Baldor Flex+DriveII Installation Manual Download

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ii Contents

MN1902

3.8

Drive enable - X3

3-29

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.1

Drive enable - X3

3-29

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.2

Drive enable - SW1 DIP switch

3-30

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.3

Drive enable command

3-30

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.9

DIP switches - SW1

3-31

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.9.1

Switches 1-4

3-31

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.9.2

Switch 5 - Hold

3-32

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.9.3

Switch 6 - RS485 terminator

3-32

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.9.4

Switch 7 - Offset tuning

3-32

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.9.5

Switch 8 - Enable

3-32

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.9.6

Switches 9 and 10 - RS232/RS485 select

3-33

. . . . . . . . . . . . . . . . . . . . . . . . . .

3.9.7

Factory settings

3-33

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.9.8

Preventing a program running at startup

3-34

. . . . . . . . . . . . . . . . . . . . . . . . . . .

4 Input / Output

4-1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1

Introduction

4-1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2

Analog I/O

4-1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.1

Analog input - X3 (command)

4-2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.2

Relay output - X3

4-4

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3

Digital I/O

4-5

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.1

Digital inputs - X3

4-6

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.2

CREF and digital inputs

4-7

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.3

Special functions on DIN4 and DIN5 - pulse and direction inputs

4-7

. . . . . . .

4.3.4

Special functions on DIN4 and DIN5 - fast inputs

4-8

. . . . . . . . . . . . . . . . . . . .

4.3.5

Digital outputs - X3

4-9

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4

Other I/O

4-10

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.1

Encoder output - X7

4-10

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.2

Master (auxiliary) encoder input - X9

4-12

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.3

Serial port - X6

4-14

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.4

Using RS232 cable

4-15

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.5

Multidrop using RS485 / RS422 cable

4-16

. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.6

Connecting Baldor HMI Operator Panels

4-17

. . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5

Connection summary - minimum system wiring

4-18

. . . . . . . . . . . . .

4.6

Option connectors

4-19

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 Operation

5-1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1

Introduction

5-1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1

Connecting the FlexDrive

to the PC

5-1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.2

Installing the software

5-1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.3

Starting the FlexDrive

5-2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.4

Preliminary checks

5-2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.5

Power on checks

5-2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.6

Offset tuning

5-3

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Summary of Contents for Flex+DriveII

Page 1: ...FlexDriveII Flex DriveII Servo Controls SERVO DRIVE Installation Manual 10 02 MN1902...

Page 2: ......

Page 3: ...se connection to package sizes A B C D 3 9 3 4 2 Three phase connection to package sizes E G H 3 10 3 4 3 Input power conditioning 3 11 3 4 4 Power disconnect and protection devices 3 11 3 4 5 Power s...

Page 4: ...4 5 4 3 1 Digital inputs X3 4 6 4 3 2 CREF and digital inputs 4 7 4 3 3 Special functions on DIN4 and DIN5 pulse and direction inputs 4 7 4 3 4 Special functions on DIN4 and DIN5 fast inputs 4 8 4 3...

Page 5: ...5 Tuning 6 6 6 2 6 Status display shows a digit or E 6 6 7 Specifications 7 1 7 1 Introduction 7 1 7 1 1 AC input power and motor output single phase models 7 2 7 1 2 AC input power and motor output...

Page 6: ...troduction B 1 B 1 1 Current Torque control B 2 B 1 2 Velocity Speed control B 3 B 1 3 Position control Pulse and Direction B 4 B 1 4 Position control B 5 B 2 Control system operation B 6 B 2 1 Positi...

Page 7: ...ur 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 be...

Page 8: ...al ambient temperatures The exact operating specifications are found in section 7 of this manual The installation connection and control of drives is a skilled operation disassembly or repair must not...

Page 9: ...ven mechanically it might generate hazardous voltages that are conducted to its power terminals The enclosure must be earthed grounded to prevent possible shock hazard WARNING When operating a rotary...

Page 10: ...ltage Directive In the United States this is the National Electrical code and local codes CAUTION Drives must be installed inside an electrical cabinet that provides environmental control and protecti...

