User Manual - Galco Industrial Electronics

User Manual - Galco Industrial Electronics
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USER’S MANUAL
RG500 SERIES
Minarik Drives
www.minarikdrives.com
14300 De La Tour Drive, South Beloit, IL 61080
Phone: (800) MINARIK or 646-2745;
Fax: (800) 394-6334 or (815) 624-6960
Document number 250–0210, Revision 4
Printed in the U.S.A. -- March 2006
SCR, Dual Voltage, Adjustable-Speed
Regenerative Drives for DC Brush Motors
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Unconditional Warranty
A. Warranty
Minarik Corporation (referred to as "the Corporation") warrants that its products will be
free from defects in workmanship and material for twelve (12) months or 3,000 hours,
whichever comes first, from date of manufacture thereof. Within this warranty period,
the Corporation will repair or replace, at its sole discretion, such products that are
returned to Minarik Corporation, 901 East Thompson Avenue, Glendale, CA 912012011 USA.
This warranty applies only to standard catalog products, and does not apply to
specials. Any returns for special controls will be evaluated on a case-by-case basis.
The Corporation is not responsible for removal, installation, or any other incidental
expenses incurred in shipping the product to and from the repair point.
B. Disclaimer
The provisions of Paragraph A are the Corporation's sole obligation and exclude all
other warranties of merchantability for use, express or implied. The Corporation further
disclaims any responsibility whatsoever to the customer or to any other person for
injury to the person or damage or loss of property of value caused by any product that
has been subject to misuse, negligence, or accident, or misapplied or modified by
unauthorized persons or improperly installed.
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.
C. Limitations of Liability
In the event of any claim for breach of any of the Corporation's obligations, whether
express or implied, and particularly of any other claim or breech of warranty contained
in Paragraph A, or of any other warranties, express or implied, or claim of liability that
might, despite Paragraph B, be decided against the Corporation by lawful authority, the
Corporation shall under no circumstances be liable for any consequential damages,
losses, or expense arising in connection with the use of, or inability to use, the
Corporation's product for any purpose whatsoever.
An adjustment made under warranty does not void the warranty, nor does it imply an
extension of the original 12-month warranty period. Products serviced and/or parts
replaced on a no-charge basis during the warranty period carry the unexpired portion
of the original warranty only.
If for any reason any of the foregoing provisions shall be ineffective, the Corporation's
liability for damages arising out of its manufacture or sale of equipment, or use thereof,
whether such liability is based on warranty, contract, negligence, strict liability in tort, or
otherwise, shall not in any event exceed the full purchase price of such equipment.
Any action against the Corporation based upon any liability or obligation arising
hereunder or under any law applicable to the sale of equipment or the use thereof,
must be commenced within one year after the cause of such action arises.
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58
Notes
Safety Warnings
•
This symbol
denotes an important safety tip or warning.
Please read these sections carefully prior to performing any of
the instructions contained in that section.
•
Have a qualified electrical maintenance 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.
•
Reduce the chance of an electrical fire, shock, or explosion by
proper grounding, over-current protection, thermal protection,
and enclosure. Follow sound maintenance procedures.
•
It is possible for a drive to run at full speed as a result of a
component failure. Please ensure that a master switch has
been placed in the AC line to stop the drive in an emergency.
•
This drive is not isolated from earth ground. 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.
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Block Diagram
Contents
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Drive option description (by suffix) . . . . . . . . . . . . . . . . . . . . . . . . . 2
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Regenerative Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Mounting chassis drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Mounting cased drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Heat sinking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
AC line and motor connections . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Cage-clamp terminal block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Field output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Tachogenerator feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Speed adjust potentiometer installation . . . . . . . . . . . . . . . . . . . . 13
Speed adjust potentiometer connections . . . . . . . . . . . . . . . . . . . 14
+15 and –15 terminals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Line Fusing for RG Series Drives . . . . . . . . . . . . . . . . . . . . . . . . 16
Voltage follower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Before applying power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Selector switch settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Chassis drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Cased drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Line starting and line stopping . . . . . . . . . . . . . . . . . . . . . . . 22
Automatic restart upon power restoration . . . . . . . . . . . . . . 22
Regenerative deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Starting and Stopping Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Regenerative brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Coast to a stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Decelerate to zero speed . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
P LPLEASE
E A S E NOTE:
N O T E : AAMAXIMUM
MAXIMU
M 10
O FmA
1 0 DC
mA
M ABE
Y B
E SOURCED
OF
MAY
SOURCED
FR
OM TTHE
HE S1
S1 AND/OR
AND/OS2
R STERMINALS
2 TERMINTO
ALS
O A ISOLOAD
LATEOR
D LOAD
FROM
AT
ISOLATED
OR
5 m
A MAY
DC M
A YSOURCED
BE SOU
RCED
F R+15
O M AND
T H E-15
+ 1 5TERMINALS
AND -15
15 1mA
DC
BE
FROM
THE
TETO
RMAINISOLATED
ALS TO LOAD.
A ISOLATED LOAD.
57
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Block Diagram
Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
MINIMUM SPEED (MIN SPD) . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
MAXIMUM SPEED (MAX SPD) . . . . . . . . . . . . . . . . . . . . . . . . . 29
FORWARD TORQUE (FWD TQ) . . . . . . . . . . . . . . . . . . . . . . . . . 30
REVERSE TORQUE (REV TQ) . . . . . . . . . . . . . . . . . . . . . . . . . . 31
IR COMPENSATION (IR COMP) . . . . . . . . . . . . . . . . . . . . . . . . . 32
FORWARD ACCELERATION (FWD ACC) . . . . . . . . . . . . . . . . . 33
REVERSE ACCELERATION (REV ACC) . . . . . . . . . . . . . . . . . . 33
DEADBAND (DB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
TACHOGENERATOR (TACH) . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Application Notes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Connection to other Minarik devices . . . . . . . . . . . . . . . . . . . . . . . 38
Optional speed adjust potentiometer connections . . . . . . . . . . . . 40
Forward-Stop-Reverse Switch. . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Forward-Reverse Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Independent Adjustable Speeds (Forward Direction Only) . . . . . . 41
Independent Forward and Reverse Speeds . . . . . . . . . . . . . . . . . 42
Independent Forward and Reverse Speeds with
FWD-STOP-REV Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Factory Prewired Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Replacement Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Certificate of Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Unconditional Warranty . . . . . . . . . . . . . . . . . . . . . . . . inside back cover
Figure 28. RG500 Series Block Diagram
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CE Addendum
Illustrations
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
1. RG500UA and RG510UA Dimensions . . . . . . . . . . . . . . . . . . 3
2. RG500A and RG510A Cased Drive Dimensions . . . . . . . . . . 4
3. Four Quadrant Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
4. Chassis Drive Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . 9
5. Cased Drive Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
6. Cage-Clamp Terminal Block . . . . . . . . . . . . . . . . . . . . . . . . . 11
7. Speed Adjust Potentiometer . . . . . . . . . . . . . . . . . . . . . . . . . 13
8. Speed Adjust Potentiometer Connections . . . . . . . . . . . . . . 14
9. TB502 Terminal Assignments . . . . . . . . . . . . . . . . . . . . . . . . 15
10. Voltage Follower Connection . . . . . . . . . . . . . . . . . . . . . . . 17
11. Selector Switch Locations . . . . . . . . . . . . . . . . . . . . . . . . . . 21
12. Regenerative Deceleration Switch Connection . . . . . . . . . 22
13. INHIBIT Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
14. Inhibit - Run Jumper Settings . . . . . . . . . . . . . . . . . . . . . . . 24
15. Inhibit - Run Terminals Location
and Run / Coast Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
16. Run/Decelerate to Zero Speed Switch . . . . . . . . . . . . . . . 26
17. Typical FWD TQ, REV TQ, and IR COMP Settings . . . . . 34
18. Deadband Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
19. RG500 Connections to DLC600 and PCM4 . . . . . . . . . . . . 38
20. RG500 connection to 200-0386A
Limit Switch Logic Board . . . . . . . . . . . . . . . . . . . . . . . . . . 39
21. Forward-Reverse Switch. . . . . . . . . . . . . . . . . . . . . . . . . . . 40
22. Forward-Stop-Reverse Switch . . . . . . . . . . . . . . . . . . . . . . 40
23. Independent Adjustable Speeds . . . . . . . . . . . . . . . . . . . . 41
24. Independent Forward and Reverse Speeds . . . . . . . . . . . . 42
25. Independent Forward and Reverse Speeds with a
Forward-Stop-Reverse Switch . . . . . . . . . . . . . . . . . . . . . . 43
55
Thus, no component must necessarily meet CE within the
machine, as long as the OEM takes the necessary steps to
guarantee the machine does meet CE. By the same token, even
if every component in the OEM’s machine does meet CE, the
machine will not necessarily meet CE as a machine.
Use of CE-approved wiring practices, such as proper shielding,
and the filters listed in Exhibit A guarantee the drive will meet
EN55011 (1991 emissions standard) and EN50082-1 (1992
immunity standard).
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CE Addendum
If the end-user is not using a CE-approved motor, a second
filter, part number CEXXRG, must be deployed on the output.
XX = rated current of the filter.
The CEXXRG is a Real-Pole Balanced-Pi 3-pole filter. If the
exact filter is not available, the specifications are as follows:
L & L1 = 2 x (0.8) milliHenries.
C & C1 = 2 x (0.1) microFarads @ 400W VDC.
Rin = 0.1 ohm; Rout = 1.2 ohm.
Table 5. Minarik Filters
Nameplate Current of
Motor Wired to the Drive
0 to 4 amps
4.1 to 13 amps
Minarik Filter Part Number
CE04RG
CE20RG
The filters in Table 5 must be wired to the DC output of the
drive, as close to the drive as possible. The ground connection
from the filter must be wired to solid earth ground (resistance
less than 500 ohms); not machine ground. This is very
important!
The end user must use the filtration listed in Exhibit A to comply
with CE. The OEM may choose to provide alternative filtering
that encompasses the Minarik drive and other electronics within
the same panel.
The OEM has this liberty because CE is a machinery directive.
Whether or not every component in the OEM’s machinery meets
CE, the OEM must still submit his machine for CE approval.
meet CE, the machine will not necessarily meet CE as a
machine.
Figure 26. Prewired Connections to L1, L2(115) and L2(230). . . . . . . 48
Figure 27. Prewired Speed Adjust Potentiometer Connections . . . . . . 49
Figure 28. RG500 Series Block Diagram. . . . . . . . . . . . . . . . . . . . . . . 56
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CE Addendum
53
Tables
Exhibit “A”
Table
Table
Table
Table
Table
In addition to EMI/RFI safeguards inherent in the RG500 series’
design, external filtering is required.
1.
2.
3.
4.
5.
Field Output Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Fuse Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Replacement Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Corcom® Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Minarik Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Minarik requires the Corcom® filters listed in Table 4. If the exact
filter is not available, the specifications are as follows:
L = 1.8 milliHenries.
C = 0.01 microFarad (Line to Ground); 1.1 microFarads
(Line to Line).
Discharge Resistor = 330Kohms.
Rated current: 1.4 times maximum DC motor current.
Filter type: Balanced 2-section.
Table 4. Corcom® Filters
Nameplate Current of
Motor Wired to the Drive
0 to 4 amps
4.1 to 13 amps
Corcom® Filter Part Number
6VV1
20VV1
The filters in Table 4 should be wired to the AC line within 0.25
meters of the drive. The ground connection from the filter must
be wired to solid earth ground (resistance less than 500 ohms);
not machine ground. This is very important!
If the end-user is using a CE-approved motor, the correct filter
from Table 4 is all that is necessary to meet the EMC directives
listed herein.
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52
Certificate of Compliance
Minarik Corporation hereby certifies that its RG500 series
drives have been approved to bear the “CE” mark provided the
conditions of approval (listed in Exhibit “A”) have been met by
the end user.
The RG500 series has been tested to the following test
specifications: EN55011:1991 (emissions), and EN50082-1:1992
(immunity).
Specifications
Model
Max.
Armature
Current
(Amps DC)
The end user, as described herein, falls into one of two
categories:
1. The Consumer will deploy a stand-alone unit as an
integral, yet external, portion of the machine he/she is
operating.
2. The Original Equipment Manufacturer (OEM) will
implement the product as a component of the machine
being manufactured.
HP Range
with 230 VAC
Applied
* RG500A, RG500UA
10.0 †
1/4–1 †
1/2–2 †
* RG510A, RG510UA
3.0
1/20–1/8
1/10–1/4
† Maximum armature current and horsepower range apply when drive is attached to
additional heat sink: Minarik part number 223-0235. Use heat sink when armature
current is above 7 ADC. Heat sinks are pre-mounted on RG500 cased drives.
* See page 2 for suffix descriptions.
AC Line Voltage
Compliance allows Minarik’s RG500 series to bear the CE mark.
HP Range
with 115 VAC
Applied
115/230 VAC, ±10%, 50/60 Hz, single phase
Armature Voltage (115 VAC Input)
0–90 VDC
Armature Voltage (230 VAC Input)
0–180 VDC
Form Factor
1.37 at base speed
Field Voltage (115 VAC Input)
50 VDC (F1 to L1); 100 VDC (F1 to F2)
Field Voltage (230 VAC Input)
100 VDC (F1 to L1); 200 VDC (F1 to F2)
Max. Field Current
1 ADC
Accel. Time Range (with no load)
0.5 – 15 seconds
Decel. Time Range (with no load)
0.5 – 15 seconds
Analog Input Voltage Range (signal must be isolated; S0 to S2)
0–10 VDC
Input Impedance (S0 to S2)
32K ohms
Load Regulation
with Armature Feedback
with Tachogenerator Feedback
Ambient Temp. Range (chassis drives)
Ambient Temp. Range (cased drives)
Vibration
1% of base speed or better
0.1% of base speed
10°C–55°C
10°C–40°C
0.5g max (0 – 50 Hz)
0.1g max (above 50 Hz)
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Replacement Parts
Specifications
51
Table 3. Replacement Parts (Continued)
Drive option description (by suffix)
Model No.
