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Control System B-3

MN1901

B.1.3 Speed amplifier

Setting

CONFIG

to

_cfVELOCITY

configures the MintDrive

II

as a speed amplifier, as shown in

Figure 54. Here, a speed reference obtained from a specified source (e.g. a Mint program, the
WorkBench v5 Command window, the analog demand input, or Fieldbus) provides targets for
a speed 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 operates as described in section B.1.1.

Speed

controller

Torque

controller

Power stage

+ motor

Torque

demand

PWM

Speed

demand

Speed

profiler

Speed

reference

Measured current
Measured speed

Figure 54 - Control structure in Velocity (

_cfVelocity

) configuration

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Summary of Contents for MDH1A05TB-RC23

Page 1: ...MintDriveII Servo Position Control SERVO DRIVE Installation Manual 01 07 MN1901...

Page 2: ......

Page 3: ...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...

Page 4: ...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 11 4 3 5 Relay output digital output X3 4 12 4 4 Other I O 4 1...

Page 5: ...ading the actions 6 8 6 3 3 Testing the PLC Task 6 9 6 4 Saving presets or PLC conditions 6 9 7 Troubleshooting 7 1 7 1 Introduction 7 1 7 1 1 Problem diagnosis 7 1 7 1 2 SupportMe feature 7 1 7 1 3 P...

Page 6: ...1 5 Encoder Hall feedback cables A 4 A 1 6 EnDat Hiperface absolute encoder feedback cables A 4 A 1 7 Feedback cable part numbers A 5 A 1 8 EMC filters A 6 A 1 9 Regeneration resistors A 9 B Control...

Page 7: ...charge controls and accessories that our examination proves to be defective in material or workmanship This warranty is valid if the unit has not been tampered with by unauthorized persons misused ab...

Page 8: ...t or abnormal ambient temperatures The exact operating specifications are found in section 8 of this manual The installation connection and control of drives is a skilled operation disassembly or repa...

Page 9: ...otor is driven mechanically it might generate hazardous voltages that are conducted to its power terminals The enclosure must be earthed grounded to prevent possible shock hazard WARNING When operatin...

Page 10: ...Drives must be installed inside an electrical cabinet that provides environmental control and protection Installation information for the drive is provided in this manual Motors and controlling device...

Page 11: ...isolated digital outputs H 2 general purpose 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 communica...

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

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

Page 14: ...www baldormotion com 2 4 Introduction MN1901...

Page 15: ...e for which the MintDriveII was tested see section 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 curre...

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

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

Page 18: ...maximum suggested operating altitude is 1000m 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...

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

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

Page 21: ...CHA Shield Shield 7 CHB Cos B Cos B 8 CHZ NC NC 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...

Page 22: ...MintDriveII will remain operational 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 nu...

Page 23: ...ound connections The threaded hole in the 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 relie...

Page 24: ...ents inside the MintDriveII AC Supply Line L1 Route L1 L2 L3 and earth ground together in conduit or cable Circuit breaker or fuses See section 3 4 4 AC filter See section 3 4 5 Line L2 Line L3 STAR P...

Page 25: ...tion 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 allows...

Page 26: ...G H Note Metal conduit or shielded cable should be used Connect conduits so the use of a line reactor or RC device does not interrupt EMI RFI shielding 3 4 5 Power supply filters To comply with EEC di...

Page 27: ...MDH1A07xx xxxx 115V 1 7 5A 16 16 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 1...

Page 28: ...imum 1 75A continuous 4A power on surge 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...

Page 29: ...esent C D See section 3 5 6 Unshielded lengths should be as short as possible Optional motor circuit contactors Figure 7 Motor connections CAUTION Do not connect supply power to the MintDriveII UVW ou...

Page 30: ...0ms before the M Contactor is opened If the M Contactor is opened while the MintDriveII is supplying voltage and current to the motor the MintDriveII may be damaged Incorrect installation or failure o...

Page 31: ...n Hall 5VDC Brown 3 5 4 Sinusoidal filter A sinusoidal filter is used to provide a better quality waveform to the motor reducing motor noise temperature and mechanical stress It will reduce or elimina...

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

Page 33: ...brake H The motor is brought to rest under normal control H Relay 2 is deactivated causing the brake to engage H The drive is disabled This removes power from the motor and causes Relay 1 to be deacti...

