mattke MDCA Series User manual

1
MDCA XXX/XX
Precision Servodrive for
DC motors

2

3
Index
Chapter 1
1.1 Safety and note ................................................................................................................... 4
1.2 Operation mode and feedback .......................................................................................... 5
1.3 Model and size .................................................................................................................... 6
1.4 View product ....................................................................................................................... 7
1.5 Ambient conditions ............................................................................................................ 8
1.6 Ventilation ........................................................................................................................... 8-9
1.7 Dimensions .......................................................................................................................... 9
Chapter 2
2.0 Signals input and output ....................................................................................................10-11
2.1 Fault output .........................................................................................................................12
2.2 Current request (REQ) ....................................................................................................... 12-13
2.3 GND ground ........................................................................................................................ 13
2.4 Ausiliary power supply +/-9.8V ........................................................................................... 14
2.5 Start input ........................................................................................................................... 14
2.6 Analog inputs ...................................................................................................................... 15
2.7 Tachogenerator input ......................................................................................................... 16
2.8 Ausiliary power supply +V................................................................................................... 16
2.9 Encoder inputs .................................................................................................................... 16
2.10 Limit switch inputs ............................................................................................................ 17-18
Chapter 3
3.0 Power supply construction ................................................................................................. 19-20
3.1 Connections to earth and ground ..................................................................................... 21
3.2 Note about Connections .................................................................................................... 22
Chapter 4
4.0 Internal adjustements ......................................................................................................... 23
4.1 Brush motor Connections with Encoder feedback ........................................................... 24-25
4.2 Brush motor Connections with Tachogenerator feedback .............................................. 26-27
4.3 Brush motor Connections with Armature feedback ......................................................... 28-29-30
4.4 Current adjustments ........................................................................................................... 31
4.5 Ramp time adjustments ...................................................................................................... 32
4.6 Potentiometer adjustments ............................................................................................... 33
4.7 Dynamic adjustments ......................................................................................................... 34
4.8 Indicator Leds and protections .......................................................................................... 35

4
MDCA XXX/XX

5
1.1 Safety and note
Caution
Users must keep well clear in mind that this motion control equipment is capable of producing
high forces and rapid movement so they must be used with attention especially during the
application program’s development.
This motion control equipments are sold as end-users products to be installed only by practical
staff in accordance with all local safety laws and regulations. The device have to be enclosed
such that any part is not be accessible while the system is powered on.
We strongly reccomend to follow these recommendations in order to avoid wrong uses of the
equipment that may be impaired all the protections provided by the device.
Please read these notes carefully before powering up the drive
It is very important meet all applicable safety requirements during installation and operating
of any motion control equipment. Any installer has to assume the responsibility to ensure that
he recognizes and complies all the relevant safety standards. Any installation, not meeting the
safety requirements, may damage the equipment or injury the user.
This motion control equipment shoul be handled, installed, setted-up and maintenanced only
by competent personnel expert and trained in the installation of motion control electronic
equipment.
Such technicians should be aware of potential electrical and mechanical hazards. Shall never
beliable or have any responsability if the products have been improperly stored, installed, used
or maintened, or if the costumer has permitted any unauthorized modications, adjustments,
and/or repairs to the products.
Simbols security standard:
Warning of dangerous current present
In case of doubt or in any case you don’t know as to behave yourself, before
access to the drive, power off the device and wait until all the leds are turned
off. May you have attention when you touch the drive because it may be hot.
Danger Sign
All the circuits in the Drive are potential sources of severe electrical shock,
so follow these rules to avoiding possible personal injury.
- Power off the drive and wait until all the leds are turned off before touching,
removing, connecting or any other critical action.
- Never disconnect any connectors before powering down the drive







Warning of dangerous current present
In case of doubt or in any case you don’t know as to behave yourself, before access to the
drive, power off the device and wait until all the leds are turned off.
May you have attention when you touch the drive because it may be hot.
Danger Sign
All the circuits in the Drive are potential sources of severe electrical shock, so follow these
rules to avoiding possible personal injury.
- Power off the drive and wait until all the leds are turned off before touching, removing,
connecting or any other critical action.
- Never disconnect any connectors before powering down the drive
It is very important meet all applicable safety requirements during installation and operating of any
motion control equipment. Any installer has to assume the responsibility to ensure that he recognizes
and complies all the relevant safety standards. Any installation, not meeting the safety requirements,
may damage the equipment or injury the user.
This motion control equipment shoul be handled, installed, setted-up and maintenanced only by
competent personnel expert and trained in the installation of motion control electronic equipment.
Such technicians should be aware of potential electrical and mechanical hazards. Shall never beliable
or have any responsability if the products have been improperly stored, installed, used or maintened,
or if the costumer has permitted any unauthorized modifications, adjustments, and/or repairs to the
products.
Users must keep well clear in mind that this motion control equipment is capable of producing high
forces and rapid movement so they must be used with attention especially during the application
program’s development.
This motion control equipments are sold as end-users products to be installed only by practical staff in
accordance with all local safety laws and regulations. The device have to be enclosed such that any
part is not be accessible while the system is powered on.
We strongly reccomend to follow these recommendations in order to avoid wrong uses of the equipment
that may be impaired all the protections provided by the device.
 

