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Baldor E100 Computer Drive User Manual

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1. Earth ground outer shield using 360 conductive clamp connected to STAR enclosure backplane POINT Figure 11 Regeneration resistor connections N DANGER Electrical shock hazard DC bus voltages may be present at these terminals 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 resistor MN1942 Basic Installation 3 23 www supportme net 3 24 Basic Installation MN1942 Feedback 4 4 1 Introduction MicroFlex e100 supports many feedback options for use with linear and rotary motors including incremental encoder encoder with SSI Synchronous Serial Interface SinCos encoder or EnDat absolute encoder All suitable types of feedback device can be connected to the universal feedback interface available on connector X8 There are some important considerations when wiring the feedback device MN1942 The feedback device wiring must be separated from power wiring Where feedback device wiring runs parallel to power cables they must be separated by at least 76mm 3 in Feedback device wiring must cross power wires at right angles only To prevent contact with other conductors or earths grounds unearthed ungrounded ends of shields must often be insulated Linear motors
2. 6 10 545 Gonmmissionihg WIZAEG Y siad aua oed ded orar tate d addet et 6 11 6 4 4 Performing a test move 6 13 6 5 Further econtiguratloni xxxi dx ux EE EE yuka EE ERA 6 14 6 5 1 FINE TUNING TOOL ccinaverccanace ceded Kee RU Rr E RR P Ee ss 6 14 6 5 2 Parameters tool 6 16 65 3 Other tools and WIPIdOWS xx soi uy l li die ets ated d oder E a 6 17 f WOUDIGSNOOUNG xti db une eh went cane Reads 1 1 fal o MDUOGHCHOD ansa ea os kot A E 1 1 EAT Problem diagnosis s axscxeimdext ute m vere Sum REY Eee Ket owned 1 1 7 1 2 SupportMe feature 7 1 7 1 3 Power cycling the MicroFlex e100 7 1 2 MicroFlex e100 indicators 1 2 Td SVATUS LED Zx u y cok XE eta okies ia u ER SEU ela eee ek 7 2 22 CAN LEDS xoci dedita mes merde e etit aks dead estet and aes 7 3 1 2 9 EFPIERNETIDEDS a eed ace Dt sl a ue ceret Dae dai aoe d ya 7 4 24 CommunicallOn suene ees RYMER kusa e heec Cees beds NES Led ima 7 5 hai JEONODOD S uluya tai ey pakadu paha RE fy ee uyu recat y E nia DA a 1 5 LAO JM VVOFKBel li Sx eck ut deere a ioe ere ta Suyu Sta ET ee ws che SS LES 1 5 Jf NUAMO sacks ae cites ce te eek ex dani do amr ined STEP Ro E OS eod 1 6 7 2 8 Ethernet td due
3. Figure 13 Hall channel input circuit U phase shown 4 1 1 1 Encoder cable configuration Baldor rotary motors Motor Twisted pairs 7 CHA I U gt Hr 3 ae i 3 CHB Encoder a ae CHB Feedback i gt lt gt 27 nen CHZ INDEX 5V out a Ma M SS Mix Hall U OO he Eeedhgek mI AED d rt deed a n FE ERAS Hall V s CIP C O ha Sd Connect overall shield P to connector backshells Figure 14 Encoder cable connections rotary motors Note f the Hall inputs are used as single ended inputs leave the Hall U Hall V and Hall W pins unconnected do not connect them to ground MN1942 Feedback 4 3 www supportme net 4 1 1 2 Encoders without Halls Incremental encoders without Hall feedback connections may be connected to the MicroFlex e100 However if Hall connections are not present it will be necessary for the MicroFlex e100 to perform an automatic phase search sequence each time it is powered This will cause motor movement of up to 1 turn on rotary motors or one pole pitch on linear motors Motor Twisted pairs CHA CHA CHB CHB CHZ INDEX CHZ INDEX 5V out DGND Sense Encoder Feedback NS Connect overall shield A to connector backshells Figure 15 Encoder cable connections without halls rotary motors 4 1 1 3 Halls only feedback devices Feedback devices using only Hall sensors may be connec
4. Error Load TLP 127 Relay with diode shown User supply GND Figure 30 DOUTO output circuit By default DOUTO is configured as an error status output which becomes inactive in the event of an error When the MicroFlex e100 is connected to Mint WorkBench the active level of the output can be configured using the Digital I O tool Alternatively the Mint keyword OUTPUTACTI VELEVEL can be used in the command window See the Mint help file for details MN1942 Input Output 5 9 www supportme net he User TRE MicroFlex e100 x3 supply x9 24V DOUTO DOUTO DIN4 TLP127 CREF1 TLP280 User supply GND Figure 31 DOUTO typical connections to a Baldor NextMove e100 5 10 Input Output MN1942 www supportme net 5 2 6 General purpose output DOUT1 Location Connector X3 pins 3 amp 13 Mating connector Weidm ller Minimate B2L 3 5 20 Description General purpose opto isolated digital output Output current 100mA maximum User supply 28VDC maximum Update interval 1ms The optically isolated general purpose output is designed to source current from the user supply as shown in Figure 30 The PS2562L has a maximum power dissipation of Z00mW at 25 C The maximum saturated voltage across the outputs when active is 1 0VDC so it can be used as a TTL compatible output The output includes a self rese
5. CiA Device Profile for Generic I O Devices DS402 CiA Device Profile for Drives and Motion Control DS403 CiA Device Profile for HMIs EDS Zyras achusa tarata Electronic Data Sheet ENG sie tee as Electromagnetic Compatibility EPL ide asa ETHERNET Powerlink PAM sx ayka os Human Machine Interface ISOs MEE International Standards Organization Khad ce a kilobaud the same as Kbit s in most applications LCD sitters a Liquid Crystal Display MDDS a dick easi eon megabits s MB lE megabytes MMC Mint Machine Center NG ro gas Not Connected RE eade cae aa Radio Frequency o ME Synchronous Serial Interface TOPP s sns Transmission Control Protocol Internet Protocol UDP 3 sack ou dus User Datagram Protocol MN1942 Introduction 2 3 www supportme net 2 4 Introduction MN1942 3 1 3 1 1 3 1 2 Basic Installation 3 Introduction You should read all the sections in Basic Installation to ensure safe installation This section describes the mechanical and electrical installation of the MicroFlex e100 in the following stages Location considerations Mounting the MicroFlex e100 Connecting the AC power supply Connecting the 24VDC control circuit supply Connecting the motor Installing a regeneration resistor Dynamic Brake Connecting the feedback device These stages should be read and followed in sequence Power sources A 115 230VAC power source IEC1010 over voltage category
6. US m m F Ese SEP N e lt f I P da Servo Drive Installation manual MN 1942 01 06 Contents 1 General Information 1 1 Z AEVOCUGCTIONN RE ERR TT T ITO TT ITI 2 1 2 1 MicroFlex e100 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 3 Basic Installatlor a5 re ee bane E Pb es ee aes wes 3 1 Oc SMIOGUOGHOD uou d qe reo he PCR RR e oa qo eH 8 3 1 O51 POWEPSOUIGES xcoeatenamuct s 31 es Ae od ees dona dan ae as edt i s das 3 1 3 1 2 Hardware requirements 3 1 3 1 3 Tools and miscellaneous hardware 3 2 3 1 4 Other information needed for installation 3 2 3 2 Mechanical installation and cooling requirements 3 3 3 2 Dimen sls sasa e kE e a a EO ei ect kl SU ed eo Scd ded 3 4 3 2 2 Mounting and cooling the MicroFlex e100 3 5 3 223 Derating characteristic 3A model 3 6 3 2 4 Derating characteristic 6A model 3 7 3 25 Derating characteristic 9A model 3 8 3 2 6 Overtemperature trips
7. 3 8 3 3 Connector locations ellleeee uuu sus 3 9 39 1 Front panel connectors xia ane yutuqa ya i huyu vont GE 3 9 S302 TOD DaliehCOMMGClOrs augue uyum ea ice ns ee acere La dns L dod 3 10 3 4 Power connections 3 11 34 1 Eanhing Grounding sas science ey tum pak EROR ERE T ERDER ORDERA 3 11 3 4 2 Single phase or three phase power connections 3 12 3 4 3 Input power conditioning 3 13 3 4 4 Power disconnect and protection devices 3 14 3 4 5 Recommended fuses circuit breakers and wire sizes 3 15 3 4 6 Drive overload protection 3 15 3 4 7 Power supply filters 3 16 3 4 8 24V control circuit supply 3 17 35 Motor connections 3 18 3 5 1 Motor circuit contactors 3 19 3 5 2 Motor power cable pin configuration Baldor BSM rotary motors 3 19 3 5 3 Motor cable pin configuration Baldor linear motors 3 20 3 5 4 Sinusoidal filter 3 20 3 5 5 Thermal switch connection 3 21 3 5 6 Motor brake connection 3 22 3 6 Regeneration resi
8. manuals baldor co uk continued MN1942 Comments Thank you for taking the time to help us Comments MN1942 Visit www supportme net for the latest documentation and software releases U S A Headquarters Baldor Electric Company Tel 1 479 646 den Fax 1 479 648 5792 E mail salesusGbaldorcom Australian Baldor PTY Ltd Tel 61 2 9674 5455 Fax 61 2 Fall sales au t Baldor ASR GmbH Germany Tel 49 0 89 905 080 Fax 49 0 89 905 08492 E mail sales de baldor com aia s Southern Baldor ASR AG itzerland Tol IT 52 647 4700 Fax 41 52 659 2394 E mail sales ch baldor com India Baldor Electric India Pvt Ltd Tel 91 20 2545 9531 Fax 91 20 2545 9530 E mail sales in baldor com Baldor Japan Corporation Tel 81 45 412 4506 Fag vs engins 4507 Baldor d Mexico Tel 52 477 761 2030 Fax 52 477 761 2010 E mail sales mx amp baldor com Tel 65 744 2572 Fax 65 747 1708 E mail sales s baldor com United Kingdom Baldor UK Ltd Tel 44 1454 850000 Fax 44 1454 859001 E mail sales uk baldor com For additional office locations visit www baldor com
9. Dema Mode Help Der Recent Project Exi wakBench 6 10 Configuration MN1942 www supportme net 3 Inthe Select Controller dialog click Scan to search for the MicroFlex e100 Mint WorkBench will scan the PC s ports for the MicroFlex e100 When the search is complete click MicroFlex e100 in the list to select it then click Select Select Controller Fx Click Sean or choose a controller from the ligt For a controller vath gut oF date firmare Select ts replaced with Update firmware Ory scan COM1 Scan Add Specific Controller Search up to serial node address 2 Hex 2 Scanning PCI bus done B Scanning USB done Scanning COM done Hl Controllers found a m n F F a Di Na che 2 fl LI J Fie Manager Select z Launch 8 Commissioning se Wizard This check box is already selected for you When you click Select it means that the Commissioning Wizard will start automatically Note If the MicroFlex e100 is not listed check the USB or Ethernet cable between the MicroFlex e100 and the PC Check that the MicroFlex e100 is powered correctly Click Scan to re scan the ports 6 4 3 Commissioning Wizard Each type of motor and drive combination has different performance characteristics Before the MicroFlex e100 can be used to control the motor accurately the MicroFlex e100 must be tuned This is the process where the MicroFlex e100 powers the motor in a s
10. t A Abbreviations See Units and Abbreviations Accessories A 1 EMC filters A 4 fan tray A 2 feedback cables A 9 A 10 footprint filter A 3 motor power cables A 8 regeneration resistors A B Basic Installation 3 1 C CAN interface CANopen 5 18 connector 5 17 introduction 5 17 LEDs 7 3 opto isolation 5 18 specifications 8 6 termination 5 17 wiring 5 17 Catalog number identifying 2 2 CE Guidelines C 1 Circuit breakers 3 15 Command window 6 17 Commissioning Wizard 6 11 using 6 12 Configuration 6 14 Connections See also Input Output feedback 4 1 motor 3 18 power 3 11 3 12 Connectors CAN 5 17 Ethernet 5 14 5 16 I O 5 3 5 12 MN1942 Index locations 3 9 3 10 USB 5 13 Control system B 1 servo configuration B 2 torque servo configuration B 4 Cooling 3 5 3 6 3 7 3 8 A 2 overtemperature trips 3 8 D Demand outputs 6 13 Derating 3 6 3 7 3 8 Digital I O 5 2 digital input DINO 5 5 8 4 digital inputs DIN1 amp DIN2 5 7 8 4 digital output DOUTO 5 9 8 4 digital output DOUT1 5 11 8 4 drive enable input 5 3 8 4 special functions on DIN1 amp DIN2 5 8 Dimensions 3 4 Dynamic brake See Regeneration resistor E Earthing grounding leakage 3 11 protection class 3 11 protective earth PE 3 11 Encoder incremental cable 4 3 A 9 feedback 4 2 specification 8 5 without Halls 4 4 EnDat absolute encoder cable 4 11 feedb
11. Figure 45 FAN001 024 dimensions lt 8463 y i J v8 O ol Assembled MicroFlex e100 e eo s and fan tray Position of fan tray mounting holes relative to MicroFlex e100 Bottom of MicroFlex e100 It is important that the fan tray is mounted in close proximity to the MicroFlex e100 as shown above Failure to do so will result in decreased cooling efficiency Figure 45 Fan tray A 2 Accessories MN1942 www supportme net A 1 2 Footprint filter single phase only The single phase footprint AC power filter Baldor part FIOO29A00 provides mounting holes for the MicroFlex e100 and fan tray This allows the filter fan tray and MicroFlex e100 to use minimal panel mounting space See section A 1 3 for details of filter FIOO29A00 Footprint filter FI0029A00 MicroFlex e100 MFE230A00x Fan tray FAN001 024 Figure 46 Assembled footprint filter fan tray and MicroFlex e100 MN1942 Accessories A 3 www supportme net A 1 3 EMC filters AC filters remove high frequency noise from the AC power supply protecting the MicroFlex e100 These filters also prevent high frequency signals from being transmitted back onto the power lines and help meet EMC requirements To select the correct filter see sections 3 4 7 and 3 4 8 A 1 3 1 Catalog numbers e bs 0 27 08 45 035 73 1 61 73 1 61 0 5 1 1 0 8 1 76 zm 3 3968 0 0 0 Hos 2 04 3 10 12 7 16
12. Unshielded lengths should beasshortas Optional motor possible circuit contactors i To earth ground outer shield use 360 clamp connected to backplane Figure 7 Motor connections N CAUTION Do not connect supply power to the MicroFlex e100 UVW outputs The MicroFlex e100 might be damaged 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 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 18 Basic Installation MN1942 www supportme net 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 MicroFlex e100 see section 3 5 Opening the M Contactor ensures that the MicroFlex e100 cannot drive the motor which may be necessary 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
13. 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 MN1942 www supportme net C 1 5 EMC installation suggestions To ensure electromagnetic compatibility EMC the following installation points should be considered to help reduce interference m Earthing grounding of all system elements to a central earth ground point star point m Shielding of all cables and signal wires m Filtering of power lines A proper enclosure should have the following characteristics m Al metal conducting parts of the enclosure must be electrically connected to the back plane These connections should be made with an earthing grounding strap from each element to a central earthing grounding point star point m 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 m 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 m The cable to the regeneration resistor must be shielded The shield must be connected to earth ground at both ends m The location of the AC fi
14. m Inthe Search up to Nodexx option in Mint WorkBench s Select Controller dialog check that the MicroFlex e100 s node ID is not higher than the selected value or search up to a greater node ID For USB connections check that the cable is properly connected Check the USB connector socket pins for damage or sticking Check that the USB device driver has been installed a USB Motion Controller device should be listed in Windows Device Manager m Check that the PC s Ethernet port has been correctly configured for TCP IP operation see section 6 2 4 7 2 5 Power on The Status LED is flashing red m TheMicroFlex e100 has detected a motion error Click the Error button on the motion toolbar to view a description of the error Alternatively select the Error Log tool to view a list of errors Click the Clear Errors button on the motion toolbar 7 2 6 Mint WorkBench The Spy window does not update m The system refresh has been disabled Go to the Tools Options menu item select the System tab and then choose a System Refresh Rate 500ms is recommended Cannot communicate with the controller after downloading firmware m After firmware download always power cycle the MicroFlex e100 remove 24V power and then reconnect Mint WorkBench loses contact with MicroFlex e100 while connected using USB m Check that the MicroFlex e100 is powered m Check that a USB Motion Controller device is listed in Windows Device M
15. 1 1 7 1 2 7 1 3 Troubleshooting f Introduction This section explains common problems that may be encountered together with possible solutions If you want to know the meaning of the LED indicators see section 7 2 Problem diagnosis If you have followed all the instructions in this manual in sequence you should have few problems installing the MicroFlex e100 If you do have a problem read this section first In Mint WorkBench 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 is available from the Help menu or by clicking the F button on the motion toolbar SupportMe can be used to gather information which can then be e mailed saved as a text file or copied to another application The PC must have e mail facilities to use the e mail 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 m The serial number of your MicroFlex e100 if known m Use the Help SupportMe menu item in Mint WorkBench to view details about your system m The catalog and specification numbers of the motor that you are using A clear description of what you are trying to do for example trying to establish communications with Mint WorkBench or trying to perform fine
16. 10 CHB NC Clock Clock 11 CHZ NC NC NC X2 Control circuit power 12 5V out 5Vout 5Vout 5V out 13 DGND DGND DGND DGND 14 Hall W NC NC NC 15 Hall W NC NC NC gv Shell Shield Shield Shield Shield 24V EnDat v2 1 only EnDat v2 2 does not use the Sin and Cos signals NC Not Connected Do not Tightening torque for terminal block connections X1 amp X3 is 0 5 0 6Nm make a connection to this pin 4 4 5 3 Ib in Maximum wire sizes X1 2 5mm2 X3 0 5mm2 MN1942 Basic Installation 3 9 t www supportme net 3 3 2 Top panel connectors O Oo l O Q gt QO N CD o a TX Both connectors TX have identical RX pinouts co O O gt Q N s 3 10 Basic Installation MN1942 www supportme net 3 4 3 4 1 3 4 1 1 3 4 1 2 Power connections This section provides instructions for connecting the AC power supply 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 N DANGER 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 equipment to which it is connec
