Control Techniques MiniAx 60 x 5/10 Manual
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Control Techniques MiniAx 60 x 5/10 Manual

Control Techniques MiniAx 60 x 5/10 Manual

300/600w six-step brushless variable speed drive
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MiniAx
60 x 5/10
60 x 10/20
300/600W Six-step
brushless
Variable Speed Drive
Codice: 01.0056.0
Issue 1
November 99

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  • Page 1 MiniAx 60 x 5/10 60 x 10/20 300/600W Six-step brushless Variable Speed Drive Codice: 01.0056.0 Issue 1 November 99...
  • Page 2 Index 1.0 Product information________________________________ _______________________ 3 1.1 Introduction________________________________ _____________________________ 4 1.2 Technical data ________________________________ __________________________ 4 1.3 Drive Description ________________________________ ________________________ 5 1.4 Drive Label Description________________________________ ____________________ 6 1.5 Drive Dimensions ________________________________ ________________________ 7 1.6 Connections ________________________________ ____________________________ 7 1.7 Signal inputs and outputs ________________________________ __________________ 8 1.8 Power inputs and outputs ________________________________ __________________ 9 2.1 Potentiometer adjustments ________________________________ ________________ 10 2.2 Protections ________________________________ ____________________________ 11...

  • Page 3: Product Information

    1.0 Product information The MiniAx amplifier series is distributed with the CE mark, because they are in accordance with th European Directives on EMC and Low Voltage. ATTENTION! ELECTRICAL AND CONTROL EQUIPMENT CAN BE DANGEROUS IF HANDLED IMPROPERLY This manual describes the mechanical and electrical characteristics of the MiniAx servoamplifier series. It is important that the installation procedures are performed by only qualified personnel in accordance with local safety guidelines.

  • Page 4: Technical Data

    Chapter 1 Description 1.1 Introduction The MiniAx BRUSHLESS is a very small bi-directional, four quadrant drive. the output power stage (MOSFET) is controlled using the PWM technique with 22 Khz modulation frequency which allows it to drive small to medium sized brushless servomotors (up to 2Nm) where dynamic performance and noticeable rotation regularity is required.
  • Page 5 1.3 Drive Description Calibration component area (socket and links) Calibration Potentiometers Signal terminals Power terminals Fixing screws Module cover Module Label Serial number...
  • Page 6 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. 55MM 2048step/rev 3000RPM Motor Encoder pulse Nominal speed ORD is CONTROL TECHNIQUES's internal order number which relates to product distribution. Always reference this number for eventual requests.
  • Page 7 1.5 Drive Dimensions 5.33” 135.50 1.20” 0.70” 28.50 18.00 3.22” 82.00 2.53” 64.50 0.76” 19.50 NOTE:Dimensions ( ” Inch - mm). 1.6 Connections...

  • Page 8: Signal Inputs And Outputs

    1.7 Signal inputs and outputs The following is the Signal Connector Description. 1 IMOT(OUT). Current Monitor: +/-7 V corresponds to drive's Peak current. A 5K6 Kohm resistor is inserted in series on the output driver. 2 OK (OUT). Drive Ok, Open collector with 50mA max. current. (Normally closed, it opens for any type of protection intervention).
  • Page 9 NOTE !: Always power the motor's hall sensors using the auxilary power supply intrnally generated by the MiniAx SMPS (Terminal 12 +V). If an external power supply is used, open solder bridge S11. WARNING: Such an external power supply, if used to supply the incremental encoder + hall effect sensors, must be applied to the motor at the same time the the MiniAx is switched on.

  • Page 10: Potentiometer Adjustments

    Chapter 2 Adjustments 2.1 Potentiometer adjustments SPEED SPEED Speed potentiometer.Turn the potentiometer clockwise (cw) to increase the OFFSET maximum speed and counter-clockwise (ccw) to reduce the maximum GAIN speed. (DAMP) The range of the adjustment is +/-20%. OFFSET Offset adjustment.Adjust this potentiometer to cancel any offset in the external speed ref.
  • Page 11 2.2 Protections The MiniAx is equipped with a series of protections to safeguard both the drive and the motor, in case of malfunctions. All protections are visualized using 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.
  • Page 12 2.4 Personalizations and settings WARNING : After switching off to do the adjustments, please wait for at least 10 sec before working inside the drive. If the drive isn’t adjusted with the proper servomotor, follow these procedures. All of the personalizations are located inside of the MiniAx. To gain access to the adjustment components and the solder bridges , unscrew (A) , and remove the cover (B).