6
1.2 Operation mode and feedback
Description
This is a drive capable to drive DC brush motors, up to 3Nm. It‘s a High Performance full four
quadrant drive servo amplier. The mosfet output power stage is controlled by a 20 Khz PWM
(Pulse Width Modulation) signal that allows it to drive servo motors where high dynamic per-
formance and precise speed is required.
Operation mode
General characteristic
Velocity feedback
Closing the velocity feedback loop to motor may be done in several different ways to accom-
modate most applications. This types of velocity feedback are available with DC brush motors.
Velocity feedback
• DC motor with encoder
• DC motor with internal PWM (Armature)
• DC motor with tachogenerator
It is speed piloting using an analogue
reference (differential or common mode)
It is torque piloting using an analogue
reference. This function allows you to control
the current from the drive.
SPEED CONTROL
INPUT
TORQUE CONTROL
INPUT
DESCRIPTION
STANDARD
STANDARD
Start input, enable the drive with range from
>9Vdc to +30Vdc (min/max)
Clockwise (CW) and Counter-clockwise (CCW)
limit Switch inputs
Fault drive, open collector output 50mA max.
(Normally closed, opens when in protection mode)
1 motor velocity monitor “TEST”, with range +/-
8 Vdc output
Four LEDs are located just in front of the
potentiometers and show the current state of the drive
START INPUT
LIMIT SWITCH
INPUTS
FAULT OUTPUT
1 ANALOG
OUTPUT
LED INDICATOR
DESCRIPTION
STANDARD
STANDARD
STANDARD
STANDARD
STANDARD

7
1.3 Model and size
Model available
The power supply voltage has to be a transformer-isolated voltage.
Size available
Max size available for model 130 is 7/14A
Specications
* min/max power supply **Typical
8 - 28 Vdc*
20 - 84 Vdc*
30 - 130 Vdc*
35 - 165 Vdc*
Model 12
Model 65
Model 100
Model 130
POWER SUPPLY
14Vdc**
60Vdc **
100Vdc **
130Vdc **
Rated current (A)
2
4
7
10
Size
2/4
4/8
7/14
10/20
CURRENT
Peak current (A)*
4
8
14
20
*Peak current during 2 sec
TECNICAL DATA CHARACTERISTICS
PWM frequency
Operating temperature
Storage temperature
Drift analog input
Analog inputs (+/-VEL)
Velocity monitor output (Test)
Power supply output (+V)
Power supply output (+/-9.8V)
Encoder max. frequency
Fault drive output
Start input
Band width (current)
Band width (velocity)
Minimum Inductance motor
Weight
Altitude
Flammability rating 94V-0
20Khz
0/+45°C
-10/+70°C
0,5uV/°C
+/-10Vdc max, impedance 20Kohm
+/- 8Vdc = max velocity
+5Vdc max. 130 mA
+/-9.8Vdc max. 4mA
300Khz with level >+2,8/24Vdc min/max
NPN 50mA max.
>+9V/+30Vdc (min/max)
2KHz
150Hz
400µH
0,35kg 10.6oz
Up to 1000m without restrictions, from 1000 to 2000m power derating 1,5%/100m
Cover material, the PCB and the electronic component meet 94V-0

8
1.4 View product
(1) Product Label
(2) Fixing screw
(3) Product Cover
(4) Solder bridges
(5) Adjustement zone
(6) Four calibration Potentiometers
(7) Four Leds
(8) TEST point (Encoder, Tacho or Armature velocity)
(9) M2 Signal terminal 5 pins MC1,5/5-ST-3,81 (pitch 3,81)
(10) M1 Signal terminal 10 pins GMST 2.5/10-G-5,08 (pitch 5,08)
(11) POWER Terminal 4 pins GMST 2.5/5-G-5,08 (pitch 5,08)




(1) Product Label
(2) Fixing screw
(3) Product Cover
(4) Solder bridges
(5) Adjustement zone
(6) Four calibration Potentiometers
(7) Four Leds
(8) TEST point (Encoder, Tacho or Armature velocity)
(9) M2 Signal terminal 5 pins MC1,5/5-ST-3,81 (pitch 3,81)
(10) M1 Signal terminal 10 pins GMST 2.5/10-G-5,08 (pitch 5,08)
(11) POWER Terminal 4 pins GMST 2.5/5-G-5,08 (pitch 5,08)
 
