USER’S MANUAL
SCR Filtered Series
Filtered SCR, Adjustable Speed Drives
for DC Brush Motors
Models:
MM21051C
MM21151C
MM21251C
Copyright 2001 by
Minarik Corporation
All rights reserved. No part of this manual may be reproduced or transmitted in
any form without written permission from Minarik Corporation. The information
and technical data in this manual are subject to change without notice. Minarik
Corporation and its Divisions make no warranty of any kind with respect to this
material, including, but not limited to, the implied warranties of its merchantability
and fitness for a given purpose. Minarik Corporation and its Divisions assume no
responsibility for any errors that may appear in this manual and make no
commitment to update or to keep current the information in this manual.
Printed in the United States of America.
i
Safety Warnings
• This symbol denotes an important safety tip or warning.
Please read these instructions carefully before performing
any of the procedures contained in this manual.
• Reduce the chance of an electrical fire, shock, or explosion by
proper grounding, over-current protection, thermal protection,
and enclosure. Follow sound maintenance procedures.
DO NOT INSTALL, REMOVE, OR REWIRE THIS
EQUIPMENT WITH POWER APPLIED. Have a qualified
electrical technician install, adjust and service this equipment.
Follow the National Electrical Code and all other applicable
electrical and safety codes, including the provisions of the
Occupational Safety and Health Act (OSHA), when installing
equipment.
It is possible for a drive to run at full speed as a result of a
component failure. Minarik strongly recommends the
installation of a master switch in the main power input to stop
the drive in an emergency.
Circuit potentials are at 115 VAC or 230 VAC above earth
ground. Avoid direct contact with the printed circuit board or
with circuit elements to prevent the risk of serious injury or
fatality. Use a non-metallic screwdriver for adjusting the
calibration trimpots. Use approved personal protective
equipment and insulated tools if working on this drive with
power applied.
ii
Contents
Safety Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .i
Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .ii
Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .iii
Illustrations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .iv
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
Drive mounting (General) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
Drive mounting (Chassis drives) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
Drive mounting (Cased drives) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
Shielding guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
Heat sinking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
Line fuses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
Field output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
Screw terminal block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
Speed adjust potentiometer installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
Chassis drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
Power input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
Cased drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
Power input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
Voltage follower (MM21051C only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
MM21051C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
Before applying power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
MM21151C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19
MM21251C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19
Starting and stopping methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
Line starting and line stopping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
Automatic restart upon power restoration . . . . . . . . . . . . . . . . . . . . . . . . .20
Inhibit circuit (MM21051C ONLY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
iii
Inhibit terminal accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
Decelerating to minimum speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23
Dynamic braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26
Minimum Speed (MIN SPD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
Maximum Speed (MAX SPD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
Acceleration (ACCEL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
Deceleration (DECEL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
IR Compensation (IR COMP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
TORQUE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
Application Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32
Multiple fixed speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32
Adjustable speeds using potentiometers in series . . . . . . . . . . . . . . . . . . . . .33
Independent adjustable speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
RUN/JOG switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
