Home

MintDrive II Installation Manual - Q-TECH

1. 4 10 4 3 3 Pulse and direction inputs DIN4 and DIN5 4 10 4 3 4 Special functions on inputs DIN4 and DIN5 4 11 4 3 5 Digital outputs X3 2 4 12 AVA LOtherT MO tesa perce A Die oe tei aad di ed ea 4 13 4 4 1 Encoder output X7 4 13 4 4 2 Master auxiliary encoder input X9 4 14 4 4 3 Serial Port XO oct aise ae a heen lee ee a ee sis See a ee 4 16 444 Using RS232 cable 4 17 4 4 5 Multidrop using RS485 RS422 cable 4 18 4 4 6 Connecting Baldor HMI Operator Panels 4 19 4 5 Connection summary minimum system wiring 4 20 4 5 1 Connection summary shield clamps 4 21 4 6 Option Connectors 4 21 57 Operation a nl uray tale ty ne ace 5 1 Sidi Introduction rt a a As 5 1 5 1 1 Connecting the MintDrivel to the PC 5 1 5 1 2 Installing the softwares 74 31 a haa a 5 1 5 1 3 Starting the MintDrive 5 2 5 1 4 Preliminary checks 3
2. 0 91 1 57 7 70 8 07 5 07 65 357 262 46 32 5 384 400 49 2 56 14 06 10 31 1 81 1 28 15 12 15 75 10 8 130 357 328 111 27 5 75 384 400 9 05 5 12 14 06 12 91 4 37 108 2 95 15 12 15 75 19 95 Figure 1 Package dimensions MN1901 Basic Installation 3 5 33 Connector locations X1 X1A Power Sm X9 Master Encoder Single phase models a l sane i 1 CHA a 2 CHB NC E 3 CHZ O Earth i i 4 NC NC NC 5 DGND 10 L ACLine e Er Ru N AC Neutral w gt 8 CHZ U Motor U Ri 5 9 5V v Motor V R2 3 19 W MotorW z 24V X6 RS232 RS485 R1 Regen Resistor ov RS232 RS485 422 R2 Dynamic Brake X4 0 2 i 1 NC NC i NC Bo O 4 g 5 2 RXD RX g S A 3 TxD TX a E E ES 4 NO NC ov Jsupplied 24V E LJ 5 OVGND OVDGND E manun a a J 6 NC NC MDHxxxxxx xxx3 Mi itDrive Joe M 7 RTS TX only BALDOR lt E 8 CTS RX Three phase models O x 9 NC see section 4 4 3 5 Earth 5 X7 Encoder Out Earth ESE 1 CHA L1 AC Phase 1 m eg 2 CHB e 3 CHz L2 AC Phase 2 o Ba NC L3 AC Phase 3 2 Be 5 DGND a M 6 CHA U Motor U 5 7 CHB Vv Motor V a 4 8 CHZ 8 9 NC W Motor W ou R1 Regen Resistor R2 J Dynamic Brake X8 Feedback In y supplied 24V Resolver option OV J MDHxxxxxx xxx3 only Oo A a 3 SIN 4 NC 5 AGND X4 Analog I
3. C 1 1 Outline This section provides general information regarding recommended methods of installation for CE compliance It is not intended as an exhaustive guide to good practice and wiring techniques It is assumed that the installer of the MintDrive is sufficiently qualified to perform the task and is aware of local regulations and requirements Baldor products that meet the EMC directive requirements are indicated with a CE mark A duly signed CE declaration of conformity is available from Baldor 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 system 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
4. FI0015A00 250 6 04 045 099 FI0015A01 250 0 73 1 61 FI0015A02 250 0 73 1 61 FI0017A03 440 3 0 6 61 FI0017A04 440 3 1 6 83 FI0018A00 480 0 5 1 1 FI0018A01 480 1 2 2 65 Dimensions mm inches FI0018A00 FI0018A01 CN 190 7 48 270 10 63 160 6 30 240 9 45 20 0 79 30 1 18 4 5 0 18 5 4 0 21 71 2 80 85 3 35 o ons ry ES Figure 41 Filter dimensions types FI0018A00 and FI0018A01 MN1901 Accessories A 5 Dimensions mm inches FI0015A00 FI0015A01 FI0015A02 ARO A CS gt O Cl 105 1 a oj aem CS E 103 a a 123 6 63 EE 25 098 INES 124 0 49 32 4 1 28 8 6 0 24 155087 Figure 42 Filter dimensions types FI0015A00 FI0015A01 FI0015A02 A 6 Accessories MN1901 npes A F Depth E gt p Far FI0017A04 65 2 55 20 0 78 20 21 0 83 Figure 43 Filter dimensions types FI0017A03 and FI0017A03 MN1901 Accessories A 7 A 1 7 Regeneration resistors Some MintDrive models 2 5A and 5A are fitted with an internal regeneration resistor see sections 2 2 1 and 7 1 4 Additional external regeneration resistors can be fitted to these models using
5. The MintDrive must be secured by the slots in the flange with the protective earth ground stud bonded to a safety earth ground by either a 25A conductor or a conductor of three times the peak current rating whichever is the greater For effective cooling and maintenance the MintDrive should be mounted on a smooth non flammable vertical surface The power handling capability is affected by the temperature of the left side of the unit Atleast 50mm 2 in top and bottom clearance of the MintDrive must be provided for airflow MN1901 Basic Installation 3 3 3 2 1 f multiple MintDrive are being mounted side by side there must be 13mm 0 5 in between them The MintDrive nearest the side of the cabinet enclosure must be separated from it by at least 13mm 0 5 in To comply with CE directive 89 336 EEC an appropriate AC filter must be installed The external customer supplied 24VDC logic supply might also require a 24V filter See section 3 4 7 The threaded holes in the top and bottom of the enclosure are for cable clamps provided The holes are threaded for M4 bolts no longer than 12mm 0 47 in in length Longer bolts may short circuit the electrical components inside the MintDrive m Each D type connector on the front panel of the MintDrive is secured using two hexagonal jack screws sometimes known as screwlocks If a jack screw is removed accidentally or lost it must be replaced with an
6. is available with different current ratings and package sizes The catalog number is marked on the front of the unit just below the Baldor logo It is a good idea to look for the catalog number sometimes shown as ID No and write it in the space provided here Catalog number MDH Installed at Date A description of a catalog number is shown here using the example number MDH1A05TB RC23 Alternatives Requires an AC supply voltage of 115 Volts 10 2 230V 10 4 230V 460V 30 A02 2 5A A07 7 5A A15 15A A20 20A A27 27 5A Dynamic Brake with a built in transistor and resistor _ i available on 2 5A and 5A models only R Requires external braking resistor Continuous current rating of 5 0A Feedback option is a resolver E Encoder B CAN amp Auxiliary I O D DeviceNet Options 1 CAN channel P Profibus DP N No options specified Serial port type is combined RS232 RS485 Pe Customer s own 24VDC supply is required to power the internal MintDrive logic 0 Internally generated 24VDC supply An external 24VDC supply will always be required to operate the enable input digital inputs and digital outputs on connectors X3 and X4 See sections 4 3 1 to 4 3 5 2 2 Introduction MN1901 2 3 Units and abbreviations The following units and abbreviations are used in this manual Mer hia fae ed Volt also VAC and VDC Nid semer Watt tinge ne Ampere O E Ohm UF 4 et asg microfarad Dist tc pi
7. 2 3 ue 4 De 51 Eee 6 E 7 7 On a Off 7 8 8 On Off De 8 9 ce 1 ue Figure 39 Offset tuning using switch 7 and 8 MN1901 Operation 5 3 5 2 5 2 1 WorkBench v5 WorkBench v5 is a fully featured application for programming and controlling the MintDrive The main WorkBench v5 window contains a menu system the Toolbox and other toolbars Many functions can be accessed from the menu or by clicking a button use whichever you prefer Most buttons include a tool tip hold the mouse pointer over the button don t click and its description will appear Help file WorkBench v5 includes a comprehensive help file that contains information about every Mint keyword how to use WorkBench v5 and background information on motion control topics The help file can be displayed at any time by pressing F1 On the left of the help window the Contents tab shows the tree structure of the help file Each book contains a number of topics 2 The Index tab provides an alphabetic list of all topics in the file and allows you to search for them by name The Search tab allows you to search for words or phrases appearing anywhere in the help file Many words and phrases are underlined and highlighted with a color normally blue to show that they are links Just click on the link to go to an associated keyword Most keyword topics begin with a list of relevant See Also links E Mint MT olx gt 8 Hide Locate Back
8. B 2 B 1 3 Speed amplifier coec drsi airs pe ee e See Sea Tad esa oan B 2 B l 4 Torque amplifier ico ias be he ee Ake te Ae een Ld are er RE HE B 3 B 2 Control system operation B 4 B21 Position conthollet 2 xc tees A eae A ig es Bee B 4 B 2 2 Speed control a B 5 B 2 3 Torque controller and feedback B 6 C CE GUIASIMES vascirinrra dinero caras C 1 C1 Outlin lt A A A a add C 1 C 1 1 EMC Conformity and CE marking C 1 C 1 2 Use of CE compliant components C 2 C 1 3 EMC wiring technique 0 eee nee C 2 C 1 4 EMC installation suggestions C 3 C 1 5 Wiring of shielded screened cables C 4 iv Contents MN1901 General Information Copyright Baldor c 2001 All rights reserved This manual is copyrighted and all rights are reserved This document or attached software 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 Bal
9. i TX A oi 1 0 1 i T 1 T 7 4 1 I 1 1 1 t 1 Y 1 1 1 ae LA TS 1 1 1 1 1 1 l 1 1 i j i f 1 i i 1 1 i 7 i na na See Thermal i Er e f section switch TS a m 3 5 4 Brake 3 i E Ea 7 En Customer supplied i brake control circuit if present To earth ground outer shield use 360 clamps connected to backplane Figure 7 Motor connections A CAUTION Do not connect supply power to the MintDrive UVW outputs The MintDrive might be damaged IN CAUTION The motor leads U V and W must be connected to their corresponding U V or W terminal on the motor Misconnection will result in uncontrolled motor movement The motor power cable must be shielded for CE compliance The connector or gland used at the motor must provide 360 degree shielding The motor cable shield can be clamped to the MintDrive using the earth ground clamp at the top or bottom of the drive if this is more convenient The maximum recommended cable length is 30 5m 100ft Note For CE compliance the motor earth ground should be connected to the drive earth ground 3 14 Basic Installation MN1901 3 5 1 Motor circuit contactors If required by local codes or for safety reasons an M Contactor motor circuit contactor may be installed to provide a physical disconnection of the motor windings from the MintDrive see section 3 5 Opening the M Contactor ensures that the MintDrive cannot drive the motor which may be neces
10. 4 1 4 2 Input Output Introduction This section describes the various digital and analog input and output capabilities of the MintDrive with descriptions of each of the connectors on the front panel The following conventions will be used to refer to the inputs and outputs VO iii Input Output DIN Digital Input DOUT Digital Output AIN andorra Analog Input AO T Analog Output O AA Encoder channel Analog I O The MintDrive provides as standard m 1 analog input on the connector block X3 command input 1 analog input on the connector block X4 m 2 analog outputs on the connector block X4 The analog inputs are not optically isolated from internal power rails so care must be taken to avoid earth ground loops and similar associated problems The input buffers provide low pass filtering of the applied voltage To minimize the effects of noise each analog input signal should be connected to the system using individual shielded screened cable a twisted pair cable in the case of the differential inputs with an overall shield The overall shield should then be connected to the chassis at one end only No other connection should be made to the shield If any inputs are unused then it is advisable to connect them to the AGND pin Do not leave the inputs unconnected floating MN1901 Input Output 4 1 4 2 1 Analog input X3 command Location Connector X3 pins 1 3 Mating
11. Feedback connections Two feedback options are available for use with linear and rotary motors commutating encoder or resolver Confirm the catalog number of your MintDrive see section 2 2 1 to ensure you are wiring the correct feedback device There are some important considerations when wiring the feedback device The feedback device wiring must be separated from power wiring m Where feedback device wiring runs parallel to power cables they must be separated by at least 76mm 3 in m Feedback device wiring must cross power wires at right angles only To prevent contact with other conductors or earth grounds unearthed ungrounded ends of shields must be insulated m Some larger D type connector shells may be obstructed by neighboring connector X3 m Linear motors use two separate cables encoder and Hall The cores of these two cables will need to be wired to the appropriate pins of the 15 pin D type mating connector supplied An encoder output signal is available on connector X7 for supplying other equipment MintDrive models with the resolver option provide a simulated encoder output while the encoder based MintDrive duplicates the encoder signals entering X8 See section 4 4 1 for details MN1901 Basic Installation 3 19 3 7 1 Resolver option X8 The resolver connections are made using the 9 pin D type male connector X8 Twisted pair cables must be used for the complementary signal pairs e g SIN and SIN
12. MN1901 Input Output 4 13 4 4 2 Master auxiliary encoder input X9 Location Connector X9 Encoder name Pulse amp direction name se CO HH CS RE LE CS 8 ea sean pen EAS CI pe o Ci uu O 3 Sampling interval 1 or 2ms The MintDrive provides an auxiliary master or handwheel encoder input that allows it to follow a master encoder or pulse and direction inputs An interface for a three channel incremental encoder CHA CHB CHZ is provided The input receiver circuit allows only encoders with differential line drivers RS422 to be used Single ended operation is not supported The interface also provides an isolated 5V supply for the encoder electronics capable of driving up to 100mA A CAUTION The master encoder input does not use the same pin configuration as some Baldor controllers such as NextMoveBX X9 Twisted pairs CHA CHA CHB Master CHB Encoder CHZ CHZ 5V DGND Connect internal shields to DGND O1 CO NO So Connect overall shield to A connector backshells Figure 31 Differential encoder connections 4 14 Input Output MN1901 4 4 2 1 Pulse and Direction following The master encoder input accepts 5V pulse and direction signals from an external source The pulse frequency controls the speed and the state of the direction signal controls the direction of motion A positive voltage 5V on pin 2 will result in forward m
13. Node number address switch settings MN1901 Basic Installation 3 27 3 9 2 3 9 3 3 9 4 If switches 1 4 are all in the Off position the Mint NODE keyword can be used to set the node number WorkBench v5 see section 5 2 reads the MintDrive node number during the scan process and then uses it to direct commands to the MintDrive If the node number is changed from the Command window subsequent commands sent by WorkBench v5 will have no effect To rescan for the MintDrive you will need to start a new project in WorkBench v5 Avoid accidentally setting switches 1 4 to the On position at the same time In combination with DIP switch 8 this will reset the MintDrive to its factory defaults See section 3 9 6 Switch 6 Hold Switch 6 stops the motor In the Off position normal operation is allowed When switched to the On position the motor decelerates to rest and maintains position The switch position is sampled every 100ms Switch 7 Offset tuning Switch 7 is used to start offset tuning on analog command input AINO The purpose of offset tuning is to remove DC offset voltages on analog input 0 the command reference input to achieve a stationary motor shaft with OVDC at the input Confirm that the device supplying the AINO command input is set to its intended zero output setting nominally OVDC before starting offset tuning When switch 7 is in the On position offset tuning will start the next time Enable
14. shielding Earth ground Pa bolt 1 Status 2 MintDrive top pane MintDrive front panel Analogl O 4 RS232 RS485 X6 Ge Master Enc X9 Figure 38 Attaching shield clamps 4 6 Option connectors If there are additional connectors on the front panel of your MintDrive that have not been described in previous sections these are part of a factory fitted option You will need to refer to the extra manual supplied with your MintDrive for details of the option s connectors This completes the input output wiring You should read the following sections in sequence before attempting to start the MintDrive MN1901 Input Output 4 21 4 22 Input Output MN1901 5 1 5 1 1 5 1 2 Operation Introduction Before powering the MintDrive you will need to connect it to the PC using a serial cable and install the supplied PC software WorkBench v5 This software includes a number of tools to allow you to configure tune and program the MintDrive If you do not have experience of software installation or Windows applications you may need further assistance for this stage of the installation Connecting the MintDrive t
15. AC Route L N and Supply earth ground together in conduit or cable Line L _ _A D Neutral N Isolating switch If filter has no output earth ground terminal earth wire may be connected directly to star point To earth ground outer shields use 360 clamps connected to backplane or MintDrivel case See section 4 5 1 Incoming safety earth ground PE STAR POINT Figure 2 Earthing grounding for single phase installations Note For CE compliance a filter must be connected between the AC power supply and the MintDrive If local codes do not specify different regulations use at least the same gauge wire for earth ground as is used for L and N 3 8 Basic Installation MN1901 3 4 2 Three phase connection to package sizes G H Location Connector X1A Mating connector Phoenix POWER COMBICON PC4 ST 7 62 Nominal input voltage 230 460VAC 30 line to line 180 528VAC Tightening torque for terminal block connections is 0 5 0 6Nm 4 4 5 3 Ib in The threaded hole in the top of the enclosure is for the earth ground clamp provided The hole is threaded for M4 bolts no longer than 12mm 0 47 in in length Longer bolts may short circuit the electrical components inside the MintDrive AC Route L1 L2 L3 and Circuit breaker or fuses AC filter Supply earth ground together See section 3 4 4 See section 3 4 5 in conduit
