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FlexDrive Installation Manual

1. Connection of shields to analog ground is optional Encoder Cable Grounding Control Encoder Connector x9 Housing OWNNOD ou Connection of shields to digital ground is optional 8 4 CE Guidelines MN1275 Section 9 Accessories and Options Cables Shielded Screened cable provides EMI RFI shielding and are required for compliance to CE regulations All connectors and other components used must be compatible with this shielded cable Motor Power Cable Cable Assembly Description Power Cable Assembly CBLO15SP FHM Threaded connector CBLO30SP FHM Standard Metric Style CBLO46SP FHM CBLO061SP FHM CBLO76SP FHM CBL152SP FHM Power Cable Assembly CBLO15SP FHQ Quick Connect Style CBLO30SP FHQ CBLO46SP FHQ CBL061SP FHQ CBLO76SP FHQ CBL152SP FHQ Power Cable Assembly CBLO30SP FHCE CE Style Threaded CBL061SP FHCE Connector CBLO91SP FHCE CBL152SP FHCE Power Cable CBLO30SP F No Connectors CBLO46SP F CBL061SP F CBLO76SP F CBLO91SP F CBL152SP F Power Cable CBLO30SP E No Connectors CBLO46SP E CBL061SP E CBLO91SP E CBL152SP E Cable Rated Current Baldor Catalog Number ANDA OE Or al a TOM ONO BO al DOE O al Connectors Mating Connector by connector number for spare parts X1 ASR29714 9 pin Female Phoenix Part No MVSTBW2 5 9 ST X1 ASR29715 2 pin Femal
2. gt 3 Reference EMC wiring in Section 8 AC Servo Motor Motor and resolver are phase sensitive Connect only as instructed For three phase controls this is labeled PE Optional components not provided with control Notes Baldor i Metal conduit or shielded cable should be used Connect conduits so the use of Load Reactor or RC Device does not Control interrupt EMI RFI shielding 2 Use same gauge wire for Earth ground as is used for L and N VDE Germany requires 10mm minimum 6AWG For CE compliance connect motor ground to the backplane of the enclosure Notei 3 Reference EMC wiring in Section 8 AC Servo Motor M Contactor 4 Motor and encoder are phase sensitive Connect only as instructed Enclosure Backplane see Section 8 Optional components not provided with control Note For CE compliant installations connect unused leads within the motor cable to PE on both ends of the cable If required by local codes or for safety reasons an M Contactor motor circuit contactor may be installed However incorrect installation or failure of the M contactor or wiring may damage the control If an M Contactor is installed the control must be disabled for at least 20msec before the M Contactor is opened or the control may be damaged M Contactor connections are shown in Figure 3 13 3 10 Receiving amp Installation MN1
3. 0 cece eee 7 1 Identification Pals 7 1 SPeCHICAtOMS s cee ciety ON ge ee Pls ia De LAA tea EA Pa Seas Se ea 7 2 24VDG Logie Power IMputl sistc caco Gane ed GEG a ee ee ee Ae 7 4 Velocity Control enata ruainne Magehege babe Aa 7 4 Resolver Feedback 2 0 c6c5a cen ea cons dr dd aa ee dauaebes 7 4 Simulated Encoder Output 0 00 c cee 7 4 Pulse DirGCtiony put dais tc a lalo dada laa 7 4 Encoder NPU cia na ara o da a atlas 7 5 Serial Interface aii A A A a A a 7 5 Optional Interface ic a Ge ead a Delain ll 7 5 Regeneration aieicoso atico aa 7 5 DIMENSIONS ada idas e 7 6 ii Table of Contents MN1275 Section 8 CE Guidelines s 2 c 258 eciay ide iis eee eg peat See eg es eee eee ae be ad 8 1 CE Declaration of Conformity 0 c cee eens 8 1 EMC Conformity and CE Marking 00 cess eee ete teens 8 1 EMC Installation Instructions 0 cc eect eee eens 8 3 Section 9 Accessories and OPTIONS cidcid dee santa dees 9 1 Gables n io a A Wore peated eae dae ae 9 1 Connectors cit A hs eed Eee tated eA eh CE 9 1 EMC AC Mains Filter pee eee teen E ES 9 2 Regeneration Resistor 0 eee eee een eee eee ee eeeaee 9 4 GAN Buss svat dpe sae ada a il ab REL ade Rane eh yeas 8 9 5 Getting Started with CAN_OPEN 0 cece eee eens 9 7 identifiersa d Object list coi id aaah en vad aed fale vlad alee ee 9 10 Appendix A Manual TUNISIA AA AI A 1 Moto
4. EAF Drive Temp EAF drive over temperature error Displays 6 EAF Motor Temp EAF motor over temperature error Displays 6 EAF Drive 121 EAF drive 12T error Displays 6 EAF Motor 12T Description EAF motor 12T error Displays 6 Parameter error is still pending Resets system faults if allowed Reset is not allowed if LOGRST Resets system fault log Communication Settings Parameter Description ange Default Disable enable echoing for input characters ON OFF ON PROMPT Enables disables terminal prompt ON OFF ON Enables Disables terminal error notification Variable Description ON OFF ON ange Queries the most recent communication handler error Description 0 65535 Opens communication to the drive called by its address the addresses a constant which can be queried by COM ADDR or SYS STTS MN1275 Address Command Set B 9 Queries of System Variables Status Faults Single Values Description Query for actual current U CUR ACTU ACTV Query for actual current V CUR ACTV ANAIN Query for analog input SYS ANAIN POS Queries motor position RPOS SYS POS Resolver bits encoder counts POS POS VEL Query feedback velocity Data Record REC prefixed Parameters Description Specify gap between record
5. Do not tin solder exposed wires Solder contracts over time and may cause loose connections Electrical components can be damaged by static electricity Use ESD electro static discharge procedures when handling this control Ensure that resolver or encoder wires are properly connected Incorrect installation may result in improper rotation or incorrect commutation The holes in the top and bottom of the enclosure are for cable clamps Be sure to use an M4 bolt 12mm in length Longer bolts may short circuit the electrical components inside the control 1 4 General Information MN1275 Section 2 Product Overview Overview Motors The FlexDrive product is designed to serve the needs of machine designers and manufacturers Baldor products have both UL and CE approvals The FlexDrive is a flexible versatile compact control for brushless servo motors This digital servo control can be tailored to suit many applications It can accept 0 10VDC input standard 10VDC input current loop input pulse and direction input or electronic handwheel input Some flexible options are CAN bus interface for resolver feedback only internal or external regen or with customer provided 24VDC to maintain logic power The FlexDrive can be integrated with Baldors motion controllers or to any industry standard motion controller Baldor servo controls are compatible with many motors from Baldor and other manufacturers Motor parameters are p
6. Green Jog mode Jog mode activated by hardware or software Red Both limit switches active Defective or missing limit switch or wiring Green In Position The following error is less than the user defined preset value Red EPROM version fault The personality must be downloaded to EEPROM and reset the control Red EEPROM version fault The personality must be downloaded to EEPROM and reset the control It is important to connect the motor leads U V and W correctly at the X1 connector of the control Incorrect wiring can cause erratic operation including moves at peak force until the overcurrent limit trips This will result in a display of 7 anda 6 on the monitor If erratic movement of the motor occurs turn off power immediately and check the connections of the motor hall sensors and encoder 6 2 Troubleshooting MN1275 Section 7 Specifications amp Product Data Identification Servo Control FDX AXX X Flex Drive Input Voltage 1 115VAC 2 230VAC 4 460 400VAC Current Rating A02 2 2 5 Amps A05 5 Amps A07 7 5 Amps A10 10 Amps A15 15 Amps A20 20 Amps A27 27 5 Amps Enclosure Type T Panel Mount w internal power supply P Panel Mount w external power supply S Panel Mount w internal power supply suitable for sharing with other controls Braking Option X RC 4 3 Requires external regen resistor B Bu
7. SYS WRN Queries system warnings The most important warning will be reported as ID X1 Possible Faults Display Description USER ERROR PLC user generated error Displays 9 OVERCURRENT Over current Displays 3 OVERVOLTAGE Bus over voltage Displays 1 FEEDBACK Resolver encoder position feedback error Displays 5 POWER_FAIL Power fail Displays 2 BPS BPS fail Displays 2 OVER_15_VOLTAGE 15v over voltage 15v line is more then 17v or 15v line is more than 17v Displays 4 UNDER_15_VOLTAGE 15v under voltage 15v line is less then 12v or 15v line is less than 12v Displays 4 EEPROM_ERROR N I EPROM_ERROR N I RAM_ERROR B 8 Command Set RAM integrity error Displays 9 MN1275 X1 Possible Faults Continued Display Description FAULT_RELAY when fault relay is closed Displays 9 EAF N I MISSING INT N I POWER_ID DRV ID SYS POWER Displays small u CW_CCW Both limit switches are on Displays L DESIGN_FAILURE Control design fail Displays small c EE_CLEARED EEPROM header stamp was not detected Displays U EE _INTEGRITY EEPROM footer stamp was not detected Displays A
8. 3 E zee kez AAE o JO o o 6 O 5515 5 O lo e 1200 1200 Terminate the Terminate the last drive Master CAN Bus Protocol Baldor uses CAN_OPEN DS 301 protocol Baud rate is preset to 125kbit second may be changed by AS1 switch settings or serial command e g command CAN BD 1000 for 1Mbit sec Available baud rates are 10 20 50 100 125 250 500 800 and 1000kbit sec NODE_ID may be changed by switch settings or serial command e g command CAN ID 50 Available addresses are 1 to 127 CAN Bus Features The following features are available with the Baldor CAN_OPEN structure One SDO Two PDO s each for transmit and receive synchronous or asynchronous SYNC message EMERGENCY object Default and variable PDO mapping e AILID s can be set with SDO Node guarding Simple boot up 9 6 Accessories 8 Options MN1275 Index Range The index range from 0x1000 to 0x100D is valid The following index ranges are important 0x1400 1st PDO receive communication 0x1402 2nd PDO receive communication 0x1600 1st PDO receive mapping 0x1602 2nd PDO receive mapping 0x1800 1st PDO transmit communication 0x1802 2nd PDO transmit communication 0x1A00 1st PDO transmit mapping 0x1A02 2nd PDO transmit mapping Object Entries The following object entries are available with PDO Read position absolute and resolver position Read and write velocity Read status Write torque The following object entries are
9. 65535 MTR KT Motor torque constant torque to RMS 0 001 Nm A 65535 phase current MTR KV Motor bemf constant V 1000RPM 1 65535 MTR NAME Motor string name in ASCII characters ASCII char Drive Parameters typical DRV prefixed Description DRV BUSAPP Application bus voltage ign Int DRV BUSOV Application bus over voltage ign Int DRV BUSV Drive Bus voltage ign Int DRV I2T 12t warning time DRV ID Drive ID EEPROM value to be checked Unsign Int against power ID dip switch in case of Version Error U DRV IDX FlexDrive Flex Drive Setup library index Unsign Int DRV INOM Drive nominal current Unsign Int DRV IPEAK Drivepeak current Unsign Int B 4 Command Set MN1275 Additional System parameters mostly SYS prefixed Velocity Feedback Parameters Description Resolver number of poles SYS ENCRES Queries updates encoder feedback resolution for encoder motors in pulses per revolution i e before quadrature SYS ENCTBL Queries encoder motor hall table type Description lation Output Parameter ange Encoder simulation resolution Range de pends on maximum velocity VEL MXRPM Up to 1500 RPM 512 4096 above 1500 RPM 512 only Downward versions to 80112d1000 incl also provide the deci mal values Software Limit Switches Parameters Description Puls Rev 512 1024
10. A null modem cable also called a modem eliminator cable must be used to connect the control and the computer COM port This will ensure that the transmit and receive lines are properly connected Either a 9 pin or a 25 pin connector can be used at the computer Figure 3 20 Maximum recommended length for RS232 cable is 3 ft 1 meter Figure 3 20 9 amp 25 Pin RS 232 Cable Connections for UL Installations oer ees 9 Pin Connector Pin Signal 2 RXD 3 TXD 5 GND Pin Signal 2 RXD 3 TXD 7 GND 6 Null Modem Cable Connections RXD A A RXD Computer Control txp _ L TxD com Port DCE GND __ GND U DTE Chassis Figure 3 21 9 amp 25 Pin RS 232 Cable Connections for CE Installations g Null Modem Cable Connections RxD A N RxD Computer Control 7xp L TxD COM Port DCE GND H H GND DTE PE PE Note For CE installations connect the overall shield at each end of the cable to PE The voltage potential between the PE points at each end of the cable must be Zero Volts MN1275 Receiving Installation 3 15 RS485 Standard RS485 connections are shown in Figure 3 23 Maximum cable length is 3280 ft 1000M Figure 3 22 9 Pin RS 485 Cable Connections For UL Installations X6 RX An Aa TX 9 Pin Connector RX HHH HH TX Computer Control TX H H RX COM Pin Signal TX Lu HH RX Port 1 TX DCE DGND DGND
11. 0 8A maximum gt Contact is closed when power is on and no faults are present Control Customer Provided Interface Circuit Figure 3 19 Opto Output Connections 5 gt 12VDC to 30VDC av AH pp gt y 18 19 20 Output Signal OR A a a gt Pa Typical CGND 8 5 Relay 35mA A Maximum Contro Customer Provided Interface Circuit Table 3 4 Opto Output Signal Conditions less hone Switch Closed active Switch Open not active X3 4 Fault Drive OK no faults detected Fault is detected X3 5 Fault Drive OK no faults detected Fault is detected X3 18 MAO1 Machine Output 1 Logical 1 Machine Output 1 Logical 0 X3 19 MAO2 Machine Output 2 Logical 1 Machine Output 2 Logical 0 X3 20 DrOK Drive OK no faults detected Fault is detected Fault Relay A normally closed relay contact that opens if a fault occurs The contact is rated 24VDC 0 8A maximum or 110VAC 0 3A maximum MaO1 amp 2 Two machine outputs are provided Either output can be set to one of the following conditions CW Warning CCW Warning In Position Error Flag Following Error Warning MAI1 2 Drive Overtemperature or 2T Warning Each output is rated 30VDC 35mA maximum DrOK This output is active when the control is ready for operation This output is rated 30VDC Y 35mA maximum 3 14 Receiving amp Installation MN1275 X6 RS232 485 Connections RS232
12. A control motor and all system components must have proper shielding grounding and filtering as described in MN1383 Please refer to MN1383 for installation techniques for CE compliance For additional information refer to Sections 3 and 8 of this manual Limited Warranty For a period of two 2 years from the date of original purchase BALDOR will repair or replace without charge controls and accessories which our examination proves to be defective in material or workmanship This warranty is valid if the unit has not been tampered with by unauthorized persons misused abused or improperly installed and has been used in accordance with the instructions and or ratings supplied This warranty is in lieu of any other warranty or guarantee expressed or implied BALDOR shall not be held responsible for any expense including installation and removal inconvenience or consequential damage including injury to any person or property caused by items of our manufacture or sale Some states do not allow exclusion or limitation of incidental or consequential damages so the above exclusion may not apply In any event BALDOR s total liability under all circumstances shall not exceed the full purchase price of the control Claims for purchase price refunds repairs or replacements must be referred to BALDOR with all pertinent data as to the defect the date purchased the task performed by the control and the problem encountered No liability is ass
13. Connect conduits so the use of a Reactor or RC Device does not interrupt EMI RFI shielding 3 Use the same gauge wire for Earth as used for L1 L2 L3 connections 3 Use same gauge wire for Earth ground as is used for L and N For CE Compliance refer to Section 8 of this manual VDE Germany requires 10mm minimum For CE compliance connect PE to the backplane of the enclosure 4 Reference EMC wiring in Section 8 A shared supply configuration is shown in Figure 3 8 The first drive must have an internal power supply such as an Option S control Figure 3 8 Shared Supply Power Connections VCC VCC VCC VCC R1 VCC VCC R2 VCC VCC Baldor Baldor Baldor Option S Option P Option P Control Control Control To Regen Resistor MN1275 Receiving amp Installation 3 7 X1 Power Connector Earth L AC Line ja Power N Neutral U Motor lead U V Motor lead V gt Motor Ww Motor lead W R1 Dynamic Baer Dynamic Brake R2 Dynamic Brake J Regen Resistor 24V Customer f OV Provided FDxAxxxx xxx3 Figure 3 9 Connector Locations Single Phase Controls only G ONDARY N Terminal tightening torque is 0 5 Ib in 0 6Nm a DB On O Flex Drive X3 Control Signals amp Digital I O CMD CMD AGND Fault Relay Fault Relay CIV CREF CGND Enable 10 CW En
14. UP Uploads EEPROM data to terminal ASCII file Operation Mode Control Normal Modes Parameters Description Queries updates system operating mode Where 0 current 1 velocity 2 position Description Queries drive status DIS_HW DIS_SW ENABLE BURN_IN FAULT Description Parameter Disables drive passively Disables drive actively brake to stop then disable control Enables drive Stops drive and maintains position after stop Stops drive and maintains position after stop Stops drive and maintains position after stop CONT will resume the interrupted move Continues interrupted move interrupted by STOP Note In velocity and current mode braking is with acceleration zero In positioning mode SYS MOD 3 braking is with acceleration MOT ACC MN1275 Command Set B 11 Sys mod 0 Current mode Parameters Description CUR BEMF Back EMF voltage compensation in percentage of nominal motor value Ke CUR IPEAK Queries updates application peak current in percentage of DRV IPEAK CUR INOM Queries updates application nominal current in percentage of DRV IPEAK CUR TOFR Queries updates mantissa of Torque 0x0f00 Optimizer Phase Advance or BEMF 0x1100 Compensation CUR TOSH Queries updates Torque Optimizer Shift 16 coefficient CUR SCAL Corresponding current value to analog 0 1 of 100 10000 input voltage CUR VOLT for setting of CUR IP
