Baldor FDH1A05TB-EN20 Installation Manual Download

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Contents i

MN1902

Contents

1 General Information

1-1

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

2 Introduction

2-1

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

2.1

FlexDrive

features

2-1

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

2.2

Receiving and inspection

2-2

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

2.2.1

Identifying the catalog number

2-2

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

2.3

Units and abbreviations

2-3

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

3 Basic Installation

3-1

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

3.1

Introduction

3-1

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

3.1.1

Power sources

3-1

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

3.1.2

Hardware requirements

3-1

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

3.1.3

RS485 / RS422 systems

3-2

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

3.1.4

Tools and miscellaneous hardware

3-2

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

3.1.5

Other information needed for installation

3-3

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

3.2

Mechanical installation and location requirements

3-4

. . . . . . . . . . .

3.2.1

Mounting the FlexDrive

3-5

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

3.2.2

Dimensions

3-6

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

3.3

Connector locations

3-7

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

3.4

Power connections

3-8

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

3.4.1

Single-phase 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 supply filters

3-12

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

3.4.6

Wire sizes and protection device ratings

3-13

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

3.4.7

External customer supplied 24V control supply

3-14

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

3.5

Motor connections

3-15

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

3.5.1

Motor circuit contactors

3-16

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

3.5.2

Motor power cable pin configuration - Baldor BSM rotary motors

3-16

. . . . . . .

3.5.3

Motor cable pin configuration - Baldor linear motors

3-17

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

3.5.4

Sinusoidal filter

3-17

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

3.5.5

Thermal switch connection

3-18

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

3.5.6

Motor brake connection

3-19

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

3.6

Regeneration resistor (Dynamic Brake resistor)

3-20

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

3.6.1

Controlling regeneration

3-20

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

3.7

Feedback connections

3-21

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

3.7.1

Resolver option - X8

3-22

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

3.7.2

Encoder option - X8

3-24

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

3.7.3

EnDat (absolute encoder) option - X8

3-27

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

3.7.4

Hiperface (absolute encoder) option - X8

3-29

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

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

Summary of Contents for FDH1A05TB-EN20

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: ...FlexDriveII Flex DriveII Servo Controls SERVO DRIVE Installation Manual 03 10 MN1902 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: ...4 3 3 Special functions on DIN4 and DIN5 pulse and direction inputs 4 6 4 3 4 Special functions on DIN4 and DIN5 fast inputs 4 8 4 3 5 Digital outputs X3 4 9 4 3 6 Relay output digital output X3 4 10...

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: ...ccessories 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 Encoder Hall feedbac...

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 MN1902 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 10: ...s 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: ...tioning 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 software gearing and point to...

Page 15: ...dea to look for the catalog number sometimes shown as ID No and write it in the space provided here Catalog number F_H______________ ________ Installed at ________________________ Date ______ A descri...

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 MN1902 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 18: ...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 of 1 75A 4A power on surge A 24V f...

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 wit...

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 FlexDriveII 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: ...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 lo...

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: ...xx3 FPHxxxxxx xxx3 Options If there are other connectors on the front panel of your FlexDriveII then an option is fitted See the other manuals supplied with your FlexDriveII Earth Earth L1 AC Phase 1...

Page 25: ...nal 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 FDHxxxxx xxx3 and FPHxxxxx...

Page 26: ...e bottom 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 b...

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 Isolatin...

Page 28: ...or isolation transformer 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...

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: ...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 xxxx 230 460V 3 7 5A...

Page 31: ...ge Tightening 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 e...

Page 32: ...hort as possible Optional motor circuit contactors Figure 7 Motor connections CAUTION Do not connect supply power to the FlexDriveII UVW outputs The FlexDriveII might be damaged CAUTION The motor lead...

Page 33: ...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 Contactor or its wiring may result in...

Page 34: ...usoidal 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: ...ought to rest under normal 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...

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: ...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 appropriate pin...

