Specifications, General specifications | Baldor MN1274 06/2001


6 Specifications	6

6.1Outline

This section provides technical specifications of the MintDrive variants

6.1.1General specifications

The MintDrive is an integrated motion controller and brushless AC servo drive with internal power supply.

HFive current output ratings are available: 2.5A, 5A, 7.5A, 10A and 15A

HFour voltage input ratings are available: 115VAC or 230VAC single-phase, with three-phase variants available on the 10A and 15A units

HAn optional internal 24V power supply for control electronics is available H Resolver or encoder feedback

H18 optically isolated digital inputs (12-24VDC ±20%), configurable for PNP or NPN operation. Software configurable for forward limit, reverse limit, stop and home. Two inputs configurable for high speed position latch (CAPT) on axis position and master encoder position

H9 optically isolated digital outputs. Four outputs configurable for PNP or NPN operation. One output rated at 1A, all others at 50mA.

HFour analog input channels:

One single ended input 0-10V, 10-bit resolution

One differential input: ±10V, auto selecting resolution - 12-bit below 1VDC, 10-bit above 1VDC

Two differential inputs: ±10V, 12-bit.

HFour analog output channels:

Two bipolar outputs: ±10V; 8-bit resolution, 1mA output

Two bipolar outputs: ±10V; 8-bit resolution, 4mA output

HTwo channel serial interface: RS232 and 4-wire RS485

HTwo channel CAN interface: CANopen DS401 master and Baldor CAN protocol H Seven segment display for diagnostics.

