Benutzeranleitung / Produktwartung MN1274 06/2001 des Produzenten Baldor
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MN1274 06/2001 Installation Manual Installation Manual.
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iii Copyri ght Baldor ( c) 2001. All r ight s reser ved. This manual is copyr ight ed and all ri ght s are r eserved. This document or at t ached sof t ware m ay not, in whol e or i n par t, be copied or repr oduced in any f orm wi thout the pr ior wri tt en consent of Baldor .
iv Safety Notice Only qual if ied per sonnel shoul d att empt t he st ar t- up procedur e or tr oubleshoot this equi pment . This equi pment m ay be connected to ot her m achines t hat have r ot ati ng p art s or p art s that ar e contr oll ed by thi s equipment .
v CAUTION : T o prevent equi pment damage, be cert ain that the input power has corr ectl y sized protect ive devices i nst all ed. CAUTION : T o prevent equi pment damage, be cert ain that input and output si gnals are powered and refe ren ce d co rrec tly .
vi CAUTION : Ensure that r esolver or encoder wi res are proper ly connected. Incor rect i nst all ati on may resul t in impr oper ro t ati on or incorr ect commut ation. CAUTION : The thr eaded holes i n the t op and bott om of t he enclosur e ar e for cable clam ps.
vii Contents 1 Introduction 1 .............................................. 1.1 MintDriv e feat ures 1 ......................................................... 1.2 Receiving and inspect ion 2 ................................................... 1.2. 1 Ident if ying t he cat alog num ber 2 .
viii 3 Input / Output 27 ............................................ 3.1 O utline 27 .................................................................. 3.2 Analog I/ O 27 ............................................................... 3.2. 1 Analog I nput, Singl e Ended - X1 1 28 .
ix 5 Mint WorkBench 67 ......................................... 5.1 O utline 67 .................................................................. 5.1. 1 Complet ing conf igur ati on 67 ...................................................... 5.2 Using WorkBench 68 .
x Appendic es A T uning 97 .................................................. A.1 I ntr oduction 97 .............................................................. A.1. 1 Closed l oop contr ol 99 ........................................................
xi C CE Guidel ines 129 ........................................... C.1 O utline 129 .................................................................. C.1. 1 Declar ati on of Conformi ty 129 ..................................................... C.1. 2 EMC Confor mit y and CE marki ng 130 .
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1 1.1 Mint Drive f eatures The Mint Dr ive combi nes a powerf ul f ull y feat ured mot ion cont rol ler and brushl ess servo am plif ier int o a comp act p ackage. Thi s provi des a fl exibl e and powerf ul m oti on contr ol solut ion f or almost any single axis posi ti oning syst em.
2 1.2 Receiv ing and ins pect ion When you r eceive your Mint Dri ve, t here ar e several thi ngs you should do i mmediat ely: 1. Check the condi ti on of t he shippi ng cont ainer and report any damage imm ediat ely t o t he carr ier that deli vered your Mint Dri ve.
3 1.3 Mint Driv e indic ators 1.3.1 Monitor L ED display The 7-segment Moni tor LED displ ay indicat es gener al Mi ntDr ive st at us inf orm ati on: Dri ve Disabled D r i v ei ne r r o r( s e es e c t i o n7 ) Dri ve Enabled Fo llow mo de Jogging Local (see t roubl eshooti ng guide) Posit ional Move i.
4 1.4 Units and abbrev iati ons The fol lowi ng unit s and abbr eviat ions ar e used in t his manual : V V ol t ( also V AC and VDC) ............ WW a t t ............ A Amper e ............ Ω Ohm ............ pF picof arad ........... mH milli henry .
5 2.1 Outline Y ou must r ead all the sect ions i n Bas ic Ins talla tion . It is impo rt an t tha t the co rrect ste ps are fo llowe d wh en ins talling the M intDriv e.
6 H The servo mot or t hat wi ll be connected t o the Mi ntDr ive. H The appropr iat e mot or cable. For easi er i nst al lat ion i t i s recommended t hat a col or- coded Baldor motor power cabl e is used.
7 2.1.2 RS485 / R S422 systems If your PC does not have an RS485 / RS422 connect or , an RS232 to 4- wir e RS485 / R S422 convert er wil l be r equir ed. Thi s all ows signals f rom the RS232 por t t o be convert ed to t he signal s necessary f or RS485 / RS422 com municat ions.
8 2.2 M echanic al ins tallati on and locat ion requirem ents It is essent ial that you read and under st and t his sect ion bef ore begi nning t he inst allat ion . CAUTION : T o prevent equi pment damage, be cert ain that the input power has corr ectl y rated prot ecti ve devices i nst all ed.
9 H If mult ipl e unit s are being mount ed side by si de, a sp aci ng of 0. 5” ( 13mm) must be pr ovided between t he unit s and from t he unit to t he side of the cabi net / enclosur e. H T o compl y wit h CE dir ecti ve 89/336/ EEC an appropr iat e mai ns fil ter must be inst al led.
10 2.3 P ower connec tions This sect ion pr ovides i nstr ucti ons for connecti ng the mai ns supply . It is im port ant that you ref er t o the corr ect fr ont p anel for your Mi ntDr ive package.
11 2.3. 1 Gr ounding Singl e phase unit s AC Mai ns Supply Safety G round Driven Earth Gr ound Rod (Plant G round) L N Earth Route all 3 w ires L, N , and Earth (G round) together in conduit or c able. Pow er wires must be k ept separate from c ontrol s ignal wires .
