MM20000A

Series

Models:
MM21111A
MM21211A

SCR, Adjustable Speed Drives

for DC Brush Motors
 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 m denotes an important safety tip or warning.
Please read these instructions carefully before performing
any of the procedures contained in this manual.

• 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.

• 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

m 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
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
Drive mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
Shielding guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
Speed adjust potentiometer connections . . . . . . . . . . . . . . . . . . . . . . . . . . .8
MM21211A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
MM21111A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
Field output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
Heat sinking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
Line fusing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
Drive motor connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
Drive power connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
Before applying power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
MM21111A drive startup and shutdown . . . . . . . . . . . . . . . . . . . . . . . . . .13
MM21211A drive startup and shutdown . . . . . . . . . . . . . . . . . . . . . . . . . .14
Starting and Stopping Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
Line starting and stopping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
Dynamic braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
MINIMUM SPEED (MIN SPD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
MAXIMUM SPEED (MAX SPD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
TORQUE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
IR COMPENSATION (IR COMP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
ACCELERATION (ACCEL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23
DECELERATION (DECEL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
Application Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26
FWD-REV switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26
 iii

FWD-STOP-REV switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27

Reversing with dynamic braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
Reversing with a DLC600 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
Independent Adjustable Speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
Adjustable speeds using potentiometers in series . . . . . . . . . . . . . . . . . . .31
Multiple fixed speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32
RUN/JOG switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33
Leader-follower application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
Single speed potentiometer control of multiple drives . . . . . . . . . . . . . . . .35
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36
Before troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36
Replacement Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39
Certificate of Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40
Exhibit “A” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .41
Unconditional Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . .inside back cover
iv

Illustrations
Figure 1. MM21111A Drive Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
Figure 2. MM21211A Drive Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
Figure 3. MM21111A and MM21211A Connections . . . . . . . . . . . . . . . . . . . . . .12
Figure 4. Dynamic Brake Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
Figure 5. Calibration Trimpot Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19
Figure 6. Typical IR COMP and TORQUE Settings . . . . . . . . . . . . . . . . . . . . .25
Figure 7. Forward-Reverse Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26
Figure 8. Forward-Stop-Reverse Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
Figure 9. Reversing Circuit Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
Figure 10. Reversing with a DLC600 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
Figure 11. Independent Adjustable Speeds (Forward Direction) . . . . . . . . . . . . .30
Figure 12. Adjustable Fixed Speeds Using Potentiometers in Series . . . . . . . . .31
Figure 13. Multiple Fixed Speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32
Figure 14. RUN/JOG Switch Connection to Speed Adjust Potentiometer . . . . . .33
Figure 15. Leader-Follower Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
Figure 16. Single Speed Potentiometer Control of Multiple Drives . . . . . . . . . . .35
 v

Tables
Table 1. MM20000A Series Numbering System . . . . . . . . . . . . . . . . . . . . . . . . .vi
Table 2. Field Output Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
Table 3. Fuse Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
Table 4. Recommended Dynamic Brake Resistor Sizes . . . . . . . . . . . . . . . . . .17
Table 5. Replacement Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39
Table 6. Corcom® Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .41
Table 7. Minarik Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42
vi

Table 1. MM20000A Series Numbering System

MODEL NUMBER
MM2 1 2 1 1 A

MotorMaster 20000 Series

INPUT VOLTAGE
1 = 115 VAC
2 = 230 VAC
3 = 115/230 VAC (selectable)
Voltage Tolerance is ±10%, 50/60 Hz

CONFIGURATION
0 = Uncased (Chassis) Drive
1 = NEMA 1 Case, Unidirectional Drive
2 = NEMA 1 Case, Bidirectional Drive
4 = NEMA 4/12 Non-reversing
5 = NEMA 4/12 Reversing

TYPE
1 = Unfiltered, 1/8 HP or less

FEATURES
1 = MAX SPD, MIN SPD, TQ LIM, IR
COMP, ACCEL, and DECEL trimpots
with Field Voltage Output

REVISION
A = Standard
B = Conformal Coating
C = Used in Europe (obsolete)
 1

Specifications

Max. Max.
Input Input Armature HP Range
Voltage Current Current with 115 VAC
Model (AC) (Amps AC) (Amps DC) Applied Style
MM21111A 115 3 1.5 1/20 – 1/8 NEMA 1
MM21211A 115 3 1.5 1/20 – 1/8 NEMA 1