16. AC power supply wait for the MintDrive to power down completely all Status LED segments will turn off then re apply AC power MN1901 Troubleshooting 6 1 6 2 6 2 1 MintDrive indicators Status display The Status LED display indicates general MintDrive status information Some characters will flash to indicate an error 3 4 Drive comms watchdog Interprocessor communications failure This is potentially a severe problem if it occurs repeatedly Communications failure could indicate a process locking out the interprocessor communications Clear the error if the problem persists then contact Baldor technical support Over volts The DC Bus voltage has exceeded the powerbase overvolts level see DRIVEBUSOVERVOLTS Check the DC Bus level being fed into the system see Mint keyword DRIVEBUSVOLTS This should be close to the nominal voltage see Mint keyword DRIVEBUSNOMINALVOLTS Ensure that your input voltage is relevant to the voltage rating of your drive If the input voltage is correct then this error may be the result of high deceleration rates If itis not possible to reduce the harshness of the deceleration rate then a regeneration resistor should be used To help you use WorkBench v5 capture facility to monitor the DC Bus level during moves Integrated Power Module IPM trip The unit s powerbase has been overloaded This should not happen in normal use if limits have been configured correc
17. AXISERROR and DRIVEERROR The motion toolbar displays the status of AXISERROR which is a bit pattern of all latched errors See also the Error Log topics in the help file Error input The ERRORINPUT has been activated and generated an error Flying shear A flying shear is being profiled See the Mint keyword FLY Position or velocity following error A following error has occurred See the Mint keyword AXISERROR and associated keywords Following errors could be caused by a badly tuned drive motor At higher acceleration and deceleration rates the following error will typically be greater Ensure that the drive motor is adequately tuned to cope with these acceleration rates The following error limit can be adjusted to suite your application see Mint keywords FOLERRORFATAL and VELFATAL Following error could also be the cause of encoder resolver loss see also Mint keyword FEEDBACKFAULTENABLE Follow mode The drive is in Follow mode See the Mint keyword FOLLOW Hold The Hold DIP switch is active see section 3 8 or the PLC Task has requested a Hold state Motion will be ramped to zero demand and will then hold on position while the switch is active Homing The drive is currently homing See the Mint keyword HOME Preset Homing The drive is currently homing This motion has been triggered from a Preset move table Incremental move An incremental move is being profiled See the Mint keywords INCA and INCR Jog The drive is joggi
18. C emase o e Hall cable wire color Raro VI IE Fals Hall VDC 3 16 Basic Installation MN1901 3 5 4 Thermal switch connection You might wish to wire the motor s thermal switch contacts normally open via a relay to a digital input on connector X3 see section 4 3 1 Using the Mint keyword MOTORTEMPERATUREINPUT this provides a way for the Mint program to respond to motor over temperature conditions A typical circuit using DIN1 as the input is shown in Figure 9 X3 Relay 10 DINO INx 0 from motor A 11 DIN1 INX 1 thermal switch 12 DIN2 INX 2 connections E 13 DIN3 INX 3 K 14 DIN4 INX 4 15 DIN5 INX 5 16 DING INX 6 17 DIN7 INX 7 24VDC OV 7 CREF Customer supplied 24VDC supply Figure 9 Motor thermal switch circuit IN CAUTION The thermal switch contacts must never be wired directly to a digital input the wires might carry induced voltages and noise that could damage the input The relay should be fitted with a protective flyback diode as shown Wires should not run in the same conduit as motor leads or AC power wiring MN1901 Basic Installation 3 17 3 6 3 6 1 Regeneration resistor Dynamic Brake resistor The 2 5A and 5A MintDrive both have an internally fitted regeneration resistor For 7 5A 15A 20A and 27 5A MintDrive an external regeneration resistor must be installed to dissip
19. Drivell and MintDrive Option B provides CANopen Baldor CAN and additional input output capabilities If this option is fitted the MintDrive front panel will include connectors X10 X11 and X12 m MN1909 CAN option for FlexDrivell Flex Drivell and MintDrive L Option C provides CANopen capabilities If this option is fitted the MintDrive front panel will include connectors X10 and X11 m MN1910 DeviceNet option for FlexDrive Flex Drivell and MintDrivell Option D provides DeviceNet capabilities If this option is fitted the MintDrive front panel will include connector X15 m MN1911 Profibus option for FlexDrive Flex Drivell and MintDrivell Option P provides Profibus capabilities If this option is fitted the MintDrive front panel will include connector X14 MN1901 Accessories A 1 A 1 2 Motor power cables Cable Cable assembly CBLO15SP MHCE 5 CBLO30SP MHCE Power Cable Assembly CBLO61SP MHCE 10 Amps CE Style Threaded CBLO91SP MHCE Connector CBL152SP MHCE CBL229SP MHCE CBL305SP MHCE CBLO15SP FHM CBLO30SP FHM CBLO61SP FHM CBLO76SP FHM CBLO91SP FHM CBL152SP FHM CBL229SP FHM CBL305SP FHM Power Cable Assembly E CE Style Threaded CBL091SP FHCE Connector CBL152SP FHCE CBLO30SP F CBLO46SP F Power Cable CBL061SP F No Connectors CBLO76SP F CBL091SP F CBL152SP F CBLO30SP E CBLO46SP E 30 Amps cd CBLO61SP E CBLO91SP E CBL152SP E A 1 3 Motor power cable part numbers 8Naioc
20. I O tool Alternatively the Mint INPUTACTIVELEVEL keyword can be used to select the sense of all the digital inputs except drive enable The state of the drive enable input is displayed in the WorkBench v5 Spy window It can also be checked but not set using the Mint keyword DRIVEENABLESWITCH See the Mint help file for details MN1901 Basic Installation 3 25 3 8 2 3 8 3 Drive enable SW1 DIP switch Pal To enable the MintDrive the front panel DIP switch 8 must be set to On This switch provides a local enable disable switch that can be useful during testing The state of the drive enable DIP switch is displayed in the WorkBench v5 Spy window It can also be checked but not set using the Mint keyword ENABLESWITCH See the Mint help file for details 1 2 3 4 Ly 6 7 8 9 1 o See section 3 9 for full details of other DIP switch functions Drive enable command The other action required to enable the MintDrive can be controlled either by software or hardware Note This method is explained here for your information but cannot be completed until you have installed the software and are ready to turn on AC power to the drive Please continue to read all sections in sequence Do not turn on AC power until you reach the appropriate instructions In software a drive enable command must be issued The easiest way to do this is by clicking the Drive enable button x in WorkBench v5 Alternatively the
21. KVDERIVTCONST set to zero When the MintDrive is set to positioning mode CONFIG is _cfSERVO the profiler acceleration is fed forward by gain KACCEL to give a contribution to the final torque demand The speed control calculation is performed every 250us As with the position controller the gain values KVPROP KVINT KVDERIV and KACCEL must be tuned for each application This can either be performed automatically within the Commissioning Wizard or manually using the Fine tuning tool of WorkBench v5 Acceleration feedforward term CONFIG _cfSERVO only Profiler acceleration Proportional gain term KVPROP Integral gain term Velocity error Torque demand Speed demand KVDERIVTCONST Measured speed VEL Figure 50 Speed control system MN1901 Control System B 5 B 2 3 Torque controller and feedback The torque controller shown in Figure 51 is a Pl controller Gains are set using the Mint keywords KIPROP and KIINT The torque demand is scaled into a current demand This is compared with the measured current obtained from the current sensors and the error is fed into the Pl control calculation The resulting value forms the PWM signal that is fed through the power stage into the motor windings The gain values KIPROP and KINT must be tuned for a specific motor This is performed automatically by the Commissioning Wizard Although the PI control alone can achieve adequate current tracking
22. MintDrive has power factor correction capacitors that are switched on line and off line the capacitors must not be switched while the drive is connected to the AC power line If the capacitors are switched on line while the drive is still connected to the AC power line additional protection is required A Transient Voltage Surge Suppressor TVSS of the proper rating must be installed between the AC line reactor or isolation transformer and the AC input to the MintDrive Power disconnect and protection devices A power disconnect should be installed between the input power service and the MintDrivell for a fail safe method to disconnect power The MintDrive will remain in a powered condition until all input power is removed from the drive and the internal bus voltage has depleted The MintDrive must have a suitable input power protection device installed Recommended circuit breakers are thermal magnetic devices 1 or 3 phase as required with characteristics suitable for heavy inductive loads D type trip characteristic Recommended time delay fuses are Buss FRN on 230VAC or equivalent following the UL 508C recommendation of a fuse size of four times the continuous output current of the drive Dual element time delay fuses should be used to avoid nuisance trips due to inrush current when power is first applied Circuit Breaker Fuse From From supply supply L TT L L L N N N N Figure 4 Circuit br
23. Operation 5 5 5 2 3 5 2 4 3 In the Select Controller dialog go to the Select Controller BE drop down box near the top and select Click Scan or choose a controller from the list For a controller with the PC ld port to which the drive is Suk ob dake ficas Select is tackacod wat Update Mire connected Only scan COM 7 Scan Add Specific Controller If you are unsure which PC serial port is Search up to Node 30 connected to the drive select Scan all serial ports Scanning serial ports done Controllers found Click Scan to search for the MintDrive MintDrive Il Node 2 Lon COM A5232 at 57600 Baud When the search is complete click on MintDrive in the list to select it and click the Select button Note If the MintDrive is not listed check the serial lead between the MintDrive and the PC and that ona a the MintDrive is powered Wizard ane correctly Click Scan to re scan the ports This check box is already selected for you When you click Select it means that the Commissioning Wizard will start automatically Commissioning Wizard Each type of motor and drive combination has slightly different performance characteristics Before the MintDrive can be used to control the motor accurately the MintDrive must be tuned This is the process where the MintDrive powers the motor in a series of tests By monitoring the feedback from the motor
24. See MN1908 CAN and 1 0 option for FlexDrive Flex Drive and MintDrive 4 8 Input Output MN1901 4 3 1 Digital inputs X3 Connector X3 Pin Name 8 ive nate Mint keyword Description Eight general purpose optically isolated AC digital inputs One committed drive enable input Drive Enable Sampling interval 2ms The digital inputs DINO DIN7 can be read individually using the associated Mint INX keyword for example INX 7 and can be configured for many user definable functions Each input circuit contains an opto isolator as shown in Figure 27 Inputs DIN4 and DIN5 can also be used as fast inputs see section 4 3 4 The state of each digital input is displayed in the WorkBench v5 Spy window MintDrive Vee 10k DINx Ak7 A Pins 10 13 7 dado amp 16 17 a 1k 0 1pF iN th CREF DGND Pin 7 42 cl NECPS2565 Active high DINx 24VDC 20 Active low DINx 0V CREF 0V CREF 24VDC 20 Figure 27 X3 digital input circuit MN1901 Input Output 4 9 4 3 2 4 3 3 CREF and digital inputs Pin 7 CREF controls the sense of all the digital inputs X3 pins 9 to 17 and should be permanently wired dependent on the user requirements Active high connect 24VDC to pin 9 and OV to pin 7 The digital inputs will be active when a voltage of 24VDC greater than 12VDC is applied to them and will sink a curr
25. Software limit error Set SOFTLIMITMODE to zero to ignore the software limit error while AXISERROR bits 3 or 4 set and tuning the Mint gains the drive disables when tuning the Mint gains get a Hardware limit error Set LIMITMODE to zero to ignore the hardware limit errors while AXISERROR bits 1 or 2 set and tuning the Mint gains Alternatively disable the hardware limit the drive disables when tuning inputs the Mint gains Status LED shows a digit or E If the Status display shows a flashing digit E or the forward or reverse hardware limit symbol use the Error Log tool to view a list of recent errors Alternatively type PRINT DRIVEERROR PRINT AXISERROR and PRINT MISCERROR as separate commands in the WorkBench v5 Command window Each of these commands will return an error code a description of which can be found in the help file Press F1 and locate the DRIVEERROR AXISERROR and MISCERROR keywords The Error Handling book contains topics listing the Status display indicators and basic error codes Remember that many error codes are the sum of a bit pattern so may not be listed individually For help on understanding bit pattern values see the Bit pattern values topic in the Keywords book 6 6 Troubleshooting MN1901 Specifications 7 1 Introduction This section provides technical specifications for the various MintDrive models MN1901 Specifications 7 1 7 1 1 AC input power and motor ou
26. a skilled operation disassembly or repair must not be attempted In the event that a drive fails to operate correctly contact the place of purchase for return instructions Precautions IN WARNING Do not touch any circuit board power device or electrical connection before you first ensure that no high voltage is present at this equipment or other equipment to which it is connected Electrical shock can cause serious or fatal injury Only qualified personnel should attempt to start up program or troubleshoot this equipment A WARNING Be sure the system is properly earthed grounded before applying power Do not apply AC power before you ensure that earths grounds are connected Electrical shock can cause serious or fatal injury IN WARNING Be sure that you are completely familiar with the safe operation and programming of this equipment This equipment 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 Only qualified personnel should attempt to program start up or troubleshoot this equipment IN WARNING Be sure all wiring complies with the National Electrical Code and all regional and local codes Improper wiring may result in unsafe conditions A WARNING The stop input to this equipment should not be used as the single means of achieving a safety critical stop Drive disable motor disconnect motor brake and other means should be use
27. at this point Finally the torque demand signal is fed into a torque controller This demand torque is used to determine the appropriate amount of current to apply to the windings of the motor This demand current is compared with the actual winding current measured from sensors and a suitable pulse width modulation PWM signal is generated This PWM signal is fed to the power electronics in the drive Position profiler Speed Torque Position demand demand controller Position reference Speed controller Torque PWM Power stage controller motor Measured current Measured speed Measured position Figure 45 Control structure in Servo _cfServo configuration MN1901 Control System B 1 B 1 2 Positioning system without speed controller Setting CONFIG to __cfTORQUE_SERVO configures the MintDrive to act as a different type of positioning system as shown in Figure 46 Here the speed controller is not present and the position controller performs the task of speed tracking To achieve this the position controller generates a torque demand signal directly In most positioning applications the control structure which includes the speed loop _c SERVO will give superior results However in a few applications where stationary positioning accuracy is the most overriding criteria removal of the speed loop can sometimes be beneficial This mode is also useful for applications which are designed to s
28. compliance The CE mark informs the purchaser that the equipment has been tested and complies with the appropriate standards 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 that it is the instructions of installation and the product that should comply with the directive MN1901 CE Guidelines C 1 C 1 2 C 1 3 Use of CE compliant components The following points should be considered Using CE approved components will not guarantee a CE compliant system m The components used in the drive installation methods used materials selected for interconnection of components are important The installation methods interconnection materials shielding filtering and earthing grounding of the system as a whole will determine CE compliance 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 EMC wiring technique Cabinet Using a typical electroplated zinc coated enclosure connected to earth ground means that all parts mounted on the back plane are connected to earth ground and all outer shield screen connections can be connected to earth ground Within the cabinet there should be a spatial separation between power wiring