12 Ungrounded di str ibut ion syst ems T o avoi d equipment damage an i solati on tr ansfor mer wit h a grounded secondar y is r ecommended. This pr ovides t hree phase AC power that is symm etr ical wi th r espect to ground.
13 LN Fuse Connecti on L N L1 L2 Eart h MintDrive Circ uit break er and fus e not supplied. For C E Complianc e, see A ppendix C. Cir cuit Breaker L3 PE L1 L2 Figur e 5 - Ci rcui t br eaker and fuse, singl e phase, p ackage size C L1 Fuse Connecti on L 1 L 2 L1 L2 Eart h MintDrive Circ uit break er and fus e not supplied.
14 2.3.4 Wire sizes Input and output wir e size i s based on the use of copper conduct or wi re r ated at 167°F (75° C). The fol lowi ng t ables descr ibe t he wir e size t o be used for power connect ions and t he rat ings of the prot ecti on devices.
15 2.3.5 Single phase con nection to package size A or B Locati on Connector X1, si ngle or 2-p ar t connector Part num ber MD 1 A... MD 2 A... Input vol t age 1 15V AC, 1 φ line t o neut ral 230V AC.
16 2.3.7 Three phase con nection to package size C Locati on Connector X1, si ngle or 2-p ar t connector Part num ber MD 2 A... Input vol t age 230V AC, 3 φ line to lin e Range 220-250V AC Note: T ight ening t orque f or t er minal block connecti ons is 4.
17 2.3.9 DC Bus power connections from p ackage size C Locati on Connector X1, si ngle or 2-p ar t connector Part num ber MD1A xx S x ... MD2A xx S x .
18 2.3. 10 Pow er supply filte rs T o compl y wit h EEC dir ecti ve 89/336/ EEC, a m ains fi lt er of the appr opri ate t ype must be connect ed. This wi ll ensure t hat t he unit compli es wit h the CE speci fi cati ons for which i t has been t ested.
19 2.4 M otor connec ti ons This sect ion pr ovides i nstr ucti ons for connecti ng the m otor . Locati on Connector X1, si ngle or 2-p ar t connector Part num ber MD 1 A... MD 2 A... Nominal out put volt age 160VDC 320VDC Range 135-176VDC 306- 350VDC V W U PE Motor Optional moto r cir cu it contac tors M M M (MintDrive 2.
20 2.4. 1 Motor cir cuit cont actor s If r equir ed by local codes or for safet y reasons, an M - Cont act or (m otor ci rcui t cont actor ) may be inst alled t o provi de a physical disconnect ion of the mot or wi ndings f rom t he Mi ntDr ive ( see p age 19).
21 2.4.2 Regeneration resistor (D ynamic Br ake resistor) The 2.5A and 5A M int Dri ves both have int ernal ly f it ted r egenerat ion r esist ors* . For 7.5A, 10A and 15A Mint Dri ves, an ext er nal r egenerat ion ( Dynamic Br ake) r esist or must be i nst all ed to di ssip at e excess power fr om the inter nal DC bus during motor decel erat ion.
22 2.5 Feedbac k connec tions T wo f eedback opti ons are avai labl e; a comm ut ati ng encoder or a resol ver , bot h using connect or X2. Check wit h the cat alog number ( see p age 2) t o ensure you ar e wir ing t he corr ect f eedback device.
23 2.5.1 Resolver optio n The resol ver connect ions ar e made using t he 15- pin D- type f emale connect or X2. T wi sted p air cables must be used for the com plement ary signal p ai rs e. g. SI N+ and SIN- . The overal l cabl e screen/ shiel d must be connected t o the met alli c shell of t he D - t ype connector .
24 2.5. 1.1 Resol ver cabl e pi n con fi gurat io n The t able and di agram below show t he pin conf igur ati on for a typi cal Bal dor Resol ver Feedback cable, par t number CBL030SF- ALM.
25 2.5. 2 Enc oder option The encoder connect ions ar e made using t he 15- pin D- type f emale connect or X2. This pr ovides t he ABZ channels and Hal l si gnals. T wi sted p air cables must be used for the compl ement ar y signal pai rs e.g. CHA+ and CHA-.
26 2.6 Dri ve enable T o oper ate t he Mi ntDr ive, the dr ive st age must be acti ve and enabled. This r equir es an exter nall y generat ed 24VDC supply t o be connected bet ween pins 1 and 12.
27 3.1 Out line This sect ion descr ibes t he vari ous digit al and analog i nput and out put cap abil it ies of the Mi ntDr ive, toget her wi th descr ipt ions of each of t he associat ed connector s on the f ront p anel. The fol lowi ng conventi ons wil l be used to r ef er t o the i nput s and output s: I/ O Input / Out put .
28 3.2. 1 Anal og Input, S ingle E nded - X 1 1 Locati on Connector X1 1, pins 1 & 2 Name AIN2 Mint keyw ord ADC.2 Descri pti on Singl e ended input . Range: 0 - ± 10VDC. Resolut ion: 9- bit wi th sign. Input i mpedance: >4k Ω . Sampli ng inter val: 5m s.
29 3.2.2 Anal og Input, Differ ential - X 1 1 Locati on Connector X1 1, pins 4 (+) & 5 (- ) Name AIN3 Mint keyw ord ADC.3 Descri pti on Dif ferent ial input .
