EF

User Guide

MultiAx
*

Compact high-performance, 3-axis servo

amplifier for brushless AC servo motors

Part Number: 0437-0005

Issue Number: 3
www.controltechniques.com
General Information
The manufacturer accepts no liability for any consequences resulting from inappropriate , negligent
or incorrect installation or adjustment of the optional operating parameters of the equipment or from
mismatching the drive with the motor.
The contents of this User Guide are believed to be correct at the time of printing. In the interests of
a commitment to a policy of continuous development and improvement, the manufacturer reserves
the right to change the specification of the product or its performance, or the contents of the User
Guide, without notice.
All rights reserved. No parts of this User Guide may be reproduced or transmitted in any form or by
any means, electrical or mechanical including photocopying, recording or by any information-storage
or retrieval system, without permission in writing from the publisher.

Important...
Servo-amplifier software version
This product is supplied with the latest version of user-interface and machine-control software. If this
product is to be used with other Control Techniques servo amplifiers in an existing system, there may
be some differences between their software and the software in this product. These differences may
cause a difference in functions. This may also apply to servo amplifiers returned from a Control
Techniques Service Centre.
If there is any doubt, contact a Control Techniques Drive Centre.

Copyright © February 2002 Control Techniques Drives Limited

Issue Code: 3
Software: V07.02.00 onwards
 Contents
1 Safety Information 1 Appendix A UL Listing Information 26
1.1 Warnings, Cautions and notes 1 A.1 AC supply specification 26
1.2 Electrical safety - general warning 1 A.2 Maximum continuous output current 26
1.3 System design and safety of personnel 1
1.4 Environmental limits 1 Appendix B Data 27
1.5 Compliance with regulations 1 B.1 MultiAx Data 27
1.6 Risk analysis 1 B.2 Optional RFI filter 28
1.7 Motor 1 B.3 Motor cables 29
B.4 SLM Signal cables 29
2 Introduction 2
2.1 Important information about this User Guide 2
Appendix C Signal Connections 30
2.2 Models and versions of the drive 2

)
C.1 Digital inputs 30
2.3 Automatic setting up of the drive for the motor 2
C.2 Functions of the terminal 30
2.4 technology 2
2.5 External braking resistor 3
2.6 Thermal protection of the motor 3
2.7 Motion-controller requirements 3
3 Installing the MultiAx 4
3.1 Installation considerations 4
3.2 AC supply protection 4
3.3 AC supply disturbances - use of line reactors 4
3.4 Output current, Ambient temperature, Heat
dissipation, De-rating 5
3.5 When to use a braking resistor 5
3.6 Method of Mounting 8
3.7 Enclosure Layout 8
3.8 Clearances for the signal cables 8
3.9 Enclosure calculations for heat removal 9
3.10 Mounting the MultiAx 11
3.11 Precaution for making power connections 12
3.12 Terminal sizes and tightening torques 13
3.13 Power cables 13
3.14 Method of connecting power cables 14
3.15 Circuit diagram for the power connections 15
3.16 EMC emission standards – compliance information
15
3.17 EMC emission standards – instructions 16
3.18 Additional ground connections for the signal cables
17
3.19 Bonding the cable shield to the motor frame 18
4 Connecting the drive 19
4.1 Making electrical connections 19
4.2 Locations of the signal connectors 19
4.3 Functions of the signal connectors 20
4.4 SLM connections 21
4.5 +24Vdc Supplies 22
4.6 Planning the signal-current consumption 22
4.7 Back-up supplies 22
5 Setting Up the MultiAx 25
5.1 Commissioning 25
5.2 Primary axis 25
5.3 Diagnostics 25
5.4 Clearing trips 25
5.5 Fault finding 25

MultiAx User Guide

Issue Number: 3
 Declaration of Conformity

Control Techniques Ltd

The Gro
Newtown
Powys
UK
SY16 3BE

MultiAx SAC
MultiAx HAC
MultiAx SDC
MultiAx HDC

The servo drive products listed above have been designed and manufactured in accordance with the
following European harmonised, national and international standards:

EN60249 Base materials for printed circuits

IEC326-1 Printed boards: general information for the specification writer
IEC326-5 Printed boards: specification for single- and double-sided printed
boards with plated-through holes
IEC326-6 Printed boards: specification for multilayer printed boards
IEC664-1 Insulation co-ordination for equipment within low-voltage sys-
tems: principles, requirements and tests
EN60529 Degrees of protection provided by enclosures (IP code)
UL94 Flammability rating of plastic materials
UL508C Standard for power conversion equipment

These products comply with the Low Voltage Directive 73/23/EEC and the CE Marking Directive
93/68/EEC.

W. Drury
Executive VP Technology
Newtown

Date: 30 March 2001.

These electronic drive products are intended to be used with appropriate motors, controllers,
electrical protection components and other equipment to form complete end products or
systems. Compliance with safety and EMC regulations depends upon installing and
configuring drives correctly, including using the specified input filters. The drives must be
installed only by professional assemblers who are familiar with requirements for safety and
EMC. The assembler is responsible for ensuring that the end product or system complies with
all the relevant laws in the country where it is to be used.
Refer to the this User Guide for guidelines on installation. A MultiAx EMC Data Sheet is also
available giving detailed EMC information.
1
1.1

WARNING
Safety Information
Warnings, Cautions and notes
A Warning contains information which is essential for
avoiding a safety hazard.
*
of fuses or other protection, and protective earth (ground) connections.
This User Guide contains instruction for achieving compliance with
specific EMC standards.
Within the European Union, all machinery in which this product is used
must comply with the following directives:
• 97/37/EC: Safety of machinery.
• 89/336/EEC: Electromagnetic Compatibility.

A Caution contains information which is necessary for 1.6 Risk analysis

avoiding a risk of damage to the product or other equipment. In any application where a malfunction of the drive could lead to
damage, loss or injury, a risk analysis must be carried out, and where
CAUTION
necessary, further measures taken to reduce the risk. This would
NOTE A Note contains information which helps to ensure correct normally be an appropriate form of independent safety back-up system
operation of the product. using simple electro-mechanical components.

1.2 Electrical safety - general warning 1.7 Motor

The voltages used in the MultiAx can cause severe electrical shock and/ Ensure the motor is installed in accordance with the manufacturer’s
or burns, and could be lethal. Extreme care is necessary at all times recommendations. Ensure the motor shaft is not exposed.
when working with or adjacent to the MultiAx. The motor will be supplied with the flux alignment pre-entered into each
Specific warnings are given at the relevant places in this User Guide. speed loop module (SLM). For instructions on how to set the flux
alignment, refer to the documentation for the motion controller. Damage
1.3 System design and safety of can be caused if incorrect values are entered.
personnel The MultiAx does not have a motor thermistor input. This function is not
required due to the I2t thermal modelling performed in the SLM (see
The MultiAx is intended as a component for professional incorporation
section 2.6 Thermal protection of the motor on page 3).
into complete equipment or a system. If installed incorrectly, the MultiAx
may present a safety hazard. The MultiAx uses high voltage and Servo motors are designed to operate at elevated temperatures which
currents, carries a high level of stored electrical energy, and is used to may reach 100oC. Ensure that no temperature-sensitive devices touch
control equipment which can cause injury. the motor casing. Where necessary, precautions to prevent human
Close attention is required to the electrical installation and the system contact should be taken.
design to avoid hazards, either in normal operation or in the event of
equipment malfunction. System design, installation, commissioning and
maintenance must be carried out by personnel who have the necessary
training and experience. They must read this safety information and this
User Guide carefully.
The STOP function of the MultiAx does not remove dangerous voltages
from the output of the MultiAx or from any external option unit.
Careful consideration must be given to the functions of the MultiAx which
might result in a hazard, either through their intended functions or
through incorrect operation due to a fault.
In any application where a malfunction of the MultiAx could lead to
damage, loss or injury, a risk analysis must be carried out, and where
necessary, further measures taken to reduce the risk.
The STOP and START controls or electrical inputs of the MultiAx
must not be relied upon to ensure safety of personnel. If a safety
hazard could exist from unexpected starting of the MultiAx, an
interlock that electrically isolates the MultiAx from the AC supply
must be installed to prevent the motor being inadvertently started.
To ensure mechanical safety, additional safety devices such as electro-
mechanical interlocks and overspeed protection devices may be
required. The MultiAx must not be used in a safety critical application
without additional high integrity protection against hazards arising from a
malfunction.
Under certain conditions, the MultiAx can suddenly discontinue control
of the motor. If the load on the motor could cause the motor speed to be
increased (e.g. in hoists and cranes), a separate method of braking and
stopping must be used (e.g. a mechanical brake).

1.4 Environmental limits

Instructions in this User Guide regarding transport, storage, installation
and use of the MultiAx must be complied with, including the specified
environmental limits. The MultiAx must not be subjected to excessive
physical force.

1.5 Compliance with regulations

The installer is responsible for complying with all relevant regulations,
such as national wiring regulations, accident prevention regulations and
electromagnetic compatibility (EMC) regulations. Particular attention
must be given to the cross-sectional areas of conductors, the selection

MultiAx User Guide 1

Issue Number: 3 www.controltechniques.com
*
2
2.1
Introduction
Important information about this User
Guide
Variable speed drives may be hazardous if misused.
NOTE

Table 2-2 Current rating refers to the individual axis current limits.
The sum of all three axes can NOT exceed 18.75A continuous or
37A peak without the drive tripping.