Reversing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37
Leader-Follower application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38
Single speed potentiometer control of multiple drives . . . . . . . . . . . . . . . . . .39
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40
Before applying power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40
Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
Replacement Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
Unconditional Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . .Inside Back Cover
Table 1. Recommended Line Fuse Sizes . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
Table 2. Field Output Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
Table 3. Inhibit Plug Part Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
Table 4. Replacement Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
Tables
Figure 1. MM21051C Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
Figure 2. MM21151C Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
Figure 3. MM21251C Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
Figure 4. MM21151C and MM21251C Back View Cased Mounting Keyhole
Locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
Figure 5. Screw Terminal Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
Figure 6. Speed Adjust Potentiometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
Figure 7. MM21051C Drive Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
Figure 8. MM21151C and MM21251C Connections . . . . . . . . . . . . . . . . . . . . . .16
Figure 9. Voltage Follower Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
Figure 10. Inhibit Circuit Connections (MM21051C only) . . . . . . . . . . . . . . . . . .21
Figure 11. Run/Decelerate to Minimum Speed Switch . . . . . . . . . . . . . . . . . . . .23
Figure 12. Dynamic Braking Circuit Connection . . . . . . . . . . . . . . . . . . . . . . . . .25
Figure 13. Calibration Trimpot Layouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
Figure 14. Typical TORQUE and IR COMP Settings
(actual settings may vary with each application) . . . . . . . . . . . . . . . .31
Figure 15. Multiple Fixed Speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32
Figure 16. Adjustable Fixed Speeds Using Potentiometers in Series . . . . . . . . .33
Figure 17. Independent Adjustable Speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
Figure 18. RUN/JOG Switch Connection to Inhibit Plug
(1st wiring option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
Figure 19. RUN/JOG Switch Connection to Speed Adjust Potentiometer (2nd
Wiring Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36
Figure 20. Reversing Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37
Figure 21. Leader-Follower Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38
Figure 22. Single Speed Potentiometer Control of Multiple Drives . . . . . . . . . . .39
Figure 23. MM21051C, MM21151C, and MM21251C block diagram . . . . . . . . .44
Figure 24. MM21151C switching circuit connections . . . . . . . . . . . . . . . . . . . . .45
Figure 25. MM21251C switching circuit connections . . . . . . . . . . . . . . . . . . . . .46
iv
Illustrations
1
Specifications
Maximum AC Line
Armature Voltage
Current Single Phase
Model (Amps DC) HP Range 50/60 Hz
MM21X51C 2.7 1/20–1/4 115VAC (–5%,+10%)
Armature Voltage (115 VAC Input) 0–130VDC
Form Factor 1.05 at base speed
Field Voltage 50 VDC (F1 to L1); 100 VDC (F1 to F2)
Max. Field Current 1 ADC
Accel. Time Range (0–130 VDC Armature Voltage) 0.5 – 7 seconds
Decel. Time Range (0–130 VDC Armature Voltage) 0.5 – 7 seconds
Analog Input Voltage Range (0–130 VDC Armature Voltage)* 0 – 5.7 VDC
Input Impedance (S1 to S2) 45KΩ
Load Regulation 1% of base speed or better
Ambient Temp. Range
MM21051C 10°C–55°C
MM21151C, MM21251C 10°C–40°C
Vibration 0.5 G max. (20 – 50 Hz)
0.1 G max. (>50 Hz)
Weight
MM21051C 2.1 lb (953 g)
MM21151C, MM21251C 3.3 lb (1.5 kg)
Style
MM21051C chassis
MM21151C, MM21251C NEMA 1
* Signal must be isolated; S1 to S2
2
Dimensions
Figure 1. MM21051C Dimensions
ALL DIMENSIONS IN INCHES [MILLMETERS]
FOUR (4) MOUNTING SLOTS 0.188 [5] WIDE
3
Figure 2. MM21151C Dimensions
ALL DIMENSIONS IN INCHES [MM]
Dimensions
4 Dimensions
Figure 3. MM21251C Dimensions
ALL DIMENSIONS IN INCHES [MM]
5
Figure 4. MM21151C and MM21251C Back View Cased Mounting
Keyhole Locations
6 Installation
Mounting
Drive mounting (General)
• Drive components are sensitive to electrostatic fields. Avoid
direct contact with the circuit board. Hold the drive by the chassis
only.
• Protect the drive from dirt, moisture, and accidental contact.
Provide sufficient room for access to the terminal block and
calibration trimpots.
• Mount the drive away from heat sources. Operate the drive within
the specified ambient operating temperature range.
• Prevent loose connections by avoiding excessive vibration of
the drive.
Warning
Do not install, rewire, or remove this control with input
power applied. Doing so may cause fire or serious injury.
Make sure you have read and understood the Safety
Warnings before attempting installation.
