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Baldor MN1274 06/2001 installation manual Introduction, MintDrive features

Models: MN1274 06/2001

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1 Introduction


1 Introduction	1

1.1MintDrive features

The MintDrive combines a powerful fully featured motion controller and brushless servo amplifier into a compact package. This provides a flexible and powerful motion control solution for almost any single axis positioning system. Programmable in Mintt, applications can be quickly realized. Using the onboard CAN bus, drives can be connected together for loosely coupled multi-axis systems.

Features include:

HSingle axis AC brushless drive with integrated Mint controller H 2.5A to 15A continuous current ratings (model dependent)

H Direct on line connection to 115V or 230V single input or 230V three phase input (model dependent) H Programmable in Mint

H Point to point moves, software cams and gearing H 18 optically isolated digital inputs

H 9 optically isolated digital outputs H 4 general purpose analog inputs H 4 general purpose analog outputs

HCANopen protocol for peer-to-peer communications with other Mint v4 controllers, and other third party devices.

HProprietary CAN protocol for control of Baldor remote I/O devices H RS232 and RS485 communications

H Flash memory for program and data storage.

MintDrive will operate with a large number of brushless servo motors. For information on selecting Baldor servo motors, please see the sales catalog BR1202.

This manual is intended to guide you through the installation of MintDrive, whether you are a novice in the field of motion control or an experienced engineer.

The chapters should be read in sequence.

The Basic Installation section describes the mechanical installation of the MintDrive, the power supply connections and motor connections. The following sections require knowledge of the low level input/output requirements of the installation and an understanding of computer software installation. If you are not qualified in these areas you should seek assistance before proceeding.

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Baldor MN1274 06/2001 installation manual Introduction, MintDrive features