Carefully follow the instructions in this User Guide,

especially those in Chapter 1 Safety Information on Table 2-3 MultiAx versions
page 1.
WARNING
Suffix Functionality
Read this User Guide before starting the installation or setting-up Standard drive.
SAC
processes. For use with AC mains supply only.
This User Guide is arranged as a series of topics, where each topic High current drive. This only applies to axis A when
contains all the information and/or instructions on a specific subject. HAC configured to full current scaling (see Current-scaling
Consequently the information and instructions are not necessarily modes). For use with AC mains supply only.
presented in the order of use. Standard drive but with the AC mains loss detection
Refer to this User Guide in conjunction with the instruction manual(s) for SDC
disabled for use with AC or DC supplies.
the motion controller for the following: High current drive (as per HAC above)but with the AC
• Setting up the MultiAx and servo system HDC mains loss detection disabled for use with AC or DC
• Ensuring the user is made aware of all the related safety issues supplies.
• Making signal and data connections

2.2 Models and versions of the drive Current-scaling modes

The MultiAx is a high-performance three-axis servo amplifier for The MultiAx is supplied with all three axes operating in the default
controlling permanent-magnet brushless motors that are fitted with a current mode. By connecting a wire link in the related D-type signal
Control Techniques Speed Loop Module (SLM). connector, one or more axes can be operated in the full current-scaling
The MultiAx is available in several versions. In this User Guide, the term mode. This can assist with matching the MultiAx to the current-ratings of
the motor.
MultiAx is used for referring to all versions.
NOTE
Table 2-1 Power and current ratings of all versions (total of all the
axes). The link is only checked on power-up. Do NOT change without re-
commissioning.
Continuous Overload for 2
operation secs max. 2.3 Automatic setting up of the drive for
Maximum AC
15.6A 31.2A
the motor
supply current
When the motor is fitted with an SLM*, the motion controller
Maximum total automatically reads the characteristics of the SLM and the motor each
18.75A 37.5A
output current time the power is applied to the SLM and motion controller. This unique
facility substantially reduces the time that is normally spent setting up a
Maximum total servo amplifier.
9.75kW 19.5kW
output power

)
*This only applies for SLM versions 02.08.00 or higher
All models in the MultiAx range can be supplied in a number of versions, A servo system consists of the following:

)
each possessing a variation in the functionality specific to a particular • Motion controller having an technology communications
type of application. The version code is a suffix to the model number. interface.
See the following tables: • One or more MultiAx servo amplifiers.
Table 2-2 Current rating • Up to three SL-class servo motors driven by each MultiAx.
• A Control Techniques SLM fitted to each motor. The SLM samples
Output current the speed and position of the motor shaft every 125µs to a resolution
of one eight-millionth of a revolution.
Maximum

)
Maximum The MultiAx contains the following main elements:
peak
Model continuous • For each axis, a PWM inverter
(2s max.)
• technology data interface for each axis
Axis Axis • Input power stage supplying the three inverters
A B C A B C • Braking transistor common to the three inverters

Default current mode 2.5 5.0


)
MultiAx 2.4 technology
Full current scaling
SAC /
selected. Pin 6 & 7 High system-performance is achieved by the use of technology
SDC 9.375 18.75
on each axis which is an EIA485 two-wire high-speed data communications network
connector linked specially designed by Control Techniques for linking the elements of
servo systems with minimal connections. By this means digital control
Default current mode 2.5 5.0 and synchronisation are maintained between all the elements. Data,
which consists of unit addresses, parameter numbers and values, is
MultiAx
Full current scaling transferred at 125µs intervals and at a rate of 2.5Mbits/second.
HAC /
selected. Pin 6 & 7
HDC 15.0 9.375 30 18.75
on each axis
connector linked

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www.controltechniques.com Issue Number: 3
The ) technology network carries the following data communications
for servo control:
• The motion controller sends position and speed demands to each
SLM
• Each SLM sends position and speed feedback to the motion
controller
• The SLM sends a current/torque demand to each axis of the MultiAx
in order to correct any position error
*
2.5 External braking resistor
The braking-resistor circuit allows up to 20kW to be dissipated into an
external resistor of 30Ω, which is the minimum permissible value. The
braklng resistor must be protected from thermal overload
(recommendations are given in Chapter 3 Installing the MultiAx ).

2.6 Thermal protection of the motor

The SLM protects the motor from thermal overload without the need for
an external thermistor. At power-up the SLM transmits to the motion
controller the thermal characteristics of the motor as well as the value
obtained from a thermistor embedded in the SLM
When the motor is running, every 125µs a thermal-modelling function in
the SLM updates an accumulator whose value represents the
temperature of the motor windings. If the value of the accumulator
reaches a level that indicates the motor windings are at the specified
maximum safe working temperature, the output current is limited to a
specified level and a motor thermal-overload alarm is produced. This
alarm can be applied to, or read by, the system or motion controller to
initiate reduction of demand, otherwise continued demand at this level
will cause the drive to trip and cease controlling the motor.
Initial conditions are read by the drive, as follows:
• The thermal characteristics of the motor are obtained by the MC
during setting-up (described in Automatic setting up of the drive for
the motor).
• Each time the SLM is powered-up, the value of the initial motor
temperature is obtained from a thermistor embedded in the SLM .
Adjustments can be made to the motor-protection function, such that the
drive provides an early warning to the host before it starts current
limiting. Preventative action can then be made.

2.7 Motion-controller requirements

The motion controller must be able to perform the following functions:
• Writing, reading and verifying parameter values
• Setting motor flux angle for each axis
• Fault monitoring of the system
• Fail-safe operation

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Issue Number: 3 www.controltechniques.com
*
3
3.1
Installing the MultiAx
Installation considerations
Adhere to the instructions
The mechanical and electrical installation instructions
of disturbance to typical industrial control equipment. These include
installing the MultiAx in an enclosure as well as careful attention to the
layout of the connecting cables.
Additional precautions must be taken if any of the following apply:
• Strict compliance with emission standards is required
• It is known that electromagnetically sensitive equipment, such as
must be adhered to. Any questions or doubt should be radio receivers, is located nearby
referred to the supplier of the • The MultiAx is to be operated in a residential environment
WARNING
equipment. It is the responsibility of the owner or user The information and instructions relating to these additional precautions
to ensure that the are contained in the EMC emission standards sections later in this
installation of the MultiAx and any external option unit, chapter.
and the way in which they are operated and maintained, These precautions include installing an RFI filter in the AC supply to
comply with the requirements of the Health and Safety each MultiAx and additional attention paid to cables and grounding.
at Work Act in the United Kingdom or
applicable legislation and regulations and codes of NOTE
practice in the country in which the equipment is used.
Dimensions
Competence of the installer All dimension measurements are in metric, all imperial
The MultiAx must be installed only by professional measurements are in brackets and are calculated from the metric
values.
assemblers who are familiar with the requirements for
safety and EMC. The assembler is responsible for
WARNING
ensuring that the end-product or system complies with
3.2 AC supply protection
all the relevant laws in the country where it is to be The AC supply to the MultiAx must be fitted with
used. suitable protection against overload and short-circuits.
Failure to observe this recommendation will cause a
Motor voltage risk of fire.
WARNING
The motor must be suitable for use with a MultiAx drive
and its required supply voltage Include a fuse in each phase of the AC supply. Use of the following types
of fuse are recommended:
CAUTION
• Europe: Type gG HRC to IEC 60269 (BS88)
Flash / insulation testing • USA: CC 600Vac
The MultiAx and RFI filter have internal electrical An MCB or MCCB having the correct thermal and
components connected between the AC-supply phases magnetic trip ratings may be used in place of fuses,
and ground. In order to avoid damaging these on condition the fault-current clearing capacity is
CAUTION
components when flash or insulation testing the AC- sufficient for the installation.
supply circuit and/or motor circuit, first disconnect the
MultiAx completely from the circuit to be tested. NOTE

UL listing is dependent on the use of the correct type of UL-listed

Authorized access
fuse, and applies when the symmetrical short-circuit current does
Only authorized, trained service personnel should be allowed access to not exceed 5kA. Refer to Appendix A UL Listing Information UL
the drive.
Listing Information.
Installation in an enclosure
The MultiAx must be protected against water, condensation and Table 3-1 Fuse ratings
electrically conductive contamination.
Model Fuse Rating
The MultiAx has ingress protection rated at IP20 (in accordance with
IEC60529). MultiAx (all versions) 30A
UL listing is valid when the MultiAx is installed in a type 1 enclosure as
defined in UL50.
Fire enclosure 3.3 AC supply disturbances - use of line
The MultiAx case is not classified as a fire enclosure.
reactors
When this protection is required, the MultiAx should be installed in a fire
enclosure. When a MultiAx is connected to an AC supply which is subject to severe
Hazardous areas disturbances – for example, if any of the following conditions apply...
The MultiAx must not be located in a classified hazardous area unless it • Capacity exceeds 200kVA
is installed in an approved enclosure and the installation is certified. • Fault current exceeds 5kA
Environmental • Power-factor correction equipment is connected close to the MultiAx
See Appendix A UL Listing Information on page 26. • Large DC drives having no or ineffective line reactors are connected
to the supply
See Appendix B Data on page 27 for environmental requirements.
• Direct-on-line started motor(s) are connected to the supply and,
If condensation is likely to occur when the MultiAx is not in use, an anti-
when any of these motors are started, a dip is produced in excess of
condensation heater must be installed. This heater must be switched off
20% of the actual supply voltage
when the MultiAx is in use; automatic switching is recommended.
...excessive peak current may flow in the input power circuit of the
If the MultiAx is to be mounted directly above any heat-generating
MultiAx. This may cause nuisance tripping or, in extreme cases, failure
equipment (such as another MultiAx), the maximum temperature of the of the MultiAx.
air immediately below the MultiAx should be taken as the ambient
A 2% (0.9mH) line reactor should then be connected in each phase of
temperature for the MultiAx.
the supply to each MultiAx. Line reactor(s) add the required impedance
Electromagnetic compatibility to the AC supply in order to reduce current transients to a level that can
The MultiAx contains powerful electronic circuits which can cause
be tolerated by the MultiAx.
electromagnetic interference. The information and instructions in this
Three individual reactors, or a single three-phase reactor should be
chapter include routine EMC precautions that will minimize the risk
used. Each MultiAx must have its own reactor(s).

4 MultiAx User Guide

www.controltechniques.com Issue Number: 3
 CAUTION

Table 3-2
RFI filters (for EMC purposes) do not give adequate
protection against these conditions.

Typical line-reactor values

Model Value
3.5 When to use a braking resistor
*
When a motor is decelerated, or the drive is preventing the motor from
gaining speed due to mechanical influences, energy is returned to the
drive from the motor. When this energy is too great for the drive to
absorb, the DC-bus voltage is raised, which increases the possibility of
the drive tripping due to excessive DC-bus voltage.
Depending on the braking requirements, an external braking resistor can
be used for absorbing the returned energy. The braking resistor is then
MultiAx (all versions) 1mH switched into circuit by an internal transistor when the DC-bus voltage
Current ratings reaches 780V.
Continuous RMS current: Not less than the continuous input current The required value for the braking resistor is determined by the
rating of the MultiAx. maximum required braking torque, while the required power rating is
Repetitive peak: Not less than 4 times the continuous input current rating determined by the amount of energy to be dissipated, the duty cycle and
of the MultiAx. (This is to prevent magnetic saturation.) repetition time, as well as the cooling available for the resistor.

3.4 Output current, Ambient temperature, It is important that the braking resistor is adequately
Heat dissipation, De-rating rated otherwise the drive could trip due to excessive
DC-bus voltage; braking will then cease, allowing the
motor to coast uncontrolled.
CAUTION
NOTE

The ambient temperature should be taken as the temperature of the

air immediately under the drive. This is especially important when Braking resistor data
the drive is to be installed above heat-generating equipment. Table 3-4 External braking resistor

Minimum permissable value 30Ω

The drive can supply the rated maximum continuous output current
(FLC) as follows... 780V at switich-on
Operating voltage
760V at switch-off
• All models: Up to an ambient temperature of 50°C (122°F)
If the drive is to be used at an altitude in excess of 2000m (6600ft), de- Maximum possible braking
26.0A
rating for altitude must be applied to the output current; see Altitude in current (through 30Ω) (IbMAX)
Appendix B Data. Peak power rating for 30Ω 20kW
Make a note of the following values for the model to be used; you will See Braking-resistor calculations
Continuous power rating
need to know these later: later in this chapter
• Maximum intended ambient temperature (TAMB max ) (required for
The instantaneous power rating refers to the power dissipated during the
calculating the enclosure size later in this chapter) conducting periods (milliseconds) of the braking transistor (this operates
• Maximum continuous output current (if this needs to be a de-rated under a form of pulse width modulation during braking). Higher
value) resistance values require proportionately lower instantaneous power
• Maximum heat dissipated into the enclosure ratings.