Suffix
A
UA
Style
NEMA 4X
Chassis
Terminal
Block Type
Cage-Clamp
Cage-Clamp
Symbol
Description
0.05Ω, 5 W Resistor
800 V, 25 A SCR
3FD-436 Transformer
10KΩ Potentiometer Kit
Chassis
8 A, 3AB Line Fuse
Line Fuse Kit (3 – 8A)
Line Fuse Kit (5 – 20A)
Pico fuse, 1/2A
Minarik® P/N
RG510UA
R501
SCR501-508
T505
032-0146
072-0042
230-0072
202-0003
223-0258
050-0023
050-0069
050-0073
050-0074
RG510A
Same parts as RG500UA except 202-0003 and 223-0258.
Include:
10KΩ, 2W Potentiometer
120-0047
Potentiometer Knob
140-0013
Case
223-0209
240 V Pilot Light
040-0043
FWD/BRAKE/REV Switch
080-0004
Power Switch
080-0031
Toggle Switch Boot
155-0078
Chassis
223-0260
Heat Sink
223-0232
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50
Replacement Parts
Dimensions
Replacement parts are available form Minarik Corporation and its
distributors for this drive series.
4 .7 8 [1 2 1 ]
4.78
[121]
0 .1 8 8[5]
[5 ]
0.188
0 .2 8 [7
]
0.28
[7]
4 .0 0 0 [1 0 2 ]
4.000
[102]
[1 8 [18]
]
0.70
.7 0
Table 3. Replacement Parts
GND
L2
11 5 V
F1
F2
A2
A1
C 505
TB 502
TB 501
L2
L1
FU502
FU501
C 503
IC 5 0 2
230 230
115
SW 502
C 502
SC R501
IC 5 0 1
T505
FU 504
SC R502
R501
SO502
SO501
IN H IB IT
IN H - R U N
T2
T501
SC R503
IN V
SC R504
P502
C 501
P501
M IN S P D F W D T Q
[2 1 3 ]
FA S T A C T IN G
FU S ES O N LY
S 0 R B 1 R B 2 - 15 + 15 T 1
8 .4 0
SW 501
11 5
S1
032-0129
072-0042
230-0072
202-0003
223-0258
050-0019
050-0073
050-0081
26]
8.90[2[228]
8 .9 0
T502
P503
SC R505
P504
SC R506
T503
R504
P505
P506
SC R507
R506
SC R508
T504
P507
R505
R E V T Q IR C O M P M A X S P DF W D A C CR E V A C C
P509
SW 504
TAC H
SW 503
DB
P508
FEED B A C K
A R M A TU R E
TA C H
90
1 8 0A R M
C 5 10
R502
R503
Same parts as RG500UA except 202-0003 and 223-0258.
Include:
10KΩ, 2W Potentiometer
120-0047
Potentiometer Knob
140-0013
Case
223-0209
240 V Pilot Light
040-0043
FWD/BRAKE/REV Switch
080-0031
Power Switch
080-0022
Toggle Switch Boot
155-0078
Chassis
223-0260
Heat Sink
223-0232
L2
230V
Minarik® P/N
8.40 [213]
RG500A
L1
Description
0.01Ω, 5 W Resistor
800 V, 25 A SCR
3FD-436 Transformer
10KΩ Potentiometer Kit
Chassis
20 A, 3AB Line Fuse
Line Fuse Kit (5 – 20A)
Pico fuse, 63mA
C 504
Symbol
R501
SCR501-508
T505
S2
RG500UA
S3
Model No.
4]
0.93[2[24]
0 .9 3
0 .6 4
1 .8 5 [4 7 ]
1.85
[47]
[1 6 ]
0.84 [18]
3 .5 0 [8
9]
3.50
[89]
0.125
0 .1 2 5[3]
[3 ] REF
REF
Figure 1. RG500UA and RG510UA Dimensions
Optional 223-0235 Heatsink Dimensions: 9.8" x 6.9" x 1"
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Dimensions
Factory Prewired Connections
49
6.90 [175]
6.30 [160]
1.40 [36]
S0
S0
GREY
grey
GREY/WHITE
grey/white
FWD
FW
D
S1
S1
10.20 [259]
9.80 [249]
S2
S2
green
GREEN
REV
REV
blue/
BLUE/
w hite
WHITE
CW
C
W
BBRAKE
RAK E
BLUE
blue
S3
S3
FOUR (4) EACH MOUNTING SLOTS.
6.3 [160] x 7.0 [178]
ON CENTERS
Figure 27. Prewired Speed Adjust Potentiometer
Connections
5.50 [140]
4.78 [121]
1.45 [37]
2.30 [58]
0.12 [3]
1.50 [38]
1.50 [38]
THREE 0.88 [22] KNOCKOUTS
ALL DIMENSIONS IN INCHES [MILLIMETERS]
Figure 2. RG500A and RG510A Cased Drive Dimensions
10K
10K
OHMW
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5
48
Factory Prewired Connections
Regenerative Drives
(for Cased Drives)
1
2
3
WHITE/BLACK
WHITE
L2 (230)
BLACK
POWER
LIGHT
BLACK
BLACK
BLACK/WHITE
L1
WHITE/BLACK
L2 (115)
Figure 26. Prewired Connections to L1, L2(115) and L2(230)
In most non-regenerative, variable speed, DC drives control
current flows to a motor in one direction. The direction of
current flow is the same direction as the motor rotation.
Non-regenerative drives operate in Quadrant 1, and also in
Quadrant 3 if the drive is reversible (see Figure 3, page 6).
Motors must stop before reversing direction. Non-regenerative
drives cannot oppose an overhauling load, and cannot
decelerate a load faster than coasting to a lower speed.
Regenerative drives operate in two additional quadrants:
Quadrant 2 and Quadrant 4. In these quadrants, motor torque
is in the opposite direction of motor rotation.
Regenerative drives can reverse a motor without contactors,
switches, brake resistors, and inhibit plugs. They can also
control an overhauling load and decelerate a load faster than it
would take to coast to a lower speed.
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Regenerative Drives
Troubleshooting
47
Motor will not reach the desired speed
1. Check the MAX SPD setting and increase if necessary.
2. Check that the IR COMP setting is not set too low.
3. Check that the motor is not overloaded.
For additional assistance, contact your local Minarik® distributor,
or the factory direct at: PHONE: (800) MINARIK
FAX: (800) 394-6334
Figure 3. Four Quadrant Operation
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7
Troubleshooting
Motor pulsates or surges under load
1. Readjust the IR COMP setting slightly CCW until the
motor speed is stabilized.
2. Verify that the motor is not going in and out of current
limit. If so, re-adjust FWD TQ and REV TQ pots.
Line fuse does not blow, but the motor does not run
1. Verify that the speed adjust potentiometer is not set to its
zero speed position. If in voltage follower mode, verify
that reference voltage is not set to zero.
2. Check the speed adjust potentiometer for continuity.
3. Verify that the inhibit pins are not shorted together.
4. Check that INHIBIT–RUN terminals 2 and 3 are
connected.
5. Verify that the drive is receiving AC line voltage.
6. Check that the drive is not in current limit. If the drive is in
current limit, verify that the motor is not jammed. It may
be necessary to increase the FWD TQ or REV TQ setting if
it is set lower than the current rating of the motor.
7. Check that the speed adjust potentiometer connections to
the terminal block are correct and not open.
Motor runs too fast at the maximum speed setting
1. Check that the MIN SPD and MAX SPD setting are not set
too high.
2. Check that the field output connections are secure if you
are using a shunt wound motor.
Installation
Mounting chassis drives
Drive components are sensitive to electrostatic fields. Avoid
contact with the circuit board directly. 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 other heat sources. Operate
the drive within the specified ambient operating temperature
range.
Prevent loose connections by avoiding excessive vibration
of the drive.
Mount the drive with its board in either a horizontal or
vertical plane. Six 0.18 inch (4.57 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 chassis must be earth grounded for noise suppression. To
ground the chassis, connect earth ground to the GND terminal
on terminal block TB501.
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Installation
Mounting cased drives
NEMA 4X cased drives come with three 0.88 inch (22 mm)
conduit knockout holes at the bottom of the case. The units
may be vertically wall mounted using the four 0.25 inch
(6 mm) slotted holes on the attached heat sink. For motor
loads less than 5 ADC, the drive may be bench mounted
horizontally, or operated without mounting.
1. Set the POWER switch to the “0” or OFF position before
applying the AC line voltage.
2. Install the mounting screws.
3. For access to the terminal strip, turn the slotted screw on
the front cover counterclockwise until it is free from the
case. The right side of the cover is hinged to the case. Lift
or pull the slotted screw to open the case.
4. Carefully remove the conduit knockouts by tapping them
into the case and twisting them off with pliers.
5. Install conduit hardware through the 0.88 inch (22 mm)
conduit holes. Connect external wiring to the terminal
block.
6. Grasp the slotted screw and tilt the front cover back into
place. Avoid pinching any wires between the front cover
and the case.
7. Turn the slotted screw clockwise until tight to secure the
front cover.
Troubleshooting
45
Field fuse blows
1. Disconnect AC line voltage from the drive.
2. Verify that the fuse is 1.5 A.
3. Check motor cable for shorts.
4. Check motor field for shorts.
a. Disconnect field leads from terminals F1 and F2
b. Motor field resistance should measure approximately
100 to 1000 ohms, depending on motor horsepower.
c. A resistance reading from the motor frame to either
side of the field should show open when an ohmmeter
is used on its high resistance scale.
5. Reconnect field leads to the drive.
6. Reconnect AC line voltage to the drive.
7. Advance the speed adjust potentiometer to the desired
speed.
Line fuse blows
1. Disconnect AC line voltage from the drive.
2. Check that the motor cable and armature is not shorted or
grounded.
a. The motor’s armature resistance should measure
approximately 1 to 100 ohms, depending on motor
horsepower.
b. A resistance reading from the motor frame to either
armature side should show open when an ohmmeter is
used on its high resistance scale.
3. Check that the field circuit is not open.
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44
9
Installation
Troubleshooting
Warning
Dangerous voltages exist on the drive when it is powered.
When possible, disconnect the drive while troubleshooting.
High voltages can cause serious or fatal injury.
Check the following steps before proceeding:
1. The AC line voltage must match the voltage on the drive
nameplate.
2. On dual voltage drives, check that the voltage switches are
set to the correct position.
Chassis RG500 models require an additional heat sink
when the continuous armature current is above 7 ADC. Use
Minarik® part number 223-0235. All cased drives have
sufficient heat sinking in their basic configurations. Use a
thermally conductive heat sink compound (such as Dow
Corning® 340 Heat Sink compound) between the drive chassis
and the heat sink surface for optimum heat transfer.
AC line and motor connections
Use 14 AWG or 16 AWG standard wire for connecting the
line and the armature. Use 16 AWG or 18 AWG standard wire
when connecting the field of a shunt wound motor. Strip the
wire insulation 0.25 inches (6 mm). See Figures 4 and 5
(page 10) for AC line and motor connections to chassis and
cased drives.
S3
S2
3. The deadband (DB) must be set approximately at the
3 o’clock position for 60 Hz AC line frequency or at
9 o’clock for 50 Hz AC line frequency.
Heat sinking
TB501
TB502
C504
4. The motor must be rated for the drive’s rated armature
(all motors) and field outputs (shunt wound motors only).
C505
L1
L2
230V
L2
115V
GN D
F1
F2
A2
A1
5. Do not make any connections to F1 and F2 if using a
permanent magnet motor.
6. Terminal block connections should be consistent with the
connections shown in this manual.
7. Check that line fuse FU501 (and FU502 for 230 VAC line
voltage) is properly sized and not blown.
8. Check that field fuse FU503 is 1.5 A and not blown.
A
A
AC LINE
LINE
AC
INPUT
INPUT
ARMATURE
ARMATURE
OUTPUT
OUTPUT
230
VAC
230 VAC
115
115 VAC
VAC
115 OR 230 VAC
115
OR 230 VAC
FIELD
FIELD
OUTPUT
OUTPUT
For Shunt Wound
FOR SHUNT WOUND
MotorsONLY.
Only.
MOTORS
See
field output
outputsection
section
See field
connections.
for connections
Figure 4. Chassis Drive Connections
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Application Notes
REV
SC R504
P50
Installation
P502
M IN S P D F W D T Q
T502
SO502
115
IC 5 0 1
230 230
FU501 FU502
F A S T A C T IN G
FU S ES O N LY
C 503
IC 5 0 2
S2
SW 501
AC LINE INPUT
C 504
TB 501
L1
L2
230V
L2
115 V
GND F 1
F2
A2
S0
S1
FORWARD
FWD
10K OHM
REV
10K OHM
CW
CW
S1
L2
115
L1
230 VAC
Use a single-pole, three-position switch to stop the motor
when the switch is in the center position (Figure 25).
S2
STOP
S3
115
VAC
Independent Forward and Reverse Speeds
with FWD-STOP-REV Switch
T2
C 502
SW 502
S0 RB 1RB 2 - 15 + 15 T1
3
SO501
2
IN H - R U N
1
IN H IB IT
P501
C 501
43
A1
TB 502
C 505
S3
REVERSE
115 OR 230 VAC
A
FIELD OUTPUT
For shunt wound motors
only. See field output
section for connections.
Figure 5. Cased Drive Connections
ARMATURE
OUTPUT
Figure 25. Independent Forward and Reverse Speeds
with a Forward-Stop-Reverse Switch
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Application Notes
Installation
Independent Forward and Reverse Speeds
Connect two speed adjust potentiometers as shown in Figure
24 to select between independent forward and reverse speeds.
S0
FWD
10K OHM
S1
FORWARD
CW
Cage-clamp terminal block
Connections to RG500 Series drives are made to a cage-clamp
terminal block (see Figure 6). To insert a wire into the
terminal block, press down on the lever arm using a small
screwdriver. Insert stripped wire into the large opening in front
of the terminal block. Release the lever arm to clamp the wire.
REV
10K OHM
CW
S2
REVERSE
S3
11
Lever Arm
Figure 24. Independent Forward and Reverse Speeds
Wire Clamp
Figure 6. Cage-Clamp Terminal Block
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Installation
Application Notes
Field output
The field output is for shunt wound motors only. Do not
make any connections to F1 and F2 when using a
permanent magnet motor.
Use 18 AWG wire to connect the field output to a shunt
wound motor. Table 1 lists the field output connections.
