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Baldor MN1274 06/2001 installation manual Resolver option, Resolver function, Baldor, Motor

Models: MN1274 06/2001

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2.5.1Resolver option

2.5.1Resolver option

The resolver connections are made using the 15-pin D-type female connector X2. Twisted pair cables must be used for the complementary signal pairs e.g. SIN+ and SIN-.

The overall cable screen/shield must be connected to the metallic shell of the D-type connector.

			Location Connector X2, 15-pin D-type female connector
			Pin	Resolver function
			1	SIN+
			2	COS+
			3	REF+
			4~5	(not connected)
			6	SIN-
	10		7	COS-
	15	5	8	REF-
			8	REF-
	11	1	9~10	(not connected)
	11	1	11	External index
	6		11	External index
	6		12
			12	(not connected)
			13	Analog ground
			14~15	(not connected)

		Baldor			X2
R2	S2	Motor			X2
		5	Twisted pairs		1	SIN+
R1	S4	5	+	+	1	SIN+
R1	S4	6			6	SIN-
		6			6	SIN-
S3	S1	3	+	+	2	COS+
S3	S1	4				COS-
		4			7	COS-
		1	+	+	3	REF+
		2			8	REF- (Common)
			Connector		13	AGND
			backshell

Figure 7 - Resolver cable connections

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Image 35

Baldor MN1274 06/2001 installation manual Resolver option, Resolver function, Baldor, Motor, Resolver cable connections

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 viii Tuning and Configuration4.2 Mint Configuration Tool Startup Wizard - coarse tuning Input / OutputMint WorkBench TroubleshootingSpecifications Appendices A TuningCE Guidelines Accessories and optionsPage 1 Introduction 1.1 MintDrive featuresCatalog number MD Installed at1.2 Receiving and inspection 1.2.1 Identifying the catalog number1.3.3 Ready LED 1.3 MintDrive indicators1.3.1 Monitor LED display 1.3.2 CAN 1 and 2 LEDs1.4 Units and abbreviations 2.1.1 Hardware requirements 2 Basic Installation2.1 Outline Meaning 2.1.4 Tools and miscellaneous hardware 2.1.3 Power sources2.1.5 Other information needed for installation 2.1.2 RS485 / RS422 systems2.2 Mechanical installation and location requirements Figure 1 - Package dimensions 2.2.1 Dimensions and mounting2.3 Power connections Figure 2 - Recommended single phase system grounding 2.3.1 GroundingMintDrive Single phase unitsMintDrive 2.3.2 Input power conditioning2.3.3 Power disconnect and protection devices MintDrive Figure 5 - Circuit breaker and fuse, single phase, package size CFigure 6 - Circuit breaker and fuse, three phase, package size C 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 with 2.3.9 DC Bus power connections from package size CTo external drives2.3.10 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 Motor 2.5.1 Resolver optionResolver function BaldorGrey 2.5.1.1 Resolver cable pin configuration4 Hall U+ 5 Hall U 9 Hall W+ 14 Hall W 10 Hall V+ 15 Hall 2.5.2 Encoder optionEncoder Hall Feedback 1 CHA+ 6 CHA 2 CHB+ 7 CHB 3 CHZ+ INDEX 8 CHZ- INDEX 11 +5V 13 DGNDattempting to start the MintDrive 2.6 Drive enableThis completes the basic installation You should read the following sections in sequence before3.2 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/OConnection of shields 3.4.2 Master auxiliary encoder inputEncoder CHA+ CHA-- CHB+ CHB-- CHZ+ CHZ-- +5V DGNDFigure 22 - Auxiliary encoder circuit RS485 / RS422 name 3.4.3 Serial portLocation RS232 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 You should read the following sections in sequence before This completes the input/output wiring3.4.7 Optional breakout board for connector 3.4.8 CAN peripherals4.1 Outline 4 Tuning and Configuration4.1.1 Connecting the MintDrive to the PC 4.1.2 Installing the software4.1.3 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 When you have finished, click Next to continue 4.4.3 Axis0 parameter configuration4.4.4 Axis0 error configuration When you have finished, click Next to continue4.4.6 Miscellaneous configuration 4.4.5 Axis0 tuning configuration4.4.7 Completing the configuration wizard H The configuration file will be automatically loaded into WorkBench 5. The second file to save is the configuration fileSelect a folder and enter a filename for the configuration file H The configuration file will be saved H MCT will be closed5 Mint WorkBench This completes the configuration and tuning5.1.1 Completing configuration movement commands that can be useful for testing5.2.2.1 Standard toolbar functions 5.2 Using WorkBench5.2.1 Selecting the controller 5.2.2 Menus and buttons5.2.2.5 CAN window 5.2.2.2 Motion toolbar functions5.2.2.3 Macro toolbar functions 5.2.2.4 Status bar5.3.1 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 To stop the motor turning, type 5.4.4 Useful commands for testing5.4.3 Terminal window To start the motor turning slowly, 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 signalsDerate 6.1.7 EnvironmentalMinimum MaximumPage 7.1 Outline 7 Troubleshooting7.1.1 Problem diagnosis Check 7.1.2Communication Problemclear buffers. is shown at 7.1.3 Power upcorrupted. Use RELEASE Corruption. Use NEW toCheck 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 DRIVEFAULTIf this occurs during acceleration then the load may be too great for ProblemCode CheckCheck 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A.1.4 Current loop Command = KVP.e + KVI.ΣeCommand = KIP.e + KII.Σe A.1.3 Speed 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 CANopenNode Type B.2.2 What is CANopen?Type Mint ConstantNODE = CANBAUD.1 = B.2.3 Configuring nodesB.2.4 Network manager - node B.2.5 Scanning nodesB.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 ? REMOTEOUTX.1.2.0 B.2.9.2 Analog I/O AccessB.2.9.3 Extra Analog I/O Functionality ? REMOTEINX.1.2.0HMI variable index B.2.10 HMI Operator PanelsData format HMI database variableThe 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 Node Type = inputnode8 Current Node Number = Serial Number = B.3.6 Static configurationREMOTESETUP B.3.5 Node IDsB.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 Cabinet C.1.4 EMC wiring techniqueC.1.2 EMC Conformity and CE marking C.1.3 Use of CE compliant componentsGrounding Earth C.1.5 EMC installation suggestionsEMC filters Resolver Connector C.1.6 Wiring of shielded screened cablesConductive ClampConnector backshell Handwheel / Encoder HousingEncoder Connector HousingPage D.1.1 Cables D Accessories and optionsD.1 Outline Baldor catalog D.1.2 Resolver feedback cableCable assembly Motor typeD.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