MN1274 06/2001
Installation Manual
Page
Baldor Italia S.R.L
Safety Notice
Precautions
devices installed
CAUTION Removing the cover will invalidate UL certification
Contents
Basic Installation
Introduction
Input / Output
Tuning and Configuration
4.2 Mint Configuration Tool Startup Wizard - coarse tuning
viii
Troubleshooting
Specifications
Mint WorkBench
A Tuning
Appendices
Accessories and options
CE Guidelines
Page
1.1 MintDrive features
1 Introduction
1.2.1 Identifying the catalog number
Installed at
1.2 Receiving and inspection
Catalog number MD
1.3.2 CAN 1 and 2 LEDs
1.3 MintDrive indicators
1.3.1 Monitor LED display
1.3.3 Ready LED
1.4 Units and abbreviations
2 Basic Installation
2.1 Outline
2.1.1 Hardware requirements
Meaning
2.1.2 RS485 / RS422 systems
2.1.3 Power sources
2.1.5 Other information needed for installation
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
Single phase units
2.3.1 Grounding
MintDrive
Figure 2 - Recommended single phase system grounding
2.3.2 Input power conditioning
2.3.3 Power disconnect and protection devices
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
2.3.5 Single phase connection to package size A or B
2.3.6 Single phase connection to package size C
E L N
2.3.7 Three phase connection to package size C
2.3.8 24V control supply
MDxxxxxx-xxx
drives
2.3.9 DC Bus power connections from package size C
To external
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
Baldor
2.5.1 Resolver option
Resolver function
Motor
2.5.1.1 Resolver cable pin configuration
Grey
1 CHA+ 6 CHA 2 CHB+ 7 CHB 3 CHZ+ INDEX 8 CHZ- INDEX 11 +5V 13 DGND
2.5.2 Encoder option
Encoder Hall Feedback
4 Hall U+ 5 Hall U 9 Hall W+ 14 Hall W 10 Hall V+ 15 Hall
You should read the following sections in sequence before
2.6 Drive enable
This completes the basic installation
attempting to start the MintDrive
3 Input / Output
3.1 Outline
3.2 Analog I/O
3.2.1 Analog Input, Single Ended
AIN2 ADC.2
3.2.2 Analog Input, Differential
AIN3 ADC.3
3.2.3 Analog Inputs, Differential
AIN0
AIN1 ADC.1
Page
3.2.4 Analog Outputs, Bipolar
AUXDAC.2
AUXDAC.3
3.2.5 Analog Outputs, Bipolar
AUXDAC.0
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
3.3.3 Digital Outputs
Sink
Source
3.3.4 Digital Outputs
Relay coil with flyback diode
USR GND
3.4 Other I/O
3.4.1 Simulated encoder output
CHA+ CHA-- CHB+ CHB-- CHZ+ CHZ-- +5V DGND
3.4.2 Master auxiliary encoder input
Encoder
Connection of shields
Figure 22 - Auxiliary encoder circuit
RS232 Name
3.4.3 Serial port
Location
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
3.4.8 CAN peripherals
This completes the input/output wiring
3.4.7 Optional breakout board for connector
You should read the following sections in sequence before
4.1.2 Installing the software
4 Tuning and Configuration
4.1.1 Connecting the MintDrive to the PC
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
5. Click Start Move
Demand position Measured position
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
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
4.4.5 Axis0 tuning configuration
4.4.6 Miscellaneous configuration
4.4.7 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 file
Select a folder and enter a filename for the configuration file
H The configuration file will be automatically loaded into WorkBench
movement commands that can be useful for testing
This completes the configuration and tuning
5.1.1 Completing configuration
5 Mint WorkBench
5.2.2 Menus and buttons
5.2 Using WorkBench
5.2.1 Selecting the controller
5.2.2.1 Standard toolbar functions
5.2.2.4 Status bar
5.2.2.2 Motion toolbar functions
5.2.2.3 Macro toolbar functions