3
2
1
4
5
6
7
89
10
11

9
1.5 Ambient conditions
Positioning in the electrical box
Follow the instructions in the positioning of the servodrive in the electrical box.
- The drive is natural convection air ow cooled.
- To ensure the drive cooling and make the installation easier for the operator it must be in-
stalled vertically leaving a free space of at least 20 mm (0,78 inch) on each side of the device.
The converter must be mounted vertically on the electrical box. In case you want to mount it
horizontally, remove the cover.
- The electrical box must have suitably ltered air vents.
- Leave the necessary space both above and below the converters.
- Keep the drive from excessive mechanical vibration
Notes during the assembly
Caution: during the wiring of the servodrive in the electrical box, make sure that do not enter
leading wires of copper or iron chips through the slits. Before performing the work cover the
holes with a piece of paper tape. Naturally nished work this tape is removed.
1.6 Ventilation
This servodrive are intended only for use in close locations. Ambient characteristics: operating
temperature from 0 to +40°C. Humidity limit s between 5% to 95% non condensing (Pollution
degree 2 or better).
Supplementary ventilation may be requested in accordance to size. See the table below.





Caution: during the wiring of the servodrive in the electrical box, make sure that do not enter leading
wires of copper or iron chips through the slits. Before performing the work cover the holes with a
piece of paper tape. Naturally finished work this tape is removed.
 
SIZE
MODEL 2/4 4/8 7/14 10/20
12 N N N N
65 N N N N
100 N N N V
130 N N V N.A

Follow the instructions in the positioning of the servodrive in the electrical box.
-The drive is natural convection air flow cooled.
- To ensure the drive cooling and make the installation easier for the operator it must be installed
vertically leaving a free space of at least 20 mm (0,78 inch) on each side of the device. The converter
must be mounted vertically on the electrical box. In case you want to mount it horizontally, remove the
cover.
-The electrical box must have suitably filtered air vents.
- Leave the necessary space both above and below the converters.
- Keep the drive from excessive mechanical vibration
Conductive mounting
panel (zinc coated)
Dimensions are
expressed in
millimeters.
 
Cable duct
Cable duct
N = Standard radiator (operating ambient temperature from 0 to 40°C)
V = Standard radiator + supplementary ventilation (operating ambient temperature from 0 to 45°C)
NA = Not available
This servodrive are intended only for use in close locations. Ambient characteristics: operating tem-
perature from 0 to +40°C. Humidity limit s between 5% to 95% non condensing (Pollution degree 2 or
better).
Supplementary ventilation may be requested in accordance to size. See the table below.
202050
50
135
5,3"

10
N = Standard radiator (operating ambient temperature from 0 to 40°C)
V = Standard radiator + supplementary ventilation (operating ambient temperature from 0 to 45°C)
N.A = Not available
Supplementary ventilation Mounting position
1.7 Mechanical dimensions




Dimensions in mm and Inch

V = Standard radiator+fan
cooling below the converter
(operating temperature 0 to
+45°C)



If you need the converter mounted horizontally,
remove the cover.
 




Dimensions in mm and Inch

V = Standard radiator+fan
cooling below the converter
(operating temperature 0 to
+45°C)



If you need the converter mounted horizontally,
remove the cover.
 