Page 11: ...r for rotary and linear positioning systems H Programmable in Mint H Up to 16 programmable preset moves expandable to 256 with factory fitted CAN and I O option H Position control using preset moves s...

Page 12: ...he catalog number is marked on the front of the unit just below the Baldor logo It is a good idea to look for the catalog number sometimes shown as ID No and write it in the space provided here Catalo...

Page 13: ...se ms millisecond s microsecond ns nanosecond Kbaud kilobaud the same as Kbit s in most applications MB megabytes CDROM Compact Disc Read Only Memory CTRL E on the PC keyboard press Ctrl then E at the...

Page 14: ...2 4 Introduction MN1902...

Page 15: ...DriveII was tested see section 3 4 5 If the FlexDriveII requires an external customer supplied 24VDC logic supply then this must be a regulated power supply with a continuous current supply capability...

Page 16: ...o 4 wire RS485 RS422 converter will be required These commercially available devices convert the signals from the RS232 RS485 port connector X6 to the signals necessary for RS485 RS422 communications...

Page 17: ...s information is useful but not essential to complete the installation H The data sheet or manual provided with your motor describing the wiring information of the motor cables connectors H Knowledge...

Page 18: ...ggested operating altitude is 1000m 3300ft Above 1000m 3300ft de rate output current 1 1 per 100m 330ft H The FlexDriveII must operate in an ambient temperature of 0 C to 40 C 32 F to 104 F De rate ou...

Page 19: ...ured using two hexagonal jack screws sometimes known as screwlocks If a jack screw is removed accidentally or lost it must be replaced with an identical jack screw with an external male threaded secti...

Page 20: ...mm inches Weight Case W W1 W2 W3 H H1 H2 H3 H4 H5 H6 D kg lb A 67 5 2 66 15 1 25 2 76 B 84 3 31 40 15 0 59 40 173 195 5 205 23 5 6 5 8 5 3 152 1 55 3 42 C 92 5 3 64 40 1 57 23 40 1 57 173 6 81 195 5 7...

Page 21: ...Resistor R2 Dynamic Brake NC 24V Customer 0V supplied 24V FDHxxxxxx xxx3 FPHxxxxxx xxx3 Options If there are other connectors on the front panel of your FlexDriveII then an option is fitted See the ot...

Page 22: ...with the internally generated 24VDC logic supply catalog numbers FDHxxxxx xxx0 and FPHxxxxx xxx0 the FlexDriveII will remain operational until the internal bus voltage is depleted Position and I O inf...

Page 23: ...round connection for signals on connector X3 It may also be used to attach strain relief clamps The holes are threaded for M4 bolts no longer than 12mm 0 47 in in length Longer bolts may short circuit...

Page 24: ...side the FlexDriveII AC Supply Line L1 Route L1 L2 L3 and earth ground together in conduit or cable Circuit breaker or fuses See section 3 4 4 AC filter See section 3 4 5 Line L2 Line L3 STAR POINT In...

Page 25: ...ormer and the AC input to the FlexDriveII 3 4 3 1 Input power cycling If AC power has been removed from the FlexDriveII it should not be reapplied for at least one minute This delay allows the input s...

Page 26: ...lded cable should be used Connect conduits so the use of a line reactor or RC device does not interrupt EMI RFI shielding 3 4 5 Power supply filters To comply with EEC directive 89 336 EEC an AC power...

Page 27: ...0 FDH2A07xx xxxx FPH2A07xx xxxx 230V 1 7 5A 16 16 14 2 0 FDH4A02xx xxxx FPH4A02xx xxxx 230 460V 3 2 5A 6 6 14 2 0 FDH4A05xx xxxx FPH4A05xx xxxx 230 460V 3 5A 10 10 14 2 0 FDH4A07xx xxxx FPH4A07xx xxx...

Page 28: ...be installed to isolate the FlexDriveII from the rest of the system Location Connector X1 X1A Part number FDHxxxxx xxx3 or FPHxxxxx xxx3 Nominal input voltage 24V Range 20 4 28 8VDC Input current maxi...