30 3.2. 3 Analog Input s, D iffer ential - X 5 Locati on Connector X5 Pins 8 ( +) and 21 (- ) 9 (+) and 22 (- ) Name AIN0 AI N1 Mint keyw ord ADC.0 ADC.1 Descri pti on T wo independent di f f erent ial i nput s. Common mode vol t age range: ±10VDC. Resolut ion: 12- bit wi th sign.
31 If an input is unused, then it is advi sable t o connect i t t o the AGND pi n. Do not leave t he input unconnected ( fl oati ng). The analog i nput s can be read i n Mint using t he keywords ADC.0 and ADC.1 . M int will return th e va lue as a percent age where 0V=0%, - 10V= -100% and +10V = 100%.
32 3.2. 4 Anal og Output s, Bipola r - X1 1 Locati on Connector X1 1 Pins 6 7 Name AOUT2 AOUT3 Mint keyw ord AUXDAC.2 AUXDAC.3 Descri pti on T wo i ndependent assi gnable out put s. Output r ange: ±10VDC. Resolut ion: 8 - bi t wit h sign. Output current: 1mA max imum.
33 3.2. 5 Anal og Output s, Bipola r - X5 Locati on Connector X5 Pins 19 7 Name AOUT0 AOUT1 Mint keyw ord AUXDAC.0 AUXDAC.1 Descri pti on T wo i ndependentl y contr oll ed output s.
34 3.3 Dig ital I/O The Mint Dr ive pr ovides: H 8 general purpose i nput s on block connect or X 13 H 4 general purpose out put s on block connect or X13 H 10 general purpose i nput s on 25-pi n conn.
35 3.3. 1 Digit al Input s - X1 3 Locati on Connector X13 Pin Name Mi nt keywor d 1 Dri ve Enable - 2 DIN10 IN.10 3 DIN1 1 IN.11 4 DIN12 IN.12 5 DIN13 IN.13 6 DIN14 IN.14 7 DIN15 IN.15 8 DIN16 IN.16 9 DIN17 IN.17 Descri pti on Eight gener al purpose opti call y isolat ed AC digit al i nput s (DI N10 to DI N17).
36 Pin 12 ( CREF) cont rol s the sense of all t he digi t al input s ( X13 pins 1 t o 9) and shoul d be permanent ly wir ed, dependent on the user requir ement s, as descri bed below: Acti ve high : connect +24VDC t o pin1 and 0V t o pin 12.
37 3.3. 2 Digit al Input s - X5 Locati on Connector X5 Pin Name Mi nt keywor d 1 DIN0 IN.0 2 DIN2 IN.2 3 DIN4 IN.4 4 DIN6 IN.6 5 DIN8 IN.8 14 DIN1 IN.1 15 DIN3 IN.3 16 DIN5 IN.5 17 DIN7 IN.7 18 DIN9 IN.9 Descri pti on T en general pur pose opti call y isol ated AC di git al input s ( D I N 0t oD I N 9 ) .
38 These input s are isolat ed and share a si ngle comm on li ne (COM) . The entir e input bank may be confi gured f or use i n PNP mode ( sinki ng curr ent, where cur rent fl ows in t o the i nput s) by connect ing COM t o the negat ive r ail of the ext ernal ly gener ated power source.
39 3.3.3 Digital Outputs - X13 Locati on Connector X13 Pin Name Mi nt keywor d 13 DOUT5 - OUT.5 14 DOUT5+ OUT.5 15 DOUT6 - OUT.6 16 DOUT6+ OUT.6 17 DOUT7 - OUT.7 18 DOUT7+ OUT.7 19 DOUT8 - OUT.8 20 DOUT8+ OUT.8 Descri pti on Four general pur pose optical ly isol ated digi t al output s (DOUT5 t o DOUT8).
40 3.3.4 Digital Outputs - X5 Locati on Connector X5 Pin Name Mi nt keywor d 10 DOUT4 OUT.4 11 DOUT2 OUT.2 12 DOUT0 OUT.0 23 DOUT3 OUT.3 24 DOUT1 OUT.1 Descri pti on Five gener al pur pose opti call y isol ated di git al output s (DOUT0 t o DOUT4).
41 3.4 Other I /O 3.4.1 Sim ulated enco der output - X3 Locati on Connector X3 Pin Name 1 CHA+ 2 CHB+ 3 CHZ+ 4 ( not connect ed ) 5 DGND 6 CHA- 7 CHB- 8 CHZ - 9 ( not connect ed ) Descri pti on Simul .
42 3.4.2 Master (auxiliar y) encoder i nput - X6 Locati on Connector X6 Pin Name 1 CHA+ 2 CHB+ 3 CHZ+ 4 ( not connect ed ) 5 DGND 6 CHA- 7 CHB- 8 CHZ - 9 +5V Descri pti on Opt icall y isol ated encode.
43 Fig ure 2 2 - Au xilia ry en cod er circ uit.
44 3.4.3 Serial port - X7 Locati on Connector X7 Pin RS232 Name RS485 / RS422 nam e 1 - RX+ (i nput) 2 RXD - 3 TXD - 4 - TX+ (out put) 5 0V GND 0V GND 6 - RX- (input) 7 RT S - 8 CTS - 9 - TX- (output .
