PWM SERVO

CONTROLLERS

Series MS

Operating Manual

Issue December 1998

MESA Automation GmbH

RECEIVING AND HANDLING

Upon delivery of the equipment, inspect the shipping containers and contents for indications of damages in
curried in transit. If any of the items specified in the bill of lading are damaged, or the quantity is incorrect, do
not accept them until the freight or express agent makes an appropriate notation on your freight bill or
express receipt.

Claims for loss or damage in shipment must not be deducted from your invoice, nor should payment be
withheld pending adjustment of any such claims.

Store the equipment in a clean , dry area. It is advisable to leave the equipment in its shipping container until
ready fore use. Each amplifier is checked carefully before shipment. However, upon receipt, the user should
make sure that the amplifier corresponds to or is properly rated in terms of rated voltage and current for the
type of motor which is to be driven. The descriptive label affixed to the amplifier specifies electrical ratings.

Safety and application information

According to the enclosure the Amplifiers Motors and Power supplies may have live, uninsulated or rotating
parts or hot surfaces during operation.
The inadmissible removing of the required cover, in proper application, wrong installation or operation may
lead to personal or material damages.
For further information please refer to the manual.
Only qualified personal are permitted to install or operate the equipment.
IEC 364, CENELEC HD 384, DIN VDE 0100,0105,0110 and national regulations must be observed
According to these general safety information a qualified person is someone who is familiar with installation,
assembly, commissioning and operation of the equipment. These person must have the appropriate
qualifications.

Waste Disposal
According to the EC-Directive 2002/06 all drive are provided with the opposite icon. That means
that the drives cannot be put to the general rubbish or garbage.

Order No.: 74.01700

1 TECHNICAL SPECIFICATIONS FOR MS .................................................................................................2
1.1 BASIS MODELS .......................................................................................................................................3
1.2 ORDER EXAMPLE ....................................................................................................................................3
2 GENERAL CONDITIONS ...........................................................................................................................3

3 BLOCK DIAGRAM......................................................................................................................................4
3.1 SUBPRINT OPT E LIMIT SWITCH ...........................................................................................................4
3.2 SUBPRINT MSM-OPT ............................................................................................................................4
4 POWER SUPPLY .......................................................................................................................................4
4.1 AUX. ELECTRONIC SUPPLY ± 15 V...........................................................................................................4
4.2 POWER TRANSFORMER...........................................................................................................................5
5 SETTING UP THE AMPLIFIER ..................................................................................................................5
5.1 TACHO ADJUSTMENT: P3 ........................................................................................................................5
5.2 OFFSET: P1...........................................................................................................................................5
5.3 ADJUSTMENT OF THE SPEED CONTROLLER GAIN ......................................................................................6
5.4 ARMATURE CURRENT MEASUREMENT .....................................................................................................7
5.5 RMS - FUNCTION IARMS ...........................................................................................................................7
5.6 BEMF FEEDBACK SPEED CONTROL WITH I X R-COMPENSATION ..............................................................7
5.7 VARIABLE COMPONENTS .........................................................................................................................8
5.8 SPEED CONTROLLER COMPONENTS, BLOCK DIAGRAM ..............................................................................8
5.9 CURRENT CONTROL ................................................................................................................................8
6 PROTECTION AND FAULT SIGNALLING ................................................................................................8

7 WIRING SUGGESTIONS............................................................................................................................9

8 MESANOR - RACK SYSTEM.....................................................................................................................9

9 FAULTFINDING AND REMEDY...............................................................................................................10

10 COMMISSIONING AND TERMINAL DESCRIPTION...........................................................................10

10.1 FRONT CONNECTOR X 1 .......................................................................................................................10
10.2 SOLDER JUMPER ..................................................................................................................................11
10.3 TEST POINTS CONNECTOR X2 ...............................................................................................................11
10.4 TECHNICAL DATES - DRIVE BRAKING MODULE- AND POWER SUPPLY ......................................................11
10.5 ADDITIONAL DATES ..............................................................................................................................12
10.6 RACK SIZE ...........................................................................................................................................12
11 DRAWINGS ...........................................................................................................................................13
11.1 AMPLIFIER INPUT ..................................................................................................................................13
11.2 DC-POWER SUPPLY .............................................................................................................................13
11.3 COMPONENTS LOCATION ......................................................................................................................14
11.4 MECHANICAL STYLE..............................................................................................................................15
MESA Automation GmbH