Contents

Installation Manual MN1274 06/2001Page Baldor Italia S.R.L Precautions Safety Noticedevices installed CAUTION Removing the cover will invalidate UL certification Basic Installation ContentsIntroduction 4.2 Mint Configuration Tool Startup Wizard - coarse tuning Tuning and ConfigurationInput / Output viiiSpecifications TroubleshootingMint WorkBench Appendices A TuningCE Guidelines Accessories and optionsPage 1 Introduction 1.1 MintDrive features1.2 Receiving and inspection Installed at1.2.1 Identifying the catalog number Catalog number MD1.3.1 Monitor LED display 1.3 MintDrive indicators1.3.2 CAN 1 and 2 LEDs 1.3.3 Ready LED1.4 Units and abbreviations 2.1 Outline 2 Basic Installation2.1.1 Hardware requirements Meaning 2.1.5 Other information needed for installation 2.1.3 Power sources2.1.2 RS485 / RS422 systems 2.1.4 Tools and miscellaneous hardware2.2 Mechanical installation and location requirements Figure 1 - Package dimensions 2.2.1 Dimensions and mounting2.3 Power connections MintDrive 2.3.1 GroundingSingle phase units Figure 2 - Recommended single phase system grounding2.3.3 Power disconnect and protection devices 2.3.2 Input power conditioningMintDrive Figure 6 - Circuit breaker and fuse, three phase, package size C Figure 5 - Circuit breaker and fuse, single phase, package size CMintDrive MintDrive2.3.4 Wire sizes 2.3.6 Single phase connection to package size C 2.3.5 Single phase connection to package size A or BE L N 2.3.8 24V control supply 2.3.7 Three phase connection to package size CMDxxxxxx-xxx To external 2.3.9 DC Bus power connections from package size Cdrives with2.3.10 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 resistor2.5 Feedback connections Resolver function 2.5.1 Resolver optionBaldor MotorGrey 2.5.1.1 Resolver cable pin configurationEncoder Hall Feedback 2.5.2 Encoder option1 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 HallThis completes the basic installation 2.6 Drive enableYou should read the following sections in sequence before attempting to start the MintDrive3.1 Outline 3 Input / Output3.2 Analog I/O AIN2 ADC.2 3.2.1 Analog Input, Single EndedAIN3 ADC.3 3.2.2 Analog Input, DifferentialAIN0 3.2.3 Analog Inputs, DifferentialAIN1 ADC.1 Page AUXDAC.2 3.2.4 Analog Outputs, BipolarAUXDAC.3 AUXDAC.0 3.2.5 Analog Outputs, BipolarAUXDAC.1 3.3 Digital I/O not connected not connected 3.3.1 Digital InputsFigure 16 - Motor thermal switch circuit 3.3.1.1 Thermal switch connection3.3.2 Digital Inputs 3.3.2.2 Breakout board 3.3.2.1 Special functions on inputs DIN0 and DIN2Sink 3.3.3 Digital OutputsSource Relay coil with flyback diode 3.3.4 Digital OutputsUSR GND 3.4.1 Simulated encoder output 3.4 Other I/OEncoder 3.4.2 Master auxiliary encoder inputCHA+ CHA-- CHB+ CHB-- CHZ+ CHZ-- +5V DGND Connection of shieldsFigure 22 - Auxiliary encoder circuit Location 3.4.3 Serial portRS232 Name RS485 / RS422 nameFigure 23 - RS232 serial port connections 3.4.4 Using RS232 cable3.4.5 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 wiring3.4.8 CAN peripherals You should read the following sections in sequence before4.1.1 Connecting the MintDrive to the PC 4 Tuning and Configuration4.1.2 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 4.3.1 An introduction to closed loop control 4.3 MCT Startup Wizard - fine-tuningIn 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 MoveDemand 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 Wizard4.4.1 Digital input configuration 4.4 MCT Wizard - hardware configuration4.4.2 Digital output configuration 4.4.4 Axis0 error configuration 4.4.3 Axis0 parameter configurationWhen you have finished, click Next to continue When you have finished, click Next to continue4.4.6 Miscellaneous configuration 4.4.5 Axis0 tuning configuration4.4.7 Completing the configuration wizard Select a folder and enter a filename for the configuration file 5. The second file to save is the configuration fileH The configuration file will be saved H MCT will be closed H The configuration file will be automatically loaded into WorkBench5.1.1 Completing configuration This completes the configuration and tuningmovement commands that can be useful for testing 5 Mint WorkBench5.2.1 Selecting the controller 5.2 Using WorkBench5.2.2 Menus and buttons 5.2.2.1 Standard toolbar functions5.2.2.3 Macro toolbar functions 5.2.2.2 Motion toolbar functions5.2.2.4 Status bar 5.2.2.5 CAN window5.3.1 Quick Watch tab 5.3 Watch window740 × L × A∕V 5.3.2 Speed Loop tab5.3.3 Position Loop tab 5.3.4 Capture tab 5.4 Editor windows 5.4.1 Configuration window5.4.2 Program window 5.4.3 Terminal window 5.4.4 Useful commands for testingTo start the motor turning slowly, type To stop the motor turning, typeTo turn a distance of 5 turns, type Combining commands on one lineTo change the speed, type 5.4.5 Firmware update Page 6.1.1 General specifications 6 Specifications6.1 Outline VRIPPLE = 10% 6.1.2 Power6.1.4 Resolver feedback 6.1.3 Rectifier and regeneration6.1.5 Encoder feedback 6.1.6 Control signalsMinimum 6.1.7 EnvironmentalMaximum DeratePage 7.1.1 Problem diagnosis 7 Troubleshooting7.1 Outline Communication 7.1.2Problem Checkcorrupted. Use RELEASE 7.1.3 Power upCorruption. Use NEW to clear buffers. is shown atCheck Problemproportional gain manually and proceed to the feedback alignment 7.1.4 TuningCONFIG = cfCURRENTAMPLIFIER CONFIG = cfSERVO7.1.5 Mint gains 7.1.6 Ready LED is red PRINT DRIVEFAULTCode ProblemCheck If this occurs during acceleration then the load may be too great forCode ProblemCheck Problem 7.1.7 CANCheck Check ProblemPage A Tuning A A.1 Introduction Motor Speed Filter 16 Sample Filter Figure A.1 MintDrive Closed Loop SystemA.1.1 Closed loop control A.1.2 Position loop  + KFCommand = KIP.e + KII.Σe Command = KVP.e + KVI.ΣeA.1.3 Speed loop A.1.4 Current loopA.1.7 Tuning the position loop for a servo drive A.1.6 Tuning the position loop for a velocity servo driveA.1.7.1 Position Loop gain terms Speed increase = KPROP x FOLERROR / KVELFF KINTMODE=2FOLERROR A.1.7.3 Position Loop Tuning using a trapezoidal move type A.1.7.2 Position Loop Tuning using a step moveA.1.9 Saving tuning information A.1.8 Tuning the position loop for a torque servo driveCONFIG=6 Page B.1.1 MintDrive capabilities B CAN B B.1 OutlineH 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 CANopenType B.2.2 What is CANopen?Mint Constant Node TypeB.2.4 Network manager - node B.2.3 Configuring nodesB.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 nodesB.2.8.2 Broadcast communication B.2.9 I/O nodes B.2.9.1 Digital I/O accessB.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.1.2.0Data format B.2.10 HMI Operator PanelsHMI database variable HMI variable indexThe HMI communicates its own changes to the MintDrive using CAN event B.3.1 CAN 2 Baldor CAN B.3 CAN 2 Baldor CANB.3.2 Preparing the MintDrive B.3.4 Connecting the PC, MintDrive and CAN peripheralB.3.3 Preparing the CAN peripheral REMOTESETUP B.3.6 Static configurationB.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 communicationsB.3.10 Normal operation B.3.11 KeypadNode Figure B.1 ioNode 24/24 B.3.12 ioNode 24/24B.3.13 Example CAN network B.3.14 Mint CAN related keywords B.3.14.1 Using abbreviationsPage C.1 Outline C CE GuidelinesC.1.1 Declaration of Conformity C.1.2 EMC Conformity and CE marking C.1.4 EMC wiring techniqueC.1.3 Use of CE compliant components CabinetEMC filters C.1.5 EMC installation suggestionsGrounding Earth Conductive C.1.6 Wiring of shielded screened cablesClamp Resolver ConnectorEncoder Connector Handwheel / Encoder HousingHousing Connector backshellPage D.1 Outline D Accessories and optionsD.1.1 Cables Cable assembly D.1.2 Resolver feedback cableMotor type Baldor catalogD.1.3 EMC mains filters D.1.3.2 Filter dimensions - FN351-36-33 and FN351-50-33D.1.3.1 Catalog numbers Page D.1.4 Regeneration resistors Figure D.1 MintDrive X5 breakout board D.1.5 Breakout boardPage BS32 0BF, UK Mint Motion Centre 6 Bristol Distribution Park Hawkley Drive, BristolMN1274 06/2001