Current de-rating Braking resistor precautions

When de-rating must be applied (for ambient
temperature), it is essential that the appropriate value
Electric shock risk
is entered in to the motion controller (see the motion
CAUTION The voltages present on the braking resistor, its
controller user guide).
associated components and terminals on the drive are
If this precaution is not taken, the current of the
capable of inflicting a severe electric shock and may be
MultiAx can exceed the maximum permissible value. WARNING
lethal.
This may result in loss of motor control due to
excessive heatsink temperature causing the drive to
trip. Thermal overload protection
When an external braking resistor is used, it is
essential that a thermal overload protection device is
Thermal protection
incorporated in the braking-resistor circuit in order to
The power output stage (IGBT bridge) of the drive is protected as WARNING
minimise the risk of fire in the event of unexpectedly
follows:
high current, or loss of control of the braking circuit. A
• If the heatsink temperature exceeds 85°C (185°F), the MultiAx trips; typical protection circuit is shown in the following
the status LED D5 will extinguish and LED D4 will light. section Thermal protection circuit for an external
braking resistor.
Table 3-3 Maximum current and heat dissipated into the
enclosure (these do not need to be de-rated for altitude)
High temperatures
Braking resistors can attain high temperatures and
Output current Heat dissipation should be segregated from temperature-sensitive
Max. equipment and personnel.
WARNING
Model Max. Through-
TAMB overload Surface
contin- panel
max (2 secs. Mounting
uous Mounting When a braking resistor is to be used, ensure the following:
max)
• Include a lock-out circuit that will prevent the AC supply from being
MultiAx (all 50o C re-connected to the drive until the cause of a trip has been fully
18.75 37.5 350W 40W
versions) (122oF) investigated.

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Issue Number: 3 www.controltechniques.com
*
•

•
An external braking resistor should be capable of tolerating thermal
shock; pulse rated resistors are recommended.
It is essential that the instantaneous and average power ratings of
the braking resistor are sufficient for the most extreme braking duty
that is likely to be encountered.
When an external braking resistor is mounted inside the enclosure,
the heat dissipated by the resistor will increase the ambient
• Motors (for this example all three motors are of the same type)
Full-load rated speed (n) of motor: 3000 RPM
Nominal torque (Tcs ): 8.9Nm
Motor KT = 1.6 Nm/A
Motor inertia (JM): 1.66 x 10–3kg m2
Load inertia (JL): 8.3 x 10–3kg m2
temperature inside the enclosure.(The value of heat dissipation is Total combined inertia (JT = 3 x [JM + JL ]): 29.88 x 10–3 kg m2
used for calculating the enclosure size or ventilation which are
described later in this chapter.) • Braking
• Always use shielded or steel wire armoured cable for connecting an Required deceleration time for all axes simultaneously braking (td ):
external braking resistor. 0.5 seconds
Repeat cycle time for deceleration (tr): 15 seconds
When an external braking resistor is used, a thermal-protection circuit
must be added. This must disconnect the AC supply from the drive if the Minimum permissible deceleration time
braking resistor becomes overloaded. For guidance, Figure 3-1 shows a The minimum permissible deceleration time is limited by the following:
typical circuit arrangement (complete circuit diagrams for the power • The peak current of the drive (Ipk)
connections appear later in this chapter). • The intermittent torque limit of the motor (the value of torque that the
motor can deliver for a specified time – see the motor
Figure 3-1 Typical protection circuit for an external braking manufacturer’s data)
resistor 1. Calculate the maximum total torque that the three motors would
produce when the drive is delivering peak current (37.5A), as
follows:
MbMAX = Ipk x KT = 37.5 x 1.6 = 60Nm
1 2 The drive would cause this value of torque to be produced for up to 2
seconds.
2. Refer to the the motor manufacturer’s data to obtain the permissible
overload (continuous stall torque) for 2 seconds. Then use this figure
to calculate the intermittent torque limit for the motor for a 2-second
duration. For this example, 3 times the nominal torque rating is
assumed for all three motors, as follows:
3 MbINT = TCS x 3 x 3 = 8.9 x 3 x 3 = 80.1Nm
3. For calculating the minimum permissible deceleration time (tbMIN),
5 use the lower of the two calculated values, as follows:
4 MbMAX = 60Nm
7 4. The following equation is used as the basis for the calculations:
JT n π
380 ~ 480V M b = ---------- × ------ ( Nm )
6 tb 30
3φ
L1 Use the following derivative of the equation to calculate the minimum
L2 permissible deceleration time (tbMIN) for stopping the motor from full-
L3 load speed:
J πn T
tb M I N = -------------------------------------
30Mb MA X

29.88 × 10 –3 × π × 3000
t bmin = -------------------------------------------------------------- = 0.16 sec onds
30 × 60
L1 L2 L3 + H Check that tbMIN is less than td;if not,system design must be
8
reconsidered.

Resulting torque
Calculate the torque that results from the required deceleration time, as
1. START/RESET switch (momentary) follows:
2. STOP switch (latching) JT n π
M b = ---------- × ------ ( Nm )
3. Control-circuit supply td 30
4. Contactor coil –3
5. Thermal overload protection relay 29.88 × 10 × π × 3000
M b = -------------------------------------------------------------- = 18.8Nm
6. External braking resistor 0.5 × 30
7. 380 ~ 480Vac supply to the drive
8. Drive power connectors Power rating of the braking resistor
1. Calculate the kinetic energy (EK ) that will be dissipated in the
Braking resistor example calculations braking resistor, as follows:
n×π 2
Conditions E K = 0.5 × J T × æ -------------ö
è 30 ø
• Drive
Combined total peak ouput current (Ipk) from the drive (for 2 –3 3000 × π 2
E K = 0.5 × 29.88 × 10 × æ ---------------------- ö
seconds): 37.5A è 30 ø
Minimum permissible braking-resistor value: 30Ω
Operating voltage (VR) at switch on: 780V E K = 1.5kJ

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2. Calculate the average power over deceleration time (td):
EK
P PK = -------
td

1.5
P PK = -------- = 3k W
0.5

3. Calculate the average power (Pav ) that will be dissipated over the
transistor operating as a chopper.
For this example: R = 200Ω

Current setting for the thermal overload protection

relay
1. Calculate the maximum permissible continuous current through the
*
The reduction in value does not increase the power dissipation since
the average voltage across the resistor is reduced by the braking

whole cycle: braking resistor that is to be used, as follows:

EK PR 1000
IRMAX = ------- = ------------- = 2.2A
P av = ------- R 200
tr

3000 where:
P av = ------------- = 200W
15 PR is the continuous power rating of the resistor to be used (not the
minimum required power rating)
4. Since braking is planned to occur intermittently, the resistor can be
R is the actual value of the braking resistor (not the calculated value)
rated for intermittent rather than continuous power dissipation so
that the overload factor of the resistor can be used. This factor can
2. Select a model of thermal overload relay that can be set at 2.2A
be obtained from cooling curves for the resistor, as shown.
Figure 3-2 Example cooling curves for power resistors (in
3. Calculate the maximum current that could flow through a resistor
practice, refer to the cooling curves for the resistor to
(e.g. due to the braking resistor becoming short circuit), as follows:
be used)
V 780
I Rpk = ------R = ---------- = 3.9A
Overload
R 200
factor 4. Calculate the overload factor for this condition, as follows:
Repeat cycle times I Rpk 3.9
- = -------- = 1.8
FS\C = ----------
15s 1min 5min ISET 2.2
30s 30min
10 5. Use the tripping curves to find the time that the thermal overload
9 relay will take to trip (e.g. 40 seconds approximately).
8
7 Figure 3-3 Example tripping curves for a typical thermal overload
relay
6
5 Balanced operation 3-phase,
from cold state
4
Balanced operation 2-phase,
3 from cold state
2 Balanced operation 3-phase,
Time (s) after a long period of set current
1 flow (hot state)
0.1 0.2 0.5 1 2 5 10 20 50
100
Deceleration time
50

20
5. The cooling curves indicate that for a braking time of 0.5 second and
repeat cycle time of 15 seconds, the overload factor (F) is 3.5. 10
5
6. Calculate the minimum required power rating of the resistor, as
follows: 2

P PK 3
3 × 10 1
P RMN = ---------- = ------------------- = 857W 1.8
F 3.5 0.5 1 2 5 10 17
If the braking resistor is to be mounted inside the enclosure, make a note X current setting (F)
of this value; you will need it when calculating the enclosure size.
In practice, use a resistor having a power rating higher than the
calculated value. For this example: PR = 1kW 6. Check that the braking resistor can tolerate the overload current
(IRpk) for this duration.
Value of the braking resistor
1. Calculate the maximum suitable value for the braking resistor, as
follows: NOTE

( V MAX ) 2 780 2 Parallel connection of DC buses

- = ------------------- = 203Ω
R MAX = ---------------------
P PK 3 × 10 3 When a number of MultiAx units are used in a system, it is possible
to connect their DC buses in parallel in order to allow energy
sharing, especially when one or more motors are being braked.
2. In practice, use a resistor having a preferred value close to and
lower than the calculated value. This is because the calculated value Operation in this manner is not covered by this guide; cable sizes
would cause the braking transistor to be switched on almost and other information can be obtained from the supplier of the
continuously during braking. In this case, the drive will not have full MultiAx.
control of the DC-bus voltage. A lower value of braking resistor will
cause the braking transistor to act as a chopper which will then allow
the drive to control the DC-bus voltage more accurately.

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*
3.6 Method of Mounting
The two mounting brackets fitted to the drive are intended for mounting
the drive on the back-plate of the enclosure. Exhaust heat from the drive
is emitted in front of the back-plate. (Mounting instructions are given
later in this chapter.)
Alternatively the drive can be mounted through an aperture in the back-
Clearance from the
MultiAx
Do not locate sensitive
signal circuits or pass
signal cables within
300mm (12 in) of the
MultiAx.
>300mm
(12in)

plate to allow the exhaust heat to be emitted behind the back-plate. In

this case, the two mounting brackets used to mount the drive must be
removed and fitted in the alternative positions. (Mounting instructions
are given later in this chapter.)

>300mm
(12in)
3.7 Enclosure Layout
Refer to Figure 3-4 for minimum clearances above and below the drive.
The bookcase format allows drives to be mounted in rows with no need
for horizontal spacing.
Figure 3-4 Minimum clearances above and below the drive

>100mm
(3.937in)

Clearance from power

cables
Do not pass signal cables
within 300mm (12 in) of:
• Motor cables
• Braking resistor
cables >300mm
• AC supply cables (12in)

>100mm
(3.937in)

EMC compliance
When compliance with EMC emission standards is required, additional
precautions must be taken; see section 3.16 EMC emission standards –
compliance information on page 15.