15. Velocity Select the motor Min Velocity Scaling Factor Control Download Control is selected Sequence 5 automatically Skip Drift Offset Download Sequence 2 Skip Operating Mode as ome mV General Current Download Velocity Close Pulse Follow Sequence 6 Auto tuning Download i Sequence 3 Skip Current Parameters Auto Tuning Procedure General App Peak Amps App Nom Amps BEMF Compensation Scaling Factor Sequence 4 t 5 4 Operation MN1275 Set up Software Opening menu Click NEXT to go to the Set up Software If you have already set up the parameters and saved them to a file click FINISH then load the parameter file using the File gt Open selection EXE Els pa jaa Eeh eo i Ha 3 hie gt en kima A ia AS Me cana Cia Carts ada a e a pr a a Start by selecting the Motor and Control and these parameters will be entered automatically for you by the software for a stock motor For a custom motor the motor parameters must be entered on the general menu First click on Motor and then select User Models in the Library menu Then click General to return to this menu and enter all parameters MN1275 Operation 5 5 There are 7 parts to the setup procedure Motor Select your motor from the list First select the general Motor Type Then select your specific Motor ID All of th
16. X8 Resolver Feedback 00 tee Ae a a ee ae ee 3 18 X9 Handwheel Encoder Installation ooooccccoooooccccnrrcr oo 3 19 X9 Encoder w Hall Tracks 0 0 ccc ccc eect nen een eee 3 21 Section 4 Switch Setting and Start Up 0 o 4 1 SWItCh AST Settings ns eos pea Hay A EY deo Pare ad ed teat Poe ee ee Ls 4 1 Start Up Procedure meiosis iia 4 3 Power Off Checks nai A ia aaa 4 3 Power On GheckS ai 2204s sd as Aa a 4 3 MN1275 Table of Contents i Section 5 Operation ooo a eee ea ee 5 1 Installing Software on your PC ww eee 5 1 Minimum system requirements 00 ete eens 5 1 Installation cad E 5 1 Host Ccommunications Setup 0 eee eee 5 1 Using The Setup Wizard nars io Siig dace a u ed duce Saleen ae les 5 3 Setup Software etc 5 5 MOTOR 22 raiet arth each A E ass Abe nee ant Gad 5 6 GOntrol scort ar Dea havens Laa bandas b age A 5 6 Operating MODS i constata ata iia 5 7 Current Parametros 5 8 Velocity Parameter occ At 5 8 Da A A Soe rad See eat es 5 9 Autotune iaa dc 5 9 Main Menu Choice Descriptions oocococcccccoccccncacn ooo 5 10 Elton A A An 5 10 Bla A A A A A E es 5 10 AU Re 5 10 PATATA A A E RS NT 5 11 Wal OR N ao 5 11 FUNCION Sta A AA ean eS eae 5 11 A ONE 5 11 WIRKOWS ass rior a A A a 5 11 PEG Programm it A RR A A eee ta eee 5 12 Section 6 Troubleshooting 0 cece cece eee e ene 6 1 Section 7 Specifications amp Product Data
17. current Accel time set too short Red 4 Over or Under voltage fault Internal 15VDC supply fault Red 5 Resolver fault or encoder fault Resolver or cable short circuit or resolver not connected open circuit Red 6 Electronic fusing Control current over load detected by also see fault 7 software Red 7 12t limit reached After a fault is detected Cycle time between Acceleration and control will run at nominal output current for Deceleration is too short 2 5 seconds then stop The control is disabled and the Monitor will first display 7 fault then the 6 fault Control Over Temperature Control should be relocated to cooler area Add fans or air conditioning to control cabinet Red 9 User defined fault see PLC Red 0 Processor Watchdog timeout Reset control turn off AC power wait 1 minute then turn power on Green Move Command not accepted More than two move commands have been i sent to the control To return to normal status send a Quit or a new move command to the control A non initialized buffer line has been called by the Machine inputs To return to normal status call an initialized buffer line by MA1 4 or send a Quit to the control Green l CW Enable switch activated CW limit reached Check X3 10 input Green l CCW Enable switch activated CCW limit reached Check X3 11 input Note To protect the internal fuse allow at least 1 minute after power down before turning power on power O
18. 2048 4096 500 1000 1250 1500 ange LIM CCW Absolute Position of Software Limit Switch CCW related to1 Home activated after Homing only Counts 1 Limit Limit 1 LIM CW Absolute Position of Software Limit Switch CW related to1 Home activated after Homing only Counts 1 Limit Limit 1 LIM ON Deactivate activate Software Limit Switches independent from Hardware Limit Switches 1 Counts and Limits depend on Resolver and Encoder resolution Variables NONE Software Limit Switches Methods Parameter LIM LRN Take actual position as software limit for CW respectively CCW 0 CW 1 CCW MN1275 Command Set B 5 PLC Parameters Description ange PLC LINE Defines PLC statement IF input TRUE PLC disabled THEN action set started with sytax action s left all lines PLC LINE num action input num lines input false action PLC line number and string input s left parameter for PLC action fixed to line lines number ENABLE PLC enable MAO Digital Input MAO1 MAO Digital Input MAO2 MAO Digital Input MAOS if available MAO4 Digital Input MAOA if available RELAY USRERP Error 9 FRST Fault Reset DISA Disable active s 0 DISP Disable active s 0 10 HOLP Hold status s 0 11 JOG JOG function s 0 12 GEAR input string par
19. 5 Placement aeons s lt Enter either Inertia or Inertia Ratio the other value is automatically 2 Select Manual entered Tuning elect OK Misas la bami a 0 If Pole Placement method of adjustment is selected you would enter values for inertia or inertia ratio Enter either one and the other value will automatically be entered This is the easiest and recommended method of adjustment If PI method of adjustment is selected you would enter values for GV gain and GVI gain This is an advanced method of adjustment and is more difficult Both methods of adjustment provide identical results Pl method is described later in this section MN1275 Manual Tuning A 5 POLE PLACEMENT Pole placement provides a no overshoot response when tuned for the correct inertia This is the easiest and recommended method of adjustment Inertia Click in the Load block and enter the value in Kg cm The range is from 0 to 133 Kg cm If the inertia is under estimated the system will be stable If the inertia is over estimated the system will vibrate or oscillate due to too much system gain If the load inertia is unknown estimate low It is recommended to start with load inertia 0 2 which represents a stable condition If you entered the inertia ratio you should enter a value representing the ratio of reflected load inertia to motor inertia The range is from 0 to 100 Response Move to
20. FEST 0x03 RO POS FFA 0x04 RW POS FFTYPE 0x05 RW POS FFV 0x06 RW POS IPOS 0x07 POS KP 0x08 POS MPFE 0x09 POS REF Ox0A POS PFE 0x0B POS POS 0x0C Subindexes to Index 2014 MTR Commands ASCII Command Subindex Read Write RW Read only RO Write only WO Entries 0x00 RO MTR IDX 0x01 RW 0x02 RW 0x03 RW 0x04 RW 0x05 RW 0x06 RW 0x07 RW 0x08 RW 0x09 RW Ox0A RW 0x0B RW 9 16 Accessories amp Options MN1275 Subindexes to Index 2015 DRV Commands ASCII Command Subindex Read Write RW Read only RO Write only WO Entries 0x00 RO DRV BUSAPP 0x01 RW DRV BUSOV 0x02 RW DRV BUSV 0x03 RW DRV I2T 0x04 RW DRV ID 0x05 RW DRV IDX 0x06 RW DRV INOM 0x07 RW DRV IPEAK 0x08 RW DRV LIFE 0x09 RO Subindexes to Index 2016 SYS Commands ASCII Command Subindex Read Write RW Read only RO Write only WO Entries 0x00 SYS ANAIN 0x01 SYS ANA2 0x02 SYS ENC 0x03 SYS ENCRES 0x04 RW encoder system only SYS FAULT 0x05 RO SYS FBACK 0x06 RW SYS INFO 0x07 RO SYS MOD 0x08 RW SYS OPT 0x09 RO SYS POWER Ox0A RO SYS RFOFS 0x0B RW SYS POS 0x0C RO SYS STTS 0x0D RO SYS
21. Figure 3 14 Motor Temperature Relay Customer Provided Note Add appropriately rated protective Source voltage device for AC relay snubber or DC relay diode iii MITE TY External Trip eet een PEE y Do not run these wires in same conduit Motor Thermostat Leads as motor leads or AC power wiring Optional hardware customer supplied X1 Dynamic Brake Resistor An external DB dynamic brake or regen resistor resistor may be required to dissipate excess power from the DC bus during motor deceleration operations Some controls have an internal resistor For selection of the DB resistor refer to the specifications located in Section 7 and the regeneration resistor specifications in Section 9 of this manual DB hardware is connected at R1 and R2 terminals of the X1 connector Figure 3 9 and 3 10 MN1275 Receiving amp Installation 3 11 X1 24VDC Logic Supply For FDxAxxxx xxx3 only A separate 24VDC supply to the Logic Power input is required for operation An external 24 VDC power source must be used If bus power is lost the logic circuits are still active if the 24VDC is present This is important to maintain position reference for example If the control was not ordered with this option do not connect any voltage to these pins X3 Control Inputs amp Digital I O Connections Control Inputs X3 pins 1 and 2 allows connection of an external analog command input This input c
22. Hall 3 Hall 2 Hall 2 Not Used Shell Chassis Hall Feedback Figure 3 33 Encoder with Hall Tracks Connections for CE Installations X9 _ A A B B C De 5V DGND Encoder Hall 1 Hall 1 Hall 3 Hall 3 Hall 2 Hall 2 Not Used Shell Chassis Hall Feedback MN1275 Receiving amp Installation 3 21 3 22 Receiving amp Installation MN1275 Section 4 Switch Setting and Start Up Switch AS1 Settings Monitor AS1 switches are located on the front panel CT between X1 and the Monitor LED Note AS1 8 is shown in the ON position Drive Enabled All other switches are shown in the OFF position C Address Setting AS1 1 to AS1 4 for Multi Drop Applications Each control address can be set using switches AS1 1 to AS1 4 of each control Each control must have a unique address Refer to Table 4 1 Table 4 1 Control Address Setting AS1 4 Control Address Hexadecimal T1 m o o w YS o 09 N Sa oF A 0 PO o MN1275 Switch Setting amp Start Up 4 1 Setting of switches AS1 5 to AS1 8 The function of switches AS1 5 to AS1 8 are described in Table 4 2 Table 4 2 AS1 5 to AS1 8 Description Not Used Hold Position Hold Position is active
23. Hold Position is not active _AST6 Offset Tuning Automatic Offset Tuning is Automatic Offset Tuning Is not active active AS1 8 nable ontrol is enabled ontrol is disabled Enable is active Enable is not active Hold Position OFF allows normal operation ON causes the motor to quickly decelerate to rest and maintain a constant position in current or velocity modes Time to max velocity 0 with the Hold function Offset Tuning OFF allows normal operation ON causes Offset Tuning to automatically start the next time Enable is changed from ON to OFF The purpose of Offset Tuning is to remove DC offset voltages on the command input X3 1 and X3 2 and achieve a stationary motor shaft with OVDC at the command input Leave this switch OFF when not in use See Figure 4 1 for additional information Enable OFF disables the control and the motor coasts to a stop ON allows normal operation Note AS1 8 and X3 9 must both be enabled to allow control operation Figure 4 1 Automatic Offset Tuning Timing Diagram Main On Power f Off S Time Enable On Switch AS1 8 On or Off on l Off fe Time A On Offset Tuning I Switch AS1 7 og On or Off On Time On Automatic Start Offset Offset Tuni Offset Tuning set Tuning of Tuning unin i Time Note Itis important that you set the analog command to OVDC before the Automatic Offset Tuning is started 4 2 Switch Setting amp Start Up MN1275 Start Up Pr
24. RFOFS Query updates system reference offset of RFOFS the analog input with analog input range 10V RFOFS only supports query 100000 100000 Note Scaling of the analog input command is offered with firmware versions RES 1 xx ENC 1 xx Because scaling parameters are different for current mode and velocity mode these parameters are described under 0 current command scaling respectively 0 velocity command scaling MN1275 Command Set B 7 System Variables General Variables Description ange Drive life time Unsign Word SYS STTS Queries system status as a double word where Word High word is drive address set by Dip switches Low word bit array OR ed with system status 0x0001 Disable SW 0x0002 Disable HW 0x0004 CW 0x0008 CCW 0x0010 Fault exists 0x0020 Warning exits 0x0040 Hold mode 0x0080 Burn in Status 0x0100 Jog Status 0x0200 Enable 0x0400 Jog Non Zero Velocity 0x0800 n a 0x1000 HW source for Disable HW 0x2000 PLC active Queries modifications of Fault Listing Variables Description Long Word Gets system fault string list response is multiple string X1 Gets system fault string list response is error numberX1 Gets system fault log list X1 Gets system fault log number list X1 WRN Gets system warning list as multiple strings SYS FAULT Queries system fault as ID of the most significant fault
25. analog input scaling CUR VOLT Corresponding analog input voltage to 0 1 VEAK 1 100 current value CUR SCAL for setting of analog input scaling Current mode Variables Description ange Query for actual current command 0 65535 Description arameter Calculate current control parameters from MTR DRV and torque CUR parameters equivalent Commanding digital current command torque equivalent Stops current commanded motion started by T command B 12 Command Set MN1275 Sys mod 1 amp Sys mod 3 Velocity mode Parameters Description Queries updates velocity acceleration limits time to max velocity RPM ms VEL ADZON Queries updates min velocity in RPM RPM 0 Max_RPM VEL BW Queries updates velocity control band width Hz 10 200 VEL CTRL Queries updates velocity control type 0 2 VEL GV Queries updates velocity control proportional gain 0 32767 VEL GVI Queries updates velocity control integral gain 0 32767 VEL INRT Load inertial set in of motor inertia MTR JM 0 10000 VEL LPFA Bandwidth of single velocity control filter 20 800 VEL LPFB Second Bandwidth of double velocity control filter First s VEL LPFA 20 800 VEL LPFMOD Type of velocity control filter 0 no filter 1 filter with bandwidth VEL LPFA 2 double filter with
26. available with SDO Variables and commands Getting Started with CAN_OPEN MN1275 The CAN message transmission consists of an address Identifier ID followed by 0 to 8 Data bytes CAN drives use the following addresses according to CAN_OPEN DS301 PDO1 Receive Master to Drive 0x200 Node_ID PDO2 Receive Master to Drive 0x300 Node_ID PDO1 Transmit Drive to Master 0x180 Node_ID PDO2 Transmit Drive to Master 0x280 Node_ID NMT 0x000 SYNC 0x80 EMERGENCY 0x80 Node_ID SDO Master to Drive 0x600 Node_ID SDO Drive to Master 0x580 Node_ID PDO Process data transfer fast communication ex velocity command SDO Service data transfer slow communication to access all parameters inside the drive NMT Network management task to switch the PDOs free and to reset the drive SYNC Specific CAN_OPEN message to do some synchronization EMERGENCY The drive will send this message automatically if a fatal drive error occurs Node_ID Special setting drive number for each drive Range 1 to 127 Accessories 8 Options 9 7 The default Baud rate is set to 125 kbit second and the Node_ID is the drive address 1 AS1 switches 1 to 4 Note Every drive connected to one CAN Bus system must have a different Node_ID After power up you will receive an EMERGENCY message with two data bytes 0x00 and 0x00 to inform you that the CAN_DRIVE is now active Now you will have access to all comm
27. bandwidths VEL LPFA and VEL LPFB 0 20 VEL TRKFCT Queries updates velocity control tracking factor 32768 32767 VEL MXRPM Queries updates velocity control MAX RPM value The limit for this value is internally calculated by the Application Bus Voltage and the Motor Voltage Constant Absolute limit for velocity is 7500 RPM 1000 7500 Corresponding velocity value to analog input voltage VEL VOLT for setting of analog input scaling 100 32767 Corresponding analog input voltage to velocity value VEL SCAL for setting of analog input scaling Velocity mode Variables Description 1 100 Queries velocity reference commanded at analog input MN1275 Velocity controller parameters reset to default values Pole Placement controller BW 20 Hz TRFCT 0 INRT 0 Pl controller GV GVI equivalent to Bandwidth 20 Hz Command Set B 13 Jog Parameters Description ange Jog time in milliseconds 3432448 0 continuous 1 step 2 square wave 0 2 Jog velocity in RPM limited to maximum velocity VEL MXRPM Description VEL MXRPM arameter Commanding a Jog according to JOG parameters with Direction B 14 Command Set Stops jog and returns to previous operation mode MN1275 Position Controller Position Controller Parameters Description Queries updates acceleration FF factor unsi