  • Page 13: Solder Links

    2.5 Solder Links 13 Solder Links are present (in the Adj. Zone) with which it's possible to enable or disable funcitons or parts of the MiniAx. Verify the corresponding solder links closings required by the drive. The Drive is furnished with the following Standard configuration of closed solder links: Indicated below are the solder links that are to be opened or closed in accordance with the desired funtions.
  • Page 14 Chapter 3 Installation 3.1 Power supply (rating) considerations 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 DC-DC converter. Transformer Pow er The drive has the internal zero signal connected...

  • Page 15: Transformer Power

    Transformer power The transformer's nominal power is calculated based upon the sum of power from the single motors driven. Or Better: P(VA)=Power absorbed by motor 1 + Power absorbed by motor 2+..etc) Note; however, that in multi-axis applications, the transformer's power can be derated to 30% of its initial power.

  • Page 16: Power Supply

    3.2 Multiple Connections In case of Multi-axis application from a single power supply, use the "STARY" type of power supply distribution. DO NOT use cascade type connections such as "SEQUENCE". DO NOT USE THIS WIRING! MiniAx Power Supply +Vdc - AT - AT - AT -Vdc...

  • Page 17: Network Filters

    Of all of the mentioned sistems, the use of network filters is without a doubt fundamental in suppressing disturbances. During product testing Control Techniques found optimal solutions for their products. Other eveutual choices of filtering by End-Users cannot be guaranteed by CONTROL TECHNIQUES.
  • Page 18 WARNING: For filter connection (divert to ground or earth the unwanted frequency) considering such devices can produce small leakage current towards earth or ground (this current amounts to "some" amount of milliapmeres). For these precautionary reasons, it is necessary to connect the filter to earth prior t connecting the power supply.
  • Page 19 In this section fundamental mechanical characteristics of the filters are shown: The FN355-3 Series Filters are furnished with Fast-on connectors for both input and output. Max Voltage: 420Vac Max. Current: 3A @ 40°C Working Temp: -25° +85°C the FN251-4 and FN251-8 Filters are furnished with connector terminals for input and Flying leads for output. Max.
  • Page 20 3.4 Connection and Wiring System The wiring technique is important for gaining excellent results without disturbances. Shown below are connection schemes. Transformer Filter Rectifier MiniAx MOTOR bridge Power As shown, the filter must be placed before the transformer (where required). --All connections of the Net filters must be shielded and shouldn't be longer than the length shown in the scheme.
  • Page 21 3.5 Connecting Ground and Screen. Connect the GND signal to the ground point nearest the drive. +RE F -R EF Ground Box Connection inside motor U V W Brushless Motor Eart Earth...
  • Page 22 3.6 Examples of Signal Connections The following design shows an application utilizing a differential reference from C.N.C.. Enabling the drive is done using the Auxilary power supply +10V (Connector 5). It is possible to use a external power supply for this function (24V DC). Remember to also lik the GND of the power supply to Connector 4.
  • Page 23 Torque Mode wiring With a voltage output (ex. from a CNC) you can command the drive in torque mode. Applying a max. signal of +/- 10V in TPRC, the MiniAx furnishes the corresponding positive or negative peak current. Therefore, by applying 5V you'll obtain the nominal output current.
  • Page 24 Enabling drive with Positive Logic Enabling drive with positive logic. Solder link S12 and S13 normally open. Logic input min. 8V, max. 24Vdc. Unconnected input = Not Enabled Input to +V = Enabled + Vcc + 5V S1 2 S1 3 1 0 K ENABLE 1 00 n F...
  • Page 25 Hall Sensor + Encoder Connections The following design shows typical connections between the drive and a brushless motor. In such configuration, Hall effect + Incremental type Encoder, A and B signals are used. The Encoder and Hall Sensor power supply's come from the terminal +V (12) . Encoder Connection with External Power Supply The figure below shows a MiniAx with Hall and Encoder signals supplied externally.
  • Page 26 WARNING : If an external supply is used, is needed to open the solder link S11 on pcb. The incremental signals from the Encoder allows for motor speed regulation and can be used for eventual position control. The drive can supply voltage to the connector +V equal to 5V. (Preset in factory for 5V ).
  • Page 27 Hall Signal wiring (ONLY) A)The following design shows connections to the drive using Hall Effect Signals (only). Such signals are used for processing current and for motor speed regulation. The field of regulation is inferior in respect to Encoder + Hall, but sufficient for many applications. Encoder with Hall sensors The Dynamic function is good from 300RPM up to max.

