Minarik MM21051C User manual

USER’S MANUAL
SCR Filtered Series
Filtered SCR, Adjustable Speed Drives
for DC Brush Motors
Models:
MM21051C
MM21151C
MM21251C

Copyright  2001 by
Minarik Corporation
All rights reserved. No part of this manual may be reproduced or transmitted in
any form without written permission from Minarik Corporation. The information
and technical data in this manual are subject to change without notice. Minarik
Corporation and its Divisions make no warranty of any kind with respect to this
material, including, but not limited to, the implied warranties of its merchantability
and fitness for a given purpose. Minarik Corporation and its Divisions assume no
responsibility for any errors that may appear in this manual and make no
commitment to update or to keep current the information in this manual.
Printed in the United States of America.

i
Safety Warnings
•This symbol  denotes an important safety tip or warning.
Please read these instructions carefully before performing
any of the procedures contained in this manual.
• Reduce the chance of an electrical fire, shock, or explosion by
proper grounding, over-current protection, thermal protection,
and enclosure. Follow sound maintenance procedures.
DO NOT INSTALL, REMOVE, OR REWIRE THIS
EQUIPMENT WITH POWER APPLIED. Have a qualified
electrical technician install, adjust and service this equipment.
Follow the National Electrical Code and all other applicable
electrical and safety codes, including the provisions of the
Occupational Safety and Health Act (OSHA), when installing
equipment.
It is possible for a drive to run at full speed as a result of a
component failure. Minarik strongly recommends the
installation of a master switch in the main power input to stop
the drive in an emergency.
Circuit potentials are at 115 VAC or 230 VAC above earth
ground. Avoid direct contact with the printed circuit board or
with circuit elements to prevent the risk of serious injury or
fatality. Use a non-metallic screwdriver for adjusting the
calibration trimpots. Use approved personal protective
equipment and insulated tools if working on this drive with
power applied.


ii
Contents
Safety Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .i
Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .ii
Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .iii
Illustrations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .iv
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
Drive mounting (General) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
Drive mounting (Chassis drives) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
Drive mounting (Cased drives) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
Shielding guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
Heat sinking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
Line fuses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
Field output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
Screw terminal block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
Speed adjust potentiometer installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
Chassis drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
Power input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
Cased drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
Power input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
Voltage follower (MM21051C only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
MM21051C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
Before applying power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
MM21151C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19
MM21251C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19
Starting and stopping methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
Line starting and line stopping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
Automatic restart upon power restoration . . . . . . . . . . . . . . . . . . . . . . . . .20
Inhibit circuit (MM21051C ONLY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21

iii
Inhibit terminal accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
Decelerating to minimum speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23
Dynamic braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26
Minimum Speed (MIN SPD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
Maximum Speed (MAX SPD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
Acceleration (ACCEL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
Deceleration (DECEL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
IR Compensation (IR COMP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
TORQUE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
Application Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32
Multiple fixed speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32
Adjustable speeds using potentiometers in series . . . . . . . . . . . . . . . . . . . . .33
Independent adjustable speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
RUN/JOG switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
Reversing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37
Leader-Follower application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38
Single speed potentiometer control of multiple drives . . . . . . . . . . . . . . . . . .39
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40
Before applying power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40
Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
Replacement Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
Unconditional Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . .Inside Back Cover
Table 1. Recommended Line Fuse Sizes . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
Table 2. Field Output Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
Table 3. Inhibit Plug Part Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
Table 4. Replacement Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
Tables

Figure 1. MM21051C Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
Figure 2. MM21151C Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
Figure 3. MM21251C Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
Figure 4. MM21151C and MM21251C Back View Cased Mounting Keyhole
Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
Figure 5. Screw Terminal Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
Figure 6. Speed Adjust Potentiometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
Figure 7. MM21051C Drive Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
Figure 8. MM21151C and MM21251C Connections . . . . . . . . . . . . . . . . . . . . . .16
Figure 9. Voltage Follower Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
Figure 10. Inhibit Circuit Connections (MM21051C only) . . . . . . . . . . . . . . . . . .21
Figure 11. Run/Decelerate to Minimum Speed Switch . . . . . . . . . . . . . . . . . . . .23
Figure 12. Dynamic Braking Circuit Connection . . . . . . . . . . . . . . . . . . . . . . . . .25
Figure 13. Calibration Trimpot Layouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
Figure 14. Typical TORQUE and IR COMP Settings
(actual settings may vary with each application) . . . . . . . . . . . . . . . .31
Figure 15. Multiple Fixed Speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32
Figure 16. Adjustable Fixed Speeds Using Potentiometers in Series . . . . . . . . .33
Figure 17. Independent Adjustable Speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
Figure 18. RUN/JOG Switch Connection to Inhibit Plug
(1st wiring option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
Figure 19. RUN/JOG Switch Connection to Speed Adjust Potentiometer (2nd
Wiring Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36
Figure 20. Reversing Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37
Figure 21. Leader-Follower Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38
Figure 22. Single Speed Potentiometer Control of Multiple Drives . . . . . . . . . . .39
Figure 23. MM21051C, MM21151C, and MM21251C block diagram . . . . . . . . .44
Figure 24. MM21151C switching circuit connections . . . . . . . . . . . . . . . . . . . . .45
Figure 25. MM21251C switching circuit connections . . . . . . . . . . . . . . . . . . . . .46
iv
Illustrations