45 3.4.4 Using RS232 cable CAUTION : The seri al connect or on t he Mint Dri ve (X7) support s two seri al channel s, one RS232 and one RS485 / RS422. The seri al cable w it h cat alog number CBL001-501 must NOT be used wi th t he Mint Dri ve as this m ay resul t in dam age to t he unit .
46 3.4.5 Multidrop usin g RS485 / R S422 cable T er minating resis tors T R each hav e a ty pical v alue of 120 Ω MintDr ive X7 Master Contr oll er GND GND T R MintDr ive X7 RX- DGND RX+ TX+ TX - 6R.
47 3.4.6 Connecting Baldor HMI Operator Panels Baldor HMI Oper at or Panel s use a 15 - pi n male D- type connect or ( mar ked PLC POR T), but t he Mint Dri ve connector X7 is a 9- pin D- type connect or .
48 3.4. 7 Optional br eakout boar d for connector X 5 An opti onal scr ew connecti on fi tt ing i s avail able shoul d you wish to pur chase a br eak - out board. The break- out boar d, of ten ref err ed to as a ’ card’ , mount s on a 35mm DIN r ail .
49 4.1 Out line Befor e poweri ng the Mi ntDr ive you wi ll need to connect the PC t o the Mi ntDr ive usi ng a seri al cabl e and inst all t he supplied sof tware on t he PC. The sof tware pr ovided i ncludes a number of appl icat ions and utilitie s to allo w you to c on figure , tune a nd p rogra m the Min tDrive .
50 4.1.3 S tar ting th e MintDrive If you have fol lowed t he inst ruct ions i n the pr evious sect ions, you should now have connect ed all the power sources, your choi ce of I/O per ipher als, CAN networ k connections (i f requi red) and the seri al cable l inki ng the PC wi th t he Mi ntDr ive.
51 4.2 Mint Conf igurati on T ool S tartup Wiz ard - coars e tuning Each type of motor and dri ve combinat ion has a sl ight ly di f fer ent r esponse. Befor e the Mi ntDr ive can be used to cont rol the mot or accurat ely , t he Mint Dri ve must be “t uned”.
52 3. Click Next > . MCT wi ll search the ser ial port s on the PC unti l t he Mi ntDr ive is det ected. If the Mi ntDr ive i s not f ound, check t he seri al connect ion and cli ck Rescan . 4. Click Next > . Check that Axis- 0 is hi ghlight ed.
53 6. Click Next > . The Axis Conf igur ati on T est Sel ect f rame pr ovides t wo opti ons. Clic k PERFORM AXES CONFIGURA TION TESTS . The axis conf igur ati on test s all ows MCT to t une the M int Dri ve for us e with th e attach ed m otor . 7. Using t he drop - down boxes, select the exact mo tor type.
54 4.3 MCT S t artup Wiz ard - fi ne-tuning In t he previ ous secti on, t he mot or r esponse was ‘coar se tuned’ . The f oll owing sect ions descr ibe how t o fi ne tune t he motor r esponse. I f you ar e fami li ar wi th cl osed loop ser vo contr ol t heory t hen you may wish t o proceed st rai ght t o secti on 4.
55 In summ ary , t he fol lowi ng rul es can be used as a guide: H KPROP: I ncr easing KPROP wi ll speed up the r esponse and reduce t he ef fect of di stur bances and load var iat ions. The side ef fect of incr easing KPROP i s that it also i ncreases t he overshoot , and i f set t oo high i t wi ll cause the syst em to becom e unst able.
56 4.3. 2 Fine-tuning the speed loop Befor e select ing t he servo ( posit ion) loop gai ns, t he speed loop gai ns might need to be f ine t uned. Note: MCT wi ll have creat ed st art ing val ues for t he speed loop gai ns, so i f you ar e not sur e which val ues to adj ust, you can go str aight to sect i on 4.
57 4.3. 3 Fine-tuning the position loop The fol lowi ng tuning m ethods i nvolve adjust ing t he servo l oop ter ms KVELFF , KPROP , KVEL and KDERIV , which al l have a def ault value of zer o. 1. Cli ck the Posi ti on Loop Tuni ng t ab 2. The Tuni ng Param eter s fr ame shows the val ues of the term s.
58 5. Click Sta rt Mo v e . In t he dial og box that appears, cli ck GO . The motor will now at tempt t o rot ate 0. 2 revol utions. MCT wi ll upl oad the recorded ( captur ed) dat a fr om the Mi ntD ri ve and the T uning Gr aph t ab wi ll be shown.
59 If KPROP is i ncreased t oo far , overshoot or r ingi ng will occur . The plot opposi te shows the eff ect of sett ing KPROP t o a value of 7. This overshoot and/ or ri nging can be reduced by i ntr oducing a damping t erm - eit her KVEL or KD ERIV .
60 4.3.5 Completing the S tar tup Wizard The S t artup Wi zard i s now compl ete. The next step i s to cont inue wi th t he confi gurat ion of other par amet ers such as i nput s and out put s.
61 4.4 MCT Wiz ard - hardware c onfi guration The next p ar t of the Mi nt Conf igur ati on T ool all ows you to setup t he digi t al input s and out put s, per for m fur ther fi ne-t uning and conf igur e many other p aramet ers. At t he bott om of the window , t he help bar shows guidance about the current opt ions.
62 3. Conti nue thi s process unt il you have confi gured al l the requi r ed input s. Clic k Next > to cont inue. The Undo Changes butt on can be used to r eset al l t he it ems on the t ab to thei r or igi nal val ues.