AC Line Voltage Tolerance ±10%, 50/60 Hz, single phase

Armature Voltage 0 – 90 VDC
Field Voltage (1 ADC max) 50 – 100 VDC
Maximum Output Field Current 0.5 ADC
Form Factor 1.37 at base speed
Accel. Time Range (for 0–90 VDC Armature Voltage) 0.5 – 11 seconds
Decel. Time Range (for 0-90 VDC Armature Voltage)
coast to a stop – 13 seconds
Analog Input Voltage Range
(signal must be isolated; S1 to S2) 0 – 1.4 VDC
Input Impedance (S1 to S2) 100K ohms
Load Regulation 1% base speed or better
Vibration 0.5G max (0 – 50 Hz)
0.1G max (>50 Hz)
Ambient Temp. Range 10°C – 40°C
2

Dimensions
6.00 [152]

1.79 [45]
2.50 2.50
[64] [64]

8.00 [203]

5.00 [127]

THREE KEYHOLES FOR #10

SCREW ON BACK SIDE
FOR MOUNTING

3.46 [88] 2.75 [70]

1.72 2.50
[44] [64]

TWO 0.88 [22] CONDUIT HOLES

ON BOTTOM SIDE

ALL DIMENSIONS IN INCHES [MILLIMETERS]

Figure 1. MM21111A Drive Dimensions

 Dimensions 3

6.00 [152]

1.79 [45]
2.50 2.50
[64] [64]

8.00 [203] 5.00 [127]

THREE KEYHOLES FOR #10

SCREW ON BACK SIDE
FOR MOUNTING
3.46 [88] 2.75 [70]

1.72 2.50
[44] [64]

TWO 0.88 [22] CONDUIT HOLES

ON BOTTOM SIDE

ALL DIMENSIONS IN INCHES [MILLIMETERS]

Figure 2. MM21211A Drive Dimensions

4

Installation
Drive mounting

m Warning
Do not install, rewire, or remove this control with power
applied. Doing so may cause fire or serious injury. Make
sure you have read and understood the Safety Warnings on
page i before attempting installation.

• Drive components are sensitive to electrostatic fields. Avoid

direct contact with the circuit board. Hold 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.
 Installation 5

NEMA 1 cased drives such as the MM21111A and MM21211A

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 Figures 1 and 2 (pages 2 and 3) 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 on the front cover. urn the screws
clockwise to tighten.
6. Set the POWER switch to the OFF position before applying
AC line voltage.
6 Installation

Wiring

m 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 potential is 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 18-24 AWG wire for speed adjust potentiometer wiring. Use
14–16 AWG wire for AC line (L1, L2), field (F1, F2) and motor
(A1 and A2) wiring.
 Installation 7

Shielding guidelines

m Warning
Under no circumstances should power and logic leads be
bundled together. Induced voltage can cause unpredictable
behavior any electronic device, including motor controls.

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 of logic
level 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.
8 Installation

Speed adjust potentiometer connections

MM21111A

The speed adjust pot connections on MM21111A drives are

configured for unidirectional (one-way) operation. Reversing is
accomplished by swapping the A1 and A2 motor armature leads.

MM21211A

m Warning
Do not change the FORWARD/REVERSE switch setting
while the motor is still running. Plug reversing the motor
(not allowing the motor to come to a stop before reversing)
will cause excessively high currents to flow in the armature
circuit, which can damage the control and/or motor and is
not recommended.

The speed adjust potentiometer is prewired for bidirectional

operation on MM21211A drives. Reversing is accomplished by
setting the FWD/REV switch on the front panel to the desired
position.
 Installation 9

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. See Table 2 for field output connections.

Table 2. Field Output Connections

Line Voltage Approximate Connect Motor
(VAC) Field Voltage (VDC) Field To
115 50 F1 and L1
115 100 F1 and F2

Use 18 AWG wire to connect the field output to a shunt wound

motor.

