Installation Manual
MN1274 06/2001
Page
Iii
Safety Notice
Circuit amperes listed here at rated voltage
Page
Contents
Input / Output
Viii
Mint WorkBench
Tuning
Appendices
129
Xii
MintDrive features
Introduction
Date
Receiving and inspection
Identifying the catalog number
Meaning Alternatives
Can 1 and 2 LEDs
MintDrive indicators
Monitor LED display
Ready LED
Units and abbreviations
Hardware requirements
You must read all the sections in Basic Installation
Outline
Each step should be followed in sequence
CBL
2 RS485 / RS422 systems
Power sources
Other information needed for installation
Tools and miscellaneous hardware
Mechanical installation and location requirements
Dimensions and mounting
Package dimensions
Power connections
MintDrive
Single phase units
Grounding
Ungrounded distribution systems
Input power conditioning
Power disconnect and protection devices
Circuit breaker and fuse, single phase, package size C
Wire sizes
Delay
Single phase connection to package size a or B
Single phase connection to package size C
Input current
Three phase connection to package size C
8 24V control supply
MintDrive
DC Bus power connections from package size C
Output voltage
External drive
Power supply filters
Motor connections
Nominal output voltage
Motor circuit contactors
Baldor regeneration resistor catalog numbers
Regeneration resistor Dynamic Brake resistor
Regeneration resistor mounting
Feedback connections
Baldor Motor
Resolver option
Pin Resolver function
Resolver cable pin configuration
Signal name Motor / cable Resolver cable wire Pin Color
Encoder option
Pin Encoder function
Drive enable
This completes the basic installation
Input / Output
Analog I/O
ADC.2
Analog Input, Single Ended
Mint keyword
Description
Analog Input, Differential
ADC.3
ADC.0 ADC.1
Pins Name
Analog Inputs, Differential
Page
Analog Outputs, Bipolar
AUXDAC.2 AUXDAC.3
AUXDAC.0 AUXDAC.1
AOUT0 and AOUT1 analog outputs
Digital I/O
External +24VDC supply Active high =+24VDC =0V Active low
Digital Inputs
Pin Name Mint keyword
Thermal switch connection
X13
External +24VDC supply Active high A=+24VDC B=0V Active low
X5 Digital inputs
Input Function
Special functions on inputs DIN0 and DIN2
Breakout board
OUT.6
Digital Outputs
OUT.5
OUT.7
OUT.0
OUT.4
OUT.2
OUT.3
Pin Name
Other I/O
Simulated encoder output
MintDrive NextMoveBX encoder input
Master auxiliary encoder input
Differential encoder connections
Auxiliary encoder circuit
Serial port
Pin RS232 Name RS485 / RS422 name
Using RS232 cable
RS232 serial port connections
Multidrop using RS485 / RS422 cable
Master Controller
Connecting Baldor HMI Operator Panels
Baldor HMI PLC Port
Optional breakout board for connector
Can peripherals
Connecting the MintDrive to the PC
Installing the software
Starting the MintDrive
Mint Configuration Tool Startup Wizard coarse tuning
Page
Page
MCT Startup Wizard fine-tuning
An introduction to closed loop control
Page
Fine-tuning the speed loop
Fine-tuning the position loop
Click Start Move
Jog test
Click Mint Configuration Tool in Wizard Mode
Completing the Startup Wizard
MCT Wizard hardware configuration
Digital input configuration
Digital output configuration
Axis0 parameter configuration
Axis0 error configuration
Axis0 tuning configuration
Miscellaneous configuration
Completing the configuration wizard
Page
Completing configuration
Mint WorkBench
Menus and buttons
Using WorkBench
Selecting the controller
Standard toolbar functions
Status bar
Motion toolbar functions
Macro toolbar functions
Can window
Watch window
Quick Watch tab
Speed Loop tab
740 × L × A∕V
Position Loop tab
Capture tab
Program window
Configuration window
Editor windows
To start the motor turning slowly, type
Useful commands for testing
Terminal window
To stop the motor turning, type
To change the speed, type
Combining commands on one line
To turn a distance of 5 turns, type
NEW
Firmware update
CON
Prog
Page
Specifications
General specifications
Power
Rectifier and regeneration
Resolver feedback
Control signals
Encoder feedback
Environmental
Page
Troubleshooting
Problem diagnosis
Problem Check
Communication
Power up
Corrupted. Use Release
Data Defaulting to
Tuning
Config = cfCURRENTAMPLIFIER
Mint gains
Ready LED is red
Print Drivefault
Code Problem Check
Parameter
Code Problem Check
7 can
Problem Check
Page
Tuning a Introduction
Purpose Name Abbreviation / keyword
Figure A.1 MintDrive Closed Loop System
Closed loop control
Position loop
100
MintDrive operational modes
Speed loop
Current loop
101
Position Loop gain terms
Tuning the position loop for a velocity servo drive
Tuning the position loop for a servo drive
102
103
KINTMODE=2
104
Position Loop Tuning using a step move
Position Loop Tuning using a trapezoidal move type
CONFIG=6
Tuning the position loop for a torque servo drive
Saving tuning information
105
106
Cable length Maximum bit rate Resistance Conductor area
MintDrive capabilities
107
108
109
Can 1 CANopen
Can 1 CANopen
Pin Name Description
Type Mint Constant Node Type
What is CANopen?
110
Scanning nodes
Configuring nodes
Network manager node
111
? NODELIVE.1.2 ? NODETYPE.1.2
Connecting to nodes
112
Event Number Mint Constant
Monitoring can events
113
Broadcast communication
Controller nodes
Singlecast communication
114
Comms array subroutines
Digital I/O access
9 I/O nodes
115
116
Analog I/O Access
Extra Analog I/O Functionality
REMOTEADCDELTA.1.2.3 =
HMI Operator Panels
117
118
119
Can 2 Baldor can
Can 2 Baldor can
Preparing the can peripheral
Connecting the PC, MintDrive and can peripheral
Preparing the MintDrive
120
Remotesetup
Static configuration
Node type Type Mint Constant Default Node ID Baud rate
Node IDs
NODETYPE.7 =
Adding the node to the network
122
Normal operation
Monitoring can Bus communications
Controlling the can peripheral
123
BUS=2
KeypadNode
124
Pause NODELIVE.14
IoNode 24/24
125
NODESCAN.0
Example can network
126
View NODELIVE.2
127
Using abbreviations
Mint can related keywords
Keyword Abbreviation
128
Declaration of Conformity
129
Use of CE compliant components
EMC wiring technique
EMC Conformity and CE marking
130
EMC filters
EMC installation suggestions
131
Grounding Earth
Wiring of shielded screened cables
132
Figure C.5 Encoder signal cable grounding
Figure C.4 Handwheel Encoder cable grounding
134
135
Cable Cable assembly Baldor catalog number Length
Cables
Resolver feedback cable
136
Catalog numbers
Filter dimensions FN351-36-33 and FN351-50-33
EMC mains filters
137
138
Dimensions inches mm
Dimension FN2070-6-06
Baldor catalog number MintDrive
Regeneration resistors
139
115VAC drives 230VAC drives Baldor
Breakout board
140
Page
MN1274 06/2001