3.8 Clearances for the signal cables

Recommended clearances are shown overleaf; they are required for
routine EMC precautions as well as for compliance with EMC emission
standards.

>300mm
(12in)

L1 L2 L3 M

8 MultiAx User Guide

www.controltechniques.com Issue Number: 3
Crossing angle
When power and
signal cables
cross, the
crossing angle
must be 90°.
the enclosure. Make a note of the total value.

equipment to be installed in the enclosure.

*
resistor on page 7 for each braking resistor that is to be installed in

4. Make a note of the total heat dissipation (in Watts) of any other

5. Add the heat dissipation figures obtained (as appropriate) from lines
1, 2, 3 and 4 above. This gives a figure in Watts for the total heat that
will be dissipated inside the enclosure. Make a note of this figure.

o
90 C Calculating the size of a sealed enclosure
The enclosure transfers internally generated heat into the surrounding
air by natural convection (or external forced air flow); the greater the
surface area of the enclosure walls, the better is the dissipation
capability. Only the surfaces of the enclosure that are unobstructed (not
in contact with a wall or floor) can dissipate heat.
Calculate the minimum required unobstructed surface area Ae for the
enclosure from:
P
A e = ---------------------------------
k ( T i – T amb )

Where:
Ae Unobstructed surface area in m2 (1m2= 10.8ft2)
Tamb Maximum expected ambient temperature in °C outside the
enclosure
Ti Maximum intended ambient temperature in °C inside the
enclosure
P Power in Watts dissipated by all heat sources in the enclosure
k Heat transmission coefficient of the enclosure material in W/m2/
°C

NOTE
o o
90 C 90 C
Take care when performing these calculations in order to ensure
the ambient temperature inside the enclosure does not exceed
50°C (122°F) as appropriate, (see Table 3-3 on page 5).

L1 L2 L3 M Example
To calculate the size of an enclosure for the following:
• Two MultiAx SAC
• Each drive is to have an external braking resistor mounted inside the
enclosure
3.9 Enclosure calculations for heat • An RFI filter (model 4200-3258) to be used with each drive
removal • Maximum ambient temperature inside the enclosure: 50°C
• Maximum ambient temperature outside the enclosure: 30°C
Decide whether the enclosure is to be sealed or ventilated, as follows:
• Enclosure calculations for heat removal
Sealed enclosure
A sealed enclosure can give a high ingress-protection rating, but with
Dissipation of the drive: 350W (from Table 3-3 on page 5)
reduced heat removal capabilities. If possible, locate heat-generating
equipment (other than braking resistors) in the lower part of the Average dissipation from the braking resistor: 200W (from Power rating
enclosure to encourage internal convection. If necessary, a taller of the braking resistor on page 7)
enclosure, and/or air-circulation fans inside the enclosure, can be used. Dissipation of each RFI filter: 11.83W (max) (from 3.17 EMC emission
For calculating the minimum size of sealed enclosure that will standards – instructions on page 16)
adequately cool the drive (and other drives), see Enclosure calculations Total dissipation: 2 x (350 + 200 + 11.83) = 1124W
later in this chapter. The enclosure is to be made from painted 2mm (0.079in) sheet steel
Ventilated enclosure having a heat transmission coefficient k of 5.5W/m2/°C. Only the top,
If a high ingress-protection rating is not required, a ventilated enclosure front, and two sides of the enclosure are to be free to dissipate heat.
can be used with a fan to supply forced air cooling; this can give a lower
ambient temperature than a sealed enclosure. For calculating the
minimum required volume of cooling air, see Enclosure calculations later
in this chapter.
Total heat dissipation
1. Add the dissipation figures from 3.4 Output current, Ambient
temperature, Heat dissipation, De-rating on page 5) for each drive
that is to be installed in the enclosure. Make a note of the total value.
2. If an RFI filter is to be used with each drive, add the dissipation
figures from Installing an RFI Filter on page 16 for each RFI filter
that is to be installed in the enclosure. Make a note of the total value.
3. If the braking resistor is to be mounted inside the enclosure, add the
average power dissipation (Pav) from Power rating of the braking

MultiAx User Guide 9

Issue Number: 3 www.controltechniques.com
*
Figure 3-5 Enclosure having front, sides and top panels free to
dissipate heat
P0 is the air pressure at sea level
P1 is the air pressure at the installation
Typically use a factor ka of 1.2 to 1.3, to allow also for pressure-
drops in dirty air-filters.

Example
To calculate the required air flow in an enclosure for the following:
• Two MultiAx SAC
• Each drive is to have an external braking resistor mounted outside
H the enclosure
• Maximum ambient temperature inside the enclosure: 50°C
• Maximum ambient temperature outside the enclosure: 30°C
• At sea level (kp = 1 for the example)
Dissipation of each drive: 350W (from Table 3-3 on page 5)
Total dissipation: 2 x 350 = 700W
Insert the following values:
D Ti 50°C
W Tamb 30°C
ka 1.3
P 700W
Then:
Insert the following values:
Ti 50°C 2 × 1.3 × 700 3 3
V = ---------------------------------- = 91m \hr ( 54ft \min )
50 – 30
Tamb 30°C
k 5.5 (1m3/hr = 0.59ft3/min)
P 1124W

The minimum required heat conducting area is then:

1124
A e = -------------------------------------- = 10.2m ( 111ft )
2 2
5.5 × ( 50 – 30 )

Estimate two of the enclosure dimensions - the height (H) and depth (D),
for instance. Calculate the width (W) from:
A e – 2HD
W = --------------------------
H+D

Inserting H = 2m and D = 0.6m, obtain the minimum width:

10.2 – ( 2 × 2 × 0.6 )
W = -------------------------------------------------- = 3m ( 9 ft10in )
2 + 0.6

If the enclosure is too large for the space available, it can be made
smaller only by attending to one or all of the following:
• Reducing the ambient temperature outside the enclosure, and/or
applying forced-air cooling to the outside of the enclosure
• Removing other heat-generating equipment, e.g. braking resistors
• Reducing the number of drives in the enclosure
• Add air circulating fans inside the enclosure

Calculating the air-flow in a ventilated enclosure

The dimensions of the enclosure are required only for accommodating
the equipment. The equipment is cooled by the forced air flow.
Calculate the minimum required volume of ventilating air from:

k a kp P
V = -------------------------
T i – T amb

Where:
V Air-flow in m3 per hour
Tamb Maximum ambient temperature in °C outside the enclosure
Ti Maximum ambient temperature in °C inside the enclosure
P Power in Watts dissipated by all heat sources in the
enclosure
kp Ratio of P
-----0-
P1
Where:

10 MultiAx User Guide

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3.10 Mounting the MultiAx
Figure 3-6 Surface-mounting details for the MultiAx

83mm
(3.268in)
*
23.8mm
1 12.5mm (0.937in)
3 (0.492in)
x2
2 3
M5 ( /16in)

470mm 403.8mm 444.5mm

(18.504in) (15.898in) (17.5in)

3 M5 (3/16in)
320mm (12.598in)

1. Back-plate to form a continuous duct in conjunction with the heatsink

fins.
2. If compliance with EMC emission standards is required, both
brackets must make direct electrical contact with the back-plate; the
screw holes should be threaded.

3. M5 (3/16 in) screws and washers.

4. Area occupied by the MultiAx.
5. Fitting order: (A) to (C).

MultiAx User Guide 11

Issue Number: 3 www.controltechniques.com
*
Figure 3-7 Through-panel mounting details for the MultiAx

87mm
(3.425in)

20mm
12.5mm (0.787in)
x2 (0.492in)
2
M5 (3/16in)
3 1 4

470mm 413mm 463.7mm

(18.504in) (16.260in) (18.256in)

2
88mm 4 3
M5 ( /16in)
(3.465in) 232mm (9.134in)

3.11 Precaution for making power

1. Reverse the upper bracket.
2. If compliance with EMC emission standards is required, both
connections
brackets must make direct electrical contact with the back-plate; the Electric shock risk
screw holes should be threaded. The voltages present in the following locations can
3. Baffle-plate (part no. 6521-0321) must be fitted to form a continuous cause severe electric shock and may be lethal:
duct in conjunction with the heatsink fins. • AC supply cables and connections
WARNING
4. M5 ( 3/16 in) screws and washers. • Output cables and connections
5. Area to be cut out of the back-plate. • Many internal parts of the drive
6. Fitting order: (A) to (E). • An auxiliary back-up supply when connected in
addition to the AC supply.
Table 3-5 Parts supplied
Isolation device
Quantity Part
The AC supply must be disconnected from the MultiAx
1 Lower mounting bracket using an approved isolation device before any cover is
1 Ground bracket removed from the MultiAx or before any servicing work
WARNING
5 Plug-in 4-way connectors (keyed) is performed.
5 Cable clip
1 Self-adhesive sealing strip
1 Upper mounting bracket

12 MultiAx User Guide

www.controltechniques.com Issue Number: 3
 WARNING
Stored charge
The drive contains capacitors that remain charged to a
potentially lethal voltage after the AC supply has been
disconnected. If the drive has been energized, the AC
supply must be isolated at least five minutes before
work may continue.