Page 29: ...present C D See section 3 5 5 Unshielded lengths should be as short as possible Optional motor circuit contactors Figure 7 Motor connections CAUTION Do not connect supply power to the FlexDriveII UVW...

Page 30: ...the M Contactor is opened If the M Contactor is opened while the FlexDriveII is supplying voltage and current to the motor the FlexDriveII may be damaged Incorrect installation or failure of the M Con...

Page 31: ...olors used in a typical Baldor linear motor cable set part number AY1763A00 Signal name Motor cable wire color Motor U Black Motor V Red Motor W White Motor ground Green Thermal switch Blue Thermal sw...

Page 32: ...witch CREF X3 7 DIN0 INX 0 Relay Customer supplied 24VDC supply 24VDC 0V 10 11 12 13 14 15 16 17 DIN1 INX 1 DIN3 INX 3 DIN7 INX 7 DIN5 INX 5 DIN4 INX 4 DIN2 INX 2 DIN6 INX 6 Separate customer supplied...

Page 33: ...nces can be used to control the brake To engage the brake H The motor is brought to rest under normal control H Relay 2 is deactivated causing the brake to engage H The drive is disabled This removes...

Page 34: ...B On LED on the front panel of the FlexDriveII will illuminate If required by the application additional external resistors connected to R1 and R2 will be connected in parallel with the internal resis...

Page 35: ...H Feedback device wiring must cross power wires at right angles only H To prevent contact with other conductors or earths grounds unearthed ungrounded ends of shields must be insulated H Some larger...

Page 36: ...sed to create an encoder signal inside the FlexDriveII This provides the FlexDriveII with an equivalent resolution of 4096 pulses per revolution ppr although this can be reconfigured in the WorkBench...

Page 37: ...n Motor cable pin Baldor resolver cable internal wire colors REF 1 1 Red REF 6 2 Blue COS 2 3 Green COS 7 4 Yellow SIN 3 5 Pink SIN 8 6 Grey 1 2 3 4 5 6 7 8 9 10 11 12 Motor resolver connector male Pi...

Page 38: ...connector Pin Encoder function 1 CHA 2 CHB 3 CHZ 4 Hall U 5 Hall U 6 CHA 7 CHB 8 CHZ 9 Hall W 10 Hall V 11 5V out 12 NC 13 DGND 14 Hall W 15 Hall V Description Commutating UVW encoder input non isolat...

Page 39: ...ble pin CHA 1 3 CHA 6 4 CHB 2 5 CHB 7 6 CHZ 3 7 CHZ 8 8 Hall U 4 10 Hall U 5 11 Hall V 10 12 Hall V 15 13 Hall W 9 14 Hall W 14 15 5V 11 1 DGND 13 2 Motor encoder connector male Pins 9 and 16 are not...

Page 40: ...r cable connections linear motors 3 7 2 3 Encoder cable pin configuration linear motors Linear motors use two separate cables encoder and Hall The cores of these two cables must be wired to the approp...

Page 41: ...to the metallic shell of the D type connector Location Connector X8 15 pin D type female connector Pin Encoder function 1 Data 2 Data 3 Reserved do not connect 4 5V 5 DGND 6 Shield 7 Cos B 8 Reserved...

Page 42: ...3 Signal name FlexDriveII X8 pin Motor cable pin Data 2 1 Sin A 13 2 Cos B 14 4 Clock 9 5 Clock 10 7 Cos B 7 8 5V 4 9 DGND 5 10 Sin A 12 11 Data 1 12 1 2 3 4 5 6 7 8 9 10 11 12 Motor absolute encoder...

Page 43: ...le input Active high To cause the digital inputs to be active high active when a voltage of 24VDC is applied to them connect 24VDC to pin 9 and 0V to pin 7 CREF Active low To cause the digital inputs...

Page 44: ...tinue to read all sections in sequence Do not turn on AC power until you reach the appropriate instructions In software a drive enable command must be issued The easiest way to do this is by clicking...

