Figure A.1 MintDrive Closed Loop System | Baldor MN1274 06/2001

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Figure A.1 MintDrive Closed Loop System

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Baldor MN1274 06/2001 installation manual Figure A.1 MintDrive Closed Loop System

Contents

Installation Manual MN1274 06/2001Page Iii Safety Notice Circuit amperes listed here at rated voltage Page Contents Input / Output Viii Mint WorkBench Tuning Appendices 129 Xii MintDrive features Introduction Date Receiving and inspectionIdentifying the catalog number Meaning Alternatives Can 1 and 2 LEDs MintDrive indicatorsMonitor LED display Ready LED Units and abbreviations Hardware requirements You must read all the sections in Basic InstallationOutline Each step should be followed in sequence CBL 2 RS485 / RS422 systems Power sourcesOther information needed for installation Tools and miscellaneous hardware Mechanical installation and location requirements Dimensions and mounting Package dimensions Power connections MintDrive Single phase unitsGrounding Ungrounded distribution systems Input power conditioningPower disconnect and protection devices Circuit breaker and fuse, single phase, package size C Wire sizes Delay Single phase connection to package size a or B Single phase connection to package size C Input current Three phase connection to package size C8 24V control supply MintDrive DC Bus power connections from package size COutput voltage External drive Power supply filters Motor connections Nominal output voltage Motor circuit contactors Baldor regeneration resistor catalog numbers Regeneration resistor Dynamic Brake resistorRegeneration resistor mounting Feedback connections Baldor Motor Resolver optionPin Resolver function Resolver cable pin configuration Signal name Motor / cable Resolver cable wire Pin Color Encoder option Pin Encoder function Drive enable This completes the basic installation Input / Output Analog I/O ADC.2 Analog Input, Single EndedMint keyword Description Analog Input, Differential ADC.3 ADC.0 ADC.1 Pins NameAnalog Inputs, Differential Page Analog Outputs, Bipolar AUXDAC.2 AUXDAC.3 AUXDAC.0 AUXDAC.1 AOUT0 and AOUT1 analog outputs Digital I/O External +24VDC supply Active high =+24VDC =0V Active low Digital InputsPin Name Mint keyword Thermal switch connection X13 External +24VDC supply Active high A=+24VDC B=0V Active low X5 Digital inputs Input Function Special functions on inputs DIN0 and DIN2Breakout board OUT.6 Digital OutputsOUT.5 OUT.7 OUT.0 OUT.4OUT.2 OUT.3 Pin Name Other I/OSimulated encoder output MintDrive NextMoveBX encoder input Master auxiliary encoder input Differential encoder connections Auxiliary encoder circuit Serial port Pin RS232 Name RS485 / RS422 name Using RS232 cable RS232 serial port connections Multidrop using RS485 / RS422 cable Master Controller Connecting Baldor HMI Operator Panels Baldor HMI PLC Port Optional breakout board for connector Can peripherals Connecting the MintDrive to the PC Installing the software Starting the MintDrive Mint Configuration Tool Startup Wizard coarse tuning Page Page MCT Startup Wizard fine-tuning An introduction to closed loop controlPage Fine-tuning the speed loop Fine-tuning the position loop Click Start Move Jog test Click Mint Configuration Tool in Wizard Mode Completing the Startup Wizard MCT Wizard hardware configuration Digital input configuration Digital output configuration Axis0 parameter configuration Axis0 error configuration Axis0 tuning configuration Miscellaneous configuration Completing the configuration wizard Page Completing configuration Mint WorkBench Menus and buttons Using WorkBenchSelecting the controller Standard toolbar functions Status bar Motion toolbar functionsMacro toolbar functions Can window Watch window Quick Watch tab Speed Loop tab 740 × L × A∕V Position Loop tab Capture tab Program window Configuration windowEditor windows To start the motor turning slowly, type Useful commands for testingTerminal window To stop the motor turning, type To change the speed, type Combining commands on one lineTo turn a distance of 5 turns, type NEW Firmware updateCON ProgPage Specifications General specifications Power Rectifier and regeneration Resolver feedback Control signals Encoder feedback Environmental Page Troubleshooting Problem diagnosis Problem Check Communication Power up Corrupted. Use Release Data Defaulting to Tuning Config = cfCURRENTAMPLIFIER Mint gains Ready LED is red Print DrivefaultCode Problem Check Parameter Code Problem Check 7 can Problem Check Page Tuning a Introduction Purpose Name Abbreviation / keyword Figure A.1 MintDrive Closed Loop System Closed loop control Position loop 100 MintDrive operational modes Speed loopCurrent loop 101 Position Loop gain terms Tuning the position loop for a velocity servo driveTuning the position loop for a servo drive 102 103 KINTMODE=2 104 Position Loop Tuning using a step movePosition Loop Tuning using a trapezoidal move type CONFIG=6 Tuning the position loop for a torque servo driveSaving tuning information 105 106 Cable length Maximum bit rate Resistance Conductor area MintDrive capabilities107 108 109 Can 1 CANopenCan 1 CANopen Pin Name Description Type Mint Constant Node Type What is CANopen?110 Scanning nodes Configuring nodesNetwork manager node 111 ? NODELIVE.1.2 ? NODETYPE.1.2 Connecting to nodes112 Event Number Mint Constant Monitoring can events113 Broadcast communication Controller nodesSinglecast communication 114 Comms array subroutines Digital I/O access9 I/O nodes 115 116 Analog I/O AccessExtra Analog I/O Functionality REMOTEADCDELTA.1.2.3 = HMI Operator Panels117 118 119 Can 2 Baldor canCan 2 Baldor can Preparing the can peripheral Connecting the PC, MintDrive and can peripheralPreparing the MintDrive 120 Remotesetup Static configurationNode type Type Mint Constant Default Node ID Baud rate Node IDs NODETYPE.7 = Adding the node to the network122 Normal operation Monitoring can Bus communicationsControlling the can peripheral 123 BUS=2 KeypadNode124 Pause NODELIVE.14 IoNode 24/24 125 NODESCAN.0 Example can network126 View NODELIVE.2 127 Using abbreviationsMint can related keywords Keyword Abbreviation 128 Declaration of Conformity 129 Use of CE compliant components EMC wiring techniqueEMC Conformity and CE marking 130 EMC filters EMC installation suggestions131 Grounding Earth Wiring of shielded screened cables 132 Figure C.5 Encoder signal cable grounding Figure C.4 Handwheel Encoder cable grounding 134 135 Cable Cable assembly Baldor catalog number LengthCables Resolver feedback cable 136 Catalog numbers Filter dimensions FN351-36-33 and FN351-50-33EMC mains filters 137 138 Dimensions inches mmDimension FN2070-6-06 Baldor catalog number MintDrive Regeneration resistors139 115VAC drives 230VAC drives Baldor Breakout board 140Page MN1274 06/2001