  • Page 28: Power Wiring

    3.7 Power wiring The power cable sections are recommended as follows: 1.5 square mm up to 8/16 (included) 2.5 square mm up to 10/20 (included) The U V and W drive outpust can be connected directly to the motor terminals. The minimum motor inductance value is 200uH.
  • Page 29 60° Hall sensor Relative graphics with positive rotation shwon from motor shaft. Standard configuration using 55MM Control Techniques motor is: incremental encoder +5Vdc balanced line driver output, 2048 step/rev for 3000 rpm motor and 1024 step/rev for 5000 rpm motor, with integrated Hall sensor at 120 ° ° ° °...
  • Page 30 4.2 Practical example of Hall, Motor and MiniAx phasing. Read the Initial Start Up note carefully. Especially if: A) The Brushless motor wasn't purchased through and paired with the MiniAx by CONTROL TECHNIQUES. B) the Brushless motor doesn't appear in the indicated identification table.
  • Page 31 Chapter 5 Commissioning 5.1 Speed Adjustment with Encoder Feedback. For this adjustment both Hall effect and Encoder signals are required from the motor. This adjustment allows for regulation of motor speed through the use of signals from a 2 channel incremental encoder.
  • Page 32 5.2 PWM Speed feedback adjustment For this speed adjustment only Hall signals from the motor are sufficient. The voltage from armature can be used as feedback when the motor doesn't have an Encoder. This sistem gives less precise operation (1/20 field of regulation with a noticeable reduction in torque). This function is enabled by opening solder bridge S4 and inserting resistors RA and RCA on personalization base.
  • Page 33 5.3 Hall Effect Sensor Speed Adjustment For this speed adjustment only Hall signals from the motor are sufficient. The voltage from armature can be used as feedback when the motor doesn't have an Encoder. This mode gives less precise operation, but is sufficient for lots of applications. (Minimum speed of 300Rpm in this configuration) For such a configuration open solder bridge S9,close S4 and insert a RENC resistor in accordance with the following formula: Renc = 478000 / FHall.
  • Page 34 Note: The MiniAx frequency/voltage constants are pre-set according to series, for the Encoder Feedback. It is possible (in some cases) that such constants require modifications. For eventual information contatact CONTROL TECHNIQUES, V EL The drive is delivered with a Zero speed adjustment for Encoder feedback.

  • Page 35: Ramp Time Adjustment

    5.7 Ramp time adjustment This function is enabled by solder bridges S1, S3 (closed). It allows adjustment of the ramp slope during both acceleration and deceleration. Adjusting the ACC potentiomenter, located in front of the drive, clockwise (cw) increases the ramp time between 0,1 and 1S (It corresponds to 10V reference).
  • Page 36 5.8 Dynamic constant adjustment Usually, these calibrations are made by the factory and do not need adjusting. Only re-tuning by KV and DER potentiometer is required. If high inertia loads are present (ratio 3:1 between load and motor),it is necessary to modify the proportional gain by “KV potentiometer”...

  • Page 37: Troubleshooting

    6.1 Troubleshooting 1) Supplying power -the green OK LED doesn't come on. check the voltage value with multimeter ( between +AT and -AT). 2) With the green OK LED on the motor doesn't run when the drive is enabled. - Check input signal (Enable-reference) 3) When the drive is enabled the green OK LED goes off and the red O.C.

This manual is also suitable for:

Miniax 60 x 10/20

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