28. circuit breaker or fuse types as follows Circuit Breaker 1 phase thermal magnetic Equal to GE type THQ or TEB for 115 or 230 VAC 3 phase thermal magnetic Equal to GE type THQ or TEB for 230 VAC or GE type TED for 460 VAC Time Delay Fuses Buss FRN on 230 VAC or Buss FRS on 460 VAC or equivalent Recommended fuse sizes are based on the following UL 508C suggests a fuse size of four times the continuous output current of the control Dual element time delay fuses should be used to avoid nuisance trips due to inrush current when power is first applied For European installations you may want to consider the following fast acting fuse Gould Shawmut Cat No ATMR15 for up to 15 amperes 3 4 Receiving amp Installation MN1275 Table 3 1 Wire Size and Protection Devices for units with Power Supply Incoming Power Input Continuous Input Else Wire Gauge Output Breaker Amps RMS A Nominal Input Voltage Time mm2 Delay A Europe 2 0A 7 5 2 5 FD1A02SR XXXX T15V 19 FD2A025R XXXX 230V 36 FDTAD2TR XXXX T15V 19 FD2A02TR XXXX 230V 14 FD4A02TB XXXX 400 460V Sp FDTA05SR XXXX T15V 19 FD1A05SR XXXX 230V 36 FD1A05TR XXXX T15V 19 FD2A05TR XXXX 230V 19 FD4A05TB XXXX 400 460V 30 FDTAO7TR XXXX J 3 FD2A07TR XXXX FD4A07TR XXXX 400 460V 34 FD1A10 XXX 115V 1 FD2AT0SR XXXX FD2A15SR XXXX FD4A15TR XXXX 400 460V 36 FD4A20TR XXXX 400 460
29. e g A3 searches for a control with address 3 If a drive with address 3 is running and connected to the PC COM this drive answers with the prompt sign gt to indicate that communication to the drive is established Additional command may be sent to the A3 control Entering an address command with another address number will terminate communication with control A3 If more than one drive is connected to the PC COM port typing the address of another drive connected will change communication path to this one 3 Communication is now established and the ASCII commands may be used Note If more than one drive is connected to the PC port correct communication can only be established if all drives have different addresses 4 Error messages from the control If the syntax and the values of the ASCII command string are correct the control accepts the command and answers by sending lt as acknowledge If any error within the transferred command was found the control rejects the command by sending a correlated error string There are following terminal reported errors SYNTAX ERROR invalid character EXECUTION ERROR invalid command RANGE ERROR invalid parameter value INVALID EXE CONTEXT invalid command or operation mode control DESIGN FAILURE invalid control design INPUT BUFFER OVERFLOW command line exceeded 80 char TOO MANY PARAMETERS too many parameters REQ PARAMETER MISSED not enough par
30. given as decimal value or as hexadecimal value Hexadecimal values are preceded by one or more O character 30 hex while decimal values are taken as default without indicator The ASCII command set description below also shows the units of the parameters respectively indicate parameters with no units For best resolution within the accepted range the units of the parameters are not chosen according to Sl but most of the units used are SI units multiplied with potentials of 10 In some cases units are related to system properties and can therefore not be same for all applications The following is an example of how to calculate Counts and Limits used with positioning and homing Resolver max RPM Resolution Counts rev Limits lt 1500 216 216 229 1 lt 6100 214 216 229 1 lt 6100 212 216 229 1 Encoder Pulses rev Resolution Counts rev Limits 1000 4000 64000 225 1 1500 6000 48000 226 1 2000 8000 64000 226 1 2500 10000 40000 227 1 5000 20000 40000 228 1 6000 24000 48000 228 1 The resolution of all Resolver or Encoder is between 213 and 214 MN1275 Start up with Terminal Communication and Command Examples 1 Select the correct COM port NR and set the following at your PC Baud Rate 9600 Protocol Hardware Xon Xoff None OFF Data Length 8 Bit Stop Bit 1 Parity NONE 2 Set the control address The address is set by switch AS1 1 to AS1 4 To locate a control type A then the control address
31. have rotating parts or parts that are driven by this equipment Improper use can cause serious or fatal injury Only qualified personnel should attempt the start up procedure or troubleshoot this equipment System documentation must be available at all times Keep non qualified personnel at a safe distance from this equipment Only qualified personnel familiar with the safe installation operation and maintenance of this device should attempt start up or operating procedures Always remove power before making or removing any connections to this control PRECAUTIONS Classifications of cautionary statements ZA WARNING Indicates a potentially hazardous situation which if not avoided could result in injury or death A Caution Indicates a potentially hazardous situation which if not avoided could result in damage to property Continued on next page 1 2 General Information MN1275 ZA WARNING ZA WARNING ZA WARNING Z WARNING ZA WARNING ZA WARNING ZA WARNING ZA WARNING Z WARNING ZA WARNING ZA WARNING A WARNING Do not touch any circuit board power device or electrical connection before you first ensure that power has been disconnected and there is no high voltage present from this equipment or other equipment to which it is connected Electrical shock can cause serious or fatal injury Be sure that you are completely familiar with the safe operation of this equipment This eq
32. installation disks as required After the installation process is finished a program manager group for Flex with a Flex progman icon is created Double clicking this icon will start the setup program A file Readme txt is included in the master directory of the software This file contains installation instructions change notices from previous revisions and information that became available after this manual was printed Host Ccommunications Setup Be sure the communications port of the PC is correctly set for communications with the Drive software The following examples assume COM1 of the PC is used If you are using COM2 4 substitute the correct COM port number in the example Windows 3 1 Terminal Emulation 1 Power up the Host and start Windows software 2 In the Windows Accessories Group select Terminal ICON 3 Select Communications from the Settings pull down menu within Terminal program 4 Set the communications settings for 9600 Baud rate 8 Data Bits 1 Stop Bit No Parity Xon Xoff Flow Control COM1 MN1275 Operation 5 1 5 Select Binary Transfers from the Settings pull down menu within Terminal program 6 Set the Binary Transfer protocol to XModem CRC 7 Close menu and save the settings 8 Terminal Communications settings are now complete Windows 95 1 Power up the Host and start Windows software 2 In Control Panel select and open System 3 Open Ports
33. is 50 C Rated Storage Temperature 25 to 70 Humidity 10 to 90 non condensing Class of Protection Enclosure IP20 Shock 10G according to DIN IEC 68 2 6 29 Vibration 1G E 10 150 Hz according to DIN IEC 68 2 6 29 1 Valid for zero current initial condition 2 These specifications also apply to model FDxAxxP except it has DC input no AC input All values at ambient temperature of 25 C unless otherwise stated For safe operation allow a clearance distance between each control and on all sides of each control 7 2 Specifications amp Product Data MN1275 Specifications Continued Description Input Voltage Range Nominal 460 60Hz 400 50Hz Minimum 400 360 Maximum 528 480 Input Frequency 50 60 5 Nominal Output Bus Nominal 565 678 400 460 input Minimum 509 Maximum 1 746 Nominal Phase Current 10 5 7 5 15 Peak Phase Current 10 15 30 1 25s 0 25s 0s 1 Nominal Output Power 5 7 11 4 Output Frequency 0 500 Efficiency gt 95 Nominal Switching Frequency 8 0 Current Loop Bandwidth 1200 Velocity Loop Bandwidth 10 to 200 software selectable Mounting Panel Package Size G G G H H H Operating Altitude To 3300 feet 1000 meters Derate the continuous and peak output current by 1 1 for each 330 feet 100 meters above 3300 feet Operati
34. n nindicates the number of bytes which do not contain data 1 if last segment to be downloaded else 0 The 1 byte contains 01 or n shifted 1 left oo Expedited domain upload and initiate domain upload Domain Protocols 7 5 4 t 3 1 n Tie O c 1 byte m up to 4 data bytes Expedited Domain Upload ccs 001 xX X X X 40 multiplexor reserved Request scs 010 xX 0 orn 1 s 42 4X4 data to be downloaded Confirm Initiate Domain Upload ccs 001 xX x x xX 40 multiplexor reserved Request scs 010 x 0 0 s 40 41 if s 1 number of data Confirm If e 1 amp s 1 n indicates the number of bytes which do not contain data Data set size is not indicated indicated O 1 in the case of expedited protocol s indicates that n gives the number of non data bytes in the case of initiate protocol s indicates that the four data bytes 5 data byte 5 8 data byte contain the total number of bytes to be uploaded 4 f s 1 the 1 byte contains 43 or n shifted 2 left MN1275 Accessories amp Options 9 11 Segmented domain upload Domain Protocols 15 4t 3 1 n 0 c 1 byte up to 3 up to 4 data bytes Upload Domain Segment ccs 001 0 1 X x 60 70 Reserved Request scs 000 0 1 n 0 0E 1E 7 data bytes to be downloaded Confirm End of Upload Domain Segment ccs 011 0 1 X x 60 70 Reserved Request scs 000 0 1 n 1 0X 1X5 lt 7 data bytes to be downloaded Confirm Abor
35. select the COM port you are using then click properties Figure 5 2 4 Be sure the port settings are as Bits per second 9600 Data bits 8 Parity none Stop bits 1 and Flow control Xon Xoff Windows NT 1 Power up the Host and start Windows software 2 In Control Panel select and open Ports then click Settings Figure 5 3 3 Be sure the port settings are as Bits per second 9600 Data bits 8 Parity none Stop bits 1 and Flow control Xon Xoff 5 2 Operation MN1275 Using The Setup Wizard The setup software wizard guides you through each step to set the basic parameters This wizard is activated automatically after each start up of the software This automatic start of the Wizard can be turned off It can be activated and reset to automatic start by Help Wizard Figure 5 1 shows the flowchart of the Setup Wizard All selected parameters can be stored in a file To save the configuration select Setup Save Configuration To restore these parameter values or to configure a several controls with the same parameter sets select the Setup Restore Configuration MN1275 Operation 5 3 Figure 5 1 Flowchart of the Setup Wizard Setup Wizard Sequence 1 Motor and Control Skip Sequence 4 ocity Parameters Skip Vel General App Bus Voltage Sim Enc Output General Max Velocity Time to Motor Max
36. 010 2020 MANUFACT_CUR_CONTROLLER MANUFACT_VEL_CONTROLLER MANUFACT_HANDWHEEL_PARAM MANUFACT_POS_CONTROLLER MANUFACT_MOTOR_PARAM MANUFACT_DRIVE_PARAM MANUFACT_SYS_ PARAM MANUFACT_JOG_PARAM MANUFACT_MOT_PARAM MANUFACT_HOM_PARAM MANUFACT_LIM_PARAM MANUFACT_COM_JOG MANUFACT_COM_MOV MANUFACT_COM_GO MANUFACT_COM_LRN MN1275 Accessories amp Options 9 13 Continued Index hex Used PDO mappable parameters 2080 2093 MANUFACT_POS MANUFACT_ABS_POS MANUFACT_VEL MANUFACT_VEL_COMMAND MANUFACT_CONTROL_COMMAND MANUFACT_TORQUE_COMMAND MANUFACT_POS_COMMAND Read only MANUFACT_COM_ACTU MANUFACT_COM_ACTV MANUFACT_COM_ANAIN MANUFACT_COM_CUR MANUFACT_COM_FLT MANUFACT_COM_FEST MANUFACT_COM_LOG MANUFACT_COM_MODE MANUFACT_COM_MPFE MANUFACT_COM_MVFE MANUFACT_COM_PFE MANUFACT_COM_VFE MANUFACT_COM_POS MANUFACT_COM_PREF MANUFACT_COM_RFOFS MANUFACT_COM_VEL MANUFACT_COM_VREF MANUFACT_COM_WRN MANUFACT_COM_ABSPOS EEC EECECUCECECECEECECECCEE Write only MANUFACT_COM_CLEAR 2180 MANUFACT_COM_DIS MANUFACT_COM_ENA MANUFACT_COM_DISA MANUFACT_COM_FRST MANUFACT_COM_GRST MANUFACT_COM_HOLD MANUFACT_COM_IADJ MANUFACT_COM_ICLC MANUFACT_COM_JS MANUFACT_COM_LOGRST MANUFACT_COM_PRST MANUFACT_COM_ABS MANUFACT_COM_HOME MANUFACT_COM_INC MANUFACT_COM_CALC MANUFACT_COM_QUIT MANUFACT_COM_CONT FACT_COM_STOP FACT_COM_PLOAD FACT_COM_PSAVE e La a e a de he e de ls ds ha La di ls E e a ls 6000 9F
37. 2 TX G 9 DTE 3 RX Chassis 4 RX 5 DGND Figure 3 23 9 Pin RS 485 Cable Connections For CE Installations X6 RX aN No TX bs Crees 2 Pin Gorinector RX TH HH TX Computer Control TX H H RX com Pin Signal TX RX Port 1 TX DCE DGND DGND 2 1 s E DTE 3 RX Chassis E 4 RX 5 DGND Note For CE installations connect the overall shield at each end of the cable to PE The voltage potential between the PE points at each end of the cable must be Zero Volts RS485 Multi Drop Connections What does termination or a termination resistor do Termination resistance is used to match the impedance of the load to the impedance of the transmission line cable being used Unmatched impedance causes the transmitted signal to not be fully absorbed by the load This causes a portion of the signal to be reflected back into the transmission line noise If the Source impedance Transmission Line impedance and Load impedance are all equal these reflections noise are eliminated Termination does increase load current and sometimes changes the bias requirements and increases the complexity of the system What is a termination resistor A resistor is added in parallel with the receiver input to match the impedance of the cable being used Typically the resistor value that is used is 100 ohm or 120 ohm Resistors with 90 ohms or less should never be used Where are these resistors pla
38. 275 Figure 3 13 Optional M Contactor Connections o j I q RC Device To Power Source M Contactor Electrocube Rated Coil Voltage E RG1781 3 For three phase L controls this is o 7 4 labeled PE Optional components not provided with control Note 1 and 2 M Enable PT Note Close Enable after M contact closure M Contacts of optional M Contactor Notes 1 Use same gauge wire for Earth ground as is used for L and N VDE Germany requires10mm minimum 6AWG 2 For UL installations connect motor ground to of the control as shown For CE installations connect motor ground to the enclosure backplane see Figure 3 12 Motor Thermostat A relay contact can be used to isolate the motor thermostat leads for use with other devices shown in Figure 3 14 The thermostat or overload relay should be a dry contact type with no power available from the contact The optional relay CR1 shown provides the isolation required and the N O contact is open when power is applied to the relay and the motor is cold If the motor thermostat is tripped CR1 is de energized and the N O contact closes Connect the External Trip Input wires N O relay contact to a PLC or other device Note that a machine input may be used and the PLC software of the FlexDrive can define the thermal protection Do not place these wires in the same conduit as the motor power leads
39. 65 1 G aa EA a oe 10 10 10 20 M6 A 174 0 76 1 22 0 83 q B 19 19 5 31 21 AC Filter Dimensions Continued Dim For Filters I FN3358 7 45 FN3358 30 47 O 0 A 7 48 10 63 190 270 B B 6 29 9 45 F 160 240 C 7 08 10 04 yal FE 180 255 i D 0 79 1 18 M 20 30 E 0 18 0 21 4 5 5 4 F 2 75 3 35 70 85 G 1 57 1 97 40 50 MN1275 Accessories 8 Options 9 3 Regeneration Resistor A regeneration resistor should be installed to dissipate energy during braking if a Fault 1 over voltage occurs atalog Number Control 115VAC Controls 230VAC Controls 400 460VAC Controls Control A Rated Resistor y Resistor Resistor F Size Resistor Resistor Resistor Amps Catalog Watts Catalog Watts Catalog Watts No RG27 44 RG56 44 RG27 44 RG56 44 RG22 RG39 m m m m I I I O O O O w gt These controls have a 200 ohm 50 watt resistor installed internal An RG68 resistor can be installed in parallel for additional capability 3 54 90 S Pm e L Lom 9 M4 x 2 6 65 L 5 5 140 for 44 watt 8 9 228 for 100 watt Clearance Requi
40. BALDOR MOTORS AND DRIVES SERVO DRIVE FlexDrive Servo Control Installation amp Operating Manual 2 03 MN1275 Table of Contents Section 1 General Information 2 0 0 0c 522 nec eee erase ne eae eee PEE ees wea Bea i eA 1 1 CE Compliane preie oseere reza ote dey a DotA Rake See E aa a ROE aA 1 1 Limited Warranty 0 cette aeaaeae 1 1 PrOGUCt NOTICE ee xs oa ts lt btt 1 2 Safety Notice 0 A A A AAA 1 2 Section 2 Product Overview a3 Siro AAA De ee eg PA 2 1 Section 3 Receiving and Installation ccc eee 3 1 RECEIVING 8 INSPECHON i308 coe seed Moke sarod ee Meee rand aad oe ce Sata rod ana 3 1 Location Considerations 0 6 cece teen eee ee 3 1 Mechanical Installation 12s 2 2 a eh nek SRE Re ee nh EA eek 3 1 Electrical Installation 0 0 0 e nee n eee REE EA ene 3 2 System Grounding occoccccccc tte 3 2 Power Disconnect cri AAA AA hea echt Be Bow a 3 4 Protection Devices vicios died ode de ieee deen ede 3 4 X1 Power Connections 0 0 cece eee ee nee n eee neene 3 5 X1 Motor Connections sasi iodo ata 3 10 MEGCONTACION xt TA A AR 3 10 Motor Thermostat cse ceca tds tido rias tias 3 11 X1 Dynamic Brake Resistor 0 eee eee ete rr 3 11 X1 24VDC Logic Supply 0 eee 3 12 X3 Control Inputs amp Digital I O Connections 00 eee eee 3 12 X6 RS232 485 Connections 0 nee een ee nee en eene 3 15 X7 Simulated Encoder Output 0 3 18
41. FF Standardized Device Profile Area A000 FFFF Reserved 9 14 Accessories amp Options MN1275 Subindexes to Index 2010 CUR Commands ASCII Command Subindex Read Write RW Read only RO Write only WO Entries 0x00 UR ACTV 0x01 UR ACTU 0x02 eserved 0x03 UR IPEAK 0x04 UR INOM 0x05 eserved 0x06 eserved 0x07 eserved 0x08 UR TOFR 0x09 UR TOSH Ox0A UR BEMF 0x0B UR SCAL 0x0C UR VOLT 0x0D o o 9 9 o 3 3 3 0 9 D 9 o Subindexes to Index 2011 VEL Commands ASCII Command Subindex Read Write RW Read only RO Write only WO Entries 0x00 RO VEL ACC 0x01 RW VEL ADZON 0x02 RW VEL BW 0x03 RW Reserved 0x04 VEL MXRPM 0x05 RO VEL VEL 0x06 RO Reserved 0x07 VEL VREF 0x08 RO VEL CTRL 0x09 RW VEL TRKFCT Ox0A RW VEL GV 0x0B RW VEL GVI 0x0C RW Reserved 0x0D Reserved Ox0E Reserved Ox0F VEL INRT 0x10 VEL SCAL 0x11 VEL VOLT 0x12 MN1275 Accessories amp Options 9 15 Subindexes to Index 2012 HW Commands ASCII Command Subindex Read Write RW Read only RO Write only WO Entries 0x00 RO HW GRFX 0x01 RW HW GRSH 0x02 RW HW PLCGEAR 0x03 RW HW RES 0x04 RW HW TYPE 0x05 RW Subindexes to Index 2013 POS Commands ASCII Command Subindex Read Write RW Read only RO Write only WO Entries 0x00 RO POS FEWRN 0x01 RW POS FEFAT 0x02 RW POS
