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Baldor E100 8.1.8 Incremental encoder feedback option (X 8), 8.1.9 SSI encoder feedback option (X8), 8.1.10 SinCos / EnDat encoder feed back option (X8), 8.1.11 Ethernet interface

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Specifications 8-5MN1942

8.1.8 Incremental encoder feedback option (X 8)

Unit Allmodels

Encoderinput RS422A/B Differential,Z index

Maximuminput frequency

(quadrature)

MHz 8

Hallinputs RS422A/B Differential

Outputpower supplyto encoder 5V,200mA max.

Maximumrecommend ed cable length 30.5m(100ft)

8.1.9 SSI encoder feedback option (X8)

Unit Allmodels

SSIencoder inputs DifferentialData and C lock

Operating mode

(Baldormotor s)

Singleturn.

Positioning resolution up to

262144counts /rev (18-bit)

Outputpower supplyto encoder 5V,200mA max.

Maximumrecommend ed cable length 30.5m(100ft)

8.1.10 SinCos / EnDat encoder feed back option (X8)

Unit Allmodels

Absoluteencoder input EnDat/ SinC os differential

inputsand data input

Operating modes

(Baldormotor s)

Singleor multi -turn.

512or 2048 Sin/C os cycles per

turn,with abs olute positioning

resolution of

2048or 8192 st eps.

(Manyother enc oder

specifications are supported -

contact Baldor.)

Outputpower supplyto encoder 5V,200mA max.

Maximumrecommend ed cable length 30.5m(100ft)