Page 39: ...e the FlexDriveII This provides the FlexDriveII 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: ...ive enable connection can be wired directly or through an intermediate switch If a switch is used it should always be used to switch the signal to pin 9 with the signal to pin 7 CREF being hard wired...

Page 49: ...a drive enable 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 Mi...

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: ...g 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...

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 FlexDriveII to its factory defaults all parameters in...

Page 53: ...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 clear...

Page 54: ...y isolated from internal power rails so care must be taken to avoid earth ground loops and similar associated problems The input buffers provide low pass filtering of the applied voltage To minimize t...

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: ...tions 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 configured using Mi...

Page 58: ...ts 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 sh...

Page 59: ...8 for more information about Drive Enable 4 3 3 Special functions on DIN4 and DIN5 pulse and direction inputs DIN4 and DIN5 can be configured using the MASTERSOURCE keyword to behave as pulse and dir...

Page 60: ...gh inputs Incremental encoder FlexDriveII DIN4 Pulse Connect shields at one end only X3 14 Twisted pairs DIN5 Dir 15 A A B B 24V GND CREF 7 Encoder supply 24V Encoder supply GND Figure 30 Pulse and di...

Page 61: ...will be latched on a pulse width of about 30 s although a width of 100 s is recommended to ensure capture To prevent subsequent inputs causing the captured value to be overwritten the interrupt is la...

Page 62: ...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 d...

Page 63: ...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 64: ...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 65: ...ND Baldor cable parts CBL0xxMF E3A are recommended where xx represents a choice of available lengths Figure 34 FlexDriveII encoder output to NextMove BX encoder input 1 6 3 8 5 2 7 1 6 3 8 5 2 7 FlexD...

Page 66: ...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 67: ...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 68: ...section 3 9 7 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 69: ...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 70: ...40 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 7 This will set the serial...

Page 71: ...igure 41 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 41 Cable wiring if hardware handshaking is not required If hardware handshaking is req...

Page 72: ...tain an internal 24V supply and or an internal regeneration resistor Demand input may be differential or single ended See section 4 2 1 The encoder output X7 would normally be connected to a motion co...

Page 73: ...el of your FlexDriveII 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 FlexDriveII for details...

Page 74: ...recommended that you use RS232 to get started the preset factory setting and use RS485 later Pin 9 is used to carry 8V for powering a Baldor keypad peripheral Ensure that pin 9 is not connected to ea...

Page 75: ...erly 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 fault see...

Page 76: ...ry 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 output set...

Page 77: ...played 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 Index tab provides an alphabetic l...

Page 78: ...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 79: ...iveII 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 click Select it means that the Commissio...

Page 80: ...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 81: ...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 82: ...rs that have been calculated by the Commissioning Wizard ThemainareaoftheMintWorkBench window displays thecapture window When further tuning tests are performed this will display a graph representing...

Page 83: ...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 84: ...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 85: ...e 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 purposes H PLC Task Tool Allows you to...

Page 86: ...e important features introduced on the FlexDriveII 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 87: ...lumn The drop down box allows you to select the jog move type Flex DriveII only an absolute relative positional move homing move or set position may also be selected The Value column will change accor...

Page 88: ...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 89: ...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 90: ...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 91: ...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 Flex DriveII onl...

Page 92: ...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 93: ...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 94: ...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 95: ...www baldormotion com 6 10 Preset Moves PLC Task MN1902 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 96: ...r of your FlexDriveII 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 97: ...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 98: ...ng shear is being profiled See the Mint keyword FLY Position or velocity following error A following error has occurred See the Mint keyword AXISERROR and associated keywords Following errors could be...

Page 99: ...The SUSPEND command has been issued and is active Motion will be ramped to zero demand whilst active Speed demand The drive is under speed control See the Mint keywords SPEEDREF SPEEDREFSOURCE and re...

Page 100: ...ng of the serial cable or try an alternate cable Check that DIP switch 10 RS232 RS422 is set correctly see section 3 9 7 On the PC try an alternative COM port Confirm that a mouse driver or other seri...