1 Technical specifications for MS

Power stage

Input voltage Chapter 1.1 Basis models

Over voltage protection 85 VDC (UA=60 V)
160 VDC (UA=120 V)
Chopper frequency 8 kHz (to GND)
Form factor at nominal ratings 1.01 (Rated current)
Power stage protection short circuit
Fault signalling red LED ϑmax , - Îmax ;- Umax
Braking module page 12/10.4

Speed controller

Input command Differential ± 10 V Ri = 20 kΩ

Tacho reference signal Differential ± 5V ... ± 60 V Ri = 54 kΩ
Compensation network PI (D)
correction with potentiometer or components

Speed control range 1:20000

static Error 30...3000 rpm ± 0,1 %
1...30 rpm ± 2,0 %
< 1 rpm ± 5,0 %

Current controller

Band width 1 kHz

Compensation network Pl
Current limitation 1 IArms
Current limitation 2 max. output current IAmax

Enable X1/PIN5 connect to 0 V, (optional + 24 V)

signals
Drive healthy (relay contact) X1/PIN6 connect to X1/PIN7
Contact ratings 160 VDC/10 mA

"OK“ LED green on

"error" LED red on
„Braking“ LED red + green on

other Data
Operating temperature ϑu 0...45 °C derating 2 %/ K from 45 °C to 60 °C
Storage temperature -10...+70°C,
Cooling by air convection, or fan if Irms > 6A
rel. humidity 65 %, without condensation
Protection class IP 00
Isolation group C /VDE 0110
Size page 12/10.5

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1.1 Basis models

TYPE UA Imax INRMS UCCN UN τ Fan Input

(V) (A) (A) (V DC) (V AC) (s)
MS 0210 20 20 10 24 --------- 4 DC
MS 0510 44 20 10 48 --------- 4 DC
MS 0604 60 8 4 65 46 1 AC
MS 0606 60 12 6 65 (46) 4 DC (AC)
MS 0608 60 16 8 65 ---------- 4 DC
MS 0610 60 20 10 65 ---------- 4 IA≥ 8,5 A DC
MS 1204 120 8 4 125 90 1 IA≥ 3,5 A AC
MS 1206 120 12 6 125 (90) 4 IA≥3,5 A DC (AC)
MS 1208 120 16 8 125 ---------- 4 IA≥6 A DC
MS 1210 120 20 10 125 ---------- 4 IA≥ 6 A DC

UA: Output voltage UCCN ; Imax : max. Output current ; INrms : rated current
τ : Time constant of RMS circuit

1.2 Order example

A) Standard without option MS 1208 (M 99)

Mesanor Compact-DC-Drive Modification

Rated current INrms 8A
Output voltage UA = 120 V

B) Limit switch OPT.E and 0 V Logic (Enable and Opt.)

MS 0606 OPT. E (-)

2 General conditions
The MS servo modules are extremely compact PWM servo amplifiers that provide 4 quadrant speed control
of any DC servo motors with Tacho or with BEMF feedback. MS amplifiers are conceived for regulation of
brush DC motors. The MSMN... power supply transforms ac voltage into dc voltage. From dc voltage the
amplifier is producing the current for the motor. Output current is PWM controlled and due to high chopper
frequency a large bandwidth and dynamics are granted.

Relations for the operation of the motor:

• torque is proportional to output current

• speed is proportional to output voltage
• direction of rotation corresponds to sense of the output voltage
For limit values, please look the specifications. Inadmissible working conditions or wrong application of the
amplifiers should be avoided.
Never plug in or unplug any connectors on the amplifier when power is applied. A time of discharge
of 3 minutes must be considered
The Mesanor-Amplifiers series MS are designed for Rack mounting in „Eurocard“ (3 U). :
The Power supply MSMN/W and Subprint MSM OPTor OPT E will complete the system.
Mounting: Front connector upright
Cooling: natural cooling or forced cooling (Chap.1.1)
ambient temperature less then 45°C .
Electronic supply: ± 15 V max extern charge with 20 mA
Supply from net: Isolation transformer required

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3 Block diagram

3.1 Subprint OPT E Limit switch

By connection of GND (OPT E -) or 24 V signal (OPT E +) to the terminals for negative and positive direction
the limit switch can be deactivated. If the limit switch is active, the motor will stop in these direction. The limit
switch logic level (OPT E += positive,
OPT E (-)= negative logic) is set by factory. R 111 must be removed, otherwise option B;C and E will not
work.

3.2 Subprint MSM-OPT

Other Options are available by using MSM-OPT Subprint- please ask for more information.
- external current limiting, positive and negative Output current separate (Opt.A)
- Speed controlled current limiting (Opt. L) - programmable Limit-Switch (Opt. KE)
- Ramp generator (Opt. B ) - Limit switch (Opt. C) only available with negative logic

4 POWER SUPPLY
Please use only the special Power supply Series MSMN/W .

4.1 Aux. electronic supply ± 15 V

Electronic (+/-15V) of the amplifier is supplied from power voltage.