AC supply by plug and socket

having the appropriate number of conductors:
• MultiAx to motors (3 core + optional ground)
*
For the following, use shielded cable or steel wire armoured cable

• MultiAx to braking resistor (2 core + optional ground)

Ground conductors
A ground conductor can be included in the motor and braking resistor
cables, or a separate wire external to these cables can be used.
Special attention must be given if the MultiAx is
installed in equipment which is connected to the AC Typical cable sizes
supply by a plug and socket. The AC supply terminals Table 3-7 Power cable sizes
WARNING
of the MultiAx are connected to the internal capacitors
through rectifier diodes which do not give isolation. If Typical cable size
the plug terminals can be touched when the plug is Connection MultiAx SAC MultiAx HAC
disconnected from the socket, a means of MultiAx SDC MultiAx HDC
automatically isolating the plug from the MultiAx must
be used (eg. a latching relay). AC supply to MultiAx
(or RFI filter when used) 6mm2 (10AWG) 6mm2 (10AWG)

ENABLE function MultiAx to motor, axis A 2.5mm2 (14AWG) 4mm2 (12AWG)

Disabling the ENABLE function does not remove MultiAx to motor, axis B 2.5mm (14AWG) 2.5mm2 (14AWG)
2
dangerous voltages from the MultiAx.
MultiAx to motor, axis C 2.5mm2 (14AWG) 2.5mm2 (14AWG)
WARNING
MultiAx to braking resistor 4mm2 (12AWG) 4mm2 (12AWG)

To avoid a fire hazard, 4mm2 cable must used when a

Safety ground connection
MultiAx HAC / HDC unit is operating with full current
The ground loop impedance must conform to the
selected on Axis A.
requirements of local safety regulations.
The electrical safety of the installation depends on the WARNING
WARNING
correct fitting and use of the ground bracket supplied
Motor cable
with the MultiAx. All ground connections to the MultiAx
Most cables have an insulating jacket between the cores and the armour
must be made to this ground bracket.
or shield; these cables have a relatively low capacitance. When using a
The ground bracket must be grounded by a connection
cable of this type, observe the recommended maximum lengths stated in
capable of carrying the prospective fault current until
the protective device (fuse, etc) disconnects the AC the following table.
supply. Table 3-8 Maximum cable lengths
The ground connections must be inspected and tested
at appropriate intervals. Model Maximum cable length*
m ft
3.12 Terminal sizes and tightening MultiAx (all versions) 50 165
torques * Cable lengths in excess of the specified values may be used only when
special techniques are adopted; refer to the supplier of the drive.
To avoid a fire hazard and maintain validity of the UL
Typical capacitance for normal cable: 130pF/m (see Cable capacitance
listing, adhere to the specified tightening torques for
below)
the power and ground terminals. Refer to the following
table.
WARNING
Cable capacitance
Figure 3-8 Cable construction influencing the capacitance
Table 3-6 Terminal sizes and tightening torques

Power terminals Ground terminal

Unit
Size / Type Torque Size / Type Torque
Plug-in 0.5Nm M4 (Torx / 0.5Nm
MultiAx terminal 4.4lb.in slot-head 4.4lb.in
block screw) Normal capacitance High capacitance
Screw 0.7Nm Screw 0.7Nm Shield or armour Shield or armour close
RFI Filter separated from the cores to the cores
terminals 6.lb.in terminals 6.lb.in
Torque
+10% +10%
reference

3.13 Power cables

Wiring must be in accordance with local regulations
and codes of practice. The table below shows typical
cable sizes for power input and output wiring. In the
event of a conflict, local regulations prevail.
WARNING

Cable type and sizes

Use 105°C (221°F) PVC or PUR insulated cable of suitable voltage
rating and having copper conductors.

MultiAx User Guide 13

Issue Number: 3 www.controltechniques.com
*
3.14
Figure 3-9
Method of connecting power cables
Locations of the power connections and correct fitting
of the ground bracket

Braking resistor circuit

+DC bus
−DC bus
Auxiliary supply input

Warning: Live circuit;

dedicated, isolated supply
is required
1 2

AC supply Motor outputs

input Axis C Axis B Axis A
0V 0V 0V 3 5 7

4 6

40mm

≥12mm
(0.472in)
Ground bar
8 9 10

3
M5 ( /16 in)

Ground bracket must

Safety ground be fitted due to risk
of electric shock

Additional From AC supply To the Axis C Axis B Axis A

safety ground (or RFI filter, braking
(if required) when used) resistor Motors

For electrical safety, the ground bracket must be fitted as shown. See
also section 3.15 Circuit diagram for the power connections on page 15
and section 3.12 Terminal sizes and tightening torques on page 13.

Perform all of the following:

1. Fit a plug-in multi-way connector into each of the five 4-way sockets
on the underside of the MultiAx. 9. Fit a hose clip over each cable shield to clamp it to the ground
2. Loosen the screw for each of the ground terminals of the 4-way bracket. Ensure the hose clip makes good electrical contact with the
connectors. shield or armour.
3. Taking care not to lose the recessed nut, remove the screw in the 10. For the motor and braking resistor cables, connect each ground wire
tab at the bottom of the heatsink flange. to the ground bracket using the related hole at the position shown.
4. Fit the four tongues of the ground bracket in the ground terminals of This applies whether the ground wire is inside or outside the cable.
the 4-way connectors and align the hole in the ground bracket with
the hole in the heatsink tab.
5. If an additional safety ground is required, fit an adequately rated
safety-ground wire to the screw and fit the screw loosely in the tab in
order to retain the ground bracket.
6. Tighten the screws in the four ground terminals to the specified
torque.
7. Tighten the screw in the heatsink tab to the specified torque.
8. Strip back the insulating sheath on the shielded cables to expose at
least 12mm (0.472in) of shield and 40mm (1.575in) of inner
conductors.

14 MultiAx User Guide

www.controltechniques.com Issue Number: 3
3.15 Circuit diagram for the power
connections
Figure 3-10 Power connections to be made, including a typical
protection circuit for the braking resistor
*
1 2

4 5 6
7

380 ~ 480V 8
3φ
L1 MultiAx
L2
L3

L1 L2 L3

RFI Filter
(Instal only when
compliance with EMC
emission standards is Axis C Axis B Axis A
required) L1 L2 L3 + H 0V U V W 0V U V W 0V U V W
L1 L2 L3

M M M

Key to Figure 3.16 EMC emission standards –

1. START/RESET switch
2. STOP switch compliance information
3. Control supply NOTES
4. Contactor coil
5. Thermal overload protection relay Conditions for EMC compliance
6. Braking resistor
The installer of the drive is responsible for ensuring compliance
7. AC supply to the MultiAx
with the EMC regulations that apply where the drive is to be used.
8. AC supply Isolator
The drive will comply with the standards for emission, such as
EN50081–2, only when the instructions given in this section are
adhered to closely.

Special note for EN61800-3 (EMC Power Drive Systems)

For installation in the "second environment", ie, where the low
voltage supply network does not supply domestic premises, and
where the rated input current of the drive system exceeds 100A, no
filter is required in order to meet IEC61800-3 (EN61800-3).

MultiAx User Guide 15

Issue Number: 3 www.controltechniques.com
*CAUTION
Operating the Drive in this environment without an RFI
filter may cause interference to nearby electronic
equipment whose sensitivity has not been appreciated.
The user must take remedial measures if this situation
arises.
If the consequences of unexpected disturbances are
severe, it is recommended that the emission limits of
Figure 3-11 Dimensions of the RFI filter

W
B

EN50081-2 be adhered to.

In any other case adhere to the precautions described
in this section.
When the drive is used in the "first environment", i.e. where the low
voltage supply network also supplies domestic premises, the following
warning applies:
This is a product of the restricted distribution class
according to IEC 61800-3.
In a domestic environment this product may cause
L J C
radio interference in which case the user may be
WARNING
required to take adequate measures.

3.17 EMC emission standards –

instructions
Follow these instructions in addition to those given earlier in this chapter.

Enclosure
The enclosure must be made of metal but does not require special EMC
features. G

Back-plate
Ensure the enclosure back-plate is unpainted, but it may be zinc plated.

Mounting brackets electrically connected to the back-plate H X

Ensure the mounting brackets for the drive and RFI filter make direct
T
electrical connection with the back-plate.

Grounding
For compliance with EMC emission standards, employ the grounding
arrangements shown in this section. These arrangements are in addition
to (not instead of) the safety requirements. L W H J B C G T X
The fitting of an additional safety ground will not reduce the EMC 270 50 85 240 30 255 5.4 1.0 mm M5
performance.
10.63 1.969 3.346 9.449 1.181 10.039 0.213 0.039 in

External braking resistor

When an external braking resistor is to be mounted outside the
enclosure, ensure the following:
• The resistor housing will give electromagnetic shielding (without
compromising ventilation)
• The braking-resistor wiring must be shielded/armoured

Installing an RFI Filter

For compliance with emission standards such as EN50081-1 or
EN50081-2, use an RFI filter for each drive, as shown in the table below.
(Standards that are met are specified in section B.2 Optional RFI filter on
page 28.)

RFI Filter

Model Maximum
Part Ingress
power
Number Protection
dissipation
MultiAx (all versions) 4200-3258 11.83W IP20

Make a note of the following for each RFI filter to be used:

• Part number
• Maximum power dissipation figure
• IP rating

16 MultiAx User Guide

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Clearances from the RFI filter and AC supply cables

2
3

1
*
C

<250mm
(10in)

C >100mm (4in) M

Indirect grounding
1. Mount the RFI filter as close as possible to the drive. No clearance is Indirect grounding uses a 10nF capacitor to prevent low-frequency
required either side of the RFI filter or the drive. ground-loop currents from occurring; these can cause problems in
2. Make the wires connecting the RFI filter to the drive as short as systems controlled by analog signals.
possible. 1. Use insulating studs (5) to mount an uninsulated metal plate (6) on
3. Allow at least 100mm (4 in) clearance (C) between the AC supply the back-plate (3); the plate (6) must be insulated from the back-
cable and the following: plate.
• Signal cables 2. Using uninsulated metal cable-clamps (1), electrically bond the
• Drive shield (2) of each cable to the metal plate (6).
• Braking resistors and cables 3. Ensure there is no more than 250mm (10 in) of cable length (4)
• Motors and cables between each clamp and the drive. (Refer to the preceding
diagram.)
4. Connect a 10nF 2kV ceramic disc capacitor (7) between the metal
3.18 Additional ground connections for plate (6) and the back-plate (3). Maximum permissible length of
the signal cables each lead-out wire is 20mm (0.787in).
Electrically bond the shields of all the signal cables to the back-plate by
direct grounding unless ground-loop currents cause problems . In this
case, indirect grounding can be used to ground all the cables.

6
Refer to the next two diagrams.
7

Direct grounding 1
1. Using an uninsulated metal cable-clamp (1), electrically bond the
shield (2) of the cable to the back-plate (3).
2. Ensure there is no more than 250mm (10 in) of cable length (4)
between the clamp and the drive.
5 2
(For clarity, the upper mounting bracket has been omitted from this 3
view.)
5

MultiAx User Guide 17

Issue Number: 3 www.controltechniques.com
*
3.19 Bonding the cable shield to the motor
frame
The shield of the motor cable
must be electrically bonded to
the motor frame. The preferred
method of achieving this is to
connect the shield to the ground
terminal of the motor, as shown
in the following two diagrams.
For motors that have a power
input socket, a metal cable plug
should be used and the cable
shield make contact with the
shell throughout its entire
circumference (full 360°
termination). (A typical plug is
shown aside.)

o
360

If a full 360° termination is not

possible (due to a plastic plug being
used, or the motor having separate U VW
terminals and cable glands), a link no <25mm
longer than 25mm (0.984in) between (0.984in)
the shield and the terminal should be
used.

18 MultiAx User Guide

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4 Connecting the drive
Follow the instructions in this chapter for product familiarisation as well
as permanent installation.