42. HA 14 Hall 3 CHB 15 Hall 2 CHC X6 RS232 485 RS232 RS485 Reserved 1 TX R Data 2 TX T Data 3 RX DTR 4 RX DGND 5 DGND DSR 6 RTS RTS 7 RTS CTS 8 CTS 5V 9 CTS X7 Simulated Encoder Output 1 2 3 4 5 1 2 3 4 5 Note CHA CHB CHC 6 CHA 7 CHB 8 CHC Reserved 9 Reserved X8 Resolver Input REF 6 REF 7 COS 8 SIN Reserved 9 Reserved Reserved means no connection is required and no connection should be made to this terminal It is reserved for future use Receiving amp Installation 3 9 X1 Motor Connections Motor connections are shown in Figure 3 11 It is important to connect the motor leads U V and W correctly at the X1 connector of the control Incorrect wiring can cause erratic operation including moves at peak force until the overcurrent limit trips This will result in a display of 7 and a 6 on the monitor If erratic movement of the motor occurs turn off power immediately and check the connections of the motor hall sensors and encoder Figure 3 11 Motor Connections for U L Notes Baldor T Metal conduit or shielded cable should be used Connect conduits so the use of Load Reactor or RC Device does not Control interrupt EMI RFI shielding Use same gauge wire for Earth ground as is used for L and N VDE Germany requires 10mm minimum 6AWG For CE compliance connect motor ground to the backplane of the enclosure Notei
43. LIM CW 0x01 RW LIM CCW 0x02 RW LIM ON 0x03 RW LIM LRN 0x04 9 18 Accessories amp Options RW MN1275 Appendix A Manual Tuning TUNING This appendix presents guidelines for manual tuning the Control Tuning is necessary since a various loads friction and inertia will effect the drive response Response may be defined as the time required for the drive to reach speed Various software tools are available to make tuning easier such as Internal libraries easy definition of parameters pole placement the software calculates a no overshoot response plotting routine the drive response is displayed on a screen This information is as a guide only and the exact response is entirely up to the individual performing the tuning TUNING GUIDELINES The Flex control is easily tuned using a laptop computer and Flex software The autotuning procedure provides a stable and responsive drive by adjusting the parameter values for velocity loop tuning The autotuning procedure will work for most applications Manual tuning however may be desirable when very tight response is required These guidelines provide a basic reference starting point for any additional adjustments General Tuning Rules Manual Tuning Tune the velocity loop first and then tune the position loop when using pulse direction or position follower mode The velocity loop should always be tuned before th
44. V 36 FD4A27TR XXXX 400 460V 36 FD1A15SR XXXX 3 atalog Number Bus Continuous Voltage ee FD1A02PO XXXX 160VDC 2 0A FD2A02PO XXXX 300VD 2 5A FD1A10PO XXXX 160VD 10 0A 12 25 FD1A15PO XXXX 160VD 15 0A FD2A15PO XXXX 300VDC 15 0A Note All wire sizes are based on 75 C copper wire Higher temperature smaller gauge wire may be used per NEC and local codes Recommended fuses breakers are based on 25 C ambient maximum continuous control output current and no harmonic current X1 Power Connections Power connections are shown in Figures 3 5 through 3 8 MN1275 Receiving amp Installation 3 5 Figure 3 5 Single Phase AC Power Connections FD1AxxT amp FD2AxxT only L1 L2 NES o 0 Earth T uama o ae Alternate Note 1 Circuit Note 3 amp 4 Fuse Note 1 Breaker lt C ti 5 onnection Note 2 _ i Components not provided with Control Notes Baldor 1 See Protection Devices described in this section Control 2 Metal conduit or shielded cable should be used Connect conduits so the use of a Reactor or RC Device does not interrupt EMI RFI shielding 3 Use same gauge wire for Earth ground as is used for L and N VDE Germany requires 10mm minimum For CE For CE Compliance refer to Section 8 of this manual Compliance connect to the backplane of the encl
45. VER Ox0E RO SYS WRN Ox0F RO Reserved 0x10 SYS ENCINDX 0x11 RW SYS LEVEL 0x12 RO Subindexes to Index 2017 JOG Commands ASCII Command Subindex Read Write RW Read only RO Write only WO Entries 0x00 RO JOG TIME 0x01 RW JOG TYPE 0x02 RW JOG VEL MN1275 0x03 RW Accessories 8 Options 9 17 Subindexes to Index 2018 MOT Commands ASCII Command Subindex Read Write RW Read only RO Write only WO Entries 0x00 RO MOT ABSPOS 0x01 RO MOT ACC 0x02 RW MOT VEL 0x03 RW Reserved 0x04 MOT TYPE 0x05 RW MOT DWELL 0x06 RW MOT INCCW 0x07 RW MOT INCW 0x08 RW MOT SRC 0x09 RW MOT STATUS Ox0A RO MOT TRIG 0x0B RW MOT BUFTYPE 0x0C RW MOT GENPOS 0x0D RO Subindexes to Index 2019 HOM Commands ASCII Command Subindex Read Write RW Read only RO Write only WO Entries 0x00 RO HOM ACC 0x01 RW Reserved 0x02 HOM VEL 0x03 RW HOM TYPE 0x04 RW HOM OFFSET 0x05 RW HOM POLR 0x06 RW HOM STATUS 0x07 RO Subindexes to Index 2020 LIM Commands ASCII Command Subindex Read Write RW Read only RO Write only WO Entries 0x00 RO
46. able 11 CCW Enable 12 Hold 13 Fault Reset 14 Pulse 15 Direction 16 Mal 17 Mal2 18 Ma01 19 Ma02 20 DrOK VCOJDONADN y Important FDxAxxxx xxx3 only oj mimm omo omo OCG O ODO A separate 24VDC supply to the Logic Power input is required for operation An FDxAxxxx xxx3 control will not operate without 24VDC on this input RS232 485 X6 Encoder In X9 Encoder Out X7 Resolver In X8 The holes in the top and bottom of the enclosure are for cable clamps Be sure to use an M4 bolt 12mm in length Longer bolts may short circuit the electrical components inside the control X9 Handwheel Input Encoder 1 CHA 9 Hall 3 2 CHB 10 Hall 2 3 CHC 11 5VDC 4 Hall 1 12 N C 5 Hall 1 13 DGND 6 CHA 14 Hall 3 7 CHB 15 Hall 2 8 CHC RS232 RS485 1 Reserved 1 TX 2 R Data 2 TX 3 T Data 3 RX 4 DIR 4 RX 5 DGND 5 DGND 6 DSR 6 RTS 7 RTS 7 RTS 8 CTS 8 CTS 9 5V 9 CTS X7 Simulated Encoder Output 1 CHA 6 CHA 2 CHB 7 CHB 3 CHC 8 CHC 4 Reserved 9 Reserved 5 X8 Resolver Input 1 REF 6 REF 2 COS 7 COS 3 SIN 8 SIN 4 Reserved 9 Reserved 5 AGND Note Reserved means no connection is required and no connection should be made to this terminal It is reserved for future use 3 8 Receiving Installation MN1275 Figure 3 10 Connector Location PE X1 Power Connector Input Power Motor PE Earth L1 Phase 1 Input L2 Ph
47. ameter with enumerated values FALSE Always false i e switched off CW CCW Hardware or Software Limit Switches MAI1 MAI2 Digital Inputs MAIS MAI4 Digital Inputs if available DRVOT MTROT Drive respectively motor overtemperature l2tWRN 12T warning error 7 TRUE Always true i e switched ON INPOS FEWRN FEFAT Flags of Position Controller in position following error warning following error limit s 0 BADMOV Not initialized motion buffer line commanded s 0 MOTRDY MOTNRDY Positioning finished respectively in process V0OJONADN 0O Note Choice of Inputs and Outputs is not completely available in all configurations Variables NONE PLC Methods Description Enables on disables off clears and disables clr on off clr PLC PLC on and off command is stored in PLC buffer line 0 B 6 Command Set MN1275 OCI Interface Parameters Description ange Default Significant The range check is Invalid execute context It should be Range error 10 1000 OK The range check is Invalid execute Description OK MOT INCCW Defines digital Input CCW MAI4 as CCW 0 or as MAI4 1 for positioning Defines digital Input CW MAI3 as CW 0 or as MAIS for positioning Description ange SYS
48. ameters In case of an error the event protocol will return a NAK negative acknowledge to a user The error check can only provide a syntax and range check for each command Error checking will not check a wrong parameter value that may degrade system performance MN1275 Command Set B 3 General Settings System Constants Description SYS POWER Queries dip switch ID see DRV ID SYS FBACK Queries system feedback encoder resolver as defined by ALTERA SYS INFO Queries firmware version with naming and ASCII letters SYS VER version number as ASCII string SYS LEVEL Queries level version 1 2 SYS OPT Queries ALTERA option s X 0 7 SYS STTS Most Significant Word of SYS STTS gives MS Word of COM ADDR control address of LS Word s below SYS STTS Control Address is set per Dip Switch 1 Firmware versions RES 1 xx ENC 1 xx SYS VER is equal to SYS INFO downward versions answer to SYS VER is unsigned integer version number only 2 Firmware versions RES 1 xx ENC 1 xx only no version Basic System Parameters Motor Parameters MTR prefixed Description ange MTR IDX D3S FlexDrive Flex Drive Setup library Unsign Int defined Motor Index MTR IND Motor inductance 65535 MTR INOM Motor nominal current 0 1 A 65535 MTR IPEAK Motor peak 0 1 A 65535 MTR JM Motor Inertia 0 01 Kg cm2 65535 MTR MPLS Motor number of poles 65535 MTR RES Motor resistance 0 01 Ohm
49. an accept a 0 10VDC or 10VDC signal and can be wired as a single ended or differential input shown in Figure 3 15 Figure 3 15 Control Input Wiring Single Ended Connection Differential Connection X3 1 CMD Signal Signal Source Source 2 CMD 3 AGND X3 Digital Inputs Opto Isolated Inputs uses CREF X3 7 Active High Sourcing If pin X3 7 is grounded an input is active when it is at 24VDC 12VDC to 30VDC Active Low Sinking If pin X3 7 is at 24VDC 12VDC to 30VDO an input is active when it is grounded Logic input connections are made at terminal strip X3 Input connections can be wired as active High or active Low as shown in Figure 3 16 X3 pin 7 is the Control Reference point CREF for the Opto Isolated Input signals Note An internal 24VDC power supply connection is not available from the control to power the Opto Input circuits A customer provided external power source must be used as indicated in Figure 3 16 Figure 3 16 Active HIGH LOW Relationship Active Low Active High Input Note All Opto inputs are referenced to X3 Sink Source CREF X3 7 CREF 24VDC GND Input COND ENABLE GND 24VDC a CW ENABLE ae a pai B CCW ENABLE 20mA 20mA HOLD 24VDC 4 y 9 17 OA 9 17 FAULT RESET GND 7 AY No 24VDC 7 AY Ng ane DEKE ae OR ee DIRECTION Control Control MaL Eee E ae MAI2 Source Sink 3 12 Receiving amp Installation MN1275 X3 Digital In
50. ands via SDO If you want to give a command or set a parameter you have to put the following message on the CAN_BUS To send a command or set a parameter in the drive PC Master Drive DO D1 D2 D3 D4 D5 D6 D7 0x20 Ind_lo Ind_hi Sub XXX XXX XXX XXX ID 0x600 NODE ID lt 0x20 Ind_lo Ind_hi Sub XXX XXX XXX XXX ID 0x580 NODE ID lt Where X Data bytes to write a parameter ID Identifier 0x Hexadecimal data format DO D7 Data byte 0 to 7 of CAN message Ind_lo Low byte of Index of Object dictionary Ind_hi High byte of Index of Object dictionary Sub Subindex of Object dictionary If Object has only one entry Subindex must always be 0 Note If the first data byte in the returned message from the drive 0x80 the commanded action failed 9 8 Accessories amp Options MN1275 To read a parameter from the drive PC Master Drive DO D1 D2 D3 D4 D5 D6 D7 0x40 Ind_lo Ind_hi Sub XXX XXX XXX XXX ID 0x600 NODE_ID lt 0x60 Ind_lo Ind_hi Sub 0x00 0x00 0x00 0x00 ID 0x580 NODE_ID lt Where Xx Don t care ID Identifier Ox Hexadecimal data format DO D7 Data byte 0 to 7 of CAN message Ind_lo Low byte of Index of Object dictionary Ind_hi High byte of Index of Object dictionary Sub Subindex of Object dictionary If Ob
51. ant Acceleration 1 Click Record i Graphic Screen Click on the Record button to activate a graphic screen Move the cursor to the plot variable window 1P and 2P windows 15 and 24 Plot windows and choose one or two variables which will be drawn on the plot such as velocity velocity command etc Jog Block Click on velocity in the Jog window Enter a value to run the motor A low speed i e 100 RPM is recommended Click on duration in the Jog window Choose a duration time Recommend that you use a short time period i e 0 5 sec Initiate Move Click on either the CW or CCW button This selects the direction of movement and the software will plot the variables you selected Observe the performance plot If it meets your expectations you are done If you wish to alter parameters and view another plot repeat the above procedure MN1275 Manual Tuning A 9 Pulse Follower Applications Only used in pulse follower applications Choose Tuning Select the Manual tune method as shown in Figure shown in Figure A 9 Position Parameters Initiate Move Click on the Position Parameters button You will see parameters as shown in Figure A 13 Selecting None Feedforward allows you to enter Position Gain Figure A 13 Position Control Menu Pocas arasi Fh d Rely el Tala led Gai a a wa ai Seem one a 51 Select Velocity feedforward all
52. ase 2 Input L3 Phase 3 Input U Motor lead U V Motor lead V Ww Motor lead W R1 Dynamic Brake R2 Dynamic Brake 24V Customer OV Provided Dynamic Brake Regen Resistor FDXAXxXXx Xxx3 only 0 Terminal tightening torque is 0 5 Ib in 0 6Nm X3 Control Signals amp Digital I O 100 JONADN 1 CMD CMD AGND Fault Relay Fault Relay CIV CREF CGND Enable CW Enable CCW Enable Hold Fault Reset Pulse Direction Mal1 Mal2 Ma01 Ma02 DroK Important FDxAxxxx xxx3 only A separate 24VDC supply to the Logic Power input is required for operation An FDxAxxxx xxx3 control will not operate without 24VDC on this input MN1275 x O 0 0 0 O O 9 0 9 9 0 0 u L2 L3 u v w vec VCC R1 R2 24V ov DB O Flex Drive Monitor 3 oy Mann RS232 485 X6 Encoder In X9 Encoder Out X7 Resolver In X8 s Three Phase Controls The holes in the top and bottom of the enclosure are for cable clamps Be sure to use an M4 bolt 12mm in length Longer bolts may short circuit the electrical components inside the control X9 Handwheel Input Encoder NDNA UON OONDAARWNM CHA 9 Hall 3 CHB 10 Hall 2 CHC 11 5VDC Hall 1 12 NC Hall 1 13 DGND C
53. at each end of the cable to PE The voltage potential between the PE points at each end of the cable must be Zero Volts See Section 4 of this manual for the description of switch AS1 1 to AS1 4 for address settings for multi drop applications MN1275 Receiving amp Installation 3 17 X7 Simulated Encoder Output The control provides a simulated encoder output at connector X7 This output may be used by external hardware to monitor the encoder signals It is recommended that this output only drive one circuit load RS422 interface 28LS31 device Refer to Table 3 5 The simulated Encoder Output is set by software control in General Motor amp Control Table 3 5 Simulated Encoder Output at X7 Connector Signal Name Reserved DGND 7 2 3 4 5 6 7 8 o Reserved Chassis Cable Shield For UL Installations ONLY For CE Installations connect the outer shield on each end of the cable to the enclosure backplane PE X8 Resolver Feedback The resolver connections are the standard feedback on Flex drives and connections are made at the X8 connector as shown in Figure 3 26 The resolver cable must be shielded twisted pair 22 AWG 0 34mm2 wire minimum The cable must also have an overall shield Maximum wire to wire or wire to shield capacitance is 50pf per foot Resolver wiring must be separated from power wiring Separate parallel runs of resolver and power cables by at least 3 C
54. ay result For CE installations refer to CE guidelines stated in Sections 3 and 8 of this manual Do not connect AC power to the control terminals U V and W Connecting AC power to these terminals may result in damage to the control Baldor recommends not using Grounded Leg Delta transformer power leads that may create ground loops and degrade system performance Instead we recommend using a four wire Wye Logic signals are interruptible signals these signals are removed when power is removed from the drive Controls are intended to be connected to a permanent main power source not a portable power source Suitable fusing and circuit protection devices are required The safe integration of the drive into a machine system is the responsibility of the machine designer Be sure to comply with the local safety requirements at the place where the machine is to be used In Europe this is the Machinery Directive the ElectroMagnetic Compatibility Directive and the Low Voltage Directive In the United States this is the National Electrical code and local codes Controls must be installed inside an electrical cabinet that provides environmental control and protection Installation information for the drive is provided in this manual Motors and controlling devices that connect to the drive should have specifications compatible to the drive Violent jamming stopping of the motor shaft during operation may damage the motor and control
