MN1274 06/2001
Installation Manual
Page
Baldor Italia S.R.L
Safety Notice
Precautions
devices installed
CAUTION Removing the cover will invalidate UL certification
Basic Installation
Contents
Introduction
Tuning and Configuration
4.2 Mint Configuration Tool Startup Wizard - coarse tuning
Input / Output
viii
Specifications
Troubleshooting
Mint WorkBench
A Tuning
Appendices
Accessories and options
CE Guidelines
Page
1.1 MintDrive features
1 Introduction
Installed at
1.2 Receiving and inspection
1.2.1 Identifying the catalog number
Catalog number MD
1.3 MintDrive indicators
1.3.1 Monitor LED display
1.3.2 CAN 1 and 2 LEDs
1.3.3 Ready LED
1.4 Units and abbreviations
2.1 Outline
2 Basic Installation
2.1.1 Hardware requirements
Meaning
2.1.3 Power sources
2.1.5 Other information needed for installation
2.1.2 RS485 / RS422 systems
2.1.4 Tools and miscellaneous hardware
2.2 Mechanical installation and location requirements
2.2.1 Dimensions and mounting
Figure 1 - Package dimensions
2.3 Power connections
2.3.1 Grounding
MintDrive
Single phase units
Figure 2 - Recommended single phase system grounding
2.3.3 Power disconnect and protection devices
2.3.2 Input power conditioning
MintDrive
Figure 5 - Circuit breaker and fuse, single phase, package size C
Figure 6 - Circuit breaker and fuse, three phase, package size C
MintDrive
MintDrive
2.3.4 Wire sizes
2.3.6 Single phase connection to package size C
2.3.5 Single phase connection to package size A or B
E L N
2.3.8 24V control supply
2.3.7 Three phase connection to package size C
MDxxxxxx-xxx
2.3.9 DC Bus power connections from package size C
To external
drives
with
2.3.10 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 mounting
2.5 Feedback connections
2.5.1 Resolver option
Resolver function
Baldor
Motor
2.5.1.1 Resolver cable pin configuration
Grey
2.5.2 Encoder option
Encoder Hall Feedback
1 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 Hall
2.6 Drive enable
This completes the basic installation
You should read the following sections in sequence before
attempting to start the MintDrive
3.1 Outline
3 Input / Output
3.2 Analog I/O
3.2.1 Analog Input, Single Ended
AIN2 ADC.2
3.2.2 Analog Input, Differential
AIN3 ADC.3
AIN0
3.2.3 Analog Inputs, Differential
AIN1 ADC.1
Page
AUXDAC.2
3.2.4 Analog Outputs, Bipolar
AUXDAC.3
AUXDAC.0
3.2.5 Analog Outputs, Bipolar
AUXDAC.1
3.3 Digital I/O
3.3.1 Digital Inputs
not connected not connected
3.3.1.1 Thermal switch connection
Figure 16 - Motor thermal switch circuit
3.3.2 Digital Inputs
3.3.2.1 Special functions on inputs DIN0 and DIN2
3.3.2.2 Breakout board
Sink
3.3.3 Digital Outputs
Source
Relay coil with flyback diode
3.3.4 Digital Outputs
USR GND
3.4 Other I/O
3.4.1 Simulated encoder output
3.4.2 Master auxiliary encoder input
Encoder
CHA+ CHA-- CHB+ CHB-- CHZ+ CHZ-- +5V DGND
Connection of shields
Figure 22 - Auxiliary encoder circuit
3.4.3 Serial port
Location
RS232 Name
RS485 / RS422 name
3.4.4 Using RS232 cable
Figure 23 - RS232 serial port connections
3.4.5 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 connector
3.4.8 CAN peripherals
You should read the following sections in sequence before
4 Tuning and Configuration
4.1.1 Connecting the MintDrive to the PC
4.1.2 Installing the software
4.1 Outline
4.1.3 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 control
In 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 Move
Demand 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 Mode
4.4 MCT Wizard - hardware configuration
4.4.1 Digital input configuration
4.4.2 Digital output configuration
4.4.3 Axis0 parameter configuration
4.4.4 Axis0 error configuration
When you have finished, click Next to continue
When you have finished, click Next to continue
4.4.5 Axis0 tuning configuration
4.4.6 Miscellaneous configuration
4.4.7 Completing the configuration wizard
5. The second file to save is the configuration file
Select a folder and enter a filename for the configuration file
H The configuration file will be saved H MCT will be closed
H The configuration file will be automatically loaded into WorkBench
This completes the configuration and tuning
5.1.1 Completing configuration
movement commands that can be useful for testing
5 Mint WorkBench
5.2 Using WorkBench
5.2.1 Selecting the controller
5.2.2 Menus and buttons
5.2.2.1 Standard toolbar functions
5.2.2.2 Motion toolbar functions
5.2.2.3 Macro toolbar functions
5.2.2.4 Status bar
5.2.2.5 CAN window
5.3 Watch window
5.3.1 Quick Watch tab
5.3.2 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 window
5.4.2 Program window
5.4.4 Useful commands for testing
5.4.3 Terminal window
To start the motor turning slowly, type
To stop the motor turning, type
To turn a distance of 5 turns, type
Combining commands on one line
To change the speed, type
5.4.5 Firmware update
Page
6.1.1 General specifications
6 Specifications
6.1 Outline
6.1.2 Power
VRIPPLE = 10%
6.1.3 Rectifier and regeneration
6.1.4 Resolver feedback
6.1.6 Control signals
6.1.5 Encoder feedback
6.1.7 Environmental
Minimum
Maximum
Derate
Page
7.1.1 Problem diagnosis
7 Troubleshooting
7.1 Outline