Heat sinking

All MM21000 series drives contain sufficient heat sinking in their

basic configurations. No additional heat sinking is necessary.
10 Installation

Line fusing

Minarik drives require an external fuse for protection. Use fast

acting fuses rated for 250 VAC or higher, and approximately
150% of the maximum armature current. Fuse blocks are
included on MM21111A and MM21211A only. Table 3 lists the
recommended line fuse sizes.

Table 3. Fuse Chart

90 VDC Motor Max. DC Armature AC Line Fuse
Horsepower Current (amps) Size (amps)
1/20 0.5 1
1/15 0.8 1.5
1/8 1.5 3
1/6 1.7 3
1/4 2.5 5
1/3 3.5 8
1/2 5.0 10
3/4 7.5 15
1 10 15

Minarik Corporation offers two fuse kits: part number 050–0066

(1–5A Fuse Kit) and 050–0071 (5–15A Fuse Kit).
 11

Connections

m 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 voltage input line. The switch contacts
should be rated at a minimum of 200% of motor nameplate
current and 250 volts.

Drive motor connections

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 terminals A1 and A2 as shown in Figure

3, page 12. Ensure that the motor voltage rating is consistent
with the drive’s output voltage.

Drive power connections

Connect the AC line power leads to terminals L1 and L2 as
shown in Figure 3, page 12.
12 Installation

TB501

+
F1 7 FIELD OUTPUT CONNECTIONS

NOTE: Do not connect

F2 6 field outputs if using a
permanent-magnet motor
A2 5
90 VDC MOTOR
A1 4 +

NOT USED 3

HOT
L1 2
115 VAC
NEUTRAL INPUT
L2 1

EARTH GROUND
(GREEN SCREW)

Figure 3. MM21111A and MM21211A Connections

 13

Operation

m Warning
Dangerous voltages exist on the drive when it is powered.
BE ALERT. High voltages can cause serious or fatal injury.

Before applying power

• Verify that no conductive material is present on the printed

circuit board.

• Verify that the AC supply is properly balanced.

MM21111A drive startup and shutdown

1. Turn the speed adjust potentiometer to zero speed (full CCW).

2. Set the POWER switch to ON ( | ). The POWER ON
indicator will light.
3. Slowly turn the speed adjust knob clockwise until the desired
speed is reached.

To shut down the drive

Set the POWER switch to OFF. The motor will coast to a stop.
14 Operation

MM21211A drive startup and shutdown

1. Set the RUN/BRAKE switch to the BRAKE position.

2. Set the speed adjust knob to zero speed (full CCW).
3. Set the POWER switch to ON ( | ).
4. Set the FORWARD/REVERSE switch to the desired direction
of rotation.
5. Set the RUN/BRAKE switch to the RUN position.
6. Turn the speed adjust knob CW to the desired speed.
7. The motor may be started and stopped at any speed setting
with the RUN/BRAKE switch. When placed in the BRAKE
position the motor is dynamically braked to a stop. Motor may
be started and stopped with the ON/OFF toggle switch but
when switched off will coast to a stop.
8. To reverse the motor direction, first stop the motor by setting
the RUN/BRAKE switch to the BRAKE position. Set the
FORWARD/REVERSE switch to the desired direction of
rotation. Then, set the RUN/BRAKE switch to the RUN
position.

To shut down the drive

Set the RUN/BRAKE switch to BRAKE. Set the POWER switch

to OFF. To coast to a stop, set the POWER switch to OFF
without first braking the motor.
 Operation 15

Starting and Stopping Methods

m Warning
NOTE: Minarik strongly recommends the installation of
an emergency stop switch. The switch contacts should be
rated at a minimum of 125 volts and 200% of maximum
motor current.

Line starting and stopping

When AC line voltage is applied to the drive, the motor

accelerates to the set speed. When AC line voltage is removed,
the motor coasts to a stop. Line starting and stopping (applying
and removing AC line voltage) is recommended for stopping in
emergency situations only. It is not recommended for frequent
starting and stopping.

MM21111A

Set the POWER switch to OFF. The motor will coast to a stop.
Alternatively, dynamic braking may be used (Figure 4, page 17).

MM21211A

Set the RUN/BRAKE switch to BRAKE. The motor will quickly

stop using dynamic braking. To coast the motor to a stop, set the
POWER switch to OFF without first setting the RUN/BRAKE
switch to BRAKE.
16 Operation

Dynamic braking

m Warning
Wait for the motor to completely stop before switching it
back to RUN. This will prevent high armature currents from
damaging the motor or drive.

