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Baldor MN1274 06/2001 installation manual Basic Installation, Outline, Hardware requirements

Models: MN1274 06/2001

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2 Basic Installation


2 Basic Installation	2

2.1Outline

You must read all the sections in Basic Installation.

It is important that the correct steps are followed when installing the MintDrive. This section covers the mechanical and electrical installation of the MintDrive, including the following steps:

HLocation considerations H Mounting the MintDrive

H Connecting the power supply

H Connecting the optional control supply H Connecting the motor

H Installing a regeneration resistor H Connecting the feedback signal

H Connecting the drive enable signal.

Each step should be followed in sequence.

2.1.1Hardware requirements

The components you will need to complete the basic installation are described below:

HUnder some applications, such as those with high deceleration rates, there may be a requirement for a dynamic brake (or regeneration) resistor.

Note: Without the braking resistor, the drive may produce an overvoltage fault.

All MintDrives have overvoltage sensing circuitry, but only the 2.5A and 5A units have an integral regeneration resistor. For 7.5A, 10A and 15A units a regeneration resistor must be purchased separately if required. See Appendix D.

HA PC that fulfills the following specification:

	Minimum specification	Recommended specification

Processor	Intel Pentium 133MHz	Intel Pentium 200MHz or faster

RAM	32MB	64MB

Hard disk space	40MB	60MB

CD-ROM	A CD-ROM drive is required

Screen	800 x 600, 256 colors	1024 x 768, 256 colors

Mouse	A mouse or similar pointing device is required

Operating system	Windows 95, Windows 98, Windows ME, Windows NT or Windows 2000

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Baldor MN1274 06/2001 installation manual Basic Installation, Outline, Hardware requirements

Contents

Installation Manual MN1274 06/2001Page Baldor Italia S.R.L Precautions Safety Noticedevices installed CAUTION Removing the cover will invalidate UL certification Introduction ContentsBasic Installation 4.2 Mint Configuration Tool Startup Wizard - coarse tuning Tuning and ConfigurationInput / Output viiiMint WorkBench TroubleshootingSpecifications 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 2.1.1 Hardware requirements 2 Basic Installation2.1 Outline 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 groundingMintDrive 2.3.2 Input power conditioning2.3.3 Power disconnect and protection devices 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 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 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 MintDrive3.2 Analog I/O 3 Input / Output3.1 Outline AIN2 ADC.2 3.2.1 Analog Input, Single EndedAIN3 ADC.3 3.2.2 Analog Input, DifferentialAIN1 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 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 DIN2Source 3.3.3 Digital OutputsSink USR GND 3.3.4 Digital OutputsRelay coil with flyback diode 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 Demand position Measured position 5. Click Start MoveDemand 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 5.4.2 Program window 5.4.1 Configuration window5.4 Editor windows 5.4.3 Terminal window 5.4.4 Useful commands for testingTo start the motor turning slowly, type 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 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 Outline 7 Troubleshooting7.1.1 Problem diagnosis 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 Tuning7.1.5 Mint gains CONFIG = cfSERVOCONFIG = cfCURRENTAMPLIFIER 7.1.6 Ready LED is red PRINT DRIVEFAULTCode ProblemCheck If this occurs during acceleration then the load may be too great forCheck ProblemCode Check 7.1.7 CANProblem 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.1.7.1 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.1.7.3 Position Loop Tuning using a trapezoidal move type A.1.7.2 Position Loop Tuning using a step moveCONFIG=6 A.1.8 Tuning the position loop for a torque servo driveA.1.9 Saving tuning information 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.2.8.2 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 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.3.3 Preparing the CAN peripheral B.3.4 Connecting the PC, MintDrive and CAN peripheralB.3.2 Preparing the MintDrive 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.3.10 Normal operation B.3.8 Monitoring CAN Bus communicationsB.3.9 Controlling the CAN peripheral 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.1.1 Declaration of Conformity C CE GuidelinesC.1 Outline C.1.2 EMC Conformity and CE marking C.1.4 EMC wiring techniqueC.1.3 Use of CE compliant components CabinetGrounding Earth C.1.5 EMC installation suggestionsEMC filters Conductive C.1.6 Wiring of shielded screened cablesClamp Resolver ConnectorEncoder Connector Handwheel / Encoder HousingHousing Connector backshellPage D.1.1 Cables D Accessories and optionsD.1 Outline Cable assembly D.1.2 Resolver feedback cableMotor type 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 Figure D.1 MintDrive X5 breakout board D.1.5 Breakout boardPage MN1274 06/2001 Mint Motion Centre 6 Bristol Distribution Park Hawkley Drive, BristolBS32 0BF, UK