Baldor MDH2A07TR-RB23 Installation Manual Download

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ii Contents

MN1901

3.8

Drive enable

3-31

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

3.8.1

Drive enable - X3

3-31

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

3.8.2

Drive enable - SW1 DIP switch

3-32

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

3.8.3

Drive enable command

3-32

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

3.9

DIP switches - SW1

3-33

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

3.9.1

Switches 1-4

3-33

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

3.9.2

Switch 5 - Hold

3-34

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

3.9.3

Switch 6 - RS485 terminator

3-34

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

3.9.4

Switch 7 - Offset tuning

3-34

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

3.9.5

Switch 8 - Enable

3-34

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

3.9.6

Switch 9 - MODBUS select

3-35

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

3.9.7

Switch 10 - RS232/RS485 select

3-35

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

3.9.8

Factory settings

3-35

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

3.9.9

Preventing a program running at startup / restoring communciation

3-36

. . . . .

4 Input / Output

4-1

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

4.1

Introduction

4-1

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

4.2

Analog I/O

4-1

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

4.2.1

Analog input - X3 (demand)

4-2

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

4.2.2

Analog input - X4

4-4

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

4.2.3

Analog outputs, bipolar - X4

4-6

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

4.3

Digital I/O

4-7

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

4.3.1

Digital inputs - X3

4-8

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

4.3.2

CREF and digital inputs

4-9

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

4.3.3

Special functions on inputs DIN4 and DIN5

4-9

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

4.3.4

Digital outputs - X3

4-12

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

4.3.5

Relay output / digital output - X3

4-13

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

4.4

Other I/O

4-14

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

4.4.1

Encoder output - X7

4-14

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

4.4.2

Master (auxiliary) encoder input - X9

4-16

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

4.4.3

Serial port - X6

4-18

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

4.4.4

Using RS232 cable

4-19

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

4.4.5

Multidrop using RS485 / RS422 cable

4-20

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

4.4.6

Connecting Baldor HMI Operator Panels

4-21

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

4.5

Connection summary - minimum system wiring

4-22

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

4.6

Option connectors

4-23

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

5 Operation

5-1

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

5.1

Introduction

5-1

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

5.1.1

Connecting the MintDrive

to the PC

5-1

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

5.1.2

Installing the software

5-1

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

5.1.3

Starting the MintDrive

5-2

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

5.1.4

Preliminary checks

5-2

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

5.1.5

Power on checks

5-2

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

5.1.6

Offset tuning (optional)

5-3

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

Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Summary of Contents for MDH2A07TR-RB23

Page 1: ...nderutilized and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing Rentals Demos In...

Page 2: ...MintDriveII Servo Position Control SERVO DRIVE Installation Manual 03 10 MN1901 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 3: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 4: ...zes 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 supply filters 3 12 3 4 6 Wire sizes and protection device ratings 3 13 3 4 7 External...

Page 5: ...ital I O 4 7 4 3 1 Digital inputs X3 4 8 4 3 2 CREF and digital inputs 4 9 4 3 3 Special functions on inputs DIN4 and DIN5 4 9 4 3 4 Digital outputs X3 4 12 4 3 5 Relay output digital output X3 4 13 4...

Page 6: ...Auxiliary I O option 6 6 6 3 PLC Task 6 7 6 3 1 Defining conditions 6 7 6 3 2 Enabling and downloading the actions 6 8 6 3 3 Testing the PLC Task 6 9 6 4 Saving presets or PLC conditions 6 9 7 Trouble...

Page 7: ...8 12 Appendices A Accessories A 1 A 1 Introduction A 1 A 1 1 Factory fitted options A 1 A 1 2 Motor power cables A 2 A 1 3 Motor power cable part numbers A 2 A 1 4 Resolver feedback cables A 3 A 1 5...

Page 8: ...claration of conformity D 2 D 1 3 Use of CE compliant components D 3 D 1 4 EMC wiring technique D 3 D 1 5 EMC installation suggestions D 4 D 1 6 Wiring of shielded screened cables D 5 D 2 UL file numb...

Page 9: ...vi Contents MN1901 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 10: ...ns misused abused or improperly installed and has been used in accordance with the instructions and or ratings supplied This warranty is in lieu of any other warranty or guarantee expressed or implied...

Page 11: ...perating 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 d...

