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Viale Stazione, 5
36054 Montebello Vic.no (VI) ITALY
Tel: +39 0444 - 440441
UNI EN ISO 9001
Service Manual
Fax: +39 0444 - 440418
www.axorindustries.com
36 Note

Version - M-MSGB05
AXOR High Performans servo Drives Service Guide MINI SPEED Service Guide MINI SPEED AXOR28/06/00
High Performans servo Drives
 CHAPTER 6 - Options Optionen35

CAUTION!
ELECTRICAL AND CONTROL EQUIPMENT CAN BE Accessories
DANGEROUS IF HANDLED IMPROPERLY.

This manual show mechanical and electrical charateristics about DESCRIPTION CODE
minispeed 60-140-200 series.
Single phase bridge 35A-600V PM 3506
It is important, that the installation procedure should be perfomed
only by qualified personnel according with local safety rules. Who Three phase bridge 25A-800V PT 2508
installs the equipment must follow the technical informations Capacitor 10000mF/100V x MS60 C10-100
contained in this manual. Capacitor 4700mF/200V x MS140 C47-200
For other informations please contact AXOR technicians. C10-200
Capacitor filtro 10000mF/200V x MS140
Mother board SPG
Mother board with braking circuit SPGR
Encoder feedback board SRE
PWM optional card PWM
Rack RK....
Chokes LX....
Single phase transformer TM....
Three phase transformer TT....
ATTENTION
ELECTRICAL DISCHARGE
DANGER

AXOR High Performans servo Drives Service Guide MINI SPEED Service Guide MINI SPEED AXOR High Performans servo Drives
 CHAPTER 6 - Options 34 3

Options
Index Pag.
Regenerative modules
1) Description

1.1 Introduction......................................................................................... 4
If during the deceleration phase,green OK led switch off ,we suggest to increase the external 1.2 Technical information.......................................................................... 5
capacitor. 1.3 Inputs and outputs.............................................................................. 6
When inertia load is elevated ,often external capacitor it’s not enough and then we must 1.4 Dimensions......................................................................................... 7
use the regeneratives modules.
2) Calibration

Rack regenerative module 2.1 Potentiometers calibration.................................................................. 8

SHR 60 / 140 / 200 2.2 Personality.......................................................................................... 9
(same size of an amplifier) Personality header calibration....................................................... 9
Dinamic response calibration........................................................ 11
Solder bridges JP.......................................................................... 12
Motherboard regenerative module SPGR 60 / 140 / 200 3) Installation
3.1 Power supply dimensionality 13
Single phase...................................................................................... 14
Three phase....................................................................................... 16
3.2 Cooling and derating curves............................................................... 18
External series inductor 3.3 Wiring................................................................................................. 19
Mother board connections............................................................ 20
Standard rack connections........................................................... 21
Ground......................................................................................... 22
These amplifiers need inductor connected in series to the motor only if the motor has a Examples...................................................................................... 23
internal inductance lower then 0,7-0,8 mH.
So we improve form factor and the servomotor don’t over heating. 4) Service controls
NOTE 4.1 Preliminary controls............................................................................ 24
IN the electric box,the inductance,must be connected with short wires between amplifier 4.2 Starting procedure.............................................................................. 25
and inductance too. 4.3 Calibration.......................................................................................... 26

5) Signalling and fault research

5.1 Led’s diagnstic................................................................................... 31

5.2 Fault protections................................................................................. 32
5.3 Fault research.................................................................................... 33

6) Options

6.1 Regenerative modules........................................................................ 34

6.2 External choke (option)..................................................................... 34
6.3 Accessories....................................................................................... 35
6.4 Note................................................................................................... 36

AXOR High Performans servo Drives Service Guide MINI SPEED Service Guide MINI SPEED AXOR High Performans servo Drives
CHAPTER 1 - Description BESCHREIBUNG
4 Meldungen und Stoerungssuche
CHAPTER 5 - Signalling and fault research 33

1.1 Introduction 5.3 Fault research

1) When we applying power OK green led doesn’t light.
Supply voltage not correct - Control by instrument between +AT and -AT
The minispeed "MS 60", "MS 140", "MS 200" series are four quadrant
amplifiers, constructed on an european simple pc board. 2) OK green led is light,but servomotor don’t start when we enable the amplifier.
The output power stage (mosfet or IGBT) is controlled using the PWM
technique (20 Khz). Velocity signal isn’t present - Verify input signal
These amplifiers are designed for driving small and medium servomotors
where dinamyc performance and fast response are requested.
The speed control is made by tachogenerator ,armature or encoder 3) When we enable amplifier,OK green led doesn’t light and O.C. red led is lighted.
feedback.
For its supply is requested single phase power supply. There is a short circuit on motor - Turn off the main power
The calibration components are avalaible at removable personality
header. - Verify the proper wiring
Wire or servomotor winding is
If an amplifier module is replaced,it is important to verify that the new - Verify the motor
connect to ground
amplifier module is calibrated as the one removed. - Disconnect the servomotor and verify its
This is easily accomplished by simply installing the personality header insulation with a tester.
from the removed amplifier module into the new one.
We can adapt dinamyc costant,respect standard, by new personality 4) When we enable ,the servomotor runaway and m.d. red led is lighted.
header.
For to use various options available on amplifier, we must open or close
the solder bridges in “adjustment zone”. There isn’t present tacho signal - Turn off the main power
The minispeed amplifier has a “drive ok” green led and a”fault” red - Verify with an instrument, the value directly on the
avalaible on the frontal of the amplifier. Motor cables or tacho cables
amplifier’s terminals.
are reversal
- Invert motor or tacho cables