Page 101: ...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 102: ...cations 8 1 MN1902 8 1 Introduction This section provides technical specifications for the various FlexDriveII models 8 Specifications 8 Artisan Technology Group Quality Instrumentation Guaranteed 888...

Page 103: ...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 104: ...tage VDC 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 Pea...

Page 105: ...t 650 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...

Page 106: ...er 10 power cycle kW 2 7 Maximum regeneration switching current ARMS 10 Maximum load inductance H 100 Note 2 5A models FDH1A02 and FPH1A02 contain an internal 175 20W resistor 5A models FDH1A05 and FP...

Page 107: ...le 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 FDH4A02 and FPH4A02 contain an internal 200 300W...

Page 108: ...ximum pulse input frequency DIN4 pulse and direction mode MHz 1 Minimum pulse width DIN4 DIN5 pulse and direction mode ns 250 8 1 8 Digital outputs X3 All models Unit All models Output current maximum...

Page 109: ...5 Update interval Software Mint programs DRIVEOKOUTPUT DRIVEENABLEOUTPUT GLOBALERROROUTPUT MOVEOUT MOVEOUTX MOVEPULSEOUTX PULSEOUTX functions PLC Task functions Immediate Equivalent to LOOPTIME 1ms de...

Page 110: ...xxxx Rxxxx FPHxxxxxx Rxxxx Unit All models Resolution set automatically by software bits 14 Resolver winding ratio 0 5 FlexDriveII resolver input accuracy counts 3 Typical accuracy using Baldor BSM se...

Page 111: ...X8 Catalog numbers FDHxxxxxx Hxxxx FPHxxxxxx 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...

Page 112: ...0 40 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 8...

Page 113: ...www baldormotion com 8 12 Specifications MN1902 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 114: ...open 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 FlexDriveII Flex DriveII and MintDri...

Page 115: ...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 116: ...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 117: ...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 118: ...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 119: ...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 120: ...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 121: ...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 48 Filter dimensions type...

Page 122: ...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 123: ...www baldormotion com A 10 Accessories MN1902 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 124: ...H Position Control The mode you require is selected in Mint WorkBench using the Commissioning Wizard You can subsequently change between these control modes using the Tools Control Mode menu item or...

Page 125: ...l provide optimum loop closure The profiler generates a torque demand signal that smoothly changes between successive torque targets reference values This is achieved by specifying a rise time and fal...

Page 126: ...achieved by specifying acceleration and deceleration times see the Mint WorkBench Parameters tool The speed demand signal is fed into the speed controller and used together with the speed measured fro...

Page 127: ...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 demand To improve the tracking perfor...

Page 128: ...d 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 signal If the speed controller is...

Page 129: ...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 profiler speed is fed forward by gai...

Page 130: ...itioning 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 wit...

Page 131: ...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 132: ...FFSET To set the zero point for an EnDat or Hiperface encoder ACCEL To define the acceleration rate of an axis ACCELDEMAND To read the instantaneous demand acceleration ACCELTIME To define the acceler...

Page 133: ...art mode for the specified configuration AUXENCODER To set or read the auxiliary encoder input AUXENCODERMODE To make miscellaneous changes to the auxiliary encoders AUXENCODERROLLOVER To count the nu...

Page 134: ...dge Bus To specify which fieldbus is to be used as the default BUSBAUD To specify the bus baud rate BUSCOMMANDMASK Defines a bit mask for CANopen DeviceNet and PROFIBUS Command telegrams BUSEVENT Retu...

Page 135: ...es to be uploaded as integer data into an array CAPTURECHANNELUPLOAD To allow an entire channel of captured data values to be uploaded into an array CAPTUREDURATION To define the total duration of the...

Page 136: ...omms array storing values as integers COMMSMAPDATATYPE To define the data type of a comms element COMMSMAPMODE To set or read the comms mapping for a comms element COMMSMAPPARAMETER To set or read the...