NOTE: For motors rated 1/17 horsepower and lower, a

brake resistor is not necessary since the armature resistance
is high enough to stop the motor without demagnetization.
Replace the dynamic brake with 12 gauge wire.

MM21111A
Dynamic braking may be used to rapidly stop a motor
(Figure 4, page 17). For the RUN/BRAKE switch, use a double-
pole, double-throw switch rated for at least the maximum DC
armature voltage and maximum braking current.

MM21211A

MM21211A drives have built-in dynamic braking, which is

activated when the RUN/BRAKE switch is set to BRAKE.
 Operation 17

Table 4. Recommended Dynamic Brake Resistor Sizes

Motor Minimum Minimum
Armature Dynamic Brake Dynamic Brake
Current Rating Resistor Value Resistor Wattage
Less than 2 ADC 1 ohm 1W
2–3 ADC 5 ohm 5W
3–5 ADC 10 ohm 10W
5–10 ADC 20 ohm 20W
10–17 ADC 40 ohm 50W

A2

Dynamic
MOTOR
Brake
Resistor

BRAKE

RUN
A1

BRAKE

INHIBIT RUN

Figure 4. Dynamic Brake Connection

18

Calibration
Warning
m
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.

MM21000A Series drives have six user-adjustable trimpots. Each

drive is factory calibrated to its maximum horsepower rating.
Readjust the calibration trimpot settings to accommodate lower
horsepower motors. See Figure 5 (page 19) for trimpot location.

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.
 Calibration 19

MOV503

T501
L2
IC502

A1
C502
IC501
S2

C504

S1

INHIBIT
S3

ACCEL DECEL MAX SPD MIN SPD TORQUE IR COMP

ACCEL MAX SPD TORQUE

DECEL MIN SPD IR COMP

Figure 5. Calibration Trimpot Layout

20 Calibration

MINIMUM SPEED (MIN SPD)

The MIN SPD setting determines the motor speed when the speed
adjust potentiometer is turned full CCW. It is factory set for zero
speed.

To calibrate, set the MIN SPD trimpot full CCW. Turn the speed
adjust potentiometer full CCW. Adjust the MIN SPD trimpot until
the desired minimum motor speed is reached.

MAXIMUM SPEED (MAX SPD)

The MAX SPD setting determines the motor speed when the
speed adjust potentiometer is turned full CW. It is factory set for
maximum rated 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.
 Calibration 21

TORQUE

m Warning
TORQUE LIMIT should be set to 120% of motor 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 TORQUE trimpot setting determines the maximum torque

for accelerating and driving the motor. See Figure 6 on page 25
for recommended TORQUE settings, or recalibrate using the
following procedure:
1. With the power disconnected from the drive, connect a DC
ammeter in series with the motor armature.
2. Turn the TORQUE trimpot to minimum (full CCW).
3. Set the speed adjust potentiometer to maximum speed (full
CW).
4. Carefully lock the motor armature. Be sure that the motor is
firmly mounted.
5. Apply line power. The motor should be stopped.
6. Slowly adjust the TORQUE trimpot CW until the armature
current is 120% of motor rated armature current.
7. Turn the speed adjust potentiometer full CCW.
8. Remove line power.
9. Remove the stall from the motor.
10. Remove the ammeter in series with the motor armature if it is
no longer needed.
22 Calibration

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.

See Figure 6 on page 25 for recommended IR COMP trimpot

settings, or recalibrate using the following procedure:
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.
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.
 Calibration 23

ACCELERATION (ACCEL)

The ACCEL setting determines the time the motor takes

to ramp to a higher speed. See Specifications on page 1 for
approximate acceleration times. ACCEL is factory set for the
fastest acceleration time (full CCW).