5) With armature feedback,when we enable m.d. red led is lighted

Solder bridge JP 10 close - Open solder bridge

6) When we enable the servomotor is stop and m.d. red light is lighted.

Motor isn’t connect - Verify the presence of connections.

7) When we enable servomotor turn at high speed and m.d. red led doesn’t light

Potentiometer speed calibration - Verify the proper procedure about “ADJUSTMENT”

isn’t correct. (see page 26/27).

8) During the deceleration phase OK green led switch off.

Voltage exceed maximum limit - Verify the capacitor values(see chapter power supply
page 34).

9) During the working phase S.T. red led lighted and sevomotor stop.

Happened max temperature - Room temperature is greater then 40 °C.

thermoswitch - There isn’t present forced cooling where is
required.

AXOR High Performans servo Drives Service Guide MINI SPEED Service Guide MINI SPEED AXOR High Performans servo Drives
 CHAPTER 5 - Signalling and fault research 32 CHAPTER 1 - Description 5

5.2 Protection circuit 1.2 Technical specifications

Minispeed amplifier has protective circuits for safeguard the servomotor and the amplifier Power supply voltage and rated current for every model.
too.All protections are annunciated in front of the amplifier.(see page 31)
When a protection goes on it provokes the memorization of the alarm,switch off of the
green OK led and disable 2ac pin(interdiction of the transistor=off). Model Power supply (Vdc) Sizes Rated Current Peak Current (A)
When In red led is on this don’t provokes the memorization of the alarm but disable 2ac
out (interdiction of the transistor=off),but if JP9 solder bridge is closed. MS 60 24 - 60 * 2/4 2 4
There are two types of faults:reversable or irreversible. 4/8 4 8
MS 140 40 - 140 * 8/16 8 16
10/20 10 20
Reversible protection: The amplifier will enable as soon as the current 14/28 14 28
MS 200 100 - 200 *
or voltage returns to on acceptable operating 20/40 20 40
level. 25/50 25 50
Irreversible protection: The amplifier won’t enable.We must switch off the
power supply,eliminate the fault cause and start - Size avalaible for all models - Rated current . See derating curves pag 18.
again the amplifier after a minimum amount of time
for be sure of complete capacitors discharge. - Rated current is adjustable between 5% to 100% by Rin.
- Peak current is adjustable between 50% to 100% by Rip.
* These are values reccomended from factory.
Min and max voltage values are reported at page 32.
REVERSIBLE FAULT
Input reference Differential +/- 10V (input impedance 20K Ohm)
Over under voltage Is activated when the power supply come out from
the table described below. Drift (referred to differential +/- 18 micro V/C° (max)
reference amplifier)
MODEL UNDER VOLTAGE OVER VOLTAGE
Drift (referred to differential speed +/- 18 micro V/C° (max)
MS 60 20 V 84 V amplifier)
MS 140 40 V 182 V Input-output demand current +/- 10V (input impedance 47K )
MS 200 58 V 275 V
Enable signal 10 / 30 VDC (input impedance 10K )
Limit of the current Is activated when the IxT cycle of the amplifier
is exceeded. Minimum tacho signal at max 5V
speed
Output voltage for external use +10V, -10V (5mA max)
IRREVERSIBLE FAULT
Motor current monitor +/- 8V (corriepond at peak current)
Temperature (S.T.) The power switching bridge is provided with a Operating Temperature 0 / 40 C°
termoswitch wich opens when the temperature
exceeds a safe operating level. Humidity 80% max (without condensation)

Short Circuit Is activated when there is a short circuit on the Altitude 0 / 1000 m s.l.d.m.
motor. Weight 510 gr
Broken tacho generator Is activated when tachogenerator is open, short
circuited, or reversal,for preventing motor
runaway.