Page 45: ...P switch module for major functions 3 9 1 Switches 1 4 Switches 1 4 set the network node number address after the next power off on cycle The switches can be used to select any node number from 1 to 1...

Page 46: ...RS232 3 9 4 Switch 7 Offset tuning Switch 7 is used to start offset tuning on analog command input AIN0 The purpose of offset tuning is to remove DC offset voltages on analog input 0 the command refer...

Page 47: ...SW1 DIP switches to reset the FlexDriveII to its factory defaults all parameters including the node number and serial communications baud rate will be reset In WorkBench v5 this means it will be nece...

Page 48: ...iveII that contains an Auto command will be prevented from running automatically at startup On 5 Reapply power Mint program with Auto command will not run 1 2 On 9 3 Off 8 Remove power Figure 21 Preve...

Page 49: ...put The analog input is not optically isolated from internal power rails so care must be taken to avoid earth ground loops and similar associated problems The input buffers provide low pass filtering...

Page 50: ...n 14 bit with sign accuracy 4 9mV Common mode rejection 40dB Input impedance 5k Sampling interval 500 s Software Mint programs 125 s High speed command reference signal Analog input X3 can be connecte...

Page 51: ...X3 AIN0 Differential connection Single ended connection AIN0 1 2 3 AIN0 GND Figure 23 AIN0 analog input wiring AIN0 1k 0 25W potentiometer ADC 0 2 1 X3 1 5k 0 25W 0V 24VDC 3 Figure 24 Typical input c...

Page 52: ...contacts are opened When the error is cleared the relay is re energized and the contacts are closed The relay can be also be controlled directly by the Mint keyword RELAY When the relay is de energiz...

Page 53: ...Task input conditions H General purpose use Flex DriveII only H Home input H Index selection and triggering for preset move types H DIN4 and DIN5 are fitted with Schmitt trigger devices and can be con...

Page 54: ...uts DIN0 DIN7 can be read individually using the associated Mint keyword INX for example INX 7 and can be configured for many user definable functions Each input circuit contains an opto isolator as s...

Page 55: ...se of the inputs can be configured in WorkBench v5 or controlled individually in Mint using the keyword INPUTACTIVELEVEL See section 3 8 for more information about Drive Enable 4 3 3 Special functions...

Page 56: ...nded to ensure capture To prevent subsequent inputs causing the captured value to be overwritten the interrupt is latched in software It is necessary to clear the latch before subsequent interrupts ca...

Page 57: ...aturated voltage across any of the outputs when active is 1 0VDC so they can be used as TTL compatible outputs If the outputs are used to directly drive a relay a suitably rated flyback diode must be...

Page 58: ...24 ppr If the resolver input has been configured to simulate an encoder input of 4096 ppr output modes of 512 1024 2048 and 4096 ppr are possible Note that these values represent actual encoder lines...

Page 59: ...3 1 6 3 8 5 2 7 FlexDriveII X7 NextMoveBX encoder input Connect overall shield to connector backshells Connect internal shields to DGND CHA CHA CHB CHB CHZ CHZ DGND Figure 29 FlexDriveII encoder outp...

Page 60: ...master encoder or pulse and direction inputs An interface for a three channel incremental encoder CHA CHB CHZ is provided The input receiver circuit allows only encoders with differential line driver...

Page 61: ...direction A negative direction voltage less than 200mV will result in movement in the opposite direction The Mint keyword AUXENCODERMODE bit 2 is used to configure X9 for pulse and direction operatio...

Page 62: ...front panel DIP switch number 10 see section 3 9 6 The Mint keyword SERIALBAUD is used to configure the port and is explained in the Mint help file See also sections 4 4 4 and 4 4 5 The port is fully...

Page 63: ...ata bits H 1 stop bit H No parity H Hardware handshaking lines RS232 RTS and CTS must be connected This configuration can be changed if required The RS232 connections are brought out onto a 9 pin male...

Page 64: ...tor Figure 34 4 wire RS422 multi drop connections Any FlexDriveII on the network must have its SW1 DIP switch 10 located on the front panel set to the On position see also section 3 9 6 This will set...

