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Baldor MN1274 06/2001 installation manual

Models: MN1274 06/2001

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

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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Baldor MN1274 06/2001 H Terminators must only be fitted at both ends of the network, not at intermediate nodes

Contents

MN1274 06/2001 Installation ManualPage Baldor Italia S.R.L Safety Notice Precautionsdevices installed CAUTION Removing the cover will invalidate UL certification Contents Basic InstallationIntroduction Tuning and Configuration 4.2 Mint Configuration Tool Startup Wizard - coarse tuningInput / Output viiiTroubleshooting SpecificationsMint WorkBench A Tuning AppendicesAccessories and options CE GuidelinesPage 1.1 MintDrive features 1 IntroductionInstalled at 1.2 Receiving and inspection1.2.1 Identifying the catalog number Catalog number MD1.3 MintDrive indicators 1.3.1 Monitor LED display1.3.2 CAN 1 and 2 LEDs 1.3.3 Ready LED1.4 Units and abbreviations 2 Basic Installation 2.1 Outline2.1.1 Hardware requirements Meaning 2.1.3 Power sources 2.1.5 Other information needed for installation2.1.2 RS485 / RS422 systems 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 2.3.1 Grounding MintDriveSingle phase units Figure 2 - Recommended single phase system grounding2.3.2 Input power conditioning 2.3.3 Power disconnect and protection devicesMintDrive Figure 5 - Circuit breaker and fuse, single phase, package size C Figure 6 - Circuit breaker and fuse, three phase, package size CMintDrive MintDrive2.3.4 Wire sizes 2.3.5 Single phase connection to package size A or B 2.3.6 Single phase connection to package size CE L N 2.3.7 Three phase connection to package size C 2.3.8 24V control supplyMDxxxxxx-xxx 2.3.9 DC Bus power connections from package size C To externaldrives 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 2.5.1 Resolver option Resolver functionBaldor Motor2.5.1.1 Resolver cable pin configuration Grey2.5.2 Encoder option Encoder Hall Feedback1 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 Hall2.6 Drive enable This completes the basic installationYou should read the following sections in sequence before attempting to start the MintDrive3 Input / Output 3.1 Outline3.2 Analog I/O 3.2.1 Analog Input, Single Ended AIN2 ADC.23.2.2 Analog Input, Differential AIN3 ADC.33.2.3 Analog Inputs, Differential AIN0AIN1 ADC.1 Page 3.2.4 Analog Outputs, Bipolar AUXDAC.2AUXDAC.3 3.2.5 Analog Outputs, Bipolar AUXDAC.0AUXDAC.1 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 board3.3.3 Digital Outputs SinkSource 3.3.4 Digital Outputs Relay coil with flyback diodeUSR GND 3.4 Other I/O 3.4.1 Simulated encoder output3.4.2 Master auxiliary encoder input EncoderCHA+ CHA-- CHB+ CHB-- CHZ+ CHZ-- +5V DGND Connection of shieldsFigure 22 - Auxiliary encoder circuit 3.4.3 Serial port LocationRS232 Name 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 This completes the input/output wiring 3.4.7 Optional breakout board for connector3.4.8 CAN peripherals You should read the following sections in sequence before4 Tuning and Configuration 4.1.1 Connecting the MintDrive to the PC4.1.2 Installing the software 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 5. Click Start Move Demand position Measured positionDemand position Measured position Demand 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 4.4.3 Axis0 parameter configuration 4.4.4 Axis0 error configurationWhen you have finished, click Next to continue When you have finished, click Next to continue4.4.5 Axis0 tuning configuration 4.4.6 Miscellaneous configuration4.4.7 Completing the configuration wizard 5. The second file to save is the configuration file Select a folder and enter a filename for the configuration fileH The configuration