AXOR High Performans servo Drives Service Guide MINI SPEED Service Guide MINI SPEED AXOR High Performans servo Drives
 CHAPTER 1 - Description 6 CHAPTER 5 - Signalling and fault research 31

1.3 Inputs and outputs 5.1 Led's diagnostic

The following numeration concerns inputs and outputs about DIN 41612 connector. OK LED (green normally light on)
This led shows proper functioning of the
amplifier.
Wiring must be done on the terminal boards connections: It switch off when is activated a whatever
protections shown also from red led light on.
on mother board and on rack pc board .(see chapter 3.3 wiring). It switch off when over/under voltage protection
is activated.

1ac COMMON ZERO SIGNALS Led's

diagnostic I.n. LED (Red normally switch off)
2ac DRIVE OK (OUTPUT) When this led is lighted protection IxT is
Open collector: max current(100 mA) is protected with zener diode (47 v) activated, limit and max current provided is the
Normally close on.It’s rated current.
This “alarm” don’t cause the disabilitation of the
amplifier.
3ac DEMAND COMMAND CURRENT (INPUT OUTPUT) see page 23 The amplifier return automatically to normal work
It can use in two modes :
when current consuption goes to a normal value.
1°Current limitation :
If the JP 9 solder bridge is closed is not activated
We connect a resistance between pin 2 and pin 3 (zero)
2° Current reference : ( torque input ) the interdiction of the output transistor and the
We apply +/- 10 v signal, it correspond at peak current . switching off of the green led (drive ok see page
We can use 3 ac pin also as signal representive of the motor current. 10)
Use instrument with impedance greater than 100 k .

O.C. LED (RED normally switch off)

Alarm of over current fault.
4ac - 10V (OUTPUT) The power switching of the drive is continuosly monitored,and circuit will disable power
Output voltages for external use - 10 volt (max current 5 mA ) section if any of the following faults occur:
-Motor armature leads shorter
5ac +10 V (OUTPUT) -Motor armature shorted to ground
Output voltages for external use +10 volt (max current 5 mA)
-Motor armature shorted to power supply
This fault provoke the memorization of the alarm;can be reset by turning off the main
6ac VELOCITY REFERENCE (INPUT)
Noninverting differential input +/- 10 volt power for several seconds,and then turning it on again.

7ac ENABLE (INPUT) S.T. LED (red normally switch off)

Logic signal for amplifier 10/30 vdc Alarm of over temperature fault.The power switching bridge is provided with a thermoswitch
which opens when the temperature exceeds a safe operating level.
8a VELOCITY REFERENCE (INPUT) This fault provoke the memorization of the alarm.It can’t be reset.We must wait or a lower
Inverting differential input +/- 10 volt heatsink temperature and then turning on the main power.
8c COMMON ZERO SIGNALS
M.D.LED (Red normally switch off)
Alarm of loss of tachogenerator signal or tachogenerator signal reverse.
9ac TACHOGENERATOR (INPUT) This fault provoke the memorization of the alarm.
Input tachogenerator signal

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 CHAPTER 4 - Service controls 30 CHAPTER 1 - Description 7

FOLLOW DYNAMIC GAIN 11 ac CURRENT SIGNAL (OUTPUT)

+/- 8v referred to peak current

14-15-16-17 POWER SUPPLY + ( INPUT )

ac Input positive power supply

19-20-21-22 POWER SUPPLY - ( INPUT)

Proportional integral gain low ac Input negative power supply

24-25-26-27 +M (OUTPUT)
ac Connections output to servomotor

29-30-31-32 -M (OUTPUT)
ac Connections output to servomotor
Increase gain turning in
clockwise sense “KV”
potentiometer until obtain a
response similar as shown. 1.4 Overall dimension

For reduce the overshoot turn in

clockwise sense”DER”
potentiometer until obtain a
response similar as shown.

Attention: Do not exceed with

gain,you can cause an useless
motor heating the motor’s due to
swing following current
oscillations.
I Current
(TP1-TP2)

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 CHAPTER 2 - Adjustment 8 CHAPTER 4 - Service controls 29

If we insert RIP resistance on the personality header

2.1 Trimmer adjustment PEAK CURRENT CALIBRATION between 5-10 pin,we can limit peak current.
Below is reported a table with re-entry current.
Taglia/RIP(Kohm) - 220 150 100 82 68 56 47 39 33 27 18
02/04 4 3 .7 3 .6 3 .3 3 .2 3 .1 3 2 .8 2 .7 2 .5 2 .3 2
04/08 8 7 .3 7 .1 6 .7 6 .4 6 .2 5 .9 5 .6 5 .3 5 4 .6 4
08/16 16 1 4 .5 14 1 3 .2 1 2 .7 1 2 .2 1 1 .6 11 1 0 .5 9 .8 9 .2 8
VEL 10/20 20 18 1 7 .4 1 6 .3 1 5 .5 15 1 4 .4 1 3 .7 13 1 2 .1 1 1 .4 10
The vel trimmer fine tunes the velocity 14/28 28 26 25 2 3 .5 2 2 .6 2 1 .8 2 0 .8 1 9 .8 1 8 .7 1 7 .5 1 6 .5 14
Adjustment command input sensitivity . It provides a 20/40 40 3 7 .8 36 3 4 .1 33 3 1 .7 30 2 8 .9 2 7 .1 2 5 .8 2 3 .8 20
range of +/- 20 % to fine tune the velocity 25/50 50 4 6 .9 44 4 1 .7 4 0 .3 3 8 .5 3 6 .9 3 4 .9 33 31 2 8 .9 25
command input sensitivity ;for increase
speed turn potentiometer clockwise and
ACC/DEC TIME CALIBRATION
in anticlockwise sense for reduce itself.