17. 2 FI0018A03 FI0029A00 4 4 4 4 33 33 33 Dimensions mm inches FI0018A00 190 7 48 160 6 30 180 7 09 20 0 79 4 5 0 18 71 2 80 40 1 57 FI0018A03 250 9 84 220 8 66 235 9 25 25 0 98 5 4 0 21 70 2 76 45 1 77 Figure 47 Filter dimensions types FI0018A00 and FI0018A03 A 4 Accessories MN1942 www supportme net x Dimensions mm mehes FI0015A02 x A ses meem ee x B T 552 D sew xem 1956 E588 mew 1436383 CF r 8 uan 409 x H 594 3028 530027 K 63025 882 Figure 48 Filter dimensions types FI0014A00 FI0015A00 FI0015A01 FI0015A02 MN1942 Accessories A 5 www supportme net k D a E s Eee i2 te E E Mounting keyhole and slot detail D m wama 4 G s O o lt 6 O s li H T C A C IA ii G K G 5 5mm H 11mm J 10mm O O K 5mm O O O O LL T Figure 49 Filter dimensions type FI0029A00 A 6 Accessories MN1942 www supportme net A 1 4 Regeneration resistors Depending on the application MicroFlex e100 might require an external regeneration resistor to be connected to pins R1 and R2 of connector X1 The regeneration resistor dissipates energy during braking to prevent an over voltage e
18. 3 2 1 For effective cooling the MicroFlex e100 must be mounted upright on a smooth vertical metal surface The MicroFlex e100 is designed to operate in an ambient temperature of 0 C to 45 C 32 F to 113 F Output current must be derated between 45 C 113 F and the absolute maximum ambient temperature of 55 C 131 F Within the ambient temperature range The 3A model is designed to operate without any additional cooling methods The 6A and 9A models require a forced air flow passing vertically from the bottom to the top of the MicroFlex e100 case to allow full rated current at 45 C 113 F Temperature derating characteristics are shown in sections 3 2 3 to 3 2 5 Note Failure to meet cooling air flow requirements will result in reduced product lifetime and or drive overtemperature trips It is recommended to check periodically the operation of the cooling equipment Optional fan tray FANOO1 024 mounted exactly as shown in section A 1 1 ensures that correct cooling is provided and allows the MicroFlex e100 to be UL listed 3 2 2 1 Effects of mounting surface and proximity The proximity of the MicroFlex e100 to other Metal backplane components could affect cooling efficiency If the MicroFlex e100 is mounted beside another MicroFlex e100 or other obstruction there should be a minimum space of 15mm to maintain effective cooling Hot If the MicroFlex e100 is mounted above or below another MicroFlex e100 or othe
19. 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 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 MicroFlex e100 compliance When installed as directed in this manual MicroFlex e100 units meet the emission limits for an industrial environment as defined by the EMC directives EN61000 6 4 2001 To meet the more stringent emission limits of the residential commercial and light industrial environment EN61000 6 3 2001 the MicroFlex e100 must be mounted in a suitable metal cabinet incorporating 360 screened cable glands MN1942 CE Guidelines C 1 www supportme net C 1 3 Use of CE compliant components The following points should be
20. III or less in the installation area is required This may be single phase or three phase An AC power filter is required to comply with the CE directive for which the MicroFlex e100 was tested see section 3 4 7 The 24VDC control circuit supply must be a regulated power supply with a continuous current supply capability of 1A 4A power on surge Hardware requirements The components you will need to complete the basic installation are 24VDC power supply AC power supply filter for CE compliance The motor that will be connected to the MicroFlex e100 A motor power cable An encoder feedback cable SSI cable or EnDat SinCos cable A separate Hall cable might also be required for linear motors A USB cable Optional A regeneration resistor Dynamic Brake might be required depending on the application Without the regeneration resistor the drive may produce an overvoltage fault All MicroFlex e100 models have overvoltage sensing circuitry Regeneration resistors may be purchased separately see Appendix A m A cooling fan may be required to allow operation of the MicroFlex e100 at full rated current see section 3 2 2 MN1942 Basic Installation 3 1 www supportme net A PC with the following specification rina specinton Recommended peso USB port or Ethernet port Screen 1024 x 768 16 bit color 1152 x 864 16 bit color Mouse A mouse or similar pointing device Operating Windows 2000 or Window
21. approximately If there seems to be very little motor movement it is probably due to the scale factor In the Commissioning Wizard on the Select Scale Factor page if you did not adjust the scale factor then the current unit of movement is feedback counts per second Depending on the motor s feedback device 10 feedback counts per second could equate to a very small velocity Issue another J OGcommand using a larger value or use the Operating Mode Wizard to select a suitable scale factor e g 4000 if the motor has a 1000 line encoder or 10 000 for a 2500 line encoder Comm and E To stop the test type STOP O gm T C I Configuration 6 13 www supportme net 6 5 6 5 1 6 5 1 1 6 5 1 2 6 14 Further configuration Mint WorkBench 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 Two of the main tools used for tuning and configuring the MicroFlex e100 are described in the following sections Every tool is explained fully in the help file Press F1 to display the help file then navigate to the Mint WorkBench book Inside this is the Toolbox book Fine tuning tool The Commissioning Wizard calculates many parameters that allow the MicroFlex e100 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 1 Cl
22. conductive D shield clamp see section C 1 6 Star O PC point Shielded twisted pair clamped to metal backplane near drive using conductive shield earth ground I clamp see sections 3 6 and C 1 6 Optional N regen resistor Regen Dynamic i brake Motor power U V W Ferrite Motor feedback Motor Use twisted pair cable with a 24VDC OV ferrite sleeve see section 3 4 8 24VDC OV Drive enable input Control circuit supply fused The MicroFlex e100 should be mounted on an earthed metal backplane Ensure cables do not obstruct airflow to the heatsink Motor represents a typical Baldor BSM motor Linear motors may also be controlled by MicroFlex e100 Conductive shield earth ground clamps are not supplied When using single phase supplies it may be necessary to reverse the AC power filter see section 3 4 7 2 Figure 40 Recommended system wiring MN1942 Input Output 5 23 www supportme net 5 24 Input Output MN1942 6 1 6 1 1 6 1 2 Configuration 6 Introduction Before powering the MicroFlex e100 you will need to connect it to the PC using a USB or Ethernet cable and install the supplied Mint Machine Center software This software includes a number of tools to allow you to configure and tune the MicroFlex e100 If you do not have experience of software installation or Windows applications you may need further assistance for this stage of the installation Connecting th
23. connected to using the Mint CONNECT keyword Any network and node related events can then be monitored using the Mint BUS1 event Note All CAN related Mint keywords are referenced to CANopen using the bus dot parameter For CANopen the bus dot parameter must be set to 1 Please refer to the Mint help file for further details on CANopen Mint keywords and dot parameters MN1942 Input Output 5 19 www supportme net 5 6 Other I O 5 6 1 Node ID selector switches The MicroFlex e100 has two selector switches which determine the unit s node ID on EPL networks Each switch has 16 positions allowing selection of the hexadecimal values 0 F node IDs of 0 255 hexadecimal FF to be selected The switch labelled HI sets the high nibble half byte and the switch labelled LO sets the low nibble The following table lists all node IDs from 0 to 255 with the equivalent HI and LO switch settings Node ID HI LO Node ID A O N S ojl o O A O N 5 eo N S O o m 64 65 66 _ Ry BY BY A w N gt Ry ay A RY N F a AY F p A OA mi O O U gt c o oj gt oj T Node ID 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 LO Co eo co co Co CO N oa A o N Co co o O j o o m oj ojoj gt oj T cO In combina
24. 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 m The installation methods interconnection materials shielding filtering and earthing grounding of the system as a whole will determine CE compliance m 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 C 1 4 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 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 MicroFlex e100 The connections between the MicroFlex e100 and the filter should use shielded screened cables The cable shields should be connected to shield clamps at both ends Earthing grounding For safety reasons
25. details of appropriate brakes N CAUTION Ifan M Contactor is installed the MicroFlex e100 must be disabled at least 20ms before the M Contactor is opened If the M Contactor is opened while the MicroFlex e100 is supplying voltage and current to the motor the MicroFlex e100 may be damaged Incorrect installation or failure of the M Contactor or its wiring may result in damage to the MicroFlex e100 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 CBLO25SP 12 So 1 Besar x R Note Not all motors are fitted with a brake so pins C and D might not be connected Motor power connector Cable connector end view male female Figure 8 Baldor motor power cable pin configuration MN1942 Basic Installation 3 19 www supportme net 3 5 3 3 5 4 3 20 Motor cable pin configuration Baldor linear motors The following table shows the pin colors used in a typical Baldor linear motor cable set part number AY 1763A00 Nor BR 00 Muay RT oto WWE o O Hall cable wire color iar iz R4 a 5 Sinusoidal filter A sinusoidal filter is used to provide a better quality waveform to the motor reducing motor noise temperature and mechanical stress It will reduce or eliminate harmful dV dt values voltage rise over t
26. does not appear select Run from the Windows Start menu and type d start where d represents the drive letter of the CD device Follow the on screen instructions to install MMC including Mint WorkBench The setup wizard will copy the files to appropriate folders within the C Program Files folder and place shortcuts on the Windows Start menu MN1942 Configuration 6 1 www supportme net 6 2 Starting the MicroFlex e100 If you have followed the instructions in the previous sections you should now have connected all the power sources inputs and outputs and the Ethernet cable or USB cable linking the PC to the MicroFlex e100 6 2 1 Preliminary checks Before you apply power for the first time it is very important to verify the following m Disconnect the load from the motor until instructed to apply a load If this cannot be done disconnect the motor wires at connector X1 Verify that the AC line voltage matches the specification of the MicroFlex e100 Inspect all power connections for accuracy workmanship and tightness Verify that all wiring conforms to applicable codes Verify that the MicroFlex e100 and motor are properly earthed grounded Check all signal wiring for accuracy 6 2 2 Power on checks If at any time the Status LED flashes red the drive has detected a fault see section 7 1 Turn on the 24VDC supply 2 Turn on the AC supply 3 Within approximately 20 30 seconds the test sequence should comp
27. interface once the startup sequence has completed The LED codes conform to the CAN in Automation CiA DR303 3 indicator standard The green LED indicates the state of the node s internal CANopen state machine The red LED indicates the state of the physical CANopen bus Green run E Off Node initializing or not powered 1 flash Node in STOPPED state 3 flashes Software is being downloaded to the node Continuous flashing Node in PRE OPERATIONAL state Flickering very fast flashing Auto baudrate detection or LSS services in progress flickers alternately with red LED Red error E Off No errors or not powered 1 flash Warning too many error frames 2 flashes Guard event or heartbeat event has occurred 3 flashes The SYNC message has not been received within the timeout period Flickering very fast flashing Auto baudrate detection or LSS services in progress flickers alternately with green LED MN1942 Continuously illuminated not flashing The node s CAN controller is in the BUS OFF state preventing it from taking part in any CANopen communication Troubleshooting 7 3 www supportme net 7 2 3 ETHERNET LEDs The ETHERNET LEDs display the overall condition of the Ethernet interface once the startup sequence has completed The LED codes conform to the ETHERNET Powerlink Standardization Group EPSG standard at the time of production Green Green status rt r U C A IDE SS ns
28. running Mint WorkBench The connection uses Baldor s high level ICM Immediate Command Mode protocol to allow Mint commands Mint programs and even firmware to be sent to the controller over the Ethernet network When operating in standard Ethernet mode TCP IP cannot be used to communicate with a controller on a daisy chained network This is due to cumulative timing errors caused by each controller s internal hub It is necessary to connect the host PC to the controller either directly or via a single hub as shown in Figure 34 Host PC MicroFlex e100 drives Figure 34 Connecting to drives using TCP IP in standard Ethernet mode When operating in EPL mode in conjunction with an EPL compatible router the host PC can use TCP IP to communicate with controllers on a daisy chained network In this situation the router will use TCP IP only within EPL s asynchronous time slots See the Mint help file for further details Host PC NextMove e100 Master Node MicroFlex e100 drives ETHERNET Powerlink compatible router Figure 35 Connecting to daisy chained drives using TCP IP and EPL mode 5 14 Input Output MN1942 www supportme net 5 4 2 ETHERNET Powerlink MicroFlex e100 supports the deterministic ETHERNET Powerlink EPL protocol This protocol provides very precise and predictable real time communication over a 100Mbit s 100Base T Fast Ethernet IEEE 802 3u connection This makes it suitable for the transmission
29. so click the Continue Anyway button to continue with the installation When installation is complete a new USB Motion Controller device will be listed in the Universal Serial Bus controllers section of Windows Device Manager 6 2 Configuration MN1942 www supportme net E Universal Serial Bus controllers L USB Motion Controller L Intel 823714ABJEB PCI to USB Universal Host Controller USB Root Hub The MicroFlex e100 is now ready to be configured using Mint WorkBench Note Ifthe MicroFlex e100 is later connected to a different USB port on the host computer Windows may report that it has found new hardware Either install the driver files again for the new USB port or connect the MicroFlex e100 to the original USB port where it will be recognized in the usual way 6 2 4 Configuring the TCP IP connection optional If you have connected the MicroFlex e100 to the PC using the Ethernet connection it will be necessary to alter the PC s Ethernet adapter configuration to operate correctly with the MicroFlex e100 CAUTION You cannot connect an ordinary office PC to the MicroFlex e100 without first altering the PC s Ethernet adapter configuration However if you have installed a second Ethernet adapter dedicated for use with the MicroFlex e100 then this adapter s configuration can be altered without affecting the PC s office Ethernet connection If you are unsure about making changes to your PC s Ethernet adapter config
30. trips Violent jamming stopping of the motor during operation may damage the motor and drive Operating the MicroFlex e100 in Torque mode with no load attached to the motor can cause the motor to accelerate rapidly to excessive speed If the drive enable signal is already present when power is applied to the MicroFlex e100 the motor could begin to move immediately 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 electrostatic discharge procedures when handling this drive Ensure that encoder wires are properly connected Incorrect installation may result in improper movement The threaded holes in the top and bottom of the case are for cable clamps The holes are 11 5 mm deep and accept M4 screws which must be screwed in to a depth of at least 8mm Removing the cover will invalidate UL certification The metal heatsink on the left side of the MicroFlex e100 can become very hot during normal operation MN1942 Introduction 2 2 4 MicroFlex e100 features The MicroFlex e100 is a versatile brushless servo drive providing a flexible and powerful motion control solution for rotary and linear motors Standard features include Single axis AC brushless drive Range of models with continuous current ratings of 3A 6A or 9A Direct connection to 115VAC or 230VAC single
31. 11 part2 1 Cb 1990 45 C 93 RH humidity high temperature operational DIN IEC 68 2 6 29 MicroFlex e100 complies with EN61800 5 1 2003 part 5 2 2 5 3 Impact test provided all front panel connectors are inserted 8 6 Specifications MN1942 www supportme net 8 1 14 Weights and dimensions z 1 45kg 3 2 Ib 1 5kg 3 3 lb 1 55kg 3 4 Ib Nominal overall dimensions 180mm x 80mm x 157mm 7 1in x 3 2in x 6 2in MN1942 Specifications 38 7 www supportme net 8 8 Specifications MN1942 Accessories A A 1 Introduction This section describes accessories and options that you may need to use with your MicroFlex e100 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 MN1942 Accessories A 1 www supportme net A 1 1 Fan tray The fan tray Baldor part FANOO1 024 provides sufficient cooling for the 3A 6A or 9A MicroFlex e100 It requires 23 27 5VDC at 325mA which may be sourced from the same filtered control circuit supply used for the MicroFlex e100 The MicroFlex e100 is UL listed file NMMS E128059 when used in conjunction with the fan tray mounted exactly as shown in
32. E rede dba eO hala A RC C 2 C 1 5 EMC installation suggestions C 3 C 1 6 Wiring of shielded screened cables C 4 iv Contents MN1942 General Information 1 Copyright Baldor c 2006 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 Baldor 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 MicroFlex e100 is UL listed file NMMS E128059 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
