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Baldor MN1274 06/2001 installation manual Units and abbreviations

Models: MN1274 06/2001

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1.4Units and abbreviations

1.4Units and abbreviations

The following units and abbreviations are used in this manual:

V. . . . . . . . . . . . Volt (also VAC and VDC)

W. . . . . . . . . . . . Watt

A . . . . . . . . . . . . Ampere

Ω. . . . . . . . . . . . Ohm

pF . . . . . . . . . . . picofarad mH . . . . . . . . . . . millihenry

φ. . . . . . . . . . . . phase

ms . . . . . . . . . . . millisecond µs . . . . . . . . . . . . microsecond ns . . . . . . . . . . . . nanosecond

Kbaud . . . . . . . . kilobaud (the same as Kbit/s in most applications) MB . . . . . . . . . . . megabytes

CDROM . . . . . . Compact Disc Read Only Memory

CTRL+E . . . . . . on the PC keyboard, press Ctrl then E at the same time.

mm . . . . . . . . . . millimeter m . . . . . . . . . . . . meter

” . . . . . . . . . . . . . inch ft . . . . . . . . . . . . . feet

lbin . . . . . . . . . . . pound-inch (torque) Nm . . . . . . . . . . . Newton-meter (torque)

ADC . . . . . . . . . . Analog to Digital Converter

AWG . . . . . . . . . American Wire Gauge

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Baldor MN1274 06/2001 installation manual Units and abbreviations

Contents

MN1274 06/2001 Installation ManualPage Baldor Italia S.R.L Safety Notice Precautionsdevices installed CAUTION Removing the cover will invalidate UL certification Basic Installation ContentsIntroduction Tuning and Configuration 4.2 Mint Configuration Tool Startup Wizard - coarse tuningInput / Output viiiSpecifications TroubleshootingMint 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 2.1 Outline 2 Basic Installation2.1.1 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 grounding2.3.3 Power disconnect and protection devices 2.3.2 Input power conditioningMintDrive 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 2.3.6 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 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 MintDrive3.1 Outline 3 Input / Output3.2 Analog I/O 3.2.1 Analog Input, Single Ended AIN2 ADC.23.2.2 Analog Input, Differential AIN3 ADC.3AIN0 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 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 boardSink 3.3.3 Digital OutputsSource Relay coil with flyback diode 3.3.4 Digital OutputsUSR 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 Demand position Measured position 5. Click Start MoveDemand 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 Editor windows 5.4.1 Configuration window5.4.2 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, 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 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 7.1.1 Problem diagnosis 7 Troubleshooting7.1 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 = cfCURRENTAMPLIFIER CONFIG = cfSERVO7.1.5 Mint gains PRINT DRIVEFAULT 7.1.6 Ready LED is redProblem CodeCheck If this occurs during acceleration then the load may be too great forCode ProblemCheck Problem 7.1.7 CANCheck 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.1.7 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.1.7.2 Position Loop Tuning using a step move A.1.7.3 Position Loop Tuning using a trapezoidal move typeA.1.9 Saving tuning information A.1.8 Tuning the position loop for a torque servo driveCONFIG=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.2.8.1 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.2.9.2 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.3.2 Preparing the MintDrive B.3.4 Connecting the PC, MintDrive and CAN peripheralB.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.3.9 Controlling the CAN peripheral B.3.8 Monitoring CAN Bus communicationsB.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.1 Outline C CE GuidelinesC.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 CabinetEMC filters C.1.5 EMC installation suggestionsGrounding Earth C.1.6 Wiring of shielded screened cables ConductiveClamp Resolver ConnectorHandwheel / Encoder Housing Encoder ConnectorHousing Connector backshellPage D.1 Outline D Accessories and optionsD.1.1 Cables D.1.2 Resolver feedback cable Cable assemblyMotor 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 D.1.5 Breakout board Figure D.1 MintDrive X5 breakout boardPage BS32 0BF, UK Mint Motion Centre 6 Bristol Distribution Park Hawkley Drive, BristolMN1274 06/2001