55. ced Terminators or Termination resistors are placed in parallel with the receiver at both ends of a transmission line This means that you should never have more than two terminators in the system unless repeaters are being used How many resistors should my system have Terminators or Termination resistors are placed in parallel with the receiver at both ends of a transmission line This means that you should never have more than two terminators in the system unless repeaters are being used 3 16 Receiving amp Installation MN1275 Figure 3 24 RS485 4 Wire Multi Drop for UL Installations Host Computer RX P y Twisted Pair RX TX TX DGND GND Use twisted pair shielded cable with an overall shield Terminating resistor Tp is 120 Q typical value Only the PC and last control are terminated Shields Shields l 4 Figure 3 25 RS485 4 Wire Multi Drop for CE Installations Host Computer at RX P Y Twisted Pair RX TX TX DGND GND Use twisted pair shielded cable with an overall shield Terminating resistor Tp is 120 Q typical value Only the PC and last control are terminated X6 TX TX RX RX DGND GND X6 TX TX RX RX DGND PE GND Note For CE installations connect the overall shield
56. ch 330 feet 100 meters above 3300 feet Temperature derating From 0 C to 40 C ambient no derating required Above 40 C derate the continuous and peak output current by 2 5 per C above 40 C Maximum ambient is 50 C The control must be installed where the pollution degree according to 1EC664 shall not exceed 2 Mount the control to the mounting surface The control must be securely fastened to the mounting surface by the control mounting holes The location of the mounting holes is shown in Section 7 of this manual MN1275 Receiving amp Installation 3 1 Electrical Installation All interconnection wires between the control AC power source motor host control and any operator interface stations should be in metal conduits Use listed closed loop connectors that are of appropriate size for wire gauge being used Connectors are to be installed using crimp tool specified by the manufacturer of the connector Only class 1 wiring should be used System Grounding Baldor controls are designed to be powered from standard single and three phase lines that are electrically symmetrical with respect to ground System grounding is an important step in the overall installation to prevent problems The recommended grounding method is shown in Figure 3 1 and 3 3 for UL compliant systems Figure 3 2 and 3 4 for CE compliant systems Figure 3 1 Recommended System Grounding 3 phase for UL Control Note Wiring shown for clari
57. components must be connected to ground with a separate wire The diameter of the wire must be at minimum AWG 6 10mm2 Ground connections dashed lines must be made from the central ground to the regen resistor enclosure and from the central ground to the Shared Power Supply Y CAPACITOR The connection of the regeneration resistor can cause RFI radio frequency interference to be very high To minimize RFI a Y capacitor is used The capacitor should only be connected between the dynamic brake resistor housing and terminal pin R1 lead from Flex Recommendation 0 1uF 250VAC Type PME265 BALDOR Ordering No ASR27104 MN1275 EMC Installation Instructions To ensure electromagnetic compatibility EMC the following installation instructions should be completed These steps help to reduce interference Consider the following e Grounding of all system elements to a central ground point e Shielding of all cables and signal wires e Filtering of power lines A proper enclosure should have the following characteristics A All metal conducting parts of the enclosure must be electrically connected to the back plane These connections should be made with a grounding strap from each element to a central grounding point O B Keep the power wiring motor and power cable and control wiring separated If these wires must cross be sure they cross at 90 degrees to minimize noise due to induction C The shield connections of the sig
58. de the system parameters bar a Epp Sida 3 Show or hide the system status bar Hacmi Dita Graphi I Gather and plot motor data for two variables Est Log E View the error log Supported O piiri I View the available options for the selected control Functions Enable gt Enable the control Dirai 3 Disable the control Active Motor decels to stop then control disables eras as Y l Passive Motor coasts to stop Hold Pashon Ja Cause motor to stop and maintain position a Allow you to Jog the position of the motor BE gt Define up to 12 PLC statements logical association of input output conditions 2 ee Terminal HEED wre 15 Allows communication with selected control using command set see Appendix B Pat 3 gt Configure PC COM port 1 2 3 or 4 to communicate with the selected control seais Windows windows He Cascade 3 gt Cascade display of all open software windows Tie let ary Search For Help Or gt Contents gt wizard ot MN1275 Tile display of all open software windows Alphabetic glossary listing of keywords Search for help based on a keyword Get help for a specific topic Starts the setup wizard to configure a motor and control Software version and release information Operation 5 11 PLC Program At the main menu select Functions then PLC See Figure 5 9 1 Determine which event listed under the THEN co
59. ditor window to a new file name Save all editor windows Print the contents of the active editor window Exit and close the Set up software Cut the selected text in the active editor window to the clipboard Copy the selected text in the active editor window to the clipboard Paste text from the clipboard at the cursor location in the active editor window Erase the contents of the active window Select everything in the active window Save the active editor window to a new file name gt Allows selection of the motor being used gt Allows selection of Current Velocity or Pulse Follower modes Allows PC to read the control configuration and save the parameters to a file Allows PC to read a configuration file and download parameters to the control gt Save the contents of the motion buffer to a file gt Restore a motion buffer file and downloads the parameters to the control gt Select a control for communication 8 maximum in daisy chain 3 gt Not available for this control Second Anal pg Commis gt gt Not available for this control 5 10 Operation MN1275 Tuning BERGEN iech Funcions Teminal feet Tuning Ont Companseliomi 3 gt Allows manual or automatic tuning to remove offset drift Tuning 2 Allows manual or automatic tuning of velocity control parameters at Seperated Lit Show or hide the symbols list bar System Parametet E Show or hi
60. e Phoenix Part No MVSTBW2 5 2 ST X3 ASR16000 20 pin Female Phoenix Part No MVSTBR2 5 20 ST X6 ASR16215 9 pin Male X7 ASR16215 9 pin Male X8 ASR23345 9 pin Female X9 ASR25828A 15 pin Male MN1275 Accessories 8 Options 9 1 Resolver Feedback Cable Motor Type Cable Assembly Description Baldor Catalog Number Length Feet Meters BSM 50 63 80 90 100 Resolver Feedback Cable Assembly Threaded connector Standard Metric Style CBLO15SF ALM CBLO30SF ALM CBLO46SF ALM CBLO61SF ALM CBLO76SF ALM CBL152SF ALM al 2D ANPP Resolver Feedback Cable Assembly Quick Connect Style CBLO15SF ALQ CBLO30SF ALQ CBLO46SF ALQ CBLO61SF ALQ CBLO76SF ALQ CBL152SF ALQ SEO Coo al Resolver Feedback Cable Assembly CE Style Threaded Connector CBLO30SF ALCE CBLO61SF ALCE CBLO91SF ALCE CBL152SF ALCE OD o BSM 50 63 80 90 100 Resolver Feedback Cable No Connector CBLO30SF A CBLO61SF A CBLO91SF A CBL152SF A OD oo N Opy O0 py 0 00050 00 oa EMC AC Mains Filter AC filters remove high frequency noise to protect the control These filters also prevent high frequency signals from being transmitted back onto the power lines and help meet CE requirements To select the proper filter you must know the voltage and current used by the drive and the impedance of the AC line For package size A Band C Model T 1 Phase Filter Ty
61. e control bits of first byte x not used always 0 to select the protocol and the correspondent meaning of the further 7 data bytes of the CAN frame 9 10 Accessories amp Options MN1275 Expedited domain download and initiate domain download Domain Protocols 7 5 4 3 2 n Tie 0 s 1 byte m up to 4 data bytes Expedited Domain Download ccs 001 x 0 orn 1 s 22 2x1 multiplexor data to be Request scs 011 xX xX x X 60 downloaded Confirm Initiate Domain Download ccs 001 x x 0 Ss 20 2x2 multiplexor if s 1 number of Request scs 011 xX X x X 60 data reserved Confirm n lfe 1 amp s 1 n indicates the number of bytes which do not contain data therefore only valid for expedited protocol s Data set size is not indicated indicated 0 1 1 If s 1 the 1 byte contains 23 or n shifted 2 left 2 If s 1 the 4 data bytes contain the number of data bytes to be transferred in the segmented domain Segmented domain download Domain Protocols 7 5 4t 3 1 n O c 1 byte up to 3 up to 4 data bytes Download Domain Segment ccs 000 0 1 n 0 00 10 7 data bytes to be downloaded Request scs 001 0 1 xX X 20 30 Reserved Confirm End of Download Domain Segment ccs 000 0 1 n 1 0X 1X3 lt 7 data bytes to be downloaded Request ses 001 0 1 xX X 20 30 Reserved Confirm t Toggle bit of segmented domain with first download domain segment t 0
62. e parameters will be entered if your motor is on the list If your motor is not on the list you must define a motor and all of its parameters If your motor is not listed select User Models in the Library menu and enter the motor parameters Click Download when finished Figure 5 2 Motor Selection Screen Ee ia pas Jero pan Fim ee eee a gt Hh EA Control The Control ID is automatically selected All of the parameters will be entered if your control is on the list Click Download when finished Figure 5 3 Control Selection Screen 5 6 Operation MN1275 After the motor and control are selected click the General menu and note that the values are filed in Operating Mode Select the operating mode of the control Choices are 1 Current Mode 2 Velocity Mode 3 Pulse Follower Mode Pulse amp direction or Electronic Handwheel Click Download when finished Note If an encoder with hall feedback is plugged into X9 the handwheel cannot be used Only one device may be plugged into X9 Figure 5 4 Operating Mode Selection Screen MN1275 Operation 5 7 Current Parameter Nominal and peak current values are automatically entered for the motor type For manual tuning only set the control current limit value to a percentage of the continuous current rating For example if your control is rated for 5A continuous current and you desire to limit the output current to 4A enter 80 If you wish t
63. e position loop as velocity loop tuning affects the position loop response To reduce mechanical resonance use a stiffer mechanical coupling or decrease the low pass filter value Manual tuning may be used to adjust the response of the control Two types of manual tuning are possible velocity tuning and position tuning for a system which has been set up to operate in either the pulse direction or position follower mode Initial Settings Required MN1275 Before manual tuning can begin the motor control and operating mode must be set Make sure that these parameters have been selected and downloaded Manual Tuning A 1 There are 7 parts to the setup procedure Motor Select your motor from the library First select the general motor type Then select your specific motor All of the parameters will be entered if your motor is on the list If your motor is not on the list you may define a motor and all of its parameters Click Download when finished Figure A 3 Motor Selection Screen Control The Control ID is automatically selected All of the parameters will be entered if your control is on the list Click Download when finished Figure A 4 Control Selection Screen A 2 Manual Tuning MN1275 After the motor and control are selected click the General menu and note that the values are filed in ASAS Operating Mode Select the operating mode of the control Choices are 1 Current Mode 2 Veloc
64. e the GV gain setting The ramp up time to operating speed will be faster As you increase the value for GV the system may have very large overshoots and become unstable Decrease the GV value immediately Then decrease it another 10 2 Next verify that the value you entered provides adequate system response You can check this out by having the software move the equipment and plot the response Proceed to Plotting of Move MN1275 Plotting of Move At any time after the setup parameters are downloaded to the control you may proceed to the plotting routine Plot allows you to verify that the parameter values you entered provide adequate system response In this section you will inform the software what move to perform You will enter time for the move direction CW or CCW and speed It is recommended that you start with low speeds i e 100 RPM and short time periods i e 0 5 sec until you get a feel for your system Control Window Enter the parameter values using the Pole Placement menu and click the Download button Refer to Figure A 9 for details Figure A 12 Record amp Plot Menu ef nf tl a HR 4 T ES la lect 2P variabl im a i 2 Select 1P variable 3S Selecter vanabig El 7 e Overshoot 4 qem lt _ a Enter me 00 LEZ values 0 04 0 08 0 13 0 17 0 21 0 25 0 29 0 33 0 38 0 42 5 Time sec Click on CW or CCW Velocity RPM Good Response Const
65. ff On cycle MN1275 Troubleshooting 6 1 Table 6 1 Operating Mode Indications Continued Ready Monitor Status Cause Red A EEPROM checksum error The personality must be downloaded to EEPROM and reset the control If problem remains contact Baldor Red Velocity data in the EEPROM failed The velocity data must be downloaded to EEPROM and reset the control If problem remains contact Baldor Green CAN bus problem detected C blinking A communication error on the CAN bus exists The control is still connected to the CAN bus Red CAN bus problem detected C blinking A communication error on the CAN bus exists The control will attempt resynchronization to establish the CAN bus Green Control Disabled Disable mode activated by hardware or software Green Following Error The following error exceeded the user defined value of the Following Error Band This error is not stored and goes away when the following error is reduced to within limits Green Fatal Following Error The following error exceeded the user defined value of the Following Fatal Error The following error preset level is Operation Mode Pulse Follower This error is stored and must be cleared by the operator but operation continues as long as the error is less than 215 32768 Green Hold Position mode Hold mode activated by hardware or software
66. ffset tuning Set switch AS1 7 to OFF Configure the control using the Setup Software provided Refer to Section 5 of this manual Set switch AS1 8 to ON drive enabled Perform System Tuning The drive is now ready for use Note To protect the internal fuse allow at least 1 minute after power down before turning power on power Off On cycle MN1275 Switch Setting amp Start Up 4 3 4 4 Switch Setting amp Start Up MN1275 Section 5 Operation Installing Software on your PC The setup software is Windows based The servo control connects to a serial port on your PC The setup wizard will guide you through the necessary steps to set up your servo control Online help to each topic is available Minimum system requirements Hardware requirements minimum Processor Intel 80486 33 MHz RAM 8 MB Hard Disk Space 50 MB Screen 600 x 480 minimum Recommended Intel Pentium 16 MB RAM 133 MHz 100 MB Free Space Software requirements Operating system Windows 3 1x minimum Recommended Win95 or Windows NT Installation aoe procedure will install the setup software on your computer s hard isk 1 Start Windows Make sure that no other programs are running during this installation 2 Place installation Disk 1 in your computer s floppy drive 3 Run A Setup exe if Al is your floppy drive or double click the file Setup exe from My computer 3 5 inch Floppy A 4 Follow the instructions and insert the other
67. fness increase the GVI gain setting It rejects load disturbance and compensates for system friction To reduce following error or offset during steady state running conditions increase the GVI gain setting To reduce the overshoot reduce the GVI gain setting Note As you increase the value for GVI the system will become unstable i e oscillate You may hear an audible noise Decrease the GVI value immediately Continue to decrease the value until the noise is no longer heard then decrease it another 10 2 Next verify that the value you entered provides adequate system response To verify have the software move the equipment and plot the response Proceed to Plotting of Move MN1275 Manual Tuning A 7 GV Gain A 8 Manual Tuning This is the proportional gain of the velocity loop It controls the gain of the velocity loop by adjusting the controls response to the error The error is the difference between the commanded and actual velocity The higher the gain the smaller the difference or error The adjustable range is from 0 to 32767 1 Click in the Proportional Gain GV box Enter a value for GV You may want to begin with the default values click on the default button and answer yes Note The default values may not be best for all applications it may be too high If the system is noisy displays an audible noise decrease this value immediately To obtain a faster rise time increas