8.1.11 Ethernet interface

Description Unit Value

Signal 2twist ed pairs,

magnetically isolated

Protocols ETHERNETPowerlink

&TCP/IP

Bitr ates Mbit/s 100

Contents

Main Page Contents 3 Basic Installation 3-1.................................... 4 Feedback 4-1.......................................... 5 Input / Output 5-1...................................... 6 Configuration 6-1....................................... Contents iii 6.4 Mint WorkBench 6-8........................................ 7 Troubleshooting 7-1.................................... 7.1 Introduction 7-1............................................ 7.2 MicroFlex e100 indicators 7-2................................ 8 Specifications 8-1...................................... 8.1 Introduction 8-1............................................ Appendices A Accessories A-1........................................ A.1 Introduction A-1............................................ B Control System B-1..................................... B.1 Introduction B-1............................................ GeneralInformation 1-1MN1942 1General Information 1 1-2 GeneralInformation MN1942 Product notice Safety Notice Precautions GeneralInformation 1-3MN1942 1-4 GeneralInformation MN1942 Introduction 2-1MN1942 2Introduction 2 2.1 MicroFlex e100 features 2-2 Introduction MN1942 2.2 Receiving and inspection 2.2.1 Identifying the catalognumber Introduction 2-3MN1942 2.3 Units and abbreviations Page BasicInstallation 3-1MN1942 3Basic Installation 3 3.1 Introduction 3.1.1 Powersources 3.1.2 Hardware requ irements 3-2 BasicInstallation MN1942 3.1.3 Toolsand miscellaneoushardware 3.1.4 Other i nformation needed for installation BasicInstallation 3-3MN1942 3.2 Mechanical installation and cooling requirements 3-4 BasicInstallation MN1942 3.2.1 Dimensions Figure1 - Mounting and overall dimensions BasicInstallation 3-5MN1942 3.2.2 Mounting and coolingthe MicroFlex e100 3-6 BasicInstallation MN1942 3.2.3 Derating characteristic - 3A model BasicInstallation 3-7MN1942 3.2.4 Deratingcharacteristic - 6A mod el 3-8 BasicInstallation MN1942 3.2.5 Derating characteristic - 9A model 3.2.6 Overtemperature trips BasicInstallation 3-9MN1942 3.3 Connector locations X8Feedback In X6Auxiliary port X3Input / Output 3.3.1 Front panelconnectors 3.3.2 Toppanel connectors CAN Ethernet BasicInstallation 3-11MN1942 3.4 Power connections 3.4.1 Earthing / grounding 3-12 BasicInstallation MN1942 3.4.2 Single-phase or three-phase power connecti ons BasicInstallation 3-13MN1942 3.4.3 Input power conditioning 3-14 BasicInstallation MN1942 3.4.4 Pow erd isconnect and protection devices BasicInstallation 3-15MN1942 3.4.5 Recommendedfuses, circuit b reakersan d wire sizes 3.4.6 Driveoverload protecti on 3-16 BasicInstallation MN1942 3.4.7 Powersupply filters BasicInstallation 3-17MN1942 3.4.8 24Vcontrol circuit supply 3-18 BasicInstallation MN1942 3.5 Motor connections BasicInstallation 3-19MN1942 3.5.1 Motor circuitcontactors 3.5.2 Motor powercable pin configuration - Baldor BSM rotary motors 3-20 BasicInstallation MN1942 3.5.3 Motorcable pin configuration - Baldor linearmotors 3.5.4 Sinusoidalfilter BasicInstallation 3-21MN1942 3.5.5 Thermalswitch connect ion 3-22 BasicInstallation MN1942 3.5.6 Motor brake connection BasicInstallation 3-23MN1942 3.6 Regeneration resistor (Dynamic Brake resistor) Page Feedback 4-1MN1942 4Feedback 4 4.1 Introduction 4-2 Feedback MN1942 4.1.1 Incremental encoder feedback Feedback 4-3MN1942 X8 Motor 4-4 Feedback MN1942 Feedback 4-5MN1942 4-6 Feedback MN1942 4.1.2 SSI feedback Feedback 4-7MN1942 4-8 Feedback MN1942 4.1.3 SinCos feedback Feedback 4-9MN1942 4-10 Feedback MN1942 4.1.4 EnDat(absolute encoder) feedback Feedback 4-11MN1942 Page 5.1 Introduction 5-2 Input/ Output MN1942 5.2 Digital I/O Input/ Output 5-3MN1942 5.2.1 Driveenable input 5-4 Input/ Output MN1942 Figure25 - Driveenablei nput - typical connection from a Baldor NextMove e100 Input/ Output 5-5MN1942 5.2.2 Generalpurpose digital input DIN0 5-6 Input/ Output MN1942 Figure27 - Digitalinput- typicalconnection from a Baldor NextMove e100 Input/ Output 5-7MN1942 5.2.3 Generalpurpose digital inputs DIN1 & DIN2 5-8 Input/ Output MN1942 5.2.4 Specialfunctions on inputs DIN1and DIN2 Input/ Output 5-9MN1942 5.2.5 General purpose / status output DOUT 0 5-10 Input/ Output MN1942 Figure31 - DOUT0- typical connections to a Baldor NextMove e100 