33. Feedback Cable Assembly CBLO25SF E CE style threaded motor connector motor end only CBLO15SF E2 CBLO25SF E2 CBLO30SF E2 CBLO50SF E2 Feedback Cable Assembly CBLOG1SF E2 CE style threaded motor connector CBLO75SF E2 and low density 15 pin D type drive CBLO91SF E2 connector CBL100SF E2 CBL150SF E2 CBL152SF E2 CBL200SF E2 CBL229SF E2 Available in North and South America only MN1942 Accessories A 9 www supportme net A 1 9 EnDat absolute encoder and SinCos feedback cables Length Cable assembly description Baldor catalog number om Absolute encoder feedback cable CBL045 501 Available by the meter no connectors or on 100m drum CBLO15SF D2 1 5 5 CBL025SF D2 CBLO30SF D2 CBLOSOSF D2 Absolute encoder CBLO61SF D2 feedback cable assembly CE style threaded motor connector oe ee l CBL091SF D2 and low density 15 pin D type drive CBL100SF D2 connector CBL150SF D2 CBL152SF D2 CBL200SF D2 CBL229SF D2 Available in North and South America only A 1 10 Feedback cable part numbers A description of a feedback cable catalog number is shown here using the example number CBLO25SF E2 Indicates the length in this example 2 5 meters im Se os iOS rio The cable is a Servo motor Feedback cable l S SSI feedback cable Em Encoder feedback cable with motor connector DsEnDat SinCos feedback cable Drive connector included 15 pin D type connector for all feedback types Note Feedback cables
34. HERNET LEDs 7 4 STATUS LED 7 2 LED status indicator 7 2 Linear motor cable configuration 4 5 Mint Machine Center MMC 6 5 starting 6 7 Mint WorkBench 6 8 Commissioning Wizard 6 11 fine tuning tool 6 14 help file 6 9 other tools and windows 6 17 parameters tool 6 16 starting 6 10 Motor circuit contactors 3 19 MN1942 connections 3 18 brake connection 3 22 power cable 3 19 3 20 A 8 sinusoidal filter 3 20 thermal switch 3 21 Mounting 3 5 N Node ID selector switches 5 20 O Operation 6 1 configuring the TCP IP connection 6 3 connecting to the PC 6 1 installing Mint Machine Center 6 1 installing Mint WorkBench 6 1 installing the USB driver 6 2 power on checks 6 2 preliminary checks 6 2 starting 6 2 Overloads drive 3 15 motor 3 18 overtemperature trips 3 8 P Parameters tool 6 16 Power 24V control circuit supply 3 17 connections 3 11 discharge period 3 13 disconnect and protection devices 3 14 input conditioning 3 13 input cycling 3 13 7 1 inrush 3 13 sources 3 1 supply filters 3 16 A 4 using a variac 3 14 Precautions 1 2 Product Notice 1 2 R Receiving and Inspection 2 2 Regeneration resistor 3 23 specification 8 3 S Safety Notice 1 2 Servo axis testing the demand output 6 13 SinCos cable 4 9 feedback 4 8 specification 8 5 Specifications 8 1 24VDC control supply 8 3 AC input power and bus voltage 8 1 CAN interface 8 6 d
35. Node in NOT ACTIVE state The controlled node is waiting to be triggered by the manager node 1 flash Node in PRE OPERATIONAL1 state EPL mode is starting 2 flashes Node in PRE OPERATIONAL2 state EPL mode is starting 3 flashes Node in READY TO OPERATE state The node is signalling its readiness to operate Blinking continuous flashing Node in STOPPED state The controlled node has been deactivated Flickering very fast flashing Node in BASIC ETHERNET state EPL is not operating but other Ethernet protocols may be used Continuously illuminated not flashing Node in OPERATIONAL state EPL is operating normally Red error LE Off EPL is working correctly e Continuously illuminated An error has occurred 7 4 Troubleshooting MN1942 www supportme net 7 2 4 Communication Status LED is off m Check that the 24VDC control circuit supply is connected correctly to connector X2 and is switched on ETHERNET LEDs blinking green and red simultaneously m Does the MicroFlex e100 have firmware in it If you tried to download new firmware and the download failed the controller may not have firmware Download new firmware Mint WorkBench fails to detect the MicroFlex e100 m Ensure that the MicroFlex e100 is powered and the Status LED is illuminated see section 7 2 1 m Check that the Ethernet or USB cable is connected between the PC and MicroFlex e100 m Try an alternative cable or different port on the PC
36. a PC running Mint WorkBench The MicroFlex e100 is a self powered USB 1 1 12Mbps compatible device If it is connected to a slower USB1 0 host PC or hub communication speed will be limited to the USB1 0 specification 1 5Mbps If it is connected to a faster USB2 0 480Mbps host PC or hub communication speed will remain at the USB1 1 specification of the MicroFlex e100 1 2 3 Ideally the MicroFlex e100 should be connected directly to a USB port on the host PC If it is connected to a hub shared by other USB devices communication could be affected by the activity of the other devices A 2m 6 5 ft standard USB cable is supplied The maximum recommended cable length is 5m 16 4 ft MN1942 Input Output 5 13 www supportme net 5 4 Ethernet interface The Ethernet interface provides TCP IP and ETHERNET Powerlink EPL networking capabilities 5 4 1 TCP IP Transmission Control Protocol Internet Protocol TCP IP is a common set of protocols used to transfer information between devices over a network including the internet TCP enables two devices to establish a connection and guarantees the delivery of packets datagrams of information in the correct order IP specifies the format of the individual packets which includes the destination address of the receiving device but has no influence on whether the packet is delivered correctly TCP IP allows the MicroFlex e100 to support standard Ethernet communication with a host PC
37. ack 4 10 specification 8 5 Environmental cooling 3 3 location 3 3 3 4 specification 8 6 Index Ethernet connector 5 16 Ethernet interface cables A 11 connector 5 16 ETHERNET Powerlink 5 15 introduction 5 14 LEDs 7 4 specifications 8 5 TCP IP 5 14 F Features 2 1 Feedback cable A 9 A 11 connections 4 1 encoder without Halls 4 4 EnDat absolute 4 10 Halls only feedback 4 4 incremental encoder 4 2 SinCos 4 8 SSI 4 6 Filters 24V control circuit supply 3 17 AC power EMC 3 16 A 4 catalog numbers A 4 Footprint filter A 3 Fuses 3 15 G General Information 1 1 Grounding See Earthing grounding H Hardware requirements 3 1 Help file 6 9 Incremental encoder cable 4 3 A 9 feedback 4 2 specification 8 5 without Halls 4 4 Indicators CAN LEDs 7 3 ETHERNET LEDs 7 4 Index STATUS LED 7 2 Input Output 5 1 CAN interface 5 17 connection summary 5 23 digital input DINO 5 5 8 4 digital inputs DIN1 amp DIN2 5 7 8 4 digital output DOUTO 5 9 8 4 digital output DOUT1 5 11 8 4 drive enable input 5 3 8 4 encoder interface 4 1 Ethernet interface 5 14 node ID selector switches 5 20 serial port 5 13 USB port 5 13 Installation See also Basic Installation cooling 3 5 3 8 dimensions 3 4 mechanical 3 3 Mint Machine Center 6 1 Mint WorkBench 6 1 mounting 3 5 TCP IP configuration 6 3 USB driver 6 2 L LED indicators CAN LEDs 7 3 ET
38. ad resistance Maximum load inductance MN1942 Specifications 38 3 www supportme net 8 1 5 Digital inputs drive enable and DINO general purpose X3 Input voltage VDC Nominal Minimum Maximum All models Opto isolated inputs 24 12 30 Input current maximum per input 50 1 5 8 1 6 Digital inputs DIN1 DIN2 high speed general purpose X3 Input voltage VDC Nominal Minimum Maximum Input current maximum per input pO 8 1 7 Digital outputs DOUTO DOUT1 status and general purpose X3 2 10 24 12 30 20 1 50 User supply maximum Output current max continuous 8 0 Low La od Approximate trip current mA 200 Reset time S 20 8 4 Specifications MN1942 www supportme net 8 1 8 Incremental encoder feedback option X8 Encoder input All models RS422 A B Differential Z index RS422 A B Differential 5V 200mA max 30 5m 100ft Output power supply to encoder Maximum recommended cable length 8 1 9 SSI encoder feedback option X8 SSI encoder inputs Differential Data and Clock Operating mode Single turn Baldor motors Positioning resolution up to 262144 counts rev 18 bit ua m Maximum input frequency Bee wv ne NEN NE Output power supply to encoder Maximum recommended cable length 5V 200mA max 30 5m 100ft 8 1 10 SinCos EnDat encoder feedback option X8 All models EnDat SinCos differential inputs and data input Operati
39. ade 1 6 KAD CANO SDS S dtd net edad andrea oar d v tete fua 7 6 O SDpGGIHC3li riS 2 4 54530 8 204 9 93 C34 e ee Rad i Rai s 8 1 5 1 nttogilellOD usas shade EUER UBUEHDURY RES 8 1 8 1 1 AC input power and DC bus voltage X1 8 1 8 1 2 24VDC control circuit supply input X2 8 3 8 1 3 Motor output power X1 8 3 9 1 4 Regeneration X1 xus cox Rev dew uuu kawpuy eae eds 8 3 8 1 5 Digital inputs drive enable and DINO general purpose X3 8 4 8 1 6 Digital inputs DIN1 DIN2 high speed general purpose X3 8 4 8 1 7 Digital outputs DOUTO DOUT1 status and general purpose X3 8 4 8 1 8 Incremental encoder feedback option X8 8 5 8 1 9 SSI encoder feedback option X8 8 5 8 1 10 SinCos EnDat encoder feedback option X8 8 5 9 T 11 Ethernet Inter de Bi a eo eor du icr oe Dar do ar eU cs Poiret tc e ime dee eno 8 5 91 12 CANINE ACE s oeconomia doo d nare mand aries Hoi d aos 8 6 8 1 13 Environmental 8 6 8 1 14 Weights and dimensions 8 7 MN1942 Contents iii Appendices A PCCESSONCS 2 6 ke ud t Eu ne d ERAS Sa dedi A 1 Ast JDIPOGUGUOPI uus xad ds std sumaq uu tor d atuq d RE A 1 PA Jed itd tots Gril doa xmv A Est nu A Rx Su
40. 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 MicroFlex e100 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 Configuration MN1942 www supportme net 6 5 1 3 Fine tuning Current tab The Current tab allows you to 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 Normally it should not be necessary to alter these values Enter new values in the required boxes and then click Apply to download the values to the MicroFlex e100 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 that are used by the Commissioning Wizard 6 5 1 4 Fine tuning Filter tab The Filter tab allows you to set the properties of the MicroFlex e100 s two torque filters It should only be necessary to use the torque filters if there is a particular problem with resonant frequencies in the load Enter new v
41. alues in the required boxes and then click Apply to download the values to the MicroFlex e100 To perform tests go to the Frequency Response Params 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 MN1942 Configuration 6 15 www supportme net 6 5 2 Parameters tool The Parameters tool can be used to view or change most of the drive s parameters 1 Click the Parameters icon in the Toolbox on the left of the screen The main area of the Mint WorkBench window displays the Parameters editor Parameters screen 2 In the parameters tree scroll to the v Encoder required item Click on the small sign beside the item s name ScaleF actors nt Profiler ProfilerControl MoveBulfer Homing 3 The adjacent table will list the parameters Parameter Active Table for the chosen item PosScaleFactor Axis D lH 1 00 icm Scroll to the required entry Click in the Active Table cell and enter a value This immediately sets the parameter which will remain in the MicroFlex e100 until another value is defined The icon to the left of the item will change from green to yellow to indicate that the value has been changed Many of the MicroFlex e100 s parameters are set automatically by the Commissioning Wizard or when tests are performed in the fine tuning window 6 16 Configuration MN1942 www supportme net 6 5 3 Ot
42. anager If not there could be a problem with the PC s USB interface MN1942 Troubleshooting 7 5 www supportme net 7 2 7 Tuning Cannot enable the MicroFlex e100 because there is an error 10010 m Check the drive enable input on connector X3 pins 9 and 19 is connected and powered correctly When the MicroFlex is enabled the motor is unstable m Check that the load is firmly coupled to the motor m Use the Mint WorkBench Drive Setup Wizard to confirm that the correct motor data has been entered m Use the Mint WorkBench Autotune Wizard to retune the motor m fthe motor is still unstable select the Mint WorkBench Autotune Wizard once more Click Options On the Bandwidth tab move the Current and or Position and Speed Control sliders to a slower position to select to a lower bandwidth Click OK to exit and then start the Autotune Wizard again 7 2 8 Ethernet Cannot connect to the drive over TCP IP m Check that there is not an EPL manager node for example NextMove e100 with node ID 240 on the network If there is a manager node on the network then an EPL compatible router must be used to allow TCP IP communication on the EPL network m Check that the PC s Ethernet adapter has been correctly configured as described in section 6 2 4 The ETHERNET Powerlink network does not seem to be operating correctly m Confirm that only one device on the newtork is set to be the ETHERNET Powerlink manager node node ID 240 selector s
43. appropriate 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 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 that 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 t
44. ault configuration for the drive allowing the motor control system to operate as a torque controller a velocity controller or a position controller This configuration comprises 3 nested control loops a current control loop a velocity control loop and a position control loop as shown in Figure 51 The universal encoder interface reads rotor position from the encoder and estimates velocity The commutation block uses the position to calculate the electrical angle of the rotor The current sensor system measures U and V phase currents These are fed into a current conversion block that converts them into quantities representing torque producing and magnetizing currents the vector currents which are locked to the rotor In the current control loop a current demand and the final measured current values form the inputs to a PI Proportional Integral control system This control system generates a set of voltage demands that are fed into a PWM pulse width modulation block The PWM block uses the space vector modulation method to convert these voltage demands into a sequence of U V and W phase switching signals which are applied to the output bridge of the drive The PWM block uses the measured DC bus voltage to compensate for variations in supply voltage The torque controller converts a torque demand into a current demand and compensates for various load non linearities A 2 stage notch or low pass filter allows the effects of load compliance t
45. back The SSI Synchronous Serial Interface encoder interface is specifically designed for use with Baldor SSI motors which incorporate a custom Baumer SSI encoder Correct operation with other SSI interfaces cannot be guaranteed The SSI encoder connections are made using the 15 pin D type female connector X8 Twisted pair cables must be used for the complementary signal pairs e g Data and Data The overall cable shield screen must be connected to the metallic shell of the D type connector Connector X8 includes a Sense pin which is used to detect the voltage drop on long cable runs This allows the MicroFlex e100 to increase the encoder supply voltage on pin 12 to maintain a 5V supply at the encoder 200mA max Motor X8 Absolute Data Encoder Data Clock Clock 5V out DGND Sense Connect internal shields to pin 13 o G o BS lt Chassis Connect overall shield _ to connector backshells Figure 18 SSI encoder cable connections 46 Feedback MNT www supportme net 4 1 2 1 SSI cable pin configuration Figure 19 shows the pin configuration for a typical Baldor SSI feedback cable part number CBLO25SF S2 Signal name MicroFlex e100 Motor cable Baldor SSI cable X8 pin pin internal wire colors 1 ooo Pins 7 12 9 are not used Q D e be present 60 Motor SSI connector Cable connector end view male female Figure 19 Baldor
46. cable pin configuration The maximum recommended cable length is 30 5m 100ft MN1942 Feedback 4 9 www supportme net 4 1 4 EnDat absolute encoder feedback The absolute encoder interface supports both incremental and absolute multi and single turn feedback using EnDat technology It is possible to read and write information to the encoder The absolute encoder connections are made using the 15 pin D type female connector X8 Twisted pair cables must be used for the complementary signal pairs e g Sin and Sin The overall cable shield screen must be connected to the metallic shell of the D type connector Connector X8 includes a Sense pin which is used to detect the voltage drop on long cable runs This allows the MicroFlex e100 to increase the encoder supply voltage on pin 12 to maintain a 5V supply at the encoder 200mA max Version 2 2 EnDat encoders do not use the Sin and Cos channels Absolute Encoder 4 10 Feedback Fi Absolute encoder neton x S Sm T ENNU MN r Connect internal shields to DGND NE Connect overall shield m4 to connector backshells Figure 22 Absolute encoder cable connections MN1942 www supportme net 4 1 4 1 Absolute encoder cable pin configuration Figure 23 shows the pin configuration for a typical Baldor absolute encoder feedback cable part number CBLO25SF D2 Signal name MicroFlex e100 Motor cable Baldor EnDa
47. certain that all signals to from the MicroFlex e100 are shielded correctly generating equipment or directly below water steam pipes CAUTION Avoid locating the MicroFlex e100 in the vicinity of corrosive substances or vapors metal particles and dust N CAUTION Avoid locating the MicroFlex e100 immediately above or beside heat CAUTION Failure to meet cooling air flow requirements will result in reduced product lifetime and or drive overtemperature trips The safe operation of this equipment depends upon its use in the appropriate environment The following points must be considered MN1942 The MicroFlex e100 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 The MicroFlex e100 must be installed where the pollution degree according to IEC664 shall not exceed 2 The 24VDC control circuit supply must be installed so that the 24VDC supplied to the unit is isolated from the AC supply using double or reinforced insulation The input of the control circuit must be limited to Safety Extra Low Voltage circuits Both the AC supply and the 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 To comply with CE directive 89 336 EEC an appropriate AC filter must be installed The MicroFlex e100 must be secu