29. configured for four basic control modes to suit the particular application The choice of mode is defined using the Commissioning Wizard or the Mint keyword CONFIG See the Mint help file for details The four control modes are shown in Figures 45 to 48 Positioning system with speed controller Setting CONFIG to _cfSERVO configures the MintDrive as a full positioning system as shown in Figure 45 Here a position reference obtained from a specified source e g a Mint program the WorkBench v5 Command window the auxiliary encoder or Fieldbus provides targets for a position profiler The profiler generates a position demand signal that smoothly changes between successive targets The profile also generates corresponding speed and acceleration demand signals The position and speed demand signals are fed into a position controller and used together with the position measured from the feedback device to generate a suitable speed demand signal If the position controller is tuned correctly the measured position will accurately track the position demand The speed demand signal from the position controller is fed into a speed controller and used together with the speed measured from the feedback device to generate a torque demand signal Again if the speed controller is tuned correctly the measured speed will accurately track the speed demand To improve the tracking performance of the speed controller the profiler acceleration demand is fed in
30. connector Phoenix MINI COMBICON MCVR 1 5 ST Description Single ended or differential input Common mode voltage range 10VDC Resolution 14 bit with sign accuracy 1 2mV Common mode rejection 40dB Input impedance gt 5kQ Sampling interval 500us Software Mint programs 125us High speed command reference signal Analog input X3 can be connected as either a differential or a single ended input as shown in Figure 19 X3 AINO 1 AINO AINO 2 AINO AINO ADC 0 ADC 0 3 GND Differential connection Single ended connection Figure 19 AINO analog input wiring 4 2 Input Output MN1901 24VDC OV 1 5kQ 0 25W il 1kQ 0 25W potentiometer Figure 20 Typical input circuit to provide 0 10V approx input from a 24V source AINO Pin 2 AINO Pin 1 MintDrive 15V 15V HH E 20k 10k 10k 10k 10k BE LF412 E HH HHH 15V 15V AGND rie ses filter amp Mint eve correction ADC 0 inverts signal Figure 21 AINO analog input circuit MN1901 Input Output 4 3 4 2 2 Analog input X4 Location Connector X4 pins 2 amp 3 Mating connector Phoenix MINI COMBICON MCVR 1 5 ST 4 Q al 3 O amp Description Single ended or differential input Common mode voltage range 10VDC Resolution 14 bit with si
31. for a torque profiler The profiler generates a torque demand signal that smoothly changes between successive torque targets This torque demand signal is fed into the torque controller and the remaining system operates as described in section B 1 1 Torque profiler Torque Torque PWM Power stage controller motor Measured current Figure 48 Control structure in Torque _cfTorque configuration Torque reference z MN1901 Control System B 3 B 2 B 2 1 Control system operation The following sections describe the operation of the position speed and torque controllers Position controller The position controller shown below is a typical proportional integral derivative PID controller with gains set by the Mint keywords KPROP KINT and KDERIV The position demand from the profiler is compared with the measured position and the error is fed into the PID control calculation The resulting value forms the basic speed or torque demand depending on the CONFIG setting The effect of the integral term can be changed using the KINTLIMIT and KINTMODE keywords KINTLIMIT sets the maximum value of the effect of integral action as a percentage of the full scale demand KINTMODE can be used to specify the circumstances under which the integral term is applied As an alternative to the derivative term a velocity feedback term is available by setting keyword KVEL To improve the tracking performance of the pos
32. identical jack screw with an external male threaded section of 5mm 0 2 in Jack screws with longer threads could damage or short circuit internal components Mounting the MintDrive Ensure you have read and understood the Mechanical installation and location requirements in section 3 2 Mount the MintDrivel on its rear side the side opposite to the front panel The MintDrive must be mounted upright to ensure adequate cooling you can check this by ensuring that the Hazardous Voltages warning information is clearly readable to you M5 bolts or screws should be used to mount the MintDrive There are six different package sizes depending on the specification of the MintDrive Detailed dimensions for each package are shown in section 3 2 2 femowion ACI 3 4 Basic Installation MN1901 3 2 2 Dimensions Package size H only Additional mounting hole positioned centrally between outer mounting holes Package sizes G amp H W4 9 5mm All other sizes Wa W2 Dimensions mm inches A 67 5 173 152 40 15 40 195 5 205 1 25 2 66 6 81 6 00 1 57 0 59 1 57 7 70 8 07 2 76 84 173 152 40 15 40 195 5 205 1 55 3 31 6 81 6 00 1 57 0 59 1 57 7 70 8 07 3 42 92 5 173 152 40 23 40 195 5 205 2 1 3 64 6 81 6 00 1 57 0 91 1 57 7 70 8 07 4 63 109 173 152 40 23 40 195 5 205 2 3 4 29 6 81 6 00 1 57
33. motor and AC power cables and control wiring Shield 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 earth ground connection With this technique a good earth ground shield can be achieved EMC filters The filter should be mounted next to the MintDrive The connections between the MintDrive and the filter should use shielded screened cables The cable shields should be connected to shield clamps at both ends An exception to this is the analog command signal Earthing grounding For safety reasons VDE0160 all Baldor components must be connected to earth ground with a separate wire Earth ground connections must be made from the central earth ground star point to the regeneration resistor enclosure and from the central earth ground star point to the power supply C 2 CE Guidelines MN1901 C 1 4 EMC installation suggestions To ensure electromagnetic compatibility EMC the following installation points should be considered to help reduce interference Earthing grounding of all system elements to a central earth ground point star point Shielding of all cables and signal wires Filtering of power lines A proper enclosure should have the following characteristics All metal conducting parts of the enclosure must be electrically connected to the back plane These connections should b
34. of MintDrive An AC power filter is required to comply with the CE directive for which the MintDrive was tested see section 3 4 5 If the MintDrive requires an external customer supplied 24VDC logic supply then this must be a regulated power supply with a continuous current supply capability of 1 75A 4A power on surge A 24V filter may be required to comply with the CE directive for which the MintDrive was tested see section 3 4 5 Hardware requirements The components you will need to complete the basic installation are The motor that will be connected to the MintDrivel A motor power cable A resolver or encoder feedback cable and Hall cable for linear motors With some applications there may be a requirement for a regeneration resistor Dynamic Brake Note Without the regeneration resistor the drive may produce an overvoltage fault All MintDrive models have overvoltage sensing circuitry but only 2 5A and 5A models catalog numbers MDHxxxxxB xxxx have an internal regeneration resistor For 7 5A 15A 20A and 27 5A models a regeneration resistor must be purchased separately if required See Appendix A MN1901 Basic Installation 3 1 3 1 3 3 1 4 3 1 5 A serial cable Note The serial connector on the MintDrive connector X6 can be configured as either RS232 or RS485 RS422 Pin 9 is used to carry 8V for powering some Baldor keypad peripherals Ensure that pin 9 is not connected to ear
35. position and I O information It is recommended that a separate fused 24V supply is provided for the MintDrive If other devices are likely to be powered from the same 24V supply then a filter Baldor catalog number F10014A00 should be installed to isolate the MintDrive from the rest of the system Nominal input voltage 24V nput current 1 75A continuous 4A power on surge maximum Tightening torque for terminal block connections is 0 5 0 6Nm 4 4 5 3 Ib in Note Connect 24V to connector X1 only if your model has this feature Connecting 24V to a model that does not require an external 24V supply MDHxxxxx xxx0 could damage the unit Customer supplied 24V filter 24VDC fused optional 24V GND To earth ground outer shield use 360 clamps connected to backplane Incoming safety earth ground PE STAR POINT s sesaesesseb es Single phase model shown for illustration purposes Figure 6 Customer supplied 24V supply connections MN1901 Basic Installation 3 13 3 5 Motor connections The motor can be connected directly to the MintDrive or through a motor contactor M Contactor MDHAA MDHA2A MDHAA Nominal output voltage 160VDC 320VDC 565 650V Output voltage range 135 176VDC 306 350VDC 254 746VDC Motor Ground PE i a 1 po eg zi es TS i it my ee i 1 Unshielded lengths should 1 i i be as short as possible
36. power supply connections If the motor wires were disconnected in section 5 1 4 turn off the AC supply and reconnect the motor wires Turn on the AC supply To allow the Commissioning Wizard to function SW1 DIP switch 8 will need to be set to the On position to allow the MintDrive to be enabled If you do not wish to enable the MintDrive yet the Commissioning Wizard will inform you when this step is necessary To allow the Commissioning Wizard to function the 24VDC drive enable signal will need to be present on connector X3 between pins 7 and 9 to allow the MintDrive to be enabled If you do not wish to enable the MintDrive yet the Commissioning Wizard will inform you when this step is necessary The MintDrive is now ready to be commissioned using WorkBench v5 5 2 Operation MN1901 5 1 6 Offset tuning optional If the MintDrive will be using analog input O AINO as a command reference input or for any other purpose you may wish to perform offset tuning before continuing The purpose of offset tuning is to remove DC offset voltages on the command reference input to achieve a stationary motor shaft with OVDC at the input Offset tuning is controlled by DIP switches 7 and 8 Before starting confirm that the device supplying the AINO command input is set to its intended zero output setting nominally OVDC 0 1 gee 2 ai 3 Wait for 1 second 4 MUS 3 for offset tuning to de un mE be completed
37. s resolver or encoder and performing a number of calculations the MintDrive can make small adjustments to the way it controls the motor This information is stored in the MintDrive EEPROM and can be uploaded to a file if necessary The Commissioning Wizard provides a simple way to tune the MintDrive and create the necessary configuration information for your drive motor combination so this is the first tool that should be used Using the Commissioning Wizard IN CAUTION The motor will move during commissioning For safety it is advisable to disconnect any load from the motor during initial commissioning The motor can be tuned with the load connected after the Commissioning Wizard has finished Each screen of the Commissioning Wizard requires you to enter information about the motor or drive Read each screen carefully and enter the required information If you need extra help click the Help button or press F1 to display the help file When you have completed a screen click Next gt to display the next screen If you need to change something on a previous screen click the lt Back button The Commissioning Wizard remembers information that you have entered so you will not need to re enter everything if you go back to previous screens 5 6 Operation MN1901 5 2 5 Completing the Commissioning Wizard The final screen Tuning has a Finish button that is grayed out until the tuning tests have been completed When the tuning test
38. switch 8 is changed from On to Off 1 2 SWI 3 Wait for 1 second 4 MS de for offset tuning to V4 be completed 2 r 2 33 ae 3 am 3 4 ae 4 en 4 5 5 es 6 mm 6 6 7 7 On 7 Off a 7d 7 8 8 On Off EE 8 e s 9 o BO 9 10 Er 0 le Sm Figure 16 Offset tuning using switch 7 and 8 Leave switch 7 Off in normal use The switch positions are sampled every 100ms The Mint keyword ADCOFFSETTRIM can be used to perform the same action Switch 8 Enable Switch 8 must be set to On to allow the drive to be enabled The switch positions are sampled every 100ms However two other actions are necessary to enable the MintDrivel m The enable input see section 3 8 must be active m The drive must also be enabled by using a drive enable command see section 3 8 3 3 28 Basic Installation MN1901 3 9 5 3 9 6 Switches 9 and 10 RS232 RS485 select Switch 9 is reserved for Baldor keypad selection Switch 10 selects RS232 communications Off or RS485 RS422 On the next time the MintDrive is power cycled Factory settings If switches 1 4 are all in the On position and switch 8 is set to Off the MintDrive will be reset to its preset factory settings at power on or whenever the processor is reset by WorkBench v5 IN CAUTION Use this function carefully it will erase your drive setup information When using the SW1 DIP switches to reset the MintDrive to its
39. the R1 and R2 pins of connector X1 X1A Resistors connected in this way will be in parallel with the internal resistor If an internal resistor is not present a regeneration resistor should be installed to dissipate energy during braking to prevent an over voltage error occurring MIND GT 115VAC 10 models 230VAC 10 models 230 460VAC 30 models intDrive current Baldor Power Baldor Power Baldor Power rating catalog rating catalog rating catalog rating number W number W number W Internal Internal Internal REED REID RE 5A RG27A ROZ ZR RGT Note Where the required dissipation could exceed 320W resistor RG23 rated at 640W can be used instead 5 POCO Jeon CIA 69 O eu Pies a L Ean gt O Pe oO os M4 L 65 2 6 337 13 2 for 320 640 watt Dimensions mm inches Figure 44 Regeneration resistor dimensions all types IN WARNING A regeneration resistor may generate enough heat to ignite combustible materials To avoid fire hazard keep all combustible materials and flammable vapors away from the brake resistors Ensure that the resistor has clearance of at least 50mm 2 in above and below and 26mm 1 in left and right A 8 Accessories MN1901 B 1 B 1 1 Control System Introduction The MintDrive can be
40. the overall shield nductiv Clamp should provide 360 a e Guye contact with the cable amp lt 30mm 600mm max Figure 52 Earthing grounding cable shields MintDrive Cable Resolver Connector X8 Housing REF REF COS COS SIN SIN AGND N Connect overall shield Connect overall shield to connector backshell to connector backshell Figure 53 Resolver cable grounding MintDrive Encoder Connector x8 Cable Housing Twisted pairs CHA CHA CHB CHB CHZ CHZ 5V DGND 0040 YJNO ib e cal or Connect overall shield Connect overall shield ae to connector backshell to connector backshell Figure 54 Encoder signal cable grounding C 4 CE Guidelines MN1901 MintDrive X9 CHA CHA CHB CHB CHZ CHZ 5V DGND O1 OO I ND DO Cable gt en Auxiliary Encoder Housing Connect overall shield to connector backshell Figure 55 Auxiliary Encoder cable grounding Connect overall shield A to connector backshell MN1901 CE Guidelines C 5 C 6 CE Guidelines MN1901 BALDOR MOTORS AND DRIVES Baldor Electric Company P O Box 2400 Ft Smith AR 72902 2400 Tel 501 646 4711 Fax 501 648 5792 www baldor com Printed in UK MN1901 11 2001 Baldor UK Ltd
41. 018A01 27 5A F10018A01 Table 1 Baldor filter part numbers If this model requires a customer supplied 24V control supply catalog numbers MDH2A07T x xxx3 use filter FIO015A02 For further details of power supply filters see section A 1 6 MN1901 Basic Installation 3 11 3 4 6 Wire sizes and protection device ratings Table 2 describes the wire size to be used for power connections and the ratings of the protection devices ncoming Power F Continuous D Type s Minimum Catalog Number Nominal Time Delay g Nu Input Output Input Input Fuse Wire Gauge Amps Breaker Voltage RMS A EE 8 ES NE O A 20 RC RE EE E E E C O ER E A e ar ep Table 2 Protection device and wire ratings Note All wire sizes are based on 75 C 167 F copper wire Higher temperature smaller gauge wire may be used per National Electric Code NEC and local codes Recommended fuses breakers are based on 25 C 77 F ambient maximum continuous control output current and no harmonic current Earth ground wires must be the same gauge or larger than the Line and Neutral wires 3 12 Basic Installation MN1901 3 4 7 External customer supplied 24V control supply Depending on model catalog numbers MDHxxxxx xxx3 a 24VDC control supply must be provided to power the control electronics This is useful for safety reasons where AC power needs to be removed from the power stage but the control electronics must remain powered to retain