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4.2 Power transformer

Transformers with galvanic separated primary an secondary winding are used for adjustment of supply
voltage to the existing net. The Transformers have to correspond to VDE 0550. One and three phase
transformers can be used.
If the transformer used has a star point in its secondary winding then this should be isolated and NOT
connected to earth.
A three phase transformer is recommended for current higher than 10 a continuos overall.
The factory or your dealer should be consulted to specify the proper size and secondary voltage.

5 Setting up the amplifier

The adjustment of Tacho, output current, Irms is made by factory. An adjustment of an amplifier for another
motor is possible
In order to achieve best performance for the system motor/amplifier, optimisation of speed circuit is
necessary. The following components are used:
• P 2 /R21: P- Gain
• C2: I - Gain
• P3/R31: tachometer signal

5.1 Tacho adjustment: P3

As a general rule, amplifiers driving servo motors are designed such that the continuously rated speed of the
motor corresponds to an input command to the amplifier of 10 V.
• apply a 10 V signal to the command input and measure the motor speed. The Tacho pot. P3 can now be
adjusted until the correct maximum speed is reached. If unable to obtain the speed over range of P3, then
consult factory for modifications.

Standard-range:

Left side: 5 V Tacho input voltage correspond to 10 V Set value

Right side: 60 V Tacho input voltage correspond to 10 V Set value
adjustment of the standard rage with R31
Components can be adjusted in factory or by service.

5.2 Offset: P1
If an input of exactly 0 V is applied to the command input then the motor shaft should be stationary. Any
creep may be eliminated with P 1.

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5.3 Adjustment of the speed controller gain

Amplifiers are equipped with a standard optimisation and can be adapted by P2. Is this adjustment not
possible, PI on the Personality card must be checked.
P-Gain: P2
Standard range: Right side: 160
Left side: 8
adjustment of the standard rage with R21

A) Response when correctly adjusted

1)
USOLL Demand Signal

acceleration
t1;t3

IDC decceleration
IA Motor current t2;t4

UT Speed OPTIMAL !
(Tacho)

Incorrent Response

IDC Motor current Attention!

IA mismatches
Motor current oscillates

UT Spees P-Gain too high

(Tacho) adjust with P2

t1 t2 t3 t4

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5.4 Armature Current Measurement

Armature current is measured by means of a shunt placed in series with the armature circuit. The voltage
produced can be measured at the „I Monitor“ test point. 10 Volts output corresponds to the maximum current
of the amplifier.

Max. Output current IAmax: P4

The amplifier is capable of supplying twice is rated current for 1.5-5 seconds.
Peak current will be adjusted by P4.

Standard-Range: Right side: IAmax = 1 x Imax = Type-max. current

Left side: IAmax = 0,03 x I max

Current balance: P7
Adjustment of the internal Current measurement! Set by factory, do not change !

5.5 RMS - Function IArms

Momentary current is processed into an I rms. Value by a squarer network and is negatively feed back to the
armature current control point via a threshold value switch. The I rms. Current is adjusted with P5 and is
maintained irrespective of the curve shape of the armature current actual value.

IAmax t1= acceleration pick-up

IArms t2= limitation

τ = t2-t1 (without pre charge)

t1 t2 t

RMS output current IArms: P5

Follow the procedure given above for adjustment of IAmax. The IArms pot P 5 can be adjusted and ist value
read from the monitor after about 5 seconds.
Standard-
Range Right side: IArms = 1 x INrms = Type rated current
Left side: IArms = 0,1 x INrms

5.6 BEMF feedback Speed control with I x R-compensation

Application without Tacho feedback are possible with lower accuracy of the speed controller
the use of an compensation resistor R12 gives a increase of accuracy.
Attention:
Solder jumper Br1, Br2 close for BEMF operation, in this case BR 3 must be open !
For amplifiers with more then 60 V output voltage never close direct BR1 + Br2 use to additional resistors RV
(R211/212)

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5.7 Variable components

Set value adjustment: R111 Standard: 10 k Ω

Tacho adjustment: R31 Standard: 1,8 kΩ
IxR compensation: R12 Standard: not used

5.8 Speed controller components, Block diagram

lntegral part C2 Standard: C2 = 0,1 µF Proportional part P2 / R 21 Standard: R21 = 82 kΩ

TN = R21 x C2
KNS = R21/R111 x K (command gain)
KN = R21/(P3 + R31) x K (error gain)

K factor is the result of P2 adjustment : Right side: K = 20

Left side: K=1

Block diagram Speed control

5.9 Current control

The controller is optimised by factory do not change !