Independent Adjustable Speeds (Forward
Direction Only)
Connect two speed adjust potentiometers with a single-pole
two-position switch to select between two independent speeds
shown in the forward direction (Figure 23). The speed adjust
potentiometers can be mounted at two separate operating
stations.
Table 1. Field Output Connections
Line Voltage
(VAC)
115
115
230
230
Approximate
Field Voltage (VDC)
50
100
100
200
Connect Motor
Field To
F1 and L1
F1 and F2
F1 and L1
F1 and F2
Tachogenerator feedback
Using tachogenerator feedback improves speed regulation
from approximately 1% of motor base speed to approximately
0.1% of motor base speed. Use tachogenerators rated from
7 VDC per 1000 RPM to 50 VDC per 1000 RPM. Connect the
tachogenerator to terminals T1 and T2 of terminal block
TB502. The polarity is + for T1 and – for T2 when the motor
running in the forward direction. The polarity is reversed
when the motor is running in the reverse direction.
41
S0
S1
SPEED 1
P1
20K OHM
P2
20K OHM
CW
CW
S2
SPEED 2
Figure 23. Independent Adjustable Speeds
(Forward Direction)
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Application Notes
Installation
Optional speed adjust potentiometer
connections
Speed adjust potentiometer installation
Warning
Forward-Reverse Switch
Use a single-pole, twoposition switch with a
single speed adjust
potentiometer to plug
reverse the motor (Figure
21). The MIN SPD setting
is in effect for either
direction.
Be sure that the potentiometer tabs do not make contact with
the potentiometer enclosure. Grounding the input will cause
damage to the drive.
S0
On chassis drives, install the circular insulating disk between
the panel and the 10KΩ speed adjust potentiometer. Mount the
speed adjust potentiometer through a 0.38 in. (0.96 cm) hole
with the hardware provided (see Figure 7). Twist the speed
adjust potentiometer wire to avoid picking up unwanted
electrical noise. If potentiometer leads are longer than 18 in.
(46 cm), use shielded cable. Speed adjust potentiometers are
installed on all cased drives.
S1
10K
OHM
S2
REV
CW
S3
FWD
Figure 21. Forward-Reverse Switch
Forward-Stop-Reverse Switch
Use a single-pole, threeposition switch with a
single speed adjust
potentiometer to stop a
motor between reversals
(Figure 22). Set the switch
to the center position to
decelerate the motor to a
stop.
MOUNT
THROUGH
0.38 IN.
IN. (10
MOUNT
THROUGH
A A0.38
(10MM)
MM)HOLE
HOLE
S0
CW
CW
WIPER
WIPER
CCW
CCW
S1
10K
OHM
S2
S3
13
REV
CW
NUT
NUT
STAR
STAR
WASHER
WASHER
SPEED
SPEED ADJUST
ADJUST
POTENTIOMETER
POTENTIOMETER
STOP
INSULATING DISK
INSULATING
DISK
FWD
Figure 22. Forward-Stop-Reverse Switch
POT
ASSIGNMENTS
POT TAB
TAB ASSIGNMENTS
PANEL
PANEL
Figure 7. Speed Adjust Potentiometer
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Installation
39
Application Notes
The RG500 can be connected to an optional 200-0386A limit
switch logic board. The 200-0386A provides the logic
interface between the regenerative drive and pushbutton
stations, foot switches, or programmable controls. See Figure
20 for RG500 connections to the 200-00386A limit switch
logic board. For more information on Minarik’s limit switch
logic board, refer to User’s Manual 250-0222 or the Minarik
Product Catalog.
Speed adjust potentiometer connections
The motor can operate in one direction (unidirectional) or in
two directions (bidirectional) depending on how the speed
adjust potentiometer is connected to the drive.
Connect the speed adjust potentiometer as shown in Figure
8(a) for speed control in one direction.
L1
FU 501
L2
FU 502
C 504
SCR501
L1
SCR502
SCR5
FAST AC TING
FUSES ONLY
L2
230V
230
230
R501
115
FU504
SW502
SW501
2
3
4
5
6
L2
115V
115
T505
T501
GND
Connect the speed adjust potentiometer as shown in Figure
8(b) for speed control in two directions. The motor does not
rotate when the wiper is in the center position. Turning the
wiper CW from the center position causes the motor to rotate
in one direction, while turning the wiper CCW from the center
position causes the motor to rotate in the opposite direction.
1
14
3/30/2006
IL501
IC502
POW ER
2
K501
K502
1
C 505
S1
S1
S2
S2
S0
S0
FWD
FWD
S1
S1
CW
10
11
12
13
14
200-0386A
200-0386A
LIMIT SWITCH
BOARD
LIMIT LOGIC
SWITCH
LOGIC BOARD
15
16
17
18
P501
S3
S2
S1
S0
R B 1 R B 2 - 15 + 15
T1
T2
(b)
Figure 8. Speed Adjust Potentiometer Connections
for (a) Unidirectional Operation and (b) Bidirectional Operation
M IN S P D
TB502 ON
RG500
TB502 ON
SERIES
RG500
SERIES
DRIVE
CCW
CCW
(a)
INV
INH IB IT
TB502
S3
S3
IC501
IC502
REV
REV
SO501
C 502
C 503
TB501
A1
TB502
TB502
INH - RUN
A2
S2
S2
10K
2W
10K OHM,
OHM, 2W
SPEED ADJUST
SPEED
ADJUST
POTENTIOMETER
POTENTIOMETER
DS501
F2
TB502
TB502
10K OHM
10K
OHM
SPEED ADJUST
SPEED
ADJUST
POTENTIOMETER
POTENTIOMETER
SO502
F1
Refer to the Application Notes section for additional speed
adjust potentiometer connections.
Figure 20. RG500 connection to 200-0386A
Limit Switch Logic Board
DRIVE
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38
Installation
Application Notes
+15 and –15 terminals
Connection to other Minarik devices
Warning
Do not short the +15 and -15 terminals for any reason.
Shorting these terminals may damage the drive.
TTB502
B502
S
2
S2
S2
S2
RRG500
G 5 0 0 SERIES
S E R IE S
D R IV E
DRIVE
DLC600
D
LC 600
D DIGI-LOC
IG I- L O C CONTROL
C O N TRO LS
R
B1
RB1
S1
S1
TTB501
B501
2
RRG500
G 5 0 0 SERIES
S E R IE S
D R IV E
DRIVE
PPCM4
CM4
S IG
N A L IS
O LA TO R
SIGNAL
ISOLATOR
R
B1
RB1
RG500 Series drives can supply a regulated +15 and –15 VDC
signal (each sourcing 15 mA maximum) to isolated, external
devices. These voltage supply terminals are located on
terminal block TB502 (see figure 9).
T TB502
B 502
TTB502
B502
S2
S
2
15
S3
S3
S2
S2
S1
S1
S0 RRB1
S0
B 1 RRB2
B 2 --15
15 ++15
15
1
1
Figure 9. TB502 Terminal Assignments
Figure 19. RG500 Connections to DLC600 and PCM4
T1
T1
T2
T2
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Installation
Calibration
Line Fusing for RG Series Drives
Minarik drives require fuses for protection. Use fast acting fuses
rated for 250 VAC or higher, and approximately 150% of the
maximum armature current. Fuse L1 when using 115 VAC line
voltage. Fuse both L1 and L2 when the line voltage is 230 VAC.
The fuse chart below lists the recommended line fuse sizes.
Table 2. Fuse Chart
90 VDC Motor
Horsepower
1/20
1/15
1/8
1/6
1/4
1/3
1/2
3/4
1
180 VDC
Horsepower
1/10
1/8
1/4
1/3
1/2
3/4
1
1 1/2
2
AC Line Fuse
Size (amps)
3
3
5
5
8
8
10
15
20
Minarik Corporation offers two fuse kits: part number 050–0069
(3–8A Fuse Kit) and 050–0073 (5–20A Fuse Kit). Both fuse kits
include a 1/2A pico fuse (part number 050–0064) which protects the
transformer and logic.
37
12. Place the Feedback selector switch (SW504) to the
Tachogenerator (TACH) position.
13. Apply power to the drive. The motor should run in the
forward direction.
14. Rotate the TACH trimmer pot CCW so that the maximum
speed is reached. this is the same speed as was obtained
in step 10.
15. Rotate the main speed potentiometer to the reverse
direction (S2 should be negative with respect to S1). The
motor speed should follow the speed potentiometer
position.
Check that the tachogenerator is properly calibrated. The
motor should run at the same set speed when SW504 is set to
either armature or tachogenerator feedback
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Calibration
TACHOGENERATOR (TACH)
Calibrate the TACH setting only when a tachogenerator is
used. The TACH setting, like the IR COMP setting,
determines the degree to which motor speed is held constant
as the motor load changes.
To calibrate the TACH trimpot:
1. Remove power from the drive.
2. Rotate the TACH trimmer pot to full clockwise (full CW),
3. Rotate the MAX SPD trimmer pot to full counterclockwise
(full CCW).
4. Rotate the IR COMP trimmer pot to full CCW.
5. Place the feedback selector switch (SW504) to the
ARMATURE (ARM) position.
6. Rotate the main speed potentiometer to midrange.
7. Wire the DC tach to the RG500UA. Note: The polarity of
the Tach voltage input to the RG500UA should be T1 (+)
and T2 (-). This polarity may be measured with a DC
voltmeter. If the polarity is incorrect, swap the two tach
input leads to the T1 and T2 terminals on TB502.
8. Apply power to the drive. The motor should be running at
minimum speed.
9. Rotate the main speed potentiometer to full speed in the
forward direction.
10. Turn the maximum speed trimmer pot clockwise until the
desired maximum speed is reached.
11. Remove all power from the drive. The motor should stop.
Installation
17
All drives have line fuses installed (see Replacement Parts
section for installed line fuse size). Line fuses are rated for
maximum rated curent. Use line fuses rated for 20 A or less on
RG500 drives (8 A or less on RG501 drives).
Voltage follower
The drive may be wired to follow a floating (isolated)
0 to ±10V signal that is isolated from earth ground instead of
using a speed adjust potentiometer. Connect the signal input to
S2, and the signal common to RB1 (see Figure 10).
±10 VDC
±10VDC
S2
S2
S1
S1
COMMON
COMMON
RB1
RB1
Figure 10. Voltage Follower Connection
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18
Calibration
Operation
Warning
Dangerous voltages exist on the drive when it is powered.
BE ALERT. High voltages can cause serious or fatal
injury. For your safety, use personal protective equipment
(PPE) when operating this drive.
Before applying power
1. Check connections before applying AC line voltage to the
drive.
2. Check that no conductive material is present on the printed
circuit board.
3. Verify that all selector switches are set correctly (see the
following section for selector switch settings).
35
DEADBAND (DB)
The deadband trimmer potentiometer determines the time
that will elapse between the application of current in one
direction before current is applied in the opposite direction.
The deadband trimmer potentiometer affects the
resistance that a motor has to changes in shaft position at
zero speed. It does this by applying AC voltage to the motor
armature.
Deadband is factory calibrated to approximately the
3 o’clock position for 60 Hz AC line operation. Recalibrate
the deadband to the 9 o’clock position for 50 Hz AC line
operation. See Figure 18, for recommended deadband settings.
60 Hz
60
Hz
APPLICATIONS
Applications
D
B
DB
50 Hz
Hz
50
APPLICATIONS
Applications
DB
DB
Figure 18. Deadband Settings
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Calibration
Operation
Selector switch settings
RG500 Models
F W D TQ
TQ
FWD
F W D TQ
TQ
FWD
F W D TQ
TQ
FWD
F W D TQ
TQ
FWD
RREV
E V TQ
TQ
RREV
E V TQ
TQ
RREV
E V TQ
TQ
RREV
E V TQ
TQ
IR COMP
COMP
IR
11 HP
HP
90VDC
VDC
90
10
ADC
10 ADC
COMP
IR COMP
3/4
3/4HP
HP
90VDC
VDC
90
7.6
ADC
7.6 ADC
COMP
IR COMP
1/2
1/2HP
HP
90
90VDC
VDC
ADC
55ADC
COMP
IR COMP
1/4
1/4HP
HP
90
90VDC
VDC
2.7
2.7ADC
ADC
F W D TQ
TQ
FWD
F W D TQ
TQ
FWD
F W D TQ
TQ
FWD
F W D TQ
TQ
FWD
RREV
E V TQ
TQ
RREV
E V TQ
TQ
RREV
E V TQ
TQ
RREV
E V TQ
TQ
IR
COMP
IR COMP
2 HP
HP
VDC
180 VDC
9.2
ADC
9.2 ADC
1. Set the line voltage selector switches (SW501 and SW502)
to 115 if using 115 VAC line voltage, or to 230 if using
230 VAC line voltage.
IR
COMP
IR COMP
1 HP
HP
VDC
180 VDC
5
ADC
5 ADC
2. Set the armature voltage selector switch (SW503) to 90 if
using a 90 VDC motor, or to 180 if using a 180 VDC
motor.
IR
COMP
IR COMP
3/4
3/4HP
HP
180 VDC
VDC
ADC
3.8 ADC
IR
COMP
IR COMP
1/2
1/2HP
HP
180
180 VDC
VDC
2.5 ADC
ADC
RG510 Models
F W D TQ
TQ
FWD
F W D TQ
TQ
FWD
F W D TQ
TQ
FWD
RREV
E V TQ
TQ
RREV
E V TQ
TQ
RREV
E V TQ
TQ
COMP
IR COMP
1/8
1/8HP
HP
90
90VDC
VDC
1.3ADC
ADC
1.3
COMP
IR COMP
1/10
1/10HP
HP
90VDC
VDC
90
1.1 ADC
ADC
1.1
COMP
IR COMP
1/20
1/20HP
HP
90VDC
VDC
90
0.56ADC
ADC
0.56
F W D TQ
TQ
FWD
F W D TQ
TQ
FWD
19
3. Set the feedback selector switch (SW504) to TACH if
using a tachogenerator; otherwise set to ARM for armature
feedback.
Note: You may be required to derate a 90 VDC motor
when 230 VAC is applied to the drive. Contact the
factory for details.
See Figure 11 (page 21) for all switch locations.