Page 65: ...then use the connections shown in Figure 35 7 RTS 8 CTS 3 TXD 2 RXD 5 GND 1 RXD 2 TXD 3 GND 5 Baldor HMI PLC PORT FlexDriveII X6 Twisted pair Figure 35 Cable wiring if hardware handshaking is not requ...

Page 66: ...d customer supplied 24V supply see sections 3 6 and 3 4 7 Some models contain an internal 24V supply and or an internal regeneration resistor Command input may be differential shown or single ended Se...

Page 67: ...e not been described in previous sections these are part of a factory fitted option You will need to refer to the extra manual supplied with your FlexDriveII for details of the option s connectors Thi...

Page 68: ...4 20 Input Output MN1902...

Page 69: ...then it is strongly recommended that you use RS232 to get started the preset factory setting and use RS485 later Pin 9 is used to carry 8V for powering a Baldor keypad peripheral Ensure that pin 9 is...

Page 70: ...t the FlexDriveII and motor are properly earthed grounded H Check all signal wiring for accuracy 5 1 5 Power on checks If at any time the Status display shows a flashing symbol or E this indicates tha...

Page 71: ...eference input to achieve a stationary motor shaft with 0VDC at the input Offset tuning is controlled by DIP switches 7 and 8 Before starting confirm that the device supplying the AIN0 command input i...

Page 72: ...ol 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 The...

Page 73: ...s WorkBench v5 WorkBench WorkBench v5 will start and the Tip of the Day dialog will be displayed You can prevent the Tip of the Day dialog appearing next time by removing the check mark next to Show t...

Page 74: ...Click Scan to search for the FlexDriveII When the search is complete click on FlexDriveII in the list to select it and click the Select button This check box is already selected for you When you clic...

Page 75: ...t 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 t...

Page 76: ...rameters may need to be fine tuned to provide the exact response that you require The Fine tuning screen allows you to do this 1 Click the Fine tuning icon in the Toolbox on the left of the screen The...

Page 77: ...screen Enter new values in the required boxes and then click Apply to download the values to the FlexDriveII To perform tests go to the Test Parameters area at the bottom of the tab Enter test values...

Page 78: ...the Parameters icon in the Toolbox on the left of the screen The main area of the WorkBench v5 window displays the Controller Parameters screen 2 The Controller Parameters screen has a number of tabs...

Page 79: ...FlexDriveII and Flex DriveII H Scope Tool Displays the capture screen This screen is also shown when the Fine tuning tool is selected H Jog Tool Allows you to perform jog moves useful for testing pur...

Page 80: ...5 12 Operation MN1902...

Page 81: ...g information ready H The serial number of your FlexDriveII H Use the Help SupportMe menu item in WorkBench v5 to view details about your system H The catalog and specification numbers of the motor th...

Page 82: ...ted commands Current trip Instantaneous over current trip One or more of the 3 motor phases has exceeded 300 of Drive Rated Current Under volts The DC Bus voltage has dropped below the powerbase under...

Page 83: ...t phases Cam A Cam profile is being profiled See the Mint keyword CAM General error See AXISERROR and DRIVEERROR The motion toolbar displays the status of AXISERROR which is a bit pattern of all latch...

Page 84: ...rive disabled The drive must be enabled before operation can continue See section 3 8 Click the Drive enable button in WorkBench v5 Crash The drive enable input or the Enable DIP switch have become in...

Page 85: ...o locate the FlexDriveII Check the wiring of the serial cable or try an alternate cable Check that DIP switch 10 RS232 RS422 is set correctly see section 3 9 6 On the PC try an alternative COM port Co...

Page 86: ...when tuning the Mint gains Set FOLERRORMODE to zero to ignore the following error while tuning the Mint gains I get a Software limit error AXISERROR bits 3 or 4 set and the drive disables when tuning...

Page 87: ...Specifications 7 1 MN1902 7 1 Introduction This section provides technical specifications for the various FlexDriveII models 7 Specifications 7...