SIZE
MODEL
12
65
100
130
2/4
N
N
N
N
7/14
N
N
N
V
10/20
N
N
V
N.A
4/8
N
N
N
N

11
2.0 Signals input and output
The gure below shows the view of the converter terminals.
M1 Signal terminal 10 pins „type GMST 2,5/10-G-5,08“
M2 Signal terminal 5 pins „type MC 1,5/5-ST-3,81“
POWER Terminals 4 pins „type GMST 2,5/4-G-5,08“
On the test point „TEST“ you can see the signal of velocity speed. The output from 0 to + /-8V
is from zero to maximum speed. At this point you can analyze the signal when you enable one
of the following velocity feedback.
• Encoder
• Armature
• Tachogenerator
Power connector
NOTE: See also the connection diagrams in Chapters 4.1 - 4.2 - 4.3
Signal inputs and outputs
POWER
+HV (IN)
GND (IN)
+MOTOR (OUT)
-MOTOR (OUT)
Positive Power supply input
Negative Power Supply input (GND)
Motor connection phase +M
Motor connection phase -M
M1 CONNECTOR
1 FAULT (OUT)
2 REQ
3 GND
4 +9.8V (OUT)
5 –9.8V (OUT)
6 START (IN)
7 +VEL (IN)
8 -VEL (IN)
9 +TACH (IN)
10 -TACH (IN)
Fault drive, open collector output max. 50mA
Normally closed, opens when the drive in protection mode
REQ: can be used in 2 distinct modes:
1) Motor Current limit mode (by REQ setting):
A motor current limit mode connect an external resistor to GND reduces the maximun current.
Connect a 1/4W o 1/8W resistor between the REQ (pin 2) and GND (pin 3) terminals. A 47Kohm
external resistor reduces the current by 50%. (Note: The drive velocity loop remains active)
2) Torque request (by REQ setting):
Range: +/- 10V, which corresponds to the drives peak current output. In this mode the velocity loop
is automatically disabled.
Signal Common Ground / Corrisponds to power supply‘s negative GND input
Power supply +9.8Vdc max 4mA
Power supply –9.8Vdc max 4mA
Positive drive enable with range >+9Vdc min. to +30Vdc max
Reference Positive differential input (Velocity command)
Reference Negative differential input (Velocity command)
Positive +DT tachogenerator input. This signals corrisponds to power supply‘s negative GND input.
Negative -DT tachogenerator input.
M2 CONNECTOR
+V (OUT)
ENC A (IN)
ENC B (IN)
+L.SW (IN)
- L.SW (IN)
Power supply +5V max. 130mA
Encoder input Channel A (High logic level from >2,8V to +24Vdc max. Low logic level <1,5V)
Encoder input Channel B (High logic level from >2,8V to +24Vdc max. Low logic level <1,5V)
Clockwise (CW) limit Switch input. (High logic level from >5V to +24Vdc max). To enable this
function, you must open the internal soldiering point SG and SH. See chapter 2.10
Counter-Clockwise (CCW) limit Switch input. (High logic level from >5V to +24Vdc max). To
enable this function, you must open the internal soldiering point SG and SH. See chapter 2.10

12
2.1 FAULT output
(M1 signal terminal pin 1)
Fault drive, open collector output max. 50mA
Normally closed, opens when the drive in protection mode
2.2 Current request (REQ)
(M1 signal terminal pin 2)
With a voltage (example from a CNC output) you can command the drive in torque mode.
Applying a signal of +/-10V at REQ, the Drive to supply positive or negative peak current.
The formula to determine the value of Voltage to apply in REQ in order to obtain requested
current is the following:
V(REQ) = 10 * Request current / PKcurrent Drive
Example: (Drive size 10/20A, request current 8A)
V(REQ) = 10 * 8 / 20 = 4V
NOTE:
In current reference the loop of internal velocity automatically excludes itself .




Fault drive, open collector output max. 50mA
Normally closed, opens when the drive in protection mode
 

With a voltage (example from a CNC output) you can command the drive in torque mode.
Applying a signal of +/-10V at REQ, the Drive to supply positive or negative peak current.
The formula to determine the value of Voltage to apply in REQ in order to obtain requested current is
the following:
Example: (Drive size 10/20A, request current 8A)
NOTE:
In current reference the loop of internal velocity automatically excludes itself .
 
V(REQ) = 10 * Request current / PKcurrent Drive
V(REQ) = 10 * 8 / 20 = 4V








Fault drive, open collector output max. 50mA
Normally closed, opens when the drive in protection mode
 

With a voltage (example from a CNC output) you can command the drive in torque mode.
Applying a signal of +/-10V at REQ, the Drive to supply positive or negative peak current.
The formula to determine the value of Voltage to apply in REQ in order to obtain requested current is
the following:
Example: (Drive size 10/20A, request current 8A)
NOTE:
In current reference the loop of internal velocity automatically excludes itself .
 
V(REQ) = 10 * Request current / PKcurrent Drive
V(REQ) = 10 * 8 / 20 = 4V





13
Current output limitation
With an external potentiometer connected from GND and REQ input, you have a limitation of
output current (from zero to max. size) drive‘s.
The speed loop remains active and uses the input reference signal +/-VEL.
Connect between terminal and GND terminal REQ a resistor 1/4W or 1/8W. (The gure is used
a potentiometer connected to the rheostat). With external resistance tends to zero ohms, the
output current tends to zero. Increasing the ohmic value of resistance, the value of current
supplied increases. With 47K of the current is limited to 50% on the Maximum size. The loop
motor speed remains active.
2.3 Signal common ground
(M1 signal terminal pin 3)
Signal Common Ground. Corrisponds to power supply’s negative GND input.
2.4 Ausiliary power supply +/-9.8V
(M1 signal terminal pin 4 and 5)
In the terminals 4 (+9.8 V) and 5 (-9.8V) are available auxiliary supplies to power the potenti-
ometer reference speed. In the attached drawing below is also added a switch that allows the
reversal of the rotation motor speed .
The current capacity of the output is max + /-4mA
Output +9.8V can also be used to enable the converter





With an external potentiometer connected from GND and REQ input, you have a limitation of output
current (from zero to max. size) drive's.
External potentiometer (470K-1M
Ohm) 3-10 TURNS
The speed loop remains active and uses the input reference signal +/-VEL.
Connect between terminal and GND terminal REQ a resistor 1/4W or 1/8W. (The figure is used a
potentiometer connected to the rheostat). With external resistance tends to zero ohms, the output
current tends to zero. Increasing the ohmic value of resistance, the value of current supplied increases.
With 47K of the current is limited to 50% on the Maximum size. The loop motor speed remains active.
 