Page 12: ...motor torque can occur during control failure WARNING The motor circuit might have high voltages present whenever AC power is applied even when the motor is not moving Electrical shock can cause serio...

Page 13: ...al codes CAUTION 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 c...

Page 14: ...analog inputs can be used as a speed or torque demand reference H 2 general purpose analog outputs H 1 control relay H Selectable RS232 or RS485 communications H Flash memory for program storage 128k...

Page 15: ...go It is a good idea to look for the catalog number sometimes shown as ID No and write it in the space provided here Catalog number MDH______________ ________ Installed at ________________________ Dat...

Page 16: ...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 same time mm millimeter m meter in...

Page 17: ...www baldormotion com 2 4 Introduction MN1901 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 18: ...tion 3 4 5 If the MintDriveII requires an external customer supplied 24VDC logic supply then this must be a regulated power supply with a continuous current supply capability of 1 75A 4A power on surg...

Page 19: ...will be required These commercially available devices convert the signals from the RS232 RS485 port connector X6 to the signals necessary for RS485 RS422 communications Special care must be taken with...

Page 20: ...ential 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 of which digital inputs outputs wil...

Page 21: ...3300ft Above 1000m 3300ft de rate output current 1 1 per 100m 330ft H The MintDriveII must operate in an ambient temperature of 0 C to 40 C 32 F to 104 F De rate output current 2 5 per 1 C 1 8 F from...

Page 22: ...s 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 section of 5mm 0 2 in Jack screws with l...

Page 23: ...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 70 205 8 07 23 5 0 93 6 5 0 26 8 5 0...

Page 24: ...C 9 Hall W Clock NC 10 Hall V Clock NC 11 5V DGND DGND 12 NC Sin A Sin A 13 DGND Sin A Sin A 14 Hall W Cos B Cos B 15 Hall V NC NC Resolver option Encoder options X1 X1A Power Single phase models Thre...

Page 25: ...tional until the internal bus voltage is depleted Position and I O information will then be lost On models with an external customer supplied 24VDC logic supply catalog numbers MDHxxxxx xxx3 position...

Page 26: ...om of the enclosure may be used as an additional functional earth ground connection for signals on connector X3 It may also be used to attach strain relief clamps The holes are threaded for M4 bolts n...

Page 27: ...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 Incoming safety earth ground PE Isolating...

Page 28: ...or isolation transformer and the AC input to the MintDriveII 3 4 3 1 Input power cycling If AC power has been removed from the MintDriveII it should not be reapplied for at least one minute This delay...

Page 29: ...d 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 filter of the a...

Page 30: ...14 2 0 MDH2A07xx xxxx 230V 1 7 5A 16 16 14 2 0 MDH4A02xx xxxx 230 460V 3 2 5A 6 6 14 2 0 MDH4A05xx xxxx 230 460V 3 5A 10 10 14 2 0 MDH4A07xx xxxx 230 460V 3 7 5A 16 16 14 2 0 MDH2A15xx xxxx 230V 3 15A...

Page 31: ...ning torque for terminal block connections is 0 5 0 6Nm 4 4 5 3 lb in Note Connect 24V to connector X1 only if your model has this feature Connecting 24V to a model that does not require an external 2...

Page 32: ...le Optional motor circuit contactors Figure 7 Motor connections CAUTION Do not connect supply power to the MintDriveII UVW outputs The MintDriveII might be damaged CAUTION The motor leads U V and W mu...

Page 33: ...Contactor is opened while the MintDriveII is supplying voltage and current to the motor the MintDriveII may be damaged Incorrect installation or failure of the M Contactor or its wiring may result in...

Page 34: ...nusoidal 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 time...

Page 35: ...ustomer 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 24VDC supply 24VDC 0V Figure 9 Mo...

Page 36: ...mal control H Relay 2 is deactivated causing the brake to engage H The drive is disabled This removes power from the motor and causes Relay 1 to be deactivated To disengage the brake H The drive is en...

Page 37: ...tion resistor should be mounted near the top of an enclosure to maximize heat dissipation Baldor regeneration resistors are neither internally fused nor thermally protected and under extreme condition...

Page 38: ...larger D type connector shells may be obstructed by neighboring connector X3 H Linear motors use two separate cables encoder and Hall The cores of these two cables will need to be wired to the approp...