Page 34: ...rate enough heat to ignite combustible materials To avoid fire hazard keep all combustible materials and flammable vapors away from the resistors The regeneration resistor should be mounted near the t...

Page 35: ...unded ends of shields must be insulated H Some 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...

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

Page 37: ...eII X8 pin Motor cable pin Baldor resolver cable internal wire colors REF 1 1 Red REF 6 2 Blue COS 2 3 Green COS 7 4 Yellow SIN 3 5 Pink SIN 8 6 Grey 1 2 3 4 5 6 7 8 9 10 11 12 Motor resolver connecto...

Page 38: ...or X8 15 pin D type female connector Pin Encoder function 1 CHA 2 CHB 3 CHZ 4 Hall U 5 Hall U 6 CHA 7 CHB 8 CHZ 9 Hall W 10 Hall V 11 5V out 12 NC 13 DGND 14 Hall W 15 Hall V Description Commutating U...

Page 39: ...4 Purple White CHB 2 5 Green CHB 7 6 Green White 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 G...

Page 40: ...15 Encoder cable connections linear motors 3 7 2 3 Encoder cable pin configuration linear motors Linear motors use two separate cables encoder and Hall The cores of these two cables must be wired to...

Page 41: ...be connected to the metallic shell of the D type connector Location Connector X8 15 pin D type female connector Pin Encoder function 1 Data 2 Data 3 5V out 4 5V out 5 DGND 6 Shield 7 Cos B 8 Reserved...

Page 42: ...dor EnDat cable internal wire colors Data 2 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 5V 4 9 Red DGND 5 10 Blue Sin A 12 11 Green Whi...

Page 43: ...nnected to the metallic shell of the D type connector Location Connector X8 15 pin D type female connector Pin Encoder function 1 Data 2 Data 3 8V out 4 8V out 5 DGND 6 Shield 7 Cos B 8 Reserved do no...

Page 44: ...r Hiperface cable internal wire colors Data 2 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 W...

Page 45: ...nded connect 24VDC to pin7 CREF and 0V to pin 9 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...

Page 46: ...appropriate instructions In software a drive enable command must be issued The easiest way to do this is by clicking the Drive enable button in WorkBench v5 Alternatively the Mint commands RESET or D...

Page 47: ...n 10 way DIP switch module for major functions 3 9 1 Switches 1 4 Switches 1 4 set the network node number address after the next power off on cycle The switches can be used to select any node number...

Page 48: ...when using RS232 3 9 4 Switch 7 Offset tuning 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 dem...

Page 49: ...using the SW1 DIP switches to reset the MintDriveII to its factory defaults all parameters including the node number and serial communications baud rate will be reset In WorkBench v5 this means it wi...

Page 50: ...to On and switch 8 is set to Off any program already in the MintDriveII that contains an Auto command will be prevented from running automatically at startup On 5 Reapply power Mint program with Auto...

Page 51: ...block X4 H 2 analog outputs on the connector block 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 pr...

Page 52: ...VDC Resolution 14 bit with sign accuracy 1 2mV 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...

Page 53: ...DC 0 1 2 3 X3 AIN0 Differential connection Single 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 Typic...

Page 54: ...0dB Input impedance 5k Sampling interval 500 s 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...

Page 55: ...www baldormotion com Input Output 4 5 MN1901 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...

Page 56: ...of a selected parameter can be monitored by the MintDriveII and the analog output used to produce a voltage proportional to the value DAC monitoring can be controlled by various Mint keywords These b...

Page 57: ...ure input H PLC Task input conditions H Index 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 f...

Page 58: ...2ms DIN0 DIN7 The digital inputs 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...

Page 59: ...and direction inputs DIN4 and DIN5 DIN4 and DIN5 can be configured using the MASTERSOURCE keyword to behave as pulse and direction inputs H DIN4 is used as the pulse input The pulse frequency control...

Page 60: ...th Schmitt trigger devices Note The fast inputs are particularly sensitive to noise so inputs must use shielded twisted pair cable Do not connect mechanical switches relay contacts or other sources li...

Page 61: ...3 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 62: ...he contacts close The relay can be also be controlled directly by the Mint keyword RELAY When the relay is energized RELAY _on the contacts close When the relay is de energized RELAY _off the contacts...