To set the acceleration time:

1. Set the speed adjust potentiometer full CCW. The motor
should run at minimum speed.
2. Turn the speed adjust potentiometer full CW and measure the
time it takes the motor to go from minimum to maximum
speed.
3. If the time measured in step 2 is not the desired acceleration
time, turn the ACCEL trimpot CW for a slower acceleration
time, or CCW for a faster acceleration time. Repeat steps 1
through 3 until the acceleration time is correct.
24 Calibration

DECELERATION (DECEL)

The DECEL setting determines the time the motor takes to ramp
to a lower speed. See Specifications on page 1 for approximate
deceleration times. DECEL is factory set for the fastest
deceleration time (full CCW).

To set the deceleration time:

1. Set the speed adjust potentiometer full CW. The motor should
run at maximum speed.
2. Turn the speed adjust potentiometer full CCW and measure the
time it takes the motor to go from maximum to minimum
speed.
3. If the time measured in step 2 is not the desired deceleration
time, turn the DECEL trimpot CW for a slower deceleration
time, or CCW for a faster deceleration time. Repeat steps 1
through 3 until the deceleration time is correct.
 Calibration 25

1/20 HP
1800 RPM
90 VDC
IR COMP TORQUE 0.56A CURR

1/15 HP
1800 RPM
90 VDC
IR COMP TORQUE 0.75A CURR

1/8 HP
1800 RPM
90 VDC
IR COMP TORQUE 1.3A CURR

Figure 6. Typical IR COMP and TORQUE Settings

(settings may vary by application)
26

Application Notes
FWD-REV switch

m Warning
Do not change the FORWARD/REVERSE switch setting
while the motor is still running. Plug reversing the motor
(not allowing the motor to come to a stop before reversing)
will cause excessively high currents to flow in the armature
circuit, which can damage the control and/or motor.

Use a single-pole, two-position switch to reverse a motor without

swapping motor leads (Figure 7). The switch contacts should be
rated at a minimum of 125 volts and 150% to 200% of motor
nameplate current.

FWD
A2

REV

MOTOR

FWD
A1

REV

Figure 7. Forward-Reverse Switch

 Application Notes 27

FWD-STOP-REV switch

m Warning
Do not change the FORWARD/REVERSE switch setting
while the motor is still running. Plug reversing the motor
(not allowing the motor to come to a stop before reversing)
will cause excessively high currents to flow in the armature
circuit, which can damage the control and/or motor.

Use a single-pole, three-position switch with a single speed adjust

potentiometer to coast to a stop between reversals (Figure 8). Set
the switch to the center position to decelerate the motor to a stop.
The switch contacts should be rated at a minimum of 125 volts
and 150% to 200% of motor nameplate current.

FWD
A2
Coast to Stop

REV

MOTOR

FWD
A1
Coast to Stop

REV

Figure 8. Forward-Stop-Reverse Switch

28 Application Notes

Reversing with dynamic braking

A dynamic brake may be used when reversing the motor direction

(Figure 9). Use a three pole, three position switch rated for at
least the maximum DC armature voltage and maximum braking
current. Wait for the motor to stop completely before switching it
to either the forward or reverse direction.
FWD
A2
BRAKE

REV

DYNAMIC
BRAKE
RESISTOR MOTOR

FWD
A1

BRAKE

REV

CW
S3

10K OHM
S2 SPEED ADJUST
POTENTIOMETER

S1
CCW
FWD

INHIBIT BRAKE
TERMINALS REV

Figure 9. Reversing Circuit Connection

 Application Notes 29

Reversing with a DLC600

A DIGI-LOK controller, model DLC600 can be used in a
reversing application. The DIGI-LOK must be inhibited while
braking. Without the inhibit feature, the DIGI-LOK will continue
to regulate. This will cause oversoot when the DIGI-LOK is
switched back to the drive. Figure 10 shows the connection of
the reversing circuit to an MM21000 series drive and a DLC600.
Note: Only one DLC option (Optical Encoder or Magnetic
Pickup) may be used at a time.

S3
MM21000 S2
SERIES DRIVE
S1

A1 A2

Dynamic
S1 S2
Brake
Resistor

BRAKE BRAKE BRAKE

FWD REV FWD REV FWD REV
DLC 600

Inhibit Leads

C IN +
MOTOR

Common
Signal
Optical
Encoder +5 VDC or +12 VDC

Magnetic
Pickup

Figure 10. Reversing with a DLC600

30 Application Notes

Independent Adjustable Speeds

Connect two speed adjust potentiometers with a single pole two

position switch to select between two independent speeds shown
in the forward direction (Figure 11). The speed adjust
potentiometers can be mounted at two separate operating stations.