48. connected to the filter terminals marked as the inputs JN WARNING This recommendation applies only to filters FIO015A00 and FIO015A02 Alternative filters or protection devices must be connected as specified by the manufacturer 3 16 Basic Installation MN1942 www supportme net 3 4 8 24V control circuit supply A 24VDC supply must be provided to power the controlling electronics This is useful for safety reasons where AC power needs to be removed from the power stage but the controlling electronics must remain powered to retain position and I O information A separate fused 24V supply should be provided for the MicroFlex e100 If other devices are likely to be powered from the same 24V supply a filter Baldor catalog number FI0014A00 should be installed to isolate the MicroFlex e100 from the rest of the system Alternatively a ferrite sleeve may be attached to the supply cable near connector X2 Nominal input 24V voltage Input current Maximum 1A continuous 4A typical power on surge limited by NTC Typical 0 5A 0 6A not powering feedback device 0 6A 0 8A powering feedback device Tightening torque for terminal block connections is 0 5 0 6Nm 4 4 5 3 Ib in Customer supplied 24V filter Ferrite 24VD optional sleeve Fuse 24V GND Use a twisted pair cable with ferrite sleeve attached close to connector X2 Incoming safety earth ground PE Recommended fuse Bussman S504 20x5mm a
49. croFlex e100 must have a suitable input power protection device installed preferably a fuse Recommended circuit breakers are thermal magnetic devices 1 or 3 phase as required with characteristics suitable for heavy inductive loads C type trip characteristic Circuit breaker or fuses are not supplied see section 3 4 5 For CE compliance see Appendix C From Circuit Breaker From Fuse supply supply L L lI L N N N Figure 4 Circuit breaker and fuse single phase From Circuit Breaker From Fuses supply supply L1 PS L1 L1 I I L2 Zr L2 L2 I I L3 L3 L3 J IP Circuit breaker or fuse are not supplied For CE Compliance see Appendix C Figure 5 Circuit breaker and fuse three phase 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 3 4 4 1 Using 2 phases of a 3 phase supply 3 14 Power 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 MicroFlex e100 A two pole breaker must be used to isolate both lines Fuses must be fitted in both lines Basic Installation MN1942 www supportme net 3 4 5 Recommended fuses circuit breakers and wire sizes Table 3 describes the recommended fuses circuit breakers a
50. d D4 Buu sJoyy nbio AN IAS LW An 4 Y Jd 3 5 dOud ol XEM nue mn n sw p gt DT 7300Y l coud ueuloJnsea 043u09 enbJo eDejoA sng SI DpASn83A lua ONEEN GNW301500V CNVAX drDtO L MN1942 www supportme net B 1 2 Torque servo configuration Figure 52 shows the torque servo control configuration Here the velocity loop has been removed and the output of the position controller is fed into the current loop via the torque filters The torque servo configuration is useful when the drive is operating as a closed loop position controller and settling time must be minimized Although the servo configuration tends to give better velocity tracking when operating in position mode settling times can be longer The control mode switch allows the drive to operate in either torque or position modes but not velocity mode B 4 Control System MN1942 www supportme net eJnjonJjs Jo43uoo uoneunBijuoo OAIVS enbJo Z nB d3 1epoou3 eoepelu Japoouz JESISAIU uonesueduioo yup eunjejeduue duio5 AU0O SVINUNJYYNO A 19sJJO EE JUaUND J UOITEINWILWOD INA sjuauno Buisieubew pue onbio p nse N o Due eouio9 3 Hld3aua3L1 1330090 LIN UNO ONVau3 L1 1330090 UO91IMS 53NL IN F130090 L O34311 Id3rDtO1L U91AS epoui joluoo J oj1luo2 uollisod JOJO SJ9 OJuOO juaun PdL IN l T30080 L AdALYSLT Id3rDtO L POW ojlluo J pow o n N i _ n a r d INMd JL
51. d to the motor to hold position under normal control m Relay 2 is activated causing the brake to be disengaged It may be necessary to include a small delay after Relay 2 has been activated before starting motion This delay will allow time for the relay contacts to engage and the brake to release CAUTION The 24VDC power supply used to power the brake must be a separate supply as shown in Figure 10 Do not use the supply that is powering the MicroFlex e100 digital outputs The brake wires often carry noise that could cause erratic drive operation or damage The brake contacts must never be wired directly to the digital outputs The relay s should be fitted with a protective flyback diode as shown The separate 24VDC supply used for the motor brake may also be used to power the relay in the thermal switch circuit section 3 5 5 3 22 Basic Installation MN1942 www supportme net 3 6 Regeneration resistor Dynamic Brake resistor An optional external regeneration resistor may be required to dissipate excess power from the internal DC bus during motor deceleration The regeneration resistor must have a resistance of at least 39Q an inductance of less than 100UH and a minimum power rating of 44W Suitable regeneration resistors are listed in section A 1 4 The regeneration resistor output is conditionally short circuit proof Regeneration resistor Connect outer shield 1 to resistor body I
52. ddress E e L NextMove e100 Scan fram Made a ES to Node 2 ES x a T CANopen Always scan for EPL master Mode 240 e Scan All Nodes E L Serial Serial Baud Rates EF k cont e Flex Drive EI 45 comz Controller pane 1 Flex Drive Application View E a change Gaud rate QD NextMove e100 Information pane J Flex Drive II Node Main A Add Controller Figure 41 The Mint Machine Center software The Mint Machine Center MMC provides an overview of the controller network currently accessible by the PC The MMC contains a controller pane on the left and an information pane on the right In the controller pane select the Host item then in the information pane click Scan This causes MMC to scan for all connected controllers Clicking once on a controllers name causes various options to be displayed in the information pane Double clicking on a controller s name launches an instance of Mint WorkBench that is automatically connected to the controller Application View allows the layout and organization of controllers in your machine to be modelled and described on screen Controllers can be dragged onto the Application View icon and renamed to give a more meaningful description for example Conveyor 1 Packaging Controller Drives that are controlled by another product such as a NextMove e100 can be dragged onto the NextMove e100 icon itself creating a visible representation of the machine A text descr
53. e 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 During commissioning changed parameters are stored in the MicroFlex e100 s temporary volatile memory For this reason the Commissioning Wizard will occasionally prompt you to save the parameters Selecting Yes will cause the parameters to be saved in the MicroFlex e100 s non volatile flash memory to be retained when power is removed If you select No you must remember to use the Save Drive Parameters function before removing power from the MicroFlex e100 this function is available on the Tools menu or by clicking the il button on the Mode toolbar Saving parameters into flash memory will cause the MicroFlex e100 to be reset 6 12 Configuration MN1942 www supportme net 6 4 4 Performing a test move This section tests the basic operation of the drive and motor 1 MN1942 Check that the Drive enable button is pressed down K 83 WorkBench 5 5 New Pr File Edit View Tools Progr 91 ET Toolbox In the Toolbox click the Edit amp Debug icon 79 i E dit amp Debug Click in the Command window Type JOG 0 10 This will cause the motor to move continuously at 10 units per second In Mint WorkBench look at the Spy window located on the right of the screen The Spy window s Velocity display should show 10
54. e MicroFlex e100 to the PC The MicroFlex e100 can be connected to the PC using either USB or TCP IP To use USB connect a USB cable between a PC USB port and the MicroFlex e100 USB port Your PC must be using Windows 2000 or Windows XP To use TCP IP connect a CAT5 Ethernet cable between the PC and one of the MicroFlex e100 Ethernet ports N CAUTION You cannot connect an ordinary office PC to the MicroFlex e100 without first altering the PC s Ethernet adapter configuration However if you have installed a second Ethernet adapter dedicated for use with the MicroFlex e100 then this adapter s configuration can be altered without affecting the PC s office Ethernet connection If you are unsure about making changes to your PC s Ethernet adapter configuration or are prevented by user permission levels ask your I T administrator to assist you N CAUTION If there is a EPL manager node node ID 240 on the Ethernet network then the network will be operating in EPL mode This means any TCP IP connection from the PC must pass through an EPL compatible router Installing Mint Machine Center and Mint WorkBench You will need to install Mint Machine Center MMC and Mint WorkBench to configure and tune the MicroFlex e100 Any previous version of Mint WorkBench must be uninstalled before proceeding with this installation 1 Insert the CD into the drive 2 After a few seconds the setup wizard should start automatically If the setup wizard
55. e ede dte odes edn less au cin eodein 5 16 SiO GAN ICM SCO uu usun van utd code s rA Enden d oc act bean 5 17 Sal CANCONNECION asic es Pade ena bed Sure eee Rees aa 5 17 592 CANWIO 2 225 tes ees SG eo tin EE OO eee E Y re db Rudi des E 5 17 5 59 38 CANOPEN es a l ys yy nhu a Pasha RASEN RENE hik ana BE 5 18 5 0 OUNCE WO ue vei ee ieee e ePi el Be aca ie bw ee ee ah 5 20 5 6 1 Node ID selector switches 5 20 o Connection summary recommended system wiring 9 23 CONMMGQUIAUON PETI PE 6 1 6 1 JniodUuselOl cues opa due tao EVE Re de bare RH man aa 6 1 6 1 1 Connecting the MicroFlex e100 to the PC 6 1 6 1 2 Installing Mint Machine Center and Mint WorkBench 6 1 6 2 Starting the MicroFlex e100 6 2 624 Preliminary checks sme drei CER en RU n eoa ES SN e ql 6 2 6 2 2 POWGOFOD CHECKS 4 425422 send rea eau Xx suu uwa UE QUEE DRM 2 wasa 6 2 62 3 Installing the USB Criver sa dosi ick deck da ca dote ba a bb d ck USO 6 2 6 2 4 Configuring the TCP IP connection optional _ 6 3 6 3 M Mint Machine Center su y uuu ly Qispiy Qiu yusa 6 5 631 Staningi MME s sss Su su a Gol Geet eet See ood suwa ees wed Gok 6 7 Contents MN1942 64 Mint WorkBench 6 8 p 42 cBelpTie 2o xd xen cod su yay Susa Eae S ERO SHEER ed ERA SOR 6 9 6 4 2 Starting Mint WorkBench
56. e immunity to conducted interference m The bus must be terminated at both ends only not at intermediate points with resistors of a nominal value of 1200 This is to reduce reflections of the electrical signals on the bus which helps a node to interpret the bus voltage levels correctly If the MicroFlex e100 is at the end of the network then ensure that a 1200 resistor is fitted normally inside the D type connector m All cables and connectors should have a nominal impedance of 1200 Cables should have a length related resistance of 7OmQ m and a nominal line delay of 5ns m MN1942 Input Output 5 17 www supportme net m The maximum bus length depends on the bit timing CAN Maximum configuration baud rate The table opposite shows Baud Rate Bus Length the approximate maximum bus length worst case assuming 5ns m propagation delay and a total Mbit s 25m effective device internal in out delay of 210ns at 500Kbit s 400m 1Mbit s 300ns at 500 250Kbit s 450ns at 125Kbit s 250Kbit s 250m and 1 5ms at 50 10Kbit s 125Kbit s 500m 1 For bus lengths greater than about 1000m EA A bridge or repeater devices may be needed 20kbit s 2500m 10Kbit s 5000m 1 m The compromise between bus length and CAN baud rate must be determined for each application The CAN baud rate can be set using the BUSBAUD keyword It is essential that all nodes on the network are configured to run at the same baud rate m The wiring topology of a CAN networ
57. econdary is recommended This provides three phase AC power that is symmetrical with respect to earth ground and can prevent equipment damage Protection class User protection has been achieved using Protective Class I EN61800 5 1 3 2 20 which requires an earth connection to the unit whenever hazardous voltages are applied The equipment provides protection against electric shock by m Means of connection of protective earth to accessible live conductive parts m Basic insulation Earth leakage Maximum earth leakage from the MicroFlex e100 is 3 4mA per phase 230V 50Hz supply This value does not include the earth leakage from the AC power filter which could be much larger see section A 1 3 If the MicroFlex e100 and filter are mounted in an enclosure it is recommended the enclosure is earthed using a 10mm conductor MN1942 Basic Installation 3 11 www supportme net 3 4 2 Single phase or three phase power connections Location Connector X1 Mating connector Phoenix COMBICON MSTB 2 5HC 11 ST 5 08 Nominal input voltage 115VAC or 230VAC 19 or 39 line to line Minimum input voltage 105VAC 10 or 30 line to line see Note Maximum input voltage 250VAC 19 or 39 line to line Note The MicroFlex e100 will operate at lower input voltages although performance could be impaired The drive will trip if the DC bus voltage falls below 50V or 60 of the no load voltage whichever occurs first For three phase supplie
58. el 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 MN1942 Introduction 2 1 www supportme net 2 2 Receiving and inspection When you receive your MicroFlex e100 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 MicroFlex e100 2 Remove the MicroFlex e100 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 MicroFlex e100 you received is the same as the catalog number listed on your purchase order The catalog number is described in the next section 4 Inspect the MicroFlex e100 for external damage during shipment and report any damage to the carrier that delivered your MicroFlex e100 5 If MicroFlex e100 is to be stored for several weeks before use be sure that it is stored ina location that conforms to the storage humidity and temperature specifications shown in section 8 1 13 2 2 1 Identifying the catalog number The MicroFlex e100 is available with different current ratings The catalog number is marked on the side of the unit It is a good idea to look for the catalog number sometimes shown as ID No and write it in the space provided here Catalo
59. 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 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 8 of this manual The installation connection and control of drives is a skilled operation disassembly or repair must not be attempted In the event that a drive fails to operate correctly contact the place of purchase for return instructions Precautions DANGER Donottouch 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 itis connected Electrical shock can cause serious or fatal injury Only qualified personnel should attempt to start up pro
60. eries of tests By monitoring the feedback from the motors encoder and performing a number of calculations the MicroFlex e100 can make small adjustments to the way it controls the motor This information is stored in the MicroFlex e100 and can be uploaded to a file if necessary The Commissioning Wizard provides a simple way to tune the MicroFlex e100 and create the necessary configuration information for your drive motor combination so this is the first tool that should be used If necessary any of the parameters set by the Commissioning Wizard can be adjusted manually after commissioning is complete MN1942 Configuration 6 11 www supportme net Welcome to the Commissioning Wizard This simpla step by step guide wall asist pou in candiguig pour cre and molo for pour application F ztashrig a new application k is recommarded pou perio hactom defeuks d vou ane neburning bo modiy a prewious configuration then dio not pesricnm the factory defaut oobon Ey cleaning the check box below Batore combruing sau should hawe completed the Ipikusari p Read carefully te Irztallabci manual provided wath te conin m ae n Enaurgd thatthe conio is wed comacdy according bo those inductions and ang local vanng regulatiens p Tested and proven thal the Enable pou mactare Emergency Slop end aw aller safe controle work comecdly p Dietonmeched the motos s fom ary mechanics removing bella copings elc Chace pou preted measurement syslenm IV am
61. et NextMove e100 controller MicroFlex e100 UDN2982 DRI VEENABLEOUTPUT M Enable A Na TLP280 Figure 25 Drive enable input typical connection from a Baldor NextMove e100 5 4 Input Output MN1942 www supportme net 5 2 2 General purpose digital input DINO Location Connector X3 pins 7 amp 17 Mating connector Weidmuller Minimate B2L 3 5 20 Description General purpose opto isolated digital input Nominal input voltage 24VDC input current not to exceed 50mA Sampling interval 1ms This general purpose digital input is buffered by a TLP280 opto isolator allowing the input signal to be connected with either polarity The state of the digital input is displayed in the Mint WorkBench Spy window The input can be can be configured for different user definable functions MicroFlex e100 TLP280 Figure 26 General purpose digital input circuit When the MicroFlex e100 is connected to Mint WorkBench the digital input can be configured using the Digital I O tool Alternatively Mint keywords including RESET NPUT ERRORI NPUT and STOPI NPUT can be used in the command window The state of the digital input can be viewed using the Mint WorkBench Spy window s Axis tab See the Mint help file for details MN1942 Inpu
62. g number MFE Installed at X A Date A description of a catalog number is shown here using the example MFE230A003 uen As Kz n Um oss Requires an AC supply voltage of 115 230 Volts 1 or 3 Continuous current rating of 3A A006 6A A009 9A 2 2 Introduction MN1942 www supportme net 2 3 Units and abbreviations The following units and abbreviations are used in this manual Wo Papen how arses Volt also VAC and VDC VV asua n ta ans Watt ee ee ee eee Ampere paqa man awas Ohm HE sou dues ays Sasa microfarad DE core ees ceo eee picofarad MA Lu ie iones aie millihenry Du amanta E phase IIS oa caius sang dod millisecond He uos uade Eur microsecond i RNC PPP nanosecond MA e piashik millimeter YY yanta ahua acd meter Il Suet os amie kaa a inch j yta a taa feet IDI 2 xs pound force inch torque BET ey ata g zu yas Newton meter torque ADG E AnA RRAN Analog to Digital Converter ASGCW oo suse sas American Standard Code for Information Interchange AWG American Wire Gauge CAL xr sas gs CAN Application Layer CAN 28 l ayuy Controller Area Network CDROM Compact Disc Read Only Memory C paw aa anre CAN in Automation International Users and Manufacturers Group e V CTIRERE Lu 2 us on the PC keyboard press Ctrl then E at the same time DAC Digital to Analog Converter DSST i 22 as CiA CANopen Application Layer and Communication Profile DS401