JP1 JP2 JP8 FUNCTION RANGE NOTES

BAL
acc/dec off 0 sec. Standard adjustment
Offset calibration. This potentiometer
allows offset calibration on the input
Test point acc/dec on 0,1 / 1 sec. Adjustable by acc potent.
reference.
Current signal
Max reference correction +/- 200 mV acc/dec on By ramp resistance Adjustable by acc potent.
Test point
zero signal Res RAMP 680K 820K 1Mohm 1,5Mohm 2,2Mohm 3,3Mohm
Time 0,2 s - 2,6s 0,3s - 3,2s 0,4s - 3,9s 0,6s - 5,7s 0,8s - 8,6s 1,4s - 13s

Usually,these calibration,are made from the factory.

KV DYNAMIC CALIBRATION If we have very high load inertia (report 3:1 between
The dinamyc response of the motor depends from this trimmer; for increase the gain turn inertia load and inertia motor) we must modified KV
the KV potentiometer in clockwise sense. gain “KV”potentiometer and increasing the derivative
function “der potentiometer”.
The calibration must be made with load,connected to
the motor.
DER Apply square wave(0,5 hz +/- 1v) at the input
Derivative adjustment.Turning the DER trimmer in clockwise the overshoot is reduced. reference.
Connect at tachogenerator input an oscilloscope with
memory (ground probe must be connected at zero
Calibration
Eichung nur signal).
ACC for qualified
fuer Then turn the trimmer der in anticlockwise sense.
The solder bridges allow insert the acc/dec function.(JP1-JP2-JP8 ) personnel !
qualifiziertes Before look for safety space during alternative mote.
With anticlockwise turn(ccw)we increasing acc/dec function between 0.1/1 sec.(correspond Personal! Apply power to the amplifier and enable it machine
10 v reference) will move itself up and down.If possible increase
We can increase or reduce max time of acc/dec opening JP1 solder bridge and inserting voltage to +/-2volt when the oscilloscope signals on
a resistance in the personality header.(see chapter 4.3 adjustment) monitor making a comparation with the wave shape
on following page and do as suggested.
N.B. Usually,the amplifier,is provided with the ACC/DEC function disabled.

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 CHAPTER 4 - Service controls 28 CHAPTER 2 - Adjustment 9

We recommend to not exceed with the dynamic gain of the velocity loop
(kv potentiometer) for avoid control instability. 2.2 Personalization
It is also important the ratio between VDC power supply and V motor for
the stability.
Specially for armature feedback avoid reports VDC/V motor greater 1.5.

Example: MS 140 armature feedback,supplied 130v with voltage motor All the amplifier adjustments are present
at max speed 40 v. on the 3.005.4 Pc board the adjustment
130 = 3,25 NO ! zone.
40 The amplifier is provided with 7+7 pin
header where we mount personality
The amplifier is provided with the offset speed calibration components.
OFFSET SPEED performed for tacho feedback. If an amplifier is replaced,it is important
CALIBRATION If necessary,retouch through bil potentiometer for correct to verify that the new amplifier is
offset.(until +/-200 mv can be compensated on analogue calibrated as the one removed.
input).When we have zero input reference,turn potentiometer This is easily accomplished by simply
until servomotor is stopped. installing the personality header from the
removed amplifier into the new one and
When you use amplifier in armature feedback please proceed verify the solder bridges. Adjustement
with the offset calibration as follows: Zone
- Insert RA and RCA resistance calculated (see page 27).
- Insert a voltmeter between Im test point and zero (see page
6) and turn bil trimmer to reach zero voltage respect to tacho Personality
mode ,bil trimmer has to be turned more times stop trimmer header
when motor shaft stops.But no loads are to be applied during
this calibration. Personality
header Dynamic adjustment
The amplifier is provided with standard calibration.
RATED CURRENT It correponds at rated current of the size,Rin not mounted.
CALIBRATION For reduce itself,insert RIN resistance between 4-11 pin of
the personality header.
Solder side
Typical values are reported below.
Is not suggest to use a lower value than the reported one of
820 ohm.