Page 63: ...encoder input of 4096 ppr output modes of 512 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 sa...

Page 64: ...onnector backshells CHA CHA CHB CHB CHZ CHZ DGND Baldor cable parts CBL0xxMF E3A are recommended where xx represents a choice of available lengths Figure 36 MintDriveII encoder output to NextMove BX e...

Page 65: ...it to follow a master encoder or pulse and direction inputs An interface for a three channel incremental encoder CHA CHB CHZ is provided The input receiver circuit allows only encoders with differenti...

Page 66: ...state of the direction signal controls the direction of motion A positive direction voltage greater than 200mV will result in motion in one direction A negative direction voltage less than 200mV will...

Page 67: ...485 using front panel DIP switch number 10 see section 3 9 6 The Mint keyword SERIALBAUD is used to configure the port and is explained in the Mint help file See also sections 4 4 4 and 4 4 5 The port...

Page 68: ...bit H 8 data bits H 1 stop bit H No parity H Hardware handshaking lines RS232 RTS and CTS must be connected This configuration can be changed if required The RS232 connections are brought out onto a...

Page 69: ...be one wire from a third twisted pair Figure 42 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...

Page 70: ...andshaking then use the connections shown in Figure 43 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 43 Cable wiring if hardware handshaking...

Page 71: ...mer supplied 24V supply see sections 3 6 and 3 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 als...

Page 72: ...ere are additional connectors on the front panel 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 man...

Page 73: ...ime you are installing a MintDriveII then it is strongly recommended that you use RS232 to get started the preset factory setting and use RS485 later Pin 9 is used to carry 8V for powering a Baldor ke...

Page 74: ...codes H Verify that the MintDriveII and motor are properly earthed grounded H Check all signal wiring for accuracy 5 1 5 Power on checks If at any time the Status display shows a flashing symbol or E...

Page 75: ...on the demand reference input to achieve a stationary motor shaft with 0VDC at the input Offset tuning is controlled by DIP switches 7 and 8 Before starting confirm that the device supplying the AIN0...

Page 76: ...rol topics The help file can be displayed at any time by pressing F1 On the left of the help window the Contents tab shows the tree structure of the help file Each book contains a number of topics The...

Page 77: ...t Programs WorkBench v5 WorkBench v5 WorkBench v5 will start and the Tip of the Day dialog will be displayed You can prevent the Tip of the Day dialog appearing next time by removing the check mark ne...

Page 78: ...erial ports Click Scan to search for the MintDriveII 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 Wh...

Page 79: ...disconnect any load from the motor during initial commissioning The motor can be tuned with the load connected after the Commissioning Wizard has finished Each screen of the Commissioning Wizard requ...

Page 80: ...window s Velocity display should show 10 approximately Ifthere seems to bevery littlemotor movement it is probably dueto thescale factor In the Commissioning Wizard on the Position Control page if you...

Page 81: ...already shows some of the parameters that have been calculated by the Commissioning Wizard The main area of the WorkBench v5 window displays the capture window When further tuning tests are performed...

Page 82: ...d help just press F1 to display the help file 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...

Page 83: ...ur 1 Click the Parameters icon in the Toolbox on the left of the screen The main area of the WorkBench v5 window displays the Controller Parameters screen 2 The Controller Parameters screen has a numb...

Page 84: ...for programming the MintDriveII The tool provides 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...

Page 85: ...PLC Task 6 1 MN1901 6 1 Introduction Two of the important features introduced on the MintDriveII are preset moves and the PLC task Basic operation of these two features are described in the following...

Page 86: ...umn will change accordingly 4 Click in the Value column to set the appropriate value Any values entered in the preset table to specify a position slew speed acceleration or deceleration are interprete...

Page 87: ...tool is not currently selected 6 2 3 Using digital inputs to trigger a preset move In normal operation preset moves can be selected and triggered by external equipment using a combination of the digit...

Page 88: ...llowing table shows the combinations of digital 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...

Page 89: ...t inputs shown by the Preset Sel icon are not 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 input...

Page 90: ...lly The configuration and operation of preset 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...

Page 91: ...Digitalinputwill meanthat adigital inputwill 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 adjace...

Page 92: ...e performed An individual action can be disabled 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 th...

Page 93: ...conditions Preset tables and PLC conditions can 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...

Page 94: ...www baldormotion com 6 10 Preset Moves PLC Task MN1901...

