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Baldor MN1274 06/2001 installation manual Digital I/O

Models: MN1274 06/2001

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3.3Digital I/O

3.3Digital I/O

The MintDrive provides:

H8 general purpose inputs on block connector X13 H 4 general purpose outputs on block connector X13 H 10 general purpose inputs on 25-pin connector X5 H 5 general purpose outputs on 25-pin connector X5

A digital input can be used to support any of the following typical functions:

HStop input H Home input H Forward limit H Reverse limit

H Interrupts (controlled from Mint) H General purpose use

DIN0 and DIN2 are also capable of special alternative functions:

HDIN0 and DIN2 are fitted with Schmitt trigger devices and can be configured using Mint for position capture of the axis or the master or auxiliary encoder positions. See section 3.3.2.1 on page 38.

The following sections describe the digital I/O in more detail.

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Baldor MN1274 06/2001 installation manual Digital I/O

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 Input / Output Tuning and Configuration4.2 Mint Configuration Tool Startup Wizard - coarse tuning viiiSpecifications TroubleshootingMint WorkBench A Tuning AppendicesAccessories and options CE GuidelinesPage 1.1 MintDrive features 1 Introduction1.2.1 Identifying the catalog number Installed at1.2 Receiving and inspection Catalog number MD1.3.2 CAN 1 and 2 LEDs 1.3 MintDrive indicators1.3.1 Monitor LED display 1.3.3 Ready LED1.4 Units and abbreviations 2.1 Outline 2 Basic Installation2.1.1 Hardware requirements Meaning 2.1.2 RS485 / RS422 systems 2.1.3 Power sources2.1.5 Other information needed for installation 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 Single phase units 2.3.1 GroundingMintDrive Figure 2 - Recommended single phase system grounding2.3.3 Power disconnect and protection devices 2.3.2 Input power conditioningMintDrive 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 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 drives 2.3.9 DC Bus power connections from package size CTo external 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 Baldor 2.5.1 Resolver optionResolver function Motor2.5.1.1 Resolver cable pin configuration Grey1 CHA+ 6 CHA 2 CHB+ 7 CHB 3 CHZ+ INDEX 8 CHZ- INDEX 11 +5V 13 DGND 2.5.2 Encoder optionEncoder Hall Feedback 4 Hall U+ 5 Hall U 9 Hall W+ 14 Hall W 10 Hall V+ 15 HallYou should read the following sections in sequence before 2.6 Drive enableThis completes the basic installation 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 outputCHA+ CHA-- CHB+ CHB-- CHZ+ CHZ-- +5V DGND 3.4.2 Master auxiliary encoder inputEncoder Connection of shieldsFigure 22 - Auxiliary encoder circuit RS232 Name 3.4.3 Serial portLocation 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 3.4.8 CAN peripherals This completes the input/output wiring3.4.7 Optional breakout board for connector You should read the following sections in sequence before4.1.2 Installing the software 4 Tuning and Configuration4.1.1 Connecting the MintDrive to the PC 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 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 continue4.4.5 Axis0 tuning configuration 4.4.6 Miscellaneous configuration4.4.7 Completing the configuration wizard H The configuration file will be saved H MCT will be closed 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 automatically loaded into WorkBenchmovement commands that can be useful for testing This completes the configuration and tuning5.1.1 Completing configuration 5 Mint WorkBench5.2.2 Menus and buttons 5.2 Using WorkBench5.2.1 Selecting the controller 5.2.2.1 Standard toolbar functions5.2.2.4 Status bar 5.2.2.2 Motion toolbar functions5.2.2.3 Macro toolbar functions 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 To start the motor turning slowly, type 5.4.4 Useful commands for testing5.4.3 Terminal window 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 feedbackMaximum 6.1.7 EnvironmentalMinimum DeratePage 7.1.1 Problem diagnosis 7 Troubleshooting7.1 Outline Problem 7.1.2Communication CheckCorruption. Use NEW to 7.1.3 Power upcorrupted. Use RELEASE 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 redCheck ProblemCode 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 loopA.1.3 Speed loop Command = KVP.e + KVI.ΣeCommand = KIP.e + KII.Σe 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 CANopenMint Constant B.2.2 What is CANopen?Type Node TypeB.2.5 Scanning nodes B.2.3 Configuring nodesB.2.4 Network manager - node 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 ? REMOTEINX.1.2.0 B.2.9.2 Analog I/O AccessB.2.9.3 Extra Analog I/O Functionality ? REMOTEOUTX.1.2.0HMI database variable B.2.10 HMI Operator PanelsData format 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.3.5 Node IDs B.3.6 Static configurationREMOTESETUP 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.1.3 Use of CE compliant components C.1.4 EMC wiring techniqueC.1.2 EMC Conformity and CE marking CabinetEMC filters C.1.5 EMC installation suggestionsGrounding Earth Clamp C.1.6 Wiring of shielded screened cablesConductive Resolver ConnectorHousing Handwheel / Encoder HousingEncoder Connector Connector backshellPage D.1 Outline D Accessories and optionsD.1.1 Cables Motor type D.1.2 Resolver feedback cableCable assembly 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