Signal Common Ground. Corrisponds to power supply’s negative GND input.






In the terminals 4 (+9.8 V) and 5 (-9.8V) are available auxiliary supplies to power the potentiometer
reference speed. In the attached drawing below is also added a switch that allows the reversal of
the rotation motor speed .
The current capacity of the output is max + /-4mA
Output +9.8V can also be used to enable the converter
 
Is possible enable the drive connected the STARTinput with +9.8V output "terminal 4"
The standard drive is furnished in this configuration.
Start enable input has logic range: >+9V to +30Vdc (min/max)
Unconnected Enable input = Drive Not Enabled
Enable Input >+9V to +30Vdc = Drive Enabled
 






14
2.5 Start input
(M1 signal terminal pin 6)
The standard drive is furnished in this conguration.
Start enable input has logic range: >+9V to +30Vdc (min/max)
Unconnected Enable input = Drive Not Enabled
Enable Input >+9V to +30Vdc = Drive Enabled
Is possible enable the drive connected the START input with +9.8V output „terminal 4“
2.6 Analog inputs (+/-VEL)
(M1 signal terminal pin 7 and 8)
Differential reference
The following diagram shows an application utilizing a differential reference from a C.N.C
The +/-VEL in differential mode has a 40Kohm of impedance input.
Common mode reference
The following diagram shows an application using speed reference connections from C.N.C
in the Common Mode. This analog in common mode has a 20Kohm of impedance input.




The following diagram shows an application utilizing a differential reference from a C.N.C
The +/-VEL in differential mode has a 40Kohm of impedance input.

Speed potentiometer
The following diagram shows an application using speed reference connections from C.N.C in the
Common Mode. This analog in common mode has a 20Kohm of impedance input.

The following figure shows an application with speed reference connections using an internal +/-9.8V
power supply.
The speed potentiometer must have an included value between >5 and <10Kohm.

 










In the terminals 4 (+9.8 V) and 5 (-9.8V) are available auxiliary supplies to power the potentiometer
reference speed. In the attached drawing below is also added a switch that allows the reversal of
the rotation motor speed .
The current capacity of the output is max + /-4mA
Output +9.8V can also be used to enable the converter
 
Is possible enable the drive connected the STARTinput with +9.8V output "terminal 4"
The standard drive is furnished in this configuration.
Start enable input has logic range: >+9V to +30Vdc (min/max)
Unconnected Enable input = Drive Not Enabled
Enable Input >+9V to +30Vdc = Drive Enabled
 









The following diagram shows an application utilizing a differential reference from a C.N.C
The +/-VEL in differential mode has a 40Kohm of impedance input.

Speed potentiometer
The following diagram shows an application using speed reference connections from C.N.C in the
Common Mode. This analog in common mode has a 20Kohm of impedance input.

The following figure shows an application with speed reference connections using an internal +/-9.8V
power supply.
The speed potentiometer must have an included value between >5 and <10Kohm.

 







15




The following diagram shows an application utilizing a differential reference from a C.N.C
The +/-VEL in differential mode has a 40Kohm of impedance input.

Speed potentiometer
The following diagram shows an application using speed reference connections from C.N.C in the
Common Mode. This analog in common mode has a 20Kohm of impedance input.

The following figure shows an application with speed reference connections using an internal +/-9.8V
power supply.
The speed potentiometer must have an included value between >5 and <10Kohm.

