Installation Manual
MN1274 06/2001
Page
Baldor Italia S.R.L
Precautions
Safety Notice
devices installed
CAUTION Removing the cover will invalidate UL certification
Basic Installation
Contents
Introduction
4.2 Mint Configuration Tool Startup Wizard - coarse tuning
Tuning and Configuration
Input / Output
viii
Specifications
Troubleshooting
Mint WorkBench
Appendices
A Tuning
CE Guidelines
Accessories and options
Page
1 Introduction
1.1 MintDrive features
1.2 Receiving and inspection
Installed at
1.2.1 Identifying the catalog number
Catalog number MD
1.3.1 Monitor LED display
1.3 MintDrive indicators
1.3.2 CAN 1 and 2 LEDs
1.3.3 Ready LED
1.4 Units and abbreviations
2.1 Outline
2 Basic Installation
2.1.1 Hardware requirements
Meaning
2.1.5 Other information needed for installation
2.1.3 Power sources
2.1.2 RS485 / RS422 systems
2.1.4 Tools and miscellaneous hardware
2.2 Mechanical installation and location requirements
Figure 1 - Package dimensions
2.2.1 Dimensions and mounting
2.3 Power connections
MintDrive
2.3.1 Grounding
Single phase units
Figure 2 - Recommended single phase system grounding
2.3.3 Power disconnect and protection devices
2.3.2 Input power conditioning
MintDrive
Figure 6 - Circuit breaker and fuse, three phase, package size C
Figure 5 - Circuit breaker and fuse, single phase, package size C
MintDrive
MintDrive
2.3.4 Wire sizes
2.3.6 Single phase connection to package size C
2.3.5 Single phase connection to package size A or B
E L N
2.3.8 24V control supply
2.3.7 Three phase connection to package size C
MDxxxxxx-xxx
To external
2.3.9 DC Bus power connections from package size C
drives
with
2.3.10 Power supply filters
2.4 Motor connections
2.4.1 Motor circuit contactors
2.4.2.1 Regeneration resistor mounting
2.4.2 Regeneration resistor Dynamic Brake resistor
2.5 Feedback connections
Resolver function
2.5.1 Resolver option
Baldor
Motor
Grey
2.5.1.1 Resolver cable pin configuration
Encoder Hall Feedback
2.5.2 Encoder option
1 CHA+ 6 CHA 2 CHB+ 7 CHB 3 CHZ+ INDEX 8 CHZ- INDEX 11 +5V 13 DGND
4 Hall U+ 5 Hall U 9 Hall W+ 14 Hall W 10 Hall V+ 15 Hall
This completes the basic installation
2.6 Drive enable
You should read the following sections in sequence before
attempting to start the MintDrive
3.1 Outline
3 Input / Output
3.2 Analog I/O
AIN2 ADC.2
3.2.1 Analog Input, Single Ended
AIN3 ADC.3
3.2.2 Analog Input, Differential
AIN0
3.2.3 Analog Inputs, Differential
AIN1 ADC.1
Page
AUXDAC.2
3.2.4 Analog Outputs, Bipolar
AUXDAC.3
AUXDAC.0
3.2.5 Analog Outputs, Bipolar
AUXDAC.1
3.3 Digital I/O
not connected not connected
3.3.1 Digital Inputs
Figure 16 - Motor thermal switch circuit
3.3.1.1 Thermal switch connection
3.3.2 Digital Inputs
3.3.2.2 Breakout board
3.3.2.1 Special functions on inputs DIN0 and DIN2
Sink
3.3.3 Digital Outputs
Source
Relay coil with flyback diode
3.3.4 Digital Outputs
USR GND
3.4.1 Simulated encoder output
3.4 Other I/O
Encoder
3.4.2 Master auxiliary encoder input
CHA+ CHA-- CHB+ CHB-- CHZ+ CHZ-- +5V DGND
Connection of shields
Figure 22 - Auxiliary encoder circuit
Location
3.4.3 Serial port
RS232 Name
RS485 / RS422 name
Figure 23 - RS232 serial port connections
3.4.4 Using RS232 cable
3.4.5 Multidrop using RS485 / RS422 cable
3.4.6 Connecting Baldor HMI Operator Panels
3.4.7 Optional breakout board for connector
This completes the input/output wiring
3.4.8 CAN peripherals
You should read the following sections in sequence before
4.1.1 Connecting the MintDrive to the PC
4 Tuning and Configuration
4.1.2 Installing the software
4.1 Outline
4.1.3 Starting the MintDrive
4.2 Mint Configuration Tool Startup Wizard - coarse tuning
3. Click Next
Important Note
4.3.1 An introduction to closed loop control
4.3 MCT Startup Wizard - fine-tuning
In summary, the following rules can be used as a guide
4.3.2 Fine-tuning the speed loop
4.3.3 Fine-tuning the position loop
Demand position Measured position
5. Click Start Move
Demand position Measured position Demand position Measured position
4.3.4 Jog test
1. Click Mint Configuration Tool in Wizard Mode
4.3.5 Completing the Startup Wizard
4.4.1 Digital input configuration
4.4 MCT Wizard - hardware configuration
4.4.2 Digital output configuration
4.4.4 Axis0 error configuration
4.4.3 Axis0 parameter configuration
When you have finished, click Next to continue
When you have finished, click Next to continue
4.4.6 Miscellaneous configuration
4.4.5 Axis0 tuning configuration
4.4.7 Completing the configuration wizard
Select a folder and enter a filename for the configuration file