Installation
7
Drive mounting (Chassis drives)
• Mount the drive with its board in either a horizontal or vertical
plane. Eight 0.188 inch (4.8 mm) wide slots in the chassis
accept #8 pan head screws. Fasten either the large base or the
narrow flange of the chassis to the subplate.
• The drive must be earth grounded for noise suppression.
Connect earth ground to the earth ground terminal on the drive’s
bottom board (see Connections).
Drive mounting (Cased drives)
Cased drives come with 0.88 inch (22 mm) conduit holes at the
bottom of the case. The units may be vertically wall mounted or
horizontally bench mounted using the three keyholes on the back
of the case. See Figure 4 (page 5) for mounting hole locations.
1. For access to the keyholes and the terminal strip, remove the
two screws from the front of the case by turning them
counterclockwise. Grasp the front cover and lift it straight out.
2. Install the mounting screws in the three keyholes.
3. Install conduit hardware through the conduit holes at the bottom
of the case. Connect external wiring to the terminal block.
4. Reinstall the front cover. Avoid pinching any wires between the
front cover and the case.
5. Replace the two screws to the front cover. Turn the screws
clockwise to tighten.
6. Set the POWER switch to the OFF position before applying AC
line voltage.
Installation
8 Installation
Wiring
Warning
Do not install, remove, or rewire this equipment with power
applied. Failure to heed this warning may result in fire,
explosion, or serious injury.
Circuit potentials are at 115 VAC above ground. To prevent
the risk of injury or fatality, avoid direct contact with the printed
circuit board or with circuit elements.
Do not disconnect any of the motor leads from the drive
unless power is removed or the drive is disabled. Opening
any one motor lead may destroy the drive.
• Use 18 AWG wire for speed adjust potentiometer wiring. Use 16
AWG wire for AC line (L1, L2) and motor (A1, A2) wiring.
9
As a general rule, Minarik recommends shielding of all conductors.
If it is not practical to shield power conductors, Minarik
recommends shielding all logic-level leads. If shielding logic-leve
leads is not practical, the user should twist all logic leads with
themselves to minimize induced noise.
It may be necessary to earth ground the shielded cable. If noise is
produced by devices other than the drive, ground the shield at the
drive end. If noise is generated by a device on the drive, ground
the shield at the end away from the drive. Do not ground both ends
of the shield.
If the drive continues to pick up noise after grounding the shield, it
may be necessary to add AC line filtering devices, or to mount the
drive in a less noisy environment.
Logic wires from other input devices, such as motion controllers
and PLL velocity controllers, must be separated from power lines in
the same manner as the logic I/O on this drive.
Shielding guidelines
Warning
Under no circumstances should power and logic leads be
bundled together. Induced voltage can cause unpredictable
behavior in any electronic device, including motor controls.
Installation
10 Installation
Heat sinking
All MM21X51C drives have sufficient heat sinking in their basic
configurations. No additional heat sinking is required.
Line fuses
All drives have line fuses installed (see
Replacement Parts
section for installed line fuse size). Line fuses are rated for
maximum rated current.
Table 1. Recommended Line Fuse Sizes
FUSE SIZE (AMPS)
MOTOR HP @115 VAC INPUT
1/20 5
1/8 8
1/4 8
Use 16 AWG wire to connect the field output to a shunt wound
motor. Table 2 lists the field output connections.
11
Table 2. Field Output Connections
Approximate Connect Motor
Field Voltage (VDC) Field To
50 F1 and L1
100 F1 and F2
Warning
The field output is for shunt wound motors only. Do not make
any connections to F1 and F2 when using a permanent
magnet motor.
Field output
Installation
12 Installation
Screw terminal block
Connections to these drives are made to a screw terminal block
(Figure 5). The chassis model (MM21051C) has 9 screws on the
terminal block. The cased models (MM21151C, and MM21251C)
have 7 screws on the terminal block. Using a screwdriver, turn the
terminal block screw counter-clockwise to open the wire clamp.