 






Speed reference from external potentiometer
The following gure shows an application with speed reference connections using an internal
+/-9.8V power supply.
The speed potentiometer must have an included value between >5 and <10Kohm.
2.7 Tachogenerator input
Tachogenerator input (M1 signal terminal pin 9 and 10)
The following diagram shows the connection from tachogenerator and the drive DC ONE.
This function is enabled through the following settings on the solder point, and the insertion
of RDT resistance on the adjstustement zone. +TACH „pin 9“ corrisponds to power supply’s
negative GND input.
Connect the negative of tachometer to pin 10. Do not exceed voltage as input from tacho
value of 50V. Example: If you use a 10V/KRPM no more than 5000rpm.
If the motor rotates in an opposite direction to the expected one,switch off and reverse the
motor and tachogenerator connections.
View the connections and settings from tachogenerator in chapter 4.2




In the terminals 2 and 3 you can connect the inputs from an incremental encoder for the current
feedback in response to encoder. Signals can come from encoder powered from +5V to +24V).
Minimum high logic level >+2.8V/24Vmax,
Minimum low logic level <1.5V
Encoder can be connected either push-pull (wires A, B and GND) or line-driver encoder type (wires
+ A + B and GND). Remember to connect the zero encoder with the GND power converter.
View the connections and settings from encoder in chapter 4.1
 
 

On the terminal (+V) is available auxiliary power supply voltage +5V (+12 V on request order). This
output can be used to power the encoder on the motor.The capacity of the output current is
130mA max.
 



The following diagram shows the connection from tachogenerator and the drive DC ONE.
This function is enabled through the following settings on the solder point, and the insertion of RDT
resistance on the adjstustement zone. +TACH "pin 9" corrisponds to power supply’s negative GND
input.
Connect the negative of tachometer to pin 10. Do not exceed voltage as input from tacho value of
50V. Example: If you use a 10V/KRPM no more than 5000rpm
If the motor rotates in an opposite direction to the expected one,switch off and reverse the motor
and tachogenerator connections.
View the connections and settings from tachogenerator in chapter 4.2


16
2.8 Ausiliary power supply +V (out)
(M2 signal terminal pin 1)
On the terminal (+V) is available auxiliary power supply voltage +5V (+12 V on request order).
This output can be used to power the encoder on the motor. The capacity of the output current
is 130mA max.
2.9 Encoder inputs
(M2 signal terminal pin 2 and 3)
In the terminals 2 and 3 you can connect the inputs from an incremental encoder for the cur-
rent feedback in response to encoder. Signals can come from encoder powered from +5V to
+24V).
Minimum high logic level >+2.8V/24Vmax, Minimum low logic level <1.5V
Encoder can be connected either push-pull (wires A, B and GND) or line-driver encoder type (wi-
res + A + B and GND). Remember to connect the zero encoder with the GND power converter.
View the connections and settings from encoder in chapter 4.1
2.10 Limit switch inputs
It‘s possible to enable clockwise (CW) and counter-clockwise (CCW) motor rotation by connec-
ting the +L.SW and -L.SW inputs.
They may be used to block motor rotation when the machines overow contact is intercepted.
The Enable input in regards to this input always has priority. To enable such a function, you
must:
- Open soldiering point SG and SH (see gure 1)
- Then connect on said input a positive voltage (between +5Vdc and + 24Vdc) coming from -for
example two N.C. contacts (see gure 2 or 3)
Function: At opening one of the following contacts you enable the motor rotation in the
corresponding direction.
Note:
- This Drive is factory set with the SG and SH solder bridge close.
- DON‘T connect any voltage in the +L.SW and -L.SW inputs if the soldiering point SG and SH
are closed.
- When one of these said contacts is intercepted the motor stops with the required inertia.

17




t's possible to enable clockwise (CW) and counter-clockwise (CCW) motor rotation by connecting
the +L.SW and -L.SW inputs.
They may be used to block motor rotation when the machines overflow contact is intercepted.
The Enable input in regards to this input always has priority. To enable such a function, you
must:
-- Open soldiering point SG and SH (see figure 1)
-- Then connect on said input a positive voltage (between +5Vdc and + 24Vdc) coming from -for
example two N.C. contacts (see figure 2 or 3)
Function: At opening one of the following contacts you enable the motor rotation in the
corresponding direction.
 
Note:
-This Drive is factory set with the SG and SH solder bridge close
- DON'T connect any voltage in the +L.SW and -L.SW inputs if the soldiering point SG and SH are
closed
- When one of these said contacts is intercepted the motor stops with the required inertia.
Fig. 1
Fig. 2
Example with external positive voltage
(between +5Vdc and +24Vdc)
Limit switch inputs (continue)
Example with internal positive voltage (+9.8V)