6 Protection and fault signalling

The green LED indicates the proper function of the unit. In case of a fault, a signal is given by the front red
LED (H1), power stage will be disable and the „ready/drive healthy „ relay contact will be open.
Reset the amplifier : supply voltage off-/-on

Monitoring ground fault

Over currents due to ground fault causes the safety switching circuit to respond the same way as an over
current fault.

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Monitoring over voltage

If over voltage occurs in the DC Bus voltage, a fault is signalled.

Monitoring under voltage

The +/- 15 V will drop to 0V DC an disable the amplifier.

Monitoring over temperature of the power stage

Monitoring of the heat sink temperature up to 90 ° C or 190 ° F

7 Wiring suggestions
• It is Important that the amplifier (Rack or stand-alone) is properly earthed. If the amplifier is not earthed
then if an earth fault occurs in the motor circuit the output of the amplifier will be destroyed.
• Each motor must be wired separately (cable should be shielded)
• Motor cable may be shielded if there is a requirement for reduced electrical noise.
• Speed demand and tacho circuits should be individually shielded (twisted) pairs.
• Speed demand inputs are differential inputs consequently either polarity can be used. It is Important that if
a single ended input is used then one of the amplifier inputs must be connected to ground. The controller
and the amplifier must operate with the same GND reference potential.
• All control inputs (for example: limit switch, speed demand) have to be twisted and shielded pairs.
• If cables with two outside shields (better EMV security) are used, the outside shield must be connected to
earth on both sides, the inside shield must be connected to the rack. GND contacts of amplifiers are not
suited to be connected with the shield circuit.

8 MESANOR - Rack system

Special Racks are offered for the amplifiers are supplied with corresponding fans according to the drive
performance. In order to grant high reliability of the system and security for the user the following regulations
must be considered VDE 0100, VDE 01600, part 1 and 2 in relation with VDE 0660, part 5 and VDE 0113.
The rack MSMRA is useful for wall mounting, the MSMRS for swivel frames.

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9 Faultfinding and remedy

Fault Cause Remedy
The motor will not start supply voltage missing check all fuses are good and supply
voltage are present
there is no current drive not enable Terminal X1/Pin5 should be connected to
0VDC (optional +24V) for power stage
enable
Motor wiring open check the wiring for the armature circuit
The motor runs at The control circuit is polarised Change the polarity of the tachometer or
the motor.
An uncontrollably high speed after The motor is blocked (mechanically) Release the brake, if there is one; if
switching on. necessary dismantle the motor and run
no-load test
The motor will not start although Shorted motor circuit Check the wiring of the armature circuit
current is present
The motor runs unevenly P-portion too high I-portion too small Turn P2 counter clockwise Increase C8
Wiring fault at control leads or Check the shielding and check wiring
tachometer leads
After enable the amplifier Choke are not wired in the armature check wiring
the red fault LED is lit choke and/or motor inductance too low the value must amount to, at least, the
value for the corresponding amplifier
short circuit in the motor, wiring or check wiring, motor and chokes
chokes
After turn on amplifier the red LED is power stage is defective exchange amplifier
lit without enable amplifier
the red LED is on after a long running power stage overheat let the module cool down
time
Red LED goes on when the motor is over voltage caused by high system A braking regulator board needs to be
decelerating inertia added to insure proper amplifier use
Red LED goes on immediately after Over voltage caused by high bus check transformer and net
power up voltage

10 Commissioning and terminal description

10.1 Front connector X 1

PIN Signal direction Function Remark
1 - IN Set value differential , Ri = 20 KΩ , max. input voltage
2 + IN 20 V ,max. input Voltage to GND +/- 30 V
3 + IN Tacho input differential, Ri = 54 KΩ , max. input voltage
4 - IN 65 V , max. input voltage to GND +/- 70 V
Att. BEMF control for output voltage higher then 60V
5 IN Enable negative Logic : open Drive disable
0V (GND) Drive enable
Attention ! do not connect to source
positive Logic : open or 0V(GND) Drive disable
+ 24 V Drive enable
6 OUT drive healthy signal relay contact
7 OUT closed if Drive OK
8 OUT + 15 V Auxiliary Voltage max. load with 20 mA,
(IN) (Limit switch) not available if using OPT E
input for OPT E Limit switch
Logic level set by factory
9 0VE (GND) Electronic ground
10 OUT - 15 V see PIN 8
(IN) (Limit switch)
11 + OUT Motor A1 notice diameter , never short to ground or A2 or power input
12 - OUT Motor A2
ATTENTION ! PIN 13/14 Type determined DC or AC
13 IN + Ucc/AC DC Bus voltage or AC input
14 IN - Ucc/AC

