108 | Baldor MN1274 06/2001 manual

HTerminators must only be fitted at both ends of the network, not at intermediate nodes.

HThe 0V rails of all of the nodes on the network must be tied together through the CAN cabling. This ensures that the CAN signal levels transmitted by MintDrive or CAN peripheral devices are within the common mode range of the receiver circuitry of other nodes on the network.

MintDrive supports the full range of Baldor CAN peripherals - InputNode 8, OutputNode 8, RelayNode 8, ioNode 24/24 and KeypadNode.

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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 Receiving and inspection Identifying the catalog numberDate Meaning Alternatives MintDrive indicators Monitor LED displayCan 1 and 2 LEDs Ready LED Units and abbreviations You must read all the sections in Basic Installation OutlineHardware requirements Each step should be followed in sequence CBL Power sources Other information needed for installation2 RS485 / RS422 systems Tools and miscellaneous hardware Mechanical installation and location requirements Dimensions and mounting Package dimensions Power connections Single phase units GroundingMintDrive Input power conditioning Power disconnect and protection devicesUngrounded distribution systems 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 Three phase connection to package size C 8 24V control supplyInput current DC Bus power connections from package size C Output voltageMintDrive External drive Power supply filters Motor connections Nominal output voltage Motor circuit contactors Regeneration resistor Dynamic Brake resistor Regeneration resistor mountingBaldor regeneration resistor catalog numbers Feedback connections Resolver option Pin Resolver functionBaldor Motor 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 Analog Input, Single Ended Mint keywordADC.2 Description Analog Input, Differential ADC.3 Pins Name Analog Inputs, DifferentialADC.0 ADC.1 Page Analog Outputs, Bipolar AUXDAC.2 AUXDAC.3 AUXDAC.0 AUXDAC.1 AOUT0 and AOUT1 analog outputs Digital I/O Digital Inputs Pin Name Mint keywordExternal +24VDC supply Active high =+24VDC =0V Active low Thermal switch connection X13 External +24VDC supply Active high A=+24VDC B=0V Active low X5 Digital inputs Special functions on inputs DIN0 and DIN2 Breakout boardInput Function Digital Outputs OUT.5OUT.6 OUT.7 OUT.4 OUT.2OUT.0 OUT.3 Other I/O Simulated encoder outputPin Name 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 Using WorkBench Selecting the controllerMenus and buttons Standard toolbar functions Motion toolbar functions Macro toolbar functionsStatus bar Can window Watch window Quick Watch tab Speed Loop tab 740 × L × A∕V Position Loop tab Capture tab Configuration window Editor windowsProgram window Useful commands for testing Terminal windowTo start the motor turning slowly, type To stop the motor turning, type Combining commands on one line To turn a distance of 5 turns, typeTo change the speed, type Firmware update CONNEW 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 Print Drivefault Code Problem CheckReady LED is red 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 Speed loop Current loopMintDrive operational modes 101 Tuning the position loop for a velocity servo drive Tuning the position loop for a servo drivePosition Loop gain terms 102 103 KINTMODE=2 Position Loop Tuning using a step move Position Loop Tuning using a trapezoidal move type104 Tuning the position loop for a torque servo drive Saving tuning informationCONFIG=6 105 106 MintDrive capabilities 107Cable length Maximum bit rate Resistance Conductor area 108 Can 1 CANopen Can 1 CANopen109 Pin Name Description What is CANopen? 110Type Mint Constant Node Type Configuring nodes Network manager nodeScanning nodes 111 Connecting to nodes 112? NODELIVE.1.2 ? NODETYPE.1.2 Monitoring can events 113Event Number Mint Constant Controller nodes Singlecast communicationBroadcast communication 114 Digital I/O access 9 I/O nodesComms array subroutines 115 Analog I/O Access Extra Analog I/O Functionality116 HMI Operator Panels 117REMOTEADCDELTA.1.2.3 = 118 Can 2 Baldor can Can 2 Baldor can119 Connecting the PC, MintDrive and can peripheral Preparing the MintDrivePreparing the can peripheral 120 Static configuration Node type Type Mint Constant Default Node ID Baud rateRemotesetup Node IDs Adding the node to the network 122NODETYPE.7 = Monitoring can Bus communications Controlling the can peripheralNormal operation 123 KeypadNode 124BUS=2 Pause NODELIVE.14 IoNode 24/24 125 Example can network 126NODESCAN.0 View NODELIVE.2 Using abbreviations Mint can related keywords127 Keyword Abbreviation 128 Declaration of Conformity 129 EMC wiring technique EMC Conformity and CE markingUse of CE compliant components 130 EMC installation suggestions 131EMC filters Grounding Earth Wiring of shielded screened cables 132 Figure C.5 Encoder signal cable grounding Figure C.4 Handwheel Encoder cable grounding 134 Cable Cable assembly Baldor catalog number Length Cables135 Resolver feedback cable 136 Filter dimensions FN351-36-33 and FN351-50-33 EMC mains filtersCatalog numbers 137 Dimensions inches mm Dimension FN2070-6-06138 Regeneration resistors 139Baldor catalog number MintDrive 115VAC drives 230VAC drives Baldor Breakout board 140Page MN1274 06/2001