63 4.4.3 Axis0 param eter configu r ation The Axis0 Par amet er Conf igur ati on t ab all ows you to set up vari ous axis p aram eter s. If you do not wi sh to make any changes, cli ck Next > a nd g o to se ction 4 .4.4 . 1. Cli ck in t he appropr iat e boxes and type t he requi red val ues.
64 4.4. 5 Axi s0 tuning configur ation The Axis0 T uni ng Confi gurat ion t ab pr ovides a f urt her oppor tuni ty t o make adj ustment s to the dr ive tuni ng. The pr evious val ues that you set wi ll al r eady be enter ed in t he boxes. I f you do not wish to m ake any changes, click Next > a nd g o to se ction 4 .
65 4.4. 7 Com pleti ng the configur ation w izar d The confi gurat ion must now be saved. (I f you wi sh to go back and make any f urt her changes, cli ck < Back . 1. Check that the dr op down box is showing Mi nt Confi gur ati on Fil e Form at . I f it i s not, then select t his opti on.
66 4. The Save As dial og box will be shown. Th e first file to sa ve is th e proje ct file. This f il e can be loaded i nto MCT and edi ted l ater . Select a f older and ent er a fi lename for t he proj ect f ile. Clic k Save . 5. The second fi le t o save is t he confi gurat ion f il e.
67 5.1 Out line Min t Work Be nc h is the ma in ap plica tion fo r progra mmin g an d co ntrollin g the Min tDriv e. The T erminal window al lows you cont rol the Mi ntDr ive in r eal- ti me, whi le t he Progr am wi ndow all ows you to const ruct complex pr ogram s using t he Mint t progr ammi ng language.
68 5.2 Usi ng W orkB ench If you have not j ust compl eted t he Mi nt Conf igur ati on T ool Wizar d, you wi ll need to st art Mi nt W orkBench manual ly .
69 5.2 .2.2 Motion toolbar f uncti ons 1 2 3 4567 8 1 Axis sel ecti on (Onl y Axis0 can be sel ected) 2 Jog (r everse) Causes the m otor to st ar t a r everse j og mot ion. 3 Jog speed Set s the j og speed (i n user uni t s per second) 4 Jog (f orw ard) Causes the mot or t o st ar t a f orwar d jog mot ion.
70 5.3 W atch wi ndow The W atch wi ndow cont ai ns four t abs, provi ding r eal- ti me inf or mati on and all owing t uning of the mot or . If a t ab is not visibl e, cli ck the butt ons at the bottom of the window .
71 5.3. 2 Spe ed Loop t ab The S peed Loop t ab provides a f urt her oppor tuni ty t o tune t he motor . Cli ck in t he appropr iat e boxes and type t he requi red values.
72 5.3. 3 Position Loop t ab The Posit ion Loop t ab provides a f urt her oppor tuni ty t o tune t he mot or and perf orm test moves. Cl ick i n the appr opri ate boxes and t ype the requi red val ues. For a ful l descr ipt ion of the posi ti on loop t uning par amet ers, see Appendix A.
73 5.3.4 Capture t ab Each ti me a speed or posi ti on test move i s perf ormed usi ng W orkBench, the dat a from t he move i s automat ical ly capt ured and upl oaded in t o W orkBench. The Captur e t ab all ows you to sel ect t he type of plot produced fr om the capt ured dat a.
74 5.4 Edit or windows Mint W orkBench has t hree mai n edit or wi ndows; t he Confi gurat ion w indow , the Pr ogram wi ndow and the T erminal wi ndow . 5.4. 1 Configur ati on window If t he configur ati on window is not visibl e, select W indow , Configur ati on from th e ma in menu.
75 5.4. 3 T erm ina l window If t he term inal window i s not visibl e, select T ools , Te r m i n a l from t he mai n menu. (Al ter nati vely , cli ck the T ermi nal but ton on t he st andar d toolbar or pr ess CTRL+T).
76 T o tu rn a dis tanc e of 5 turn s, typ e... MOVER=5 fol lowed by t he Enter key . Then type: GO follo wed b y the E nte r k ey . The keyword MOVER means “ MOVE Rel ati ve”. In t his exampl e the m otor will tur n 5 unit s. If you have fol lowed al l t he previ ous examples, thi s means the m otor will rot ate fi ve revol uti ons.
77 5.4.5 Firmwar e update Occasional ly t here m ay be updates to M int to ei ther fi x problem s or t o add new feat ures. The Mint fi rm ware i s stor ed in Fl ash memor y and can be updated using t he RS232 ser ial por t . The RS485 port cannot be used f or f ir mwar e update.
78.
79 6.1 Out line This sect ion pr ovides t echnical specif icat ions of the Mi ntDr i ve vari ant s 6.1.1 General specifications The Mint Dr ive i s an integr at ed moti on contr oll er and br ushless AC ser vo dri ve wit h int er nal power supply . H Five curr ent output r ati ngs are availabl e: 2.
80 6.1.2 Power Mains and motor output Unit 2. 5A 5A 7.5A 10A 15A Nominal i nput volt age (V in =230V AC) VA C 230 Mini mum input vol t age 220 Maxim um input volt age 250 Nominal DC- Bus volt age VDC .