42. 0SF KPM CBLO61SF KPM CBLO91SF KPM CBL152SF KPM CBL229SF KPM CBL305SF KPM CBLO15SF KPCE CBLO30SF KPCE CBLO61SF KPCE CBLO91SF KPCE CBL152SF KPCE CBL229SF KPCE CBL305SF KPCE CBLO30SF K CBLO61SF K CBLO91SF K CBL152SF K CBL213SF K CBL305SF K Accessories A 3 A 1 5 Feedback cable part numbers A description of a Baldor feedback cable catalog number is shown here using the example number CBLO30SF ALCE The item is a cable 030 Indicates the length in this example 3 0 meters Various lengths are available SF Tre cable Tsa Servo motor Feedback eae A Resolver feedback cae ere Note Feedback cables terminated with a CE connector catalog numbers CBLxxxxx xxCE have shields tied to the connector housing If you are not using a Baldor cable with your chosen feedback device be sure to obtain a cable that is a shielded twisted pair 0 34mm2 22 AWG wire minimum with an overall shield Ideally the cable should not exceed 30 5m 100ft in length Maximum wire to wire or wire to shield capacitance is 50pF per 300mm 1ft length to a maximum of 5000pF for 30 5m 100ft A 4 Accessories MN1901 A 1 6 EMC filters AC filters remove high frequency noise from the AC power supply protecting the MintDrive These filters also prevent high frequency signals from being transmitted back onto the power lines and help meet CE requirements To select the correct filter see section 3 4 5 A 1 6 1 Catalog numbers
43. 24 4 0 A Ph he eM Pe A 5 2 DO POWER ON CHECKS cd da ade eam te haa 5 2 5 1 6 Offset tuning optional 2 5 3 ii Contents MN1901 5 2 lt WorkBenGh VO E AA Ae ans eek 5 4 5 2 1 Help file via a bee he te Sea oe ea ears ee et 5 4 5 2 2 Starting WorkBench v5 5 5 5 2 3 Commissioning Wizard 5 6 5 2 4 Using the Commissioning Wizard 5 6 5 2 5 Completing the Commissioning Wizard 5 7 5 3 Further configuration 5 7 5 31 Fine tuning TOO a eile o te deg de a a oe eet AURA 5 7 5 3 2 Parameters tOOl z a eas bes eases A AE EEEE A ne onu dE 5 9 5 3 3 Digital VOTON 4 245 50e A Pie nn AT ad Se Ree SE RE a a 5 10 5 3 4 Other tools and windows 5 10 Troubleshooting isso iste career wind pme ee doser someone 6 1 G 11 INtTOdUCIION Lis ae gale ar Ay totals rr ra aa 6 1 6 11 Problem diagnosis ss e 2 ner a PPR ee ee bP Pe ee 6 1 6 1 2 SupportMe feature 6 1 6 1 3 Power cycling the MintDrive 6 1 62 MintDnve indicators rr ad A yd ARAS 6 2 6 21 Status display ci id He S
44. 7 1 13 Encoder output Simulated X7 2 7 7 7 1 14 Resolver feedback option X8 7 8 7 1 15 Encoder feedback option X8 7 8 7 1 16 Master auxiliary encoder input X9 7 8 7 1 17 Pulse and direction input X9 0 006 ccc teen eens 7 8 118 Environmental iia A a MELE a Rianne 7 9 MN1901 Contents iii Appendices As PRECESSONCS reas E AO AAA OE NR RS A 1 AA introduction acuso rata tr A A eget N A 1 AAA Factory fitted options m 2 ncn cout nid a A wad eee A 1 A 1 2 Motor power cables A 2 A 1 3 Motor power cable part numbers A 2 ANA Feedbackcables rni nisde ba at re a ede A Ve a ten Re a A 3 A 1 5 Feedback cable part numbers A4 1 6 EMC filters 23520820 toa a pa te de tn er a runs ds A 5 A 1 7 Regeneration resistors 4 4444 4422 A 8 B Control SSI otis feed hel eee ca Pek ada ce att ld are Rend Dis B 1 BI Introduction A iy ced oak oan eda edie a he OE B 1 B 1 1 Positioning system with speed controller B 1 B 1 2 Positioning system without speed controller
45. BALDOR MOTORS AND DRIVES SERVO DRIVE MintDrive Servo amp Position Control Installation Manual 11 01 MN1901 Contents 1T General Informati n YA AAA 1 1 2 INTO dUCIO sr ts ista 2 1 2 1 MintDrive features 2 1 2 2 Receiving and inspection 2 2 2 2 1 Identifying the catalog number 2 2 2 3 Units and abbreviations 2 3 S Basic Installation AS REE 3 1 Bel INtrodtictiOn tro sure domine Laser tenes arenes Dune dat noces de vertes 3 1 S31 Power SOUICES sr a 3 1 3 1 2 Hardware requirements 3 1 3 1 3 RS485 RS422 Systems 2 484 ve dune ve duree vee ce cde dure ere dense dut 3 2 3 1 4 Tools and miscellaneous hardware 3 2 3 1 5 Other information needed for installation 3 2 3 2 Mechanical installation and location requirements 3 3 3 2 1 Mounting the MintDrivell 3 4 3 2 2 DIMENSIONS vs a Reda ce RAN SA Re a Rae SOR Ae one eRe A a 3 5 3 3 Connector locations 8 circu Aa 3 6 3 4 Power connections 3 7 3 4 1 Single phase connection to package s
46. E Motor power ae LO Shield earth ground clamps see section 4 5 1 g To regen resistor Dynamic brake resistor Motor Shield earth ground clamp attached to enclosure backplane ov Customer supplied 24V Diagram shows AC power cable shield clamped to MintDrivel case Motor power and regen resistor cables should also be clamped to MintDrive case if possible See section 4 5 1 Master Enc X9 0o 080000080 RS232 RS485 X6 Seer eee MiricDrive BALDOR Feedback In X8 Motor feedback Model shown MDH1A05TR RN23 Figure 37 Example minimum system wiring enable Host PC Serial communication 24V OV This model requires an external regeneration resistor and customer supplied 24V supply see sections 3 6 and 3 4 7 Some models contain an internal 24V supply and or an internal regeneration Motor represents a typical Baldor BSM motor Linear motors may also be controlled by MintDrive 4 20 Input Output MN1901 4 5 1 Connection summary shield clamps Ideally shield clamps should be attached to the top surface of the MintDrive as shown in Figure 38 Use brass P clamps not supplied attached using the earth ground bolt Multiple P clamps may be used to clamp the AC power motor and regeneration resistor cables Brass metal P clamp provides 360
47. Forward Print Options JOGMODE JGM Contents Index Search 2 INPUTPOSTRIG e 2 INSTATEAS E led Es See Also JOG JOGSPEED JOGCOMMAND JOGDURATION 2 Inxx E 2 IPendAP Burgose JoGuG Specifies the control mode for profiling a jog move 2 JOGCOMMAND Controllers Supported FlexDrived7 Flex Drivei7 MintDriveir 2 JOGS JOGTIMEAGT Format El KACCEL KA El JOGMODE axes lt expression gt lt expression gt 2 KDERIV KD v JOGMODE axis 2 KEYPADNODE 2 KEYS Dot Parameters 2 KIINT KII Axis Axis No 2 KINT KI j 2 KINTLIMITZKIL Attributes RE Controller Write Multi Scaled Default 2 KIPROP KIP Axis 2 KPROP KP cu ES Y 0 Figure 40 The WorkBench v5 help file For help on using WorkBench v5 click the Contents tab then click the small plus sign El beside the WorkBench v5 book icon Double click a 2 topic name to display it 5 4 Operation MN1901 5 2 2 Starting WorkBench v5 1 On the Windows Start menu select Programs WorkBench v5 WorkBench WorkBench v5 will start and the Tip of the Day dialog will be displayed You can prevent the Tip of the Day dialog appearing next time by removing the check mark next to Show tips at startup Click Close to continue In the opening dialog box click Start New Project WorkBench 5 MN1901
48. Mint commands RESET or DRIVEENABLE 1 can be used See the Mint help file for details In hardware a digital input can be used to create the drive enable command This can be configured in WorkBench v5 using the Digital inputs tab of the Digital I O tool Alternatively the Mint keyword RESETINPUT can be used to select the required digital input See the Mint help file for details Another method is to use the Mint keyword DRIVEENABLEMODE This allows the combination of DIP switch 8 and the Enable input to create the drive enable command Both inputs must become active Provided one input is already on as soon as the other input changes from off to on active the drive will be enabled See the Mint help file for details 3 26 Basic Installation MN1901 3 9 DIP switches SW1 Various functions of the MintDrive can be controlled by the front panel SW1 DIP switches Switch block SW1 Cis Node number selection serial and CANopen networks Bit pattern values shown in italics TT i EE l i i 8 fp OONAMRWN aan metabo 3 9 1 Switches 1 4 Switches 1 4 set the network node number address after the next power off on cycle The switches can be used to select any node number from 1 to 14 as shown in Figure 15 A address C o OF Set by MintnopE keyword o o o O por or on or 2 A A A por o or or 4 on o o MN E ee Do not use See section 3 9 6 Figure 15
49. O X3 General I O 6 REF ZMH 1 Chassis ESA 1 AIND Commands 7 cos r 2 AIN1 Ima 2 AINO Command a ee 22 3 AINI 3 AGND EY 4 AOUTO 4 Relay P 5 AOUTI gt ae Ed 6 AGND 6 User V CHA 7 CREF CHB 8 CGND A 9 Drive Enable CHZ Tightening torque for terminal block 10 DINO Hall U connections is 0 5 0 6Nm 4 4 5 3 Ib in 11 DIN1 Hall U 12 DIN2 Eee NC Not Connected Do not make a 13 DIN3 CHB connection to this pin 14 DIN4 Pulse CHZ 15 DIN5 Direction Hall W Options 16 DING Hall V If there are other connectors on the front 17 DIN7 5V panel of your MintDrivel then an option is 18 DOUTO NC fitted See the other manuals supplied with 19 DOUT1 DGND your MintDrive 20 DOUT2 Hall W Hall V 3 6 Basic Installation MN1901 3 4 Power connections This section provides instructions for connecting the AC power supply It is important that you refer to the correct front panel for your MintDrive package The installer of this equipment is responsible for complying with NEC National Electric Code guidelines or CE Conformite Europeene directives and application codes that govern wiring protection earthing grounding disconnects and other current protection IN WARNING Electrical shock can cause serious or fatal injury Do not touch any 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 equi
50. Output current 50mA maximum each output Update interval Immediate Software Mint programs 2ms DRIVEENABLEOUTPUT DRIVEOKOUTPUT and GLOBALERROROUTPUT functions Programmable PLC Task functions Description 18 Each optically isolated PNP output is designed to source current from the USR V supply as shown in Figure 29 The maximum saturated voltage across any of the outputs when active is 1 0VDC so they can be used as TTL compatible outputs If the outputs are used to directly drive a relay a suitably rated flyback diode must be fitted across the relay coil observing the correct polarity This is to protect the output from the back EMF generated by the relay coil when it is de energized The outputs can be written to directly using the Mint keyword OUTX for example OUTX 2 1 The sense of the outputs can be configured in WorkBench v5 and their states are displayed in the Spy window 20 MintDrive Load OUTX x USRV Relay with a K Pin 6 flyback diode 7 shown NEC PS2562L 1 N DOUTx Y Pins 18 20 CGND Pin 8 Figure 29 X3 digital output circuit 4 12 Input Output MN1901 4 4 4 4 1 Other I O Encoder output X7 Fin CHE 2 MA Ci Oe 15 Fer ES O el G Encoder output on a 9 pin female D type connector This output can be used for position feedback to a host positioner or in master slave situati
51. TOROVERLOADAREA Use the Foldback option to automatically foldback the current to a level where the drive motor can recover Symbol not flashing Motor IT It foldback Motor 12T or Drive I T algorithm has resulted in the demand current being folded back to a level where the drive motor can recover The motor drive can run with demand currents greater than their rated value for a period of time after that time the drive will either trip or automatically foldback the demand current 6 2 Troubleshooting MN1901 Overtemperature The temperature of the drive or motor has exceeded a trip level see Mint keyword TEMPERATURELIMITFATAL or the Motor overtemperature trip input has been activated see Mint keyword MOTORTEMPERATUREINPUT Drive enabled The drive is enabled except where CONFIG _cfVirtual where itis not physically enabled Torque mode The drive is in Torque mode See the Mint keywords TORQUE TORQUEREFSOURCE and related commands Auto tune test driving motor Autotune is active and driving the motor The motor may move Power base not ready This error condition applies to 3 phase drives only These drives have a pre charge circuit which must activate after power up before the drive can be enabled If the drive is enabled prior to this then the error occurs The error could also indicate the loss of one or more of the input phases Cam A Cam profile is being profiled See the Mint keyword CAM General error See
52. The overall cable shield screen must be connected to the metallic shell of the D type connector Pin Resohverfunetion ooo i 5 Analog Ground Analog Ground PRE DO CN DO fates Song Resolver input with 14 bit resolution The resolver input is used to create an encoder signal inside the MintDrive This provides the MintDrive with an equivalent resolution of 4096 pulses per revolution ppr although this can be reconfigured in the WorkBench v5 Commissioning Wizard to provide 1024 ppr The MintDrive provides an input accuracy of 3 counts When used with a typical Baldor BSM series resolver motor the combined accuracy is 11 counts calculated with the input equivalent resolution set to the factory preset value of 4096 ppr Baldor motor R2 s2 resolver connector X8 Twisted pairs 5 3 SIN R1 S4 6 8 SIN ru HH an 2 po 4 7 COS 1 1 REF 2 6 REF O 5 AGND Connect internal shields to AGND La NW Connect overall shield yr a E to connector backshells Figure 10 Resolver cable connections 3 20 Basic Installation MN1901 3 7 1 1 Resolver cable pin configuration Figure 11 shows the pin configuration for a typical Baldor resolver feedback cable part number CBLO30SF ALCE TI Signal name MintDrive Motor cable Baldor resolver cable X8 pin pin internal wire colors Pins 7 12 Fab ssa a a 0 o 0 tb a 0 2 0 Motor resolv
53. achinery Directive the ElectroMagnetic Compatibility Directive and the Low Voltage Directive In the United States this is the National Electrical code and local codes Drives 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 during operation may damage the motor and drive Do not tin solder exposed wires Solder contracts over time and may cause loose connections Use crimp connections where possible Electrical components can be damaged by static electricity Use ESD electro static discharge procedures when handling this drive Ensure that resolver or encoder wires are properly connected Incorrect installation may result in improper movement The threaded holes in the top and bottom of the enclosure are for cable clamps Be sure to use a M4 bolt no longer than 12mm in length Longer bolts might short circuit the electrical components inside the drive Removing the cover will invalidate UL certification 1 4 General Information MN1901 2 1 Introduction MintDrive features The MintDrive combines a powerful fully featured motion controller and brushless servo control into a compact package This provides a flexible and powerful motion control solution for
54. ardware Your PC operating system user manual might be useful if you are not familiar with Windows A small screwdriver supplied with a blade width less than 3mm 1 10 in M5 screws or bolts for mounting the MintDrivel Crimping tool A connector kit is supplied with your MintDrive This contains a number of useful connectors and a screwdriver for tightening the connections Other information needed for installation This information is useful but not essential to complete the installation The data sheet or manual provided with your motor describing the wiring information of the motor cables connectors Knowledge of which digital inputs outputs will be Active Low Active High or edge triggered 3 2 Basic Installation MN1901 3 2 Mechanical installation and location requirements It is essential that you read and understand this section before beginning the installation IN CAUTION To prevent equipment damage be certain that the input power has correctly rated protective devices installed IN CAUTION To prevent equipment damage be certain that input and output signals are powered and referenced correctly IN CAUTION To ensure reliable performance of this equipment be certain that all signals to from the MintDrive are shielded correctly IN CAUTION Avoid locating the MintDrive immediately above or beside heat generating equipment or directly below water steam pipes IN CAUTION Avoid l
55. at input and output signals are powered and referenced correctly To ensure reliable performance of this equipment be certain that all signals to from the drive are shielded correctly 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 Avoid locating the drive immediately above or beside heat generating equipment or directly below water or steam pipes Avoid locating the drive in the vicinity of corrosive substances or vapors metal particles and dust Do not connect AC power to the drive terminals U V and W Connecting AC power to these terminals may result in damage to the drive Baldor does not recommend using Grounded Leg Delta transformer power leads that may create earth ground loops and degrade system performance Instead we recommend using a four wire Wye Drives are intended to be connected to a permanent main power source not a portable power source Suitable fusing and circuit protection devices are required MN1901 General Information 1 3 IN CAUTION IN CAUTION IN CAUTION IN CAUTION IN CAUTION IN CAUTION IN CAUTION IN CAUTION 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 these are the M
