MPA-460 ACE-01 BRUSHLESS SERVO
This manual is designed to help you install the MaxPlus? amplifier.
Unpacking and Inspection
Carefully unpack the amplifier and inspect it for visible damage. Check items against the
packing list. Report any missing or damaged items to your supplier.
Warranty and Service
The amplifier is warranted to be free from defects in workmanship and materials for a
period of 18 months from the original shipment by MTS Automation, or 12 months in
service, whichever comes first.
During the warranty period, a defective amplifier unit will be repaired or replaced as
Before requesting return authorization, please try to verify that the problem is within the
amplifier, and not with external devices.
To arrange for repair or replacement, please contact:
MTS Automation Customer Service
Monday–Friday, 8:00–4:30 Central Time
• You must provide the model and serial number from the labels on the amplifier.
• You must provide an explanation as to why the unit is being returned.
• You will be issued a return authorization number which must be marked on the return shipment
and on all correspondence.
Continued on next page
Warranty and Service (continued)
Service Under Warranty
• Return your defective unit, freight prepaid, and it will be repaired and returned within two weeks
of receipt via regular UPS, freight prepaid.
• Upon request, a factory-repaired replacement unit will be sent via regular prepaid UPS, within 4
working days. Next day shipment for overnight delivery, freight collect, is available at an
expediting charge of $100. The defective unit is to be returned via regular UPS, freight prepaid,
upon your receipt of the replacement.
• Return your defective unit, freight prepaid, and it will be repaired on a time and material basis
and returned within three weeks of receipt.
• OR contact your local distributor or MTS Automation Customer Service for a factory-repaired
exchange unit, which is available at a flat rate price, assuming the defective unit is in repairable
condition and is returned freight prepaid. Next day shipment for overnight delivery, freight collect,
is available at an expediting charge of $100.
Except as specifically modified by this warranty statement, all MTS Automation Conditions
of Sale and Warranty shall apply.
MPA Amplifiers represent a series of amplifiers that are high performance, reliable, and efficient. The amplifiers are designed to be used with high performance brushless servo motors. Extreme care has been taken to assure robust operation. Design consideration for electrical transients have been implemented on the ac inputs and all I/O lines. The MPA 460-100 series amplifiers operate over ac voltage ranges of 200 to 520 Vac from 45 to 65 Hz. The motor feedback device is a resolver to assure normal operation at elevated motor temperatures of 115? C for the case, and 155? C for the motor windings. The resolver allows for both position and velocity feedback. The motor is further protected by a thermal shutdown thermostat in the motor windings. The amplifier high power switching devices are state of the art IGBT modules. The logic supplies are switch mode designs reducing undesired heat. LED indicators for diagnostics are provided. Encoder simulated TTL compatible differential quadrature outputs plus an index output are provided for external pulse or position control. The amplifiers have inrush current protection to allow for normal turn on. This is especially worthwhile for multiple axes. Consideration for dissipation of regenerative energy is included with internal shunt regulators.
The ACE-1 (Analog Control Electronics) Control Board is available as a means of providing multiple configuration and extended features to the MPA Servo Amplifier.
The following features are available:
• 6-Pole, 8-Pole, 12-Pole, and Brush Motor selection
• I/O logic level signal inversion
• 12 or 14 bit mode
• Internal or External TAC
• Four different TAC Filters
• 15 TAC Gradients per mode
• Latched fault display
• EPROM encoder selection
• Independent reference for all zero adjustments
• Lead Gain - 16 choices for Capacitor
• 16 choices for Lag Network
• Overspeed shut down
Model Continuous Amps Peak Amps
MPA-100-460 100 165
MPA-100-230 100 165
• Efficient power conversion
• High frequency switching
• Resolver feedback or Hall-effect commutation
• Simulated quadrature encoder signals (with resolver feedback)
• ?10 Vdc for maximum velocity or torque
• 24 volt I/O for ?LIMIT, RESET, VEL/TORQUE mode
• 2 differential analog channels (command and auxiliary)
• LED diagnostic indicators
• Motor and amplifier thermal protection
• AC, I/O and bridge transient suppression
• Totally self contained space efficient design
• Simple screw terminal interface
• AC inrush protection
• Three-phase operation
Temperature 0 to 45?C (32 to 113?F) Maximum, Ambient
Humidity 0 to 95% noncondensing
Velocity Command Input Differential input 0 to ?10 Vdc(15 Vdc Max)
Auxiliary Input Differential input 0 to ?10 Vdc(15 Vdc Max)
Velocity Output 1.5 volts per 1000 rpm (default)
Current Output ?10 volts = ? Peak Current
- Limit 24 Volt Logic: Velocity/Torque Select
Fault Output(Open Collector)
Fault Protection: Feedback Resolver Wiring
TTL Differential Output Plus Index
Encoder Simulation: Line Count(select with DIP switch);
Standard - 250, 360, 400, 500, 720, 1000, 1024, 2000, and
200 to 520 Vac Electrical Characteristics: 45 to 65 Hz Input Voltage Three phase; 80 amps continuous maximum No Isolation Transformer Required
Output Characteristics Quasi Trapezoid with Torque Linearization
(All Models) Torque Ripple 5% Maximum
100 amps continuous; 165 amps peak; peak ？ 5 seconds Output: MPA-100-460 PWM frequency 10 kHz MPA-100-230 DC Bus and output voltage is AC line dependent
The motor's maximum speed is dependent on the bus
voltage and motor KE by the following relationships: Motor/Amplifier Speed and Load Relationship: (AC Input)/(Motor KE Vrms) = Maximum no load speed. Maximum no load speed * .75 = Maximum speed at
continuous full load.