R
E V TQ
TQ
REV
RREV
E V TQ
TQ
IR COMP
COMP
IR
1/4
HP
1/4 HP
180
VDC
180 VDC
1.4
ADC
1.4 ADC
COMP
IR COMP
1/8
HP
1/8 HP
180
180 VDC
0.67
ADC
0.67 ADC
Figure 17. Typical FWD TQ, REV TQ, and IR COMP Settings
(actual settings may vary with each application)
Startup
Chassis drives
1. Set the speed adjust potentiometer for zero speed.
2. Apply AC line voltage.
3. Slowly advance the speed adjust potentiometer clockwise
(CW). The motor slowly accelerates as the potentiometer is
turned CW. Continue until the desired speed is reached.
4. Remove AC line voltage from the drive to coast the motor
to a stop.
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Operation
Cased drives
1. Set the FORWARD/BRAKE/REVERSE switch to the
BRAKE position.
2. Set the speed adjust potentiometer to “0” (full CCW).
3. Apply AC line voltage.
4. Set the POWER switch to the “I” (ON) position.
5. Set the FORWARD/BRAKE/REVERSE switch to the
desired direction of rotation.
7. Slowly advance the speed adjust potentiometer clockwise
(CW). The motor slowly accelerates as the potentiometer is
turned CW. Continue until the desired speed is reached.
8. To brake the motor, set the FORWARD/BRAKE/REVERSE
switch to the BRAKE position. To coast the motor to a stop,
set the POWER switch to the “O” (OFF) position.
9. To reverse direction:
a. Set the FORWARD/BRAKE/REVERSE switch to the
BRAKE position.
b. After the motor comes to a complete stop, set the
FORWARD/BRAKE/REVERSE switch to the desired
direction of rotation.
10. Set the POWER switch to “O” (OFF) to remove power
from the drive.
Calibration
33
FORWARD ACCELERATION (FWD ACC)
The FWD ACC trimpot setting determines the time the motor
takes to ramp to either a higher speed in the forward direction
or a lower speed in the reverse direction, within the limits of
available torque. The FWD ACC setting is factory set for its
fastest forward acceleration time.
Turn the FWD ACC trimpot CW to increase the forward
acceleration time, and CCW to decrease the forward
acceleration time.
REVERSE ACCELERATION (REV ACC)
The REV ACC trimpot setting determines the time the motor
takes to ramp to either a higher speed in the reverse direction
or a lower speed in the forward direction, within the limits of
available torque. The REV ACC setting is factory set for its
fastest reverse acceleration time.
Turn the REV ACC trimpot CW to increase the reverse
acceleration time, and CCW to decrease the reverse
acceleration time.
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Calibration
Operation
21
IR COMPENSATION (IR COMP)
The IR COMP trimpot setting determines the degree to which
motor speed is held constant as the motor load changes. It is
factory set for optimum motor regulation.
SW 504
P 5 08
DB
P 5 07
REV ACC
R 5 05
TA C H
FE E D B A C K
ARM
TA C H
SW 503
P 5 09
A R M A TU R E
90
180
R 5 06
T504
M A X SPD
P 5 05
R 5 04
SC R 5 06
P 5 06
FW D A C C
SC R 5 08
SC R 5 07
Recalibrate the IR COMP setting when using a lower curernt
rated motor. See Figure 17 (page 34), for typical IR COMP
trimpot settings, or recalibrate using the following procedure:
Armature Voltage
Selector Switch
IR C O M P
P 5 03
SC R 5 04
Feedback
Selector Switch
R E V TQ
P 5 04
SC R 5 05
T503
P 5 02
FW D TQ
T502
M IN SP D
IN V
P 5 01
SC R 5 03
C 501
T2
IN H - R U N
SC R 5 01
FU 504
IN H IB IT
SO 502
SO 501
SC R 5 02
T501
R 5 01
T1
T505
IC 5 01
230
S0
230
L2
Line Voltage
Selector Switches
S1
115
FU 502
L1
FA ST A C TIN G
FU SE S O N LY
FU 501
115
R B 1 R B 2 - 15 + 15
C 502
SW 502
IC 5 02
S2
C 503
S3
SW 501
TB 501
TB 502
C 504
1. Set the IR COMP trimpot to minimum (full CCW).
2. Rotate the speed adjust potentiometer until the motor runs
at midspeed without load (for example, 900 RPM for an
1800 RPM motor). A hand held tachometer may be used to
measure motor speed.
3. Load the motor armature to its full load armature current
rating. The motor should slow down.
4. While keeping the load on the motor, rotate the IR COMP
trimpot until the motor runs at the speed measured in
step 2. If the motor oscillates (overcompensation), the IR
COMP trimpot may be set too high (CW). Turn the IR
COMP trimpot CCW to stabilize the motor.
5. Unload the motor.
R 5 03
C 510
R 5 02
C 505
L1
L2
230V
L2
115V
GN D
F1
F2
A2
A1
Figure 11. Selector Switch Locations
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22
Calibration
Starting and Stopping Methods
REVERSE TORQUE (REV TQ)
Line starting and line stopping
Warning
Line starting and line stopping (applying and removing
AC line voltage) is recommended for infrequent starting and
stopping of a drive only. When AC line voltage is applied to
the drive, the motor accelerates to the speed set by the speed
adjust potentiometer. When AC line voltage is removed, the
motor coasts to a stop.
Automatic restart upon power restoration
All drives automatically run to set speed when power is
applied. Wiring a latching relay into the AC line is one way
to prevent automatic restarting following a power outage.
Regenerative deceleration
Short terminals RB1 and RB2
to regeneratively decelerate a
motor to a stop (Figure 12).
Since terminal RB1 bypasses
the MIN SPD circuit, shorting
RB1 and RB2 will decelerate a
motor to a stop instead of
minimum speed. Calibrate the
deceleration time
by adjusting the oppositedirection acceleration trimpot.
RB1
STOP
RB2
RUN
Figure 12. Regenerative
Deceleration Switch
Connection
31
REV TQ should be set to 120% of drive nameplate current
rating. Continuous operation beyond this rating may
damage the motor. If you intend to operate beyond the
rating, contact your Minarik representative for assistance.
The REV TQ trimpot setting determines the maximum torque
for accelerating and driving the motor in the reverse direction. It
also sets the maximum torque for decelerating the motor in the
forward direction. Refer to Figure 17 (page 34) for
recommended REV TQ trimpot settings or recalibrate using the
following procedure:
1. With the power disconnected from the drive, connect a DC
ammeter in series with the armature.
2. Set the REV TQ trimpot to minimum (full CCW).
3. Set the speed adjust potentiometer to maximum reverse
speed.
4. Lock the motor shaft. Be sure that the motor is firmly
mounted to withstand maximum torque generated by the
motor.
5. Apply line power. The motor should be stopped.
6. Slowly adjust the REV TQ trimpot CW until the armature
current is 120% of rated drive current.
7. Set the speed adjust potentiometer to minimum.
8. Remove the power from the drive and unlock the motor shaft.
9. Remove the ammeter in series with the motor armature if it is
no longer needed and re-apply power to the drive.
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Calibration
FORWARD TORQUE (FWD TQ)
Warning
FWD TQ should be set to 120% of drive nameplate current
rating. Continuous operation beyond this rating may
damage the motor. If you intend to operate beyond the
rating, contact your Minarik representative for assistance.
23
Regenerative brake
Short the INHIBIT terminals to regeneratively brake the motor
(see Figure 13 for INHIBIT terminal location). Reopening the
INHIBIT terminals causes the motor to accelerate to set speed.
The INHIBIT terminals bypass both the MIN SPD circuit
and the deceleration circuit. This causes the motor to stop
rapidly when the INHIBIT terminals are shorted. Braking
torque is determined by the opposite-direction torque setting.
L1
FU 501
L2
FU 502
C 504
SC R 5 01
SC R 5 02
SC R 5 03
S
C 501
L1
FA ST A C TIN G
FU SE S O N LY
L2
230V
230
230
R 5 01
115
FU 504
SW 502
SW 501
L2
115V
115
T505
T501
GN D
SO 502
F1
F2
INHIBIT
Terminals
IN H - R U N
SO 501
C 502
C 503
TB 501
A2
IC 5 01
IC 5 02
A1
IN H IB IT
IN V
P 5 01
C 505
TB 502
The FWD TQ trimpot setting determines the maximum torque
for accelerating and driving the motor in the forward direction. It
also sets the maximum torque for decelerating the motor in the
reverse direction. Refer to Figure 17 (page 34) for
recommended FWD TQ trimpot settings or recalibrate using the
following procedure:
1. With the power disconnected from the drive, connect a DC
ammeter in series with the armature.
2. Set the FWD TQ trimpot to minimum (full CCW).
3. Set the speed adjust potentiometer to maximum forward
speed.
4. Lock the motor shaft. Be sure that the motor is firmly
mounted to withstand maximum torque generated by the
motor.
5. Apply line power. The motor should be stopped.
6. Slowly adjust the FWD TQ trimpot CW until the armature
current is 120% of rated drive current.
7. Set the speed adjust potentiometer to minimum.
8. Remove the power from the drive and unlock the motor shaft.
9. Remove the ammeter in series with the motor armature if it is
no longer needed and re-apply power to the drive.
Starting and Stopping Methods
S3
S2
S1
S0
R B 1 R B 2 - 15 + 15
T1
T2
M IN SP D
P 5 02
FW D
Figure 13. INHIBIT Terminals
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Starting and Stopping Methods
Calibration
Minarik Corporation offers two accessory plug harnesses for
the INHIBIT terminals:
Minarik®
Part Number
Description
201-0024
Inhibit plug with 18 in. (46 cm) wires
201-0079
Inhibit plug with 36 in. (91 cm) wires
Twist inhibit wires and separate them from other powercarrying wires or sources of electrical noise. Use shielded
cable if the inhibit wires are longer than 18 in. (46 cm). If
shielded cable is used, ground only one end of the shield to
earth ground. Do not ground both ends of the shield.
MINIMUM SPEED (MIN SPD)
The MIN SPD trimpot setting determines the motor speed
when the speed adjust potentiometer is turned full CCW. It is
factory set to zero speed. The minimum speed feature
applies only when the drive is operating in unidirectional
mode.
To calibrate, set the speed adjust potentiometer full CCW.
Adjust the MIN SPD trimpot until the motor turns at the
desired minimum speed.
MAXIMUM SPEED (MAX SPD)
Coast to a stop
The MAX SPD setting determines the maximum motor speed
when the speed adjust potentiometer is turned full CW. It is
factory set for maximum rated motor speed.
To coast the motor to a stop without
removing power to the drive, jumper
INHIBIT–RUN terminals 1 and 2
(see Figure 14, page 25). To restart
the motor, jumper INHIBIT–RUN
terminals 2 and 3. A single-pole,
double-throw switch may be used as
a COAST/RUN switch (see Figure
15, page 25).
To calibrate, set the speed adjust potentiometer full CW.
Adjust the MAX SPD trimpot until the motor turns at the
desired maximum speed.
1
2
3
INHIBIT
Each drive is assembled with
INHIBIT–RUN terminals 2 and 3
jumpered. These terminals must
be connected for the motor to run.
29
1
2
3
RUN
Figure 14. Inhibit Run Jumper
Settings
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28
Starting and Stopping Methods
25
Calibration
COAST
TO
COAST
TOSTOP
STOP
Warning
11
33
115
T501
GND
T505
R501
230 230
FU504
115
SW502
SW501
L2
115V
1
2
3
SO502
F1
All adjustments increase with CW rotation, and decrease with
CCW rotation. Use a non-metallic screwdriver for calibration.
Each trimpot is identified on the printed circuit board.
22
ININH-RUN
H-RUN
L2
230V
Each drive is factory calibrated to its maximum current rating.
Readjust the calibration trimpot settings to accommodate
lower current rated motors.
COAST / RUN
SWITCH
SS0502
O502
Dangerous voltages exist on the drive when it is powered.
When possible, disconnect the voltage input from the drive
before adjusting the trimpots. If the trimpots must be
adjusted with power applied, use insulated tools and the
appropriate personal protection equipment. BE ALERT.
High voltages can cause serious or fatal injury.
RUN
RUN
F2
IN H - R U N
C502
C503
TB 501
A2
IC 5 0 1
IC 5 0 2
A1
INHIBIT- RUN
TERMINALS
SO501
IN H IB IT
IN V
C505
TB 502
P501
S3
S2
S1
S 0 R B 1 R B 2 - 15 + 15 T1
T2
P
M IN S P D F W
Figure 15. Inhibit - Run Terminals Location
and Run / Coast Switch
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Starting and Stopping Methods
Starting and Stopping Methods
Decelerate to zero speed
The circuit shown in Figure 16 may be used to decelerate a
motor to a zero speed. Closing the switch between S2 and S0
decelerates the motor from set speed to zero speed. The
DECEL trimpot setting determines the rate at which the drive
decelerates. Set the switch to the RUN position to accelerate
the motor to set speed at a rate determined by the ACCEL
trimpot setting.
REV
REV
27
Warning
For frequent starts and stops, use regenerative deceleration
(shorting RB1 and RB2), regenerative braking (shorting
INHIBIT terminals to each other), coasting to a stop
(shorting INHIBIT–RUN terminals 1 and 2), or
decelerating to minimum speed (shorting S2 to S0). Do
not use any of these methods for emergency stopping.
They may not stop a drive that is malfunctioning.
Removing AC line power (both L1 and L2) is the only
acceptable method for emergency stopping.
10K
10K OHM
OHM
SPEED
SPEEDADJUST
ADJUST
POTENTIOMETER
POTENTIOMETER
S3
S3
RUN
RUN
CURRENT LIMIT (FWD TQ and REV TQ on regenerative
drives) is still active while the drive is regeneratively braking.
S2
S2
DECEL
DECELTO
TO
ZEROSPEED
SPEED
ZERO
FWD
FWD
CW
CW
S1
S1
S0
S0
Figure 16. Run/Decelerate to Zero Speed Switch
(shown with bidirectional speed adjust
potentiometer connection)
Frequent regenerative deceleration, regenerative braking,
coasting to a stop, or decelerating to minimum speed produces
high torque. This may cause damage to motors, especially
gearmotors that are not properly sized for the application.