Page 39: ...e the MintDriveII This provides the MintDriveII with an equivalent resolution of 4096 pulses per revolution ppr although this can be reconfigured in the Mint WorkBench Commissioning Wizard to provide...

Page 40: ...le 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 Pins 7 12 are not used and may not be p...

Page 41: ...er 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 isolated Pin 11 provides...

Page 42: ...te CHZ 3 7 Brown CHZ 8 8 Brown White Hall U 4 10 Pink Hall U 5 11 Pink Black Hall V 10 12 Yellow Hall V 15 13 Yellow Black Hall W 9 14 Grey Hall W 14 15 Grey Black 5V 11 1 Red DGND 13 2 Blue Motor enc...

Page 43: ...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 appropriate pins of the 15 pin D type mati...

Page 44: ...D type connector Location Connector X8 15 pin D type female connector Pin Encoder function 1 Data 2 Data 3 5V out 4 5V out 5 DGND 6 Shield 7 Cos B 8 Reserved do not connect 9 Clock 10 Clock 11 Reserv...

Page 45: ...Brown White Sin A 13 2 Green Cos B 14 4 Purple Clock 9 5 Pink Black Clock 10 7 Pink Cos B 7 8 Purple White 5V 4 9 Red DGND 5 10 Blue Sin A 12 11 Green White Data 1 12 Brown 1 2 3 4 5 6 7 8 9 10 11 12...

Page 46: ...pe connector Location Connector X8 15 pin D type female connector Pin Encoder function 1 Data 2 Data 3 8V out 4 8V out 5 DGND 6 Shield 7 Cos B 8 Reserved do not connect 9 Reserved do not connect 10 Re...

Page 47: ...1 Brown White Sin A 13 2 Green Cos B 14 4 Purple Clock 9 5 Pink Black Clock 10 7 Pink Cos B 7 8 Purple White 8V 4 9 Red DGND 5 10 Blue Sin A 12 11 Green White Data 1 12 Brown 1 2 3 4 5 6 7 8 9 10 11 1...

Page 48: ...The drive enable connection can be wired directly or through an intermediate switch If a switch is used it should always be used to switch the signal to pin 9 with the signal to pin 7 CREF being hard...

Page 49: ...nable command must be issued The easiest way to do this is by clicking the Drive enable button in Mint WorkBench Alternatively the Mint commands RESET or DRIVEENABLE 1 can be used See the Mint help fi...

Page 50: ...ns 3 9 1 Switches 1 4 Switches 1 4 set the network node number address after the next power off on cycle The switches can be used to select any node number from 1 to 14 as shown in Figure 20 Switch 1...

Page 51: ...Switch 7 is used to start offset tuning on analog demand input AIN0 The purpose of offset tuning is to remove DC offset voltages on analog input 0 the demand reference input to achieve a stationary m...

Page 52: ...eset by Mint WorkBench CAUTION Use this function carefully it will erase your drive setup information When using the SW1 DIP switches to reset the MintDriveII to its factory defaults all parameters in...

Page 53: ...y Protocol serial communication to be lost if bit 5 of the Mint keyword COMMSMODE has been set This can occur when alternative communication protocols have been used This DIP switch procedure will cle...

Page 54: ...lock X4 The analog inputs are not optically isolated from internal power rails so care must be taken to avoid earth ground loops and similar associated problems The input buffers provide low pass filt...

Page 55: ...Common mode rejection 40dB Input impedance 5k Sampling interval 500 s Software Mint programs 125 s High speed demand reference signal Analog input X3 can be connected as either a differential or a si...

Page 56: ...gle ended connection AIN0 1 2 3 AIN0 GND Figure 25 AIN0 analog input wiring AIN0 1k 0 25W potentiometer ADC 0 2 1 X3 1 5k 0 25W 0V 24VDC 3 Figure 26 Typical input circuit to provide 0 10V approx input...

Page 57: ...Software Mint programs 500 s Demand reference signal Analog input X4 can be connected as either a differential or a single ended input as shown in Figure 28 10k LF412 AGND Mint ADC 1 MintDriveII 10k...

Page 58: ...1901 AIN1 1k 0 25W potentiometer ADC 1 3 2 X4 1 5k 0 25W 0V 24VDC 6 Figure 29 Typical input circuit to provide 0 10V approx input from a 24V source Artisan Technology Group Quality Instrumentation Gua...