63. gram or troubleshoot this equipment even when the motor is not moving Electrical shock can cause serious or fatal injury DANGER 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 Jn DANGER The motor circuit might have high voltages present whenever AC power is applied DANGER 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 1 2 General Information MN1942 www supportme net WARNING WARNING WARNING WARNING WARNING WARNING CAUTION CAUTION CAUTION CAUTION CAUTION CAUTION ppp PPPD pnm mm po CAUTION MN1942 Be sure all wiring complies with the National Electrical Code and all regional and local codes Improper wiring may result in unsafe conditions 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 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 used as
64. have the outer shield tied to the connector housing s 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 34mm 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 10 Accessories MN1942 www supportme net A 1 11 Ethernet cables The cables listed in this table connect MicroFlex e100 to other EPL nodes such as NextMove e100 additional MicroFlex e100s or other EPL compatible hardware The cables are standard CAT5 crossover Ethernet cables Cable assembly description Baldor catalog number CAT5 Ethernet cable CBLOO2CM EXS CBLOO5CM EXS CBLO10CM EXS CBLO20CM EXS CBLO50CM EXS CBL100CM EXS MN1942 Accessories A 11 www supportme net A 12 Accessories MN1942 Control System R B 1 Introduction The MicroFlex e100 can use two main control configurations m Servo Position m Torque Servo Current Each configuration supports different control modes selected by using the Tools Control Mode menu item or by using the CONTROLMODE keyword in the Command window see the Mint help file The control configurations are described in the following sections MN1942 Control System B 1 www supportme net B 1 1 Servo configuration The servo configuration is the def
65. he drive more frequently could cause high inrush current and corresponding nuisance operation of circuit breakers or fuses Repeated failure to observe the delay period could reduce the lifetime of the MicroFlex e100 3 4 3 2 Discharge period N DANGER After AC power has been removed from the MicroFlex e100 high voltages greater than 50VDC can remain on the regeneration resistor connections until the DC bus circuitry has discharged The high voltage can remain for the period specified in Table 2 MicroFlex e100 Time for DC bus to discharge to 50V or less current rating maximum seconds 83 Table 2 DC bus discharge periods MN1942 Basic Installation 3 13 www supportme net 3 4 3 3 Supplying input power from a variac variable transformer 3 4 4 When AC power is supplied from a variac the MicroFlex e100 s pre charge circuit may not operate correctly To ensure that the pre charge circuitry operates correctly increase the variac voltage to the desired level and then power cycle the 24VDC control circuit supply This will restart the pre charge circuit and allow it to operate correctly Power disconnect and protection devices A power disconnect should be installed between the input power supply and the MicroFlex e100 for a fail safe method to disconnect power The MicroFlex e100 will remain in a powered condition until all input power is removed from the drive and the internal bus voltage has depleted The Mi
66. her EPL devices ordinary shielded CAT5 Ethernet cables are used Cables may be up to 100m 328 ft long Two varieties of CAT5 cable are available straight or crossed Straight cables have the TX pins of the connector at one end of the cable wired to the TX pins of the RJ45 connector at the other end of the cable Crossover cables have the TX pins of the connector at one end of the cable wired to the RX pins of the RJ45 connector at the other end of the cable Provided the network consists of only Baldor EPL controllers and drives and any hub straight or crossed cables may be used This is because many Ethernet devices including hubs and all Baldor EPL products incorporate Auto MDIX switching technology which automatically compensates for the wiring of the straight cable However if other manufacturer s EPL nodes are included in the network crossover cables should be used as recommended by the ETHERNET Powerlink Standardization Group EPSG The MicroFlex e100 Ethernet interface is galvanically isolated from the rest of the MicroFlex e100 circuitry by magnetic isolation modules incorporated in each of the Ethernet connectors This provides protection up to 1 5kV The connector cable screen is connected directly to the chassis earth of the MicroFlex e100 Termination components are incorporated in each of the Ethernet connectors so no further termination is required The EPL network supports the 100Base TX 100Mbit s sy
67. her tools and windows Each tool and window is explained fully in the help file so is not described here in detail m Edit amp Debug Tool This tool provides a work area including x print temperature o the Command window and Output 4 54 000000 window The Command window can be used to send immediate Mint commands to the MicroFlex e100 If you tried the test move in section 6 4 4 then you have already used Edit amp Debug mode torqueref 0 50 Tm xj m Scope Tool Displays the capture screen This screen is also shown when the Fine tuning tool is selected EINTMDDE Hewes EINT DINI FIT LIMIT 100 n EDERM 100 EVEL D Dd Feseellinmrpaoaz Terma EVELFF 005 FACCEL 0 00 rpg Lakculair Funlsle Parameter Speed inm aulu ral S008 infu Socal 133 ris Decal EI uiuit Daesitms 133 n 9 Sloe Ferameiers on Lor snles Paloa bedreciorsl move Move Typa Trapecad Distance 5 Durai i3 n F nT M Tima UH Channel D Analog input 3 4 Graph 1 Grech 2 Graph 35 Gragh 45 Graphs 4 s Position Velo Current 1 window a mr Allows you to monitor all the important arameters for the axis j Analog Input Chan F Remember for help on each tool just press F1 to display the help file then navigate to the Mint WorkBench book Inside this is the Toolbox book Drive Bus Volts dsc T MN1942 Configuration 6 17 www supportme net 6 18 Configuration MN1942 7 1 7
68. his point the node will have switched itself to a state whereby it cannot influence the bus Check m 12 24V is being applied between pin 9 24V and pin 6 or 3 OV of the CAN connector to power the opto isolators m There is at least one other CANopen node in the network m The network is terminated only at the ends not at intermediate nodes m All nodes on the network are running at the same baud rate m Al nodes have been assigned a unique node ID m The integrity of the CAN cables To recover from the off state the source of the errors must be removed and bus then reset This can be done using the Mint BUSRESET keyword or by resetting the MicroFlex e100 The Manager node cannot scan recognize a node on the network using the Mint NODESCAN keyword Assuming that the network is working correctly see previous symptoms and the bus is in an Operational state check m Only nodes that conform to DS401 DS403 and other Baldor CANopen nodes are recognized by the Mint NODESCAN keyword Other types of node will be identified with a type unknown 255 when using the Mint NODETYPE keyword m Check that the node in question has been assigned a unique node ID m he node must support the node guarding process MicroFlex e100 does not support the Heartbeat process m Try power cycling the node in question If the node in question does not conform to DS401 or DS403 and is not a Baldor CANopen node communication is still po
69. ic I O Modules CiA DS 401 m Baldor HMI Human Machine Interface operator panels which are based on the Device Profile for Human Machine Interfaces DS403 m Other Baldor controllers with CANopen support for peer to peer access using extensions to the CiA specifications DS301 and DS302 The functionality and characteristics of all Baldor CANopen devices are defined in individual standardized ASCII format Electronic Data Sheets EDS which can be found on the Baldor Motion Toolkit CD supplied with your product or downloaded from www supportme net Figure 38 shows a typical CANopen network with a NextMove e100 manager node one MicroFlex e100 slave node and a Baldor HMI operator panel 5 18 Input Output MN1942 www supportme net Baldor HMI Operator Panel NextMove e100 MicroFlex e100 CANopen D type D type Power supply terminal Figure 38 Typical CANopen network connections Note The MicroFlex e100 CAN channel is opto isolated so a voltage in the range 12 24V must be applied between pin 9 and pin 6 of the CAN connector The configuration and management of a CANopen network must be carried out by a single node acting as the network manager for example NextMove e100 or by a third party CANopen manager device Up to 126 CANopen nodes node IDs 2 to 127 can be added to the network by the manager node using the Mint NODESCAN keyword If successful the nodes can then be
70. ick 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 4 calculated by the Commissioning Wizard Fine tunihig The main area of the Mint WorkBench window displays the capture window When further tuning tests are performed this will display a graph representing the response 2 TheFine tuning window has four tabs at the bottom Position Velocity Position Velocity Current Filter Current and Filter Click on a tab to ww s nF select it 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 Fine tuning Position tab The Position tab allows you to adjust position loop settings 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 MicroFlex e100 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 Velocity tab The Velocity tab allows you to set velocity loop gains and perform test moves The Commissioning Wizard may have
71. igital input DINO 8 4 digital input DIN1 8 4 digital input DIN2 8 4 digital output DOUTO 8 4 digital output DOUT 1 8 4 drive enable input 8 4 EnDat feedback 8 5 environmental 8 6 Ethernet interface 8 5 incremental encoder feedback 8 5 motor output 8 3 regeneration 8 3 SinCos feedback 8 5 SSI encoder feedback 8 5 weights and dimensions 8 7 SSI cable 4 7 A 9 feedback 4 6 specification 8 5 Status LED 7 2 Step amp direction specification 8 4 T Testing demand output 6 13 Thermal switch connection 3 21 Tools 3 2 Troubleshooting 7 1 CAN LEDs 7 3 CANopen 7 6 communication 7 5 Ethernet 7 6 ETHERNET LEDs 7 4 Mint WorkBench 7 5 power cycling 7 1 power on 7 5 MN1942 Index problem diagnosis 7 1 USB STATUS LED 7 2 installing the driver 6 2 SupportMe 7 1 port 5 13 tuning 7 6 W U Weights and dimensions 8 7 Units and abbreviations 2 3 Wires sizes 3 15 TCP IP configuring 6 3 WorkBench See Mint WorkBench Index MN1942 Comments If you have any suggestions for improvements to this manual please let us know Write your comments in the space provided below remove this page from the manual and mail it to Manuals Baldor UK Ltd Mint Motion Centre 6 Bristol Distribution Park Hawkley Drive Bristol BS32 0BF United Kingdom Alternatively you can e mail your comments to
72. ime and voltage doubling effects which can damage motor insulation This effect occurs most noticeably when using very long motor cables for example 30m 100 ft or more Baldor motors intended to be used with drives are designed to withstand the effects of large dV dt and overvoltage effects However if very long motor cables are unavoidable and are causing problems then a sinusoidal filter may be beneficial Basic Installation MN1942 www supportme net 3 5 5 Thermal switch connection You might wish to wire the motor s thermal switch contacts normally closed using a relay to a digital input on connector X3 see section 3 3 1 Using the Mint WorkBench Digital I O tool the input can be configured to be the motor trip input This allows the MicroFlex e100 to respond to motor over temperature conditions The Mint keyword MOT ORTEMPERATUREI NPUT can also be usedto configure a digital input forthis purpose Atypical circuit using DIN1 as the input is shown in Figure 9 X3 24VDC 24VDC Separate Customer customer supplied supplied 24VDC 24VDC supply supply Figure 9 Motor thermal switch circuit CAUTION The 24VDC power supply connected to the thermal switch must be a separate supply as shown in Figure 9 Do not use the 24V supply used for the drive enable signal or the internally generated supply if present The thermal switch wires often carry noise that could cause erratic drive operation or damage The thermal
73. 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 task 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 Baldor UK Ltd Mint Motion Centre 6 Bristol Distribution Park Hawkley Drive Bristol BS32 OBF Telephone 44 0 1454 850000 Fax 44 0 1454 850001 E mail technical support baldor co uk Web site www baldor co uk See rear cover for other international offices MN1942 General Information 1 1 www supportme net Product notice Only qualified personnel should attempt the start up procedure or troubleshoot this
74. ips The MicroFlex e100 contains internal temperature sensors that will cause it to trip and disable if the temperature exceeds 80 C on the 3A model or 75 C on the 6A and 9A models This limit can be read using the TEMPERATURELI M TFATAL keyword see the Mint help file for details 3 8 Basic Installation MN1942 3 3 Connector locations 3 3 1 Front panel connectors X1 Power LEDs Earth Ground Earth Ground NC L1 AC Phase 1 L Node ID www supportme ne The STATUS CAN and ETHERNET LEDs are described in section 7 2 1 TP These switches set the MicroFlex e100 s L2 AC Phase 2 N B node ID for ETHERNET Powerlink and the L3 AC Phase 3 seu final value of the IP address when using U Motor U V Motor V W Motor W R1 Regen R2 Regen O N E aa id X3 Input Output NC Data Data GND X6 Auxiliary port TCP IP See sections 5 6 1 and 6 2 4 Currently unused 1 Status 11 Status r 2 DGND 12 DGND 3 DOUT1 13 DOUT1 4 DIN2 14 DIN2 H 5 DGND 15 DGND 6 DIN1 16 DIN1 A T DC 7 DINO 17 DIN0 P 8 DGND 18 DGND LISTES 122 9 Drive enable 19 Drive enable 10 Shield 20 Shield X8 Feedback In Pin Incremental SinCos SSI EnDat 1 CHA NC Data Data 2 CHB NC Clock Clock 3 CHZ NC NC NC 4 Sense Sense Sense Sense 5 Hall U Sin NC Sin 6 Hall U Sin NC Sin 7 Hall V Cos NC Cos 8 Hall V Cos NC Cos 9 CHA NC Data Data
75. iption for the system and associated files can be added and the resulting layout saved as an MMC Workspace When you next need to administer the system simply loading the workspace automatically connects to all the required controllers See the Mint help file for full details of MMC MN1942 Configuration 6 5 Host PC Mint Machine Center Cea P tji w a t on ss ition de D www supportme ne MintDrive RS485 422 MicroFlex e100 Ethernet MicroFlex e100 Mint WorkBench Figure 42 Typical network visibility provided by Mint Machine Center 6 6 Configuration MN1942 t www supportme net 6 3 1 Starting MMC 1 On the Windows Start menu select Programs Mint Machine Center Mint Machine Center re Untitled MMC File Edit Yew Help D ei sc w S Scan Settings for Host a r Node Address ER BS Serial Scan from Hode fo A to Node 2 Le COMI Always scan for EPL master Node 240 L_ 97 Ane 1 Application View C Scan All Nodes Sema Baud Rates 57600 Baud 30400 Baud 19200 Baud 3600 Baud 175200 Baud Change baud rate Main A Add Controller Ready mm x 2 In the controller pane ensure that Host is selected In the information pane click Scan Yi Scan Settings Scar Blado Addons 3 When the search is complete click once on MicroFlex e100 in the cont
76. ive help file that contains information about every Mint keyword how to use Mint WorkBench 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 B int ILI x B Hide Locale Back Poad Print Qptons Suppole Update Help Contents Index Search Favorites n mE ACCELTIME ACT F About keyword defintian Bt pattern values Il c W Il tl aS S KSO Q S s pa Parametar Purpose EH ae To define the acceleration rate of an axis Comment 3 s eae Format a e onnan Paparo ACCELTIME axes c amp wpression lt e xpression gt Y MEE EE ACCELTIME mxisz 3 amp Bitwiee AND ad Bieize OR 5 Biwise NOT Hal Paramete 3 Logical NOT exis Axis No 9 _ Line continua
77. k should be as close as possible to a single line bus structure However stub lines are allowed provided they are kept to a minimum lt 0 3m at 1Mbit s m The OV connection of all of the nodes on the network must be tied together through the CAN cabling This ensures that the CAN signal levels transmitted by MicroFlex e100 or CAN peripheral devices are within the common mode range of the receiver circuitry of other nodes on the network 5 5 2 1 Opto isolation On the MicroFlex e100 the CAN channel is opto isolated A voltage in the range 12 24V must be applied between pin 9 24V and pin 3 or 6 OV of the CAN connector From this supply an internal voltage regulator provides the 5V at 100mA required for the isolated CAN circuit CAN cables supplied by Baldor are category 5 and have a maximum current rating of 1A so the maximum number of MicroFlex e100 units that may be used on one network is limited to ten 5 5 3 CANopen Baldor have implemented a CANopen protocol in Mint based on the Communication Profile CiA DS 301 which supports both direct access to device parameters and time critical process data communication The MicroFlex e100 complies with CANopen slave device profile DS402 and can be a DS401 or DS403 master device with limited functionality It is able to support and communicate with a variety of devices including m Any third party digital and analog I O device that is compliant with the Device Profile for Gener
78. ld J C e amp E aNwi3090d Pul A i d N L A NJAA 2DVd1 DI Buu sJeyy anbsoy LWTUN D woud D4i dus IN I DI Pd IONN Dl dOud Di IND lus cd qaoow 4413 9 dud jueujeunseo A o3u02 nbiol B BelloA sng S L OASQ83A hq CNWIS013 CNWISd 1500 CNVAX drDtO L Control System B 5 MN1942 www supportme net B 6 Control System MN1942 C 1 C 1 1 C 1 2 CE Guidelines 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 MicroFlex e100 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
