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Baldor MN1274 06/2001 installation manual Axis0 parameter configuration, Axis0 error configuration

Models: MN1274 06/2001

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4.4.3Axis0 parameter configuration

4.4.3Axis0 parameter configuration

The Axis0 Parameter Configuration tab allows you to setup various axis parameters. If you do not wish to make any changes, click Next > and go to section 4.4.4.

1.Click in the appropriate boxes and type the required values.

If you do not understand an item, click in its box and read the information shown in the help bar at the bottom of the window. The Undo Changes button can be used to reset all the items on the tab to their original values.

When you have finished, click Next > to continue.

4.4.4Axis0 error configuration

The Axis0 Error Configuration tab allows you to setup various axis error parameters. If you do not wish to make any changes, click Next > and go to section 4.4.5.

1.Click in the appropriate boxes and type the required values.

If you do not understand an item, click in its box and read the information shown in the help bar at the bottom of the window. The Undo Changes button can be used to reset all the items on the tab to their original values.

When you have finished, click Next > to continue.

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Baldor MN1274 06/2001 installation manual Axis0 parameter configuration, Axis0 error configuration

Contents

Installation Manual MN1274 06/2001Page Baldor Italia S.R.L Precautions Safety Noticedevices installed CAUTION Removing the cover will invalidate UL certification Contents Basic InstallationIntroduction viii Tuning and Configuration4.2 Mint Configuration Tool Startup Wizard - coarse tuning Input / OutputTroubleshooting SpecificationsMint WorkBench 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 Basic Installation 2.1 Outline2.1.1 Hardware requirements 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 units2.3.2 Input power conditioning 2.3.3 Power disconnect and protection devicesMintDrive 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 2.3.5 Single phase connection to package size A or B 2.3.6 Single phase connection to package size CE L N 2.3.7 Three phase connection to package size C 2.3.8 24V control supplyMDxxxxxx-xxx 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 Input / Output 3.1 Outline3.2 Analog I/O AIN2 ADC.2 3.2.1 Analog Input, Single EndedAIN3 ADC.3 3.2.2 Analog Input, Differential3.2.3 Analog Inputs, Differential AIN0AIN1 ADC.1 Page 3.2.4 Analog Outputs, Bipolar AUXDAC.2AUXDAC.3 3.2.5 Analog Outputs, Bipolar AUXDAC.0AUXDAC.1 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 DIN23.3.3 Digital Outputs SinkSource 3.3.4 Digital Outputs Relay coil with flyback diodeUSR GND 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 5. Click Start Move Demand position Measured positionDemand 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 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 5.4.1 Configuration window 5.4 Editor windows5.4.2 Program window To stop the motor turning, type 5.4.4 Useful commands for testing5.4.3 Terminal window To start the motor turning slowly, typeCombining commands on one line To turn a distance of 5 turns, typeTo change the speed, type 5.4.5 Firmware update Page 6 Specifications 6.1.1 General specifications6.1 Outline 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 Troubleshooting 7.1.1 Problem diagnosis7.1 Outline 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 TuningCONFIG = cfSERVO CONFIG = cfCURRENTAMPLIFIER7.1.5 Mint gains 7.1.6 Ready LED is red PRINT DRIVEFAULTIf this occurs during acceleration then the load may be too great for ProblemCode CheckProblem CodeCheck 7.1.7 CAN ProblemCheck 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.1.6 Tuning the position loop for a velocity servo drive A.1.7 Tuning the position loop for a servo driveA.1.7.1 Position Loop gain terms KINTMODE=2 Speed increase = KPROP x FOLERROR / KVELFFFOLERROR A.1.7.3 Position Loop Tuning using a trapezoidal move type A.1.7.2 Position Loop Tuning using a step moveA.1.8 Tuning the position loop for a torque servo drive A.1.9 Saving tuning informationCONFIG=6 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 Controller nodes B.2.8.1 Singlecast communicationB.2.8.2 Broadcast communication B.2.9.1 Digital I/O access B.2.9 I/O nodesB.2.8.3 Comms array subroutines ? 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.3.4 Connecting the PC, MintDrive and CAN peripheral B.3.2 Preparing the MintDriveB.3.3 Preparing the CAN peripheral 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.3.8 Monitoring CAN Bus communications B.3.9 Controlling the CAN peripheralB.3.10 Normal operation 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 CE Guidelines C.1 OutlineC.1.1 Declaration of Conformity Cabinet C.1.4 EMC wiring techniqueC.1.2 EMC Conformity and CE marking C.1.3 Use of CE compliant componentsC.1.5 EMC installation suggestions EMC filtersGrounding Earth Resolver Connector C.1.6 Wiring of shielded screened cablesConductive ClampConnector backshell Handwheel / Encoder HousingEncoder Connector HousingPage D Accessories and options D.1 OutlineD.1.1 Cables Baldor catalog D.1.2 Resolver feedback cableCable assembly Motor typeD.1.3.2 Filter dimensions - FN351-36-33 and FN351-50-33 D.1.3 EMC mains filtersD.1.3.1 Catalog numbers Page D.1.4 Regeneration resistors Figure D.1 MintDrive X5 breakout board D.1.5 Breakout boardPage Mint Motion Centre 6 Bristol Distribution Park Hawkley Drive, Bristol BS32 0BF, UKMN1274 06/2001