5. The second file to save is the configuration file
H The configuration file will be saved H MCT will be closed
H The configuration file will be automatically loaded into WorkBench
5.1.1 Completing configuration
This completes the configuration and tuning
movement commands that can be useful for testing
5 Mint WorkBench
5.2.1 Selecting the controller
5.2 Using WorkBench
5.2.2 Menus and buttons
5.2.2.1 Standard toolbar functions
5.2.2.3 Macro toolbar functions
5.2.2.2 Motion toolbar functions
5.2.2.4 Status bar
5.2.2.5 CAN window
5.3.1 Quick Watch tab
5.3 Watch window
740 × L × A∕V
5.3.2 Speed Loop tab
5.3.3 Position Loop tab
5.3.4 Capture tab
5.4 Editor windows
5.4.1 Configuration window
5.4.2 Program window
5.4.3 Terminal window
5.4.4 Useful commands for testing
To start the motor turning slowly, type
To stop the motor turning, type
To turn a distance of 5 turns, type
Combining commands on one line
To change the speed, type
5.4.5 Firmware update
Page
6.1.1 General specifications
6 Specifications
6.1 Outline
VRIPPLE = 10%
6.1.2 Power
6.1.4 Resolver feedback
6.1.3 Rectifier and regeneration
6.1.5 Encoder feedback
6.1.6 Control signals
Minimum
6.1.7 Environmental
Maximum
Derate
Page
7.1.1 Problem diagnosis
7 Troubleshooting
7.1 Outline
Communication
7.1.2
Problem
Check
corrupted. Use RELEASE
7.1.3 Power up
Corruption. Use NEW to
clear buffers. is shown at
Check
Problem
proportional gain manually and proceed to the feedback alignment
7.1.4 Tuning
CONFIG = cfCURRENTAMPLIFIER
CONFIG = cfSERVO
7.1.5 Mint gains
7.1.6 Ready LED is red
PRINT DRIVEFAULT
Code
Problem
Check
If this occurs during acceleration then the load may be too great for
Code
Problem
Check
Problem
7.1.7 CAN
Check
Check
Problem
Page
A Tuning A A.1 Introduction
Motor Speed Filter 16 Sample Filter
Figure A.1 MintDrive Closed Loop System
A.1.1 Closed loop control
A.1.2 Position loop
+ KF
Command = KIP.e + KII.Σe
Command = KVP.e + KVI.Σe
A.1.3 Speed loop
A.1.4 Current loop
A.1.7 Tuning the position loop for a servo drive
A.1.6 Tuning the position loop for a velocity servo drive
A.1.7.1 Position Loop gain terms
Speed increase = KPROP x FOLERROR / KVELFF
KINTMODE=2
FOLERROR
A.1.7.3 Position Loop Tuning using a trapezoidal move type
A.1.7.2 Position Loop Tuning using a step move
A.1.9 Saving tuning information
A.1.8 Tuning the position loop for a torque servo drive
CONFIG=6
Page
B.1.1 MintDrive capabilities
B CAN B B.1 Outline
H Terminators must only be fitted at both ends of the network, not at intermediate nodes
B.2.1 CAN 1 CANopen
B.2 CAN 1 CANopen
Type
B.2.2 What is CANopen?
Mint Constant
Node Type
B.2.4 Network manager - node
B.2.3 Configuring nodes
B.2.5 Scanning nodes
NODE = CANBAUD.1 =
B.2.6 Connecting to nodes
B.2.7 Monitoring CAN events
B.2.8.1 Singlecast communication
B.2.8 Controller nodes
B.2.8.2 Broadcast communication
B.2.9 I/O nodes
B.2.9.1 Digital I/O access
B.2.8.3 Comms array subroutines
B.2.9.3 Extra Analog I/O Functionality
B.2.9.2 Analog I/O Access
? REMOTEINX.1.2.0
? REMOTEOUTX.1.2.0
Data format
B.2.10 HMI Operator Panels
HMI database variable
HMI variable index
The HMI communicates its own changes to the MintDrive using CAN event
B.3.1 CAN 2 Baldor CAN
B.3 CAN 2 Baldor CAN
B.3.2 Preparing the MintDrive
B.3.4 Connecting the PC, MintDrive and CAN peripheral
B.3.3 Preparing the CAN peripheral
REMOTESETUP
B.3.6 Static configuration
B.3.5 Node IDs
Node Type = inputnode8 Current Node Number = Serial Number =
B.3.7 Adding the node to the network
B.3.9 Controlling the CAN peripheral
B.3.8 Monitoring CAN Bus communications
B.3.10 Normal operation
B.3.11 KeypadNode
Figure B.1 ioNode 24/24
B.3.12 ioNode 24/24
B.3.13 Example CAN network
B.3.14 Mint CAN related keywords
B.3.14.1 Using abbreviations
Page
C.1 Outline
C CE Guidelines
C.1.1 Declaration of Conformity
C.1.2 EMC Conformity and CE marking
C.1.4 EMC wiring technique
C.1.3 Use of CE compliant components
Cabinet
EMC filters
C.1.5 EMC installation suggestions
Grounding Earth
Conductive
C.1.6 Wiring of shielded screened cables
Clamp
Resolver Connector
Encoder Connector
Handwheel / Encoder Housing
Housing
Connector backshell
Page
D.1 Outline
D Accessories and options
D.1.1 Cables
Cable assembly
D.1.2 Resolver feedback cable
Motor type
Baldor catalog
D.1.3 EMC mains filters
D.1.3.2 Filter dimensions - FN351-36-33 and FN351-50-33
D.1.3.1 Catalog numbers
Page
D.1.4 Regeneration resistors
Figure D.1 MintDrive X5 breakout board
D.1.5 Breakout board
Page
BS32 0BF, UK
Mint Motion Centre 6 Bristol Distribution Park Hawkley Drive, Bristol
MN1274 06/2001