1
Specifications
Maximum AC Line
Armature Voltage
Current Single Phase
Model (Amps DC) HP Range 50/60 Hz
MM21X51C 2.7 1/20–1/4 115VAC (–5%,+10%)
Armature Voltage (115 VAC Input) 0–130VDC
Form Factor 1.05 at base speed
Field Voltage 50 VDC (F1 to L1); 100 VDC (F1 to F2)
Max. Field Current 1 ADC
Accel. Time Range (0–130 VDC Armature Voltage) 0.5 – 7 seconds
Decel. Time Range (0–130 VDC Armature Voltage) 0.5 – 7 seconds
Analog Input Voltage Range (0–130 VDC Armature Voltage)* 0 – 5.7 VDC
Input Impedance (S1 to S2) 45KΩ
Load Regulation 1% of base speed or better
Ambient Temp. Range
MM21051C 10°C–55°C
MM21151C, MM21251C 10°C–40°C
Vibration 0.5 G max. (20 – 50 Hz)
0.1 G max. (>50 Hz)
Weight
MM21051C 2.1 lb (953 g)
MM21151C, MM21251C 3.3 lb (1.5 kg)
Style
MM21051C chassis
MM21151C, MM21251C NEMA 1
* Signal must be isolated; S1 to S2

2
Dimensions
Figure 1. MM21051C Dimensions
ALL DIMENSIONS IN INCHES [MILLMETERS]
FOUR (4) MOUNTING SLOTS 0.188 [5] WIDE

3
Figure 2. MM21151C Dimensions
ALL DIMENSIONS IN INCHES [MM]
Dimensions

4Dimensions
Figure 3. MM21251C Dimensions
ALL DIMENSIONS IN INCHES [MM]

5
Figure 4. MM21151C and MM21251C Back View Cased Mounting
Keyhole Locations

6Installation
Mounting
Drive mounting (General)
• Drive components are sensitive to electrostatic fields. Avoid
direct contact with the circuit board. Hold the drive by the chassis
only.
• Protect the drive from dirt, moisture, and accidental contact.
Provide sufficient room for access to the terminal block and
calibration trimpots.
• Mount the drive away from heat sources. Operate the drive within
the specified ambient operating temperature range.
• Prevent loose connections by avoiding excessive vibration of
the drive.
Warning
Do not install, rewire, or remove this control with input
power applied. Doing so may cause fire or serious injury.
Make sure you have read and understood the Safety
Warnings before attempting installation.

Installation

7
Drive mounting (Chassis drives)
• Mount the drive with its board in either a horizontal or vertical
plane. Eight 0.188 inch (4.8 mm) wide slots in the chassis
accept #8 pan head screws. Fasten either the large base or the
narrow flange of the chassis to the subplate.
• The drive must be earth grounded for noise suppression.
Connect earth ground to the earth ground terminal on the drive’s
bottom board (see Connections).
Drive mounting (Cased drives)
Cased drives come with 0.88 inch (22 mm) conduit holes at the
bottom of the case. The units may be vertically wall mounted or
horizontally bench mounted using the three keyholes on the back
of the case. See Figure 4 (page 5) for mounting hole locations.
1. For access to the keyholes and the terminal strip, remove the
two screws from the front of the case by turning them
counterclockwise. Grasp the front cover and lift it straight out.
2. Install the mounting screws in the three keyholes.
3. Install conduit hardware through the conduit holes at the bottom
of the case. Connect external wiring to the terminal block.
4. Reinstall the front cover. Avoid pinching any wires between the
front cover and the case.
5. Replace the two screws to the front cover. Turn the screws
clockwise to tighten.
6. Set the POWER switch to the OFF position before applying AC
line voltage.
Installation

8Installation
Wiring
Warning
Do not install, remove, or rewire this equipment with power
applied. Failure to heed this warning may result in fire,
explosion, or serious injury.
Circuit potentials are at 115 VAC above ground. To prevent
the risk of injury or fatality, avoid direct contact with the printed
circuit board or with circuit elements.
Do not disconnect any of the motor leads from the drive
unless power is removed or the drive is disabled. Opening
any one motor lead may destroy the drive.