Insert stripped wire into the wire clamp. Turn the terminal block
screw clockwise to clamp the wire.
Figure 5. Screw Terminal Block
Wire Clamp
Terminal Block Screw
13
Warning
Be sure that the potentiometer tabs do not make contact with
the potentiometer enclosure. Grounding the input will cause
damage to the drive.
Install the circular insulating disk between the panel and the 10K
ohm speed adjust potentiometer. Mount the speed adjust
potentiometer through a 0.38 inch (10 mm) hole with the hardware
provided (Figure 6). Twist the speed adjust potentiometer wire to
avoid picking up unwanted electrical noise. If potentiometer leads
are longer than 18 inch (457 mm), use shielded cable.
Figure 6. Speed Adjust Potentiometer
Speed adjust potentiometer installation
Installation
14 Installation
Warning
Do not connect this equipment with power applied.
Failure to heed this directive may result in fire or serious
injury.
Minarik strongly recommends the installation of a
master power switch in the line voltage input, as shown
in Figure 7, page 15 (chassis drives only). The switch
contacts should be rated at a minimum of 200% of motor
nameplate current and 250 volts.
Chassis drives
Motor
Minarik drives supply motor voltage from A1 and A2 terminals. It is
assumed throughout this manual that, when A1 is positive with
respect to A2 , the motor will rotate clockwise (CW) while looking at
the output shaft protruding from the front of the motor. If this is
opposite of the desired rotation, simply reverse the wiring of A1
and A2 with each other.
Connect a DC motor to the drive as shown in Figure 7,
page 15. Ensure that the motor voltage rating is consistent with
the drive’s output voltage.
Power input
For chassis drives, connect the AC line power leads to terminals L1
and L2, or to a double-throw, double-pole master power switch
(recommended) as shown in Figure 7, page 15.
Connections
15
Cased drives
Motor
Connect a DC motor to terminals A1 and A2 as shown in Figure 8,
page 16. Minarik drives supply motor voltage from A1 and A2
terminals. It is assumed throughout this manual that, when A1 is
positive with respect to A2 , the motor will rotate clockwise (CW)
while looking at the output shaft protruding from the front of the
motor. If this is opposite of the desired rotation, simply reverse the
wiring of A1 and A2 with each other.
Figure 7. MM21051C Drive Connections
Installation
16 Installation
Power input
Connect the AC power line leads to terminals L1 and L2 as shown
in Figure 8.
Figure 8. MM21151C and MM21251C Connections
17
Voltage follower (MM21051C only)
Instead of using a speed adjust potentiometer, the drive may be
wired to follow an analog input voltage signal that is isolated from
earth ground (Figure 9). The range of this signal is 0 - 6 VDC.
Connect the signal input (+) to S2. Connect the signal common (–)
to S1. Make no connection to S3. A potentiometer can be used to
scale the analog input voltage. To achieve isolation, use an
interface device such as Minarik model PCM4 to scale the analog
input voltage.
Figure 9. Voltage Follower Connections
Installation
18
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.
Warning
Dangerous voltages exist on the drive when it is powered.
BE ALERT. High voltages can cause serious or fatal injury.
Startup
MM21051C
1. Turn the speed adjust potentiometer full counterclockwise
(CCW), or the reference voltage to zero (if in voltage follower
mode).
2. Apply AC line voltage.
3. Slowly advance the speed adjust potentiometer clockwise (CW).
The motor slowly accelerates as the potentiometer is turned
CW. If in voltage follower mode, increase the reference voltage.
Continue until the desired speed is reached.
4. To decelerate the motor from set speed to a stop, reset the
speed adjust potentiometer for zero speed, or decrease the
reference voltage to zero. To coast the motor from set speed to
a stop, remove the AC line voltage from the drive.
Operation
19Operation
MM21151C
1. Turn the speed adjust potentiometer full counterclockwise
(CCW).