Example with internal positive voltage (+9.8V)
Fig. 3

18
3.0 Power supply construction
Normally the power supply is built by a transformer, a bridge rectier and a lter capacity.
Alternatively, the power supply can also be of switching type, in this case refer factory by the
appropriate sizing. The converter have to be supplied from an isolating rectied transformer
secondary or a DC isolated power supply.
Transformer
Voltage:
The primary voltage depends on what is available locally for a single phase. The secondary
voltage is calculated from the motor’s voltage at the required operating speed.
The secondary voltage VDC is:
VDC = V2 * 1,41
Example: If the secondary transformer V2 is 45Vac, the VDC output is 45*1,41=64Vdc
PAY ATTENTION:
- The drive has zero signal GND in conjunction with the zero power GND, thereby preventing
the following links:
- Use a standard heavy duty power transformer without center taps on the secondary as shown
in the schematic above.
- DO NOT USE AN AUTO TRANSFORMER.
Power transformer (T)
The transformer‘s nominal power is calculated based upon the sum of power from the single
motors driven:
P(VA)=Pn1+Pn2+..
Pn Motor = N * Cn / 9,55
Where: Pn Motor = Power absorbed motor in (W)
N = Max. speed of motor in RPM.
Cn = Nominal torque of motor in (Nm).
Note: In multi-axis applications, the transformer‘s power can be downgraded by 30%. If the
max. power transformer calculated is over 6KVA contact the factory.





VDC = V2 * 1,41
Example: If the secondary transformer V2 is 45Vac, the VDC output is 45*1,41=64Vdc
PAY ATTENTION:
-The drive has zero signal GND in conjunction with the zero power GND, thereby preventing the
following links:
- Use a standard heavy duty power transformer without center taps on the secondary as shown in the
schematic above.
-DO NOT USE AN AUTOTRANSFORMER.

F1
V1 V2
AC
AC
VDC
F2
+HV
(T) TRANSFORMER
GND
C
+
-
AC
POWER
INPUT
 
Normally the power supply is built by a transformer, a bridge rectifier and a filter capacity.Alternatively,
the power supply can also be of switching type, in this case refer factory by the appropriate sizing.
The converter have to be supplied from an isolating rectified transformer secondary or a DC isolated
power supply.
Voltage:
The primary voltage depends on what is available locally for a single phase. The secondary voltage is
calculated from the motor’s voltage at the required operating speed.
The secondary voltage VDC is:
The transformer's nominal power is calculated based upon the sum of power from the single motors
driven:
Where: Pn Motor =Power absorbed motor in (W)
N=Max. speed of motor in RPM.
Cn =Nominal torque of motor in (Nm).
Pn Motor = N * Cn / 9,55
P(VA)=Pn1+Pn2+..
VDC = Vdc motor / 0,85
Vdc motor = E+(Ri * In)
E = Ke * N° / 1000
Where the Vdc motor is a sum of FCEM + the drop R*I for the winding resistance motor
The FCEM of the motor "E", may be calculated by the formula:
Note: In multi-axis applications, the transformer's power can be downgraded by 30%. If the max.
power transformer calculated is over 6KVAcontact the factory.
If the secondary voltage of power supply is VDC, the Vdc motor is calculated by the formula:


19
Voltage motor
If the secondary voltage of power supply is VDC, the Vdc motor is calculated by the formula:
VDC = Vdc motor / 0,85
Where the Vdc motor is a sum of FCEM + the drop R*I for the winding resistance motor
Vdc motor = E+(Ri * In)
The FCEM of the motor „E“, may be calculated by the formula:
E = Ke * N° / 1000
Power supply construction (continue)
Example: Brush motor with the following data:
In =5 (A)
Ri = 1 (Ohm)
E=48 (V) at nominal speed 3000 (RPM)
Vdc motor = 48 + ( 1 * 5) = 53V
VDC = 53 / 0,85 = 64V
64V is the VDC voltage request for the power supply. You‘ll use a transformer with the se-
condary V2 = 64 / 1,41= 45Vac
When you use the transformer with V2= 44/45Vac, it is correct.
Misure unit:
E = Ke *n°/1000 (Vdc)
Im = I motor (A)
Ri = Winding resistance (Ohm)
Ke =Voltage constant (V/kRPM)
n° = MAX speed (RPM)
Capacitor lter (C)
In regards to the capacitor lter we suggest a working voltage of:
*100VDC for Model 65
*160-200VDC for Model 100 and Model 130
Tipical value is from 4700uF to 10.000uF
Capacity above the lter effect, helps to recover energy during braking of the motor.
If the converter during braking has the green LED that ashes you must increase the value
of the capacitor (eg. 10.000uF from a 20.000uF)
Fuses (F1) e (F2)
Fuses are required on both the primary and secondary of the transformer to protect against
harm to the system and the transformer itself. They need to be of the slow blow type to handle
current in-rush at power-up. Locate the primary fuse (F1) on the hot leg of the AC input power
and the secondary fuse (F2) on the + side of the secondary output, before the rectier.
Primary of the transformer: Use the formula below to calculate the correct values:
F1 (A) = P (VA) trasfo. / V1





Capacity above the filter effect, helps to recover energy during braking of the motor.
If the converter during braking has the green LED that flashes you must increase the value of the
capacitor (eg. 10.000uF from a 20.000uF)
Fusibili