• Use 18 AWG wire for speed adjust potentiometer wiring. Use 16
AWG wire for AC line (L1, L2) and motor (A1, A2) wiring.

9
As a general rule, Minarik recommends shielding of all conductors.
If it is not practical to shield power conductors, Minarik
recommends shielding all logic-level leads. If shielding logic-leve
leads is not practical, the user should twist all logic leads with
themselves to minimize induced noise.
It may be necessary to earth ground the shielded cable. If noise is
produced by devices other than the drive, ground the shield at the
drive end. If noise is generated by a device on the drive, ground
the shield at the end away from the drive. Do not ground both ends
of the shield.
If the drive continues to pick up noise after grounding the shield, it
may be necessary to add AC line filtering devices, or to mount the
drive in a less noisy environment.
Logic wires from other input devices, such as motion controllers
and PLL velocity controllers, must be separated from power lines in
the same manner as the logic I/O on this drive.
Shielding guidelines
Warning
Under no circumstances should power and logic leads be
bundled together. Induced voltage can cause unpredictable
behavior in any electronic device, including motor controls.

Installation

10 Installation
Heat sinking
All MM21X51C drives have sufficient heat sinking in their basic
configurations. No additional heat sinking is required.
Line fuses
All drives have line fuses installed (see Replacement Parts
section for installed line fuse size). Line fuses are rated for
maximum rated current.
Table 1. Recommended Line Fuse Sizes
FUSE SIZE (AMPS)
MOTOR HP @115 VAC INPUT
1/20 5
1/8 8
1/4 8
Use 16 AWG wire to connect the field output to a shunt wound
motor. Table 2 lists the field output connections.

11
Table 2. Field Output Connections
Approximate Connect Motor
Field Voltage (VDC) Field To
50 F1 and L1
100 F1 and F2
Warning
The field output is for shunt wound motors only. Do not make
any connections to F1 and F2 when using a permanent
magnet motor.

Field output
Installation

12 Installation
Screw terminal block
Connections to these drives are made to a screw terminal block
(Figure 5). The chassis model (MM21051C) has 9 screws on the
terminal block. The cased models (MM21151C, and MM21251C)
have 7 screws on the terminal block. Using a screwdriver, turn the
terminal block screw counter-clockwise to open the wire clamp.
Insert stripped wire into the wire clamp. Turn the terminal block
screw clockwise to clamp the wire.
Figure 5. Screw Terminal Block
Wire Clamp
Terminal Block Screw

13
Warning
Be sure that the potentiometer tabs do not make contact with
the potentiometer enclosure. Grounding the input will cause
damage to the drive.

Install the circular insulating disk between the panel and the 10K
ohm speed adjust potentiometer. Mount the speed adjust
potentiometer through a 0.38 inch (10 mm) hole with the hardware
provided (Figure 6). Twist the speed adjust potentiometer wire to
avoid picking up unwanted electrical noise. If potentiometer leads
are longer than 18 inch (457 mm), use shielded cable.
Figure 6. Speed Adjust Potentiometer
Speed adjust potentiometer installation
Installation

14 Installation
Warning
Do not connect this equipment with power applied.
Failure to heed this directive may result in fire or serious
injury.
Minarik strongly recommends the installation of a
master power switch in the line voltage input, as shown
in Figure 7, page 15 (chassis drives only). The switch
contacts should be rated at a minimum of 200% of motor
nameplate current and 250 volts.

Chassis drives
Motor
Minarik drives supply motor voltage from A1 and A2 terminals. It is
assumed throughout this manual that, when A1 is positive with
respect to A2 , the motor will rotate clockwise (CW) while looking at
the output shaft protruding from the front of the motor. If this is
opposite of the desired rotation, simply reverse the wiring of A1
and A2 with each other.
Connect a DC motor to the drive as shown in Figure 7,
page 15. Ensure that the motor voltage rating is consistent with
the drive’s output voltage.
Power input
For chassis drives, connect the AC line power leads to terminals L1
and L2, or to a double-throw, double-pole master power switch
(recommended) as shown in Figure 7, page 15.
Connections