68. gned integer ranged 0 100 Queries updates FF type with position controller redesign 0 FF none 1 velocity FF 2 acceleration FF Queries updates velocity FF factor unsigned integer ranged within 0 100 Queries updates position gain unsigned 25 100 integer ranged within 25 200 Queries updates FE warning limits 1 4096 32768 32767 resolver 1 4096 of revolution resolver encoder 1 4 SYS encres of revolution 1 4 SYS integer gt 0 lt 0 disabled encres encoder POS FEFAT Queries updates FE fatal limits 1 4096 of 1 4096 of 32768 32767 revolution integer revolution POS IPOS Queries updates FE in position limits 1 4096 of 32768 32767 1 4096 of revolution integer gt 0 lt 0 revolution disabled Variables Description POS MPFE Queries maximum position following error 1 4096 of rev MPFE POS PFE Queries position following error 1 4096 of rev PFE PREF Queries for position reference 1 4096 of rev POS REF Queries position controller reference 1 4096 of rev 1 4096 of revolution POS FEST Returns follow error status 0 normal 1 in position 2 warning 3 error FEST Methods ommand Description Parameter Units Range PRST Resets position following error MN1275 Command Set B 15 Sys mod 2 Pulse Follower Handwheel respectively Pulse Direction Parameters Description HW GRFX Querie
69. ilt in regen resistor O No internal regen capability MN1275 Logic Supply Option 0 Internal 24VDC Supply 3 External customer provided 24VDC required Serial Port Type Option 2 RS232 4 RS485 Bus Option N None C CAN Bus Feedback Device Option R Resolver E Encoder CAN Bus is only available for controls with resolver feedback Controls that have encoder feedback may not have CAN Bus Specifications amp Product Data 7 1 Specifications Description FDX 2 A02S Input Voltage Range Nominal 115 230 Minimum 92 184 Maximum 132 265 Input Frequency 50 60 5 Nominal Output Bus Nominal 160 320 O 115 230 input Minimum 88 176 Maximum 180 360 Nominal Phase Current 10 E 2 0 Peak Phase Current 10 for 4 2 4sec 0 5s Osec maximum Nominal Output Power E 0 87 Output Frequency 0 500 Efficiency gt 95 Nominal Switching Frequency 8 5 Current Loop Bandwidth 1200 Velocity Loop Bandwidth 10 to 200 software selectable Mounting Panel Package Size A B C E E E E Operating Altitude To 3300 feet 1000 meters Derate the continuous and peak output current by 1 1 for each 330 feet 100 meters above 3300 feet Operating Temperature 0 to 40 Above 40 C derate the continuous and peak output current by 2 5 per C above 40 C Maximum ambient
70. ine Input 1 Pulse Machine Input 2 Direction Control Outputs One normally closed relay contact provides a dedicated Drive Ready output Two opto isolated outputs are single ended active low and are current sinking Either output can be assigned to one of the following In Position Machine Input 1 CW Warning Machine Input 2 CCW Warning 12t Warning Following Error Flag Drive Over Temperature Following Error Warning Simulated Encoder Output Resolver Feedback The resolver feedback signal is converted to PPR pulses per revolution by a Resolver to Digital Converter A position controller uses position feedback The resolution of the simulated encoder output is software controlled with the following available resolutions 512 PPR 1024 PPR 2048 PPR or 4096 PPR Note For speeds above 6000 RPM resolution is limited to 1024PPR maximum Encoder Feedback When encoder feedback is used the encoder input signal is buffered and provided at the simulated encoder output 2 2 Product Overview MN1275 Section 3 Receiving and Installation Receiving amp Inspection Baldor Controls are thoroughly tested at the factory and carefully packaged for shipment When you receive your control there are several things you should do immediately 1 2 Observe the condition of the shipping container and report any damage immediately to the commercial carrier that delivered your control Remove the control from the shipping containe
71. ing samples in number of servo loops 0 5 ms REC TIME Specify recording time E 1 65535 REC VAR1 Specify recording variable POS position s left REC VAR2 REP velocity command VEL velocity CUR current command ACTU current U ACTV current V FE position following Data Record REC prefixed Variable Description ange REC VFREE1 Specify recording address for REC VAR1 Unsign Long REC VFREE1 Specify recording address for REC VAR2 Unsign Long Description Gets data from recording buffer in decimal form Gets data from recording buffer in hex form data buffer is cleared afterwards Starts on stops off recording process start stop B 10 Command Set MN1275 Memory related methods Queries modifications RAM related Description arameter Gets hexadecimal memory dump in bytes Memory address Query Update memory byte in hex Memory Unsign address Query Update memory byte in dec Memory Unsign address Get hexadecimal memory dump in words Memory Unsign address Query update hexadecimal word memory Memory Unsign location address Query update decimal word memory Memory Unsign address Description Clear EEPROM content and drive life time variable by filling it with OXFFFF except code for Level 1 11 Baldor HD EEDUMP Display all EEPROM data 256 words
72. iter between mnemonic and parameter of these commands is either blank space or equal sign one of both is mandatory To query all parameters and variables of a function group the function group prefix followed by dot and asterisk can be used Functional Group e g SYS Command Set B 1 B 2 Command Set Upon receiving a command the controller answers by sending the function parameter and variable list General purpose commands are not prefixed These commands only consist of the command identifier and therefore need the general structure Command Identifier Delimiter Parameter list CR With the non prefixed commands no delimiter is mandatory but the blank space can be inserted optional Parameters and Units The parameters used within the ASCII commands are integers of different sizes INTEGER 16 bit value ranged 8000 7FFF hex 215 215 1 dec UNSIGNED INT 16 bit value ranged 0 FFFF hex 0 216 1 dec LONG 32 bit value ranged 80000000 7FFFFFFF hex 231 231 1 dec UNSIGNED LONG 32 bit value ranged 0 FFFFFFFF hex 0 232 1 dec STRINGS Strings of ASCII characters 0 FF hex A string parameter is preceded and terminated with double quote character Commands which accept or require more than one parameter use parameter lists which are composed of the sequence of parameters necessary with the delimiters blank space or comma between The number of the parameter can be
73. ity Mode 3 Pulse Follower Mode Pulse amp direction or Electronic Handwheel Click Download when finished Figure A 5 Operating Mode Selection Screen MN1275 Manual Tuning A 3 Current Parameter Nominal and peak current values are automatically entered for the motor type For manual tuning only set the control current limit value to a percentage of the continuous current rating For example if your control is rated for 5A continuous current and you desire to limit the output current to 4A enter 80 If you wish to use the full output power of the control enter 100 Click Download when finished Figure A 6 Current Parameter Screen p Haz lid jE iR paar jE imon Velocity Parameter Set the velocity parameters of the control 1 Scale factor ratio of the input voltage to output RPM 2 Minimum velocity 3 Time to maximum velocity Click Download when finished Figure A 7 Velocity Parameter Screen A 4 Manual Tuning MN1275 Drift If you know the input offset value of the control you may enter the value manually Otherwise you may initiate automatic offset tuning and let the control measure and set this value Click Download when finished Figure A 8 Drift Parameter Screen Manual Tuning The first six steps of the manual tuning process is shown in Figure A 9 Figure A 9 Select Manual Tuning 1 ea la Select lt amp Select Pole Tuning F aad z
74. ject has only one entry Subindex must always be O P_Isb Low byte of requested parameter P_msb High byte of requested parameter Note If the first data byte in the returned message from the drive 0x80 the commanded action failed To send a velocity command to the drive 1 Verify that the correct motor and drive parameters and operating mode are set This is done by CAN or RS232 communications 2 Send the following CAN messages to the drive ID DO D1 D2 D3 D4 D5 D6 D7 Description 0x601 0x20 Ox8F 0x21 0x00 0x08 XXX XXX XXX Select CAN card for velocity command 0x581 0x60 Ox8F 0x21 0x00 0x00 0x00 0x00 0x00 Drive response with OK 0x601 0x20 0x83 0x21 0x00 XXX XXX XXX XXX Enable drive 0x581 0x60 Ox8F 0x21 0x00 0x00 0x00 0x00 0x00 Drive response with OK 0x601 0x20 0x90 0x20 0x00 VI Vm XXX XXX Velocity command VI Isb Vm msb Scaling bits msec 0x581 0x60 Ox8F 0x21 0x00 0x00 0x00 0x00 0x00 Drive response with OK Note Every command is answered by the drive Allow time for the response Summary With a CAN_OPEN master you don t need to know each data byte Therefore you only should be informed about the object dictionary which you will find in the Appendix Appendix Object dictionary ASCII command set description MN1275 Accessories amp Options 9 9 Identifiers and
75. lumn you wish to use 2 Next click in the IF column on the same ROW as the desired event For example If you are to use the MAO1 output click in row 1 in the IF column as shown Choose the condition for the desired event Set other event conditions as desired Activate the PLC by selecting Enable on PLC Status Select Download to update the parameter values in the control Select Close when finished Note To reset all IF conditions to False select Clear located just below the Download selection This will clear all condition choices NOARY Figure 5 9 PLC Program Menu 5 12 Operation MN1275 Section 6 Troubleshooting Overview The system troubleshooting procedures involves observing the status of the Ready LED the DB On LED and the Monitor 7 segment display The tables in this section provide information related to the indications provided by these devices Note The Ready LED can display RED YELLOW or GREEN color Table 6 1 Operating Mode Indications Ready Monitor Status Cause OFF OFF Control Disabled No Fault Green Decimal Control Enabled Normal operating mode No Fault Point Red 1 Over voltage fault DC Bus Missing damaged or wrong REGEN resistor Input voltage too high Red 3 Over current fault Motor leads shorted or control failure More than 2X peak current Load exceeds motor rating too much
76. m per the EMC directive Hence all components installation of the components interconnection between components and shielding and grounding of the system as a whole determines EMC compliance The CE mark does not inform the purchaser which directive the product complies with It rests upon the manufacturer or his authorized representative to ensure the item in question complies fully with all the relative directives in force at the time of installing into service in the same way as the system integrator previously mentioned Remember it is the instructions of installation and use coupled with the product that comply with the directive Wiring of Shielded Screened Cables ae Remove the outer insulation a Conductive to expose the overall sereen x A Clamp ML lt 30mm 500mm max MN1275 CE Guidelines 8 1 Using CE approved components will not guarantee a CE compliant system 1 The components used in the drive installation methods used materials selected for interconnection of components are important 2 The installation methods interconnection materials shielding filtering and grounding of the system as a whole will determine CE compliance 3 The responsibility of CE mark compliance rests entirely with the party who offers the end system for sale such as an OEM or system integrator Baldor products which meet the EMC directive requirements are indicated with a CE mark A dul
77. nal and power cables should be connected to the screen rails or clamps The screen rails or clamps should be conductive clamps fastened to the cabinet 2 D The cable to the regeneration resistor must be shielded The shield must be connected to ground at both ends E The location of the AC mains filter has to be situated close to the drive so the AC power wires are as short as possible F Wires inside the enclosure should be placed as close as possible to conducting metal cabinet walls and plates It is advised to terminate unused wires to chassis ground 0O G To reduce ground current use at least a 10mm2 6 AWG solid wire for ground connections 1 Grounding in general describes all metal parts which can be connected to a protective conductor e g housing of cabinet motor housing etc to a central ground point This central ground point is then connected to the main plant or building ground 2 Or run as twisted pair at minimum Cable Screens Grounding Cable Twisted Pair Conductors Q o _ 225 ue Conductive Clamp Must contact bare cable shield L and be secured to metal backplane MN1275 CE Guidelines 8 3 Input Signal Cable Grounding Control Control 1 6 2 7 To 3 Controller 8 11 13 Resolver Cable Grounding Control Resolver Connector X8 Housing
78. ng Temperature 0 to 40 Above 40 C derate the continuous and peak output current by 2 5 per C above 40 C Maximum ambient is 50 C Rated Storage Temperature 25 to 70 Humidity 10 to 90 non condensing Class of Protection Enclosure IP20 Shock 10G according to DIN IEC 68 2 6 29 Vibration 1G E 10 150 Hz according to DIN IEC 68 2 6 29 Valid for zero current initial condition All values at ambient temperature of 25 C unless otherwise stated For safe operation allow a clearance distance between each control and on all sides of each control MN1275 Specifications amp Product Data 7 3 24VDC Logic Power Input Option FDXAxxxx xxx3 ONLY Description A02T AOST A07T A02S A05S A10S Input Voltage maximum ripple 10 Input Current 24VDC Power On surge current 24VDC 100msec 1 Depends on installed 24VDC Logic Power Input Option F Description options D4Axxxx xxx3 ONLY Continued Input Voltage maximum ripple 10 Input Current 24VDC Power On surge current 24VDC 100msec Velocity Control Description All Command Input 0 to 10 or 10 Command Signal Resolution 12 Update Rate Resolver Feedback Description 500 All Resolution Automatically set by software Depends on maximum speed Velocity lt 6100RPM gt Velocity g
79. o use the full output power of the control enter 100 Click Download when finished Figure 5 5 Current Parameter Screen Velocity Parameter Set the velocity parameters of the control 1 Scale factor ratio of the input voltage to output RPM 2 Minimum velocity 3 Time to maximum velocity Click Download when finished Figure 5 6 Velocity Parameter Screen 5 8 Operation MN1275 Drift Autotune MN1275 If you know the input offset value of the control you may enter the value manually Otherwise you may initiate automatic offset tuning and let the control measure and set this value Click Download when finished Elgurs 5 7 Drift Parameter Screen DEA Tang Seen fie foe las Els e pe las ere Cd a A You may manually tune the control see appendix or use autotune to allow the control to tune itself Click Download when finished Figure 5 8 Autotune Screen A AA Bot pm meg each ee Tm Wed beeli E O A ee Caia Oo ai a eae Se wl Operation 5 9 Main Menu Choice Descriptions File Fie td Tus wa E Des y ate ava gt isa 9 _ gt Algas gt Ent gt Edit EN tune Watch Funct Ge gt Pate yy Open a new editor window Open an existing editor window Close the active editor window Close all editor windows Save the active editor window to a file Save the active e
80. o choose Setup from the toolbar at top of the screen In the box choose Operation Mode You will see choices of general current velocity and pulse Select pulse tab This will open the window showing the following error limits You may enter and modify open the in position bands A 10 Manual Tuning MN1275 Appendix B Command Set Flex ASCII Command Set General Syntax MN1275 Flex controls use the RS232 communication port optional RS485 as the Interface This document describes existing FlexDrive Flex Drive ASCII terminal commands for setup and control of the servo drive There are three types of ASCII commands 1 Parameters Without parameters these commands are handled as queries To modify the value of a parameter the value to be set is added to the command Some parameters may only be modified under special drive conditions Query is not restricted to special drive conditions 2 Variables or system constants System variables are internally updated in the control and can not be changed by the user System constants are fixed e g by hardware system properties Query of variables or constants is not restricted to special drive conditions 3 Methods support control of the system Methods may or may not require a parameter Commanding a method to be executed is in some cases also restricted to special drive conditions Each command is defined as a special mnem
81. object list The distribution of the identifiers of the supported objects conforms to Can Open DS301 V 3 0 S 8 12 Message Object Start_Remote_Node Stop_Remote_Node NMT Services 0 broadcast Pre Operational State NMT_Reset_Node NMT_Reset_Com 1 128 broadcast Synchronization Sync Emergency 128 Node_ID Emergency fault PDO1 tx 384 Node_ID Transmit PDO asynchronous PDO1 rx 512 Node_ID Receive PDO asynchronous PDO2 tx 640 Node_ID Transmit PDO synchronous 768 Node_ID Receive PDO synchronous 1408 Node_ID Transmit SDO 1536 Node_ID Receive SDO Node guarding 1760 NMT node guarding Node_ID is the node identifier which is the card address set by switch AS1 4 SDO Protocols CMS Multiplexed Domain Protocols In CiA DS202 2 CMS protocol specification the following specifications of the SDO COB identifier This protocol specifies the meaning of the content of the 8 data bytes transferred within a CAN Message for the different domain protocols Byte 1 Byte 2 Byte 3 Byte 4 Byte5 to Byte 8 Protocol Multiplexer or Data Bytes up to 4 Data Bytes Control Bits index Isb index msb sub index Data byte 5 is Isb byte 8 is msb Multiplexed Same identifier message indication by Index Subindex Expedited Used if data to be transported is less or equal 4 byte long int 32 Bit The following tables list the meaning setting of th