Personnel requirements
The drive must be installed and operated only by
For permanent installation...
Refer to the following:
• Chapter 1 Safety Information
• Chapter 3 Installing the MultiAx
• The remainder of this chapter
• Appendix C Signal Connections
*
personnel having the necessary training or experience.
WARNING
For product familiarisation...
For operation make temporary power and signal connections (see next
page), then follow Chapter 5 Setting Up the MultiAx on page 25.
Motor safety For making the power connections, refer to Chapter 1 Safety
If this is the first time the drive has been operated, Information and the following sections in Chapter 3 Installing the
ensure that no damage or safety hazard could arise MultiAx :
from the motor starting unexpectedly. • AC supply protection
WARNING
For product familiarisation as well as full installation, • Power cables
the motor must be fixed down and the shaft guarded • Signal cables and connectors
against inadvertent contact. • Precautions for making power connections
• Terminal sizes and tightening torques
Stored charge • Method of connecting the power cables
The drive contains capacitors that remain charged to a • Circuit diagrams for the power connections
Refer to the remainder of this chapter for making signal connections and
potentially lethal voltage after the AC supply has been
Appendix C Signal Connections .
disconnected. If the drive has been energized, the AC
WARNING
supply must be isolated at least five minutes before
work may continue.

4.1 Making electrical connections

Setting up the drive without an AC supply...
If required, the drive can be set up for the application without the use of
an AC supply. In this case, an Auxiliary supply must be connected.
Before continuing, see section 4.7 Back-up supplies on page 22.

4.2 Locations of the signal connectors

Figure 4-1 Locations of the signal connectors on the MultiAx

Axis A Axis B Axis C MC

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Issue Number: 3 www.controltechniques.com
*
4.3

MC
• )
Functions of the signal connectors
D-type connectors

technology I/O to a motion controller for all axes

• Global Hardware enable input (electrical signal from a system or
Figure 4-2 Functions of the signal terminals

) Axis-A data
technology
com\
com\

Global hardware-enable
1

2
6

7
11

12
)
com\ Axis-B data
com\

Reserved
Reserved
technology

)
motion controller for all axes 3 13
Status-relay com\ Axis-C data
• Status-relay contact contact
9
com\ technology
• SLM supply input can be applied when the drive is powered-down 4 14
to retain position (see section 4.7 Back-up supplies on page 22) SLM supply 0V COMMON 10 Reserved
+24V 5 15 Cable shields

)
MC
Axis-C
• technology I/O to axis C SLM
1
• Hardware enable input (electrical signal from a system or motion 9 +24V
controller for axis C) 2 SLM supply
0V COMMON
• 24Vdc supply to the SLM 10
• Full current-scaling input (electrical signal used to set the full scale 3
current limit of axis C) 11
4

)
12
Axis-B 5

)
• technology I/O to axis B SLM 13 com\ Axis C data
Full current-
scaling select 6 com\ technology
• Hardware enable input (electrical signal from a system or motion 14
controller for axis B) +24V SLM supply 7
• 24Vdc supply to the SLM 15 Cable shields
Axis-C
• Full current-scaling input (electrical signal used to set the full scale hardware-enable
8
Axis C
current limit of axis B)

• )
Axis-A
technology I/O to axis A SLM
• Hardware enable input (electrical signal from a system or motion
1

2
9

10
+24V
0V COMMON
SLM supply

controller for axis A) 3

11
• 24Vdc supply to the SLM 4
• Full current-scaling input (electrical signal used to set the full scale 12
current limit of axis A) 5

NOTE
Full current-
scaling select
+24V SLM supply
6
13

14
com\ )
com\ Axis B data
technology

7
The link is only checked on power-up. Do NOT change without re- 15 Cable shields
Axis-B
commissioning. hardware-enable
8
Axis B
NOTE
1
The MultiAx will not respond to any enable / disable software 9 +24V
2 SLM supply
commands via the SLM until the drive sees a rising edge on the 0V COMMON
Hardware enable signal after a drive power-up. The host controller 10
3
must guarantee that the Hardware enable signal is not present at 11
the drive power-up or toggle it afterwards. This is a safety feature 4 Reserved
to prevent any unintentional live power stage at drive power-up. 12
5

Wait 30 seconds after removing power to the drive

before inserting or removing control cables as ‘hot
Full current-
scaling select
+24V SLM supply
6
13

14
com\ )
com\ Axis A data
technology

7
plugging’ cables can result in damage to the drive or 15 Cable shields
SLM. Axis-A
CAUTION hardware-enable
8
Axis A

Parallel and multiple connections

The following functions are available on more than one connector (the
related terminals are connected in parallel in the drive):

)
0V COMMON

)
+24V SLM supply
Axis-A data technology
Axis-B data
Axis-C data ) technology
technology

20 MultiAx User Guide

www.controltechniques.com Issue Number: 3
Hardware enable
For the MultiAx to run, Hardware enable and Software enable
(described in Chapter 5 Setting Up the MultiAx ) must be both be
applied.
Since the hardware-enable function in the MultiAx is edge-triggered,
Hardware enable signal(s) must be applied after the MultiAx has been
powered-up.
D-type connectors

...use the following:

Cables
*
For connection to the following connectors on the MultiAx...
• MC

Multi-core cables having tinned-copper stranded twisted pair

conductors, overall braided shield and braided outer sheath.
Maximum overall diameter: depends on the D-type connector being
Global or axis enable used.
When a Global Hardware enable is applied, it will simultaneously Connectors
enable all three axes (each axis will also require a software enable, see 15-way High density D-type male / plug connector
Hardware enable above). It is also possible to apply a Hardware enable • Axis A
signal to individual axes if required. It is not necessary to apply global as • Axis B
well as axis hardware-enable signals. • Axis C
...use the following:
Current-scaling modes Cables
The MultiAx is supplied with all three axes operating in the default Up to four twisted-pairs having an overall shield (unused wires must
current-scaling mode. By connecting a wire link in the related D-type not be connected to pins at the other end)
signal connector, one or more axes can be operated in the full current- Maximum length: 50m (165ft)
scaling mode. This can assist with matching the MultiAx to the current- Maximum overall diameter: depends on the D-type and SLM
ratings of the motor. connector being used.
Static installations: for example, use BICC type S-FTP patch, four
twisted pairs, 5.33mm diameter
NOTE
Dynamic installations: for example, use Intercond type 3MBM 26P
The correct cable MUST be used. Monitor (VDU) signal cables are 02P, 2 twisted pairs, 5.5mm diameter
NOT suitable for use with the MC connector. Connectors
15-way D-type male / plug connector

4.4 SLM connections

Figure 4-3 Connecting the SLM cable to the connectors (only the
relevant parts of the connectors are shown)

Drain 15 Drive
com/ 14
com 13 1
8
2

4
5

1 0V 10 6
2 +24V 9
7
3 9
7 8
+24V SLM
4 5 6 supply
9 3
+24V
0V COMMON 10 2
3
11

12
0V
2 Axis-A/B/C
data com 13 5
Axis-A/B/C
Drain 4 14 1
8 data com/
com 5 com/ 1
Cable shield 15 4
SLM

Drive SLM

1. Two twisted-pairs having an overall shielded braid

2. Maximum length: 50m (165ft) 5. Make the wire ends as short as possible (this affects performance).
3. Route the cable by the shortest convenient path and so that it is no 6. 5-way screw-locking DIN connector meeting IP67.
closer than 300mm (12in) from any power cable. 7. Shielded high-density 15-way D-type male connector.
4. Overall shield of tinned copper braid. Comb out the braid at both 8. Drain connection between cable shielded braid and 0V (0V
ends, fold the strands back and trap them under the cable clamp to COMMON)
ensure good electrical contact with the connector shell. 9. Metalised or diecast D-type connector shell

MultiAx User Guide 21

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*
4.5 +24Vdc Supplies
The +24V SLM supply should be obtained from the motion controller
and applied to the +24V SLM supply input (MC connector, pin 5). It is
then passed direct to the +24V SLM supply outputs (Axis A, B, C
connectors, pins 7, 9). The +24V SLM supply should also be used to
supply the Hardware enable and Global Hardware enable inputs, and
the Full current scale select inputs (see Appendix C.1 Digital inputs on
page 30).
Permissible voltage for all inputs: 21.6Vdc ~ 26.4Vdc

4.6 Planning the signal-current

consumption
Table 4-1 Digital input current requirements at 24V

Circuit Current drawn

SLM 65mA each
Hardware enable input 6mA each
Global Hardware enable input 18mA
Full current select 13mA each

4.7 Back-up supplies

The following two types of back-up supply can be applied individually or
concurrently to the drive.
SLM supply
This supply is totally independent of the drive at all times, which ensures
that the position information is not lost in the SLM when the drive is
powered-down for any reason.
The low current demand of an SLM (65mA each) makes it practical for a
battery to be used for this back-up supply.
Auxiliary supply
The auxiliary supply supplies the control circuits in the drive.
Parameters can be accessed by the motion controller.
This supply can be used also for setting up the drive without an AC
supply being connected. See Auxiliary supply on page 23.

SLM supply
Functions
• Maintains the 24V supply to the SLM
• Low-current requirements (65mA per SLM)
• The back-up supply can be at ground potential
• The back-up supply can supply one or more drives, and their SLMs,
on condition the total current entering any one drive does not exceed
500mA

Requirements

The current from the back-up supply to each drive

must be limited to 500mA by a fuse or other protection
means.
CAUTION

By unregulated power supply or battery

Maximum permissible voltage: 28Vdc average (30Vdc peak including
AC ripple peak)
Minimum permissible voltage: 17V (including AC ripple troughs)
Maximum current: 500mA
Maximum fuse I2t-rating: 5A2/s

Ensure that the motion controller used is suitable or

compatable with a back-up or battery supply. (Refer to
the motion controller user guide.)
CAUTION

See Figure 4-4.

22 MultiAx User Guide

www.controltechniques.com Issue Number: 3
 24V power
supply
+
_
500mA
Motion Controller

DrivelinK Option /
daughter card
*
Motion Controller
500mA
24V power + DrivelinK Option /
supply _ daughter card

500mA
DrivelinK Option /
daughter card

500mA
DrivelinK Option /
daughter card

Figure 4-4 SLM and back-up supply connections

Auxiliary supply
Isolation
The Auxiliary supply must be isolated from ground
since it is referenced to –DC of the DC bus. It must also
be isolated from any other auxiliary supply except
CAUTION
when the DC-buses of the drives are connected in
parallel.
Failure to observe these requirements will result in
damage to the back-up supplies and drive(s).

The Auxiliary supply MUST be supplied using an

isolating transformer.
WARNING

Functions
• Maintains the DC supply to the control circuits of the drive.

NOTE

The drive will be in a tripped state (undervolts) when using just the
Auxiliary supply

Requirements
• Voltage: 28Vdc ~ 32Vdc
• Maximum current to the control circuits (of each drive): 2A

In addition to the appropriate connections, make connections shown in

Figure 4-5.