56. ate excess power from the internal DC bus during motor deceleration Suitable regeneration resistors are listed in section A 1 7 IN WARNING A regeneration resistor may generate enough heat to ignite combustible materials To avoid fire hazard keep all combustible materials and flammable vapors away from the resistors R1 R2 The regeneration resistor should be mounted near the top of an enclosure to maximize heat dissipation When the motor regenerates the yellow DB On LED on the front panel of the MintDrive will illuminate If required by the application additional external resistors connected to R1 and R2 will be connected in parallel with the internal resistor Controlling regeneration Some regeneration resistor assemblies include an overload switch to indicate when too much power is being dissipated by the resistor This switch can be wired to a digital input on the MintDrive Using the WorkBench v5 Digital I O tool the input can be configured to be the brake trip input This allows the MintDrive to respond to resistor overload conditions The Mint keyword DBEXTTRIPINPUT can also be used to configure a digital input for this purpose On three phase MintDrive models the operation of the regeneration resistor can be controlled by further Mint keywords These also begin with the letters DB for example DBEXTPEAKPOWER See the Mint help file for details 3 18 Basic Installation MN1901 3 7
57. cofarad Mlle millihenry Orkid Peery phase M nan millisecond HS Sur en microsecond NS ses Dash Ps nanosecond Kbaud kilobaud the same as Kbit s in most applications MB ici megabytes CDROM Compact Disc Read Only Memory CTRL E on the PC keyboard press Ctrl then E at the same time mm millimeter Mons meter LEE inch Ah ete tna he mie feet Ib in pound inch torque NN vas ie Newton meter torque ADG iaa Analog to Digital Converter DAG vais tae Digital to Analog Converter AWG American Wire Gauge NO cs sors Not Connected MN1901 Introduction 2 3 2 4 Introduction MN1901 3 1 3 1 1 3 1 2 Basic Installation Introduction You should read all the sections in Basic Installation to ensure safe installation This section describes the mechanical and electrical installation of the MintDrive in the following stages Location considerations Mounting the MintDrive Connecting the AC power supply Connecting the optional customer supplied 24VDC control supply Connecting the motor Installing a regeneration resistor Dynamic Brake resistor Connecting the feedback device Connecting the drive enable input These stages should be read and followed in sequence Power sources An AC power source IEC1010 over voltage category III or less in the installation area is required This will need to be single or three phase depending upon the type
58. d as appropriate Only qualified personnel should attempt to program start up or troubleshoot this equipment 1 2 General Information MN1901 IN WARNING IN WARNING IN WARNING IN WARNING IN WARNING IN CAUTION IN CAUTION IN CAUTION IN CAUTION IN CAUTION IN CAUTION IN CAUTION IN CAUTION IN CAUTION Improper operation or programming of the drive may cause violent motion of the motor and driven equipment Be certain that unexpected motor 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 The motor circuit might have high voltages present whenever AC power is applied even when the motor is not moving Electrical shock can cause serious or fatal injury If a motor is driven mechanically it might generate hazardous voltages that are conducted to its power terminals The enclosure must be earthed grounded to prevent possible shock hazard When operating a rotary motor with no load coupled to its shaft remove the shaft key to prevent it flying out when the shaft rotates A regeneration resistor may generate enough heat to ignite combustible materials To avoid fire hazard keep all combustible materials and flammable vapors away from the brake resistors To prevent equipment damage be certain that the input power has correctly sized protective devices installed To prevent equipment damage be certain th
59. d if it is to be assigned to a special function for example the forward limit or stop input 1 Click the Digital I O icon in the Toolbox on the left of the screen The main area of the WorkBench v5 window displays the Digital I O screen You can use a drag and drop method to le assign triggering options to inputs and outputs and assign them to special purpose functions Digital 1 0 If you need help just press F1 to display the help file Remember to click the Apply button to send the changes to the MintDrive Other tools and windows Each tool and window is explained fully in the help file so is not described here in detail Error Log Tool Displays a list showing when errors occurred and when they were cleared Scope Tool Displays the capture screen This screen is also shown when the Fine tuning tool is selected Jog Tool Allows you to perform jog moves useful for testing purposes Edit amp Debug Tool This is the tool used for programming the MintDrive The tool provides a work area including the Command window and Output window Multiple editing windows can be opened for entering program code PLC Task Tool Allows you to setup the PLC Task a special task that can be used to check for a number of pre defined conditions and then perform actions if they become true Presets Tool Allows you to setup preset moves and the way in which they should be triggered An interactive table of the moves is used
60. d the instructions in the previous sections you should now have connected all the power sources your choice of inputs and outputs and the serial cable linking the PC with the MintDrivell 5 1 4 Preliminary checks Before you apply power for the first time it is very important to verify the following Disconnect the load from the motor until instructed to apply a load If this cannot be done disconnect the motor wires at connector X1 X1A Verify that the front panel DIP switches 1 9 are in the Off position It is recommended that you use RS232 communications to begin with in which case DIP switch 10 must also be in the Off position However if you are using RS485 RS422 communication then DIP switch 10 must be in the On position Verify that the AC line voltage matches the specification of the MintDrive Inspect all power connections for accuracy workmanship and tightness Verify that all wiring conforms to applicable codes Verify that the MintDrive and motor are properly earthed grounded Check all signal wiring for accuracy 5 1 5 Power on checks If at any time the Status display shows a flashing symbol or E this indicates that the drive has detected a fault see section 6 1 Turn on the 24VDC supply only for MintDrive with catalog numbers MDHxxxxx xxx3 2 Turn on the AC supply After a brief test sequence the Status display should show a minus sign If the display is not lit then re check the
61. dor assumes no responsibility for any errors that may appear in this document Mint is a registered trademark of Baldor Windows 95 Windows 98 Windows ME Windows NT Windows XP and Windows 2000 are registered trademarks of the Microsoft Corporation UL and cUL are registered trademarks of Underwriters Laboratories 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 that 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 countries and U S 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 ta
62. e Baud rate WorkBench v5 scans through all the node ld s at different Baud rates When it finds a node it will only continue to scan for other nodes at the same Baud rate MN1901 Troubleshooting 6 5 6 2 4 6 2 5 6 2 6 Power on The Status display is showing a The MintDrive has detected a motion error Use the Error Log tool flashing symbol with a static to view a list of recent errors or click the Error button on the motion decimal point toolbar to view a description of the error Alternatively type any or all of these commands in the Command window PRINT AXISERROR PRINT DRIVEERROR PRINT MISCERROR PRINT INITERROR Click the Clear Errors button on the motion toolbar Tuning Cannot enable the MintDrive Check the drive enable input on connector X3 pins 7 and 9 is because AXISERROR has bit 13 connected and powered correctly Check that DIP switch 8 set enable is set to the On position When the MintDrive is enabled Check that the current loop has been tuned the motor is unstable Check that the current loop was tuned with the correct motor data If the motor is still unstable try reducing the Speed Proportional gain KVPROP and Speed Integral gain KVINT on the Speed tab of the Fine tuning window get a Following Error Set FOLERRORMODE to zero to ignore the following error while AXISERROR bit 5 is set and the tuning the Mint gains drive disables when tuning the Mint gains get a
63. e made with an earthing grounding strap from each element to a central earthing grounding point star point 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 The shield connections of the signal and power cables should be connected to the shield rails or clamps The shield rails or clamps should be conductive clamps fastened to the cabinet The cable to the regeneration resistor must be shielded The shield must be connected to earth ground at both ends The location of the AC filter has to be situated close to the drive so the AC power wires are as short as possible 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 To reduce earth ground current use the largest suitable wire available for earth ground connections Earthing 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 earth ground point star point This central earth ground point star point is then connected to the main plant or building earth ground Or run as twisted pair at minimum MN1901 CE Guidelines C 3 C 1 5 Wiring of shielded screened cables Remove the outer insulation to Y O expose
64. eaker and fuse single phase package sizes A B C D Note Power to single phase models may be derived by connecting two phases of an appropriate three phase supply L1 and L2 for example When supplying AC power in this way the voltage between the two phases must not exceed the rated input voltage of the MintDrive A two pole breaker must be used to isolate both lines Fuses must be fitted in both lines Circuit breaker or fuse are not supplied For CE compliance see Appendix C 3 10 Basic Installation MN1901 3 4 5 Circuit Breaker Fuses From From supply supply L1 L1 L1 L2 L2 L2 L3 L3 L3 Circuit breaker or fuse are not supplied For CE Compliance see Appendix C Figure 5 Circuit breaker and fuse three phase package sizes G H Note Metal conduit or shielded cable should be used Connect conduits so the use of a line reactor or RC device does not interrupt EMI RFI shielding Power supply filters To comply with EEC directive 89 336 EEC an AC power filter of the appropriate type must be connected This can be supplied by Baldor and will ensure that the MintDrive complies with the CE specifications for which it has been tested Table 1 lists the appropriate filters MintDrive Input voltages current rating 230VAC 10 115VAC 10 230 460VAC 30 F10015A01 FI0014A00 F10018A00 F10015A00 F10015A01 F10018A00 FI0015A01 F10015A02 FI0018A00 F10
65. ectly to connector X1 and is switched on On models with an internally generated 24VDC supply check that the AC power supply is connected correctly to connector X1 and is switched on Ensure that the MintDrive is powered and the Status display is illuminated See section 6 2 Check that the serial cable is connected between the PC s COM port and connector X6 on the MintDrive Check which PC COM port is being used or use the Scan all serial ports option to locate the MintDrive Check the wiring of the serial cable or try an alternate cable Check that DIP switch 10 RS232 RS422 is set correctly see section 3 9 5 On the PC try an alternative COM port Confirm that a mouse driver or other serial device is not conflicting using the same COM port as WorkBench v5 Does the MintDrive have firmware in it If you tried to download new firmware and the download failed the controller may not have firmware If this has happened the Status display will show a minus sign and flash the decimal point repeatedly Check that the selected Baud rate is supported by the PC and MintDrivell If the Only scan COMx option is selected in WorkBench v5 check that the correct COM port is selected If the Search up to Nodexx option is selected in WorkBench v5 check that the MintDrive node number is not higher than this value Do you have multiple nodes on the bus If so they must all be set to the sam
66. eedback cable part number CBLO30SF KCE Slanaliname MintDrive Motor cable Baldor encoder cable 9 X8 ee pin internal wire colors CHA ae EEC a ARMES a ER a Ja O ne ree Hall U Hall V Hall V Hall W Pins 9 and 16 are not connected Motor encoder connector Cable connector end view male female Figure 13 Baldor rotary motor encoder cable pin configuration The maximum recommended cable length is 30 5m 100ft MN1901 Basic Installation 3 23 3 7 2 2 Encoder cable connections linear motors Twisted pairs ST O y 6 CHA N A 2 CHB pe A 7 cHB Feedback A a 3 CHZ INDEX RHN 8 CHZ INDEX A 11 5V JU XxX Ho toy 13 DGND Connect internal shields to DGND l O O Hall U iw male Leave pins Feedback Hall W 512 la 15 Hall W unconnected Hall V Hall V NC Es SS Connect overall shield A to connector backshells Figure 14 Encoder cable connections linear motors 3 7 2 3 Encoder cable pin configuration linear motors Linear motors use two separate cables encoder and Hall The cores of these two cables will need to be wired to the appropriate pins of the 15 pin D type mating connector supplied MintDrive Signal name X8 pin Encoder cable internal wire colors CHA CHA CHB CHB 4 Please refer to MN1800 Linear Motors Installation amp Operating Manual for details Hall U Baldor Hall cable i
67. ees a A ad id pies 6 2 6 2 2 DB On Regeneration LED 22 6 4 6 2 3 Communications cece sack Sone ees i 6 5 6 2 4 POWer ON nck FAs BEA RS Sg FR AGS SE SRI a Ae eae 6 6 GZS MURIO adds dee cyan Wied i brat dobar beeen have Mid dain pedro va eed ra 6 6 6 2 6 Status LED shows a digit or E 6 6 7 SSPCCHICAU OMS foie gt wishes ie Met thw Mesa tect chants Bde tha Mite tse M Besse 7 1 Lal INTOduciion raro io nove Aone ete Aetna ds 7 1 7 1 1 AC input power and motor output single phase models 7 2 7 1 2 AC input power and motor output three phase models 7 3 7 1 3 Customer supplied 24VDC supply 7 3 1 14 RegeneratiOn usa es hee es Ba be cs Del De Aba iia 7 4 7 1 5 Analog input X3 4 42 420e 7 5 GA Analog input X4 818 RS na banane pa a 7 5 11 1 Analog outputs XA na arte Dose eagles Pa ee auraient ds iaa 7 6 7 1 9 Digital inputs X3 weve as eee e dre Ra are bee en rues 7 6 7 19 Digitaloutputs X3 sense pene ie panne RARE ee See RE PA Pee be Bee 7 6 1 10 Relay Output X3 picada a Ad dai 7 7 7 1 11 Serial RS232 interface X6 7 7 7 1 12 Serial RS485 interface X6 7 7
68. ent of approximately 5mA each Active low connect 24VDC to pin7 and OV to pin 9 The digital inputs will be active when grounded less than 2V and will source a current of approximately 5mA each The 24VDC supply is from a customer supplied 24VDC supply that should have a continuous current capability of 1 75A The sense of the inputs can be configured in WorkBench v5 or controlled individually in Mint using the keyword INPUTACTIVELEVEL See section 3 8 for more information about Drive Enable Pulse and direction inputs DIN4 and DIN5 DIN4 and DIN5 can be configured using the MASTERSOURCE keyword to behave as pulse and direction inputs DIN4 is used as the pulse input The pulse frequency controls the speed of the motor m DIN5 is used as the direction input The state of the direction input controls the direction of motion A positive voltage will result in forward motion If DIN5 is grounded movement will be in the opposite direction Notes lf DIN4 and DIN5 have been configured as pulse and direction inputs the alternative pulse and direction inputs available on connector X9 cannot be used See the Mint keyword MASTERSOURCE 4 10 Input Output MN1901 4 3 4 Special functions on inputs DIN4 and DIN5 DIN4 and DIN5 can be configured using the FASTSELECT and FASTAUXSELECT keywords to perform special functions Fast interrupt hardware position capture input The position of the axis is captured in real time a
69. er connector Cable connector end view male female Figure 11 Baldor motor resolver cable pin configuration The maximum recommended cable length is 30 5m 100ft MN1901 Basic Installation 3 21 3 7 2 Encoder option X8 The encoder connections ABZ channels and Hall signals are made using the 15 pin D type female connector X8 Twisted pair cables must be used for the complementary signal pairs e g CHA and CHA The overall cable shield screen must be connected to the metallic shell of the D type connector X y x 18 o Q O LL Encoder Feedback Hall Feedback Pin Encoderfunction ooo 4 Hall U 5 Hall U IC CU ooo CIN 10 Hall V 7 E Farw Hal Ve V PA UVW encoder input non isolated Pin 11 provides 5V for encoders requiring power 200mA max Twisted pairs A a 1 CHA SAA S Vous A 2 CHB SA O e A 3 CHZ INDEX lt x It ul 3 cuz cindex A 11 5V Connect internal T CTT 3 peno a O shields to DGND gt ase A Hall U LX EA Hall U A Hall W CX ii u I Hall W A Hall V H CX IM yi Hall V NC L9 N Connect overall shield A to connector backshells Figure 12 Encoder cable connections rotary motors 3 22 Basic Installation MN1901 3 7 2 1 Encoder cable pin configuration rotary motors Figure 13 shows the pin configuration for a typical Baldor encoder f