2. Apply AC line voltage
3. Set the POWER switch to the ON position.
4. 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.
5. Set the POWER switch to the OFF position to coast the motor to
a stop.
MM21251C
1. Set the RUN/STOP switch to the STOP position.
2. Turn the speed adjust potentiometer full counterclockwise
(CCW).
3. Apply AC line voltage.
4. Set the POWER switch to the ON position.
5. Set the FWD/REV switch to the desired direction of rotation.
6. Set the RUN/STOP switch to the RUN position.
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 stop the motor set the RUN/STOP switch to the STOP
position.
9. To reverse direction:
a. Set the RUN/STOP switch to the STOP position.
b. Set the FWD/REV switch to the desired direction of
rotation.
c. Set the RUN/STOP switch to the RUN position.
20 Operation
Warning
For frequent starts and stops, short the inhibit terminals,
decelerate to a minimum speed, or apply a dynamic brake to
the motor. 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.
Minarik strongly recommends the installation of an emergency
stop switch. The switch contacts should be rated at a
minimum of 250 volts and 200% of maximum motor current.
Frequent starting and stopping can produce high torque. This
may cause damage to motors, especially gearmotors that are
not properly sized for the application.
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.
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.
Automatic restart upon power restoration
Line starting and line stopping
Starting and stopping methods
21
Warning
The inhibit circuit is used for frequent starts and stops. It
must never be used as an emergency stop. It may not stop a
drive that is malfunctioning. Removing AC line power (both L1
and L2) is the only acceptable method for emergency
stopping. Minarik strongly recommends the installation of
a STOP/START switch for emergency stopping.
Inhibit circuit (MM21051C ONLY)
Maintaining a connection between the inhibit pins causes the motor
to coast to zero speed. Removing the connection between the
inhibit pins allows the motor to accelerate to the speed set by the
speed adjust potentiometer (Figure 10).
Figure 10. Inhibit Circuit Connections (MM21051C only)
Operation
22 Operation
Minarik Corporation offers two accessory plug harnesses for the
INHIBIT terminals, as shown in Table 3.
Table 3. Inhibit Plug Part Numbers
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 power-carrying
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.
Inhibit terminal accessories
23
Decelerating to minimum speed
The circuit shown in Figure 11 may be used to decelerate a motor
to a minimum speed. Closing the switch between S1 and S2
decelerates the motor from set speed to a minimum speed
determined by the MIN SPD trimpot setting. If the MIN SPD trimpot
is set full CCW, the motor decelerates to zero speed when the
switch between S1 and S2 is closed. The DECEL trimpot setting
determines the rate at which the drive decelerates. By opening the
switch the motor accelerates to set speed at a rate determined by
the ACCEL trimpot setting.
Figure 11. Run/Decelerate to Minimum Speed Switch
Operation
24 Operation
Dynamic braking may be used to rapidly stop a motor, Figure 12
(page 25). For the RUN/BRAKE switch, use a three pole, two
position switch rated for at least 125 VDC, 6 Amps. The dynamic
braking resistor should be ceramic encased, and a minimum of 25
ohms, 10 watts. The motor stops less rapidly with higher brake
resistor values.
Certain Minarik drives coast to minimum speed when the inhibit
terminals are shorted to each other. IR COMP and TORQUE are
still active while the drive is in the inhibit mode.
NOTE:
Model MM21251C is equipped with dynamic braking.
Dynamic braking
Warning
For frequent starts and stops, use coasting to a stop (shorting
inhibit terminal to each other – MM21051C only),
decelerating to minimum speed (shorting S2 and S1 to each
other), or dynamic braking. 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.
Wait for the motor to completely stop before switching back to
RUN. This will prevent high armature currents from damaging
the motor or drive.