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Starting and Stopping Methods
Starting and Stopping Methods
Decelerate to zero speed
The circuit shown in Figure 16 may be used to decelerate a
motor to a zero speed. Closing the switch between S2 and S0
decelerates the motor from set speed to zero speed. The
DECEL trimpot setting determines the rate at which the drive
decelerates. Set the switch to the RUN position to accelerate
the motor to set speed at a rate determined by the ACCEL
trimpot setting.
REV
REV
27
Warning
For frequent starts and stops, use regenerative deceleration
(shorting RB1 and RB2), regenerative braking (shorting
INHIBIT terminals to each other), coasting to a stop
(shorting INHIBIT–RUN terminals 1 and 2), or
decelerating to minimum speed (shorting S2 to S0). Do
not use any of these methods for emergency stopping.
They may not stop a drive that is malfunctioning.
Removing AC line power (both L1 and L2) is the only
acceptable method for emergency stopping.
10K
10K OHM
OHM
SPEED
SPEEDADJUST
ADJUST
POTENTIOMETER
POTENTIOMETER
S3
S3
RUN
RUN
CURRENT LIMIT (FWD TQ and REV TQ on regenerative
drives) is still active while the drive is regeneratively braking.
S2
S2
DECEL
DECELTO
TO
ZEROSPEED
SPEED
ZERO
FWD
FWD
CW
CW
S1
S1
S0
S0
Figure 16. Run/Decelerate to Zero Speed Switch
(shown with bidirectional speed adjust
potentiometer connection)
Frequent regenerative deceleration, regenerative braking,
coasting to a stop, or decelerating to minimum speed produces
high torque. This may cause damage to motors, especially
gearmotors that are not properly sized for the application.
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28
Starting and Stopping Methods
25
Calibration
COAST
TO
COAST
TOSTOP
STOP
Warning
11
33
115
T501
GND
T505
R501
230 230
FU504
115
SW502
SW501
L2
115V
1
2
3
SO502
F1
All adjustments increase with CW rotation, and decrease with
CCW rotation. Use a non-metallic screwdriver for calibration.
Each trimpot is identified on the printed circuit board.
22
ININH-RUN
H-RUN
L2
230V
Each drive is factory calibrated to its maximum current rating.
Readjust the calibration trimpot settings to accommodate
lower current rated motors.
COAST / RUN
SWITCH
SS0502
O502
Dangerous voltages exist on the drive when it is powered.
When possible, disconnect the voltage input from the drive
before adjusting the trimpots. If the trimpots must be
adjusted with power applied, use insulated tools and the
appropriate personal protection equipment. BE ALERT.
High voltages can cause serious or fatal injury.
RUN
RUN
F2
IN H - R U N
C502
C503
TB 501
A2
IC 5 0 1
IC 5 0 2
A1
INHIBIT- RUN
TERMINALS
SO501
IN H IB IT
IN V
C505
TB 502
P501
S3
S2
S1
S 0 R B 1 R B 2 - 15 + 15 T1
T2
P
M IN S P D F W
Figure 15. Inhibit - Run Terminals Location
and Run / Coast Switch
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Starting and Stopping Methods
Calibration
Minarik Corporation offers two accessory plug harnesses for
the INHIBIT terminals:
Minarik®
Part Number
Description
201-0024
Inhibit plug with 18 in. (46 cm) wires
201-0079
Inhibit plug with 36 in. (91 cm) wires
Twist inhibit wires and separate them from other powercarrying wires or sources of electrical noise. Use shielded
cable if the inhibit wires are longer than 18 in. (46 cm). If
shielded cable is used, ground only one end of the shield to
earth ground. Do not ground both ends of the shield.
MINIMUM SPEED (MIN SPD)
The MIN SPD trimpot setting determines the motor speed
when the speed adjust potentiometer is turned full CCW. It is
factory set to zero speed. The minimum speed feature
applies only when the drive is operating in unidirectional
mode.
To calibrate, set the speed adjust potentiometer full CCW.
Adjust the MIN SPD trimpot until the motor turns at the
desired minimum speed.
MAXIMUM SPEED (MAX SPD)
Coast to a stop
The MAX SPD setting determines the maximum motor speed
when the speed adjust potentiometer is turned full CW. It is
factory set for maximum rated motor speed.
To coast the motor to a stop without
removing power to the drive, jumper
INHIBIT–RUN terminals 1 and 2
(see Figure 14, page 25). To restart
the motor, jumper INHIBIT–RUN
terminals 2 and 3. A single-pole,
double-throw switch may be used as
a COAST/RUN switch (see Figure
15, page 25).
To calibrate, set the speed adjust potentiometer full CW.
Adjust the MAX SPD trimpot until the motor turns at the
desired maximum speed.
1
2
3
INHIBIT
Each drive is assembled with
INHIBIT–RUN terminals 2 and 3
jumpered. These terminals must
be connected for the motor to run.
29
1
2
3
RUN
Figure 14. Inhibit Run Jumper
Settings
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Calibration
FORWARD TORQUE (FWD TQ)
Warning
FWD TQ should be set to 120% of drive nameplate current
rating. Continuous operation beyond this rating may
damage the motor. If you intend to operate beyond the
rating, contact your Minarik representative for assistance.
23
Regenerative brake
Short the INHIBIT terminals to regeneratively brake the motor
(see Figure 13 for INHIBIT terminal location). Reopening the
INHIBIT terminals causes the motor to accelerate to set speed.
The INHIBIT terminals bypass both the MIN SPD circuit
and the deceleration circuit. This causes the motor to stop
rapidly when the INHIBIT terminals are shorted. Braking
torque is determined by the opposite-direction torque setting.
L1
FU 501
L2
FU 502
C 504
SC R 5 01
SC R 5 02
SC R 5 03
S
C 501
L1
FA ST A C TIN G
FU SE S O N LY
L2
230V
230
230
R 5 01
115
FU 504
SW 502
SW 501
L2
115V
115
T505
T501
GN D
SO 502
F1
F2
INHIBIT
Terminals
IN H - R U N
SO 501
C 502
C 503
TB 501
A2
IC 5 01
IC 5 02
A1
IN H IB IT
IN V
P 5 01
C 505
TB 502
The FWD TQ trimpot setting determines the maximum torque
for accelerating and driving the motor in the forward direction. It
also sets the maximum torque for decelerating the motor in the
reverse direction. Refer to Figure 17 (page 34) for
recommended FWD TQ trimpot settings or recalibrate using the
following procedure:
1. With the power disconnected from the drive, connect a DC
ammeter in series with the armature.
2. Set the FWD TQ trimpot to minimum (full CCW).
3. Set the speed adjust potentiometer to maximum forward
speed.
4. Lock the motor shaft. Be sure that the motor is firmly
mounted to withstand maximum torque generated by the
motor.
5. Apply line power. The motor should be stopped.
6. Slowly adjust the FWD TQ trimpot CW until the armature
current is 120% of rated drive current.
7. Set the speed adjust potentiometer to minimum.
8. Remove the power from the drive and unlock the motor shaft.
9. Remove the ammeter in series with the motor armature if it is
no longer needed and re-apply power to the drive.
Starting and Stopping Methods
S3
S2
S1
S0
R B 1 R B 2 - 15 + 15
T1
T2
M IN SP D
P 5 02
FW D
Figure 13. INHIBIT Terminals
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22
Calibration
Starting and Stopping Methods
REVERSE TORQUE (REV TQ)
Line starting and line stopping
Warning
Line starting and line stopping (applying and removing
AC line voltage) is recommended for infrequent starting and
stopping of a drive only. When AC line voltage is applied to
the drive, the motor accelerates to the speed set by the speed
adjust potentiometer. When AC line voltage is removed, the
motor coasts to a stop.
Automatic restart upon power restoration
All drives automatically run to set speed when power is
applied. Wiring a latching relay into the AC line is one way
to prevent automatic restarting following a power outage.
Regenerative deceleration
Short terminals RB1 and RB2
to regeneratively decelerate a
motor to a stop (Figure 12).
Since terminal RB1 bypasses
the MIN SPD circuit, shorting
RB1 and RB2 will decelerate a
motor to a stop instead of
minimum speed. Calibrate the
deceleration time
by adjusting the oppositedirection acceleration trimpot.
RB1
STOP
RB2
RUN
Figure 12. Regenerative
Deceleration Switch
Connection
31
REV TQ should be set to 120% of drive nameplate current
rating. Continuous operation beyond this rating may
damage the motor. If you intend to operate beyond the
rating, contact your Minarik representative for assistance.
The REV TQ trimpot setting determines the maximum torque
for accelerating and driving the motor in the reverse direction. It
also sets the maximum torque for decelerating the motor in the
forward direction. Refer to Figure 17 (page 34) for
recommended REV TQ trimpot settings or recalibrate using the
following procedure:
1. With the power disconnected from the drive, connect a DC
ammeter in series with the armature.
2. Set the REV TQ trimpot to minimum (full CCW).
3. Set the speed adjust potentiometer to maximum reverse
speed.
4. Lock the motor shaft. Be sure that the motor is firmly
mounted to withstand maximum torque generated by the
motor.
5. Apply line power. The motor should be stopped.
6. Slowly adjust the REV TQ trimpot CW until the armature
current is 120% of rated drive current.
7. Set the speed adjust potentiometer to minimum.
8. Remove the power from the drive and unlock the motor shaft.
9. Remove the ammeter in series with the motor armature if it is
no longer needed and re-apply power to the drive.
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Calibration
Operation
21
IR COMPENSATION (IR COMP)
The IR COMP trimpot setting determines the degree to which
motor speed is held constant as the motor load changes. It is
factory set for optimum motor regulation.
SW 504
P 5 08
DB
P 5 07
REV ACC
R 5 05
TA C H
FE E D B A C K
ARM
TA C H
SW 503
P 5 09
A R M A TU R E
90
180
R 5 06
T504
M A X SPD
P 5 05
R 5 04
SC R 5 06
P 5 06
FW D A C C
SC R 5 08
SC R 5 07
Recalibrate the IR COMP setting when using a lower curernt
rated motor. See Figure 17 (page 34), for typical IR COMP
trimpot settings, or recalibrate using the following procedure:
Armature Voltage
Selector Switch
IR C O M P
P 5 03
SC R 5 04
Feedback
Selector Switch
R E V TQ
P 5 04
SC R 5 05
T503
P 5 02
FW D TQ
T502
M IN SP D
IN V
P 5 01
SC R 5 03
C 501
T2
IN H - R U N
SC R 5 01
FU 504
IN H IB IT
SO 502
SO 501
SC R 5 02
T501
R 5 01
T1
T505
IC 5 01
230
S0
230
L2
Line Voltage
Selector Switches
S1
115
FU 502
L1
FA ST A C TIN G
FU SE S O N LY
FU 501
115
R B 1 R B 2 - 15 + 15
C 502
SW 502
IC 5 02
S2
C 503
S3
SW 501
TB 501
TB 502
C 504
1. Set the IR COMP trimpot to minimum (full CCW).
2. Rotate the speed adjust potentiometer until the motor runs
at midspeed without load (for example, 900 RPM for an
1800 RPM motor). A hand held tachometer may be used to
measure motor speed.
3. Load the motor armature to its full load armature current
rating. The motor should slow down.
4. While keeping the load on the motor, rotate the IR COMP
trimpot until the motor runs at the speed measured in
step 2. If the motor oscillates (overcompensation), the IR
COMP trimpot may be set too high (CW). Turn the IR
COMP trimpot CCW to stabilize the motor.
5. Unload the motor.
R 5 03
C 510
R 5 02
C 505
L1
L2
230V
L2
115V
GN D
F1
F2
A2
A1
Figure 11. Selector Switch Locations
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Operation
Cased drives
1. Set the FORWARD/BRAKE/REVERSE switch to the
BRAKE position.
2. Set the speed adjust potentiometer to “0” (full CCW).
3. Apply AC line voltage.
4. Set the POWER switch to the “I” (ON) position.
5. Set the FORWARD/BRAKE/REVERSE switch to the
desired direction of rotation.
7. Slowly advance the speed adjust potentiometer clockwise
(CW). The motor slowly accelerates as the potentiometer is
turned CW. Continue until the desired speed is reached.
8. To brake the motor, set the FORWARD/BRAKE/REVERSE
switch to the BRAKE position. To coast the motor to a stop,
set the POWER switch to the “O” (OFF) position.
9. To reverse direction:
a. Set the FORWARD/BRAKE/REVERSE switch to the
BRAKE position.
b. After the motor comes to a complete stop, set the
FORWARD/BRAKE/REVERSE switch to the desired
direction of rotation.
10. Set the POWER switch to “O” (OFF) to remove power
from the drive.
Calibration
33
FORWARD ACCELERATION (FWD ACC)
The FWD ACC trimpot setting determines the time the motor
takes to ramp to either a higher speed in the forward direction
or a lower speed in the reverse direction, within the limits of
available torque. The FWD ACC setting is factory set for its
fastest forward acceleration time.
Turn the FWD ACC trimpot CW to increase the forward
acceleration time, and CCW to decrease the forward
acceleration time.
REVERSE ACCELERATION (REV ACC)
The REV ACC trimpot setting determines the time the motor
takes to ramp to either a higher speed in the reverse direction
or a lower speed in the forward direction, within the limits of
available torque. The REV ACC setting is factory set for its
fastest reverse acceleration time.
Turn the REV ACC trimpot CW to increase the reverse
acceleration time, and CCW to decrease the reverse
acceleration time.
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Calibration
Operation
Selector switch settings
RG500 Models
F W D TQ
TQ
FWD
F W D TQ
TQ
FWD
F W D TQ
TQ
FWD
F W D TQ
TQ
FWD
RREV
E V TQ
TQ
RREV
E V TQ
TQ
RREV
E V TQ
TQ
RREV
E V TQ
TQ
IR COMP
COMP
IR
11 HP
HP
90VDC
VDC
90
10
ADC
10 ADC
COMP
IR COMP
3/4
3/4HP
HP
90VDC
VDC
90
7.6
ADC
7.6 ADC
COMP
IR COMP
1/2
1/2HP
HP
90
90VDC
VDC
ADC
55ADC
COMP
IR COMP
1/4
1/4HP
HP
90
90VDC
VDC
2.7
2.7ADC
ADC
F W D TQ
TQ
FWD
F W D TQ
TQ
FWD
F W D TQ
TQ
FWD
F W D TQ
TQ
FWD
RREV
E V TQ
TQ
RREV
E V TQ
TQ
RREV
E V TQ
TQ
RREV
E V TQ
TQ
IR
COMP
IR COMP
2 HP
HP
VDC
180 VDC
9.2
ADC
9.2 ADC
1. Set the line voltage selector switches (SW501 and SW502)
to 115 if using 115 VAC line voltage, or to 230 if using
230 VAC line voltage.
IR
COMP
IR COMP
1 HP
HP
VDC
180 VDC
5
ADC
5 ADC
2. Set the armature voltage selector switch (SW503) to 90 if
using a 90 VDC motor, or to 180 if using a 180 VDC
motor.