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Issue Number: 3 www.controltechniques.com
*
Figure 4-5 Auxiliary supply connnections (these are additional to
those shown in Figure 3-10)

Contactor 1
circuit
2

5
4

7
6
380 ~ 480V
3φ
L1
L2
L3
8
H

Auxiliary back-up supply 10

supplying an individual Drive

+ 28V ~ 32V
2A
AC supply ~ _
11
Live circuit
WARNING

Auxiliary back-up supplies 10

supplying a number of Drives

28V ~ 32V
+
2A
~ _
11
Live circuit
WARNING

10

+ 28V ~ 32V
2A
AC supply ~ _
11
Live circuit
WARNING

10

+ 28V ~ 32V
2A
~ _
11
Live circuit
WARNING

Key
1. START/RESET switch (momentary)
2. STOP switch (latching) 9. Interlock relay in contactor circuit
3. Control-circuit supply 10. Isolated power supply
4. Contactor coil 11. 2A fuse to protect the control circuits
5. Thermal-overload protection relay for braking resistor
6. Optional external braking resistor
7. 380 ~ 480Vac supply to the drive
8. Power connectors on the drive

24 MultiAx User Guide

www.controltechniques.com Issue Number: 3
5

WARNING
Setting Up the MultiAx
Read Chapter 1 Safety Information before applying AC
power to the MultiAx or any associated equipment. • Excessive instantaneous output current
•
*
When the MultiAx is operating normally, indicator D5 is continuously lit. If
the MultiAx trips, D5 is extinguished and other indicator(s) are lit,
as follows:
D1, D2, D3

The value of I2t for the related axis has reached the trip level
D4
• The trip has been caused by a fault other than those above (see
controller fault finding guide)
NOTE
D6, D7, D8 are lit when their related axis has received a Hardware
enable (global or axis) plus a Software enable. If an SLM trips, the
Since the MultiAx can be used with different types of motion
axis becomes disabled (the Software enable is removed) and the
controller, the setting-up instructions and information in this
related indicator becomes extinguished.
chapter are not specific to operation with any type of controller; for
certain controllers additional instructions and information may be
required. Refer also to the documentation for the motion controller.
5.4 Clearing trips
1. Remove the cause of the trip (see Fault finding).
5.1 Commissioning 2. Reset the MultiAx using the motion controller or by removing and re-
applying the AC supply
To commission the MultiAx refer to the machine, system or motion 3. Re-position the motor shafts, as required.
controller user guide.

5.5 Fault finding

5.2 Primary axis
Refer to the machine or system user guide for fault codes and their
The MultiAx can be used to run up to 3 motors. For applications that use meanings.
a MultiAx with only one or two axes, Axis-A MUST always be configured
for use. I.e. Axis-A must NOT be the redundant axis.

5.3 Diagnostics
Users must not attempt to repair a drive if it is faulty,
nor carry out fault diagnosis other than through the
use of the diagnostic features described in this section.
Under no circumstances must the casing of the drive
WARNING
be opened when the AC supply is connected.
If a drive is faulty, it must be returned to an authorised
Control Techniques distributor for repair.

Status indicators

Figure 5-1 Status indicators on the front panel of the MultiAx

D1 Axis-A over-current trip + I2t

2
D2 Axis-B over-current trip + I t
2
D3 Axis-C over-current trip + I t
D4 General trip
D5 MultiAx healthy
D6 Axis-A enabled
D7 Axis-B enabled
D8 Axis-C enabled

MultiAx User Guide 25

Issue Number: 3 www.controltechniques.com
*
Appendix A UL Listing
Information
The drive conforms to UL listing requirements only when the following
are observed:
• The drive is installed in a type 1 enclosure, or better, as defined by
UL50
• UL-listed fuses class CC 600Vac are used in the AC supply
• Class 1 60/75°C (140/167°F) copper wire only is used in the
installation
• The ambient temperature does not exceed 50°C (122°F) when the
drive is operating
• The terminal tightening torques specified in Table 3-6 on page 13

A.1 AC supply specification

The drive is suitable for use in a circuit capable of delivering not more
than 5000 RMS symmetrical Amperes at 528Vac RMS maximum.

A.2 Maximum continuous output current

The drive models are listed as having the maximum continuous output
currents (FLC) shown in Table A.1 Maximum continuous output current ,
(see Appendix B Data on page 27 for details).

Table A.1 Maximum continuous output current

FLC (A)
Model Axis
A B C
MultiAx SAC / SDC 9.375 9.375 9.375
MultiAx HAC / HDC 15 9.375 9.375

NOTE

MultiAx HAC, MultiAx SDC and MultiAx HDC are pending UL

approval.

26 MultiAx User Guide

www.controltechniques.com Issue Number: 3
Appendix B
B.1 MultiAx Data
Output current ratings
Table B.1 Current ratings
Data Refer also to Altitude later in this Appendix.

Temperature, humidity and cooling method

Ambient temperature range:
All MultiAx models
*
0°C to 50°C (32°F to 122°F) at rated maximum continuous output
current (FLC). (See Output current ratings earlier in this Appendix)
Output current Cooling method: Internal fan
Maximum Maximum humidity: 95% non-condensing at 50°C (122°F)
Maximum Storage temperature range: –40°C to 55°C (–40°F to 131°F)
peak
Model continuous
(2s max.) Maximum storage time: 12 months
Axis Axis
Altitude
A B C A B C
Altitude range without derating: 0 to 2000m (6600ft)
Default current mode 2.5 5.0 When additional precautions are taken, the drive can be operated at
altitudes from 2000m to 4000m (13000ft); for information, contact the
MultiAx supplier of the drive.
Full current scaling
SAC /
selected. Pin 6 & 7
SDC 9.375 18.75
on each axis Vibration
connector linked Random vibration according to IEC 68–2–34

Default current mode 2.5 5.0

0.01g2/Hz over 5 to 20 Hz, reducing at –3dB/octave from 20 to 500 Hz
(0.89g RMS) applied for 30 minutes in each orthogonal axis
MultiAx
Full current scaling
HAC /
selected. Pin 6 & 7 Ingress protection
HDC 15.0 9.375 30 18.75
on each axis IP20
connector linked Suitable for use in a Pollution Degree 2 environment

NOTE
Overall dimensions
All MultiAx are supplied in a default state where all axis are H Height including mounting brackets
configured to 2.5A continuous and 5.0A overload. (See Appendix W Width
C Signal Connections on page 30 for configuration). D Projection forward of panel when surface mounted
F Projection forward of the front surface of the panel when
NOTE through-panel mounted
R Projection rear of the front surface of the panel when through-
The above table refers to the individual axis current limits. The sum panel mounted
of all three axes can NOT exceed 18.75A continuous or 37A peak
without the drive tripping. Dimensions

Supply currents H 470mm 18.504in

W 92mm 3.622in
Typical total Maximum total
Model D 320mm 12.598in
supply current supply current
All MultiAx Models 15.6A 31.2A F 232mm 9.134in
R 88mm 3.465in
NOTE

Typical supply currents apply to a balanced AC supply having a Weight

fault current of no greater than 5kA. Maximum supply currents All models: 10kg (22lb)
apply to an AC supply having 2% negative phase-sequence and a
fault current of 16kA. Dissipation

AC supply requirements Output current Heat dissipation

380V to 480V ±10% Max.
Model Max. Through-
3-phase TAMB overload Surface
contin- panel
48 to 62Hz max (2 secs. Mounting
uous Mounting
Maximum supply imbalance: 2% negative phase sequence (equivalent max)
to 3% voltage imbalance between phases) MultiAx (all 50oC
18.75 37.5 350W 40W
versions) (122oF)
Over-voltage categories
The drive can be operated on AC supplies in the following (or better)
over-voltage categories... Starts per hour
Grounded star supply: By electronic control: unlimited
Over-voltage category 3 By interrupting the AC supply: <20
Grounded delta and IT supplies:
Over-voltage category 2 SLM supply input
For operation on an AC supply in a poorer category, refer to the supplier Voltage: 17V to 28V
of the drive for advice on suitable varistors to connect to the AC supply. Maximum current: 500mA

MultiAx User Guide 27

Issue Number: 3 www.controltechniques.com
*CAUTION
A current limit in excess of 500mA can result in
damage to the MultiAx.

Auxiliary supply input

Compliance with EN61800-3 (standard for Power Drive Systems)
Meeting the requirements of this standard depends on the environment
that the Drive is to be operated in, as follows:

Operation in the first environment

Observe the wiring guidelines given in the whole of Chapter 3 Installing
Voltage: 28Vdc ~ 32Vdc the MultiAx , including the Compliance with EMC emission standards
Maximum current: 2A sections.
This supply is referenced to –DC. For isolation requirements, see Note the warning given on page 16.
section 4.7 Back-up supplies on page 22.
Operation in the second environment
An Auxiliary supply must be isolated from ground and Where the rated input current of the drive system is less than 100A:
any other auxiliary back-up supply. Failure to observe Observe the wiring guidelines given in the whole of Chapter 3 Installing
these requirements will result in damage. the MultiAx , including the Compliance with EMC emission standards
sections.
CAUTION
Where the rated input current of the drive system exceeds 100A:
Observe the wiring guidelines given in Chapter 3 Installing the MultiAx ,
Braking resistor excluding the section Compliance with EMC emission standards.
External resistor

Minimum permissible value 30Ω B.2 Optional RFI filter

780V at switch-on
Operating voltage (VR) Main ratings
760V at switch-off
Maximum possible braking Part number 4200-3258
26.0A
current (through 30Ω) (IbMAX) Max. continuous
30A
Peak power rating for 30Ω 20kW current
(See Braking resistor example Power dissipation at
Continuous power rating 11.83W
calculations on page 6) rated current
Maximum ambient temperature at rated current and frequency range:
50°C (122°F)
Electromagnetic compatibility (EMC) Ingress protection: IP20
This is a summary of the EMC performance of the drive when installed in
accordance with the instructions given in Chapter 3 Installing the
MultiAx . For full details, refer to the MultiAx EMC Data Sheet which can AC supply ratings
be obtained from a Drive Centre or distributor listed at the end of this Maximum operating voltage: 480V +10% at up to 50°C (122°F)
guide. AC supply frequency: 48 to 62 Hz

Immunity Ground leakage current

Compliance with immunity standards does not depend on installation Ground-leakage current phase-to-phase and phases-to-ground is as
details. The drive meets EN50082–2 (generic immunity standard for the follows:
industrial environment) and the following specifications from the Balanced supply, all phases present: 33mA
IEC61000–4 group (derived from IEC801): Two phases disconnected: 192mA
Part 2, Electrostatic discharge: Level 3 These figures apply for an AC supply of 400V at 50Hz. For other AC
Part 3, Radio frequency field: Level 3 supply voltages and currents, scale the values of leakage current
Part 4 Transient burst: proportionally.
Level 4 at the control terminals
Level 3 at the power terminals Discharge resistors
Part 5, Surge (at the AC supply terminals): 330KΩ star network between the AC supply phases; the star point is
Level 4 line-to-ground connected by a 1MΩ resistor to ground. These resistors are fitted
Level 3 line-to-line (as specified by EN50082–2 informative internally.
annex)
Part 6, Conducted radio frequency: Level 3
Maximum current overload
150% of rated current for 60 seconds.
Emission
Compliance with emission standards depends on rigorous adherence to
the installation guidelines, including the use of the specified RFI filter in Overall dimensions
the AC supply circuit. Compliance also depends on the length of the
motor cable. For full details, refer to the MultiAx EMC Data Sheet which Dimension
Part Number
can be obtained from a Drive Centre or distributor listed at the end Height Width Depth
of this guide. 4200-3258 270mm (10.63in) 50mm (1.969in) 85mm (3.346in)

Summary
Conducted and radiated emission meet EN50081–2 (generic emission Weight
standard for the industrial environment) over a wide range of conditions.
Part Number kg lb oz
This is similar to CISPR11 and EN55011 Class A.
The optional RFI filter, part number 4200-3258, must be used. 4200-3258 1.2 2lb 10oz

28 MultiAx User Guide

www.controltechniques.com Issue Number: 3
B.3 Motor cables
Ordering motor cables
Cables of the required lengths and type of sheath, and fitted with
appropriate terminations to suit the MultiAx and CT-Dynamics SL
motors, are supplied by Control Techniques Dynamics Ltd. For ordering,
create the required order code (see below) and contact the supplier of
the MultiAx.
B.4 SLM Signal cables
Ordering signal cables
*
Cables of the required lengths and fitted with connectors as required are
supplied by Control Techniques Dynamics Ltd. For ordering, create the
required order code (see below) and contact the supplier of the MultiAx.
The order code is constructed as follows:

The order code is constructed as follows:

Details of the code are shown below.