S3
SPEED 2 CW CW

S2

SPEED 1 20K OHM 20K OHM

S1

Figure 11. Independent Adjustable Speeds (Forward Direction)

 Application Notes 31

Adjustable speeds using potentiometers in

series

Replace the speed adjust potentiometer with a single-pole,

multi-position switch, and two or more potentiometers in series,
with a total series resistance of 10K ohms. Figure 12 shows a
connection for fixed high and low speed adjust potentiometers.

CW

S3 HIGH
5K OHM
SPEED

S2
LOW CW
S1 SPEED

5K OHM

Figure 12. Adjustable Fixed Speeds Using Potentiometers in

Series
32 Application Notes

Multiple fixed speeds

Replace the speed adjust potentiometer with series resistors

with a total series resistance of 10K ohms (Figure 13). Add a
single pole, multi-position switch with the correct number of
positions for the desired number of fixed speeds.

R1

S3 Total Series
R2
Resistance
S2 10K Ohm
R3
S1

R4

Figure 13. Multiple Fixed Speeds

 Application Notes 33

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 as shown in Figure 14. When
the RUN/JOG switch is set to JOG, the motor decelerates to zero
speed. Press the JOG pushbutton to jog the motor. Return the
RUN/JOG switch to RUN for normal operation.

S3

S2 10K
Ohm
S1

RUN JOG

JOG
PUSH
BUTTON

Figure 14. RUN/JOG Switch Connection to Speed Adjust

Potentiometer
34 Application Notes

Leader-follower application

In this application, use a PCM4 to monitor the speed of the

leader motor (Figure 15). 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.

A1 9 (+) (+)2 S2
Leader Motor 8 PCM4 (-) 1 Follower
Drive A2 7 (-) TB502 S1 Drive
10K Ohm
TB501 (optional)

Figure 15. Leader-Follower Application

 Application Notes 35

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 16). Optional ratio potentiometers can be used to
scale the PCM4 output voltage, allowing independent control of
each drive.

6 2 ratio pot A
(optional) A1
10K Ohm Motor
8 S2 Drive A A
PCM4
10K
7 1 S1 A2
Ohm
TB501 TB502

ratio pot B
6 2 (optional)
A1
10K Ohm Motor
8 S2 Drive B B
PCM4
7 1 S1 A2
TB501 TB502

Figure 16. Single Speed Potentiometer Control of Multiple Drives

36

Troubleshooting
Warning
m 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.

Before troubleshooting

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 drive’s rated armature outputs are consistent
with the motor ratings.

For additional assistance, contact your local Minarik distributor,

or the factory direct: PHONE (800) MINARIK or (800) 646-2745
FAX (800) 394-6334
 Troubleshooting 37

Symptom Possible Suggested

Causes Solutions
Line fuse blows 1. Line fuses are the wrong 1. Check that line fuses
size. are 3 A.

2. Motor cable or armature 2. Check motor cable and

is shorted to ground. armature for shorts.

3. Nuisance tripping caused 3. Decrease TORQUE

by a combination of setting (page 21).
ambient conditions and
high-current spikes.

4. Field circuit is shorted. 4. Send in drive to

Minarik repair
department.

Line fuse does not blow, 1. Speed adjust pot or 1. Increase speed adjust
but the motor does not run reference voltage is set pot or reference voltage
to zero speed. setting.

2. Speed adjust pot or 2. Check that the speed

reference voltage adjust pot or reference
connections are open. voltage connections are
not open.

3. Drive is overloaded. 3. Verify that the motor is

not jammed. Increase
TORQUE setting (page
21).

4. Drive is not receiving 4. Apply AC line voltage

AC line voltage. to L1 and L2.

5. Motor is not connected. 5. Connect motor to A1

and A2.
38 Troubleshooting

Symptom Possible Suggested

Causes Solutions
Motor runs too fast at 1. MIN SPD and MAX 1. Recalibrate MIN SPD
maximum speed setting SPD settings are too and MAX SPD (page
high. 20).

2. Field connections are 2. Check field

loose (shunt-wound connections.
motors only).