79. lete and the Status LED should illuminate red If the Status LED is not lit then re check the power supply connections If the Status LED flashes red this indicates that the MicroFlex e100 has detected a fault see section 7 Note that after downloading firmware startup may take more than 1 minute 4 Ifthe motor wires were disconnected in section 6 2 1 turn off the AC supply and reconnect the motor wires Turn on the AC supply 5 To allow the Commissioning Wizard to function the drive enable signal will need to be present on connector X3 to allow the MicroFlex e100 to be enabled see section 5 2 1 If you do not wish to enable the MicroFlex e100 yet the Commissioning Wizard will inform you when this step is necessary 6 2 3 Installing the USB driver It is now necessary to install the USB driver When the MicroFlex e100 is powered Windows 2000 or XP only will automatically detect the controller and request the driver The driver consists of two files USBmotion inf and USBmotion sys Both files must be present for installation 1 Follow the on screen instructions to select and install the driver The driver files are available on the supplied Baldor Motion Toolkit CD If you are using a copy of the driver located on the hard disk a floppy disk or another CD the two driver files must be in the same folder 2 During installation Windows XP may report that the driver is unsigned This is normal for the MicroFlex e100 driver
80. lter has to be situated close to the drive so the AC power wires are as short as possible m 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 m 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 Kk Or run as twisted pair at minimum MN1942 CE Guidelines C 3 www supportme ne C 1 6 Wiring of shielded screened cables Remove the outer insulation to expose the overall shield Clamp should provide 360 Flat t contact with the cable at or p type conductive clamp 3 mo 500mm max D Figure 53 Earthing grounding cable shields MicroFlex e100 Encoder Connector X8 Cable Housing cia 1H CHA 9 G G CHBY 2 7 7 7 7 7 7 7 7 7 7 U U U U C CHB 10 Fn ves wi k w cIII cHz H t ai 3 DGND 13 Dg Connect overall shield Connect overall shield P to connector backshell to connector backshell Figure 54 Encoder signal cable grounding C 4 CE Guidelines MN1942
81. m rd Sum a Ee Sinus da A 2 A 1 2 Footprint filter Single phase only A 3 Askao SIG CTS dedit ento daret e me dat Sha e az y arte dat acetal usu a yuta A 4 A 1 4 Regeneration resistors A 7 A 1 5 Motor power cables A 8 A 1 6 Motor power cable part numbers A 8 At SSlfeedbackK Cables uu uska aes de S Supaya OS Sispa ae A 9 A 1 8 Encoder Hall feedback cables A 9 A 1 9 EnDat absolute encoder and SinCos feedback cables A 10 A 1 10 Feedback cable part numbers A 10 Ali TT Elhernetedbles ci vadis eic 8 aol dices tert Bret dade s a otc ms A 11 B Control System B 1 Bel CHRIPOGUCUHOIP erensia A ns PRU U due EE ne RP POS SQ Q0ba at B 1 BLT Servo configurato zu l 3 8 un rb Xa e ba pakaspa SSS dapes Sod B 2 B 1 2 Torque servo configuration B 4 C CEGuidGiineS 122991 slug wa INFE dead dese aussie C 1 Cal QUINE sco 5 oes bee eetie tae aqawan uuu ia C 1 C 1 1 EMC Conformity and CE marking C 1 C 1 2 MicroFlex e100 compliance C 1 C 1 3 Use of CE compliant components C 2 C14 EMG wiring technique va uu s ul ale Oe
82. mit for model MFE230A003 is 6A 3 6 Basic Installation MN1942 www supportme net 3 2 4 Derating characteristic 6A model The following derating characteristics are for model MFE230A006 Single phase AC supply 1 5m s forced air 1m s forced air Natural cooling Rated output current Arms Ambient temperature C Three phase AC supply 1 5m s forced air 1m s forced air Rated output current Arms Natural cooling Ambient temperature C Notes Load power factor 0 75 Overload limit for model MFE230A006 is 12A MN1942 Basic Installation 3 7 www supportme net 3 2 5 Derating characteristic 9A model The following derating characteristics are for model MFE230A009 Single phase AC supply PS TN 3 5m s forced air 2 5m s forced air om s forced air 1m s forced air 9 8 E 7 MS 26 c O 5 4 5 3 O 22 Y 1 0 Natural cooling s s NENNEN MESS _ re EE O em SENE gt BN III III III 30 35 40 45 50 55 Ambient temperature C Three phase AC supply Em qu 3 5m s forced air 2 5m s forced air 1 5m s forced air 1m s forced air Rated output current Arms Natural cooling CE T im HER ilr PE PPP E ass Eu ee ee 30 35 40 45 50 55 Ambient temperature C Notes Load power factor 0 78 Overload limit for model MFE230A009 is 18A Overtemperature tr
83. motor SSI feedback cable pin configuration The maximum recommended cable length is 30 5m 100ft MN1942 Feedback 4 7 www supportme net 4 1 3 SinCos feedback The SinCos connections Sin and Cos incremental channels only are made using the 15 pin D type female connector X8 Twisted pair cables must be used for the complementary signal pairs e g Sint and Sin The overall cable shield screen must be connected to the metallic shell of the D type connector Connector X8 includes a Sense pin which is used to detect the voltage drop on long cable runs This allows the MicroFlex e100 to increase the encoder supply voltage on pin 12 to maintain a 5V supply at the encoder 200mA max SinCos function C C C Sense Sin Cos NC 1 2 3 4 5 7 1 Motor X8 Twisted pairs Sin Sin Cos SinCos Cos Feedback 5V out DGND Connect internal Sense shields to DGND A Connect overall shield to A connector backshells Figure 20 SinCos cable connections 48 Feedback 1 MNT www supportme net 4 1 3 1 SinCos cable pin configuration Figure 21 shows the pin configuration for a typical Baldor SinCos feedback cable part number CBLO25SF D2 Signal name MicroFlex e100 Motor cable Baldor EnDat SinCos X8 pin pin cable internal wire colors Sense erue O Motor SinCos connector Cable connector end view male female Figure 21 Baldor motor SinCos feedback
84. ms The drive enable input is buffered by a TLP280 opto isolator allowing the input signal to be connected with either polarity MicroFlex e100 Mint Drive i DRI VEENABLESW TCH Enable A a TALVC14 Drive Enable TLP280 Figure 24 Drive enable input circuit In normal use the drive enable input controls the enabled status of the drive However when the MicroFlex e100 is connected to Mint WorkBench additional methods are available for controlling the drive enable status In all cases the drive enable input must be active and there must be no errors present before the MicroFlex e100 can be enabled m The drive enable button S on the motion toolbar toggles the enable disable status Alternatively the Mint command DRI VEENABLE O 1 can be used in the command window to enable the MicroFlex e100 DRI VEENABLE 0 0 will disable the MicroFlex e100 m he Tools Reset Controller menu item will clear errors and enable the MicroFlex e100 Alternatively the Mint command RESET 0 can be used in the command window to perform the same action The state of the drive enable input is displayed in the Mint WorkBench Spy window Alternatively the state of the drive enable input can be read but not set using the Mint command Pri nt DRI VEENABLESW TCH in the command window See the Mint help file for details MN1942 Input Output 5 3 www supportme n
85. nd suitable wires sizes to be used for power connections Catalog Circuit Minimum Number breaker Wire Gauge e Ferraz Shawmut 6x32 FA series 10A W084314P 14 or BS88 2 5 URGS 10A N076648 Ferraz Shawmut 6x32 FA S V084313P 8A 14 BS88 2 5 URGS 7A M076647 Ferraz Shawmut 6x32 FA SEDE UM A084318P 20A 14 BS88 2 5 URGS 20A L097507 Ferraz Shawmut 6x32 FA series 12 5A X084315P 12 5A 14 or 1 Ferraz Shawmut 6x32 FA series 20A A084318P 14 2 or BS88 2 5 URGS 20A L097507 Table 3 Protection device and wire ratings 2 0 2 0 2 0 2 0 2 5 0 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 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 wires 3 4 6 Drive overload protection The MicroFlex e100 will immediately trip and disable if there is an overload condition The parameters for managing drive overloads are configured automatically by the Commissioning Wizard see section 6 4 3 If they need to be changed use the Parameters tool in Mint WorkBench see section 6 5 2 MN1942 Basic Installation 3 15 www supportme net 3 4 7 Power supply filters To comply with EEC directive 89 336 EEC an AC power filter of the appropriate type must be connec
86. ng modes Single or multi turn Baldor motors 512 or 2048 Sin Cos cycles per turn with absolute positioning resolution of 2048 or 8192 steps Many other encoder specifications are supported contact Baldor Absolute encoder input Output power supply to encoder 5V 200mA max Maximum recommended cable length 30 5m 100ft 8 1 11 Ethernet interface Protocols Value 2 twisted pairs magnetically isolated ETHERNET Powerlink amp TCP IP MN1942 Specifications 8 5 www supportme net 8 1 12 CAN interface Description 2 wire isolated Protocol CANopen Bit rates Kbit s 10 20 50 100 125 250 500 1000 8 1 13 Environmental All models Unit All models Operating temperature range c ww 9 Minimum 0 32 Maximum 45 113 Channels EE Derate See sections See sections 3 2 2 to 3 2 5 3 2 2 to 3 2 5 Storage temperature range 40 to 85 40 to 185 Humidity maximum Forced air cooling flow m s m wn mew vertical from bottom to top Maximum installation altitude 1000 above m s l Derate 1 196 100m over 1000m 3300 Derate 1 1 330ft over 3300ft MicroFlex e100 complies with the following environmental test standards BS EN60068 2 1 1993 low temperature operational O C BS EN60068 2 2 1993 high temperature operational 45 C BS EN60068 2 1 1993 low temperature storage transportation 40 C BS EN60068 2 2 1993 high temperature storage transportation 85 C BS 20
87. nti surge 2A Recommended ferrite sleeve Fair Rite part 0431164281 or similar Figure 6 24V control circuit supply connections MN1942 Basic Installation 3 17 www supportme net 3 5 Motor connections MicroFlex e100 will operate with a large number of brushless servo motors For information on selecting Baldor servo motors please see the sales brochure BR1202 available from your local Baldor representative The motor must be capable of being powered by an inverter PWM output see section 8 1 3 for details The motor can be connected directly to the MicroFlex e100 or through a motor contactor M Contactor The motor outputs are conditionally short circuit proof Motors should ideally have a minimum inductance of 1mH per winding for motors with lower inductance an output reactor may be fitted in series with the motor When using a Baldor motor the parameters for managing motor overloads are configured automatically by the Commissioning Wizard see section 6 4 3 If they need to be changed or you are using an alternative motor use the Parameters tool in Mint WorkBench see section 6 5 2 AC supply voltage 115VAC 16 230VAC 10 230VAC 30 Output voltage range 0 115VAC 3o 0 230VAC 3o 0 230VAC 3o Motor I 1 Connect motor To earth ground outer earth ground I I shield use 360 to protective clamp connected to earth on top of backplane Say eu ee ee eM aA AE Lue ee a NS sm mm SENSO s EM
88. o be reduced To avoid motor damage a user defined application current limit is also applied as well as individual positive and negative torque limits In the velocity control loop a velocity demand and measured velocity form the inputs to a PI control system The output of the control system is a torque demand which when the drive is operating as a velocity controller forms the input to the current control loop Finally in the position control loop a position demand and measured position form the inputs to a PID Proportional Integral Differential control system incorporating velocity feedback velocity feed forward and acceleration feed forward The output of the position control system is a velocity demand which when the drive is operating as a position controller forms the input to the velocity control loop B 2 Control System MN1942 www supportme net BINJONAJS o43uoo uomneunBijuoo OAIVS LG oJnDiJ Control System B 3 Jepoou3 eoepelu Jopoou3 JESISAIU uonesueduioo yup sinyesoduay n uolle nuuuuoO sjuauno Bulsiaubew pue enbio panse o Due eouio9 3 H Ld3CH3 L1 1430901 LW I11N3durO CNV84311 Id3rDtO1L YMS 19 OJ4u09 uo lisoq S3N1 IN 130401 O3u4u311 1330401 yous 19 0u09 1IOO A poui jonuoo SOd L IN ITSNOYOL 3dA18311143 DL epoui o1u09 Bs OF Lh ES A eo 0 O lt O e 31 Id hw C d NWA Od C Nd M f l e i A l l L ere OWN A ii wou
89. o these terminals may result in damage to the drive General Information 1 3 www supportme net CAUTION CAUTION CAUTION CAUTION CAUTION CAUTION CAUTION CAUTION CAUTION CAUTION CAUTION CAUTION CAUTION P gt gt Re PPE 5 P BP p CAUTION 1 4 General Information 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 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 Machinery 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 Failure to meet cooling air flow requirements will result in reduced product lifetime and or drive overtemperature
90. of control and feedback signals between the MicroFlex e100 and other EPL enabled controllers such as NextMove e100 The EPL protocol implemented in Mint is based on the CANopen DS402 Device Profile for Drives and Motion Control MicroFlex e100 incorporates a built in repeating hub providing two ports for connection to other equipment This allows nodes to be connected as a daisy chain network of up to 10 nodes avoiding the need for additional hubs If the network comprises more than 10 nodes an external hub must be used The structure of the physical network is informal so does not need to reflect the logical relationship between nodes Ethernet switches must not be used in EPL networks as their timing cannot be guaranteed NextMove e100 MicroFlex e100 MicroFlex e100 MicroFlex e100 MicroFlex e100 Manager Node Drive Drive Drive Drive Daisy chained network Figure 36 Simple daisy chained EPL network NextMove e100 Machine 1 Manager Node MicroFlex e100 Drives 1 9 1 2 3 4 5 6 7 8 9 External hub Machine 1 MicroFlex e100 Drives 10 16 Po cud ud Lg EIG Cart LATTEA L Tft Cart L111 10 11 12 13 14 15 16 NextMove e100 Machine 2 Controlled Node MicroFlex e100 Drives 17 20 17 18 19 20 Figure 37 Example multi branch EPL network MN1942 Input Output 5 15 www supportme net 5 4 3 Ethernet connectors Ethernet connections are made using the identical RJ45 Ethernet receptacles To connect the MicroFlex e100 to ot
91. on transformer or a step up step down transformer may be required for some power conditions m Ifthe feeder or branch circuit that provides power to the MicroFlex e100 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 MicroFlex e100 to limit the maximum symmetrical short circuit current to 5000A m f the feeder or branch circuit that provides power to the MicroFlex e100 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 Ifthe 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 MicroFlex e100 3 4 3 1 Input power cycling and inrush If AC power has been removed from the MicroFlex e100 it should remain disconnected for the period specified in Table 1 before it is reapplied MicroFlex e100 Minimum power cycle delay period current rating seconds 25 45 65 Table 1 Power cycle intervals This delay allows the input surge protection circuit to perform correctly ensuring that the inrush current typically 1 7A is below the drive rated current Power cycling t
92. phase or 230VAC three phase supplies Universal feedback interface supporting incremental encoder SSI EnDat or SinCos feedback Position velocity and current control Auto tuning wizard including position loop and software oscilloscope facilities provided by Mint WorkBench v5 5 configuration software supplied 3 optically isolated general purpose digital inputs Two inputs have fast input capability providing real time position capture 1 optically isolated drive enable input 1 optically isolated general purpose digital output 1 optically isolated digital output to indicate error conditions USB 1 1 serial port compatible with USB2 0 CANopen protocol for communication with Mint controllers and other third party CANopen devices ETHERNET Powerlink amp TCP IP support Twin Ethernet ports with integrated hub for communication with host PC or other ETHERNET Powerlink devices MicroFlex e100 will operate with a large range of brushless rotary and linear servo motors for information on selecting Baldor servo motors please see the sales brochure BR1202 available from your local Baldor representative This manual is intended to guide you through the installation of MicroFlex e100 The sections should be read in sequence The Basic Installation section describes the mechanical installation of the MicroFlex e100 the power supply connections and motor connections The other sections require knowledge of the low lev
93. r obstruction there should be a minimum space of 90mm to maintain effective cooling Remember that when a MicroFlex e100 is mounted above another MicroFlex e100 or heat source it will be receiving air that has been already heated by the device s below it Multiple MicroFlex e100 units mounted above each other should be aligned not offset to promote air flow across the heatsinks Warm The derating characteristics assume the MicroFlex e100 is mounted on 3mm thick or less metal plate If the MicroFlex e100 is mounted on 10mm plate then the current characteristics shown in sections 3 2 3 to 3 2 5 may be increased by up to 7 if there is no forced air cooling or 15 if forced air cooling is present Forced air flow Cool It is recommended to allow approximately 60mm at the front to accommodate wiring and connectors Figure 2 Cooling and proximity MN1942 Basic Installation 3 5 www supportme net 3 2 3 Derating characteristic 3A model The following derating characteristics are for model MFE230A003 Single phase AC supply 3 EN 1m s forced air E 2 D O 5 Natural cooling O 1 O 2 ad 0 30 35 40 45 50 55 Ambient temperature C Three phase AC supply 3 1m s forced air Oo z lt d D O Natural cooling 5 o 1 O 2 ad 0 30 35 40 45 50 55 Ambient temperature C Notes Load power factor 0 75 Overload li
