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Baldor MN1274 06/2001 installation manual Rectifier and regeneration, Resolver feedback

Models: MN1274 06/2001

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6.1.3Rectifier and regeneration

6.1.3Rectifier and regeneration

Rectifier

Unit

All models

Input voltage (±15%, f=50~60Hz)

Vin=230VAC

Vin=115VAC

Nominal

VAC

230

115

Minimum

190

90

Maximum

265

130

DC-Bus voltage (absolute)

Minimum

VDC

270

125

Maximum

360

175

Regeneration

Unit

2.5A*

5A*

7.5A

10A

15A

Switching threshold Vin=230VAC

VDC

on:373~383, off:362~372

on:373~383, off:362~372

V =115VAC

on:188~195, off:183~188

on:188~195, off:183~188

in

Nominal power

kW

0.25

1.0

Peak power

kW

2.7

15

Maximum regeneration

ARMS

10

40

switching current

Maximum load inductance

mH

100

*Note: 2.5A model contains an internal 320Ω, 20W resistor 5A model contains an internal 175Ω, 30W resistor.

6.1.4 Resolver feedback

		Unit	All models

	Resolution	bits	Velocity <6100RPM: 14 bits
	set automatically by software	bits	Velocity >6100RPM: 12 bits
	set automatically by software		Velocity >6100RPM: 12 bits

	Pole pairs	-	1

	Resolver winding ratio	-	0.5

	MintDrive resolver input accuracy	counts	±2

	Typical combined accuracy using	counts	±4
	Baldor BSM series resolver motor

81

Image 93

Baldor MN1274 06/2001 installation manual Rectifier and regeneration, Resolver feedback

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 4.2 Mint Configuration Tool Startup Wizard - coarse tuning Tuning and ConfigurationInput / Output viiiTroubleshooting SpecificationsMint WorkBench Appendices A TuningCE Guidelines Accessories and optionsPage 1 Introduction 1.1 MintDrive features1.2 Receiving and inspection Installed at1.2.1 Identifying the catalog number Catalog number MD1.3.1 Monitor LED display 1.3 MintDrive indicators1.3.2 CAN 1 and 2 LEDs 1.3.3 Ready LED1.4 Units and abbreviations 2 Basic Installation 2.1 Outline2.1.1 Hardware requirements Meaning 2.1.5 Other information needed for installation 2.1.3 Power sources2.1.2 RS485 / RS422 systems 2.1.4 Tools and miscellaneous hardware2.2 Mechanical installation and location requirements Figure 1 - Package dimensions 2.2.1 Dimensions and mounting2.3 Power connections MintDrive 2.3.1 GroundingSingle phase units Figure 2 - Recommended single phase system grounding2.3.2 Input power conditioning 2.3.3 Power disconnect and protection devicesMintDrive Figure 6 - Circuit breaker and fuse, three phase, package size C Figure 5 - Circuit breaker and fuse, single phase, package size CMintDrive 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 To external 2.3.9 DC Bus power connections from package size Cdrives with2.3.10 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 Resolver function 2.5.1 Resolver optionBaldor MotorGrey 2.5.1.1 Resolver cable pin configurationEncoder Hall Feedback 2.5.2 Encoder option1 CHA+ 6 CHA 2 CHB+ 7 CHB 3 CHZ+ INDEX 8 CHZ- INDEX 11 +5V 13 DGND 4 Hall U+ 5 Hall U 9 Hall W+ 14 Hall W 10 Hall V+ 15 HallThis completes the basic installation 2.6 Drive enableYou should read the following sections in sequence before attempting to start the MintDrive3 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/OEncoder 3.4.2 Master auxiliary encoder inputCHA+ CHA-- CHB+ CHB-- CHZ+ CHZ-- +5V DGND Connection of shieldsFigure 22 - Auxiliary encoder circuit Location 3.4.3 Serial portRS232 Name RS485 / RS422 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 3.4.7 Optional breakout board for connector This completes the input/output wiring3.4.8 CAN peripherals You should read the following sections in sequence before4.1.1 Connecting the MintDrive to the PC 4 Tuning and Configuration4.1.2 Installing the software 4.1 Outline4.1.3 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 4.4.4 Axis0 error configuration 4.4.3 Axis0 parameter configurationWhen you have finished, click Next to continue When you have finished, click Next to continue4.4.6 Miscellaneous configuration 4.4.5 Axis0 tuning configuration4.4.7 Completing the configuration wizard Select a folder and enter a filename for the configuration file 5. The second file to save is the configuration fileH The configuration file will be saved H MCT will be closed H The configuration file will be automatically loaded into WorkBench5.1.1 Completing configuration This completes the configuration and tuningmovement commands that can be useful for testing 5 Mint WorkBench5.2.1 Selecting the controller 5.2 Using WorkBench5.2.2 Menus and buttons 5.2.2.1 Standard toolbar functions5.2.2.3 Macro toolbar functions 5.2.2.2 Motion toolbar functions5.2.2.4 Status bar 5.2.2.5 CAN window5.3.1 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 5.4.3 Terminal window 5.4.4 Useful commands for testingTo start the motor turning slowly, type To stop the motor turning, 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 signalsMinimum 6.1.7 EnvironmentalMaximum DeratePage 7 Troubleshooting 7.1.1 Problem diagnosis7.1 Outline Communication 7.1.2Problem Checkcorrupted. Use RELEASE 7.1.3 Power upCorruption. Use NEW to clear buffers. is shown atCheck 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 DRIVEFAULTCode ProblemCheck If this occurs during acceleration then the load may be too great forProblem 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Command = KIP.e + KII.Σe Command = KVP.e + KVI.ΣeA.1.3 Speed loop A.1.4 Current 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 CANopenType B.2.2 What is CANopen?Mint Constant Node TypeB.2.4 Network manager - node B.2.3 Configuring nodesB.2.5 Scanning nodes 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 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 B.2.9.3 Extra Analog I/O Functionality B.2.9.2 Analog I/O Access? REMOTEINX.1.2.0 ? REMOTEOUTX.1.2.0Data format B.2.10 HMI Operator PanelsHMI database variable HMI variable indexThe 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 REMOTESETUP B.3.6 Static configurationB.3.5 Node IDs 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 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 C.1.2 EMC Conformity and CE marking C.1.4 EMC wiring techniqueC.1.3 Use of CE compliant components CabinetC.1.5 EMC installation suggestions EMC filtersGrounding Earth Conductive C.1.6 Wiring of shielded screened cablesClamp Resolver ConnectorEncoder Connector Handwheel / Encoder HousingHousing Connector backshellPage D Accessories and options D.1 OutlineD.1.1 Cables Cable assembly D.1.2 Resolver feedback cableMotor type Baldor catalogD.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