See below for the details of the code. 1 Type of cable

SL Two twisted pairs in overall shield
1 Number of conductors
PS 3-phase + ground
2 Type of sheath
3-phase + ground
PB PUR
+ motor-brake control
B Use for dynamic applications (motor mounted on a moving
structure) – increased oil resistance
2 Type of sheath
PUR
3 Options
B Use for dynamic applications (motor mounted on a moving
structure) – increased oil resistance A Standard

3 Conductor size (phases and ground) Current rating 4 Cable termination

15-way standard 5-way DIN
A 2.5mm2 22A D MultiAx to SLM
density D-type connector
B 4.0mm2 30A
15-way standard
E Cut end
density D-type
4 Cable terminations X Cut end Cut end

For connection to the MultiAx For connection to the motor

5 Cable length
A Termination ferrules 6-way size-1 plug
C Termination ferrules Termination ferrules Specify length in meters
K Termination ferrules 6-way size-1.5 plug Minimum: 003 (3 meters)
Maximum: 050 (50 meters)
Termination ferrules/Ring for
M 6-way size-1 plug
MultiAx
X Cut ends Cut ends Example:
SL B A D 010
10m MultiAx-to-SLM cable for a dynamic application.
5 Cable length
Specify length in meters
Minimum: 003 (3 meters) Isolation
Maximum: 050 (50 meters) The signal connections are isolated from the power
circuits by basic insulation only. Ensure that all
external control circuits connected to this connector
Example: WARNING
are separated from human contact by at least one layer
PS B A M 010
of insulation rated for use at the AC supply voltage.
10m Unimotor connection to ferrules power cable for a dynamic
application.
Wait 30 seconds after removing power to the drive
To avoid a fire hazard, 4mm2 cable must used when a before inserting or removing control cables as ‘hot
MultiAx HAC / HDC unit is operating with full current plugging’ cables can result in damage to the drive or
selected on Axis A. SLM.
CAUTION
WARNING

MultiAx User Guide 29

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*
Appendix C

WARNING
Isolation
Signal Connections
All the signal connections are isolated from the
powercircuits by basic insulation only. Ensure that all
external control circuits are separated from human
Current-scaling modes
The MultiAx is supplied with all three axes operating in the default
current mode. By connecting a wire link in the related D-type signal
connector, one or more axes can be operated in the full current-scaling
mode. This can assist with matching the MultiAx to the current-ratings of
the motor.
contact by at least one layer of insulation rated for use NOTE
at the AC supply voltage.
The link is only checked on power-up. Do NOT change without re-
commissioning.
C.1 Digital inputs
Hardware enable
Logic sense: Positive
Hardware enable is a positive-logic input. Time delays are as follows:
Voltage range: –0.3V ~ +30V
Enable time: <250µs
Isolation: optical
Disable time: <500µs
Input current: 6-18mA at 24V

C.2 Functions of the terminal

MC
Name
Axis-A data com
Pin
1
I/O

I/O
) Function
technology port for bi-
directional communications with a
Specification
2-wire EIA485
Connecting cable: Shielded
Axis-A data com\ 2
motion controller twisted pair
See section 4.3 Functions of the
Global Hardware-enable 3 I

)
signal connectors on page 20
For use with:
technology com and com\
0V COMMON must not be
0V COMMON 4 Hardware-enables
interchanged with 0V
Global hardware-enable
24V SLM supply

)
+24Vdc supply for the SLMs and
+24V SLM supply input 5 I
Hardware-enable inputs
Axis-B data com 6 technology port for bi- 2-wire EIA485
I/O directional communications with a Connecting cable: Shielded
Axis-B data com\ 7
motion controller twisted pair
Voltage rating: 50V AC/DC
DRIVE HEALTHY category 2
8
Status relay contact O Relay contact opens if the drive Current rating: 0.5A resistive
10
trips Isolation: 500V
Update period: 1ms
9

)
Reserved 11 Do not use Do not connect
12
Axis-C data com 13 technology port for bi- 2-wire EIA485
I/O directional communications with a Connecting cable: Shielded
Axis-C data com\ 14 twisted pair
motion controller
15 Connect all the cable shields to
Cable shield
Shell the connector shell

Figure C.1 Female D-type connector pin locations (as seen from
the top of the drive) NOTE

The MultiAx will not respond to any enable / disable software

6
1 11 commands via the SLM until the drive sees a rising edge on the
7 Hardware enable signal after a drive power-up. The host controller
2 12
8
must guarantee that the Hardware enable signal is not present at
3 13 the drive power-up or toggle it afterwards. This is a safety feature
9
4 14
to prevent any unintentional live power stage at drive power-up.
10
5 15

30 MultiAx User Guide

www.controltechniques.com Issue Number: 3
Axis A, B and C
Name

(No connection)
Pin
1
2
3
4
I/O Function Specification
*
5
Connect to pin 7 to select high See section C.1 Digital
Full current-scaling select 6 I
current scaling inputs on page 30
7
+24V SLM supply O
9
Axis-A/B/C hardware- See section 4.3 Functions of the
8 I Connect to pin 7 to select axis

)
enable signal connectors on page 20
For use with:
technology com and com\
0V COMMON must not be
0V COMMON 10 Hardware-enables
interchanged with 0V
Global hardware-enable
24V SLM supply

)
11
Reserved Do not use Do not connect
12
Axis-A/B/C data com 13 technology port for bi- 2-wire EIA485
I/O directional communications with Connecting cable: Shielded
Axis-A/B/C data com\ 14
a motion controller twisted pair
15 Connect all the cable shields to
Cable shield
Shell the connector shell

Figure C.2 Female D-type connector pin locations (as seen from
the top of the drive)

1
9
2
10
3
11
4
12
5
13
6
14
7
15
8

MultiAx User Guide 31

Issue Number: 3 www.controltechniques.com
Index Enclosure calculations for heat removal
Enclosure Layout
9
8
Symbols Environmental 4
Environmental limits 1
+24Vdc Supplies 22
External braking resistor 3, 16
A
F
AC supply by plug and socket 13
Fault finding 25
AC supply disturbances - use of line reactors 4
Fire enclosure 4
AC supply protection 4
Flash / insulation testing 4
AC supply requirements 27
Functions of the signal connectors 20
Additional ground connections for the signal cables 17
Altitude 27 G
Ambient temperature 5
Global enable 21
Authorized access 4
Ground bracket 14
Automatic setting up of the drive for the motor 2
Ground conductors 13
Auxiliary supply 23
Grounding 16
Auxiliary supply connnections 24
Auxiliary supply input 28 H
Axis A 31
Hardware enable 21, 30
Axis B 31
Hazardous areas 4
Axis C 31
Heat dissipation 5, 9
Axis enable 21
Humidity 27
B
I
Back-plate 16
Important information about this User Guide 2
Back-up supplies 22
Indirect grounding 17
Bonding the cable shield to the motor frame 18
Ingress protection 27
Braking resistor 5, 28
Installation considerations 4
C Installation in an enclosure 4
Cable capacitance 13 M
Cable type and sizes 13
Maximum cable lengths 13
Calculating the air-flow in a ventilated enclosure 10
Minimum permissible deceleration time 6
Calculating the size of a sealed enclosure 9
Models and versions of the drive 2
Circuit diagram for the power connections 15
Motion-controller requirements 3
Clearance from power cables 8
Motor 1
Clearance from the MultiAx 8
Motor cable 13
Clearances for the signal cables 8
Motor cables 29
Clearing trips 25
Motor safety 19
Commissioning 25
Motor voltage 4
Compliance with regulations 1
Mounting 8
Connecting power cables 14
Mounting brackets electrically connected to the back-plate 16
Connecting the drive 19
Mounting the MultiAx 11
Connecting the SLM cable to the connectors 21
MultiAx Data 27
Cooling method 27
Current-scaling modes 2, 21 , 30 O
D Optional RFI filter 28
Ordering motor cables 29
Data 27
Ordering signal cables 29
De-rating 5
Output current 5
Diagnostics 25
Output current ratings 27
Digital inputs 30
Overall dimensions 27
Direct grounding 17
Over-voltage categories 27
Dissipation 27
P
E
Parallel and multiple connections 20
Electrical connections 19
Personnel requirements 19
Electrical safety - general warning 1
Planning the signal-current consumption 22
Electromagnetic compatibility 4, 28
Power and current ratings 2
EMC compliance 8
Power cables 13
EMC emission standards - compliance information 15
Power connections 14
EMC emission standards - instructions 16
Power rating of the braking resistor 6
Enable function 13
Precaution for making power connections 12
Enclosure 16
Primary axis 25

32 MultiAx User Guide

www.controltechniques.com Issue Number: 3
Product familiarisation 19
Protection circuit (typical) for the braking resistor 15

R
RFI Filter 16
Risk analysis 1

S
Safety ground connection 13
Safety Information 1
Sealed enclosure 9
Setting up the drive without an AC supply 19
Setting Up the MultiAx 25
Signal connections 30
Signal connectors 19
SLM connections 21
SLM Signal cables 29
SLM supply 22

)
SLM supply input
technology
Starts per hour
27
2
27
Stored charge 13, 19
Supply currents 27
Surface-mounting 11
System design and safety of personnel 1

T
Temperature 27
Terminal functions 30
Terminal sizes 13
Thermal overload protection relay 7
Thermal protection 5
Thermal protection of the motor 3
Through-panel mounting 12
Tightening torques 13

U
UL Listing Information 26

V
Value of the braking resistor 7
Ventilated enclosure 9
Vibration 27

W
Warnings, Cautions and notes 1
Weight 27

MultiAx User Guide 33

Issue Number: 3 www.controltechniques.com
0437-0005