IR
COMP
IR COMP
3/4
3/4HP
HP
180 VDC
VDC
ADC
3.8 ADC
IR
COMP
IR COMP
1/2
1/2HP
HP
180
180 VDC
VDC
2.5 ADC
ADC
RG510 Models
F W D TQ
TQ
FWD
F W D TQ
TQ
FWD
F W D TQ
TQ
FWD
RREV
E V TQ
TQ
RREV
E V TQ
TQ
RREV
E V TQ
TQ
COMP
IR COMP
1/8
1/8HP
HP
90
90VDC
VDC
1.3ADC
ADC
1.3
COMP
IR COMP
1/10
1/10HP
HP
90VDC
VDC
90
1.1 ADC
ADC
1.1
COMP
IR COMP
1/20
1/20HP
HP
90VDC
VDC
90
0.56ADC
ADC
0.56
F W D TQ
TQ
FWD
F W D TQ
TQ
FWD
19
3. Set the feedback selector switch (SW504) to TACH if
using a tachogenerator; otherwise set to ARM for armature
feedback.
Note: You may be required to derate a 90 VDC motor
when 230 VAC is applied to the drive. Contact the
factory for details.
See Figure 11 (page 21) for all switch locations.
R
E V TQ
TQ
REV
RREV
E V TQ
TQ
IR COMP
COMP
IR
1/4
HP
1/4 HP
180
VDC
180 VDC
1.4
ADC
1.4 ADC
COMP
IR COMP
1/8
HP
1/8 HP
180
180 VDC
0.67
ADC
0.67 ADC
Figure 17. Typical FWD TQ, REV TQ, and IR COMP Settings
(actual settings may vary with each application)
Startup
Chassis drives
1. Set the speed adjust potentiometer for zero speed.
2. Apply AC line voltage.
3. Slowly advance the speed adjust potentiometer clockwise
(CW). The motor slowly accelerates as the potentiometer is
turned CW. Continue until the desired speed is reached.
4. Remove AC line voltage from the drive to coast the motor
to a stop.
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18
Calibration
Operation
Warning
Dangerous voltages exist on the drive when it is powered.
BE ALERT. High voltages can cause serious or fatal
injury. For your safety, use personal protective equipment
(PPE) when operating this drive.
Before applying power
1. Check connections before applying AC line voltage to the
drive.
2. Check that no conductive material is present on the printed
circuit board.
3. Verify that all selector switches are set correctly (see the
following section for selector switch settings).
35
DEADBAND (DB)
The deadband trimmer potentiometer determines the time
that will elapse between the application of current in one
direction before current is applied in the opposite direction.
The deadband trimmer potentiometer affects the
resistance that a motor has to changes in shaft position at
zero speed. It does this by applying AC voltage to the motor
armature.
Deadband is factory calibrated to approximately the
3 o’clock position for 60 Hz AC line operation. Recalibrate
the deadband to the 9 o’clock position for 50 Hz AC line
operation. See Figure 18, for recommended deadband settings.
60 Hz
60
Hz
APPLICATIONS
Applications
D
B
DB
50 Hz
Hz
50
APPLICATIONS
Applications
DB
DB
Figure 18. Deadband Settings
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Calibration
TACHOGENERATOR (TACH)
Calibrate the TACH setting only when a tachogenerator is
used. The TACH setting, like the IR COMP setting,
determines the degree to which motor speed is held constant
as the motor load changes.
To calibrate the TACH trimpot:
1. Remove power from the drive.
2. Rotate the TACH trimmer pot to full clockwise (full CW),
3. Rotate the MAX SPD trimmer pot to full counterclockwise
(full CCW).
4. Rotate the IR COMP trimmer pot to full CCW.
5. Place the feedback selector switch (SW504) to the
ARMATURE (ARM) position.
6. Rotate the main speed potentiometer to midrange.
7. Wire the DC tach to the RG500UA. Note: The polarity of
the Tach voltage input to the RG500UA should be T1 (+)
and T2 (-). This polarity may be measured with a DC
voltmeter. If the polarity is incorrect, swap the two tach
input leads to the T1 and T2 terminals on TB502.
8. Apply power to the drive. The motor should be running at
minimum speed.
9. Rotate the main speed potentiometer to full speed in the
forward direction.
10. Turn the maximum speed trimmer pot clockwise until the
desired maximum speed is reached.
11. Remove all power from the drive. The motor should stop.
Installation
17
All drives have line fuses installed (see Replacement Parts
section for installed line fuse size). Line fuses are rated for
maximum rated curent. Use line fuses rated for 20 A or less on
RG500 drives (8 A or less on RG501 drives).
Voltage follower
The drive may be wired to follow a floating (isolated)
0 to ±10V signal that is isolated from earth ground instead of
using a speed adjust potentiometer. Connect the signal input to
S2, and the signal common to RB1 (see Figure 10).
±10 VDC
±10VDC
S2
S2
S1
S1
COMMON
COMMON
RB1
RB1
Figure 10. Voltage Follower Connection
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Installation
Calibration
Line Fusing for RG Series Drives
Minarik drives require fuses for protection. Use fast acting fuses
rated for 250 VAC or higher, and approximately 150% of the
maximum armature current. Fuse L1 when using 115 VAC line
voltage. Fuse both L1 and L2 when the line voltage is 230 VAC.
The fuse chart below lists the recommended line fuse sizes.
Table 2. Fuse Chart
90 VDC Motor
Horsepower
1/20
1/15
1/8
1/6
1/4
1/3
1/2
3/4
1
180 VDC
Horsepower
1/10
1/8
1/4
1/3
1/2
3/4
1
1 1/2
2
AC Line Fuse
Size (amps)
3
3
5
5
8
8
10
15
20
Minarik Corporation offers two fuse kits: part number 050–0069
(3–8A Fuse Kit) and 050–0073 (5–20A Fuse Kit). Both fuse kits
include a 1/2A pico fuse (part number 050–0064) which protects the
transformer and logic.
37
12. Place the Feedback selector switch (SW504) to the
Tachogenerator (TACH) position.
13. Apply power to the drive. The motor should run in the
forward direction.
14. Rotate the TACH trimmer pot CCW so that the maximum
speed is reached. this is the same speed as was obtained
in step 10.
15. Rotate the main speed potentiometer to the reverse
direction (S2 should be negative with respect to S1). The
motor speed should follow the speed potentiometer
position.
Check that the tachogenerator is properly calibrated. The
motor should run at the same set speed when SW504 is set to
either armature or tachogenerator feedback
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38
Installation
Application Notes
+15 and –15 terminals
Connection to other Minarik devices
Warning
Do not short the +15 and -15 terminals for any reason.
Shorting these terminals may damage the drive.
TTB502
B502
S
2
S2
S2
S2
RRG500
G 5 0 0 SERIES
S E R IE S
D R IV E
DRIVE
DLC600
D
LC 600
D DIGI-LOC
IG I- L O C CONTROL
C O N TRO LS
R
B1
RB1
S1
S1
TTB501
B501
2
RRG500
G 5 0 0 SERIES
S E R IE S
D R IV E
DRIVE
PPCM4
CM4
S IG
N A L IS
O LA TO R
SIGNAL
ISOLATOR
R
B1
RB1
RG500 Series drives can supply a regulated +15 and –15 VDC
signal (each sourcing 15 mA maximum) to isolated, external
devices. These voltage supply terminals are located on
terminal block TB502 (see figure 9).
T TB502
B 502
TTB502
B502
S2
S
2
15
S3
S3
S2
S2
S1
S1
S0 RRB1
S0
B 1 RRB2
B 2 --15
15 ++15
15
1
1
Figure 9. TB502 Terminal Assignments
Figure 19. RG500 Connections to DLC600 and PCM4
T1
T1
T2
T2
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Installation
39
Application Notes
The RG500 can be connected to an optional 200-0386A limit
switch logic board. The 200-0386A provides the logic
interface between the regenerative drive and pushbutton
stations, foot switches, or programmable controls. See Figure
20 for RG500 connections to the 200-00386A limit switch
logic board. For more information on Minarik’s limit switch
logic board, refer to User’s Manual 250-0222 or the Minarik
Product Catalog.
Speed adjust potentiometer connections
The motor can operate in one direction (unidirectional) or in
two directions (bidirectional) depending on how the speed
adjust potentiometer is connected to the drive.
Connect the speed adjust potentiometer as shown in Figure
8(a) for speed control in one direction.
L1
FU 501
L2
FU 502
C 504
SCR501
L1
SCR502
SCR5
FAST AC TING
FUSES ONLY
L2
230V
230
230
R501
115
FU504
SW502
SW501
2
3
4
5
6
L2
115V
115
T505
T501
GND
Connect the speed adjust potentiometer as shown in Figure
8(b) for speed control in two directions. The motor does not
rotate when the wiper is in the center position. Turning the
wiper CW from the center position causes the motor to rotate
in one direction, while turning the wiper CCW from the center
position causes the motor to rotate in the opposite direction.
1
14
3/30/2006
IL501
IC502
POW ER
2
K501
K502
1
C 505
S1
S1
S2
S2
S0
S0
FWD
FWD
S1
S1
CW
10
11
12
13
14
200-0386A
200-0386A
LIMIT SWITCH
BOARD
LIMIT LOGIC
SWITCH
LOGIC BOARD
15
16
17
18
P501
S3
S2
S1
S0
R B 1 R B 2 - 15 + 15
T1
T2
(b)
Figure 8. Speed Adjust Potentiometer Connections
for (a) Unidirectional Operation and (b) Bidirectional Operation
M IN S P D
TB502 ON
RG500
TB502 ON
SERIES
RG500
SERIES
DRIVE
CCW
CCW
(a)
INV
INH IB IT
TB502
S3
S3
IC501
IC502
REV
REV
SO501
C 502
C 503
TB501
A1
TB502
TB502
INH - RUN
A2
S2
S2
10K
2W
10K OHM,
OHM, 2W
SPEED ADJUST
SPEED
ADJUST
POTENTIOMETER
POTENTIOMETER
DS501
F2
TB502
TB502
10K OHM
10K
OHM
SPEED ADJUST
SPEED
ADJUST
POTENTIOMETER
POTENTIOMETER
SO502
F1
Refer to the Application Notes section for additional speed
adjust potentiometer connections.
Figure 20. RG500 connection to 200-0386A
Limit Switch Logic Board
DRIVE
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Application Notes
Installation
Optional speed adjust potentiometer
connections
Speed adjust potentiometer installation
Warning
Forward-Reverse Switch
Use a single-pole, twoposition switch with a
single speed adjust
potentiometer to plug
reverse the motor (Figure
21). The MIN SPD setting
is in effect for either
direction.
Be sure that the potentiometer tabs do not make contact with
the potentiometer enclosure. Grounding the input will cause
damage to the drive.
S0
On chassis drives, install the circular insulating disk between
the panel and the 10KΩ speed adjust potentiometer. Mount the
speed adjust potentiometer through a 0.38 in. (0.96 cm) hole
with the hardware provided (see Figure 7). Twist the speed
adjust potentiometer wire to avoid picking up unwanted
electrical noise. If potentiometer leads are longer than 18 in.
(46 cm), use shielded cable. Speed adjust potentiometers are
installed on all cased drives.
S1
10K
OHM
S2
REV
CW
S3
FWD
Figure 21. Forward-Reverse Switch
Forward-Stop-Reverse Switch
Use a single-pole, threeposition switch with a
single speed adjust
potentiometer to stop a
motor between reversals
(Figure 22). Set the switch
to the center position to
decelerate the motor to a
stop.
MOUNT
THROUGH
0.38 IN.
IN. (10
MOUNT
THROUGH
A A0.38
(10MM)
MM)HOLE
HOLE
S0
CW
CW
WIPER
WIPER
CCW
CCW
S1
10K
OHM
S2
S3
13
REV
CW
NUT
NUT
STAR
STAR
WASHER
WASHER
SPEED
SPEED ADJUST
ADJUST
POTENTIOMETER
POTENTIOMETER
STOP
INSULATING DISK
INSULATING
DISK
FWD
Figure 22. Forward-Stop-Reverse Switch
POT
ASSIGNMENTS
POT TAB
TAB ASSIGNMENTS
PANEL
PANEL
Figure 7. Speed Adjust Potentiometer
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Installation
Application Notes
Field output
The field output is for shunt wound motors only. Do not
make any connections to F1 and F2 when using a
permanent magnet motor.
Use 18 AWG wire to connect the field output to a shunt
wound motor. Table 1 lists the field output connections.
Independent Adjustable Speeds (Forward
Direction Only)
Connect two speed adjust potentiometers with a single-pole
two-position switch to select between two independent speeds
shown in the forward direction (Figure 23). The speed adjust
potentiometers can be mounted at two separate operating
stations.
Table 1. Field Output Connections
Line Voltage
(VAC)
115
115
230
230
Approximate
Field Voltage (VDC)
50
100
100
200
Connect Motor
Field To
F1 and L1
F1 and F2
F1 and L1
F1 and F2
Tachogenerator feedback
Using tachogenerator feedback improves speed regulation
from approximately 1% of motor base speed to approximately
0.1% of motor base speed. Use tachogenerators rated from
7 VDC per 1000 RPM to 50 VDC per 1000 RPM. Connect the
tachogenerator to terminals T1 and T2 of terminal block
TB502. The polarity is + for T1 and – for T2 when the motor
running in the forward direction. The polarity is reversed
when the motor is running in the reverse direction.