94. red by the slots in the flange The protective earth ground the threaded hole on the top of the MicroFlex e100 must be bonded to a safety earth ground using either a 25A conductor or a conductor of three times the peak current rating whichever is the greater The threaded holes in the top and bottom of the case are for cable clamps The holes are threaded for M4 bolts no longer than 11mm 0 43 in in length The D type connectors on the front panel of the MicroFlex e100 are secured using two hexagonal jack screws sometimes known as screwlocks If a jack screw is removed accidentally or lost it must be replaced with a 4 40 UNC jack screw with an external male threaded section no longer than 10mm 0 4 in Basic Installation 3 3 www supportme net 3 2 1 Dimensions 5 0 2 l T Mounting hole and slot detail mu 5 5 mm lt N e 5o Sx Dimensions shown as mm inches Depth 157 mm 6 2 in Weight 3A 1 45kg 3 2 b 6A 1 50kg 3 3 b 9A 1 55kg 3 4 b oN Figure 1 Mounting and overall dimensions 3 4 Basic Installation MN1942 www supportme net 3 2 2 Mounting and cooling the MicroFlex e100 Ensure you have read and understood the Mechanical installation and location requirements in section 3 2 Mount the MicroFlex e100 vertically on its rear side the side opposite the front panel M5 bolts or screws should be used to mount the MicroFlex e100 Detailed dimensions are shown in section
95. ress that will be assigned to the Ethernet adapter The value 241 is deliberately chosen as it is outside the range that can be used by MicroFlex e100 so avoiding possible conflicts Configuration 6 3 www supportme net 7 n the Subnet mask box enter 255 255 255 0 and click OK Click OK to close the Local Area Connection Properties dialog 8 On the Windows Start menu select Command Prompt often found under Accessories 9 Inthe Command Prompt window type PING 192 168 100 16 where the final value 16 in this example is the value selected by the MicroFlex e100 s node ID selector switches In this example the MicroFlex e100 s switches would be set to Hl 1 LO 0 which represents hexadecimal 10 equivalent to decimal 16 see section 5 6 1 for a list of hexadecimal decimal equivalents A reply message should be returned 10 It should now be possible to run Mint WorkBench and connect to the MicroFlex e100 using the Ethernet TCP IP connection 6 4 Configuration MN1942 www supportme net 6 3 Mint Machine Center The Mint Machine Center MMC is used to view the network of connected controllers in a system Individual controllers and drives are configured using Mint WorkBench Note f you have only a single MicroFlex e100 connected to your PC then MMC is probably not required Use Mint WorkBench see section 6 4 to configure the MicroFlex e100 i Untitled MMC ICE Eq Toolbars HH NextMove PCI B E USB Made A
96. rly sensitive to noise so inputs must use shielded twisted pair cable 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 5 8 Input Output MN1942 www supportme net 5 2 5 General purpose status output DOUTO Location Connector X3 pins 1 amp 11 Mating connector Weidmuller Minimate B2L 3 5 20 Name Status DOUTO Description General purpose opto isolated digital output Output current 100mA maximum User supply 28VDC maximum Update interval 1ms The optically isolated general purpose status output is designed to source current from the user supply as shown in Figure 30 The PS2562L has a maximum power dissipation of 200mW at 25 C The maximum saturated voltage across the outputs when active is 1 0VDC so it can be used as a TTL compatible output The output includes a self resetting fuse that operates at approximately 200mA The fuse may take up to 20 seconds to reset after the load has been removed If the output is used to directly drive a relay a suitably rated 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 sense of the output can be configured in Mint WorkBench and its state is displayed in the Spy window User supply V MicroFlex e100
97. roller pane Fle Edt view Help to select it then double click to open an IE ml lt gla instance of Mint WorkBench The ra s Cu Or MicroFlex e100 will be already connected to the instance of Mint WorkBench ready EE Pcl to configure USB pese li MicroFlex e100 f bendi j yy Ethernet mel TCPIP MN1942 Configuration 6 7 www supportme net 6 4 Mint WorkBench Mint WorkBench is a fully featured application for commissioning the MicroFlex e100 The main Mint WorkBench 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 ES wat Workench sew Project Faryes tumarsq File Edt Ww Took Production Program Windows Hep Go ta fe sSnwsn sar Foston Ld ie oe eh 3 Menu system Lanrarlivily Diis Sal e Operstng Mode j Control and 24 5100 oS dull a aw e zm test area Toolbox Fine tuning Died IO mrt inl Edi E Debug m Scope QH Channel k Tampaeranre deg L Merapi Gap zy Gahs Sahay Gas fT Prt Veecky Current Pi For Help press F1 MenHexelUBud55in kaueiide Bec Figure 43 The Mint WorkBench software 6 8 Configuration MN1942 www supportme net 6 4 1 Help file Mint WorkBench includes a comprehens
98. rror occurring Baldor part number RG56 is recommended 560 44W However if the required dissipation is greater than this Baldor part number RG39 may be used rated at 100W RG56 140 5 5 RG39 226 8 9 Dimensions mm inches Figure 50 Regeneration resistor dimensions N 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 MN1942 Accessories A 7 www supportme net A 1 5 Motor power cables Cable Cable assembly Catal b Length rated current description atalog number om Power Cable CBLO50 501 no connectors CBLO15SP 12 CBLO25SP 12 CBLO30SP 12 CBLO50SP 12 Power Cable CBLO61SP 12 ene Assembly CBLO75SP 12 CE style threaded CBLOO1SP 12 motor connector CBL100SP 12 motor end only CBL150SP 12 CBL152SP 12 CBL200SP 12 CBL229SP 12 Power Cable CBLO051 501 Available by the meter or on no connector 100m drum CBL015SP 20 CBLO25SP 20 CBLO30SP 20 Power Cable Sosa an ASS Gb CBL061SP 20 ae y CBL075SP 20 style threaded CBL091SP 20 motor connector CBL100SP 20 motor end only CBL150SP 20 CBL152SP 20 CBL200SP 20 CBL229SP 20 Power Cable CBL052 501 Available by the meter or on Available in North and South America only A 1 6 Motor po
99. rspeed trip Feedback trip Motor overload It trip Overtemperature trip Drive overload It trip Following error trip Error input triggered Phase search error All other errors including Internal supply error encoder supply error parameter restore failure power base not recognized If multiple errors occur at the same time the lowest numbered error code will be flashed For example a MicroFlex e100 which has tripped on both feedback error code 5 and over current error code 3 will flash error code 3 If the drive is already displaying an error code when a new error with a lower code occurs the drive will start flashing the new code Note that undervoltage trip does not appear in the table because it is already indicated by the green red flashing state If an undervoltage trip occurs in conjunction with another error the drive will flash the code of the additional error Further details about error codes can be found in the Mint WorkBench help file Press F1 and locate the Error Handling book Alternate red green flashing Undervoltage warning no AC power but no errors are latched The DC bus voltage has dropped below the powerbase undervoltage level see DRI VEBUSUNDERVOLTS This error will only be generated if the drive is in the enabled state Check the AC power is connected 7 2 Troubleshooting MN1942 www supportme net 7 2 2 CAN LEDs The CAN LEDs display the overall condition of the CANopen
100. rved for special purposes and cannot be used m Setting the switches to select a node ID between 1 and 239 causes the node to become a controlled node a node that will accept commands from the manager node m Node ID 240 is reserved for the EPL manager node for example NextMove e100 so cannot be used by MicroFlex e100 m Node IDs between 241 and 255 are reserved for special purposes and cannot be used For all other communication channels such as CANopen and USB the node ID is set in software Each channel can have a different node ID selected using the Mint WorkBench Connectivity Wizard or the Mint BUSNODE keyword See the Mint help file for details 5 22 Input Output MN1942 www supportme net 5 7 Connection summary recommended system wiring As an example Figure 40 shows the recommended wiring necessary for the MicroFlex e100 to control a motor while conforming to the EMC requirements for industrial environments AC power Motion controller Connect motor power cable I shield to metal backplane using From L1 AC powerin conductive shield clamp fuses L2 J ES S Ethernet Connect AC power cable shield to PE metal backplane using
101. s connect supply to L1 L2 and L3 as shown in Figure 3 For single phase supplies connect the supply and neutral to any two line inputs for example L1 and L2 For CE compliance an AC filter must be connected between the AC power supply and the MicroFlex e100 If local codes do not specify different regulations use at least the same gauge wire for earth ground as is used for L1 L2 and L3 Tightening torque for terminal block connections is 0 5 0 6Nm 4 4 5 3 Ib in The threaded hole in the top and bottom of the case may be used as an additional functional earth ground connection for signals on connector X3 They may also be used to attach shield or strain relief clamps The holes are threaded for M4 bolts no longer than 11mm 0 43 in in length Connect earth ground to protective earth on top of AC Route L1 L2 L3 and Circuit breaker or fuses AC filter drive Supply earth ground together See section 3 4 4 See section in conduit or cable Wwe mm deme og qe oem ceo w UN Line L1 Line L2 s Line L3 I Isolating switch Incoming safety earth ground PE To earth ground outer shield use 360 clamps connected to enclosure backplane STAR POINT Figure 3 Single or three phase power connections 3 12 Basic Installation MN1942 www supportme net 3 4 3 Input power conditioning Certain power line conditions must be avoided an AC line reactor an isolati
102. s XP system The Ethernet configuration used by a normal office PC is not suitable for direct communication with the MicroFlex e100 It is recommended to install a separate dedicated Ethernet adapter in the PC which can be configured for use with the MicroFlex e100 See section 6 2 4 3 1 3 Tools and miscellaneous hardware m Your PC operating system user manual might be useful if you are not familiar with Windows m Small screwdriver s with a blade width of 3mm or less for connector X1 and 2 5mm 1 10 in or less for connector X3 m M5 screws or bolts for mounting the MicroFlex e100 3 1 4 Other information needed for installation This information is useful but not essential to complete the installation m The data sheet or manual provided with your motor describing the wiring information of the motor cables connectors m Knowledge of whether the digital input signals will be Active Low or Active High 3 2 Basic Installation MN1942 www supportme net 3 2 Mechanical installation and cooling requirements It is essential that you read and understand this section before beginning the installation CAUTION To prevent equipment damage be certain that the input power has correctly rated protective devices installed CAUTION To prevent equipment damage be certain that input and output signals are powered and referenced correctly CAUTION To ensure reliable performance of this equipment be
103. sispa a nei sop cslie Fete many to factory dela C Mene Engish Impenal whanning hit colar it intended as an sid In a cual qualified engineer Tha maridactuser accents na labiiy ted damage caucar le machinery et amy iniu caused as aratul l iz ute arme se Ratast e gt cmu o 6 4 3 1 Using the Commissioning Wizard 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 On the Operating Mode screen it is important to select Host Mint as the Reference Source This will allow the Autotune Wizard to operate correctly and allow further initial testing to be performed using Mint WorkBench Although the MicroFlex e100 may eventually be controlled over ETHERNET Powerlink EPL this reference source should only be selected after the MicroFlex e100 has been commissioned and is ready to add to the EPL network This can be selected by choosing the Operating Mode tool in the Toolbox If you need extra help click Help or press F1 to display the help file When you have completed a screen click Next to display the next screen If you need to change something on a previous screen click th
104. ssible using a set of general purpose Mint keywords See the Mint help file for further details The node has been successfully scanned recognized by the Manager node but communication is still not possible For communication to be allowed a connection must be made to a node after it has been scanned m Baldor controller nodes are automatically connected to after being scanned m Nodes that conform to DS401 DS403 must have the connections made manually using the Mint CONNECT keyword If a connection attempt using CONNECT fails then it may be because the node being connected to does not support an object which needs to be accessed in order to setup the connection MN1942 Troubleshooting 7 7 www supportme net 7 8 Troubleshooting MN1942 Specifications 8 8 1 Introduction This section provides technical specifications for the MicroFlex e100 8 1 1 AC input power and DC bus voltage X1 All models Nominal input voltage VAC 115 or 230 Minimum input voltage 105 AC input 250 Maximum input voltage Nominal DC bus voltage 305 230VAC input The MicroFlex e100 will operate at lower input voltages although the drive will trip if the DC bus voltage falls below 50V or 60 of the no load voltage whichever occurs first Nominal input current maximum rated output current 8 1 1 1 Effect of AC power supply voltage on DC bus voltage 350 300 l J T 5 Three phase AC suppl P 586 ree phase s
105. stem only so attempting to connect slower 10Base T 10Mbit s nodes will cause a network error 5 16 Input Output MN1942 www supportme net 5 5 CAN interface The CAN bus is a serial based network originally developed for automotive applications but now used for a wide range of industrial applications It offers low cost serial communications with very high reliability in an industrial environment the probability of an undetected error is 4 7x10 11 It is optimized for the transmission of small data packets and therefore offers fast update of I O devices peripheral devices connected to the bus The CAN protocol only defines the physical attributes of the network i e the electrical mechanical functional and procedural parameters of the physical connection between devices The higher level network functionality on MicroFlex e100 is defined by the CANopen protocol one of the most used standards for machine control 5 5 1 CAN connector Location CAN Mating connector 9 pin female D type au saran Loop j _ e o Eom 00 5 5 2 CAN wiring A very low error bit rate over CAN can only be achieved with a suitable wiring scheme so the following points should be observed m The two wire data bus line may be routed parallel twisted and or shielded depending on EMC requirements Baldor recommend a twisted pair cable with the shield screen connected to the connector backshell in order to reduce RF emissions and provid
106. stor Dynamic Brake resistor 3 23 MN1942 Contents i A FCCODACK us nog dq ace d hal Mala ees Roi on d act hala wae Dawe 4 1 4T WW OGUCTION 323 oed cR CREE RR Me RON RR NE UR RR D MEN RT e 4 1 4 1 1 Incremental encoder feedback 4 2 4 1 2 SSI feedback 4 6 4 1 3 SinCos feedback 4 8 4 1 4 EnDat absolute encoder feedback 4 10 NPU OUIDBL starts i utate re Oa a a roa 5 1 S ntfoduclon e eee ERRORS T 4x ever cies Seabee ats o 1 9 2 Digtal O sioe aqhapa m e www eet SR SUR Re DA 5 2 521 Diveenable MPU r u aiken te wees Ges Ond ane ee eee ees 5 3 5 2 2 General purpose digital input DINO 5 5 5 2 3 General purpose digital inputs DIN1 amp DIN2 5 7 5 24 Special functions on inputs DIN1 and DIN2 5 8 5 2 5 General purpose status output DOUTO 5 9 5 2 6 General purpose output DOUT1 5 11 5 3 USB communication sees m tenes 5 13 Sol USE pO z sav ote udi SISSE ee adhe eee TA eS sae erui 5 13 5 4 Ethernet interface ukuna sya eee 5 14 Ba TGBIB ecu pasu ma sata at oe omes itl sa gad 5 14 5 4 2 ETHERNET Powerlink 5 15 4 3 ElhierBeb COMME CIOS Wd he salon cecal ea
107. switch contacts must never be wired directly to a digital input The separate 24VDC supply used for the thermal switch may also be used for the motor brake circuit section 3 5 6 MN1942 Basic Installation 3 21 www supportme net 3 5 6 Motor brake connection You might wish to wire a motor s brake via relays to digital outputs on connector X3 see section 3 3 1 This provides a way for the MicroFlex e100 to control the motor s brake A typical circuit is shown in Figure 10 XF User supply V The relays have normally open contacts and are shown deactivated contacts open brake engaged from motor brake connections The inner shield surrounding the brake wires should be earthed grounded at one point only User supply GND 24VDC 0V Separate customer supplied 24VDC supply Figure 10 Motor brake control circuit This circuit uses the drive enable signal configured using DRI VEENABLEOUTPUT to appear on DOUTO in conjunction with DOUT1 configured as the MOT ORBRAKEOUT PUT See the Mint help file for details With this configuration the following sequences can be used to control the brake To engage the brake m he motor is brought to rest under normal control m Relay 2 is deactivated causing the brake to engage m The drive is disabled This removes power from the motor and causes Relay 1 to be deactivated To disengage the brake m The drive is enabled activating Relay 1 Power is applie
108. t SinCos X8 pin pin cable internal wire colors Green White O Motor absolute encoder connector Cable connector end view male female Figure 23 Baldor rotary motor absolute encoder cable pin configuration The maximum recommended cable length is 30 5m 100ft MN1942 Feedback 4 11 www supportme net 4 12 Feedback 0 MN1942 5 1 Input Output b Introduction This section describes the various digital input and output capabilities of the MicroFlex e100 with descriptions of each of the connectors on the front panel The following conventions are used to refer to the inputs and outputs OD p Input Output DIN adr teas yore s Digital Input DOUT tress asa dees Digital Output MN1942 Input Output 5 1 www supportme net 5 2 Digital I O The MicroFlex e100 provides as standard m 3 general purpose digital inputs m 1 dedicated drive enable input m 1 general purpose digital output m 1 general purpose drive status output The general purpose digital inputs can be configured for typical input functions Error input Reset input Stop input Forward reverse limit input Home input 5 2 Input Output MN1942 www supportme net 5 2 1 Drive enable input Location Connector X3 pins 9 amp 19 Mating connector Weidmuller Minimate B2L 3 5 20 Description Dedicated drive enable input Nominal input voltage 24VDC input Current not to exceed 50mA Sampling interval 1