79

Image 91

Baldor MN1274 06/2001 installation manual Specifications, General specifications

Contents

MN1274 06/2001 Installation ManualPage Iii Safety Notice Circuit amperes listed here at rated voltage Page Contents Viii Input / Output Mint WorkBench Appendices Tuning 129 Xii Introduction MintDrive features Meaning Alternatives Receiving and inspectionIdentifying the catalog number Date Ready LED MintDrive indicatorsMonitor LED display Can 1 and 2 LEDs Units and abbreviations Each step should be followed in sequence You must read all the sections in Basic InstallationOutline Hardware requirements CBL Tools and miscellaneous hardware Power sourcesOther information needed for installation 2 RS485 / RS422 systems Mechanical installation and location requirements Package dimensions Dimensions and mounting Power connections Grounding Single phase unitsMintDrive Power disconnect and protection devices Input power conditioningUngrounded distribution systems Circuit breaker and fuse, single phase, package size C Delay Wire sizes Single phase connection to package size C Single phase connection to package size a or B 8 24V control supply Three phase connection to package size CInput current External drive DC Bus power connections from package size COutput voltage MintDrive Power supply filters Nominal output voltage Motor connections Motor circuit contactors Regeneration resistor mounting Regeneration resistor Dynamic Brake resistorBaldor regeneration resistor catalog numbers Feedback connections Pin Resolver function Resolver optionBaldor Motor Signal name Motor / cable Resolver cable wire Pin Color Resolver cable pin configuration Pin Encoder function Encoder option This completes the basic installation Drive enable Analog I/O Input / Output Description Analog Input, Single EndedMint keyword ADC.2 ADC.3 Analog Input, Differential Analog Inputs, Differential Pins NameADC.0 ADC.1 Page AUXDAC.2 AUXDAC.3 Analog Outputs, Bipolar AOUT0 and AOUT1 analog outputs AUXDAC.0 AUXDAC.1 Digital I/O Pin Name Mint keyword Digital InputsExternal +24VDC supply Active high =+24VDC =0V Active low X13 Thermal switch connection X5 Digital inputs External +24VDC supply Active high A=+24VDC B=0V Active low Breakout board Special functions on inputs DIN0 and DIN2Input Function OUT.7 Digital OutputsOUT.5 OUT.6 OUT.3 OUT.4OUT.2 OUT.0 MintDrive NextMoveBX encoder input Other I/OSimulated encoder output Pin Name Differential encoder connections Master auxiliary encoder input Auxiliary encoder circuit Pin RS232 Name RS485 / RS422 name Serial port RS232 serial port connections Using RS232 cable Master Controller Multidrop using RS485 / RS422 cable Baldor HMI PLC Port Connecting Baldor HMI Operator Panels Can peripherals Optional breakout board for connector Installing the software Connecting the MintDrive to the PC Starting the MintDrive Mint Configuration Tool Startup Wizard coarse tuning Page Page An introduction to closed loop control MCT Startup Wizard fine-tuningPage Fine-tuning the speed loop Fine-tuning the position loop Click Start Move Jog test Completing the Startup Wizard Click Mint Configuration Tool in Wizard Mode Digital input configuration MCT Wizard hardware configuration Digital output configuration Axis0 error configuration Axis0 parameter configuration Miscellaneous configuration Axis0 tuning configuration Completing the configuration wizard Page Mint WorkBench Completing configuration Standard toolbar functions Using WorkBenchSelecting the controller Menus and buttons Can window Motion toolbar functionsMacro toolbar functions Status bar Quick Watch tab Watch window 740 × L × A∕V Speed Loop tab Position Loop tab Capture tab Editor windows Configuration windowProgram window To stop the motor turning, type Useful commands for testingTerminal window To start the motor turning slowly, type To turn a distance of 5 turns, type Combining commands on one lineTo change the speed, type Prog Firmware updateCON NEWPage General specifications Specifications Power Resolver feedback Rectifier and regeneration Encoder feedback Control signals Environmental Page Problem diagnosis Troubleshooting Communication Problem Check Corrupted. Use Release Power up Data Defaulting to Tuning Mint gains Config = cfCURRENTAMPLIFIER Code Problem Check Print DrivefaultReady LED is red Parameter Code Problem Check 7 can Problem Check Page Purpose Name Abbreviation / keyword Tuning a Introduction Figure A.1 MintDrive Closed Loop System Closed loop control 100 Position loop 101 Speed loopCurrent loop MintDrive operational modes 102 Tuning the position loop for a velocity servo driveTuning the position loop for a servo drive Position Loop gain terms KINTMODE=2 103 Position Loop Tuning using a trapezoidal move type Position Loop Tuning using a step move104 105 Tuning the position loop for a torque servo driveSaving tuning information CONFIG=6 106 107 MintDrive capabilitiesCable length Maximum bit rate Resistance Conductor area 108 Pin Name Description Can 1 CANopenCan 1 CANopen 109 110 What is CANopen?Type Mint Constant Node Type 111 Configuring nodesNetwork manager node Scanning nodes 112 Connecting to nodes? NODELIVE.1.2 ? NODETYPE.1.2 113 Monitoring can eventsEvent Number Mint Constant 114 Controller nodesSinglecast communication Broadcast communication 115 Digital I/O access9 I/O nodes Comms array subroutines Extra Analog I/O Functionality Analog I/O Access116 117 HMI Operator PanelsREMOTEADCDELTA.1.2.3 = 118 Can 2 Baldor can Can 2 Baldor can119 120 Connecting the PC, MintDrive and can peripheralPreparing the MintDrive Preparing the can peripheral Node IDs Static configurationNode type Type Mint Constant Default Node ID Baud rate Remotesetup 122 Adding the node to the networkNODETYPE.7 = 123 Monitoring can Bus communicationsControlling the can peripheral Normal operation Pause NODELIVE.14 KeypadNode124 BUS=2 125 IoNode 24/24 View NODELIVE.2 Example can network126 NODESCAN.0 Keyword Abbreviation Using abbreviationsMint can related keywords 127 128 129 Declaration of Conformity 130 EMC wiring techniqueEMC Conformity and CE marking Use of CE compliant components Grounding Earth EMC installation suggestions131 EMC filters 132 Wiring of shielded screened cables Figure C.4 Handwheel Encoder cable grounding Figure C.5 Encoder signal cable grounding 134 Cables Cable Cable assembly Baldor catalog number Length135 136 Resolver feedback cable 137 Filter dimensions FN351-36-33 and FN351-50-33EMC mains filters Catalog numbers Dimension FN2070-6-06 Dimensions inches mm138 115VAC drives 230VAC drives Baldor Regeneration resistors139 Baldor catalog number MintDrive 140 Breakout boardPage MN1274 06/2001