Installation Manual
MN1274 06/2001
Page
Baldor Italia S.R.L
Precautions
Safety Notice
devices installed
CAUTION Removing the cover will invalidate UL certification
Basic Installation
Contents
Introduction
viii
Tuning and Configuration
4.2 Mint Configuration Tool Startup Wizard - coarse tuning
Input / Output
Specifications
Troubleshooting
Mint WorkBench
Appendices
A Tuning
CE Guidelines
Accessories and options
Page
1 Introduction
1.1 MintDrive features
Catalog number MD
Installed at
1.2 Receiving and inspection
1.2.1 Identifying the catalog number
1.3.3 Ready LED
1.3 MintDrive indicators
1.3.1 Monitor LED display
1.3.2 CAN 1 and 2 LEDs
1.4 Units and abbreviations
2.1 Outline
2 Basic Installation
2.1.1 Hardware requirements
Meaning
2.1.4 Tools and miscellaneous hardware
2.1.3 Power sources
2.1.5 Other information needed for installation
2.1.2 RS485 / RS422 systems
2.2 Mechanical installation and location requirements
Figure 1 - Package dimensions
2.2.1 Dimensions and mounting
2.3 Power connections
Figure 2 - Recommended single phase system grounding
2.3.1 Grounding
MintDrive
Single phase units
2.3.3 Power disconnect and protection devices
2.3.2 Input power conditioning
MintDrive
MintDrive
Figure 5 - Circuit breaker and fuse, single phase, package size C
Figure 6 - Circuit breaker and fuse, three phase, package size C
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
with
2.3.9 DC Bus power connections from package size C
To external
drives
2.3.10 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 resistor
2.5 Feedback connections
Motor
2.5.1 Resolver option
Resolver function
Baldor
Grey
2.5.1.1 Resolver cable pin configuration
4 Hall U+ 5 Hall U 9 Hall W+ 14 Hall W 10 Hall V+ 15 Hall
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
attempting to start the MintDrive
2.6 Drive enable
This completes the basic installation
You should read the following sections in sequence before
3.1 Outline
3 Input / Output
3.2 Analog I/O
AIN2 ADC.2
3.2.1 Analog Input, Single Ended
AIN3 ADC.3
3.2.2 Analog Input, Differential
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
not connected not connected
3.3.1 Digital Inputs
Figure 16 - Motor thermal switch circuit
3.3.1.1 Thermal switch connection
3.3.2 Digital Inputs
3.3.2.2 Breakout board
3.3.2.1 Special functions on inputs DIN0 and DIN2
Sink
3.3.3 Digital Outputs
Source
Relay coil with flyback diode
3.3.4 Digital Outputs
USR GND
3.4.1 Simulated encoder output
3.4 Other I/O
Connection of shields
3.4.2 Master auxiliary encoder input
Encoder
CHA+ CHA-- CHB+ CHB-- CHZ+ CHZ-- +5V DGND
Figure 22 - Auxiliary encoder circuit
RS485 / RS422 name
3.4.3 Serial port
Location
RS232 Name
Figure 23 - RS232 serial port connections
3.4.4 Using RS232 cable
3.4.5 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 wiring
3.4.7 Optional breakout board for connector
3.4.8 CAN peripherals
4.1 Outline
4 Tuning and Configuration
4.1.1 Connecting the MintDrive to the PC
4.1.2 Installing the software
4.1.3 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-tuning
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
1. Click Mint Configuration Tool in Wizard Mode
4.3.5 Completing the Startup Wizard
4.4.1 Digital input configuration
4.4 MCT Wizard - hardware configuration
4.4.2 Digital output configuration
When you have finished, click Next to continue
4.4.3 Axis0 parameter configuration
4.4.4 Axis0 error configuration
When you have finished, click Next to continue
4.4.6 Miscellaneous configuration
4.4.5 Axis0 tuning configuration
4.4.7 Completing the configuration wizard
H The configuration file will be automatically loaded into WorkBench
5. The second file to save is the configuration file
Select a folder and enter a filename for the configuration file
H The configuration file will be saved H MCT will be closed
5 Mint WorkBench