Page 59: ...he MintDriveII and the analog output used to produce a voltage proportional to the value DAC monitoring can be controlled by various Mint keywords These begin with the letters DACMONITOR for example D...

Page 60: ...selection and triggering for preset move types H General purpose use DIN4 and DIN5 are also capable of special alternative functions H DIN4 and DIN5 are fitted with Schmitt trigger devices and can be...

Page 61: ...ts DIN0 DIN7 can be read individually using the associated Mint INX keyword for example INX 7 and can be configured for many user definable functions Each input circuit contains an opto isolator as sh...

Page 62: ...CE keyword to behave as pulse and direction inputs H DIN4 is used as the pulse input The pulse frequency controls the speed of the motor H DIN5 is used as the direction input The state of the directio...

Page 63: ...his could cause unwanted multiple triggering Active high DINx 24VDC 20 CREF 0V 4k7 33pF HCPL2231 to CPU Vcc MintDriveII Active low DINx 0V CREF 24VDC 20 1k 10k DGND DIN4 CREF 14 7 X3 Figure 32 Pulse a...

Page 64: ...der supply GND Figure 34 Pulse and direction inputs typical connection from an incremental encoder MintDriveII with internally generated 24V supply option active high inputs Note When using an increme...

Page 65: ...The maximum saturated voltage across any of the outputs when active is 1 0VDC so they can be used as TTL compatible outputs If the outputs are used to directly drive a relay a suitably rated flyback...

Page 66: ...pen When the error is cleared the relay is re energized and the contacts close The relay can be also be controlled directly by the Mint keyword RELAY When the relay is energized RELAY _on the contacts...

Page 67: ...1024 2048 and 4096 ppr are possible Note that these values represent actual encoder lines not quadrature counts The simulated encoder output is in the same direction as the resolver input See the key...

Page 68: ...ND Baldor cable parts CBL0xxMF E3A are recommended where xx represents a choice of available lengths Figure 38 MintDriveII encoder output to NextMove BX encoder input 1 6 3 8 5 2 7 1 6 3 8 5 2 7 MintD...

Page 69: ...ection inputs An interface for a three channel incremental encoder CHA CHB CHZ is provided The input receiver circuit allows only encoders with differential line drivers RS422 to be used The interface...

Page 70: ...rection of motion A positive direction voltage greater than 200mV will result in motion in one direction A negative direction voltage less than 200mV will result in movement in the opposite direction...

Page 71: ...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 ESD protected to IEC 1000 4 2 15kV W...

Page 72: ...Hardware handshaking lines RS232 RTS and CTS must be connected This configuration can be changed if required The RS232 connections are brought out onto a 9 pin male D type connector The RS232 port is...

Page 73: ...44 4 wire RS422 multi drop connections Any MintDriveII 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 the serial...

Page 74: ...igure 45 7 RTS 8 CTS 3 TXD 2 RXD 5 GND 1 RXD 2 TXD 3 GND 5 Baldor HMI PLC PORT MintDriveII X6 Twisted pair Figure 45 Cable wiring if hardware handshaking is not required If hardware handshaking is req...

Page 75: ...4 7 Some models contain an internal 24V supply and or an internal regeneration resistor Motor represents a typical Baldor BSM motor Linear motors may also be controlled by MintDriveII Shield earth gr...

Page 76: ...el of your MintDriveII that have not been described in previous sections these are part of a factory fitted option You will need to refer to the extra manual supplied with your MintDriveII for details...

Page 77: ...www baldormotion com 4 24 Input Output MN1901 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 78: ...ngly recommended that you use RS232 to get started the preset factory setting and use RS485 later Pin 9 is used to carry 8V for powering a Baldor keypad peripheral Ensure that pin 9 is not connected t...

Page 79: ...re 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 that the drive has detected a fa...

Page 80: ...tionary 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 demand input is set to its intended zero outpu...

Page 81: ...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 Index tab provides an alphabetic list of al...

Page 82: ...WorkBench will start and the Tip of the Day dialog will be displayed You can prevent the Tip of the Day dialog appearing next time by removing the check mark next to Show tips at startup Click Close...

Page 83: ...riveII When the search is complete click on MintDriveII in the list to select it and click the Select button This check box is already selected for you When you click Select it means that the Commissi...

