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

Models: 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, Motor Speed Filter 16 Sample Filter

Contents

MN1274 06/2001 Installation ManualPage Baldor Italia S.R.L Safety Notice Precautionsdevices installed CAUTION Removing the cover will invalidate UL certification Introduction ContentsBasic Installation Input / Output Tuning and Configuration4.2 Mint Configuration Tool Startup Wizard - coarse tuning viiiMint WorkBench TroubleshootingSpecifications A Tuning AppendicesAccessories and options CE GuidelinesPage 1.1 MintDrive features 1 Introduction1.2.1 Identifying the catalog number Installed at1.2 Receiving and inspection Catalog number MD1.3.2 CAN 1 and 2 LEDs 1.3 MintDrive indicators1.3.1 Monitor LED display 1.3.3 Ready LED1.4 Units and abbreviations 2.1.1 Hardware requirements 2 Basic Installation2.1 Outline Meaning 2.1.2 RS485 / RS422 systems 2.1.3 Power sources2.1.5 Other information needed for installation 2.1.4 Tools and miscellaneous hardware2.2 Mechanical installation and location requirements 2.2.1 Dimensions and mounting Figure 1 - Package dimensions2.3 Power connections Single phase units 2.3.1 GroundingMintDrive Figure 2 - Recommended single phase system groundingMintDrive 2.3.2 Input power conditioning2.3.3 Power disconnect and protection devices MintDrive Figure 5 - Circuit breaker and fuse, single phase, package size CFigure 6 - Circuit breaker and fuse, three phase, package size C MintDrive2.3.4 Wire sizes E L N 2.3.5 Single phase connection to package size A or B2.3.6 Single phase connection to package size C MDxxxxxx-xxx 2.3.7 Three phase connection to package size C2.3.8 24V control supply drives 2.3.9 DC Bus power connections from package size CTo external with2.3.10 Power supply filters 2.4 Motor connections 2.4.1 Motor circuit contactors 2.4.2 Regeneration resistor Dynamic Brake resistor 2.4.2.1 Regeneration resistor mounting2.5 Feedback connections Baldor 2.5.1 Resolver optionResolver function Motor2.5.1.1 Resolver cable pin configuration Grey1 CHA+ 6 CHA 2 CHB+ 7 CHB 3 CHZ+ INDEX 8 CHZ- INDEX 11 +5V 13 DGND 2.5.2 Encoder optionEncoder Hall Feedback 4 Hall U+ 5 Hall U 9 Hall W+ 14 Hall W 10 Hall V+ 15 HallYou should read the following sections in sequence before 2.6 Drive enableThis completes the basic installation attempting to start the MintDrive3.2 Analog I/O 3 Input / Output3.1 Outline 3.2.1 Analog Input, Single Ended AIN2 ADC.23.2.2 Analog Input, Differential AIN3 ADC.3AIN1 ADC.1 3.2.3 Analog Inputs, DifferentialAIN0 Page AUXDAC.3 3.2.4 Analog Outputs, BipolarAUXDAC.2 AUXDAC.1 3.2.5 Analog Outputs, BipolarAUXDAC.0 3.3 Digital I/O 3.3.1 Digital Inputs not connected not connected3.3.1.1 Thermal switch connection Figure 16 - Motor thermal switch circuit3.3.2 Digital Inputs 3.3.2.1 Special functions on inputs DIN0 and DIN2 3.3.2.2 Breakout boardSource 3.3.3 Digital OutputsSink USR GND 3.3.4 Digital OutputsRelay coil with flyback diode 3.4 Other I/O 3.4.1 Simulated encoder outputCHA+ CHA-- CHB+ CHB-- CHZ+ CHZ-- +5V DGND 3.4.2 Master auxiliary encoder inputEncoder Connection of shieldsFigure 22 - Auxiliary encoder circuit RS232 Name 3.4.3 Serial portLocation RS485 / RS422 name3.4.4 Using RS232 cable Figure 23 - RS232 serial port connections3.4.5 Multidrop using RS485 / RS422 cable 3.4.6 Connecting Baldor HMI Operator Panels 3.4.8 CAN peripherals This completes the input/output wiring3.4.7 Optional breakout board for connector You should read the following sections in sequence before4.1.2 Installing the software 4 Tuning and Configuration4.1.1 Connecting the MintDrive to the PC 4.1 Outline4.1.3 Starting the MintDrive 4.2 Mint Configuration Tool Startup Wizard - coarse tuning 3. Click Next Important Note 4.3 MCT Startup Wizard - fine-tuning 4.3.1 An introduction to closed loop controlIn 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 Demand position Measured position 5. Click Start MoveDemand position Measured position 4.3.4 Jog test 4.3.5 Completing the Startup Wizard 1. Click Mint Configuration Tool in Wizard Mode4.4 MCT Wizard - hardware configuration 4.4.1 Digital input configuration4.4.2 Digital output configuration When you have finished, click Next to continue 4.4.3 Axis0 parameter configuration4.4.4 Axis0 error configuration When you have finished, click Next to continue4.4.5 Axis0 tuning configuration 4.4.6 Miscellaneous configuration4.4.7 Completing the configuration wizard H The configuration file will be saved H