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
5.4.1 Configuration window
5.4 Editor windows
5.4.2 Program window
To start the motor turning slowly, type
5.4.4 Useful commands for testing
5.4.3 Terminal window
To stop the motor turning, type
Combining commands on one line
To turn a distance of 5 turns, type
To change the speed, type
5.4.5 Firmware update
Page
6 Specifications
6.1.1 General 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
Maximum
6.1.7 Environmental
Minimum
Derate
Page
7 Troubleshooting
7.1.1 Problem diagnosis
7.1 Outline
Problem
7.1.2
Communication
Check
Corruption. Use NEW to
7.1.3 Power up
corrupted. Use RELEASE
clear buffers. is shown at
Problem
Check
7.1.4 Tuning
proportional gain manually and proceed to the feedback alignment
CONFIG = cfSERVO
CONFIG = cfCURRENTAMPLIFIER
7.1.5 Mint gains
PRINT DRIVEFAULT
7.1.6 Ready LED is red
Check
Problem
Code
If this occurs during acceleration then the load may be too great for
Problem
Code
Check
7.1.7 CAN
Problem
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
A.1.3 Speed loop
Command = KVP.e + KVI.Σe
Command = KIP.e + KII.Σe
A.1.4 Current loop
A.1.6 Tuning the position loop for a velocity servo drive
A.1.7 Tuning the position loop for a servo drive
A.1.7.1 Position Loop gain terms
KINTMODE=2
Speed increase = KPROP x FOLERROR / KVELFF
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.1.8 Tuning the position loop for a torque servo drive
A.1.9 Saving tuning information
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
Mint Constant
B.2.2 What is CANopen?
Type
Node Type
B.2.5 Scanning nodes
B.2.3 Configuring nodes
B.2.4 Network manager - node
NODE = CANBAUD.1 =
B.2.6 Connecting to nodes
B.2.7 Monitoring CAN events
B.2.8 Controller nodes
B.2.8.1 Singlecast communication
B.2.8.2 Broadcast communication
B.2.9.1 Digital I/O access
B.2.9 I/O nodes
B.2.8.3 Comms array subroutines
? REMOTEINX.1.2.0
B.2.9.2 Analog I/O Access
B.2.9.3 Extra Analog I/O Functionality
? REMOTEOUTX.1.2.0
HMI database variable
B.2.10 HMI Operator Panels
Data format
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.3.4 Connecting the PC, MintDrive and CAN peripheral
B.3.2 Preparing the MintDrive
B.3.3 Preparing the CAN peripheral
B.3.5 Node IDs
B.3.6 Static configuration
REMOTESETUP
Node Type = inputnode8 Current Node Number = Serial Number =
B.3.7 Adding the node to the network
B.3.8 Monitoring CAN Bus communications
B.3.9 Controlling the CAN peripheral
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 CE Guidelines
C.1 Outline
C.1.1 Declaration of Conformity
C.1.3 Use of CE compliant components
C.1.4 EMC wiring technique
C.1.2 EMC Conformity and CE marking
Cabinet
C.1.5 EMC installation suggestions
EMC filters
Grounding Earth
Clamp
C.1.6 Wiring of shielded screened cables
Conductive
Resolver Connector
Housing
Handwheel / Encoder Housing
Encoder Connector
Connector backshell
Page
D Accessories and options
D.1 Outline
D.1.1 Cables
Motor type
D.1.2 Resolver feedback cable
Cable assembly
Baldor catalog
D.1.3.2 Filter dimensions - FN351-36-33 and FN351-50-33
D.1.3 EMC mains filters
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
Mint Motion Centre 6 Bristol Distribution Park Hawkley Drive, Bristol
BS32 0BF, UK
MN1274 06/2001
CAUTION: Ensure that resolver or encoder wires are properly connected. Incorrect installation may result in improper rotation or incorrect commutation.
CAUTION: The threaded holes in the top and bottom of the enclosure are for cable clamps. Be sure to use a M4 bolt no longer than 12mm in length. Longer bolts might short circuit the electrical components inside the drive.
CAUTION: Removing the cover will invalidate UL certification.