81 6.1. 3 Rect ifier and re gener ation Re ctifie r Unit Al l models Input vol t age (± 15%, f=50~60Hz) V in =230V AC V in =1 15V AC Nominal Minimum Maximum VA C 230 190 265 11 5 90 130 DC-Bus vol t age (absolut e) Mi nimum Maximum VDC 270 360 125 175 Regenerat ion Unit 2.
82 6.1.5 Encoder feedb ack All model s Encoder input A/B Dif ferent ial , Z index Signal f requency (m aximum) 1.5MHz ( 6MHz quadr atur e) Hall i nput s Singl e ended, 5V logi c 6.
83 CAN Bus int erf aces Unit Al l models Signal - 2- w i r e , i s ol at e d Channels - 2 Bit r ate Kb it/s 10, 20, 50, 125, 250, 500, 1000 (800 al so avail able on CAN bus 1 onl y) Prot ocols - CAN bus 1: CANopen CAN bus 2: Baldor CAN 6.1.7 Environment al Unit Al l models Operat i ng temper atur e r ange °C °F Minimum Maximum Derat e +5 +40 2.
84.
85 7.1 Out line This sect ion expl ains common pr oblem s that may be encounter ed and thei r sol uti ons. If you want t o know the m eaning of the LED Moni tor displ ay , see secti on 1.
86 7.1.2 Comm unication Probl em Check No L EDs a re illumin ated (+24VDC model s) Check that the 24VDC power supply i s connected on connector X1 and is swi tched on. No L EDs a re illumin ated (Mai ns only m odels) Check the mai ns supply i s connected and swit ched on.
87 7.1.3 Power up Probl em Check No L EDs a re illumin ated Check that t he 24VDC power suppl y is connect ed on connector X1 and is swi tched on. Check the mai ns supply i s connected and swit ched on. One or m ore of the Moni tor , Ready or CAN LEDs is not illum inate d Check power connect ions.
88 Probl em Check The message Lost User Data: Defaulting to Factory settings - please wait... is shown at power- up. If this me ss age is fo llow ed by You must now re-tune your motor ret une the M int Dri ve by eit her r e - ent eri ng the gai n sett ings set ear li er or by fol lowi ng the t uning set up (see sect ion 4.
89 7.1. 4 T uning The fol lowi ng probl ems could occur when the sof tware i s perf ormi ng autom ati c tuni ng test s. If the Ready LED i s red dur ing any of the t est s see secti on 7.1. 6 on p age 91. Check that the sof t ware can com municat e wit h the Mi ntD ri ve by typing PRINT DRIVEFAULT in the T erminal window .
90 7.1.5 Mint gain s Probl em Check Cannot enabl e the Mi ntDr ive because AXISERROR has bi t 13 set Check the dr ive enabl e input on connector X13 - 1 and X13- 12 is connected and t hat t he input is enabl ed.
91 7.1.6 Ready LED is red If t he Ready LED is illum inate d red a nd th e Mon itor LE D sho ws , at the comm and li ne type PRINT DRIVEFAULT . This wi ll ret urn one of the codes li sted bel ow . Alt ernat ivel y , cli ck on the er ror butt on on the m otion tool bar , which wi ll also di splay t he dri ve faul t.
92 Code Check Probl em 12 Over vol t age f ault Bus over vol t age condi ti on occurr ed. If thi s occurs dur ing hi gh deceler ati on, a r egenerat ion r esist or might need to be i nst al led. If a regener ati on resi stor is alr eady inst alled check the wi ri ng and if it has an adequate r ati ng.
93 Code Check Probl em 17 Over speed fault Motor R PM exceeded 1 10% of program med MAX Motor speed. Ty p e PRINT MAXMOTORSPEED . If the value r et urned exceeds the maxi mum me chanical speed of the m otor specif ied i n the cat alog, t ype MAXMOTORSPEED = xxxx where xxxx i s the maxim um speed li sted i n the cat al og, i n RPM.
94 7.1.7 CAN Use thi s secti on to t roubl eshoot any pr oblems encount ered when connect ing t o CAN. Full det ai ls of sett ing up CAN devi ces can be found i n Appendix B. For i nfor mati on about CAN err or messages r eport ed thr ough Mi nt, see the Mint v4 Progr ammi ng Guide .
95 Probl em Check The CAN2 LED is f lashi ng red. The CAN bus i s passi ve. Thi s means that the bus is operat ional but erro rs are o cc urrin g. Check that all nodes are r unning at the same baud r ate. Check that each node has been assigned a uni que NodeID.
96.
97 A. 1 Introduc ti on Wit hin t he Mi ntDr ive cont rol sof t ware, inst antaneous axi s posit ion demands pr oduced by the M int Dri ve sof t ware must be tr anslat ed int o mot or cur rent s. This is achi eved by closed loop cont r ol of the mot or .
98 Figur e A.1 MintDr ive Cl osed Loop Syst em Moto r Speed Filter 16 Sample Filter.
99 A.1.1 Closed lo op control It is possi ble t hat cont rol could be achi eved by applying a si gnal pr opor ti onal to t he posi ti on err or al one, but t his i s a rat her si mpli sti c approach.
100 In syst ems wher e preci se posit ioni ng accuracy i s requi red, it is of t en necessary t o posit ion w it hin one encoder count . The Proport ional gain i s not nor mall y able t o achieve t hi.