70. es to use the SupportMe feature If you prefer to contact Baldor technical support by telephone or fax contact details are provided at the front of this manual Please have the following information ready The serial number of your MintDrive Use the Help SupportMe menu item in WorkBench v5 to view details about your system The catalog and specification numbers of the motor that you are using Give a clear description of what you are trying to do for example trying to establish communications with WorkBench v5 or trying to perform fine tuning m Give a clear description of the symptoms that you can observe for example the Status display error messages displayed in WorkBench v5 or the current value of any of the Mint error keywords AXISERROR AXISSTATUS INITERROR MISCERROR and DRIVEERROR The type of motion generated in the motor shaft Give a list of any parameters that you have setup for example the motor data you entered selected in the Commissioning Wizard the gain settings generated during the tuning process and any gain settings you have entered yourself Power cycling the MintDrive The term Power cycle the MintDrive is used in the Troubleshooting sections On models with a customer supplied 24V supply remove the 24V supply wait for the MintDrive to power down completely all Status LED segments will turn off then re apply the 24V supply On models with an internally generated 24V supply remove the
71. factory defaults all parameters including the node number and serial communications baud rate will be reset In WorkBench v5 this means it will be necessary to rescan for the MintDrive by starting a new project to enable communication It will also be necessary to re tune your motor and drive 1 Remove i 3 Reapply 4 MintDrive will be power power reset to its preset factory settings a aad y a ae Un Le 2 ue Ue ue Figure 17 Resetting the MintDrive to its factory default settings The Mint keyword FACTORYDEFAULTS can also be used to reset the MintDrivel to its factory defaults However it will not reset the node number or serial communications baud rate See the Mint help file for details MN1901 Basic Installation 3 29 3 9 7 Preventing a program running at startup If switches 6 and 9 are set to On and switch 8 is set to Off any program already in the MintDrive that contains an Auto command will be prevented from running automatically at startup 1 Remove 2 SWI 3 Reapply power Mint program power de with Auto command will not run en 1 2 am 3 META es 6 gt mm On 7 i Off d 8 9 a On jo Figure 18 Preventing the Auto command from running a stored Mint program This completes the basic installation You should read the following sections in sequence before attempting to start the MintDrive 3 30 Basic Installation MN1901
72. frequency Hz 0 500 7 1 3 Customer supplied 24VDC supply 24VDC 20A 27 54 Catalog number MDHxxxxx xxx3 Nominal input Nominal input voltage Maximum ripple 10 Maximum continuous current 24VDC Power on surge current 24VDC 100ms MN1901 Specifications 7 3 7 1 4 Regeneration Switching threshold voc on 188 195 off 183 188 Nominal power 10 power cycle 0 25 Peak Peak power 10 power cycle Peak power 10 power cycle 0 power cycle Maximum regeneration a a awe current Note 2 5A models MDH1A02xx xxxx contain an internal 1750 20W resistor 5A models MDH1A05xx xxxx contain an internal 900 40W resistor Switching threshold voc on 373 383 off 362 372 Peak Peak power 10 power cycle Peak power 10 power cycle 0 power cycle Maximum regeneration AAA switching current Maximum load inductance Note 2 5A models MDH2A02xx xxxx contain an internal 1750 20W resistor 5A models MDH2A05xx xxxx contain an internal 900 40W resistor All three phase models 27 5A Catalog number MDH4 Switching threshold Vin 400VAC on 794 off 787 on 794 off 764 Vin 460VAC Peak Peak power 10 power cycle Peak power 10 power cycle 0 power cycle Maximum regeneration E switching current Maximum load inductance load inductance Note 2 5A models MDH4A02xx xxxx contain an internal 2000 300W resistor 5A models MDH4A05xx xxxx contai
73. gn accuracy 1 2mV Common mode rejection 40dB Input impedance gt 5kQ Sampling interval 500us Software Mint programs 500us Command reference signal Analog input X4 can be connected as either a differential or a single ended input as shown in Figure 22 X4 AINT 2 AIN1 AIN1 3 AIN1 AIN1 ADC 1 ADC 1 6 GND Differential connection Single ended connection Figure 22 AIN1 analog input wiring 24VDC 1 5kQ 0 25W p 1kQ 0 25W potentiometer OV Figure 23 Typical input circuit to provide 0 10V approx input from a 24V source 4 4 Input Output MN1901 MintDrive 15V 15V HAHAHA 20k AIN1 10k 10k Pin 2 Low pass filter amp Mint level correction ADC 1 AIN1 10k 10k E inverts signal Pins LF412 x e K KIL 4 15V 15V AGND Figure 24 AIN1 analog input circuit MN1901 Input Output 4 5 4 2 3 Analog outputs bipolar X4 ng CAE CAE Name ROUTE fxr Analog I O A Description Two independent assignable outputs Output range 10VDC Resolution 8 bit with sign accuracy 78mV Output current 1mA maximum Update interval Immediate Software Mint programs 1ms 2ms DAC monitoring The two programmable analog outputs can be used to provide the status of various control conditions DAC monitoring is the process w
74. here the value of a selected parameter can be monitored by the MintDrive and the analog output used to produce a voltage proportional to the value DAC monitoring can be controlled by various Mint keywords These begin with the letters DACMONITOR for example DACMONITORMODE The update interval for DAC monitoring is affected by the Mint LOOPTIME keyword See the Mint help file for details y MintDrive 15V 300k VAN PWM 10k 68 1k ZX signal 4 0 47nF il 15V L AGND AOUTx Internal 75k Fi 2 5V Pin 4 or 5 reference e LF412 o Oo mM AGND AGND Pin 6 Figure 25 X4 analog output circuit 4 6 Input Output MN1901 4 2 4 Relay output X3 Connector X3 pins 4 amp 5 Name General purpose relay Description Relay switch contacts controlled by Mint rated at 1A 30VDC Normally closed Update interval Immediate The factory preset assignment for the relay is as the global error output signal see the Mint keyword GLOBALERROROUTPUT When an error occurs the relay is de energized and the normally closed relay contacts are opened When the error is cleared the relay is re energized and the contacts are closed The relay can be also be controlled directly by the Mint keyword RELAY When the relay is de energized RELAY _off the contacts open An axis can use the relay as its drive enable output s
75. if tuned correctly performance is increased using a feedforward voltage model This model compensates for the voltage drop due to stator resistance set using the MOTORRS keyword and stator leakage inductance set using the MOTORLS keyword It also compensates for the back EMF of the motor with the voltage constant of the motor being set using the MOTORFLUX keyword Values for MOTORRS MOTORLS and MOTORFLUX are set automatically by the Commissioning Wizard The torque control calculation is performed every 125us The feedback device e g an encoder or resolver is used to determine motor position and speed Motor speed can be filtered to reduce measurement noise if necessary The time constant of this filter is specified using the keyword KVTIME By default the filter is turned off KVTIME 0 Note that introducing a filter on measured speed tends to reduce the stability of the speed controller This can make the tuning of the speed controller gains difficult if large values of KVTIME are used Proportional gain term ES Feedback KIPROP device e g encoder Power Motor resolver Integral gain term PWM value Stage Torque demand internal scaling MOTORRS MOTORLS MOTORFLUX Voltage model Measured current Feedback interface Filter KVTIME Measured speed VEL Measured position POS Figure 51 Torque control system B 6 Control System MN1901 CE Guidelines C 1
76. ignal This can be configured in WorkBench v5 or by using the Mint keyword DRIVEENABLEOUTPUT This prevents access by RELAY but means that the relay can be used to monitor the state of the DRIVEENABLE keyword See the Mint help file for details MintDrive Internal relay Relay H Pin 4 Control circuitry Relay Pin 5 Figure 26 Relay contact outputs MN1901 Input Output 4 7 4 3 Digital I O The MintDrive provides as standard 8 general purpose inputs on connector block X3 3 general purpose outputs on connector block X3 A digital input can be used to support many typical input functions Error input Reset input Stop input Home input Forward limit Reverse limit Interrupts controlled from Mint Regeneration resistor Dynamic Brake trip input PLC Task input conditions Index selection and triggering for preset move types General purpose use DIN4 and DIN5 are also capable of special alternative functions DIN4 and DIN5 are fitted with Schmitt trigger devices and can be configured using Mint for position capture of the axis or the master auxiliary encoder positions See section 4 3 4 The main axis fast input assigned using the Mint keyword FASTSELECT can also be used as a trigger for some motion types for example CAM moves See the Mint help file for details Additional I O is available on connector X12 if the CAN I O option is fitted
77. ition controller the profiler speed is fed forward by gain KVELFF to give a contribution to the final speed or torque demand Likewise if CONFIG is set to _CfTORQUE_SERVO the profiler acceleration is fed forward by gain KACCEL to give a contribution to the final speed or torque demand The position control calculation is performed every 500us The gain values KPROP KINT KDERIV KVEL KVELFF and KACCEL must be tuned for each application This can either be performed automatically within the Commissioning Wizard or manually using the Fine tuning tool in WorkBench v5 Acceleration feedforward term CONFIG _cfTORQUE_SERVO only Profiler acceleration Profiler speed VELDEMAND Following error FOLERROR Profiler position POSDEMAND Speed or torque demand Velocity feedback term Measured speed VEL Measured position Figure 49 Position control system B 4 Control System MN1901 B 2 2 Speed controller The speed controller shown in Figure 50 is also a PID controller Gains are set using the Mint keywords KVPROP KVINT and KVDERIV The speed is compared with the measured speed and the error is fed into the PID control calculation The result forms the torque demand for the torque controller To improve the performance of the derivative term an optional filter is included The time constant of this filter can be set using keyword KVDERIVTCONST By default the filter is turned off with
78. izes A B C D 3 8 3 4 2 Three phase connection to package sizes G H 3 9 3 4 3 Input power conditioning 3 10 3 4 4 Power disconnect and protection devices 3 10 34 5 Power Supply fiers 545 588 A et eh dl DDR ey ee 3 11 3 4 6 Wire sizes and protection device ratings 3 12 3 4 7 External customer supplied 24V control supply 3 13 3 5 Motor Connections 4282248488 ms ba ya db a aa de beau 3 14 3 5 1 Motor circuit contactors 3 15 3 5 2 Motor power cable pin configuration Baldor BSM rotary motors 3 15 3 5 3 Motor cable pin configuration Baldor linear motors 3 16 3 5 4 Thermal switch connection 3 17 3 6 Regeneration resistor Dynamic Brake resistor 3 18 3 6 1 Controlling regeneration 0 00 ee rr 3 18 3 7 Feedback connections 3 19 ITA Resolver option X8 eis 3 95ehe kb PUR M ER DL EN D Re D SRE DORE 3 20 3 7 2 Encoderoption X8 2 325 2 ne aspirante Baume e en a 3 22 MN1901 Contents i 3 8 Driveenable Li A rem Re Ba gece de ge dd a AA ete 3 25 3 8 1 Drive e
79. kHz Update interval 7 1 11 Serial RS232 interface X6 All models All models RS232 non isolated CTS RTS Bit rate Baud 9600 19200 38400 57600 115200 7 1 12 Serial RS485 interface X6 All models All models asi 4 wire RS485 non isolated Baud 9600 19200 Bit rate 7 1 13 Encoder output simulated X7 All models All models RS422 Resolution with resolver input on X8 Simulated 512 1024 2048 4096 Only available if resolver input is set to simulate a 4096ppr source See section 4 4 1 with encoder input on X8 Output is a copy of the input on X8 MN1901 Specifications 7 7 7 1 14 Resolver feedback option X8 Catalog numbers MDHxxxxxx Rxxxx numbers MDHxxxxxx Rxxxx Allmodels models ER O set automatically by software Resolver winding ratio OE o G O Typical accuracy using Baldor BSM counts series resolver motor with input set to simulate 4096 ppr Maximum recommended cable length 30 5m 100ft 7 1 15 Encoder feedback option X8 Catalog numbers MDHxxxxxx Exxxx Unit All models Encoder input ia AIB Differential Z index Hall inputs Single ended 5V logic Output power supply to encoder tf 5V 200mA max Maximum recommended cable length 30 5m 100ft 7 1 16 Master auxiliary encoder input X9 All models Unit All models Operating mode A B quadrature Sampling interval ms Software selectable 1 2 Output power supp
80. ly to encoder 5V 100mA max 7 1 17 Pulse and direction input X9 All models Unit All models Sampling interval ms Software selectable 1 2 7 8 Specifications MN1901 7 1 18 Environmental All All models o ES temperature range Minimum 32 Maximum 40 104 Derate 2 5 C between 2 5 1 8 F between 40 C and 50 C max 104 F and 122 F max Storage temperature range Se 25to 70 to 70 13 to 158 Humidity 10 90 non condensing according to DIN40 040 IEC144 Above 31 C 87 F derate linearly to 50 relative humidity at 40 C 104 F 10G according to DIN IEC 68 2 6 29 1G 10 150Hz according to DIN IEC 68 2 6 29 Maximum installation altitude 1000 above m s l Derate 1 1 100m over 1000m 3300 Derate 1 1 330ft over 3300ft MN1901 Specifications 7 9 7 10 Specifications MN1901 A 1 A 1 1 Accessories Introduction This section describes accessories and options that you may need to use with your MintDrive Shielded screened cables provide EMI RFI shielding and are required for compliance with CE regulations All connectors and other components must be compatible with the shielded cable Factory fitted options The MintDrive can be supplied with a number of factory fitted options Each option is described in a separate manual that will be supplied with your product as necessary m MN1908 CAN amp Auxiliary I O option for Flex
81. n an internal 2000 300W resistor 7 4 Specifications MN1901 7 1 5 Analog input X3 Common mode voltage range Input ADC resolution bits 14 includes sign bit Sampling interval Software Mint programs 500 High speed command reference signal 125 7 1 6 Analog input X4 Common mode voltage range Input ADC resolution bits 14 includes sign bit Sampling interval Software Mint programs 500 Command reference signal 500 MN1901 Specifications 7 5 7 1 7 Analog outputs X4 All models Unit All models wo o E e S 1 Output DAC resolution bi 8 includes sign bit Equivalent resolution 78 Update interval Software Mint programs Immediate DAC monitoring 1ms or 2ms selectable 7 1 8 Digital inputs X3 All models Unit All models Input voltage Active high VDC Nominal 24 Minimum 12 Input voltage Active low VDC 0 2 mA 2 Nominal Maximum Input current approximate per input mA Sampling interval 7 1 9 Digital outputs X3 All models All models Update interval Software Mint programs Immediate DRIVEENABLEOUTPUT and 2ms GLOBALERROROUTPUT functions PLC Task functions Programmable 7 6 Specifications MN1901 7 1 10 Relay output X3 All models Contacts All models Normally closed 1A 30VDC or 0 5A 125VAC Contact rating resistive Maximum carrying current Lun Ml ES Mz El Capacitance between open contacts at 1
82. nable X3 oc feud eee dore A a ae et ee beers 3 25 3 8 2 Drive enable SW1 DIP switch 3 26 3 8 3 Drive enable command 2 3 26 3 9 DIP switches SW1 3 27 3 9 11 Switches e eek hs Sed N LA Ne RS ee et ne ESEN 3 27 3 9 2 Switch 6 Hold coi heya Vea Sei ea Ne us a heh Yaa i Ae ae 3 28 3 9 3 Switch 7 Offset tuning ereire ete e Peut be been ances 3 28 394 Swich 8 Enable siecle tele ipegte tis Sg Hea as 3 28 3 9 5 Switches 9 and 10 RS232 RS485 select 3 29 3 9 6 a Factory Setting arretra a bea Kes odes akg ee peaked aed alee a dida 3 29 3 9 7 Preventing a program running at startup 3 30 4 SIROP OMIDUE a tear dhe e a a 4 1 4 1 Introduccion tae tt bit pols et cn dah 4 1 4 2 Analog MO di Seale nt 4 1 4 2 1 Analog input X3 command 4 2 4 22 Analog input X42 05 ord A SE ne ae Ra RM EE AT es 4 4 4 2 3 Analog outputs bipolar X4 4 6 424 Relay QU PUL X3 oia beeen due dar ae fon dur tre card 4 7 430 Digital VO cata dea wast gers ah eas a Fa Beles PE GRE eS 4 8 4 3 1 Digital inputs XI susi raya Shes ote ate BAe ete a ee BS 4 9 4 3 2 CREF and digital inputs
83. nd can be read using the Mint keyword FASTPOS Master or auxiliary encoder input capture read using the Mint keyword FASTAUXENCODER DIN5 only The maximum latency to read the fast position is approximately 1us The fast interrupt will be latched on a pulse width of about 30us although a width of 100us is recommended to ensure capture To prevent subsequent inputs causing the captured value to be overwritten the interrupt is latched in software It is necessary to clear the latch before subsequent interrupts can be detected See the Mint help file Both inputs are fitted with Schmitt trigger devices Notes The fast inputs are particularly sensitive to noise so inputs must use shielded twisted pair cable The inputs are not opto isolated Do not connect mechanical switches relay contacts or other sources liable to signal bounce directly to the fast inputs This could cause unwanted multiple triggering Pre TE MintDrive Vec 10k DINx 4k7 Pins 14 15 ans 1k A to CPU 33pF CREF EPEE Pin HCPL2231 Ale DGND Active high DINx 24VDC 20 Active low DINx 0V CREF 0V CREF 24VDC 420 Figure 28 X3 pulse and direction fast digital input circuit MN1901 Input Output 4 11 4 3 5 Digital outputs X3 Connector X3 CGND 8 Three general purpose optically isolated digital outputs