41
S0
S1
SPEED 1
P1
20K OHM
P2
20K OHM
CW
CW
S2
SPEED 2
Figure 23. Independent Adjustable Speeds
(Forward Direction)
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Application Notes
Installation
Independent Forward and Reverse Speeds
Connect two speed adjust potentiometers as shown in Figure
24 to select between independent forward and reverse speeds.
S0
FWD
10K OHM
S1
FORWARD
CW
Cage-clamp terminal block
Connections to RG500 Series drives are made to a cage-clamp
terminal block (see Figure 6). To insert a wire into the
terminal block, press down on the lever arm using a small
screwdriver. Insert stripped wire into the large opening in front
of the terminal block. Release the lever arm to clamp the wire.
REV
10K OHM
CW
S2
REVERSE
S3
11
Lever Arm
Figure 24. Independent Forward and Reverse Speeds
Wire Clamp
Figure 6. Cage-Clamp Terminal Block
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Application Notes
REV
SC R504
P50
Installation
P502
M IN S P D F W D T Q
T502
SO502
115
IC 5 0 1
230 230
FU501 FU502
F A S T A C T IN G
FU S ES O N LY
C 503
IC 5 0 2
S2
SW 501
AC LINE INPUT
C 504
TB 501
L1
L2
230V
L2
115 V
GND F 1
F2
A2
S0
S1
FORWARD
FWD
10K OHM
REV
10K OHM
CW
CW
S1
L2
115
L1
230 VAC
Use a single-pole, three-position switch to stop the motor
when the switch is in the center position (Figure 25).
S2
STOP
S3
115
VAC
Independent Forward and Reverse Speeds
with FWD-STOP-REV Switch
T2
C 502
SW 502
S0 RB 1RB 2 - 15 + 15 T1
3
SO501
2
IN H - R U N
1
IN H IB IT
P501
C 501
43
A1
TB 502
C 505
S3
REVERSE
115 OR 230 VAC
A
FIELD OUTPUT
For shunt wound motors
only. See field output
section for connections.
Figure 5. Cased Drive Connections
ARMATURE
OUTPUT
Figure 25. Independent Forward and Reverse Speeds
with a Forward-Stop-Reverse Switch
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44
9
Installation
Troubleshooting
Warning
Dangerous voltages exist on the drive when it is powered.
When possible, disconnect the drive while troubleshooting.
High voltages can cause serious or fatal injury.
Check the following steps before proceeding:
1. The AC line voltage must match the voltage on the drive
nameplate.
2. On dual voltage drives, check that the voltage switches are
set to the correct position.
Chassis RG500 models require an additional heat sink
when the continuous armature current is above 7 ADC. Use
Minarik® part number 223-0235. All cased drives have
sufficient heat sinking in their basic configurations. Use a
thermally conductive heat sink compound (such as Dow
Corning® 340 Heat Sink compound) between the drive chassis
and the heat sink surface for optimum heat transfer.
AC line and motor connections
Use 14 AWG or 16 AWG standard wire for connecting the
line and the armature. Use 16 AWG or 18 AWG standard wire
when connecting the field of a shunt wound motor. Strip the
wire insulation 0.25 inches (6 mm). See Figures 4 and 5
(page 10) for AC line and motor connections to chassis and
cased drives.
S3
S2
3. The deadband (DB) must be set approximately at the
3 o’clock position for 60 Hz AC line frequency or at
9 o’clock for 50 Hz AC line frequency.
Heat sinking
TB501
TB502
C504
4. The motor must be rated for the drive’s rated armature
(all motors) and field outputs (shunt wound motors only).
C505
L1
L2
230V
L2
115V
GN D
F1
F2
A2
A1
5. Do not make any connections to F1 and F2 if using a
permanent magnet motor.
6. Terminal block connections should be consistent with the
connections shown in this manual.
7. Check that line fuse FU501 (and FU502 for 230 VAC line
voltage) is properly sized and not blown.
8. Check that field fuse FU503 is 1.5 A and not blown.
A
A
AC LINE
LINE
AC
INPUT
INPUT
ARMATURE
ARMATURE
OUTPUT
OUTPUT
230
VAC
230 VAC
115
115 VAC
VAC
115 OR 230 VAC
115
OR 230 VAC
FIELD
FIELD
OUTPUT
OUTPUT
For Shunt Wound
FOR SHUNT WOUND
MotorsONLY.
Only.
MOTORS
See
field output
outputsection
section
See field
connections.
for connections
Figure 4. Chassis Drive Connections
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Installation
Mounting cased drives
NEMA 4X cased drives come with three 0.88 inch (22 mm)
conduit knockout holes at the bottom of the case. The units
may be vertically wall mounted using the four 0.25 inch
(6 mm) slotted holes on the attached heat sink. For motor
loads less than 5 ADC, the drive may be bench mounted
horizontally, or operated without mounting.
1. Set the POWER switch to the “0” or OFF position before
applying the AC line voltage.
2. Install the mounting screws.
3. For access to the terminal strip, turn the slotted screw on
the front cover counterclockwise until it is free from the
case. The right side of the cover is hinged to the case. Lift
or pull the slotted screw to open the case.
4. Carefully remove the conduit knockouts by tapping them
into the case and twisting them off with pliers.
5. Install conduit hardware through the 0.88 inch (22 mm)
conduit holes. Connect external wiring to the terminal
block.
6. Grasp the slotted screw and tilt the front cover back into
place. Avoid pinching any wires between the front cover
and the case.
7. Turn the slotted screw clockwise until tight to secure the
front cover.
Troubleshooting
45
Field fuse blows
1. Disconnect AC line voltage from the drive.
2. Verify that the fuse is 1.5 A.
3. Check motor cable for shorts.
4. Check motor field for shorts.
a. Disconnect field leads from terminals F1 and F2
b. Motor field resistance should measure approximately
100 to 1000 ohms, depending on motor horsepower.
c. A resistance reading from the motor frame to either
side of the field should show open when an ohmmeter
is used on its high resistance scale.
5. Reconnect field leads to the drive.
6. Reconnect AC line voltage to the drive.
7. Advance the speed adjust potentiometer to the desired
speed.
Line fuse blows
1. Disconnect AC line voltage from the drive.
2. Check that the motor cable and armature is not shorted or
grounded.
a. The motor’s armature resistance should measure
approximately 1 to 100 ohms, depending on motor
horsepower.
b. A resistance reading from the motor frame to either
armature side should show open when an ohmmeter is
used on its high resistance scale.
3. Check that the field circuit is not open.
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7
Troubleshooting
Motor pulsates or surges under load
1. Readjust the IR COMP setting slightly CCW until the
motor speed is stabilized.
2. Verify that the motor is not going in and out of current
limit. If so, re-adjust FWD TQ and REV TQ pots.
Line fuse does not blow, but the motor does not run
1. Verify that the speed adjust potentiometer is not set to its
zero speed position. If in voltage follower mode, verify
that reference voltage is not set to zero.
2. Check the speed adjust potentiometer for continuity.
3. Verify that the inhibit pins are not shorted together.
4. Check that INHIBIT–RUN terminals 2 and 3 are
connected.
5. Verify that the drive is receiving AC line voltage.
6. Check that the drive is not in current limit. If the drive is in
current limit, verify that the motor is not jammed. It may
be necessary to increase the FWD TQ or REV TQ setting if
it is set lower than the current rating of the motor.
7. Check that the speed adjust potentiometer connections to
the terminal block are correct and not open.
Motor runs too fast at the maximum speed setting
1. Check that the MIN SPD and MAX SPD setting are not set
too high.
2. Check that the field output connections are secure if you
are using a shunt wound motor.
Installation
Mounting chassis drives
Drive components are sensitive to electrostatic fields. Avoid
contact with the circuit board directly. 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 other heat sources. Operate
the drive within the specified ambient operating temperature
range.
Prevent loose connections by avoiding excessive vibration
of the drive.
Mount the drive with its board in either a horizontal or
vertical plane. Six 0.18 inch (4.57 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 chassis must be earth grounded for noise suppression. To
ground the chassis, connect earth ground to the GND terminal
on terminal block TB501.
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Regenerative Drives
Troubleshooting
47
Motor will not reach the desired speed
1. Check the MAX SPD setting and increase if necessary.
2. Check that the IR COMP setting is not set too low.
3. Check that the motor is not overloaded.
For additional assistance, contact your local Minarik® distributor,
or the factory direct at: PHONE: (800) MINARIK
FAX: (800) 394-6334
Figure 3. Four Quadrant Operation
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5
48
Factory Prewired Connections
Regenerative Drives
(for Cased Drives)
1
2
3
WHITE/BLACK
WHITE
L2 (230)
BLACK
POWER
LIGHT
BLACK
BLACK
BLACK/WHITE
L1
WHITE/BLACK
L2 (115)
Figure 26. Prewired Connections to L1, L2(115) and L2(230)
In most non-regenerative, variable speed, DC drives control
current flows to a motor in one direction. The direction of
current flow is the same direction as the motor rotation.
Non-regenerative drives operate in Quadrant 1, and also in
Quadrant 3 if the drive is reversible (see Figure 3, page 6).
Motors must stop before reversing direction. Non-regenerative
drives cannot oppose an overhauling load, and cannot
decelerate a load faster than coasting to a lower speed.
Regenerative drives operate in two additional quadrants:
Quadrant 2 and Quadrant 4. In these quadrants, motor torque
is in the opposite direction of motor rotation.
Regenerative drives can reverse a motor without contactors,
switches, brake resistors, and inhibit plugs. They can also
control an overhauling load and decelerate a load faster than it
would take to coast to a lower speed.
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Dimensions
Factory Prewired Connections
49
6.90 [175]
6.30 [160]
1.40 [36]
S0
S0
GREY
grey
GREY/WHITE
grey/white
FWD
FW
D
S1
S1
10.20 [259]
9.80 [249]
S2
S2
green
GREEN
REV
REV
blue/
BLUE/
w hite
WHITE
CW
C
W
BBRAKE
RAK E
BLUE
blue
S3
S3
FOUR (4) EACH MOUNTING SLOTS.
6.3 [160] x 7.0 [178]
ON CENTERS
Figure 27. Prewired Speed Adjust Potentiometer
Connections
5.50 [140]
4.78 [121]
1.45 [37]
2.30 [58]
0.12 [3]
1.50 [38]
1.50 [38]
THREE 0.88 [22] KNOCKOUTS
ALL DIMENSIONS IN INCHES [MILLIMETERS]
Figure 2. RG500A and RG510A Cased Drive Dimensions
10K
10K
OHMW
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3
50
Replacement Parts
Dimensions
Replacement parts are available form Minarik Corporation and its
distributors for this drive series.
4 .7 8 [1 2 1 ]
4.78
[121]
0 .1 8 8[5]
[5 ]
0.188
0 .2 8 [7
]
0.28
[7]
4 .0 0 0 [1 0 2 ]
4.000
[102]
[1 8 [18]
]
0.70
.7 0
Table 3. Replacement Parts
GND
L2
11 5 V
F1
F2
A2
A1
C 505
TB 502
TB 501
L2
L1
FU502
FU501
C 503
IC 5 0 2
230 230
115
SW 502
C 502
SC R501
IC 5 0 1
T505
FU 504
SC R502
R501
SO502
SO501
IN H IB IT
IN H - R U N
T2
T501
SC R503
IN V
SC R504
P502
C 501
P501
M IN S P D F W D T Q
[2 1 3 ]
FA S T A C T IN G
FU S ES O N LY
S 0 R B 1 R B 2 - 15 + 15 T 1
8 .4 0
SW 501
11 5
S1
032-0129
072-0042
230-0072
202-0003
223-0258
050-0019
050-0073
050-0081
26]
8.90[2[228]
8 .9 0
T502
P503
SC R505
P504
SC R506
T503
R504
P505
P506
SC R507
R506
SC R508
T504
P507
R505
R E V T Q IR C O M P M A X S P DF W D A C CR E V A C C
P509
SW 504
TAC H
SW 503
DB
P508
FEED B A C K
A R M A TU R E
TA C H
90
1 8 0A R M
C 5 10
R502
R503
Same parts as RG500UA except 202-0003 and 223-0258.
Include:
10KΩ, 2W Potentiometer
120-0047
Potentiometer Knob
140-0013
Case
223-0209
240 V Pilot Light
040-0043
FWD/BRAKE/REV Switch
080-0031
Power Switch
080-0022
Toggle Switch Boot
155-0078
Chassis
223-0260
Heat Sink
223-0232
L2
230V
Minarik® P/N
8.40 [213]
RG500A
L1
Description
0.01Ω, 5 W Resistor
800 V, 25 A SCR
3FD-436 Transformer
10KΩ Potentiometer Kit
Chassis
20 A, 3AB Line Fuse
Line Fuse Kit (5 – 20A)
Pico fuse, 63mA
C 504
Symbol
R501
SCR501-508
T505
S2
RG500UA
S3
Model No.
4]
0.93[2[24]
0 .9 3
0 .6 4
1 .8 5 [4 7 ]
1.85
[47]
[1 6 ]
0.84 [18]
3 .5 0 [8
9]
3.50
[89]
0.125
0 .1 2 5[3]
[3 ] REF
REF
Figure 1. RG500UA and RG510UA Dimensions
Optional 223-0235 Heatsink Dimensions: 9.8" x 6.9" x 1"
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Replacement Parts
Specifications
51
Table 3. Replacement Parts (Continued)
Drive option description (by suffix)
Model No.
Suffix
A
UA
Style
NEMA 4X
Chassis
Terminal
Block Type
Cage-Clamp
Cage-Clamp
Symbol
Description
0.05Ω, 5 W Resistor
800 V, 25 A SCR
3FD-436 Transformer
10KΩ Potentiometer Kit
Chassis
8 A, 3AB Line Fuse
Line Fuse Kit (3 – 8A)
Line Fuse Kit (5 – 20A)
Pico fuse, 1/2A
Minarik® P/N
RG510UA
R501
SCR501-508
T505
032-0146
072-0042
230-0072
202-0003
223-0258
050-0023
050-0069
050-0073
050-0074
RG510A
Same parts as RG500UA except 202-0003 and 223-0258.