25
Figure 12. Dynamic Braking Circuit Connection
Operation
26
Calibration
MM21X51C SERIES drives have six user adjutable trimpots: MIN
SPD, MAX SPD, IR COMP, TORQUE, DECEL, and ACCEL. Each
drive is factory calibrated to its maximum curent rating. Readjust
the calibration trimpot settings to accommodate lower current
motors.
All adjustments increase with clockwise (CW) rotation, and
decrease with counterclockwise (CCW) rotation. Use a non-metallic
screwdriver for calibration. Each trimpot is identified on the printed
circuit board.
Warning
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.
27Calibration
Figure 13. Calibration Trimpot Layouts
MM21051C
MM21151C/MM21251C
28 Calibration
Minimum Speed (MIN SPD)
The MIN SPD setting determines the minimum speed when the
speed adjust potentiometer is turned full CCW. It is
factory set to zero speed.
To calibrate, set the speed adjust potentiometer full CCW. Adjust
the MIN SPD trimpot until the motor has stopped, or is running at
the desired minimum speed.
Maximum Speed (MAX SPD)
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 calibrate, set the MAX SPD trimpot full CCW. Turn the speed
adjust potentiometer full CW. Adjust the MAX SPD trimpot until the
desired maximum motor speed is reached.
Acceleration (ACCEL)
The ACCEL setting determines the time the motor takes to ramp to
a higher speed, within the limits of available torque. The ACCEL
setting is factory set for its fastest acceleration time.
Turn the ACCEL trimpot CW to increase the acceleration time, and
CCW to decrease the acceleration time.
29
Deceleration (DECEL)
The DECEL setting determines the time the motor takes to ramp to
lower speed, within the limits of available torque. The DECEL
setting is factory set for its fastest deceleration time.
Turn the DECEL trimpot CW to increase the deceleration time, and
CCW to decrease the deceleration time.
IR Compensation (IR COMP)
The IR COMP setting determines the degree to which motor speed
is held constant as the motor load changes. It is factory set for
optimum motor regulation.
Recalibrate the IR COMP setting when using a lower horsepower
motor. Refer to the recommended IR COMP settings in Figure 14,
page 31, or recalibrate using the following procedure:
If the motor does not maintain set speed as the load changes,
gradually rotate the IR COMP trimpot CW. If the motor speed
oscillates (overcompensation), the IR COMP trimpot may be set
too high (CW). Turn the IR COMP trimpot CCW until the motor
speed stabilizes.
Calibration
30 Calibration
TORQUE
Warning
Although TORQUE LIMIT is set to 120% of motor nameplate
current rating, continuous operation beyond that rating may
damage the motor. If you intend to operate beyond the rating,
contact your Minarik representative for assistance.
The TORQUE setting determines the maximum armature current
output of the drive. It is factory set at 120% of rated motor current.
Recalibrate the TORQUE setting when using a lower horsepower
motor. Refer to the recommended TORQUE settings below, or
recalibrate using the following procedure:
1. With the power disconnected from the drive, connect a DC
ammeter (0-15 A minimum scale) in series with the armature.
2. Set the TORQUE trimpot to minimum (full CCW).
3. Lock the motor armature. Be sure that the motor is firmly
mounted.
4. Connect power to the drive. The motor should remain stopped.
5. Set the speed adjust potentiometer to maximum (full CW).
6. Adjust the TORQUE trimpot CW slowly until the armature current
is 120% of motor rated armature current.
7. Set the speed adjust potentiometer to minimum.
8. Remove power from the drive.
9. Remove the stall and ammeter from the motor.
31
Figure 14. Typical TORQUE and IR COMP Settings
(actual settings may vary with each application)
Calibration
32
Multiple fixed speeds
Replace the speed adjust potentiometer with series resistors with a
total series resistance of 10K ohms (Figure 15). Add a single pole,
multi-position switch with the correct number of positions for the
desired number of fixed speeds.