0 - Peak Current Limit(CL)
Auxiliary (AUX) Adjustments: Signal (SIG)
Overspeed Shut Down
?5% Speed/Torque Regulation Max Speed 12000 rpm (12 bit) or 3000 rpm (14 bit)
Parameter Specification Encoder Signals:
Resolution 250, 360, 400, 500, 720, 1000, 1024, 2000 and 4096 lines
Resolver Cable Length: Max. Error:
15 foot ?20 minutes
25 foot ?20 minutes
50 foot ?30 minutes
100 foot ?40 minutes Weight:
MPA-100-460/230 75 lbs. max
For all 460 volt products, the inductance line-to-line must be
no less than 1mH.
For all 230 volt products, the inductance line-to-line must be
no less than 500 ；H.
MPA-100-460/230 Mechanical Footprint
CURRENTRMPA100-460+24V-24VRESETT/S+T/S-ENCODERMOTOR POWEROUTPUTR S T GNDPOWER
RESPWM MODELIM+RMS MODELIM-V/TINPUTFLTINVERTGNDMOTORVELSELECTCURFLTINVENCODERCOM-MODEGNDCONTINUOUSAUX-SHORTSMOTORAUX+AMPLIFIERFDBKGNDHI-BUSRESETLIMITREF+BUS SHUNT -BUS GNDGNDVELOCITYCOSD.C.BUSCOS GNDCOMPSINSIN GNDTSRESOLVERGNDSHIELDSHIELDTAC-15VVELOCITY+15VSCALINGTAC RET
A B CAC POWER INPUT
Control Interface and User Configuration Locations
CURRENTR100% shielded cable is foil and braid. The pairs do not have to be twisted. The resolver
wiring should not be run adjacent to any non-shielded high voltage wires, such as the motor MPA100-460
wires (RST). If the wiring cannot be separated, the RST motor leads should also be 100%
shielded. It is highly recommended that factory cable sets or wiring be used. RESET
If the motor is equipped with a winding thermostat that is normally closed, it can be POWERconnected between terminals 7 and 8 of the feedback wiring connector. If an excess
temperature thermal condition exists as indicated by an open thermostat, the amplifier is
If this feature is not used, connect a short jumper wire between terminals 7 and 8. RES LIM+RMS MODESW5 PWM MODELIM- V/TINPUTSW7FLTINVERTGNDMOTORVELSW6SELECTCURFLT INVCOM+ENCODERSW8COM-GNDCONTINUOUSAUX+SHORTSMOTORAMPLIFIERAUX-FDBKGNDHI-BUSRESETLIMITREFGNDCOSVELOCITYSW1COS GNDCOMPSIN
SIN GNDTSSW2RESOLVERGNDSHIELDSHIELDTAC-15VVELOCITYSW3+15VSCALINGTAC RET
SIGNAL LEAD CURRENT
Disable drive before changing
DIP switch settings.
Resolver Feedback Wiring
THERM SWITCH7SIN GND6
2 kHz 20-25 VP-P
SIN/COS 0 TO 5 V
Motors and Commutation
The amplifier can commutate 6-pole, 8-pole, 12-pole, and brush motors in its standard configuration and other factory options are available. DIP switch SW6 allows for configuration changes and switches one through three determine the choice. Amplifiers are shipped set for 6-pole operation. Never change the switch settings of SW6 with power ON.
DIP SWITCH SW6
SW6 1 2 Motor Type
ON ON 12-POLE
OFF ON 8-POLE ON OFF 6-POLE (default)
OFF OFF BRUSH
SW6-3 selects the torque linearization mode. When the switch is on, a algorithm is invoked to reduce the generation of torque ripple for 4 or 6 pole sinusoidally wound motors when commutating with a trapezoidal output drive.
For brush motor operation, (SW6-1,2 off) no resolver alignment is required and the R lead connects to armature (+) and the T lead connects to armature (-).
A positive command (+COM > -COM) will make the R lead positive with respect to the T lead. These connections will cause clockwise rotation from the shaft end of the motor.