
--The cable shield must cover the entire length of the wire
and be as close as possible to the connection terminals.
--Always use shieded cable (twisted) to connect the motor
and the drive.
--Avoid passing signal and power cables through the same
channels.
--It is very important that the panel where the filters are
mounted is connected to ground.
--Power and Command/Signal condotors should not be
placed in the same channels (keep separate). Avoid twisting,
crossing, etc. If crossing is inevitable, try to cross at a 90
degree angle. Where possible use metallic channels
connected to ground.
Max 0.5m Max 1m Max 1m Max 15m
Microspeed
EMC requirements

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Electrical Characteristics
Below is a table showing the electrical characteristics of
our recommended filters. Pay particular attention to leakage,
differential adjustements, and nominal current in
accordance with operational temperature.
Filters
Type Current Leakage Curr. Power loss Weight
(A) (mA) W Lb.
SCHAFFNERFN355 3(40°C) 0.07(400V50Hz) 1.5 0.55
SCHAFFNERFN20703(40°C) 0.4(250V50/60Hz) 0.55
TIMONTAFMW4 4(40°C) <0.5(400V50/60Hz) 1 0.6
TIMONTAFSS2 3(40°C) <0.5(250V50/60Hz) 0.6
TIMONTAFSS2 6(40°C) <3 (250V50/60Hz) 0.6
Mechanical dimension

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The TIMONTA FMW65-4: 3 PHASE Series filters are
furnished with Fast-on connectors for both input and output.
Max. voltage : 440Vac
Max. current : 4A @ 40°C
Filters
The SCHAFFNER FN355-3:3 PHASE Series filters are
furnished with Fast-on connectors for both input and output.
Max. voltage : 420Vac
Max. current : 3A @ 40°C
Working temperature: -25° +85°C
The TIMONTA FSS2-65-3 TIMONTA FSS2-65-6
:Single PHASE Series filters are furnished with Fast-
on connectors for both input and output.
Max. voltage : 250Vac
Max. current : 3A @ 40°C, Max. current : 6A @ 40°C
The SCHAFFNER FN2070-3: Single PHASE
Series filters are furnished with Fast-on connectors for both
input and output.
Max. voltage : 250Vac
Max. current : 3A @ 40°C
Working temperature: -25° +85°C