F1 (A) = P (VA) trasfo. / V1
Example: Brush motor with the following data:
In =5 (A)
Ri = 1 (Ohm)
E=48 (V) at nominal speed 3000 (RPM)
Vdc motor = 48 + ( 1 * 5) = 53V
VDC = 53 / 0,85 = 64V
64V is the VDC voltage request for the power supply. You'll use a transformer with the secondary V2
= 64 / 1,41= 45Vac
When you use the transformer with V2= 44/45Vac, it is correct.
Misure unit:
E = Ke *n°/1000 (Vdc)
Im = I motor (A)
Ri = Winding resistance (Ohm)
Ke =Voltage constant (V/kRPM)
n° = MAX speed (RPM)
In regards to the capacitor filter we suggest a working voltage of:
*100VDC for Model 65
*160-200VDC for Model 100 and Model 130
Tipical value is from 4700uF to 10.000uF
Fuses are required on both the primary and secondary of the transformer to protect against harm to
the system and the transformer itself. They need to be of the slow blow type to handle current in-rush
at power-up. Locate the primary fuse (F1) on the hot leg of the AC input power and the secondary fuse
(F2) on the + side of the secondary output, before the rectifier.
Primary of the transformer: Use the formula below to calculate the correct values:
Secondary of the transformer: Use the table below

FUSE F2 (A) SIZE Drive (A)
5 2/4
8 4/8
12 7/14
16 10/20

20
Secondary of the transformer: Use the table below
3.1 Connections to earth and ground
Make sure that the servodrive and the motor are connected to earth in accordance with the
current norms. This connection must be done by using a copper bar, mounted on insulating
supports:
Then follow these indications:
1. Connect to the ground bar:
the GND pin 3 of the Dc One
the internal „0V“ zero voltage of the CNC;
the earth terminals of the PLC/CNC frames;
the „0V“ of the auxiliary supply;
2. Connect the ground bar to the zinced panel of the drive by using a screw, then connect
that screw to earth.
3. Connect earth to the motor’s
It suggests a conductive connection as much as possible to the chassis, or the heatsink,
or the mounting panel of the electrical box.
It refers to the earth connection.
Motor and Power cable (as norm EN60204)
Control signals cable (as norm EN60204)
Feedback signals cable (as norm EN60204)




Ground bar
Earth point connection
L bar Bar's section
0,5 .. 1m 30 x 5 mm
1..2m 40 x 5 mm



Make sure that the servodrive and the motor are connected to earth in accordance with the current
norms. This connection must be done by using a copper bar, mounted on insulating supports:
L bar
then follow these indications:
1. Connect to the ground bar:
the GND pin 3 of the Dc One
the internal "0V" zero voltage of the CNC;
the earth terminals of the PLC/CNC frames;
the "0V" of the auxiliary supply;
2. Connect the ground bar to the zinced panel of the drive by using a screw, then connect that screw
to earth.
3. Connect earth to the motor’s
It suggests a conductive connection as much as possible to the chassis, or the heatsink,
or the mounting panel of the electrical box.
It refers to the earth connection.
 
SECTION SIZE (A)
1,5mm2 / 15AWG 2/4 4/8 7/14
2,5mm2 / 13-14AWG 10/20
SECTION
0,5mm2 / 20AWG
SECTION
0,25 - 0,35mm2 / 22 -24AWG




Ground bar
Earth point connection
L bar Bar's section
0,5 .. 1m 30 x 5 mm
1..2m 40 x 5 mm



Make sure that the servodrive and the motor are connected to earth in accordance with the current
norms. This connection must be done by using a copper bar, mounted on insulating supports:
L bar
then follow these indications:
1. Connect to the ground bar:
the GND pin 3 of the Dc One
the internal "0V" zero voltage of the CNC;
the earth terminals of the PLC/CNC frames;
the "0V" of the auxiliary supply;
2. Connect the ground bar to the zinced panel of the drive by using a screw, then connect that screw
to earth.
3. Connect earth to the motor’s
It suggests a conductive connection as much as possible to the chassis, or the heatsink,
or the mounting panel of the electrical box.
It refers to the earth connection.
 
SECTION SIZE (A)
1,5mm2 / 15AWG 2/4 4/8 7/14
2,5mm2 / 13-14AWG 10/20
SECTION
0,5mm2 / 20AWG
SECTION
0,25 - 0,35mm2 / 22 -24AWG
FUSE F2 (A) SIZE Drive (A)
5
8
12
16
2/4
4/8
7/14
10/20
SECTION SIZE (A)
1,5mm2 / 15AWG 2/4 4/8 7/14
2,5mm2 / 13-14AWG 10/20
SECTION
0,5mm2 / 20AWG
SECTION
0,25 - 0,35mm2 / 22 -24AWG