82. ocedure Power Off Checks Before you apply power it is very important to verify the following 1 on SO PE Power On Checks Disconnect the load from the motor shaft until instructed to apply a load If this cannot be done disconnect the motor wires at X1 U V and W Verify that switches AS1 5 to AS1 8 are set to OFF Verify the AC line voltage at the source matches the control rated voltage Inspect all power connections for accuracy workmanship and tightness Verify that all wiring conforms to applicable codes Verify that the control and motor are properly grounded to earth ground Check all signal wiring for accuracy When power is first applied the Monitor LED display will show four indications if there is no failure found All segments and decimal point are on Display test Option number of test 1 2 etc Final display with no decimal point control disabled because AS1 8 OFF Procedure 1 2 3 OONODOSL aah D N Apply AC power Apply logic power only if your control is equipped with this option Verify the Monitor LED power on sequence If d is displayed continue otherwise disconnect AC power and refer to the Troubleshooting procedure Disconnect AC power Connect the load to the motor shaft or connect the motor wires at X1 Apply Logic Power 24VDC if option is present Apply AC power Set switches AS1 7 and AS1 8 to ON Set switch AS1 8 to OFF initiate o
83. onic which is used for query of parameters variables and constants as well as for parameter less methods Modifying a parameter respectively commanding a parameterized method is done by simply adding the parameter value to the mnemonic General structure of the ASCII command Each ASCII command is structured in principle according to Mnemonic Delimiter Parameter List Syntax allows multiple commands in the same string separated by blank space delimiter Each command string is terminated by a carriage return i e generally a command string looks like Mnemonic1 Delimiter Parameter List1 MnemonicN Delimiter Parameter ListN CR Up to 80 characters are allowed at the command prompt For each correct command the control returns a gt sign ASCII 3E hex as an acknowledge If a command is not accepted the reason for the command revision is sent instead of the acknowledge Mnemonics The mnemonics are not case sensitive Most of the ASCII commands are grouped into functional groups The Mnemonics of the commands of parameters variables and methods of these function groups have a prefix which indicate the function and separated by the dot the command identifier The general structure of Function Group Commands is as follows Functional Group Command Identifier Delimiter Parameter list CR e g SYS MOD 1 All prefixed commands are drive parameters The delim
84. or any of the following four fault conditions provided that the cause of the fault has been removed e Overvoltage e Electronic Fusing Undervoltage e Resolver Fault OPEN allows normal operation Pulse amp Direction MN1275 The pulse and direction inputs allow the control to change speed and direction based on these signals The frequency of the signal at the pulse input determines the motor velocity The logic state of the signal applied at the direction input determines the direction of rotation CW 1 CCW 0 The input voltage for both pulse and direction is 12 29VDC at 20mA Figure 3 17 Pulse amp Direction Timing Diagram A gt 4us e Pulse Time je Tmi 8us mE A 4us Direction x Tine Receiving amp Installation 3 13 X3 Digital Inputs Continued Mal amp 2 Two machine inputs are provided These inputs are used with the internal PLC software program The internal PLC software can cause an event to occur based on the presence of one or both inputs X3 Digital Outputs Opto Isolated Outputs The control outputs are located on the X3 connector A customer provided external power supply must be used if digital outputs are to be used The opto outputs provide status information and are not required for operation Table 3 4 _ Figure 3 18 Fault Relay Connections 4 ia Customer provided external power source and Non Inductive Load Relay XS 110VAC 0 3A maximum or 5 24VDC
85. osure 4 Reference EMC wiring in Section 8 Figure 3 6 Single Phase AC Power Connections FD1AxxS only L a 2 f o o Earth 3 T adea Alternate Note 1 Circuit Note 3 amp 4 Fuse Note 1 Breaker lt C i y onnection Note 2 iif i Components not provided with Control Notes Baldor 1 See Protection Devices described in this section Control 2 Metal conduit or shielded cable should be used Connect conduits so the use of a Reactor or RC Device does not interrupt EMI RFI shielding 3 Use same gauge wire for Earth ground as is used for L and N VDE Germany requires 10mm minimum For CE Compliance connect to the backplane of the enclosure Reference EMC wiring in Section 8 For CE Compliance refer to Section 8 of this manual Note These FlexDrive versions are not designed for use with 400 460VAC connections 3 6 Receiving amp Installation MN1275 Figure 3 7 3 Phase Power Connections FD2AxxS amp FD4AxxT only L1 L2 L3 r 555 Earth i T i eye e EN Note 1 Circuit Note 3 amp 4 ren N Breaker S lt S Connection one L El de H el Note 2 ____ i A10 B1 C1 Components not provided with Control Notes Baldor 1 See Protection Device description in this section Control 2 Metal conduit or shielded cable should be used
86. otor shaft will rotate during the autotune procedure Be certain that unexpected motor shaft movement will not cause injury to personnel or damage to equipment A DB Resistor may generate enough heat to ignite combustible materials To avoid fire hazard keep all combustible materials and flammable vapors away from brake resistors The user must provide an external hard wired emergency stop circuit to disable the control in the event of an emergency ZA Caution A Caution MN1275 Suitable for use on a circuit capable of delivering not more than the RMS symmetrical short circuit amperes listed here at rated voltage Horsepower RMS Symmetrical Amperes 1 50 5 000 To prevent equipment damage be certain that the input power has correctly sized protective devices installed as well as a power disconnect Continued on next page General Information 1 3 Caution Caution Caution Caution Caution Caution Caution Caution Caution A Caution ZX Caution A Caution ZS Caution Caution Avoid locating control immediately above or beside heat generating equipment or directly below water or steam pipes Avoid locating control in the vicinity of corrosive substances or vapors metal particles and dust For UL installations do not connect any resolver cable shields to the motor frame At a minimum resolver signal integrity will be compromised and damage to the control m
87. ows you to enter Position Gain and Velocity a parameter that is proportional to the desired velocity Increasing this gain compensates for damping brings actual velocity closer to desired velocity It is not within the servo loop so it does not effect stability The adjustable range is from 25 to 100 Select Acceleration feedforward allows you to enter Position Gain and Velocity and Acceleration Acceleration is a parameter that is proportional to the desired acceleration Increasing this gain compensates for inertia brings desired acceleration closer to actual acceleration It is not within the servo loop so it does nat effect stability Inertia resists acceleration The adjustable range is from 25 to 100 To verify that the parameter values are correct you must cause the system to move This would be accomplished by having the host controller or indexer or computer output a string of pulses During movement observe the Monitor 7 segment display on the front panel If a P is observed on the Monitor display the drive is within the in position band which has been set If a P is not observed then the drive is outside the band or window This would occur for example with a high friction system Either the gain or feedforward term must be adjusted or the in position band must be opened until a P is observed Note To change the in position band or window you have t
88. pe Rated Volts Leakage Current mA Weight Ibs kg Baldor No FN 2070 12 250 0 4 For package size E G and H Model S 3 Phase Filter Type Rated Volts Leakage Current mA 1 61 0 73 30548 Baldor No FN 351 8 29 440 16 ASR24667 FN 351 16 29 440 16 ASR24668 FN 351 25 33 440 170 ASR24669 FN 351 36 33 440 170 ASR24670 FN 351 50 33 440 9 2 Accessories amp Options 190 ASR24671 MN1275 For package size E Gand H Model T 3 Phase Required for LD4xx Filter Type Rated Volts Leakage Current mA Weight Ibs kg Baldor No ASR30521 ASR30522 184 7 172 4 FN 3258 30 47 FN 3258 7 45 480 480 2 64 1 2 0 11 0 5 AC Filter Dimensions Continued Depth F 4 53 115 me Dim For For Filters FN 351 A I i N FN350 8 29 16 29 25 33 36 33 50 33 i A 54 186 9 45 9 84 139 220 240 250 B 39 71 7 87 7 87 o o 99 180 200 200 G C 42 45 59 5 9 o o 105 115 150 150 4 D 3 32 3 35 47 4 72 C E 84 5 85 119 5 120 J 2 2 E 3 73 3 93 5 31 5 31 85 100 135 135 sa Pas F 2 24 2 36 2 55 2 55 d 1 57 60 65
89. puts Continued Table 3 3 Opto Input Signal Conditions Switch Closed active Switch Open not active Enable Drive enabled Drive disabled CW Enable Clockwise rotation enabled Clockwise rotation disabled CCW En able Counter clockwise rotation enabled Counter clockwise rotation disabled Hold HOLD function is active HOLD function is not active Fault Reset Fault Reset is active reset control Fault Reset is not active Pulse See Pulse amp Direction Definition See Pulse amp Direction Definition Direction See Pulse amp Direction Definition See Pulse amp Direction Definition Mali Machine Input 1 Logical 1 Machine Input 1 Logical 0 Mal2 Signal Name Machine Input 2 Logical 1 Machine Input 2 Logical 0 Opto Input Signal Definition Enable CW Enable CCW Enable Hold Fault Reset CLOSED allows normal operation OPEN disables the control and motor coasts to a stop CLOSED allows normal operation in the CW direction OPEN to disable CW rotation The motor decels to a stop CLOSED allows normal operation in the CCW direction OPEN to disable CCW rotation The motor decels to a stop CLOSED causes the motor to decelerate at maximum deceleration rate to rest and maintain a constant position to prevent drift in velocity mode only OPEN allows normal operation CLOSED allows the control to be cleared or Reset f
90. r ic dde tiles A 2 Gontrol ii A A A A 2 Operating Mode aise reroasuri rr Bda a A 3 Current Parameter omic nos o Da A e ee A 4 Velocity Parameter ooocccoccooocccr eee eee eee eee teens A 4 DIA a ast heen fat ta hope UCI ie dl li A A 5 Manual Pantin ad a Aedes dak areata bey A 5 Plotting of MOVE socia staan tere ona eae betes aa bes A 9 Pulse Follower Applications 00 cece A 10 Appendix B Command Set risar ct patie devas bt bee bad et eee eed bit See Re a B 1 MN1275 Table of Contents iii iv Table of Contents MN1275 Section 1 General Information Copyright Baldor 1999 2000 All rights reserved This manual is copyrighted and all rights are reserved This document may not in whole or in part be copied or reproduced in any form without the prior written consent of Baldor Baldor makes no representations or warranties with respect to the contents hereof and specifically disclaims any implied warranties of fitness for any particular purpose The information in this document is subject to change without notice Baldor assumes no responsibility for any errors that may appear in this document Microsoft and MS DOS are registered trademarks and Windows is a trademark of Microsoft Corporation UL and cUL are registered trademarks of Underwriters Laboratories CE Compliance A custom unit may be required contact Baldor Compliance to Directive 89 336 EEC is the responsibility of the system integrator
91. r and remove all packing materials The container and packing materials may be retained for future shipment Verify that the part number of the control you received is the same as the part number listed on your purchase order Inspect the control for external physical damage that may have been sustained during shipment and report any damage immediately to the commercial carrier that delivered your control If the control is to be stored for several weeks before use be sure that it is stored in a location that conforms to published storage humidity and temperature specifications stated in this manual Location Considerations The location of the control is important Installation should be in an area that is protected from direct sunlight corrosives harmful gases or liquids dust metallic particles and vibration Exposure to these can reduce the operating life and degrade performance of the control Several other factors should be carefully evaluated when selecting a location for installation 1 2 Mechanical Installation For effective cooling and maintenance the control should be mounted on a smooth non flammable vertical surface At least 0 6 inches 15mm top and bottom clearance must be provided for air flow At least 0 4 inches 10mm clearance is required between controls each side Altitude derating Up to 3300 feet 1000 meters no derating required Derate the continuous and peak output current by 1 1 for ea
92. rements all sizes 13 2 337 for 320 640 watt 2 51mm top and bottom 1 26mm left and right side For safe operation allow a clearance distance between each control and on all sides of each control 9 4 Accessories amp Options MN1275 CAN Bus Optional Not available for controls with encoder feedback Controls that are supplied with the CAN bus option have two additional connectors X10 and X11 conform to DS102 version 2 0 These are shown in Figure 9 1 a DB On O Flex Drive MN1275 CAN is a factory installed option Figure 9 1 CAN Bus Connectors gt ONOOEWD oj Emm OL NO OLN OCS OCHO Encoder Out X7 RS232 485 X6 Encoder In X9 Resolver In X8 CAN X10 CAN X11 Note On some models the width of the akon akon control may increase slightly when equipped with the CAN option X10 CAN Bus Reserved 6 GND CAN _ 7 CAN_H GND 8 Reserved Reserved 9 VCC Reserved X11 CAN Bus Reserved 6 GND CAN_L 7 CAN_H GND 8 Reserved Reserved 9 VCC Reserved Accessories amp Options 9 5 Figure 9 2 CAN Bus Interconnections CAN Flex Control Flex Control MASTER X11 X10 X11 00 0 0 oo000 eeeee o o O 0000 o o X10 7 X10 2 X11 7 X11 2 X10 7 X10 2 X11 7 X11 2 MN MN X10 3 X10 3 X10 3 4 TT 3 TF J EE a TA Ju z z z lo z
93. ross power wires at right angles only Insulate or tape ungrounded end of shields to prevent contact with other conductors or ground Note Motor and resolver are phase sensitive Connect only as instructed Figure 3 26 Resolver Cable Connections for UL Installations R2 s2 X8 P AA A 3 SIN RI gt Lh iL WT P HE 8 SIN a t at 2 COS ae H 5 rd 7 COs A HAH 1 REF P H H HH 6 REF Common Y Twisted Pair Shields Shell Chassis rN 3 18 Receiving amp Installation MN1275 Figure 3 27 Resolver Cable Connections for CE Installations X8 P Jr p DEL prea q GT q SIN SIN COS COS REF REF Common ao N YO CO W AGND Connect internal shields to AGND E A P y Twisted Pair Connect overall shield to connector backshells X9 Handwheel Encoder Installation Handwheel Mode Standard Encoder Twisted pair shielded wire with an overall shield should be used Figure 3 28 shows the electrical connections between the encoder and the encoder connector Note If the control was ordered with option E Encoder Hall feedback catalog FDxAxxxx Exxx it is not possible to connect the handwheel Figure 3 28 Differential Encoder Connections for UL Installations X9 Encoder VU JNO W 1 5V DGND Shell Cha
94. rovided with the PC software making the setup easy Baldor compatible motors include e BSM A Series motors BSM B Series motors e BSM F Series motors e BSM N Series motors Refer to the Speed Torque curves in the BR1202 catalog or contact your local Baldor distributor or sales representative for assistance with motor sizing and compatibility Custom motors or motors not manufactured by Baldor may be used Please contact your local Baldor distributor or sales representative for assistance Command Source In the analog mode current or velocity the control requires a variable 0 10VDC or 10VDC external analog signal Suitable sources can be a PLC or motion controller Pulse and Direction In the pulse and direction mode two opto isolated inputs are provided for pulse input and direction input The software identifies the command source A leads B or Pulse Follower Serial Communications Interface MN1275 A serial port allows external communication This means that the FlexDrive can interface to a PC for configuration and control or to other user supplied equipment such as e Host computers e PLC s e PC s e Motion controllers The serial communication interface supports e RS232 and the four wire RS 485 communication standards e Baud rate 9600 Product Overview 2 1 Control Inputs Opto isolated inputs are single ended user selectable and active high or low Enable CW Enable Hold CCW Enable Fault Reset Mach