84. ng In the Mint help file see the topics JOG JOGCOMMAND and Jog screen Preset jog The drive is jogging The jog was triggered from a Preset jog table Overspeed The measured speed of the motor has exceeded the trip level defined by DRIVESPEEDFATAL Check that the trip level is set to a suitable value for your application When accelerating to a demand speed close to the trip level there will typically be a certain amount of overshoot Using the Fine tuning tool check the amount of overshoot you get with the acceleration and demand speeds being used in your application n m El ll e E dd E MN1901 Troubleshooting 6 3 6 2 2 D Preset positions The drive is performing a linear move This motion has been triggered from a Preset move table Positional Move The drive is performing a linear move See the Mint keywords MOVEA and MOVER DB Overload The regeneration resistor Dynamic Brake has been overloaded See the Mint keyword DBEXTTRIPSWITCH and associated keywords 5 Stop A STOP command has been issued or the stop input is active Drive disabled The drive must be enabled before operation can continue See section 3 8 Click the Drive enable button in WorkBench v5 Crash The drive enable input or the Enable DIP switch have become inactive whilst the drive was in the enable state or the drive was enabled whilst they were inactive bit 13 in AXISEERROR will be set The drive can be programmed
85. nternal wire colors Hall V Hall we pan en 3 24 Basic Installation MN1901 3 8 Drive enable Location Connector X3 pins 7 amp 9 Mating connector Phoenix MINI COMBICON MC 1 5 20 ST 3 5 Name Dive enable Input voltage 24VDC 20 To enable the MintDrive and allow motion three actions are necessary customer supplied externally generated 24VDC supply must be connected between pins 7 and 9 of connector X3 The drive enable DIP switch switch 8 must be in the On position A drive enable command must be received These actions are explained in the following sections 3 8 1 Drive enable X3 The wiring to the drive enable input can be connected in one of two ways This has an effect on the sense of the digital inputs DINO to DIN7 Either method provides a suitable drive enable input Active high To cause the digital inputs to be active high active when a voltage of 24VDC is applied to them connect 24VDC to pin 9 and OV to pin 7 CREF Active low To cause the digital inputs to be active low active when grounded connect 24VDC to pin7 CREF and OV to pin 9 The drive enable connection can be wired directly or through an intermediate switch If a switch is used it should always be used to switch the signal to pin 9 with the signal to pin 7 CREF being hard wired The sense of the digital inputs can also be configured in WorkBench v5 using the Digital inputs tab of the Digital
86. o the PC Connect the serial cable between a PC serial port often labeled as COM to the MintDrive connector X6 RS232 RS485 WorkBench v5 can scan all the COM ports so you can use any port IN CAUTION The serial connector on the MintDrive X6 can be configured as either RS232 or RS485 RS422 If this is the first time you are installing a MintDrive then it is strongly recommended that you use RS232 to get started the preset factory setting and use RS485 later Pin 9 is used to carry 8V for powering a Baldor keypad peripheral Ensure that pin 9 is not connected to earth ground or to equipment that could be damaged by the 8V supply A suitable cable is available from Baldor catalog number CBL001 501 Installing the software The CDROM containing the software can be found separately within the packaging 1 Insert the CDROM into the drive 2 After a few seconds the setup wizard should start automatically If the setup wizard does not appear select Run from the Windows Start menu and type d start where d represents the drive letter of the CDROM device use the correct letter for your installation Follow the on screen instructions to install WorkBench v5 The setup wizard will copy the files to appropriate folders on the hard drive The default folder is C Program Files Baldor MintMT although this can be changed during setup MN1901 Operation 5 1 5 1 3 Starting the MintDrive If you have followe
87. ocating the MintDrive in the vicinity of corrosive substances or vapors metal particles and dust The safe operation of this equipment depends upon its use in the appropriate environment The following points must be considered m The MintDrive must be installed indoors permanently fixed and located so that it can only be accessed by service personnel using tools The maximum suggested operating altitude is 1000m 3300ft Above 1000m 3300ft de rate output current 1 1 per 100m 330ft The MintDrive must operate in an ambient temperature of 0 C to 40 C 32 F to 104 F De rate output current 2 5 per 1 C 1 8 F from 40 C 104 F to 50 C 122 F maximum The MintDrive must operate in relative humidity levels of less than 90 for temperatures up to 31 C 87 F decreasing linearly to 50 relative humidity at 40 C 104 F non condensing The MintDrive must be installed where the pollution degree according to IEC664 shall not exceed 2 The external customer supplied 24VDC for the logic supply must be installed so that the 24VDC supplied to the unit is isolated from the AC supply using double or reinforced insulation The inputs and outputs of the control circuit must be limited to Safety Extra Low Voltage circuits Both the AC supply and the external 24VDC supply must be fused The atmosphere must not contain flammable gases or vapors There must not be abnormal levels of nuclear radiation or X rays
88. ons where the axis movement can be transmitted to another controller or MintDrive It is recommended that this output only drives one output circuit load The encoder outputs are differential and conform to the RS422 electrical specification Shielded twisted pair cable is recommended If a resolver is connected to the MintDrive a simulated encoder output is produced at X7 If the resolver input has been configured to simulate an encoder input of 1024 pulses per revolution ppr the output at X7 can be set to either 512 or 1024 ppr If the resolver input has been configured to simulate an encoder input of 4096 ppr output modes of 512 1024 2048 and 4096 ppr are possible Note that these values represent actual encoder lines not quadrature counts See the keyword ENCODERLINESOUT in the Mint help file If the MintDrive is fitted with the basic encoder feedback option X7 duplicates the encoder signals entering X8 The encoder output supports an index or marker pulse IN CAUTION Using connectors X7 and X8 multiple MintDrive units can be daisy chained together However if another Mint based controller such as a NextMoveBX is to be connected a special cable must be built as shown MintDrive NextMoveBX X7 encoder input CHA CHA CHZ CHZ CHB CHB Connect internal shields to DGND DGND Connect overall shield to connector backshells Figure 30 MintDrive encoder output to Mint controller encoder input
89. or cable Line L1 Line L2 7 Line L3 Isolating switch If filter has no output To earth ground outer Incoming safety earth ground terminal shields use 360 earth ground PE earth wire may be clamps connected to connected directly to backplane or star point MintDrive case STAR POINT See section 4 5 1 Figure 3 Earthing grounding for three phase installations Note For CE compliance a three phase AC filter must be connected between the AC power supply and the MintDrive If local codes do not specify different regulations use at least the same gauge wire for earth ground as is used for L and N MN1901 Basic Installation 3 9 3 4 3 3 4 4 Input power conditioning Baldor drives are designed for direct connection to standard single and three phase lines depending on model that are electrically symmetrical with respect to earth ground Certain power line conditions must be avoided an AC line reactor an isolation transformer or a step up step down transformer may be required for some power conditions m If the feeder or branch circuit that provides power to the MintDrive 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 MintDrive m f the feeder or branch circuit that provides power to the
90. os Power Cable Assembly Threaded connector Standard Metric Style com BR go 0 0 al ONDARY al ODKRY al For easier installation it is recommended that a color coded Baldor motor power cable is used A description of a Baldor rotary motor power cable catalog number is shown here using the example number CBLO30SP MHCE a 030 indicates the Tenin inthis example SO metes Vareus ergs wre alada SP Te cabe isa Servo motor Power f ooo LE EL EE O O G Motor power cables are also available without connectors in which case the final letters HCE in the example above are not used A 2 Accessories MN1901 A 1 4 Feedback cables This table lists part numbers of Baldor resolver feedback cables for use with the MintDrive Feedback Cable assembly type description Feedback Cable Assembly Threaded connector Standard Metric Style Feedback Cable Assembly CE Style Threaded Connector Resolver Feedback Cable No Connector Feedback Cable Assembly Threaded connector Standard Metric Style Feedback Cable Assembly CE Style Threaded Connector Encoder Hall Feedback Cable No Connector Baldor catalog number CBLO30SF ALM CBLO61SF ALM CBLO91SF ALM CBL152SF ALM CBL229SF ALM CBL305SF ALM CBLO15SF ALCE CBLO30SF ALCE CBLO61SF ALCE CBLO91SF ALCE CBL152SF ALCE CBL229SF ALCE CBL305SF ALCE CBLO30SF A CBLO61SF A CBLO91SF A CBL152SF A CBL213SF A CBL305SF A CBLO15SF KPM CBLO3
91. otion If pin 2 is grounded movement will be in the opposite direction The Mint keyword AUXENCODERMODE bit 2 is used to configure X9 for pulse and direction operation If necessary the sense of the direction input can be reversed in software using the Mint keyword AUXENCODERMODE bit 0 See the Mint help file for details Notes If X9 has been configured for pulse and direction input the alternative pulse and direction inputs available on connector X3 cannot be used See the Mint keyword MASTERSOURCE Pulse and direction source x9 Twisted pairs Pulse Pulse GND Direction Direction GND DGND Connect internal shields to DGND N Connect overall shield to A connector backshells Figure 32 Pulse and direction connections MN1901 Input Output 4 15 4 4 3 Serial port X6 Connector X6 CI in pF E 1 4 5 A EST A RS232 RS485 X6 O Do not connect See caution below Description RS232 or RS485 RS422 connections on a single 9 pin female D type connector Connector X6 is a 9 pin male D type connector This port is configurable as either RS232 or 4 wire RS422 RS485 using front panel DIP switch number 10 see section 3 9 5 The Mint keyword SERIALBAUD is used to configure the port and is explained in the Mint help file See also sections 4 4 4 and 4 4 5 The port is fully ESD protected to IEC 1000 4 2 15kV A CAUTION Pin 9 is used to carry 8V for powering cer
92. ould be used Baldor drives are designed to be powered from standard single and three phase lines depending on model that are electrically symmetrical with respect to earth ground Due to the importance of system earthing grounding for increased reliability earthing grounding methods are shown in sections 3 4 1 and 3 4 2 Note When using unearthed ungrounded distribution systems an isolation transformer with an earthed grounded secondary is recommended This provides three phase AC power that is symmetrical with respect to earth ground and can prevent equipment damage MN1901 Basic Installation 3 7 3 4 1 Single phase connection to package sizes A B C D Location Connector X1 Mating connector Phoenix COMBICON MVSTBW 2 5 9 ST 5mm pitch Nominal input voltage 115VAC 10 line to neutral 230VAC 10 line to neutral 97 125VAC 220 250VAC For single phase connection the voltage ripple on the DC bus is 25Vp p for 5A peak current rising to 50Vp p for 10A peak current This can limit the maximum speed of the motor Tightening torque for terminal block connections is 0 5 0 6Nm 4 4 5 3 Ib in The threaded holes in the top and bottom of the enclosure are for earth ground clamps provided The holes are threaded for M4 bolts no longer than 12mm 0 47 in in length Longer bolts may short circuit the electrical components inside the MintDrive AC filter See section 3 4 5 Circuit breaker or fuse See section 3 4 4
93. pment to which it is connected The power supply module within all MintDrive models provides rectification smoothing and current surge protection On 2 5A and 5A models a regeneration resistor Dynamic Brake resistor is also built in The power stage is internally fused and therefore self protected but fuses or circuit breakers are required in the input lines for cable protection depending on local codes and regulations A power disconnect should be installed between the AC supply and the input of the MintDrive for a fail safe method to disconnect mains power On models with the internally generated 24VDC logic supply catalog numbers MDHxxxxx xxx0 the MintDrive will remain operational until the internal bus voltage is depleted Position and I O information will then be lost On models with an external customer supplied 24VDC logic supply catalog numbers MDHxxxxx xxx3 position and I O information will be retained while the 24V supply is present Note A Residual Current Device RCD must not be used for fusing the drive A circuit breaker or fuse must be used All interconnection wires should be in metal conduits between the MintDrive AC power source motor host controller and any operator interface stations Use UL listed closed loop connectors that are of appropriate size for the wire gauge being used Connectors are to be installed using only the crimp tool specified by the manufacturer of the connector Only class 1 wiring sh
94. rt connections The maximum recommended cable length is 3m 10ft at 57 6KBaud the factory preset rate When using lower Baud rates longer cable lengths may be used up to maximum of 15m 49ft at 9600 Baud MN1901 Input Output 4 17 4 4 5 Multidrop using RS485 RS422 cable Multidrop systems allow one device to act as a network master controlling and interacting with the other slave devices on the network The network master can be a controller such as a MintDrive a host application such as WorkBench v5 or other custom application or a programmable logic controller PLC Network master Network slave Final slave shown with terminating resistor TR typical value 1200 Connect overall shield to connector backshell Figure 34 4 wire RS485 multi drop connections Wl Any MintDrive on the network must have its SW1 DIP switch 10 located on the front panel set to the On position see also section 3 9 5 This will set the serial port to RS485 mode after the next power off on cycle Each TX RX network requires a termination resistor at the final RX connection but intermediate devices must not be fitted with termination resistors An exception is where repeaters are being used which may correctly contain termination resistors Termination resistors are used to match the impedance of the load to the impedance of the transmission line cable being used Unmatched impedance causes the transmitted
95. s have finished click Finish to complete the Commissioning Wizard The parameters that have been calculated by the Commissioning Wizard do not need to be downloaded to the MintDrive They are already in the MintDrive and will not be lost even when it is powered down 5 3 Further configuration WorkBench v5 provides a number of tools each of which has an icon on the left of the screen Click once on an icon to select the tool Three of the main tools used for tuning and configuring the MintDrive are briefly described here Every tool is explained fully in the help file Press F1 to display the help file then navigate to the WorkBench v5 book Inside this is the Toolbox book 5 3 1 Fine tuning tool The Commissioning Wizard calculates many parameters that allow the MintDrive to provide basic control of the motor These parameters may need to be fine tuned to provide the exact response that you require The Fine tuning screen allows you to do this File Edit View T DD Toolbox 1 Click the Fine tuning icon in the Toolbox on the left of the screen The Fine tuning window is displayed at the right of the screen This already shows some of the parameters that have been calculated by the Commissioning Wizard The main area of the WorkBench v5 window displays the capture window When further tuning tests are performed this will display a graph representing the response 2 The Fine tuning window has three tabs at
96. sary during equipment maintenance or similar operations Under certain circumstances it may also be necessary to fit a brake to a rotary motor This is important with hanging loads where disconnecting the motor windings could result in the load falling Contact your local supplier for details of appropriate brakes IN CAUTION If an M Contactor is installed the MintDrive must be disabled at least 20ms before the M Contactor is opened If the M Contactor is opened while the MintDrive is supplying voltage and current to the motor the MintDrive may be damaged Incorrect installation or failure of the M Contactor or its wiring may result in damage to the MintDrive Ensure that shielding of the motor cable is continued on both sides of the contactor 3 5 2 Motor power cable pin configuration Baldor BSM rotary motors Figure 8 shows the pin configuration for a typical Baldor motor cable part number CBLO30SP MHCE Motero Toto ae ed ES o 9 O o o Motor power connector Cable connector end view male female Note Not all motors are fitted with a brake so pins C and D might not be connected Figure 8 Baldor motor power cable pin configuration MN1901 Basic Installation 3 15 3 5 3 Motor cable pin configuration Baldor linear motors The following table shows the core colors used in a typical Baldor linear motor cable set part number AY1763A00 oto a o O Wot E AN 68680 ante