101 A.1.3 Speed loop The speed loop uses a Pr oport ional and Int egral (PI ) al gori thm. The PI al gori thm is as fol lows: Command = KVP . e + KVI . Σ e where: KVP Propor ti onal speed l oop gain KVI Int egral gai n e S peed er ror A.1 .4 Curr ent l oop The curr ent l oop uses a Propor ti onal and I ntegr al ( PI) algor it hm.
102 A.1 .6 T uning the posi tion loop for a vel ocity s erv o dri ve The Mint Dr ive can be t uned as a velocit y servo dr ive, p assing t he prof il ed demand component s t hrough the speed and cur rent loop s only .
103 where: Ser v o Fr e que ncy is the r ecipr ocal of the t im e peri od set using t he Mi nt keywor d LOOPTIME ; Mot orEnc ode rLi ne s is 1024 for a resolver mot or; Max Motor Spe ed i s found f rom the mot or speci fi cati ons. Cli ck on the Posit ion Loop t ab and enter t he calcul ated val ue for KVELFF .
104 A.1 .7.2 Pos ition Loop T uning using a st ep m ove In t he Move T ype box select Posi ti on S t ep and select a reasonabl y small step change. For exampl e st ar t wi th a posi ti on step change equi valent t o 100 count s.
105 A.1 .8 T uning the posi tion loop for a tor que ser vo dr ive The Mint Dr ive can be t uned as a tor que servo dr ive, passi ng the pr ofi led dem and component s t hrough the posi ti on and curr ent l oop s only .
106.
107 B.1 Outlin e This sect ion pr ovides an i ntr oducti on to t he CAN (C ontr oll er Ar ea Networ k) per ipher als and how t hese are conf igur ed to oper ate wi th t he Mint Dri ve.
108 H T erminat or s must only be fit ted at both ends of the network, not at int er mediat e nodes. H The 0V rai ls of all of t he nodes on the net work must be ti ed toget her t hrough t he CAN cabli ng.
109 B. 2 CAN 1 (CANopen) This sect ion pr ovides an i ntr oducti on to CANopen. peri pheral s and how they ar e confi gured t o operat e with th e MintD rive .
11 0 B.2 .2 What is C ANope n? CANopen is a net worki ng system based on t he seri al bus CAN. It uses t he int ernat ional CAN st andar d, ISO 1 1898 as the basis f or communi cati on.
111 B.2 .3 Configur ing nodes A node must be assigned a unique node num ber . On Baldor contr oll ers, the node number and CAN baud rat e can be set usi ng the NODE and CANBAUD Mi nt keywor ds. For exampl e the f ollowi ng commands change t he contr oller ’s node num ber t o 12 and the baud r ate t o 500Kbaud: NODE = 12 CANBAUD.
11 2 Alt ernat ively , the NODELIVE and NODETYPE keywords can be used wit hin a Mi nt pr ogram to r etur n the same inf orm ati on. The fol lowi ng commands wil l get inf ormat ion about node 2: ? NODELIVE.
11 3 B.2.7 Mon itori ng CAN events When a node’s st atus changes (li ve or dead f or exam ple) , i t wi ll generate a C AN message to i nfor m t he networ k manager of the change.
11 4 B.2 .8 Control ler nodes Each contr oll er node on t he networ k cont ains i t s own comms ar ray , which pr ovides a conveni ent method of tr ansfer r ing dat a bet ween contr oll er nodes on t he bus. The meaning of t he dat a, which is passed bet ween the cont rol ler s is det erm ined by the appl icat ion ( Mi nt) progr am.
11 5 PAUSE GROUPMASTERSTATUS.3 On the gr oup mast er node ( node 15 for example) , the GROUPCOMMS command i s used to access t he comms ar ray of all nodes i n that group.
11 6 Simi larl y: REMOTEOUT.1.2 = 255 wil l set the st at e of al l of the out put s on node 2 t o 255 decimal . The second method uses t he REMOTEINX and REMOTEOUTX keywords and accesses i ndivi dual i nput s or output s. Each input/ output can eit her be ON (1), or OFF (0) .
11 7 The Mint keyword REMOTEADCDELTA can also be used t o reduce t he amount of CAN tr af f ic. This keywor d all ows the user to specif y an amount by which an analog i nput m ust change ( delt a) befor e a CAN message i s generat ed. The value used wi ll depend on the t ype of node; please r efer to t he manufact ur er’ s inst ruct ions.
11 8 In addi ti on to bei ng able t o set dat a on t he HMI f rom a Baldor contr oller , the HMI panel can set i t s own dat a, t he natur e of which is det erm ined when t he user desi gns thei r own HMI proj ect usi ng the HMI Operat or Panel design sof tw are.
11 9 B.3 C AN 2 (Ba ldor C AN) B.3.1 CAN 2 (Baldo r CAN) - X8 Locati on Connector X8 Pin Name Descr ipt ion 1 - Not connected 2 - Not connected 3 - Not connected 4 CAN2 0V Ground/ eart h r efer ence f.
120 B.3 .2 Pre pari ng t he M in tD rive T ermi nati on resi stor s must be f it ted at each end of t he networ k to r educe signal ref lect ion. The Mint Dr ive i s fi tt ed wit h a ter minat ion r esist or for this pur pose.
121 B.3 .5 Node IDs Each CAN peri pheral must be gi ven a unique “ node ID ” wi thi n the net work. The node ID, which i s just a number , i s used to ensur e that a node only r esponds to messages int ended for it . The node I D does not have t o ref lect the or der i n which t he nodes are physi call y connected i n the net work.