Taglia/ - 18 10 8.2 5.6 4.7 3.9 3.3 2.7 2.2 1.8 1.5 1.2 1 0.82
RIN(Kohm)
02/04 2 1 .9 1 .8 1 .7 1 .6 1 .5 5 1 .4 1 .3 1 .2 1 .1 5 1 .1 1 0 .9 0 .8 10.7
.7
Adjustment on the personality header
04/08 4 3 .7 3 .5 3 .4 3 .2 3 .1 3 2 .8 2 .7 2 .5 2 .3 2 .2 2 1 .9 1 .7
08/16 8 7 .5 7 .2 6 .8 6 .5 6 .2 6 5 .7 5 .4 5 4 .6 4 .4 4 3 .7 3 .3
10/20 10 9 .3 9 8 .5 8 7 .7 7 .4 7 .1 6 .7 6 .2 5 .8 5 .4 5 4 .6 4 .2
RDT RESISTANCE pin 1 - 14
14/28 14 13 1 2 .3 12 1 1 .2 11 1 0 .5 10 9 .2 8 .8 8 .1 7 .5 7 6 .5 6
20/40 20 1 8 .8 18 1 7 .4 1 6 .2 1 5 .8 15 1 4.5 1 3 .5 1 2 .7 1 1.9 11 1 0 .2 9 .4 8 .6
25/50 25 22 21 2 0 .5 19 1 8 .5 17 16 15 14 13 12 11 10 9 .5
If we insert this resistance,we adapt KE
tachogenerator costant with input amplifier costant.
RATED CURRENT Minispeed amplifiers provide peak current for 2 sec.
If the KE costant is small,we can bridge this
TIME If nominal current is lower then the current of For calculate the resistance.(see velocity calibration chapter 4.3)
INTERVENTION amplifier,intervention time is lower than 2 sec on the same correct value The same also if a very low speed is requested.
ratio. see page 26

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 CHAPTER 2 - Adjustment 10 CHAPTER 4 - Service controls 27

Adjustment on the personality header Armature voltage can be used as velocity feedback,
ADJUSTMENT VELOCITY IN when motor has not tachogenerator .
ARMATURE FEEDBACK The armature feedback system has less precision
than a tachogenerator.(range 1/20 and when the
motor is stopped it has no torque).
For enable this function close solder bridge JP 6 and
2 13 RA RESISTANCE pin 2 - 13 open solder bridge JP 10(disable tachogenerator
alarm).
Use this resistance only armature feedback .It permit Insert RA resistance on the header between pin 2-
adaptament at the costant motor tension .For enable 13 for adapt system at the voltage motor costant.
the armature feedback close solder bridge JP6(see The value of RA resistance can be calculated using
page 27). the following formula:

E = n x Ke
MS 60 RA(k ohm) = 166 x Vref 1000
E - 1,4 Vref Ke= fcem at 1000
3 12 ACC/DEC RESISTANCE pin 3 - 12
MS 140 RA(k ohm) = 159 x Vref rpm.
It gives ACC/DEC time.When we insert this resistance E - 3,3 Vref Vref = max. Voltage
we must close solder bridges JP1,JP2 and JP8(see reference
page 29). MS 200 RA(k ohm) = 158 x Vref n=max desired
E - 5 Vref speed expressed in
rpm

IN RESISTANCE pin 4 - 11
KE MOTOR=50V n=4000 giri/min Vref=10V
4 11 It gives limitation of the rated current value.(see page
28)

E = 4000 x 50 = 200 MS 200 RA(k ohm) = 158 x 10 = 10.5 Kohm

1000 200 - 5 x10

IP RESISTANCE pin 5 - 10 So the value of the resistance is 10 k.

We will obtain fine speed operating with vel potentiometer on front panel.
It gives limitation of the peak current value.(see page
Insert RCA resistance between pin 6-9 of the header for compensate internal RI of
29)
the motor.
5 10 Use the following formula for determining the value.
n = max. speed in rpm.
RCA (k ohm) = 0,45 x n Ke
RCA RESISTANCE pin 6 - 9 Ra total resistance (cold).
Vref Ipk Ri
Ipk peak current of driver size.

Compensation of the internal motor voltage due to

Amplifier 10/20 A , Ra=2.5 ohm
RI resistance of motor.
We insert it when use armature feedback (see page RCA (k ohm) = 0,45 x 4000x50 =180 Kohm Use 180 Kohm resistance or a
27),if not inserted we have a speed decreasing from 10x20x2.5 bit higher .
no load to load working.
6 9
I If after this operation motor is instable,a bigger commercial resistor value must be
choosen,changing the previous one.