97. set current loop gains and perform test moves The Commissioning Wizard may have already set some of these values depending on the type of system selected on the mode screen Enter new values in the required boxes and then click Apply to download the values to the MintDrive To perform tests go to the Test Parameters area at the bottom of the tab Enter test values and then click Go to perform the test move If you need help just press F1 to display the help file The additional Measure and Feedback alignment buttons can be used to repeat the same measurement and alignment tests as the Commissioning Wizard 5 8 Operation MN1901 5 3 2 Parameters tool The Parameters tool can be used to setup many important parameters such as a scaling factor for the feedback input and the action to take when errors occur 1 Click the Parameters icon in the Toolbox on the left of the screen The main area of the WorkBench v5 window displays the Controller Parameters screen For Help press F1 2 The Controller Parameters screen has a number of tabs listed on the left Click on a tab to select it If you need help with any of the options just press F1 to display the help file Remember to click the tab s Apply button to send the changes to the MintDrive MN1901 Operation 5 9 5 3 3 5 3 4 Digital I O tool The Digital I O tool allows you to define how each digital input and output will be triggered an
98. signal to not be fully absorbed by the load This causes a portion of the signal to be reflected back into the transmission line as noise If the source impedance transmission line impedance and load impedance are all equal the reflections noise are eliminated Termination resistors increase the load current and sometimes change the bias requirements and increase the complexity of the system 1 2 3 4 5 6 71 8 9 1 Loft On 4 18 Input Output MN1901 4 4 6 Connecting Baldor HMI Operator Panels Baldor HMI Operator Panels use a 15 pin male D type connector marked PLC PORT but the MintDrive connector X6 is a 9 pin male D type connector If you do not require hardware handshaking then use the connections shown in Figure 35 Baldor HMI MintDrive PLC PORT X6 Figure 35 Cable wiring if hardware handshaking is not required If hardware handshaking is required then use the connections shown in Figure 36 Baldor HMI MintDrive PLC PORT BS Twisted pair Figure 36 Cable wiring if hardware handshaking is required MN1901 Input Output 4 19 4 5 Connection summary minimum system wiring As a guide Figure 37 shows an example of the typical minimum wiring required to allow the MintDrive to control a motor AC power rN L L L N n Filter N If the filter has no output earth ground terminal earth wire may be connected directly to the star point P
99. single axis rotary and linear positioning systems Programmable in Mint applications can be quickly written and tested Standard features include m Single axis AC brushless drive with integrated Mint controller Wide range of models with continuous current ratings from 2 5A to 27 5A Direct connection to 115VAC or 230VAC single phase or 230 460VAC three phase supplies model dependent m Resolver or encoder feedback Programmable in Mint with multi tasking capability Position velocity and current control preset and point to point moves software cams and gearing Auto tuning wizard including position loop and software oscilloscope facilities 8 optically isolated digital inputs 3 optically isolated digital outputs m 2 general purpose analog inputs can be used as a speed or torque command reference m 2 general purpose analog outputs 1 control relay m Selectable RS232 or RS485 communications m Flash memory for program storage 64k Non volatile RAM Factory fitted options expand the I O capabilities of the MintDrive and provide CAN bus DeviceNet or Profibus connectivity See Appendix A for details about options MintDrive will operate with a large number of brushless servo motors for information on selecting Baldor servo motors please see the sales brochure BR1202 BR1800 for linear motors available from your local Baldor representative This manual is intended to guide you through the installation of Min
100. sk performed by the control and the problem encountered No liability is assumed 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 MN1901 General Information 1 1 Product notice Only qualified personnel should attempt the start up procedure or troubleshoot this equipment This equipment 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 Only qualified personnel should attempt to start up program or troubleshoot this equipment 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 drive 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
101. tDrive The sections should be read in sequence The Basic Installation section describes the mechanical installation of the MintDrive the power supply connections and motor connections The other sections require knowledge of the low level input output requirements of the installation and an understanding of computer software installation If you are not qualified in these areas you should seek assistance before proceeding MN1901 Introduction 2 1 2 2 Receiving and inspection When you receive your MintDrive there are several things you should do immediately 1 Check the condition of the shipping container and report any damage immediately to the carrier that delivered your MintDrivell 2 Remove the MintDrive from the shipping container and remove all packing material The container and packing materials may be retained for future shipment 3 Verify that the catalog number of the MintDrive you received is the same as the catalog number listed on your purchase order The catalog part number is described in the next section 4 Inspect the MintDrive for external damage during shipment and report any damage to the carrier that delivered your MintDrivell 5 If MintDrive is to be stored for several weeks before use be sure that it is stored in a location that conforms to the storage humidity and temperature specifications shown in section 7 1 18 2 2 1 Identifying the catalog number The MintDrive
102. tain Baldor keypad peripherals Ensure that pin 9 is not connected to earth ground or to equipment that could be damaged by the 8V supply 4 16 Input Output MN1901 44 4 Using RS232 cable IN CAUTION The serial connector on the MintDrive X6 can be configured as either RS232 or RS485 RS422 Pin 9 is used to carry 8V for powering certain Baldor keypad peripherals Ensure that pin 9 is not connected to earth ground or to equipment that could be damaged by the 8V supply A suitable cable is available from Baldor catalog number CBL001 501 Front panel DIP switch 10 must be in the Off position to select RS232 operation The MintDrive has a full duplex RS232 serial port with the following preset configuration 57 6Kbaud 1 start bit 8 data bits 1 stop bit No parity Hardware handshaking lines RS232 RTS and CTS must be connected This configuration can be changed if required The RS232 connections are brought out onto a 9 pin male D type connector The RS232 port is configured as a DTE Data Terminal Equipment unit Both the output and input circuitry are single ended and operate between 12V The port is capable of operation at up to 57 6Kbaud X6 com RXD 2 gt 2 RXD TXD 3 3 TXD sr 9 pin dps GND 5 5GND Computer COM Port RTS 7 ue 7RTS DCE DTE CTS 8 8CTS Sa D Connect overall shield to connector backshell xe Figure 33 RS232 serial po
103. tall at known torque while in position control Position profiler Position a denen Itl D se Position Geman reference Position controller Torque PWM Power stage controller motor Measured current Measured speed Measured position Figure 46 Control structure in Torque Servo _cfTorqueServo configuration B 1 3 Speed amplifier Setting CONFIG to _cfVELOCITY configures the MintDrive as a speed amplifier as shown in Figure 47 Here a speed reference obtained from a specified source e g a Mint program the WorkBench v5 Command window the analog command input or Fieldbus provides targets for a speed profiler The profiler generates a speed demand signal that smoothly changes between successive speed targets This speed demand signal is fed into the speed controller and the remaining system operates as described in section B 1 1 Speed profiler Speed Torque Speed Speed demand reference controller Torque PWM Power stage controller motor Measured current Measured speed Figure 47 Control structure in Velocity _cfVelocity configuration B 2 Control System MN1901 B 1 4 Torque amplifier Setting CONFIG to _cfTORQUE configures the MintDrive as a torque amplifier as shown in Figure 48 Here a torque reference obtained from a specified source e g a Mint program the WorkBench v5 Command window the analog command input or Fieldbus provides targets
104. th ground or to equipment that could be damaged by the 8V supply See sections 4 4 3 to 4 4 4 A suitable cable is available from Baldor catalog number CBL001 501 APC with one free COM port with the following specification CO E Recommender speciation IESO IEA AAA EE CD ROM A CD ROM drive Screen 800 x 600 256 colors 1024 x 768 256 colors Mouse A mouse or similar pointing device Operating system Windows 95 Windows 98 Windows ME Windows NT Windows XP or Windows 2000 RS485 RS422 systems If you will be using RS485 RS422 and your PC does not have an RS485 RS422 connector an RS232 to 4 wire RS485 RS422 converter will be required These commercially available devices convert the signals from the RS232 RS485 port connector X6 to the signals necessary for RS485 RS422 communications Special care must be taken with the pin assignment on all RS485 RS422 devices as this can differ between products Connectors might need to be rewired to provide the correct pin assignment The MintDrive pin assignment is shown in section 4 4 3 Note If this is the first time you are installing a MintDrive then it is strongly recommended that you use RS232 to get started and try RS485 later This will avoid any potential problems involving the RS232 RS485 converter Firmware updates can only be performed over RS232 Selection of RS232 or RS485 is controlled using DIP switch 10 see section 3 9 5 Tools and miscellaneous h
105. the bottom Position Speed and Current Click on a tab to select it Position Speed Current Click the tab for the type of tests you wish to perform Note Some tabs may not be available depending on the configuration mode you selected in the Commissioning Wizard MN1901 Operation 5 7 5 3 1 1 5 3 1 2 5 3 1 3 Fine tuning Position tab The position tab allows you to set position loop gains and perform test moves The Commissioning Wizard may have already set some of these values depending on the type of system selected on the mode screen Enter new values in the required boxes and then click Apply to download the values to the MintDrive To perform tests go to the Test Parameters area at the bottom of the tab Enter test values and then click Go to perform the test move If you need help just press F1 to display the help file Fine tuning Speed tab The speed tab allows you to set speed loop gains and perform test moves The Commissioning Wizard may have already set some of these values depending on the type of system selected on the mode screen Enter new values in the required boxes and then click Apply to download the values to the MintDrive To perform tests go to the Test Parameters area at the bottom of the tab Enter test values and then click Go to perform the test move If you need help just press F1 to display the help file Fine tuning Current tab The current tab allows you to
106. tly See the Mint keyword CURRENTLIMIT and related commands Current trip Instantaneous over current trip One or more of the 3 motor phases has exceeded 300 of Drive Rated Current Under volts The DC Bus voltage has dropped below the powerbase undervolts level see DRIVEBUSUNDERVOLTS This error will only be generated if the drive is in the enabled state As with the overvolts error check the input voltage being fed into the system The error could also occur during high acceleration profiles Feedback trip Can be enabled disabled using FEEDBACKFAULTENABLE Five consecutive errors or five errors in any 500 servo tick period will cause the drive to trip This error indicates loss of encoder resolver feedback and may indicate that the feedback cable has become detached or one of the signals has broken Check the wiring in the Feedback cable check for noise immunity check the feedback device fitted to the motor if possible Motor or Drive trip The motor 12T or the drive I T current protection algorithms have exceeded their limit and tripped the drive disabled it Check DRIVEERROR or the Error Log to determine which error has occurred The motor and drive current limits are fixed according to the database parameters The drive can demand peak current for a short duration see DRIVEPEAKDURATION thereafter it will trip or Foldback according to the setting of DRIVEOVERLOADMODE The same is true for the motor see MOTORPEAKDURATION and MO
107. to ignore this state using the Mint keyword DRIVEENABLEINPUTMODE see the Parameters tool Suspend The SUSPEND command has been issued and is active Motion will be ramped to zero demand whilst active Speed demand The drive is under speed control See the Mint keywords SPEEDREF SPEEDREFSOURCE and related commands Reverse software or hardware limit A reverse software limit has been activated See AXISERROR and or AXISSTATUS to determine which applies Forward software or hardware limit A forward software limit has been activated See AXISERROR and or AXISSTATUS to determine which applies Firmware being updated horizontal bars appear sequentially New firmware is being downloaded to the drive Initialization error An initialization error has occurred at power on See the Error Log or INITERROR topics in the help file Initialization errors should not normally occur F J L a User defined symbols can be made to appear using the Mint keywords LED and LEDDISPLAY DB On Regeneration LED wo The front panel DB On LED indicates regeneration activity Power is being dissipated into the regeneration resistor Off No regeneration is occurring 6 4 Troubleshooting MN1901 6 2 3 Communication Status display is blank WorkBench v5 fails to detect the MintDrive it detects Controller with No Firmware on the serial port Check that the customer supplied 24VDC power supply is connected corr
108. to make changes Homing Tool Allows you to setup homing moves Spy window Allows you to monitor all the important parameters for the axis and shows the state of digital inputs and outputs limit switches and comms locations Remember for help on each tool just press F1 to display the help file then navigate to the WorkBench v5 book Inside this is the Toolbox book 5 10 Operation MN1901 6 1 6 1 1 6 1 2 6 1 3 Troubleshooting Introduction This section explains common problems that may be encountered together with possible solutions Problem diagnosis If you have followed all the instructions in this manual in sequence you should have few problems installing the MintDrive If you do have a problem read this section first In WorkBench v5 use the Error Log tool to view recent errors and then check the help file If you cannot solve the problem or the problem persists the SupportMe feature can be used SupportMe feature The SupportMe feature on the Help menu can be used to e mail information to the Baldor representative from whom you purchased the equipment If required you can choose to add your program files as attachments WorkBench v5 will automatically start up your e mail program and begin a new message with comprehensive system information and selected attachments already in place You can add any additional message of your own and then send the e mail The PC must have email faciliti
109. tput single phase models 115VAC Catalog number MDH1 EEE E 97 Minimum input voltage Coo oh Maximum input voltage Nominal DC Bus voltage VDC Minimum DC Bus voltage 1 S RER RES Maximum DC Bus voltage A Pi EA Nominal input voltage Minimum input voltage Maximum input voltage 250 Nominal DC Bus voltage 320 Minimum DC Bus voltage 306 Maximum DC Bus voltage 350 All single phase models 2 5A 5A 7 5A Catalog numbers MDH and MDH2 Output voltage line line VRMS 0 230 VDC Bus 320V Nominal phase current Nominal phase current 10 S EA SS E phase current 10 Arms 10 an for 2 4s 0 5s 0s ee Output frequency Hz 0 500 Nominal switching frequency kHz 7 2 Specifications MN1901 7 1 2 AC input power and motor output three phase models 230 460VAC 50 60Hz 20A 27 5A Catalog number MDH4 Nominal input Nominal input voltage 230 460 Maximum input Maximum input voltage Nominal DC Bus voltage 325 230VAC input 650 460VAC input Minimum DC Bus Minimum DC Bus voltage 746 Programmable using Mint keyword DRIVEBUSOVERVOLTS Maximum DC Bus voltage Output voltage line line VRMS 0 353 VDC Bus 500V Nominal phase current 10 15 27 5A 5A Peak phase current 10 aS 10 15 for 2 4s 0 5s Os Roninatoupuipower waf ae v wa am D PE All three phase models 5A 7 5A 15A 20A 27 5A Catalog numbers MDH4 Efficiency Output

MintDrive II Installation Manual - Q-TECH

Contents

Download Pdf Manuals

Related Search

Related Contents