Page 84: ...tial 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...

Page 85: ...oximately Ifthere seems to bevery littlemotor movement it is probably dueto thescale factor In the Commissioning Wizard on the Position Control page if you did not adjust the scale factor then the cur...

Page 86: ...t have been calculated by the Commissioning Wizard ThemainareaoftheMintWorkBench window displays thecapture window When further tuning tests are performed this will display a graph representing the re...

Page 87: ...5 3 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...

Page 88: ...n the left of the screen The main area of the Mint WorkBench window displays the Controller Parameters screen 2 The Controller Parameters screen has a number of tabs listed on the left Click on a tab...

Page 89: ...des a work area including the Command window and Output window Multiple editing windows can be opened for entering program code H Scope Tool Displays the capture screen This screen is also shown when...

Page 90: ...e important features introduced on the MintDriveII are preset moves and the PLC task Basic operation of these two features are described in the following sections 6 Preset Moves PLC Task 6 Artisan Tec...

Page 91: ...e Value column to set the appropriate value Any values entered in the preset table to specify a position slew speed acceleration or deceleration are interpreted as user units H For an absolute move th...

Page 92: ...igital inputs to trigger a preset move In normal operation preset moves can be selected and triggered by external equipment using a combination of the digital inputs 1 At the bottom of the Presets win...

Page 93: ...l inputs that must be active to trigger each preset index move The table shows 4 inputs being used 0 3 allowing 16 presets to be selected Preset index Bit pattern sum Digital input 0 Bit pattern value...

Page 94: ...suitable drag a different IN icon onto the Preset Sel icon This will set the lowest numbered input used for preset selection with the other required inputs selected automatically It is not possible to...

Page 95: ...moves can also be controlled by a Mint program using a range of keywords beginning with PRESET See the Mint help file for details 6 2 5 Using presets with the CAN Auxiliary I O option If the CAN Auxil...

Page 96: ...l bemonitored to check if it is active A full description of each Condition is provided in the PLCCONDITION topic of the Mint help file 4 Click in the adjacent Ch column and choose the related channel...

Page 97: ...ed even while the PLC Task is running To disable an action that is not required clear the action s enable check box and click Apply Remember to disable the PLC Task when it is not required to reduce p...

Page 98: ...an be saved separately on the PC for later recall For this purpose Presets mode and PLC Task mode have Open Save and Help icons just above their tables 1 Click the Save icon just above the table 2 In...

Page 99: ...www baldormotion com 6 10 Preset Moves PLC Task MN1901 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 100: ...r of your MintDriveII H Use the Help SupportMe menu item in Mint WorkBench to view details about your system H The catalog and specification numbers of the motor that you are using H Give a clear desc...

Page 101: ...e DRIVEBUSUNDERVOLTS This error will only be generated if the drive is in the enabled state As with the overvolts error check the input voltage being fed into the system The error could also occur dur...

Page 102: ...The ERRORINPUT has been activated and generated an error Flying shear A flying shear is being profiled See the Mint keyword FLY Position or velocity following error A following error has occurred See...

Page 103: ...PUTMODE see the Parameters tool Suspend The SUSPEND command has been issued and is active Motion will be ramped to zero demand whilst active Speed demand The drive is under speed control See the Mint...

Page 104: ...ng 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 Confirm that a mouse driver or other seri...

Page 105: ...RRORMODE 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 the Mint gains Set SOFTLIMITMODE to...

Page 106: ...cations 8 1 MN1901 8 1 Introduction This section provides technical specifications for the various MintDriveII models 8 Specifications 8 Artisan Technology Group Quality Instrumentation Guaranteed 888...

Page 107: ...um input voltage 250 Nominal input current maximum rated output current ARMS 6 25 12 18 Nominal DC Bus voltage VDC 320 Minimum operating DC Bus voltage 306 Maximum operating DC Bus voltage 350 Overvol...

Page 108: ...C 320 Minimum operating DC Bus voltage 258 Maximum operating DC Bus voltage 355 Overvoltage safety trip 420 Output voltage line line VDC Bus 320V VRMS 0 250 Nominal phase current 10 ARMS 15 Peak phase...

Page 109: ...50 460VAC input Minimum operating DC Bus voltage 254 Maximum operating DC Bus voltage 746 Overvoltage safety trip 840 Output voltage line line VDC Bus 500V VRMS 0 353 Nominal phase current 10 ARMS 2 5...

