Baldor E100 ControlSystem B-5MN1942, E

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ControlSystem B-5MN1942

Figure52 - Torque Servo configuration control structure

POS

VEL

PID PI+ TF PWM

KVEL Universal

Encoder

Interface

Current

Sensors

Current

Conv

Commutation CURRENTMEAS

Offset

Comp

+++ +--

-- TORQUELIMITPOS

TORQUELIMITNEG

CURRENTLIMIT

TORQUEFILTERTYPE

TORQUEFILTERFREQ

TORQUEFILTERBAND

TORQUEFILTERDEPTH

KIPROP

KIINT

KITRACK

EFFORT

DRIVEBUSVOLTS

KACCEL

KVELFF

KPROP

KINT

KINTMODE

KINTLIMIT

KDERIV

FOLERROR

POSDEMAND

VELDEMAND

TORQUEDEMAND

ACCELDEMAND

Torquefilters Limiting

Controlmode

switch

Controlmode

switch

Currentcon trollers Motor

Electricalangle

Encoder

Temperaturedrift

compensation

Measuredtorque and

magnetisingcurrents

Positioncontroller

BusVoltage

Measurement

Torquecontrol

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