Page 88: ...7 5A Nominal input voltage VAC 230 Minimum input voltage 220 Maximum input voltage 250 Nominal DC Bus voltage VDC 320 Minimum DC Bus voltage 306 Maximum DC Bus voltage 350 All single phase models Cat...

Page 89: ...184 Maximum input voltage 253 Nominal DC Bus voltage VDC 320 Minimum DC Bus voltage 258 Maximum DC Bus voltage 355 Programmable using Mint keyword DRIVEBUSOVERVOLTS Output voltage line line VDC Bus 32...

Page 90: ...VERVOLTS Output voltage line line VDC Bus 500V VRMS 0 353 Nominal phase current 10 ARMS 2 5 5 0 7 5 15 20 27 5 Peak phase current 10 for 1 25s 0 5s 0s ARMS 5 10 15 30 40 55 Nominal output power kVA 1...

Page 91: ...0VAC Catalog number FDH2 FPH2 Unit 2 5A 5A 7 5A Switching threshold VDC on 373 383 off 362 372 Nominal power 10 power cycle kW 0 25 Peak power 10 power cycle kW 2 7 Maximum regeneration switching curr...

Page 92: ...ent ARMS 15 40 80 Maximum load inductance H 100 Note 2 5A models FDH4A02 and FPH4A02 contain an internal 200 300W resistor 5A models FDH4A05 and FPH4A05 contain an internal 200 300W resistor 7 1 6 Ana...

Page 93: ...approximate per input mA 5 Sampling interval ms 2 Maximum pulse input frequency DIN4 pulse and direction mode MHz 1 Minimum pulse width DIN4 DIN5 pulse and direction mode ns 250 7 1 8 Digital outputs...

Page 94: ...it All models Signal RS232 non isolated CTS RTS Bit rate Baud 9600 19200 38400 57600 7 1 11 Serial RS485 interface X6 All models Unit All models Signal 4 wire RS485 non isolated Bit rate Baud 9600 192...

Page 95: ...All models Encoder input A B Differential Z index Maximum input frequency quadrature MHz 8 Hall inputs Single ended 5V logic Output power supply to encoder 5V 200mA max Maximum recommended cable lengt...

Page 96: ...Maximum input frequency quadrature MHz 2 5 Sampling interval ms Software selectable 1 2 Output power supply to encoder 5V 100mA max 7 1 17 Pulse and direction input X9 All models Unit All models Pulse...

Page 97: ...and 122 F max Storage temperature range 25 to 70 13 to 158 Humidity 10 90 non condensing according to DIN40 040 IEC144 Above 31 C 87 F derate linearly to 50 relative humidity at 40 C 104 F Maximum in...

Page 98: ...7 12 Specifications MN1902...

Page 99: ...d MintDriveII Option B provides CANopen and additional input output capabilities If this option is fitted the Flex DriveII front panel will include connectors X10 X11 and X12 H MN1909 CAN Option for F...

Page 100: ...6 1 9 1 15 2 Power Cable No Connectors CBL030SP F CBL046SP F CBL061SP F CBL076SP F CBL091SP F CBL152SP F 10 15 20 25 30 50 3 0 4 6 6 1 7 6 9 1 15 2 30 Amps Power Cable No Connectors CBL030SP E CBL046S...

Page 101: ...ALCE CBL229SF ALCE CBL305SF ALCE 5 10 20 30 50 75 100 1 5 3 0 6 1 9 1 15 2 22 9 30 5 Feedback Cable No Connector CBL030SF A CBL061SF A CBL091SF A CBL152SF A CBL213SF A CBL305SF A 10 20 30 50 70 100 3...

Page 102: ...2 pin connector for resolvers and EnDat P 16 pin connector for encoders CE Metric threaded CE connector M Metric threaded connector Note Feedback cables terminated with a CE connector catalog numbers...

Page 103: ...ted volts Rated amps 40 C Leakage current mA Weight kg lbs FI0014A00 250 3 0 4 0 27 0 6 FI0015A00 250 6 0 4 0 45 0 99 FI0015A01 250 10 0 4 0 73 1 61 FI0015A02 250 12 0 4 0 73 1 61 FI0018A00 480 7 7 33...