Page 110: ...r cycle kW 2 7 Maximum regeneration switching current ARMS 10 Maximum load inductance H 100 Note 2 5A models MDH1A02xx xxxx contain an internal 175 20W resistor 5A models MDH1A05xx xxxx contain an int...

Page 111: ...kW 0 94 2 9 Peak power 10 power cycle kW 9 4 29 Maximum regeneration switching current ARMS 15 40 80 Maximum load inductance H 100 Note 2 5A models MDH4A02xx xxxx contain an internal 200 300W resisto...

Page 112: ...lution mV 1 2 Sampling interval Software Mint programs Demand reference signal s 500 500 8 1 8 Analog outputs X4 All models Unit All models Type Bipolar Output voltage range VDC 10 Output current max...

Page 113: ...imum pulse input frequency DIN4 pulse and direction mode MHz 1 Minimum pulse width DIN4 DIN5 pulse and direction mode ns 250 8 1 10 Digital outputs X3 All models Unit All models Output current maximum...

Page 114: ...5 Update interval Software Mint programs DRIVEOKOUTPUT DRIVEENABLEOUTPUT GLOBALERROROUTPUT MOVEOUT MOVEOUTX MOVEPULSEOUTX PULSEOUTX functions PLC Task functions Immediate Equivalent to LOOPTIME 1ms d...

Page 115: ...og numbers MDHxxxxxx Rxxxx Unit All models Resolution set automatically by software bits 14 Resolver winding ratio 0 5 MintDriveII resolver input accuracy counts 3 Typical accuracy using Baldor BSM se...

Page 116: ...X8 Catalog numbers MDHxxxxxx Hxxxx Unit All models Absolute encoder input Hiperface Sin Cos differential inputs and data input Operating modes Single or multi turn 512 or 1024 Sin Cos cycles per turn...

Page 117: ...2 5 C between 40 C and 50 C max 32 104 2 5 1 8 F between 104 F 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 d...

Page 118: ...Baldor CAN and additional input output capabilities If this option is fitted the MintDriveII front panel will include connectors X10 X11 and X12 H MN1909 CAN Option for FlexDriveII Flex DriveII and Mi...

Page 119: ...20 CBL091SP 20 CBL100SP 20 CBL150SP 20 CBL152SP 20 CBL200SP 20 CBL229SP 20 1 5 2 5 3 0 5 0 6 1 7 5 9 1 10 15 15 2 20 22 9 5 8 2 10 16 4 20 24 6 30 32 8 49 2 50 65 6 75 35 Amps Power Cable no connecto...

Page 120: ...R CBL050SF R CBL061SF R CBL075SF R CBL091SF R CBL100SF R CBL150SF R CBL152SF R CBL200SF R CBL229SF R 1 5 2 5 3 0 5 0 6 1 7 5 9 1 10 15 15 2 20 22 9 5 8 2 10 16 4 20 24 6 30 32 8 49 2 50 65 6 75 Feedb...

Page 121: ...0 22 9 5 8 2 10 16 4 20 24 6 30 32 8 49 2 50 65 6 75 Available in North and South America only A 1 6 EnDat Hiperface absolute encoder feedback cables This table lists part numbers of Baldor absolute e...

Page 122: ...face feedback cable 1 Drive connector included 9 pin D type connector resolver 15 pin D type connector Encoder Hall EnDat Hiperface Note Feedback cables have the outer shield tied to the connector hou...

Page 123: ...ts 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 FI0015A02 250 12 0 4 0 73 1 61 FI0018A00 480 7 7 33 0 5 1 1 FI0018A01 480 32 9 33 1 2 2 6...

Page 124: ...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 5 3 0 21 K 6 3 0 25 6 0 24 L 13 5 0 5...

Page 125: ...11mm C 10mm D 5mm A D Dimensions shown as mm inches A C F E Dimensions mm inches Dimension FI0029A00 A 255 10 04 B 100 3 94 C 244 5 9 63 D 70 2 76 E 40 1 57 F 20 0 79 Figure 52 Filter dimensions type...

Page 126: ...Internal Internal 5A Internal Internal Internal 7 5A RG22 100 RG39 100 RG68 320 15A RG10 320 RG27A 320 20A RG27A 320 27 5A RG11 640 Note Where the required dissipation could exceed 320W resistor RG23...