Page 137: ...ule DRIVEID To define a text description for the drive DRIVEOKOUTPUT To assign a digital output as the Drive OK output DRIVEOVERLOADAREA Reads the extent of a drive overload condition DRIVEOVERLOADMOD...

Page 138: ...og to non volatile EEPROM memory ERRORSWITCH To return the state of the error input EVENTACTIVE Indicates whether an event is currently active EVENTDISABLE To selectively enable and disable Mint event...

Page 139: ...EMODE To control the use of slew speed acceleration deceleration and feedrate override FEEDRATEOVERRIDE Overrides the current speed or feedrate being used FIRMWARERELEASE To read the release number of...

Page 140: ...To read the current state of the Hold DIP switch HOME To find the home position on an axis HOMEACCEL To set the acceleration rate for the homing profile HOMEBACKOFF To set the home back off speed fac...

Page 141: ...bit pattern describing initialization warnings generated at start up INPUTACTIVELEVEL To set the active level on the digital inputs INPUTMODE To set or return the sum of a bit pattern describing which...

Page 142: ...n term KVELFF To set the velocity feedforward term for the position controller KVINT To set the integral gain used by the speed controller KVPROP To set the proportional gain used by the speed control...

Page 143: ...peed demanded on an axis MISCERROR To read or clear the miscellaneous error flag MISCERRORDISABLE To enable or disable miscellaneous errors calling the error event MOTORBRAKE To manually override moto...

Page 144: ...t of a motor overload condition MOTORPEAKCURRENT To set or read the peak current rating of the motor MOTORPEAKDURATION To set or read the duration for which peak motor current can be sustained MOTORPO...

Page 145: ...ress of the current move NODE To set or read the node ID used by this node NODELIVE To determine if a CAN node on the bus is currently live or dead NODETYPE To add or remove a CAN node to from the CAN...

Page 146: ...PLCACTIONPARAMETER To read the associated parameter for an action assigned to a PLC Task channel PLCAUTOENABLE To specify whether the PLC Task will be automatically enabled on power up PLCCONDITION T...

Page 147: ...set index PRESETINDEXSOURCE To define the source for preset index changes PRESETINPUTSMAX To define the number of preset moves available in the preset table PRESETINPUTSTATE To read the current state...

Page 148: ...gital inputs on a remote CAN node REMOTEINBANK To read the state of a bank of digital inputs on a remote CAN node REMOTEINHIBITTIME To set or read the CANopen PDO inhibit time REMOTEINX To read the st...

Page 149: ...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 150: ...he 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 entries to thei...

Page 151: ...rigger source TRIGGERINPUT To specify the input used for triggering when triggering on a digital input TRIGGERMODE Controls the triggering of a move USERPARAMETER To provide access to user programmabl...

Page 152: ...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 153: ...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 154: ...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 155: ...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 156: ...COS COS SIN SIN AGND Figure 58 Resolver cable grounding 1 6 2 7 3 8 11 13 FlexDriveII X8 Encoder Connector Housing Cable Twisted pairs Connect overall shield to connector backshell Connect overall sh...

Page 157: ...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 158: ...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 B...

Page 159: ...ay X3 4 10 8 8 serial port X6 4 15 8 8 connecting Baldor HMI panels 4 18 multidrop using RS485 RS422 cable 4 17 using RS232 cable 4 16 Installation See also Basic Installation dimensions 3 6 mechanica...

Page 160: ...2 X6 4 15 4 18 S Safety Notice 1 2 Specifications 8 1 115V 230V single phase models 8 2 230V three phase models 8 3 230V 460V three phase models 8 4 24V control supply 8 5 absolute encoder feedback X8...

Page 161: ...Index MN1902 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 162: ...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 163: ...www baldormotion com Comments MN1902 Thank you for taking the time to help us Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 164: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Page 165: ...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 166: ...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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