file will be saved H MCT will be closed H The configuration file will be automatically loaded into WorkBenchThis completes the configuration and tuning 5.1.1 Completing configurationmovement commands that can be useful for testing 5 Mint WorkBench5.2 Using WorkBench 5.2.1 Selecting the controller5.2.2 Menus and buttons 5.2.2.1 Standard toolbar functions5.2.2.2 Motion toolbar functions 5.2.2.3 Macro toolbar functions5.2.2.4 Status bar 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 5.4.1 Configuration window 5.4 Editor windows5.4.2 Program window 5.4.4 Useful commands for testing 5.4.3 Terminal windowTo start the motor turning slowly, type To stop the motor turning, typeCombining commands on one line To turn a distance of 5 turns, typeTo change the speed, type 5.4.5 Firmware update Page 6 Specifications 6.1.1 General specifications6.1 Outline 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 feedback6.1.7 Environmental MinimumMaximum DeratePage 7 Troubleshooting 7.1.1 Problem diagnosis7.1 Outline 7.1.2 CommunicationProblem Check7.1.3 Power up corrupted. Use RELEASECorruption. Use NEW to clear buffers. is shown atProblem Check7.1.4 Tuning proportional gain manually and proceed to the feedback alignmentCONFIG = cfSERVO CONFIG = cfCURRENTAMPLIFIER7.1.5 Mint gains PRINT DRIVEFAULT 7.1.6 Ready LED is redProblem CodeCheck If this occurs during acceleration then the load may be too great forProblem CodeCheck 7.1.7 CAN ProblemCheck 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 loopCommand = KVP.e + KVI.Σe Command = KIP.e + KII.ΣeA.1.3 Speed loop A.1.4 Current loopA.1.6 Tuning the position loop for a velocity servo drive A.1.7 Tuning the position loop for a servo driveA.1.7.1 Position Loop gain terms KINTMODE=2 Speed increase = KPROP x FOLERROR / KVELFFFOLERROR A.1.7.2 Position Loop Tuning using a step move A.1.7.3 Position Loop Tuning using a trapezoidal move typeA.1.8 Tuning the position loop for a torque servo drive A.1.9 Saving tuning informationCONFIG=6 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 CANopenB.2.2 What is CANopen? TypeMint Constant Node TypeB.2.3 Configuring nodes B.2.4 Network manager - nodeB.2.5 Scanning nodes NODE = CANBAUD.1 =B.2.6 Connecting to nodes B.2.7 Monitoring CAN events B.2.8 Controller nodes B.2.8.1 Singlecast communicationB.2.8.2 Broadcast communication B.2.9.1 Digital I/O access B.2.9 I/O nodesB.2.8.3 Comms array subroutines B.2.9.2 Analog I/O Access B.2.9.3 Extra Analog I/O Functionality? REMOTEINX.1.2.0 ? REMOTEOUTX.1.2.0B.2.10 HMI Operator Panels Data formatHMI database variable 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.3.4 Connecting the PC, MintDrive and CAN peripheral B.3.2 Preparing the MintDriveB.3.3 Preparing the CAN peripheral B.3.6 Static configuration REMOTESETUPB.3.5 Node IDs Node Type = inputnode8 Current Node Number = Serial Number =B.3.7 Adding the node to the network B.3.8 Monitoring CAN Bus communications B.3.9 Controlling the CAN peripheralB.3.10 Normal operation 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 CE Guidelines C.1 OutlineC.1.1 Declaration of Conformity C.1.4 EMC wiring technique C.1.2 EMC Conformity and CE markingC.1.3 Use of CE compliant components CabinetC.1.5 EMC installation suggestions EMC filtersGrounding Earth C.1.6 Wiring of shielded screened cables ConductiveClamp Resolver ConnectorHandwheel / Encoder Housing Encoder ConnectorHousing Connector backshellPage D Accessories and options D.1 OutlineD.1.1 Cables D.1.2 Resolver feedback cable Cable assemblyMotor type Baldor catalogD.1.3.2 Filter dimensions - FN351-36-33 and FN351-50-33 D.1.3 EMC mains filtersD.1.3.1 Catalog numbers Page D.1.4 Regeneration resistors D.1.5 Breakout board Figure D.1 MintDrive X5 breakout boardPage Mint Motion Centre 6 Bristol Distribution Park Hawkley Drive, Bristol BS32 0BF, UKMN1274 06/2001