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10.2 Solder jumper

Solder jumper Function (closed) Remark
BR 1 Drive output to Tacho input BEMF control
BR 2 Drive output to Tacho input BEMF control
BR 3 Tacho input to GND disturbance reduction
BR 4 P-connector R= 1,8 KΩ
BR 5 Enable logic level + 24 V set by factory

10.3 Test points connector X2

Test point X2 /PIN Remark
2 Speed controller output/ current command
3 Tacho signal
4 current monitor +/- 10V = Imax
6 current command (Pot. P4)
10 Speed control junction
12 -15 V
14 0VE (GND)
18 Speed command
19 +15 V
20 Enable , CMOS level 15 V
21 Error over voltage 0 = Error
22 Error over current 1 = OK
23 Error over temperature
24 Error input from Option subprint
Attention ! All test points refer to 0VE/GND power and logic ground direct connected

10.4 Technical Dates - Drive Braking module- and Power supply

Type UBR ON UBR OFF PMAX Pcont. Icc input voltage range
1)
(V DC) (V DC) (W) (W) (A) 1 phase AC or DC
MS 0210 15 - 48 V DC
MS 0510 24 - 55 V DC
MS 0604 76 74 520 4 20 - 50 V AC
MS 0606 **) 76 74 520 4 (20 - 50 V AC) 24 - 70 V DC
MS 0608 76 74 790 6 24 - 70 V DC
MS 0610 76 74 790 6 24 - 70 V DC
MS 1204 140 137 960 4 30 - 96 V AC
MS 1206 **) 140 137 1500 4 (30 - 96 V AC) 45 - 135 V DC
MS 1208 140 137 1500 4 45 - 135 V DC
MS 1210 140 137 2000 4 45 - 135 V DC
Power supply 1 or 3-phasig (AC)
MSN 06 76 74 1100 150/ 5,4Ω*) 20 18-50 V AC
MSNW 06 76 74 500 50 20 18-50 V AC
MSN 12 149 147 2200 150 /10,8Ω*) 20 30-100 V AC
MSNW 12 149 147 1000 50 20 30-100 V AC
1)
max. ratings!
*) with external Braking resistor ; **) Standard DC Input optional AC 1 phase
Attention : Never overload the braking system, calculate before the max. power.

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10.5 Additional Dates

Type Fuse internal Lmin Size in TE Size Wight Ω

RV in KΩ
(A) choke (mH) (1 TE=0,2“) (mm) (Kg) 0,25 W/1%
(R211/212)
MS 0210 10 0,5*) 0,2 10 40 0,3 -
MS 0510 10 0,5*) 0,2 10 40 0,3 -
MS 0604 4 1,1 1 10 40 0,4 -
MS 0606 6,3 1,1 1 10 44 0,45 -
MS 0608 8 0,5*) 0,5 10 44 0,45 -
MS 0610 10 0,5*) 0,5 10 44 0,45 -
MS 1204 4 1,1 1 10 44 0,45 64,9
MS 1206 6,3 1,1 1 10 44 0,45 64,9
MS 1208 8 0,5*) 0,5 12 51 0,65 64,9
MS 1210 10 0,5*) 0,5 12 51 0,65 64,9

Lmin : minimum Inductance ; *) optional choke

10.6 Rack size

Rack type Size a (mm) Size b (mm) Units (1TE=0,2“) high

MSMR 24 160 127 25 3U
MSMR 36 221 188 37 3U
MSMR 48 282 249 49 3U
MSMR 60 343 310 61 3U
MSMR 72 404 371 73 3U
MSMR 84 465 432 85 3U
Rack DIN 41 494 , part 1 , 1 TE = 5,08 mm or 0,2´´ ,
MSMR 84 19´´ Standard rack

For more information please ask our service or your dealer.

Please note all necessary information and drive adjustments for service and order.

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11 Drawings

11.1 Amplifier input

11.2 DC-Power supply

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11.3 Components location

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11.4 Mechanical style

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Sales Office :

 MESA AUTOMATION GmbH

INFRANOR GROUP COMPANY - www.infranor.com

12045 Berlin
Maybachufer 48-51

Phone: +49 - (0)30 - 6139080 Fax : +49 - (0)30 - 6231766

http://www.mesa-berlin.de E-mail service@mesa-berlin.de

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