95. s updates mantissa HW gear parameter negative value means negative gear HW GRSH Queries updates shift HW gear parameter 0 32767 HW PLC GEAR Queries updates PLC gear ratio 0 65535 HW RES Queries updates HW resolution in pulses per revolution only necessary for pulses rev 32768 32767 HW TYPE Queries updates HW type 0 None 1 Pulse and Direction at connector X3 2 A leads B at connector X9 3 B leads A respectively Pulse and Direction at connector X92 4 A leads B at connector X32 B 16 Command Set MN1275 BALDOR MOTORS AND DRIVES BALDOR ELECTRIC COMPANY P O Box 2400 Ft Smith AR 72902 2400 479 646 4711 Fax 479 648 5792 www baldor com CH D UK TEL 41 52 647 4700 TEL 49 89 90 50 80 TEL 44 1454 850000 FAX 41 52 659 2394 FAX 49 89 90 50 8491 FAX 44 1454 850001 AU l cc TEL 39 11 562 4440 TEL 61 29674 5455 TEL 65 744 2572 FAX 39 11 562 5660 FAX 61 29674 2495 FAX 65 747 1708 Baldor Electric Company MN1275 F TEL 33 145 10 7902 FAX 33 145 09 0864 MX TEL 52 47 61 2030 FAX 52 47 61 2010 Printed in UK 2 03
96. scription 100 Switching Threshold 400 460VAC ON 794 OFF Nominal Peak Power 10 Duty Cycle 0 94 9 4 Maximum Regeneration Switching Current 15 Maximum Load Inductance MN1275 Specifications amp Product Data 7 5 Dimensions Size A B and C Size E G and H A 1 57 40mm gt A gt 15 75 400 15 14 385 14 05 357 Depth 0 2 5 2 Dia pate Size A B C 6 0 152 4 Places A 0 12 3 0 Clearance Requirements all sizes 0 06 15mm top and bottom 0 04 10mm left and right side 0 374 9 5 EA Es es ot Y 03 A 0 25 6 5 Dia 3 Places 8 0 Package Dimensions in mm Weight lb kg ep x a w 7 ize E G and H 10 4 265 A 0 59 15 2 6 67 5 z 2 73 1 24 Aw CAN option 0 59 15 3 3 84 0 3 17 1 44 B 0 90 23 6 92 5 E 4 69 2 13 B w CAN option 0 90 23 3 109 5 06 2 3 c 0 90 23 3 109 z 4 8 2 19 E 1 08 27 5 2 17 55 1 42 36 11 5 G 1 28 32 5 2 6 65 1 81 46 10 1 4 6 H 2 6 65 5 3 130 4 37 111 20 9 9 5 For safe operation allow a clearance distance between each control and on all sides of each control 7 6 Specifications amp Product Data MN1275 Section 8 CE Guidelines CE Declaration of Conformity Baldor indicates that the products are only components and not ready for immediate or instant
97. ssis ee oo Single Ended Connections Differential inputs are recommended for best noise immunity If only single ended encoder signals are available connect them to A B and C as shown in Figure 3 29 Figure 3 29 Single Ended Encoder Connections for UL Installations X9 Encoder 5V DGND Shell Chassis MN1275 Receiving amp Installation 3 19 Figure 3 30 Differential Encoder Connections for CE Installations X9 A A B B C C 5V DGND Encoder Connection of shields to digital ground is optional Figure 3 31 Single Ended Encoder Connections for CE Installations X9 Encoder 5V DGND Connection of shields to digital ground is optional 3 20 Receiving amp Installation MN1275 X9 Encoder w Hall Tracks Optional Option E Twisted pair shielded wire with an overall shield should be used Figure 3 32 shows the electrical connections between the encoder and the encoder connector Note If the control was ordered with option E Encoder Hall feedback catalog FDxAxxxx Exxx it is not possible to connect the handwheel Figure 3 32 Encoder with Hall Tracks Connections for UL Installations X9 TOS A 6 A B B C Ce 5V DGND Encoder Hall 1 Hall 1 Hall 3
98. t 6100RPM gt Resolution 14 bits Resolution 12 bits Pole Pairs Resolver Winding Ratio Simulated Encoder Output Description 0 5 All Signal RS422 Encoder Resolution Pulse Direction Input Description 512 1024 2048 4096 7 Factory Setting All Signal 12 29 Opto Isolated Operating Mode Pulse and Direction Maximum Input Frequency 125 Cycle Time 7 4 Specifications 8 Product Data 1 MN1275 Encoder Input Handwheel or Feedback Description All Signal Type RS422 Operating Mode A B Quadrature Maximum Input Frequency 125 Cycle Time Serial Interface Option FDXAXXXX XX2X Description 1 All Communication Type RS232C not galvanically isolated Transmission Rate 9600 not adjus able Optional Interface Option FDXAXXXX XX4X Communication Type RS485 not galvanica ly isolated Transmission Rate Regeneration 115 230VAC Description Baud 9600 not adjus FDX A02T AOST AO7T FDX A02S able A05S A10S A15S Switching Threshold 115VAC 230VAC ON OFF 188 195 183 188 373 383 362 372 ON 180 388 Nominal Peak Power 10 Duty Cycle 0 25 2 7 Maximum Regeneration Switching Current 10 Maximum Load Inductance Regeneration 400 460VAC De
99. t Domain Transfer Unconfirmed aos st Toggle bit of segmented domain with first upload domain segment t 0 n indicates the number of bytes which do not contain data 1 if last segment to be uploaded else 0 The 1 byte contains 01 or n shifted 1 left Domain Protocols 7 5 4 0 1 byte m up to 4 data bytes Expedited Domain Upload c100 X 80 multiplexor reason for the abort Request 9 12 Accessories amp Options MN1275 Object Dictionary CAN Version 23310D Index hex Object Used 0000 not used 0001 001F Static Data Types OBJECT_UNSIGNED8 0020 003F Complex Data Types 0040 005F Manufacturer Specific Data Types 0060 007F Device Profile Specific Static Data Types 00A0 OFFF Reserved for future use 1000 1FFF Communication Profile Area DEVICE_TYPE ERROR_REGISTER MANUFACT_STATUS_REGISTER PREDEFINED_ERROR_FIELD NUMBER_OF_PDOS COB_ID_SYNC_MSG COMMUNI_CYCLE_PERIODE SYNCHRON_WINDOW_LENGTH MANUFACT_DEVICE_NAME MANUFACT_HW_VERSION MANUFACT_SW_VERSION NODE_ID GUARD_TIME LIFE_TIME_FACTOR RECEIVE_PDO_2 COMMUNI_PARAM RECEIVE_PDO_1_COMMUNI_PARAM RECEIVE PDO_2 MAPPING_PARAM RECEIVE _PDO_1_MAPPING_PARAM TRANSMIT_PDO 2 COMMUNI_PARAM TRANSMIT_PDO_1_COMMUNI_PARAM TRANSMIT_PDO_2 MAPPING_PARAM TRANSMIT_PDO_1_MAPPING_PARAM 2000 5FFF Manufacturer Specific Profile Area MANUFACT_NODI_ID MANUFACT_BAUD_RATE Objects with Subindexes 2
100. the Response block and place the cursor in the bandwidth window and click on it The bandwidth is a measure of the range over which the system can respond It is expressed in frequency or Hertz This parameter controls the rise time of the system It does not effect overshoot It is recommended that bandwidth is increased only if higher dynamic response is required Increase the bandwidth and observe go to plotting of move the velocity and command current until current reaches maximum value then back off to 80 The range is from 10 200 The next step would be to verify that the value you entered provides for adequate system response You can check this out by having the software move the equipment and plot the response Proceed to Plotting of Move Figure A 10 Inertia and Load Response Examples Over Estimated Under Estimated Good Response 1500 1500 1500 E 1000 bre E 1000 T 1000 lh abebete tetra 2 8 500 E 500 E 500 g 0 0 0 500 500 500 Time Time Time Velocity Command Velocity Velocity Command Velocity Velocity Command Velocity Tracking factor The tracking factor parameter controls the amount of tracking versus overshoot The range is 0 to 200 A tracking factor of O generates no overshoot A tracking factor of 200 results in a PI equivalent control i e
101. tion transformer may be required for some power conditions e Ifthe feeder or branch circuit that provides power to the control has permanently connected power factor correction capacitors an input AC line reactor or an isolation transformer must be connected between the power factor correction capacitors and the control e Ifthe feeder or branch circuit that provides power to the control has power factor correction capacitors that are switched on line and off line the capacitors must not be switched while the control is connected to the AC power line If the capacitors are switched on line while the control is still connected to the AC power line additional protection is required TVSS Transient Voltage Surge Suppressor of the proper rating must be installed between the AC line reactor or an isolation transformer and the AC input to the control Power Disconnect A power disconnect should be installed between the input power service and the control for a fail safe method to disconnect power The control will remain in a powered up condition until all input power is removed from the control and the internal bus voltage is depleted Protection Devices The control must have a suitable input power protection device installed Input and output wire size is based on the use of copper conductor wire rated at 75 C Table 3 1 and 3 2 describes the wire size to be used for power connections and the ratings of the protection devices Use the recommended
102. ty of grounding method only Not representative of actual terminal block location LI L1 L2 L3 PE Earth Four Wire Route all power wires L1 L2 L3 and Earth Wye Ground together in conduit or cable Safety Ground Driven Earth Ground Rod Plant Ground Note Use shielded cable for control signal wires Route control signal wires in conduit These wires must be kept separate from power and motor wires Ground per NEC and Local codes Figure 3 2 Recommended System Grounding 3 phase for CE AC Main Control Note Supply Wiring shown for clarity of L1 L2 L3 PE grounding method only Not representative of actual Four Wire terminal block location Wye Safety PE Ground Route all power wires L1 L2 L3 and Earth Ground together in conduit or cable Allshtelds Enclosure Backplane see Section 8 Note Use shielded cable for control signal wires Route control signal wires in conduit These wires must be kept separate from power and motor wires 3 2 Receiving amp Installation MN1275 Figure 3 3 Recommended System Grounding 1 phase for UL A L Note AC Main Control Wiring shown for clarity of grounding Supply N method only Not representative of actual terminal block location a Earth Route all 3 wires L N and Earth Ground together in cond
103. uipment may be connected to other machines that have rotating parts or parts that are controlled by this equipment Improper use can cause serious or fatal injury Be sure all wiring complies with the National Electrical Code and all regional and local codes or CE Compliance Improper wiring may cause a hazardous condition Be sure the system is properly grounded before applying power Do not apply AC power before you ensure that grounds are connected Electrical shock can cause serious or fatal injury Do not remove cover for at least five 5 minutes after AC power is disconnected to allow capacitors to discharge Electrical shock can cause serious or fatal injury Improper operation of control may cause violent motion of the motor shaft and driven equipment Be certain that unexpected motor shaft movement will not cause injury to personnel or damage to equipment Peak torque of several times the rated motor torque can occur during control failure Motor circuit may have high voltage present whenever AC power is applied even when motor is not rotating Electrical shock can cause serious or fatal injury If a motor is driven mechanically it may generate hazardous voltages that are conducted to its power input terminals The enclosure must be grounded to prevent a possible shock hazard When operating a motor with no load coupled to its shaft remove the shaft key to prevent injury if it were to fly out when the shaft rotates The m
104. uit or cable Driven Earth Ground Rod Plant Ground Note Use shielded cable for control signal wires Route control signal wires in conduit These wires must be kept separate from power and motor wires Ground per NEC and Local codes Figure 3 4 Recommended System Grounding 1 phase for CE AC Main Supply Note Wiring shown for clarity of grounding method only Not representative of actual terminal block location Control Four Wire Wye Safety Ground Neutral Route all power wires PE together in conduit or cable Al shields Enclosure Backplane see Section 8 Note Use shielded cable for control signal wires Route control signal wires in conduit These wires must be kept separate from power and motor wires MN1275 Receiving amp Installation 3 3 System Grounding Continued Ungrounded Distribution System With an ungrounded power distribution system it is possible to have a continuous current path to ground through the MOV devices To avoid equipment damage an isolation transformer with a grounded secondary is recommended This provides three phase AC power that is symmetrical with respect to ground Input Power Conditioning Baldor controls are designed for direct connection to standard single and three phase lines that are electrically symmetrical with respect to ground Certain power line conditions must be avoided An AC line reactor or an isola
105. umed for expendable items such as fuses Goods may be returned only with written notification including a BALDOR Return Authorization Number and any return shipments must be prepaid MN1275 General Information 1 1 Product Notice Safety Notice Intended use These drives are intended for use in stationary ground based applications in industrial power installations according to the standards EN60204 and VDE0160 They are designed for machine applications that require variable speed controlled three phase brushless AC motors These drives are not intended for use in applications such as Home appliances Medical instrumentation Mobile vehicles Ships Airplanes Unless otherwise specified this drive is intended for installation in a suitable enclosure The enclosure must protect the control from exposure to excessive or corrosive moisture dust and dirt or abnormal ambient temperatures The exact operating specifications are found in Section 7 of this manual The installation connection and control of drives is a skilled operation disassembly or repair must not be attempted In the event that a control fails to operate correctly contact the place of purchase for return instructions This equipment contains high voltages Electrical shock can cause serious or fatal injury Only qualified personnel should attempt the start up procedure or troubleshoot this equipment This equipment may be connected to other machines that
106. use within the meaning of Safety law of appliance EMC Law or Machine directive The final mode of operation is defined only after installation into the user s equipment It is the responsibility of the user to verify compliance The product conforms with the following standards DIN VDE 0160 05 88 Electronic equipment for use in electrical power installations DIN VDE 0100 Erection of power installations with nominal voltages up to 1000V DIN IEC 326 Teil 1 10 90 Design and use of printed boards DIN VDE 0110Teil 1 2 01 89 Dimensioning of clearance and creepage DIN VDE 0110Teil 20 08 90 distances EN 60529 10 91 Degrees of protection provided by enclosures EMC Conformity and CE Marking The information contained herein is for your guidance only and does not guarantee that the installation will meet the requirements of the council directive 89 336 EEC The purpose of the EEC directives is to state a minimum technical requirement common to all the member states within the European Union In turn these minimum technical requirements are intended to enhance the levels of safety both directly and indirectly Council directive 89 336 EEC relating to Electro Magnetic Compliance EMC indicates that it is the responsibility of the system integrator to ensure that the entire system complies with all relative directives at the time of installing into service Motors and controls are used as components of a syste
107. with overshoot The next step would be to verify that the values you entered provides for adequate system response You can check this out by having the software move the equipment and plot the response Proceed to Plotting of Move Click in the Tracking block and enter the desired adjustment value This adjustment is used for applications that require improved tracking or following capability to improve or reduce following error A 6 Manual Tuning MN1275 PI COMPENSATION PI method of adjustment allows adjustment of the acceleration ramp time and overshoot values If PI Compensation is selected you would enter values for GV gain and GVI gain Select PI Compensation instead of Pole Placement on the menu shown in Figure A 9 This is an advanced method of adjustment for use by servo engineers The pole placement method is easier to use for most applications and is recommended Figure A 11 Pl Compensation Menu GVI Gain The Integral Gain GVI is the integral gain of the velocity loop It controls 1 the stif ness the ability to reject load disturbances and 2 the amount of offset or following error during steady state conditions velocity command or load does not change The adjustable range is from 0 to 32767 1 Click on the Integral Gain GVI box and enter a value You may want to begin with the default values click on the default button and answer yes To increase stif
108. y signed CE declaration of conformity is available from Baldor EMC Wiring Technique a eje hha ATTENTION The drawing shows only the principle of an EMC wiring 7 The shown instalation can be differen to any national standard e g VDE 8 2 CE Guidelines CABINET The drawing shows an electroplated zinc coated enclosure which is connected to ground This enclosure has the following advantages All parts mounted on the back plane are connected to ground All shield screen connections are connected to ground Within the cabinet there should be a spatial separation between power wiring motor and AC power cables and control wiring SCREEN CONNECTIONS All connections between components must use shielded cables The cable shields must be connected to the enclosure Use conductive clamps to ensure good ground connection With this technique a good ground shield can be achieved EMC FILTER The EMI or main filter should be mounted next to the power supply here BPS For the connection to and from the main filter screened cables should be used The cable screens should be connected to screen clamps on both sides Exception Analog Command Signal Grounding Earth For safety reasons VDE0160 all BALDOR

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