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 CHAPTER 4 - Service controls 26 CHAPTER 2 - Adjustment 11

4.3 Adjustment Dyinamic response calibration

NOTES:
MAX TACHOGENERATOR for adjustment we need the following instruments:
FEEDBACK SIGNAL - Rpm-counter for measure the motor speed , or digital
voltmeter for measure tacho signal.
When complete information is supplied to AXOR, the
- Potentiometers 5k until 47 kohm.
amplifiers are calibrated from the factory for nominal
Axor advise to use a potentiometer when there is not a
motor performance.
CNC.
Field calibration may be necessary to optimize motor’s
A pot. allows also to reach max speed during tests without
performance for a particular applications ,replacing
too fast accelerations.
internal costant.
ATTENTION:If a cnc is used and the cnc positive direction
For replacement we insert new value in
is inverted respect to the motor positive rotation, we must Calibration for qualified “ADJUSTMENT ZONE” opening solder bridges
invert both motor and tacho cables. If not made the cnc personnel expected.(see page 9)
when started will give axis position error after started at full
speed . Moving manually the machine it is possible to verify
that both positive sense(motor and cn) will be on same
direction.

CKI and RKI They describes respectively capacitor and resistance

of the current loop.
For replacement we must open the solder bridge
JP3.(disabilitation of standard costant)

C DER It allows to increase the velocity loop derivative

costant.
New value may be composed by 2 capacitor.
We can insert these capacitors in the predisposed
space.The obtained capacitor value is the sum of the
two.
Insert RDT resistance between pin 1-14 on the personality header.It can be calculated
with the following formula.
RDT (Kohm) = Kdt x n x 9,7 _ 8 RKV - CKV They describe respectively resistance and capacitor
1000 x Vref of the velocity loop.
For replacement we must open the solder bridge JP4
RDT value express in k (1/4 w) .(disablilitation of standard costant)
Kdt tacho generator costant (express in v/1000rpm)
n max speed express in RPM
Vref max voltage reference
GAIN It defines the velocity loop static gain.
Kdt =10
We can insert new value by solder bridge JP5 opening
n =2500 RPM
RDT = 10 x 3000 x 9,7 _ 8 = 21,1 Kohm disabilitation of standard costant.
Vref=10
1000 x 10
We will use RDT= 22 Kohm.
If the result from formula is zero make a bridge. If the result from formula is negative you
must change the tachogenerator with another with an higher kdt.

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 CHAPTER 2 - Adjustment 12 CHAPTER 4 - Service controls 25

JP solder bridges In the amplifier there’s a tachogenerator protection that prevent motor runaway.
If we insert a wrong RDT resistance tachogenerator fault don’t intervent.
Please verify the correspondance of solder bridge closing point referred to needed function
of driver .
These are the solder bridges(see page 10) normally closed and open supplied as standard

In the “ADJUSTMENT ZONE” there are

ten solder bridges;with these we can
Standard JP1 closed
enable or disable functions or 3.005.4
bridges JP2 open
circuit sections.
JP3 closed
JP4 closed
Standard solder bridge JP5 closed
JP6 open
JP7 closed
JP8 open
JP9 open
JP1 ,JP2, JP8 They allow obtain different ACC/DEC times. JP10 closed
(see chapter 4.3 calibration)

JP3 Normally closed. If it is open loop standard costants

CKI-RKI are disabled. Attention at the power supply polarity !!
Verify all screw clamp connections and double check on
Normally closed. If it is open current loop standard driver wiring following motor and tacho polarity we will obtain
JP4
costants CKV-RKV are disabled. clockwise direction with positive speed reference.

JP5 Normally closed. If it is open velocity loop static

gain is disabled.

JP6 Normally open . If it is close the armature feedback is 4.2 Starting procedures
enabled.

JP7 Normally closed. We open this when we wish to drive After the preliminary checks we can insert the amplifier on the mother-board
the amplifier with external current reference.(velocity the motor’s shaft must be free from the load be ready to stop main supply net if will be
loop disabled) necessary after. Disable PWM ON.
JP9 Normally open. If it is closed,thermic image IxT circuit Put power on driver.Green light led will be on normally if not on ,please verify with a tester
activation don’t stop the output transistor and the green voltage value ;” min or max voltage protection on” .
led light.(Drive ok) With analogue input on zero level abilitate PWM on.If motor stays with torque or turns
very low,tacho polarity is ok.
If tacho polarity is inverted ,after a little rotation MD protection”tacho loss inverted polarity”
JP10 Normally close.If it is opened ,lost or reverse tacho is activated and it stops the driver (obviously if also JP 10 bridge is closed).
circuit activation don’t stop the driver working. The alarm is shown with red led light on (not resettable protection)shut power circuit ,reverse
It must be opened when armature feedback is used. tacho cables and start on again.
For further malfunctions,see chapter “fault research”.

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 CHAPTER 4 - Service controls 24 CHAPTER 3 - Installation 13

Connections examples 3.1 Power supply dimensioning

Axor amplifier system has several wiring connections wich must be made in order
to ensure a correct operation about input reference.
The numerations are referred on mother board and rack. Single phase power supply
Input reference shield should be connected at ground isolated bar (see ground
connections). WARNING: Do not connected power negative (-) of source at to the
ground.