This completes the configuration and tuning
5.1.1 Completing configuration
movement commands that can be useful for testing
5.2.2.1 Standard toolbar functions
5.2 Using WorkBench
5.2.1 Selecting the controller
5.2.2 Menus and buttons
5.2.2.5 CAN window
5.2.2.2 Motion toolbar functions
5.2.2.3 Macro toolbar functions
5.2.2.4 Status bar
5.3.1 Quick Watch tab
5.3 Watch window
740 × L × A∕V
5.3.2 Speed Loop tab
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
To stop the motor turning, type
5.4.4 Useful commands for testing
5.4.3 Terminal window
To start the motor turning slowly, 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
VRIPPLE = 10%
6.1.2 Power
6.1.4 Resolver feedback
6.1.3 Rectifier and regeneration
6.1.5 Encoder feedback
6.1.6 Control signals
Derate
6.1.7 Environmental
Minimum
Maximum
Page
7.1.1 Problem diagnosis
7 Troubleshooting
7.1 Outline
Check
7.1.2
Communication
Problem
clear buffers. is shown at
7.1.3 Power up
corrupted. Use RELEASE
Corruption. Use NEW to
Check
Problem
proportional gain manually and proceed to the feedback alignment
7.1.4 Tuning
CONFIG = cfCURRENTAMPLIFIER
CONFIG = cfSERVO
7.1.5 Mint gains
7.1.6 Ready LED is red
PRINT DRIVEFAULT
If this occurs during acceleration then the load may be too great for
Problem
Code
Check
Code
Problem
Check
Problem
7.1.7 CAN
Check
Check
Problem
Page
A Tuning A A.1 Introduction
Motor Speed Filter 16 Sample Filter
Figure A.1 MintDrive Closed Loop System
A.1.1 Closed loop control
A.1.2 Position loop
+ KF
A.1.4 Current loop
Command = KVP.e + KVI.Σe
Command = KIP.e + KII.Σe
A.1.3 Speed 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.1.7.3 Position Loop Tuning using a trapezoidal move type
A.1.7.2 Position Loop Tuning using a step move
A.1.9 Saving tuning information
A.1.8 Tuning the position loop for a torque servo drive
CONFIG=6
Page
B.1.1 MintDrive capabilities
B CAN B B.1 Outline
H 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 CANopen
Node Type
B.2.2 What is CANopen?
Type
Mint Constant
NODE = CANBAUD.1 =
B.2.3 Configuring nodes
B.2.4 Network manager - node
B.2.5 Scanning nodes
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
? REMOTEOUTX.1.2.0
B.2.9.2 Analog I/O Access
B.2.9.3 Extra Analog I/O Functionality
? REMOTEINX.1.2.0
HMI variable index
B.2.10 HMI Operator Panels
Data format
HMI database variable
The HMI communicates its own changes to the MintDrive using CAN event
B.3.1 CAN 2 Baldor CAN
B.3 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
Node Type = inputnode8 Current Node Number = Serial Number =
B.3.6 Static configuration
REMOTESETUP
B.3.5 Node IDs
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
Figure B.1 ioNode 24/24
B.3.12 ioNode 24/24
B.3.13 Example CAN network
B.3.14 Mint CAN related keywords
B.3.14.1 Using abbreviations
Page
C.1 Outline
C CE Guidelines
C.1.1 Declaration of Conformity
Cabinet
C.1.4 EMC wiring technique
C.1.2 EMC Conformity and CE marking
C.1.3 Use of CE compliant components
EMC filters
C.1.5 EMC installation suggestions
Grounding Earth
Resolver Connector
C.1.6 Wiring of shielded screened cables
Conductive
Clamp
Connector backshell
Handwheel / Encoder Housing
Encoder Connector
Housing
Page
D.1 Outline
D Accessories and options
D.1.1 Cables
Baldor catalog
D.1.2 Resolver feedback cable
Cable assembly
Motor type
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
Figure D.1 MintDrive X5 breakout board
D.1.5 Breakout board
Page
BS32 0BF, UK
Mint Motion Centre 6 Bristol Distribution Park Hawkley Drive, Bristol
MN1274 06/2001
CAUTION: The isolation provided on the inputs, outputs, master encoder and CAN is nominal. The primary function of the isolation is to break earth loops. Both sides of the isolation boundary must still be kept at SELV potentials with respect to ground, i.e. the difference in the 0V rail across the isolation boundary must not exceed 30V.