7.1.2
Communication
Problem
Check
7.1.3 Power up
corrupted. Use RELEASE
Corruption. Use NEW to
clear buffers. is shown at
Problem
Check
7.1.4 Tuning
proportional gain manually and proceed to the feedback alignment
CONFIG = cfCURRENTAMPLIFIER
CONFIG = cfSERVO
7.1.5 Mint gains
PRINT DRIVEFAULT
7.1.6 Ready LED is red
Problem
Code
Check
If this occurs during acceleration then the load may be too great for
Code
Problem
Check
Problem
7.1.7 CAN
Check
Problem
Check
Page
A Tuning A A.1 Introduction
Figure A.1 MintDrive Closed Loop System
Motor Speed Filter 16 Sample Filter
A.1.1 Closed loop control
+ KF
A.1.2 Position loop
Command = KVP.e + KVI.Σe
Command = KIP.e + KII.Σe
A.1.3 Speed loop
A.1.4 Current loop
A.1.7 Tuning the position loop for a servo drive
A.1.6 Tuning the position loop for a velocity servo drive
A.1.7.1 Position Loop gain terms
Speed increase = KPROP x FOLERROR / KVELFF
KINTMODE=2
FOLERROR
A.1.7.2 Position Loop Tuning using a step move
A.1.7.3 Position Loop Tuning using a trapezoidal move type
A.1.9 Saving tuning information
A.1.8 Tuning the position loop for a torque servo drive
CONFIG=6
Page
B CAN B B.1 Outline
B.1.1 MintDrive capabilities
H 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 CANopen
B.2.2 What is CANopen?
Type
Mint Constant
Node Type
B.2.3 Configuring nodes
B.2.4 Network manager - node
B.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 nodes
B.2.8.2 Broadcast communication
B.2.9 I/O nodes
B.2.9.1 Digital I/O access
B.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.1.2.0
B.2.10 HMI Operator Panels
Data format
HMI database variable
HMI variable index
The HMI communicates its own changes to the MintDrive using CAN event
B.3 CAN 2 Baldor CAN
B.3.1 CAN 2 Baldor CAN
B.3.2 Preparing the MintDrive
B.3.4 Connecting the PC, MintDrive and CAN peripheral
B.3.3 Preparing the CAN peripheral
B.3.6 Static configuration
REMOTESETUP
B.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 communications
B.3.10 Normal operation
B.3.11 KeypadNode
B.3.12 ioNode 24/24
Figure B.1 ioNode 24/24
B.3.13 Example CAN network
B.3.14.1 Using abbreviations
B.3.14 Mint CAN related keywords
Page
C.1 Outline
C CE Guidelines
C.1.1 Declaration of Conformity
C.1.4 EMC wiring technique
C.1.2 EMC Conformity and CE marking
C.1.3 Use of CE compliant components
Cabinet
EMC filters
C.1.5 EMC installation suggestions
Grounding Earth
C.1.6 Wiring of shielded screened cables
Conductive
Clamp
Resolver Connector
Handwheel / Encoder Housing
Encoder Connector
Housing
Connector backshell
Page
D.1 Outline
D Accessories and options
D.1.1 Cables
D.1.2 Resolver feedback cable
Cable assembly
Motor type
Baldor catalog
D.1.3 EMC mains filters
D.1.3.2 Filter dimensions - FN351-36-33 and FN351-50-33
D.1.3.1 Catalog numbers
Page
D.1.4 Regeneration resistors
D.1.5 Breakout board
Figure D.1 MintDrive X5 breakout board
Page
BS32 0BF, UK
Mint Motion Centre 6 Bristol Distribution Park Hawkley Drive, Bristol
MN1274 06/2001
WARNING: Do not touch any circuit board, power device or electrical connection before you first ensure that no high voltage is present at this equipment or other equipment to which it is connected. Electrical shock can cause serious or fatal injury. Only qualified personnel should attempt to 
WARNING: Be sure the system is properly grounded before applying power. Do not apply AC power before you ensure that grounds are connected. Electrical shock can cause serious or fatal injury.
WARNING: Be sure that you are completely familiar with the safe operation and programming of this equipment. This equipment may be connected to other machines that have rotating parts or parts that are controlled by this equipment. Improper use can cause serious or fatal injury. Only qualified personnel should attempt to program, 
WARNING: Be sure all wiring complies with the National Electrical Code and all regional and local codes. Improper wiring may result in unsafe conditions.
WARNING: The stop input to this equipment should not be used as the single means of achieving a safety critical stop. Drive disable, motor disconnect, motor brake and other means should be used as appropriate. Only qualified personnel should attempt to program, 
WARNING: Improper operation or programming of the drive may cause violent motion of the motor shaft and driven equipment. Be certain that unexpected motor shaft movement will not cause injury to personnel or damage to equipment. Peak torque of several times the rated motor torque can occur during control failure.
WARNING: The motor circuit might have high voltages present whenever AC power is applied, even when the motor is not rotating. Electrical shock can cause serious or fatal injury.
WARNING: If a motor is driven mechanically, it might generate hazardous voltages that are conducted to its power terminals. The enclosure must be grounded to prevent possible shock hazard.
WARNING: When operating a motor with no load coupled to its shaft, remove the shaft key to prevent it flying out when the shaft rotates.
WARNING: A regeneration resistor may generate enough heat to ignite combustible materials.