Motor runs too slow or 1. MIN SPD and MAX 1. Recalibrate MIN SPD
too fast SPD are not calibrated. and MAX SPD (page
20).

Motor will not reach the 1. MAX SPD setting is too 1. Increase MAX SPD
desired speed. low. setting (page 20).

2. IR COMP setting is too 2. Increase IR COMP

low. setting (page 22).

3. Motor is overloaded. 3. Check motor load.

Resize the motor and
drive if necessary.

Motor pulsates or surges 1. IR COMP is set too 1. Adjust the IR COMP

under load high. setting slightly CCW
until the motor speed
stabilizes (page 22).

2. Control is in current 2. Check that motor and

limit mode. drive are of sufficient
horsepower and
amperage.
 Troubleshooting 39

Replacement Parts
Replacement parts are available from Minarik Corporation and its
distributors for this drive series.

Table 5. Replacement Parts

Model No. Symbol Description Minarik ® P/N

MM21111A D501–503 1N5406 Diode 071-0007

SCR501–502 S8020L High-power SCR 072-0043
R501 0.05 Ohm, 3W Resistor 032-0073
T501 ST-3-3109 115VAC Transformer 230-0083
Chassis 222-0079
10K Ohm Pot Kit 202-0031
Green Neon Lamp 040-0043
Toggle Switch 080-0037
10K Ohm, 5W Pot 120-0009
MM100 Knob 140-0013
3A, 3AG Fast-Blow Fuse 050-0021
NEMA 1 Case 260-0094

MM21211A Same as MM21111A except:

10K Ohm, 2W Carbon Pot 120-0047
DPDT Toggle Switch 080-0003
40

Certificate of Compliance
Minarik Corporation hereby certifies that its MM20000 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 MM20000 series has been tested to the following test

specifications:

EN55011:1991 (emissions), and

EN50082-1:1992 (immunity)

Compliance allows Minarik’s MM21000 series to bear the

CE mark.

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.
 Certificate of Compliance 41

Exhibit “A”

In addition to EMI/RFI safeguards inherent in the MM20000

series’ design, external filtering is required.

Minarik requires the Corcom® filters listed in Table 6. If the

exact filter is not available, the specifications are as follows:

L = (1.73 + 0.03) milliHenries.

C = (0.27 + 0.54) microFarads (X); 0.0055 microFarads (Y).
R = 330Kohms.
Rated current: 1.4 times maximum DC motor current.
Filter type: Balanced 2-section.

Table 6. Corcom® Filters

Nameplate Current of
Motor Wired to the Drive Corcom® Filter Part Number
0 to 4 amps 6VV1
4.1 to 13 amps 20VV1

The filters in Table 6 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!
42 Certificate of Compliance

If the end-user is using a CE-approved motor, the correct filter

from Table 6 is all that is necessary to meet the EMC directives
listed herein.

If the end-user is not using a CE-approved motor, a second

filter, part number CEXXMM, must be deployed on the output.
XX = rated current of the filter.

The CE20MM is a Real-Pole Balanced-Pi 3-pole filter. If the

exact filter is not available, the specifications are as follows:

L & L1 = 2 * (0.8) milliHenries.

C & C1 = 2 * (0.1) microFarads @ 400 VDC.
Rin = 0.1 ohm; Rout = 1.2 ohm.

Table 7. Minarik Filters

Nameplate Current of
Motor Wired to the Drive Minarik Filter Part Number
0 to 4 amps CE4MM
4.1 to 13 amps CE20MM

The filters in Table 7 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!
 Certificate of Compliance 43

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.
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.

Using CE-approved wiring practices (like proper shielding) and

the filters listed in Exhibit A guarantee the drive will meet
EN55011 (1991 emissions standard) and EN50082-1 (1992
immunity standard).
44

Notes
 45

Notes
46

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 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.
Other drives from Minarik Corporation:

DLC600
PCM20000 Series MM23000 Series

XP Series
(AC or DC Input)

901 East Thompson Avenue

Glendale, California 91201-2011
Tel: (800) MINARIK or (800) 646-2745
Fax: (800) 394-6334
www.minarikcorp.com
Document Number 250-0077, Revision 3
Printed in the U.S.A – 6/01
$12.00 North America, $13.00 Outside North America