With a “CNC” signal

we drive the amplifier in
torque mode. TRANSFORMER
Applying +/- 10 v the Voltage:
amplifier provide peak Primary voltage value is the avalaible voltage on the main
current. secondary voltage to be calculated referrd to motor max line
voltage to be used .
Use the following formula:
Applying a resistive load:for Vac = Vmotor
example a potentiometer,
0,9 x 1,36
we can limit the output
current .
where V motor = E max + ( Ri x In )

Vmotor= This is voltage between armature motor at max

NOTE speed and nominal stall torque.
When current driving is used JP7 solder point must be opened
.(see page 12)
Emax = CEMF at max work speed.(Similar to max
voltage of max no load motor speed)

Ri = Armature motor resistance with brushes.

4.1 Preliminary checks
The standard amplifier is provided as follows: In = Rated current at nominal torque.

Nominal and peak current agree with amplifier’s size. Voltage range is reported at page 5.
However,for keep margin, axor advise rated voltage on the
Ex. MS 10/20 = 20A Peak 10A Nominal secondary winding of the transormer as follows:
(For overvoltage or breaking circuit on capacitors)
Tachogenerator feedback

44 VAC MAX NOMINAL x MS 60

Control the proper value of RDT resistance pin 1/14(see chapter calibrations) on the 90 VAC MAX NOMINAL x MS 140
personality header RDT resistance of 22kohm is mounted for 3000 rpm with 10V/krpm 145 VAC MAX NOMINALx MS 200
from tacho.

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CHAPTER 3 - Installation 14 CHAPTER 3 - Installation 23

Connections examples
Dimensioning single phase power supply
Examples for analogue input connection.

Here we found some examples about input reference.

Power: nominal transformer power is referred to each motor The numerations are referred to rack and mother board interconnections.
power sum,on pluriaxes applications. Input reference shield should be connect at ground isolated bar. (see ground connections)

P (VA) = (Pass M1 + Pass M2 +.........) x 1,25

Velocity Control
“C.N.C” differential
where mode.

Pabs = Vmotor x In (Pabs M = absorbed motor power)

Usually, if motors don’t work together,we can declass the
transformer of 30/40%. If the power of the transformer sur-
plus 7KVA call AXOR.
Velocity Control
“C.N.C” common
FUSES mode.
Fuses dimensioning

F 1° = P (VA) transf. x 1,1

V (Primary) ac
Connection of
velocity reference
fuses on primary slow types input using internal
amplifier voltage.

F 2° = P (VA) transf. x 1,1

V1 (secondary)
fuses on secondary slow type

FDC x MS 2/4 = 10A super rapid

x MS 4/8 = 10A super rapid Connection of
x MS 8/16 = 10A super rapid velocity reference
x MS 10/20 = 10A super rapid input using external
x MS 14/28 = 16A super rapid voltage.
x MS 20/40 = 20A super rapid
x MS 25/50 = 20A super rapid

Power supply fuses for MS 60,MS 140,MS 200.

Using the interconnections modules ,the fuses are on board.

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 CHAPTER 3 - Installation 22 CHAPTER 3 - Installation 15

Ground cable connections Power supply dimensioning (single phase)

AXOR advises to connect on an only one isolated bar.

The interconnection screw marked with symbol. FILTER
With only one wire we connect the isolated bar at the ground of the Rated voltage: 100 VDC per MS 60
electric box. From which it will start the ground connection to electrical
CAPACITORS 200 VDC per MS 140
power net. 300 VDC per MS 200

Capacitor : the capacitor, filters the voltage from

Don’t make any bridge between the ground of the amplifiers, for single phase bridge and recoveries the energy from the motor
avoid closed loop ground interferences. during the deceleration phase.Capacitor’s value,can be
obtained with following formula:
(The capacitor
C (mF) = P (VA) transf. x 2000 must be for
V2 s w i t c h i n g
application)
where:

V2 = Capacitor voltage between positive and negative at no

load speed.
load.

N.B. If during the deceleration phase green ok led switch-

NOTE off,voltage between positive and negative is excessive;
therefore we must increase the capacitor(parallel) or use
the regenerative modules.This modules are reccomended
specially with MS 140 and MS 200.

DISCHARGE
RESISTANCE This resistance ,discharge the capacitor also when amplifier
is disconnected after power supply switch off.
The value can be calculated with the followig formula :

RS (Ohm) = 20 x 1.000.000.
C (mF)

P (W) = V22
RS
NOTE ATTENTION!!!
For racks double ground connection is required both pin 13 and
ground screw “chassis ground” must be ground connected.

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 CHAPTER 3 - Installation 16 CHAPTER 3 - Installation 21

Dimensioning with three phase power supply Rack board interconnections

ATTENZIONE: Axor reccomend, to connect the drive at the power net using
a transformers with triangle connection in the secondary wiring. If the
secondary wiring is star connection, you MUSTN'T connect the neutral to
ground.