Application Notes
Figure 15. Multiple Fixed Speeds
33Application Notes
Adjustable speeds using potentiometers in series
Replace the speed adjust potentiometer with a single pole, multiposition switch, and two or more potentiometers in series, with a
total series resistance of 10K ohms. Figure 16 shows a connection
for fixed high and low speed adjust potentiometers
Figure 16. Adjustable Fixed Speeds Using Potentiometers in
Series
34
Independent adjustable speeds
Replace the speed adjust potentiometer with a single pole, multiposition switch, and two or more potentiometers in parallel, with a
total parallel resistance of 10K ohms.
Figure 17 shows the connection of two independent speed adjust
potentiometers that can be mounted at two separate operating
stations.
Figure 17. Independent Adjustable Speeds
Application Notes
35
RUN/JOG switch
Using a RUN/JOG switch is recommended in applications where
quick stopping is not needed and frequent jogging is required. Use
a single pole, two position switch for the RUN/JOG switch and a
single pole, normally closed, momentary operated pushbutton for
the JOG pushbutton.
In the first wiring option, connect the RUN/JOG switch and JOG
pushbutton to the inhibit plug as shown in Figure 18. The motor
coasts to a stop when the RUN/JOG switch is set to JOG. Press
the JOG pushbutton to jog the motor. Return the RUN/JOG switch
to RUN for normal operation.
Figure 18. RUN/JOG Switch Connection to Inhibit Plug
(1st wiring option)
Application Notes
36 Application Notes
In the second wiring option, connect the RUN/JOG switch
and the JOG pushbutton as shown is Figure 19. When the
RUN/JOG switch is set to JOG, the motor decelerates to minimum
speed (minimum speed is determined by the MIN SPD trimpot
setting). Press the JOG pushbutton to jog the motor. Return the
RUN/JOG switch to RUN for normal operation.
Figure 19. RUN/JOG Switch Connection to Speed Adjust
Potentiometer (2nd Wiring Option)
37
Reversing
A dynamic brake may be used when reversing the motor direction
(Figure 20). For the RUN/BRAKE switch, use a four pole, three
position switch rated for at least 125 VDC, 6 Amps. The dynamic
braking resistor should be ceramic encased, and a minimum of
25W, 10 watts. The motor stops less rapidly with higher brake
resistor values. Wait for the motor to stop completely before
switching it to either the forward or reverse direction.
Figure 20. Reversing Diagram
Application Notes
38 Application Notes
Leader-Follower application
In this application, use a PCM4 to monitor the speed of the leader
motor (Figure 21). The PCM4 isolates the leader motor from the
follower drive, and outputs a voltage proportional to the leader
motor armature voltage. The follower drive uses this voltage
reference to set the speed of the follower motor. An optional ratio
potentiometer may be used to scale the PCM4 output voltage.
Figure 21. Leader-Follower Application
39
Single speed potentiometer control of multiple drives
Multiple drives can be controlled with a single speed adjust
potentiometer using a PCM4 at the input of each drive to provide
isolation (Figure 22). Optional ratio potentiometers can be used to
scale the PCM4 output voltage, allowing independent control of
each drive.
Figure 22. Single Speed Potentiometer Control of Multiple Drives
Application Notes
40
Before applying power
Perform the following steps before starting any procedure in this
section:
1. Disconnect AC line voltage from the drive.
2. Check the drive closely for damaged components.
3. Check that no conductive or other foreign material has become
lodged on the printed circuit board.
4. Verify that every connection is correct and in good
condition.
5. Verify that there are no short circuits or grounded connections.
6. Check that the voltage selection switch settings match the AC
line and output voltages.
7. Check that the drive’s rated armature and field outputs are
consistent with the motor ratings.
For additional assistance, contact your local Minarik distributor, or
the factory direct: (800) MINARIK (phone) or (800)646-2745
(800) 394-6334 (fax)
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.
Troubleshooting
41Troubleshooting
Possible
Causes
1. Line fuse is the
wrong size.
2. Motor cable or
armature is shorted
to ground.