Page 127: ...www baldormotion com A 10 Accessories MN1901 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 128: ...er is tuned correctly the measured position will accurately track the position demand The speed demand signal from the position controller is fed into a speed controller and used together with the spe...

Page 129: ...ch includes the speed loop _cfSERVO will give superior results However in a few applications where stationary positioning accuracy is the most overriding criteria removal of the speed loop can sometim...

Page 130: ...eed profiler The profiler generates a speed demand signal that smoothly changes between successive speed targets This speed demand signal is fed into the speed controller and the remaining system oper...

Page 131: ...ides targets for a torque profiler The profiler generates a torque demand signal that smoothly changes between successive torque targets This torque demand signal is fed into the torque controller and...

Page 132: ...setting keyword KVEL To improve the tracking performance of the position controller the profiler speed is fed forward by gain KVELFF to give a contribution to the final speed or torque demand Likewise...

Page 133: ...ioning mode CONFIG is _cfSERVO the profiler acceleration is fed forward by gain KACCEL to give a contribution to the final torque demand The speed control calculation is performed every 250 s As with...

Page 134: ...solver is used to determine motor position and speed Motor speed can be filtered to reduce measurement noise if necessary The time constant of this filter is specified using the keyword KVTIME By defa...

Page 135: ...www baldormotion com B 8 Control System MN1901 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 136: ...Hiperface encoder ACCEL To define the acceleration rate of an axis ACCELDEMAND To read the instantaneous demand acceleration ACCELTIME To define the acceleration rate of an axis ACCELTIMEMAX To defin...

Page 137: ...TMODE To set the autostart mode for the specified configuration AUXDAC To set or read the auxiliary DAC outputs AUXDACOFFSET To apply a voltage offset to an auxiliary DAC AUXENCODER To set or read the...

Page 138: ...e s PWM bridge BRIDGEERRORVOLTAGE To set the voltage parameter used when compensating for non linearities in the drive s PWM bridge Bus To specify which fieldbus is to be used as the default BUSBAUD T...

Page 139: ...t in the cam table if multiple cams are required CAMTABLE To specify the array names to be used in a cam profile on the specified axis CANCEL To stop motion and clear errors on an axis CANCELALL To st...

Page 140: ...reference source for triggering CAPTURETRIGGERMODE Sets the method used to evaluate the trigger source CAPTURETRIGGERSOURCE Sets the reference source to be used for triggering CAPTURETRIGGERVALUE Sets...

Page 141: ...upt the host PC and generate a trappable event using the Dual Port RAM DPR DRIVEBUSNOMINALVOLTS To return the nominal value of the DC bus voltage for the drive DRIVEBUSOVERVOLTS To set or return the o...

Page 142: ...he number of encoder lines pre quadrature for the drive feedback ENCODERLINESINSPEEDMAX To read the maximum allowable speed when using a resolver feedback device ENCODERLINESOUT To define the resoluti...

Page 143: ...uxiliary encoder FASTAUXLATCHMODE Sets the default action to be taken to clear the auxiliary encoder s fast position latch FASTAUXSELECT To select which of the fast position capture inputs will captur...

Page 144: ...e encoder following with a specified gear ratio FOLLOWMODE To define the mode of operation of the FOLLOW keyword FOLLOWNUMERATOR To set or read the follow ratio s numerator GEARING To set the percenta...

Page 145: ...HOMEINPUT To set a digital input to be the home switch input for the specified axis HOMEOFFSET Apply an offset to the homing sequence HOMEPHASE To find the phase of the homing sequence currently in p...

Page 146: ...absolute position INCR To set up an incremental move to a relative position INITERROR To report any errors detected during start up INITWARNING Returns the sum of a bit pattern describing initializati...

Page 147: ...position controller KVDERIV To set the derivative gain used by the speed controller KVDERIVTCONST To set the time constant used by the filter on the derivative gain term of the speed controller KVEL T...

Page 148: ...ANCE To set the distance on the master axis over which the slave will travel for a segment in master slave move types MASTERSOURCE To set or read the source of the input device used for gearing MAXSPE...