Include:
10KΩ, 2W Potentiometer
120-0047
Potentiometer Knob
140-0013
Case
223-0209
240 V Pilot Light
040-0043
FWD/BRAKE/REV Switch
080-0004
Power Switch
080-0031
Toggle Switch Boot
155-0078
Chassis
223-0260
Heat Sink
223-0232
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1
52
Certificate of Compliance
Minarik Corporation hereby certifies that its RG500 series
drives have been approved to bear the “CE” mark provided the
conditions of approval (listed in Exhibit “A”) have been met by
the end user.
The RG500 series has been tested to the following test
specifications: EN55011:1991 (emissions), and EN50082-1:1992
(immunity).
Specifications
Model
Max.
Armature
Current
(Amps DC)
The end user, as described herein, falls into one of two
categories:
1. The Consumer will deploy a stand-alone unit as an
integral, yet external, portion of the machine he/she is
operating.
2. The Original Equipment Manufacturer (OEM) will
implement the product as a component of the machine
being manufactured.
HP Range
with 230 VAC
Applied
* RG500A, RG500UA
10.0 †
1/4–1 †
1/2–2 †
* RG510A, RG510UA
3.0
1/20–1/8
1/10–1/4
† Maximum armature current and horsepower range apply when drive is attached to
additional heat sink: Minarik part number 223-0235. Use heat sink when armature
current is above 7 ADC. Heat sinks are pre-mounted on RG500 cased drives.
* See page 2 for suffix descriptions.
AC Line Voltage
Compliance allows Minarik’s RG500 series to bear the CE mark.
HP Range
with 115 VAC
Applied
115/230 VAC, ±10%, 50/60 Hz, single phase
Armature Voltage (115 VAC Input)
0–90 VDC
Armature Voltage (230 VAC Input)
0–180 VDC
Form Factor
1.37 at base speed
Field Voltage (115 VAC Input)
50 VDC (F1 to L1); 100 VDC (F1 to F2)
Field Voltage (230 VAC Input)
100 VDC (F1 to L1); 200 VDC (F1 to F2)
Max. Field Current
1 ADC
Accel. Time Range (with no load)
0.5 – 15 seconds
Decel. Time Range (with no load)
0.5 – 15 seconds
Analog Input Voltage Range (signal must be isolated; S0 to S2)
0–10 VDC
Input Impedance (S0 to S2)
32K ohms
Load Regulation
with Armature Feedback
with Tachogenerator Feedback
Ambient Temp. Range (chassis drives)
Ambient Temp. Range (cased drives)
Vibration
1% of base speed or better
0.1% of base speed
10°C–55°C
10°C–40°C
0.5g max (0 – 50 Hz)
0.1g max (above 50 Hz)
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vi
CE Addendum
53
Tables
Exhibit “A”
Table
Table
Table
Table
Table
In addition to EMI/RFI safeguards inherent in the RG500 series’
design, external filtering is required.
1.
2.
3.
4.
5.
Field Output Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Fuse Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Replacement Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Corcom® Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Minarik Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Minarik requires the Corcom® filters listed in Table 4. If the exact
filter is not available, the specifications are as follows:
L = 1.8 milliHenries.
C = 0.01 microFarad (Line to Ground); 1.1 microFarads
(Line to Line).
Discharge Resistor = 330Kohms.
Rated current: 1.4 times maximum DC motor current.
Filter type: Balanced 2-section.
Table 4. Corcom® Filters
Nameplate Current of
Motor Wired to the Drive
0 to 4 amps
4.1 to 13 amps
Corcom® Filter Part Number
6VV1
20VV1
The filters in Table 4 should be wired to the AC line within 0.25
meters of the drive. The ground connection from the filter must
be wired to solid earth ground (resistance less than 500 ohms);
not machine ground. This is very important!
If the end-user is using a CE-approved motor, the correct filter
from Table 4 is all that is necessary to meet the EMC directives
listed herein.
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v
CE Addendum
If the end-user is not using a CE-approved motor, a second
filter, part number CEXXRG, must be deployed on the output.
XX = rated current of the filter.
The CEXXRG is a Real-Pole Balanced-Pi 3-pole filter. If the
exact filter is not available, the specifications are as follows:
L & L1 = 2 x (0.8) milliHenries.
C & C1 = 2 x (0.1) microFarads @ 400W VDC.
Rin = 0.1 ohm; Rout = 1.2 ohm.
Table 5. Minarik Filters
Nameplate Current of
Motor Wired to the Drive
0 to 4 amps
4.1 to 13 amps
Minarik Filter Part Number
CE04RG
CE20RG
The filters in Table 5 must be wired to the DC output of the
drive, as close to the drive as possible. The ground connection
from the filter must be wired to solid earth ground (resistance
less than 500 ohms); not machine ground. This is very
important!
The end user must use the filtration listed in Exhibit A to comply
with CE. The OEM may choose to provide alternative filtering
that encompasses the Minarik drive and other electronics within
the same panel.
The OEM has this liberty because CE is a machinery directive.
Whether or not every component in the OEM’s machinery meets
CE, the OEM must still submit his machine for CE approval.
meet CE, the machine will not necessarily meet CE as a
machine.
Figure 26. Prewired Connections to L1, L2(115) and L2(230). . . . . . . 48
Figure 27. Prewired Speed Adjust Potentiometer Connections . . . . . . 49
Figure 28. RG500 Series Block Diagram. . . . . . . . . . . . . . . . . . . . . . . 56
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iv
CE Addendum
Illustrations
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
1. RG500UA and RG510UA Dimensions . . . . . . . . . . . . . . . . . . 3
2. RG500A and RG510A Cased Drive Dimensions . . . . . . . . . . 4
3. Four Quadrant Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
4. Chassis Drive Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . 9
5. Cased Drive Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
6. Cage-Clamp Terminal Block . . . . . . . . . . . . . . . . . . . . . . . . . 11
7. Speed Adjust Potentiometer . . . . . . . . . . . . . . . . . . . . . . . . . 13
8. Speed Adjust Potentiometer Connections . . . . . . . . . . . . . . 14
9. TB502 Terminal Assignments . . . . . . . . . . . . . . . . . . . . . . . . 15
10. Voltage Follower Connection . . . . . . . . . . . . . . . . . . . . . . . 17
11. Selector Switch Locations . . . . . . . . . . . . . . . . . . . . . . . . . . 21
12. Regenerative Deceleration Switch Connection . . . . . . . . . 22
13. INHIBIT Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
14. Inhibit - Run Jumper Settings . . . . . . . . . . . . . . . . . . . . . . . 24
15. Inhibit - Run Terminals Location
and Run / Coast Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
16. Run/Decelerate to Zero Speed Switch . . . . . . . . . . . . . . . 26
17. Typical FWD TQ, REV TQ, and IR COMP Settings . . . . . 34
18. Deadband Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
19. RG500 Connections to DLC600 and PCM4 . . . . . . . . . . . . 38
20. RG500 connection to 200-0386A
Limit Switch Logic Board . . . . . . . . . . . . . . . . . . . . . . . . . . 39
21. Forward-Reverse Switch. . . . . . . . . . . . . . . . . . . . . . . . . . . 40
22. Forward-Stop-Reverse Switch . . . . . . . . . . . . . . . . . . . . . . 40
23. Independent Adjustable Speeds . . . . . . . . . . . . . . . . . . . . 41
24. Independent Forward and Reverse Speeds . . . . . . . . . . . . 42
25. Independent Forward and Reverse Speeds with a
Forward-Stop-Reverse Switch . . . . . . . . . . . . . . . . . . . . . . 43
55
Thus, no component must necessarily meet CE within the
machine, as long as the OEM takes the necessary steps to
guarantee the machine does meet CE. By the same token, even
if every component in the OEM’s machine does meet CE, the
machine will not necessarily meet CE as a machine.
Use of CE-approved wiring practices, such as proper shielding,
and the filters listed in Exhibit A guarantee the drive will meet
EN55011 (1991 emissions standard) and EN50082-1 (1992
immunity standard).
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iii
56
Block Diagram
Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
MINIMUM SPEED (MIN SPD) . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
MAXIMUM SPEED (MAX SPD) . . . . . . . . . . . . . . . . . . . . . . . . . 29
FORWARD TORQUE (FWD TQ) . . . . . . . . . . . . . . . . . . . . . . . . . 30
REVERSE TORQUE (REV TQ) . . . . . . . . . . . . . . . . . . . . . . . . . . 31
IR COMPENSATION (IR COMP) . . . . . . . . . . . . . . . . . . . . . . . . . 32
FORWARD ACCELERATION (FWD ACC) . . . . . . . . . . . . . . . . . 33
REVERSE ACCELERATION (REV ACC) . . . . . . . . . . . . . . . . . . 33
DEADBAND (DB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
TACHOGENERATOR (TACH) . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Application Notes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Connection to other Minarik devices . . . . . . . . . . . . . . . . . . . . . . . 38
Optional speed adjust potentiometer connections . . . . . . . . . . . . 40
Forward-Stop-Reverse Switch. . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Forward-Reverse Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Independent Adjustable Speeds (Forward Direction Only) . . . . . . 41
Independent Forward and Reverse Speeds . . . . . . . . . . . . . . . . . 42
Independent Forward and Reverse Speeds with
FWD-STOP-REV Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Factory Prewired Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Replacement Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Certificate of Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Unconditional Warranty . . . . . . . . . . . . . . . . . . . . . . . . inside back cover
Figure 28. RG500 Series Block Diagram
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ii
Block Diagram
Contents
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Drive option description (by suffix) . . . . . . . . . . . . . . . . . . . . . . . . . 2
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Regenerative Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Mounting chassis drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Mounting cased drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Heat sinking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
AC line and motor connections . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Cage-clamp terminal block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Field output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Tachogenerator feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Speed adjust potentiometer installation . . . . . . . . . . . . . . . . . . . . 13
Speed adjust potentiometer connections . . . . . . . . . . . . . . . . . . . 14
+15 and –15 terminals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Line Fusing for RG Series Drives . . . . . . . . . . . . . . . . . . . . . . . . 16
Voltage follower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Before applying power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Selector switch settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Chassis drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Cased drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Line starting and line stopping . . . . . . . . . . . . . . . . . . . . . . . 22
Automatic restart upon power restoration . . . . . . . . . . . . . . 22
Regenerative deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Starting and Stopping Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Regenerative brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Coast to a stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Decelerate to zero speed . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
P LPLEASE
E A S E NOTE:
N O T E : AAMAXIMUM
MAXIMU
M 10
O FmA
1 0 DC
mA
M ABE
Y B
E SOURCED
OF
MAY
SOURCED
FR
OM TTHE
HE S1
S1 AND/OR
AND/OS2
R STERMINALS
2 TERMINTO
ALS
O A ISOLOAD
LATEOR
D LOAD
FROM
AT
ISOLATED
OR
5 m
A MAY
DC M
A YSOURCED
BE SOU
RCED
F R+15
O M AND
T H E-15
+ 1 5TERMINALS
AND -15
15 1mA
DC
BE
FROM
THE
TETO
RMAINISOLATED
ALS TO LOAD.
A ISOLATED LOAD.
57
250-0210r4.qxp
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10:42 AM
Page 58
i
58
Notes
Safety Warnings
•
This symbol
denotes an important safety tip or warning.
Please read these sections carefully prior to performing any of
the instructions contained in that section.
•
Have a qualified electrical maintenance 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.
•
Reduce the chance of an electrical fire, shock, or explosion by
proper grounding, over-current protection, thermal protection,
and enclosure. Follow sound maintenance procedures.
•
It is possible for a drive to run at full speed as a result of a
component failure. Please ensure that a master switch has
been placed in the AC line to stop the drive in an emergency.
•
This drive is not isolated from earth ground. 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.
250-0210r4.qxp
3/30/2006
10:42 AM
Page II
Unconditional Warranty
A. Warranty
Minarik Corporation (referred to as "the Corporation") warrants that its products will be
free from defects in workmanship and material for twelve (12) months or 3,000 hours,
whichever comes first, from date of manufacture thereof. Within this warranty period,
the Corporation will repair or replace, at its sole discretion, such products that are
returned to Minarik Corporation, 901 East Thompson Avenue, Glendale, CA 912012011 USA.
This warranty applies only to standard catalog products, and does not apply to
specials. Any returns for special controls will be evaluated on a case-by-case basis.
The Corporation is not responsible for removal, installation, or any other incidental
expenses incurred in shipping the product to and from the repair point.
B. Disclaimer
The provisions of Paragraph A are the Corporation's sole obligation and exclude all
other warranties of merchantability for use, express or implied. The Corporation further
disclaims any responsibility whatsoever to the customer or to any other person for
injury to the person or damage or loss of property of value caused by any product that
has been subject to misuse, negligence, or accident, or misapplied or modified by
unauthorized persons or improperly installed.
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.
C. Limitations of Liability
In the event of any claim for breach of any of the Corporation's obligations, whether
express or implied, and particularly of any other claim or breech of warranty contained
in Paragraph A, or of any other warranties, express or implied, or claim of liability that
might, despite Paragraph B, be decided against the Corporation by lawful authority, the
Corporation shall under no circumstances be liable for any consequential damages,
losses, or expense arising in connection with the use of, or inability to use, the
Corporation's product for any purpose whatsoever.
An adjustment made under warranty does not void the warranty, nor does it imply an
extension of the original 12-month warranty period. Products serviced and/or parts
replaced on a no-charge basis during the warranty period carry the unexpired portion
of the original warranty only.
If for any reason any of the foregoing provisions shall be ineffective, the Corporation's
liability for damages arising out of its manufacture or sale of equipment, or use thereof,
whether such liability is based on warranty, contract, negligence, strict liability in tort, or
otherwise, shall not in any event exceed the full purchase price of such equipment.
Any action against the Corporation based upon any liability or obligation arising
hereunder or under any law applicable to the sale of equipment or the use thereof,
must be commenced within one year after the cause of such action arises.
250-0210r4.qxp
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10:42 AM
Page 60
USER’S MANUAL
RG500 SERIES
Minarik Drives
www.minarikdrives.com
14300 De La Tour Drive, South Beloit, IL 61080
Phone: (800) MINARIK or 646-2745;
Fax: (800) 394-6334 or (815) 624-6960
Document number 250–0210, Revision 4
Printed in the U.S.A. -- March 2006
SCR, Dual Voltage, Adjustable-Speed
Regenerative Drives for DC Brush Motors
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