109. t Output 5 5 www supportme net NextMove e100 controller MicroFlex e100 UDN2982 LA Na TLP280 Figure 27 Digital input typical connection from a Baldor NextMove e100 5 6 Input Output MN1942 www supportme net 5 2 3 General purpose digital inputs DIN1 amp DIN2 Location Connector X3 pins 6 amp 16 DIN1 4 amp 14 DIN2 Mating connector Weidmuller Minimate B2L 3 5 20 Description General purpose fast opto isolated digital inputs Nominal input voltage 24VDC input current not to exceed 20mA Maximum input frequency 1 MHz maximum These general purpose fast digital inputs are buffered by a TLP115 opto isolator allowing the input signal to be connected with either polarity The state of the digital input is displayed in the Mint WorkBench Spy window The inputs can be can be configured for different user definable functions MicroFlex e100 yak TLP115A Figure 28 General purpose fast digital input circuit When the MicroFlex e100 is connected to Mint WorkBench the digital input can be configured using the Digital I O tool Alternatively the Mint keywords RESETI NPUT ERRORI NPUT and STOPI NPUT can be used in the command window The state of the digital input can be viewed using the Spy windo
110. ted MicroFlex e100 drives are designed to be powered from standard single and three phase lines that are electrically symmetrical with respect to earth ground The power supply module within all MicroFlex e100 models provides rectification smoothing and current surge protection Fuses or circuit breakers are required in the input lines for cable protection Note A Residual Current Device RCD must not be used for fusing the drive An appropriate type of circuit breaker or fuse must be used All interconnection wires should be in metal conduits between the MicroFlex e100 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 should be used Earthing grounding A permanent earth ground bonding point is provided on the heatsink which must be used as the protective earth It is labeled with the protective earth symbol in the casting and does not form any other mechanical function Connector X1 contains earth terminals but these must not be used as protective earth since the connector does not guarantee earth connection first disconnection last Earthing methods are shown in section 3 4 2 Note When using unearthed ungrounded distribution systems an isolation transformer with an earthed grounded s
111. ted This can be supplied by Baldor and will ensure that the MicroFlex e100 complies with the CE specifications for which it has been tested Ideally one filter should be provided for each MicroFlex e100 filters should not be shared between drives or other equipment Table 4 lists the appropriate filters MicroFlex e1 00 Input voltages current rating 230VAC 16 230VAC 30 FI0015A00 line reactor FI0018A00 see sections 3 4 7 1 and 3 4 7 2 Or FI0029A00 see section A 1 2 Or FI0018A00 FI0029A00 see section A 1 2 FI0029A00 see section A 1 2 FI0018A03 Table 4 Baldor filter part numbers Ml FI0015A02 see section 3 4 7 2 Maximum earth leakage from the MicroFlex e100 is 3 4mA per phase 230V 50Hz supply This value does not include the earth leakage from the AC power filter which could be much larger see section A 1 3 3 4 7 1 Harmonic suppression When operating the 3A MicroFlex e100 part MFE230A003 on a single phase AC supply a 13mH 4Arms 10A peak line reactor is required to ensure compliance with EN61000 3 2 2000 class A limits when the total equipment supply load is less than 1kW 3 4 7 2 Reversing the filter When using filters FI0015A00 or FI0015A02 as specified in Table 4 they must be reversed to ensure that the MicroFlex e100 complies with the CE specifications for which it has been tested The AC power supply should be connected to the filter terminals marked as the outputs with the MicroFlex e100
112. ted to the MicroFlex e100 However since there are no encoder connections the MicroFlex e100 will not be able to perform smooth speed control or accurate positioning control Sense 5V out DGND Hall U Hall U Hall W Hall W Hall V Hall V Hall Feedback AN Connect overall shield P to connector backshells Figure 16 Halls only feedback cable connections rotary motors Note Ifthe Hall inputs are used as single ended inputs leave the Hall U Hall V and Hall W pins unconnected do not connect them to ground 44 Feedback gt MNT www supportme net 4 1 1 4 Encoder cable pin configuration Baldor linear motors Baldor linear motors use two separate cables encoder and Hall The cores of these two cables must be wired to the appropriate pins of the 15 pin D type mating connector supplied Signal name CHA CHA CHB CHB CHZ CHZ MicroFlex e100 Encoder cable internal wire colors X8 pin Please refer to MN1800 Linear Motors Installation amp Operating Manual for details rar en Encoder Feedback Hall Feedback eee FS NS Connect overall shield to A Twisted pairs CHA CHA CHB CHB CHZ INDEX CHZ INDEX 5V DGND Sense Hall U Hall U Hall W Hall W Hall V Hall V Leave pins 5 7 amp 14 unconnected connector backshells Figure 17 Encoder cable connections linear motors MN1942 Feedback 4 5 www supportme net 4 1 2 SSI feed
113. tion _ ABORTIAB Supparted by 7 ABORTMODE ABM C NextMove Abs C Nayttlavee 100 ARSENCODEMABE K C 3 ABSENCODERMOCE x Flex MintDrive ABSENCODEROFFSET A 6 Micro Texe 100 7 ACCELIAC P ACCELDEMANDIACD Attributes AECELIEmMA CU Read Write Scaled Default Range 2 ACCELJERKTIME AC IT ACCELTIME ACT Y v 1 lt x B3885107 2 ACCELTIMEMS IATH I n DERG Description I5 anc Beats ACCELTIME is used as an alternative method of setting the acceleration rate of the velocily p ek s s profile ACCELTIME is the period expressed in milliseconds to accelerate from zero to the mum i existing profiler SPEED a Figure 44 The Mint WorkBench help file For help on using Mint WorkBench click the Contents tab then click the small plus sign beside the Mint WorkBench book icon Double click a topic name to display it MN1942 Configuration 6 9 www supportme net 6 4 2 Starting Mint WorkBench Note Ifyou have already used MMC to start an instance of Mint WorkBench then the following steps are unnecessary Go to section 6 4 3 to continue configuration 1 On the Windows Start menu select Programs Mint Machine Center WorkBench v5 5 2 Inthe opening dialog box click Start New Project Mint WorkBench uaj Mint WorkBench PL Far the latest firmware software and documentation Supporthle Recent Projects Start Her Project Browse for Project
114. tion the two switches allow Node ID HI LO 192 0 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 O 1 O OF O O OF OF O O oj o NI o oa A o N O O O gt O O O O S ni rm O UJ U x N o N a a 147 e O 211 O co C C1 BR O N 148 149 s e es m 5 5 212 213 co cO oj N oa gt o co ml a oa N N c cO N N c co co eo C1 gt lt o co e C1 UJ eo ol O Co co o Ol gt oO o NI o oc oi co o i N N e 2 N N N N a a a oco N UO O J O O O CO O N ay 0 N U O J O w gt U m m ceo C1 U O N a oa mi J oO N Q eo m N N N 5 20 Input Output MN1942 www supportme net Figure 39 Decimal node IDs and equivalent HI LO hexadecimal switch settings If the node ID selector switches are set to FF the node s firmware will not run on Note power up However Mint WorkBench will still be able to detect the MicroFlex e100 and download new firmware Input Output 5 21 MN1942 www supportme net In many networking environments the node ID may also be referred to as the address On EPL networks limitations apply to the node IDs that may be selected m Node ID 0 is rese
115. tting fuse that operates at approximately 200mA The fuse may take up to 20 seconds to reset after the load has been removed If the output is used to directly drive a relay a suitably rated 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 sense of the output can be configured in Mint WorkBench and its state is displayed in the Spy window User supply V MicroFlex e100 Error Load TLP 127 Relay with diode shown User supply GND Figure 32 DOUT1 output circuit When the MicroFlex e100 is connected to Mint WorkBench the active level of the output can be configured using the Digital I O tool Alternatively the Mint keyword OUTPUTACTI VELEVEL can be used in the command window See the Mint help file for details MN1942 Input Output 5 11 www supportme net he User TRE MicroFlex e100 x3 supply x9 24V DOUT1 DOUT1 DIN4 TLP127 CREF1 TLP280 User supply GND Figure 33 DOUT1 typical connections to a Baldor NextMove e100 5 12 Input Output MN1942 www supportme net 5 3 USB communication 5 3 1 USB port Location USB Mating connector USB Type B downstream plug 0m gt me The USB connector is used to connect the MicroFlex e100 to
116. tuning m A clear description of the symptoms that you can observe for example the Status LED error messages displayed in Mint WorkBench or errors reported by the Mint error keywords ERRORREADCODE or ERRORREADNEXT m The type of motion generated in the motor shaft m 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 MicroFlex e100 The term Power cycle the MicroFlex e100 is used in the Troubleshooting sections Remove the 24V supply wait for the MicroFlex e100 to power down completely the Status LED will turn off then re apply the 24V supply MN1942 Troubleshooting 7 1 www supportme net 7 2 MicroFlex e100 indicators 7 2 1 STATUS LED The Status LED indicates general MicroFlex e100 status information Solid green Drive enabled normal operation Flickering blinking green Firmware download update in progress Flashing red Powerbase fault or error s present The number of flashes indicates which error has occurred For example to display error 3 overcurrent trip the LED flashes 3 times at 0 1 second intervals followed by a 0 5 second pause The sequence is repeated continuously Error code Meaning no of flashes DC bus overvoltage trip IPM integrated power module trip Overcurrent trip Ove
117. upply Pa 208 a y Single phase AC supply DC bus voltage VDC _ Cc eo AX lll 100 125 150 175 200 225 250 AC supply voltage rms 100 MN1942 Specifications 8 1 www supportme net 8 1 1 2 Effect of AC power supply voltage on DC bus ripple DC bus ripple of DC bus voltage 100 125 150 175 200 225 250 AC supply voltage rms 8 1 1 3 Effect of output current on DC bus ripple voltage DC bus ripple voltage Vpk pk 20 30 40 50 60 70 80 90 100 110 120 130 140 150 of Drive Rated Current 8 2 Specifications MN1942 www supportme net 8 1 2 24VDC control circuit supply input X2 Nominal input voltage Minimum input voltage Maximum input voltage Maximum ripple Power on surge current typical 24VDC 100ms 8 1 3 Motor output power X1 Nominal phase current Peak phase current for 3s Nominal output 230V 3P Output voltage range line line VDC bus 320V Output frequency Output dV dt kV us at drive phase phase at drive phase ground at motor using 20m cable phase phase at motor using 20m cable phase ground Nominal switching frequency Minimum motor inductance per winding Efficiency 8 1 4 Regeneration X1 Sa Fee 0 2000 w rrrVkri Nominal switching threshold typical VDC Nominal power 10 power cycle R 57Q 1 295 Peak power 10 power cycle R 57Q Maximum regeneration switching current Minimum lo
118. uration or are prevented by user permission levels ask your T administrator to assist you The following explanation assumes the PC is connected directly to the MicroFlex e100 and not across an intermediate Ethernet network If you wish to attempt the connection through an intermediate Ethernet network then the network administrator must be consulted to ensure that the necessary IP addresses will be allowed and are not already allocated on the network The MicroFlex e100 has a fixed IP address of the format 192 168 100 xxx The last number xxx is the decimal value defined by the MicroFlex e100 s node ID selector switches see section 5 6 1 1 2 MN1942 On the Windows Start menu select Settings Network Connections In the Network Connections Window right click the Local Area Connection entry for the required Ethernet adapter and choose Properties In the Local Area Connection Properties dialog in the This connection uses the following items list select the Internet Protocol TCP IP entry and click Properties In the Internet Protocol TCP IP Properties dialog on the General tab make a note of the existing settings Click Advanced and make a note of any existing settings Click the Alternate Configuration tab and make a note of any existing settings On the General tab choose the Use the following IP address option In the IP address box enter the IP address 192 168 100 241 This is the IP add
119. 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 The inputs are not isolated Feedback 4 1 www supportme net 4 1 1 Incremental encoder feedback The incremental encoder connections ABZ channels and Hall signals are made using the 15 pin D type female connector X8 The encoder inputs CHA CHB and CHZ accept differential signals only Twisted pairs must be used for each complementary signal pair e g CHA and CHA The Hall inputs may be used as differential inputs recommended for improved noise immunity or single ended inputs When used as single ended inputs leave the Hall U Hall V and Hall W pins unconnected The overall cable shield screen must be connected to the metallic shell of the D type connector Connector X8 includes a Sense pin which is used to detect the voltage drop on long cable runs This allows the MicroFlex e100 to increase the encoder supply voltage on pin 12 to maintain a 5V supply at the encoder 200mA max i MicroFlex e100 r l to encoder signal loss detection CHA MAX3096 Differential line receiver CHA Figure 12 Encoder channel input circuit Channel A shown 42 Feedback o MN1942 www supportme net MicroFlex e100 Hall U MAX3096 Differential line receiver Hall U
120. w s Axis tab See the Mint help file for details MN1942 Input Output 5 7 www supportme net 5 2 4 5 2 4 1 NextMove e100 controller MicroFlex e100 UDN2982 supply Connect overall GND shield at one end only Figure 29 Digital input typical connection from a Baldor NextMove e100 Special functions on inputs DIN1 and DIN2 DIN1 and DIN2 can be configured to perform special functions Fast position capture DIN1 or DIN2 can be configured using the FASTSELECT keyword to become a fast latch input This allows the position of the axis to be captured in real time and read using the Mint keyword FASTPOS or FASTENCODER The input can configured using the FASTLATCHEDGE keyword to be triggered either on a rising or falling edge Further control of position capture is provided by the FASTLATCH and FASTLATCHMODE keywords The maximum latency to read the fast position depends on the feedback device For an incremental encoder the latency is approximately 150 300ns For other feedback devices latency may be up to 62 5us resulting from the 16kHz sampling frequency used for these types of feedback device The fast interrupt will be latched on a pulse width of about 30us although a width of 100ys is recommended to ensure capture To prevent subsequent inputs causing the captured value to be overwritten the interrupt is latched in software Note The fast inputs are particula
121. wer cable part numbers For easier installation it is recommended that a color coded motor power cable is used A description of a BSM rotary motor power cable catalog number is shown here using the example number CBL025SP 12 Indicates the length in this example 2 5 meters Various see section A 1 5 SP The cable is a Servo motor Power cable CENE 12 Current rating of 12A 20 20A Motor power cables include the motor power connector Larger motors requiring 35A cable normally use terminal box connections so a motor power connector is not required A 8 Accessories MN1942 www supportme net A 1 7 SSI feedback cables This table lists part numbers of feedback cables for use with the MicroFlex e100 Length Cable assembly description Catalog number om SSI Feedback Cable CBL044 501 Available by the meter no connectors or on 100m drum 1 5 5 CBLO15SF S2 CBLO25SF S2 CBLO30SF S2 CBLOS50SF S2 Feedback Cable Assembly CBLOG1SF S2 CE style threaded motor connector CBLO75SF S2 and low density 15 pin D type drive CBLO91SF S2 connector CBL100SF S2 CBL150SF S2 CBL152SF S2 CBL200SF S2 CBL229SF S2 Available in North and South America only A 1 8 Encoder Hall feedback cables This table lists part numbers of encoder feedback cables for use with the MicroFlex e100 Cable assembly description Catalog number ELEM Encoder Feedback Cable CBL043 501 Available by the meter no connectors or on 100m drum
122. witches LO F HI 0 m Confirm that the reference source on all controlled nodes has been set to EPL in the Mint WorkBench Operating Mode Wizard and that the manager node has been configured correctly For a NextMove e100 manager node this requires the System Config Wizard to be used in Mint WorkBench m Confirm that each device on the network has a different node ID m Confirm that there are no more than 10 daisy chained devices on each branch of the network 7 2 9 CANopen The CANopen bus is passive This means that the internal CAN controller in the MicroFlex e100 is experiencing a number of Tx and or Rx errors greater than the passive threshold of 127 Check m 12 24V is being applied between pin 9 24V and pin 6 or 3 OV of the CAN connector to power the opto isolators m There is atleast one other CANopen node in the network m The network is terminated only at the ends not at intermediate nodes m All nodes on the network are running at the same baud rate m All nodes have been assigned a unique node ID 7 6 Troubleshooting MN1942 www supportme net m The integrity of the CAN cables The MicroFlex e100 should recover from the passive state once the problem has been rectified this may take several seconds The CANopen bus is off This means that the internal CAN controller in the MicroFlex e100 has experienced a fatal number of Tx and or Rx errors greater than the off threshold of 255 At t

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