TRANSFORMER Voltage: See single phase section same parameters

can be used.

Power: See single phasesection same parameters can

be used.

FUSES Fuses dimensioning

F 1° = P (VA) transf. x 1,1

V (primary) 1,73

Fuses on primary slow types

F 2° = P (VA) transf. x 1,1

V1 (secondary) 1,73

Fuses on secondary slow types

FDC x MS 2/4 = 10A super rapid
x MS 4/8 = 10A super rapid
x MS 8/16 = 10A super rapid
x MS 10/20 = 10A super rapid
x MS 14/28 = 16A super rapid
x MS 20/40 = 20A super rapid
x MS 25/50 = 20A super rapid

Power supply fuses MS 60, MS 140, MS 200

Using the interconnections modules , fuses are on board.

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 CHAPTER 3 - Installation Installation
20 CHAPTER 3 - Installation Installation
17

Mother board interconnections Dimensioning with three phase power supply

FILTERS
Rated voltage: 100 VDC per MS 60
CAPACITORS
200 VDC per MS 140
300 VDC per MS 200

Capacitor:the capacitor,filters the voltage from single phase

bridge and recoveries the energy from the motor during the
deceleration phase.
capacitor’s value can be obtained with following formula:

C (mF) = P (VA) transf. x 1000 (The capacitor must be

V2 for switching application)

where:

V2 = voltage between positive and negative capacitor without

load.Multiplicative factor must be 2000 in the foloows cases:
a) Load inertia bigger than motor inertia.
b) Power supply voltage VDC bigger than 50V x MS 60
Power supply voltage VDC bigger than 150V x MS 140
Power supply voltage VDC bigger than 230V x MS 200

N.B. If during the deceleration phase, green OK led switch

NOTE off,voltage between positive and negative is excessive;therefore
we must increasing the capacitor or use the regenerative circuit.
This modules are recommended specially with MS 140 and MS
200.

DISCHARGE See chapter “single phase power supply”.

RESISTANCE

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 CHAPTER 3 - Installation 18 CHAPTER 3 - Installation 19
(A)
MS 140 14/28
3.2 Cooling 14 CROSSING POINT BETEEWN
VENTILATED AND NATURAL
CONVENCTION CURVES OF
12 THE SAME DRIVER SIZE
Minispeed amplifier should be MS 140 10/20 NATURAL CONVENCTION
10
installed to allow a proper heatsink
cooling. MS 140 8/16
8
MS 140 10/20
Only position accepted in the 6
equipment is vertical mounting. MS 140 4/8
4
2 Max. Ambient temperature C°
MS 140 14/28

10 20 30 40 50 60 70 80 90
COOLIING
(A)
It is important, for proper natural convection cooling, avoid to put other objects above
MS 200 14/28
the amplifier. 14 CROSSING POINT BETEEWN
Using the amplifier in dusty ambient,it is important that the doors of boxes containing VENTILATED AND NATURAL
electronic equipment be kept closed and air must be filtered avoid the entry of contaminants 12 CONVENCTION CURVES OF
THE SAME DRIVER SIZE
and conductive particles wich can cause extensive damages. MS 200 10/20
10 NATURAL CONVENCTION
Every amplifier is provided with a thermoswitch that opens when the temperature exceeds
a safe operating level,S.T. protections will be memorized. 8
MS 200 8/16
The fault can’t be reset.We must wait until the heatsink temperature is lower. MS 200 8/16
If we use intensively the amplifier with high room temperature ambient and quick step 6 MS 200 14/28
we must provide for forced cooling. MS 200 4/8
NOTE: In case of forced cooling requirement the ventilator it should be installed at the 4
Max. Ambient temperature C°
bottom of the amplifier under the relative units. 2
MS 200 10/20

10 20 30 40 50 60 70 80 90
Derating curves
NOTE
CROSSING POINT BETEEWN
(A) VENTILATED AND NATURAL
CONVENCTION CURVES OF
14 THE SAME DRIVER SIZE
MS 60 14/28
NATURAL CONVENCTION
12
WITH FAN
3.3 Wiring
MS 60 10/20
10 Minispeed amplifier has several wiring connections which must be made in order to ensure
the correct operation for reduce interferences.
MS 60 8/16
8 Use shielded cable for analogue and tacho signal.(For wiring connections see page 20)
Signals cables must be not togheter power wires signals cable output should be own
6 upper side power wiring output twisted togheter should be on lower side.
MS 60 4/8
4
AXOR advise:
2 0,5 / 1 mm2 for signal cables, 2 mm2 for power cables MS 4/8A e 8/16A , 2,5 / 3 mm2
Max. Ambient temperature C°

for power cables MS 10/20A e 14/28A, 4 mm2 for power cables MS 20/40A and 25/50A.
10 20 30 40 50 60 70 80 90

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