122 T ype a number between 1 and 63, fol lowed by t he Enter key . This wi ll tell the node i t s new node number . Remem ber t o choose a number t hat no ot her node wi ll be using. A prompt for the CAN Baud r ate wi ll be shown. New CAN Baud ? T ype a val id Baud r ate ( in Kbaud) , f or exampl e 125 .
123 B.3 .8 Monitori ng CAN Bus com m unicati ons CAN Bus communi cati ons can be monit ored i n real- t ime usi ng Mi nt W or kBench. T o monit or CAN Bus communi cati ons, type: VIEW CANEVENT All event s and err ors on t he CAN Bus wil l be r eport ed.
124 B.3.1 1 Keyp adNode The Keyp adNode provi des a general purpose i nter face sui t able f or st andalone machines of all types. It is a cost ef fect ive sol uti on for sim ple f uncti ons such as replaci ng t humb wheel swi tches and pr ovidi ng simpl e diagnost ics.
125 The TERMINAL keyword shoul d now be used to t urn on t he appropr iat e t ermi nal devi ces. For example, t ype: TERMINAL = _tmLCD1 OR _tmRS232 PRINT ”Hello” The keyword TERMINAL i s used to set the t ermi nal i nput/ output channels f or t he Mint Dr ive.
126 B.3.13 Exam ple CAN network T o show the step s r equir ed in put ti ng a CAN networ k toget her , a mult i node net work i s descri bed below . The network wil l incl ude: H 1 Min tDrive c on tro.
127 B.3.14 Mint CAN related keywords The fol lowi ng Mint keywords ar e used for communicat ing wi th CAN. Full det ail s of t he use and synt ax of Mi nt com mands can be found i n the Mi nt Progr ammi ng Guide .
128.
129 C.1 Outline This sect ion pr ovides gener al i nfor mati on r egardi ng recomm ended methods of inst allat ion f or CE compl iance. It is not int ended as an exhausti ve guide t o good pract ice and wir ing t echniques.
130 C.1.2 EMC Conformity and CE marking The inf ormat ion cont ained herei n is f or your guidance onl y and does not guar antee t hat t he inst allati on wil l meet the r equir ement s of the counci l di rect ive 89/336/ EEC.
131 EM C filters The EMI or mai ns fi lt er shoul d be mounted next to t he power suppl y . For t he connecti on to and f rom the mai ns fi lt er scr eened cables shoul d be used. The cabl e screens shoul d be connected t o screen clamp s on bot h sides.
132 C.1.6 Wiring of shielded (screened) cables Conducti ve Clamp Remov e the outer ins ulation to expos e the ov erall sc reen. Conducti ve Clamp - Must cont act bar e cable shi eld and be secured t o met al backplane. T wisted pairs Cable Mint Dri ve Figur e C.
133 1 6 2 7 3 8 5 Mint Dri ve X6 Handwheel / Encoder Housing Connec tion of shields to analog ground is optional. Cable T wisted pairs Connector ba ckshell C onne ctor b ackshe ll Figur e C.4 Handwheel (Encoder ) cabl e gr ounding 1 6 2 7 3 8 11 13 Mint Dri ve X2 Encoder Connector Housing Connec tion of shields to digital ground is optional.
134.
135 D.1 Outline This sect ion descr ibes comm on accessori es and options t hat you m ay need to use wi th your Mint Dri ve. D.1.1 Cables Shiel ded (scr eened) cabl es provi de EMI / RFI shiel ding and ar e requi red f or compl iance w it h CE regul ati ons.
136 D.1.2 Resolver feedb ack cable The fol lowi ng t able l ist s the par t number s of r esolver feedback cabl es for use wit h the Mi ntDr ive. M o t o r t y p e Cable assembl y Baldor cat alo g Len.
137 D.1.3 EMC mains filters AC fi lt ers r emove hi gh fr equency noise f rom t he mains suppl y , pr otect ing t he Mint Dr ive. These fi lt ers also pr event hi gh fr equency signal s fr om being t ransmi tt ed back onto t he power l ines and hel p meet CE requi rem ent s.
138 D.1. 3.3 Fi lter d imen sio ns - t ypes FN2070- 6-06, F N2070-10-06, F N2070-12-06 L K J H G F E D C B A Dimensi ons inches ( mm) Dimensi on FN2070-6- 06 FN2070-10- 06 FN2070-12- 06 A 4.47 ( 1 13.5) 6.14 ( 156) B 2.26 ( 57.5) C 1.83 ( 46.6) D 3.70 ( 94) 5.
139 D.1.4 Regeneration resistors Some dri ves are shi pped wit h an int ernal regener ati on resi stor (see p age 2). If an int ernal resi stor is not present , a r egenerat ion r esist or should be inst alled t o dissi pat e ener gy durin g braki ng if a faul t “ 1” (over- volt age) occurs.
140 D.1 .5 Bre akout boar d - X5 An opti onal scr ew connecti on fi tt ing i s avail able shoul d you wish to pur chase a br eak - out board. The break- out boar d, of ten ref err ed to as a ’ card’ , mount s on a 35mm DIN r ail .
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Baldor UK Lt d Mint Motion Centre 6 Bristol Distributi on Park Hawkley Drive, Bristol BS32 0 BF , UK P r i n t e di nU K Baldor UK Ltd CH TEL: +41 52 647 4700 F AX: +41 52 659 2394 D T E L : + 4 9.
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