1. MIN SPD and MAX
SPD settings are
too high.
2. Motor field
connections are
loose (shunt wound
motors only).
Problem
Line fuse blows.
Motor runs too fast
at maximum speed
setting.
Suggested
Solutions
1. Check that the line
fuse is correct for
the motor size
(page 10).
2. Check motor cable
and armature for
shorts.
1. Recalibrate MIN
SPD and MAX SPD
(page 28).
2. Check motor field
connections and
armature output
voltage.
42 Troubleshooting
Possible
Causes
1. Speed adjust
potentiometer or
voltage input signal
set to zero speed.
2. Speed adjust
potentiometer or
voltage input signal
not connected to
drive input properly;
connections are
open.
3. S2 is shorted to S1.
4. Drive is in current
limit.
5. Drive is not
receiving AC line
voltage.
6. Motor is not
connected.
Suggested
Solutions
1. Increase the speed
adjust pot or
voltage setting.
2. Check connections
to input. Verify that
connections are not
open.
3. Remove short.
4. Verify that motor is
not jammed.
Increase TORQUE
setting (page 30); it
may be set too low.
5. Apply AC line
voltage to L1 and
L2.
6. Connect motor to
A1 and A2.
Problem
Line fuse does not
blow, but the motor
does not run.
43
Possible
Causes
1. MIN SPD and MAX
SPD not calibrated.
2. Field not operating
properly.
1. MAX SPD setting is
too low.
2. IR COMP setting is
too low.
3. Motor is overloaded.
1. IR COMP is set too
high.
2. Motor bouncing in
and out of TORQUE
limit.
Suggested
Solutions
1. Calibrate MIN SPD
and MAX SPD (page
28).
2. Check motor field
connections and
voltage.
1. Increase MAX SPD
setting (page 28).
2. Increase IR COMP
setting (page 29).
3. Check motor load.
Resize the motor and
drive if necessary.
1. Adjust the IR COMP
setting slightly CCW
until the motor speed
stabilizes (page 29).
2. Make sure motor is
not undersized for
load; adjust
TORQUE pot CW
(page 30).
Problem
Motor runs too slow or
too fast.
Motor will not reach the
desired speed.
Motor pulsates or
surges under load.
Troubleshooting
44
Figure 23. MM21051C, MM21151C, and MM21251C block diagram
Block Diagrams
45
Figure 24. MM21151C switching circuit connections
46 Block Diagrams
Figure 25. MM21251C switching circuit connections
47Block Diagrams
Replacement Parts
Replacement parts are available form Minarik Corporation and its
distributors for this drive series.
Table 4. Replacement Parts
Model No. Symbol Description Minarik P/N
MM21051C C507 470mF, 400VDC filter cap 011-0120
D501-503 800 V, 20 A power diode 071-0039
Fuse 8A 3AB 050-0023
MOV501 275Vrms 4500A peak MOV 075-0011
R501 0.2 ohm, 5W feedback resistor 032-0015
SCR501-502 600V, 20A SCR 072-0017
T501 3FS-324-001 transformer 230-0084
X Choke 240-0006
10K ohm potentiometer kit 202-0003
MM21151C Same parts as MM21051C except :
C507-509 220mF, 200V capacitor 011-0069
IL501 Pilot Lamp 040-0035
P1 Speed adjust potentiometer 120-0031
SW501 DPDT toggle switch 080-0009
Potentiometer Knob 140-0013
MM21251C Same as MM21151C except:
SW1-SW3 DPDT toggle switch 080-0009
48
Notes
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 91201-2011 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.
C. Limitations of Liability - In the event of any claim for breech 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.
901 E Thompson Avenue
Glendale, CA 91201-2011
Tel.: 1-800-MINARIK (646-2745)
Fax: 1-800-394-6334
www.minarikcorp.com
Document number 250–0100, Revision 5
Printed in the U.S.A – 7/01
North America $10.00, Outside North America $13.00
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