Page 104: ...35 113 5 4 47 156 6 14 B 54 2 13 57 5 2 26 C 40 1 57 46 6 1 83 D 65 2 56 94 3 70 130 5 5 14 E 75 2 95 103 4 06 143 5 63 F 27 1 06 25 0 98 G 12 0 47 12 4 0 49 H 29 5 1 16 32 4 1 28 J 5 3 0 21 4 4 0 17...

Page 105: ...no Power rating W Baldor catalog no Power rating W Baldor catalog no Power rating W Baldor catalog no Power rating W 2 5A Internal Internal Internal 5A Internal Internal Internal 7 5A RG22 100 RG39 1...

Page 106: ...A 8 Accessories MN1902...

Page 107: ...rque control H Velocity Speed control H Position Control The mode you require is selected in WorkBench v5 using the Commissioning Wizard You can subsequently change between these control modes using t...

Page 108: ...e already profiled the signal and will provide optimum loop closure The profiler generates a torque demand signal that smoothly changes between successive torque targets reference values This is achie...

Page 109: ...eed targets reference values This is achieved by specifying acceleration and deceleration times see the WorkBench v5 Parameters tool The speed demand signal is fed into the speed controller and used t...

Page 110: ...er and used together with the speed measured from the feedback device to generate a torque demand signal If the speed controller is tuned correctly the measured speed will accurately track the speed d...

Page 111: ...the position demand The speed demand signal from the position controller is fed into the speed controller and used together with the speed measured from the feedback device to generate a torque demand...

Page 112: ...h the integral term is applied As an alternative to the derivative term a velocity feedback term is available by setting keyword KVEL To improve the tracking performance of the position controller the...

Page 113: ...o When the FlexDriveII is set to positioning mode CONFIG is _cfSERVO the profiler acceleration is fed forward by gain KACCEL to give a contribution to the final torque demand The speed control calcula...

Page 114: ...pensates for the back EMF of the motor with the voltage constant of the motor being set using the MOTORFLUX keyword Values for MOTORRS MOTORLS and MOTORFLUX are set automatically by the Commissioning...

Page 115: ...imum technical requirements are intended to enhance the levels of safety both directly and indirectly Council directive 89 336 EEC relating to Electro Magnetic Compliance EMC indicates that it is the...

Page 116: ...en 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...

Page 117: ...hield 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 H The cable to the reg...

Page 118: ...l shield to connector backshell REF REF COS COS SIN SIN AGND Figure 51 Resolver cable grounding 1 6 2 7 3 8 11 13 FlexDriveII X8 Encoder Connector Housing Cable Twisted pairs Connect overall shield to...

Page 119: ...1 current torque control B 2 operation position controller B 6 speed controller B 7 torque controller and feedback B 8 position control B 5 position control pulse direction B 4 velocity speed control...

Page 120: ...8 serial port X6 4 14 7 8 connecting Baldor HMI panels 4 17 multidrop using RS485 RS422 cable 4 16 using RS232 cable 4 15 Installation See also Basic Installation dimensions 3 6 mechanical 3 4 mounti...

Page 121: ...al inputs X3 7 7 digital outputs X3 7 7 encoder feedback X8 7 9 encoder output X7 7 8 environmental 7 11 master encoder input X9 7 10 pulse direction inputs X9 7 10 regeneration 7 5 relay output X3 7...

Page 122: ...Index MN1902...

Page 123: ...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 Ki...

Page 124: ...Comments MN1902 Thank you for taking the time to help us...

Page 125: ......

Page 126: ...1 2030 Fax 52 477 761 2010 U S A Headquarters Baldor Electric Company Tel 1 479 646 4711 Fax 1 479 648 5792 Singapore Baldor Electric PTE Ltd Tel 65 744 2572 Fax 65 747 1708 Japan Baldor Japan Corpora...

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Baldor Flex+DriveII, Installation Manual

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