Input/ Output 5-11MN1942 5.2.6 Generalpurpose output DOUT1 5-12 Input/ Output MN1942 Figure33 - DOUT1- typical connections to a Baldor NextMove e100 Input/ Output 5-13MN1942 5.3 USB communication 5.3.1 USB port 5-14 Input/ Output MN1942 5.4 Ethernet interface 5.4.1 TCP/IP Input/ Output 5-15MN1942 5.4.2 ETHERNET Powerlink 5-16 Input/ Output MN1942 5.4.3 Ethernet connectors Input/ Output 5-17MN1942 5.5 CAN interface 5.5.1 CAN conn ector 5.5.2 CAN wiring 5-18 Input/ Output MN1942 5.5.3 CANopen Input/ Output 5-19MN1942 5-20 Input/ Output MN1942 5.6 Other I/O 5.6.1 Node ID selector switches Input/ Output 5-21MN1942 5-22 Input/ Output MN1942 Input/ Output 5-23MN1942 5.7 Connection summary - recommended system wiring Figure40 - Recommendedsyst em wiring PE L3 PC Page Configuration 6-1MN1942 6Configuration 6 6.1 Introduction 6.1.1 Con necting the MicroFlex e100 to the PC 6.1.2 Installing Mint Machine Center and Mint WorkBench 6-2 Configuration MN1942 6.2 Starting the MicroFlex e100 6.2.1 Preliminary checks 6.2.2 Power on checks 6.2.3 Installingthe USB driver Configuration 6-3MN1942 6.2.4 Configuring the TCP/IP connection (optional) 6-4 Configuration MN1942 Configuration 6-5MN1942 6.3 Mint Machine Center 6-6 Configuration MN1942 Figure42 - Typical network visibility provided by Mint Machine Center Configuration 6-7MN1942 6.3.1 Starting MMC 6-8 Configuration MN1942 6.4 Mint WorkBench Configuration 6-9MN1942 6.4.1 Help file Page Configuration 6-11MN1942 6.4.3 Commi ssioning Wizard 6-12 Configuration MN1942 Configuration 6-13MN1942 6.4.4 Performing a test move 6-14 Configuration MN1942 6.5 Further configuration 6.5.1 Fine-tuning tool Configuration 6-15MN1942 6-16 Configuration MN1942 6.5.2 Parameters tool Configuration 6-17MN1942 6.5.3 Othertools and windows Page Troubleshooting 7-1MN1942 7Troubleshooting 7 7.1 Introduction 7.1.1 Problem diagnosis 7.1.2 SupportMe feature 7.1.3 Power-cycling the MicroFlex e100 7-2 Troubleshooting MN1942 7.2 MicroFlex e100 indicators 7.2.1 STATUSLED Troubleshooting 7-3MN1942 7.2.2 CAN LEDs X 7-4 Troubleshooting MN1942 7.2.3 ETHERNET LEDs X Troubleshooting 7-5MN1942 7.2.4 Communication 7.2.5 Power on 7.2.6 Mint WorkBen ch 7-6 Troubleshooting MN1942 7.2.7 Tuning 7.2.8 Ethernet 7.2.9 CANopen Troubleshooting 7-7MN1942 Page Specifications 8-1MN1942 8Specifications 8 8.1 Introduction 8.1.1 AC input powerand DC bus voltage (X1) 8-2 Specifications MN1942 Specifications 8-3MN1942 8.1.2 24VDCcontrol circuit supply input (X2) 8.1.3 Motor output power(X1) 8.1.4 Regeneration (X1) 8-4 Specifications MN1942 8.1.5 Digitalinputs - drive enable and DIN0 general purpose (X3) 8.1.6 Digitalinputs DIN1, DIN2 - high speed general purpose (X3) 8.1.7 Digitaloutputs DOUT0, DOUT1 - status and general purpose(X3) Specifications 8-5MN1942 8.1.8 Incremental encoder feedback option (X 8) 8.1.9 SSI encoder feedback option (X8) 8.1.10 SinCos / EnDat encoder feed back option (X8) 8.1.11 Ethernet interface 8-6 Specifications MN1942 8.1.12 CAN interface 8.1.13 Environmental Page Page A.1 Introduction A-2 Accessories MN1942 A.1.1 Fan tray Accessories A-3MN1942 A.1.2 Footprint filter (single-phaseonly) A-4 Accessories MN1942 A.1.3 EMC filters Accessories A-5MN1942 A-6 Accessories MN1942 Accessories A-7MN1942 A.1.4 Regeneration resi stors A-8 Accessories MN1942 A.1.5 Motor power cables A.1.6 Motor power cable part numbers Accessories A-9MN1942 A.1.7 SSI feedb ack cables A.1.8 Encoder / Hall feedback cables A-10 Accessories MN1942 A.1.9 EnDat (absolute encoder)and SinCos feedback cables A.1.10Feedb ack cable part numbers Accessories A-11MN1942 A.1.11Ethernet cables Page B.1 Introduction B-2 ControlSystem MN1942 B.1.1 Servo configu ration ControlSystem B-3MN1942 Figure51 - Servo configuration control structure Encoder Interface Current Current Sensors B.1.2 Torque servoconfiguration ControlSystem B-5MN1942 Figure52 - Torque Servo configuration control structure E Page CE Guidelines C-1MN1942 CCE Guidelines C C.1 Outline C.1.1 EMC Confo rmity and CE marking C.1.2 MicroFl ex e100 compliance C-2 CEGuidelines MN1942 C.1.3 Use of CE compliant components C.1.4 EMC wiring technique CE Guidelines C-3MN1942 C.1.5 EMC installat ion suggestions * ** C-4 CEGuidelines MN1942 C.1.6 Wiring o f shielded (screened) cables Figure54 - Encoder signal cable grounding Figure53 - Earthing/grounding cable shields Index A Index B C D F G H I L N O P R S U W Comments CommentsMN1942