Page 149: ...ar motor MOTORLS To set or read the motor leakage inductance MOTOROVERLOADAREA Reads the extent of an overload condition MOTOROVERLOADMODE To set or read the action taken in the event of a motor overl...

Page 150: ...OVEPULSEOUTX To load a pulsed change of state for a specific digital output into the move buffer MOVER To set up a positional move to a relative position MOVESTATUS To return information about the pro...

Page 151: ...urn on the debounce controller used during the initial alignment stage of the phase search sequence PHASESEARCHSPEED To select the speed of travel during the search sections of a phase search sequence...

Page 152: ...positional move POSTARGETLAST To read the target position of the last move in the move buffer POSWRAP To set or read the position wrap range for the axis PRESETCANCEL To set up a preset move to perfor...

Page 153: ...PROFILEMODE To select the type of velocity profiler to use PULSECOUNTER To return the value of the pulse input counter PULSEDIRMODE To set the control mode for the step pulse direction digital inputs...

Page 154: ...CAN node I O or Keypad REMOTEOBJECT To access the Object Dictionary of any CANopen node present on the network REMOTEOUT To control the state of digital outputs on a remote CAN node REMOTEOUTBANK To...

Page 155: ...GERMODE To read the mode parameter used by a sentinel channel SENTINELTRIGGERVALUE To read the lowVal or highVal parameter used by a sentinel channel SERIALBAUD To set the baud rate of the RS232 RS485...

Page 156: ...tion taken in the event of a stop input becoming active STOPSWITCH To return the current state of the stop input for the axis SUSPEND To pause the current move SYSTEMDEFAULTS To reset parameter table...

Page 157: ...of the torque reference command TRIGGERCHANNEL Controls the channel used as the trigger source TRIGGERINPUT To specify the input used for triggering when triggering on a digital input TRIGGERMODE Con...

Page 158: ...ntended to enhance the levels of safety both directly and indirectly Council directive 89 336 EEC relating to Electro Magnetic Compliance EMC indicates that it is the responsibility of the system inte...

Page 159: ...ibility by the application of the following standards Standard EN61800 3 1996 Title Adjustable speed electrical power drive systems Part 3 EMC Product standard including specific test methods Comments...

Page 160: ...h 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...

Page 161: ...r 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 regeneration resistor must be shielded The...

Page 162: ...COS COS SIN SIN AGND Figure 62 Resolver cable grounding 1 6 2 7 3 8 11 13 MintDriveII X8 Encoder Connector Housing Cable Twisted pairs Connect overall shield to connector backshell Connect overall sh...

Page 163: ...E46145 Baldor Electric Co Motors E132956 Cabloswiss s p a Power cables 6A 12A 20A 25A 50A 90A Encoder cables Resolver SSI cables EnDat cables E192076 Unika Special Cables s p a Power cables 6A 12A 20A...

Page 164: ...nnector locations 3 7 Control system B 1 operation position controller B 5 speed controller B 6 torque controller and feedback B 7 positioning with speed controller B 1 positioning without speed contr...

Page 165: ...mary 4 22 digital I O 4 7 digital inputs X3 4 8 8 8 digital outputs X3 4 12 4 13 8 8 encoder output X7 4 14 8 10 master encoder input X9 4 16 8 11 option connectors 4 23 relay X3 4 13 8 9 serial port...

Page 166: ...specification 8 9 Resolver cable 3 23 A 3 option 3 22 specification 8 10 RS232 cable 4 19 specification 8 9 X6 4 18 RS485 RS422 specification 8 9 systems 3 2 X6 4 18 4 21 S Safety Notice 1 2 Specific...

Page 167: ...r on 7 6 problem diagnosis 7 1 Status display 7 2 SupportMe 7 1 tuning 7 6 U UL file numbers D 6 Units and abbreviations 2 3 W Wire sizes 3 13 Artisan Technology Group Quality Instrumentation Guarante...

Page 168: ...ove 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 commen...

Page 169: ...www baldormotion com Comments MN1901 Thank you for taking the time to help us Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 170: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 171: ...Fax 61 2 9674 2495 Mexico Baldor de Mexico Tel 52 477 761 2030 Fax 52 477 761 2010 Singapore Baldor Electric PTE Ltd Tel 65 6744 2572 Fax 65 7474 1708 India Baldor Electric India Pvt Ltd Tel 91 20 25...

Page 172: ...uipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentat...

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