MCT will be closed 5. The second file to save is the configuration fileSelect a folder and enter a filename for the configuration file H The configuration file will be automatically loaded into WorkBenchmovement commands that can be useful for testing This completes the configuration and tuning5.1.1 Completing configuration 5 Mint WorkBench5.2.2 Menus and buttons 5.2 Using WorkBench5.2.1 Selecting the controller 5.2.2.1 Standard toolbar functions5.2.2.4 Status bar 5.2.2.2 Motion toolbar functions5.2.2.3 Macro toolbar functions 5.2.2.5 CAN window5.3 Watch window 5.3.1 Quick Watch tab5.3.2 Speed Loop tab 740 × L × A∕V5.3.3 Position Loop tab 5.3.4 Capture tab 5.4.2 Program window 5.4.1 Configuration window5.4 Editor windows To start the motor turning slowly, type 5.4.4 Useful commands for testing5.4.3 Terminal window To stop the motor turning, typeTo change the speed, type Combining commands on one lineTo turn a distance of 5 turns, type 5.4.5 Firmware update Page 6.1 Outline 6 Specifications6.1.1 General specifications 6.1.2 Power VRIPPLE = 10%6.1.3 Rectifier and regeneration 6.1.4 Resolver feedback6.1.6 Control signals 6.1.5 Encoder feedbackMaximum 6.1.7 EnvironmentalMinimum DeratePage 7.1 Outline 7 Troubleshooting7.1.1 Problem diagnosis Problem 7.1.2Communication CheckCorruption. Use NEW to 7.1.3 Power upcorrupted. Use RELEASE clear buffers. is shown atProblem Check7.1.4 Tuning proportional gain manually and proceed to the feedback alignment7.1.5 Mint gains CONFIG = cfSERVOCONFIG = cfCURRENTAMPLIFIER PRINT DRIVEFAULT 7.1.6 Ready LED is redCheck ProblemCode If this occurs during acceleration then the load may be too great forCheck ProblemCode Check 7.1.7 CANProblem Problem CheckPage A Tuning A A.1 Introduction Figure A.1 MintDrive Closed Loop System Motor Speed Filter 16 Sample FilterA.1.1 Closed loop control  + KF A.1.2 Position loopA.1.3 Speed loop Command = KVP.e + KVI.ΣeCommand = KIP.e + KII.Σe A.1.4 Current loopA.1.7.1 Position Loop gain terms A.1.6 Tuning the position loop for a velocity servo driveA.1.7 Tuning the position loop for a servo drive FOLERROR KINTMODE=2Speed increase = KPROP x FOLERROR / KVELFF A.1.7.2 Position Loop Tuning using a step move A.1.7.3 Position Loop Tuning using a trapezoidal move typeCONFIG=6 A.1.8 Tuning the position loop for a torque servo driveA.1.9 Saving tuning information Page B CAN B B.1 Outline B.1.1 MintDrive capabilitiesH Terminators must only be fitted at both ends of the network, not at intermediate nodes B.2 CAN 1 CANopen B.2.1 CAN 1 CANopenMint Constant B.2.2 What is CANopen?Type Node TypeB.2.5 Scanning nodes B.2.3 Configuring nodesB.2.4 Network manager - node NODE = CANBAUD.1 =B.2.6 Connecting to nodes B.2.7 Monitoring CAN events B.2.8.2 Broadcast communication B.2.8 Controller nodesB.2.8.1 Singlecast communication B.2.8.3 Comms array subroutines B.2.9.1 Digital I/O accessB.2.9 I/O nodes ? REMOTEINX.1.2.0 B.2.9.2 Analog I/O AccessB.2.9.3 Extra Analog I/O Functionality ? REMOTEOUTX.1.2.0HMI database variable B.2.10 HMI Operator PanelsData format HMI variable indexThe HMI communicates its own changes to the MintDrive using CAN event B.3 CAN 2 Baldor CAN B.3.1 CAN 2 Baldor CANB.3.3 Preparing the CAN peripheral B.3.4 Connecting the PC, MintDrive and CAN peripheralB.3.2 Preparing the MintDrive B.3.5 Node IDs B.3.6 Static configurationREMOTESETUP Node Type = inputnode8 Current Node Number = Serial Number =B.3.7 Adding the node to the network B.3.10 Normal operation B.3.8 Monitoring CAN Bus communicationsB.3.9 Controlling the CAN peripheral B.3.11 KeypadNode B.3.12 ioNode 24/24 Figure B.1 ioNode 24/24B.3.13 Example CAN network B.3.14.1 Using abbreviations B.3.14 Mint CAN related keywordsPage C.1.1 Declaration of Conformity C CE GuidelinesC.1 Outline C.1.3 Use of CE compliant components C.1.4 EMC wiring techniqueC.1.2 EMC Conformity and CE marking CabinetGrounding Earth C.1.5 EMC installation suggestionsEMC filters Clamp C.1.6 Wiring of shielded screened cablesConductive Resolver ConnectorHousing Handwheel / Encoder HousingEncoder Connector Connector backshellPage D.1.1 Cables D Accessories and optionsD.1 Outline Motor type D.1.2 Resolver feedback cableCable assembly Baldor catalogD.1.3.1 Catalog numbers D.1.3.2 Filter dimensions - FN351-36-33 and FN351-50-33D.1.3 EMC mains filters Page D.1.4 Regeneration resistors D.1.5 Breakout board Figure D.1 MintDrive X5 breakout boardPage MN1274 06/2001 Mint Motion Centre 6 Bristol Distribution Park Hawkley Drive, BristolBS32 0BF, UK