Page 95: ...following information ready H The serial number of your MintDriveII H Use the Help SupportMe menu item in WorkBench v5 to view details about your system H The catalog and specification numbers of the...

Page 96: ...opped below the powerbase undervolts level see 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 i...

Page 97: ...Error Log topics in the help file Error input 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 foll...

Page 98: ...is state using the Mint keyword DRIVEENABLEINPUTMODE 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 T...

Page 99: ...s option to locate the MintDriveII Check the wiring of the serial cable or try an alternate cable Check that DIP switch 10 RS232 RS422 is set correctly see section 3 9 6 On the PC try an alternative C...

Page 100: ...ve disables when tuning the Mint gains Set FOLERRORMODE to zero to ignore the following error while tuning the Mint gains I get a Software limit error AXISERROR bits 3 or 4 set and the drive disables...

Page 101: ...www baldormotion com Specifications 8 1 MN1901 8 1 Introduction This section provides technical specifications for the various MintDriveII models 8 Specifications 8...

Page 102: ...nput voltage recommended absolute 220 75 Maximum 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 30...

Page 103: ...tput current ARMS 20 Nominal DC Bus voltage 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 2...

Page 104: ...Nominal DC Bus voltage VDC 325 230VAC input 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 500...

Page 105: ...ower 10 power cycle kW 0 25 Peak power 10 power 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 re...

Page 106: ...ff 750 on off 750 Nominal power 10 power cycle 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 MDH4A...

Page 107: ...tion bits 14 includes sign bit Equivalent resolution 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 O...

Page 108: ...ut current approximate per input mA 5 Sampling interval ms 2 Maximum pulse input frequency DIN4 pulse and direction mode MHz 1 Minimum pulse width DIN4 DIN5 pulse and direction mode ns 250 8 1 10 Digi...

Page 109: ...ce X6 All models Unit All models Signal RS232 non isolated CTS RTS Bit rate Baud 9600 19200 38400 57600 8 1 13 Serial RS485 interface X6 All models Unit All models Signal 4 wire RS485 non isolated Bit...

Page 110: ...odels Encoder input A B Differential Z index Maximum input frequency quadrature MHz 8 Hall inputs Single ended 5V logic Output power supply to encoder 5V 200mA max Maximum recommended cable length 30...

Page 111: ...cifications are supported contact Baldor Output power supply to encoder 8V 200mA max Maximum recommended cable length 30 5m 100ft 8 1 19 Master auxiliary encoder input X9 All models Unit All models Si...

Page 112: ...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 derate linearly to 50 relative humidity at 40 C 104 F Maxim...

Page 113: ...eII and MintDriveII Option B provides CANopen 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...

Page 114: ...0 CBL030SP 20 CBL050SP 20 CBL061SP 20 CBL075SP 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 4...

Page 115: ...motor end only CBL015SF R CBL025SF R CBL030SF 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...

Page 116: ...SF E1 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 Available in North and South America only A 1 6 EnDat Hiperface absolute encoder feedback cables This...

Page 117: ...or E Encoder Hall feedback cable D EnDat Hiperface feedback cable 1 Drive connector included 9 pin D type connector resolver 15 pin D type connector Encoder Hall EnDat Hiperface Note Feedback cables h...

Page 118: ...atalog numbers Baldor catalog number Rated volts Rated amps 40 C Leakage current mA Weight kg lbs FI0014A00 250 3 0 4 0 27 0 6 FI0015A00 250 6 0 4 0 45 0 99 FI0015A02 250 12 0 4 0 73 1 61 FI0018A00 48...

Page 119: ...2 A 85 3 35 113 5 4 47 156 6 14 B 54 2 13 57 5 2 26 C 40 1 57 46 6 1 83 D 65 2 56 94 3 70 130 5 5 14 E 75 2 95 103 4 06 143 5 63 F 27 1 06 25 0 98 G 12 0 47 12 4 0 49 H 29 5 1 16 32 4 1 28 J 5 3 0 21...

Page 120: ...nting keyhole and slot detail A B C A 5 5mm B 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...

Page 121: ...Baldor catalog no Power rating W 2 5A Internal 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 requir...

Page 122: ...www baldormotion com A 10 Accessories MN1901...

Page 123: ...speed demand signal If the position controller is tuned correctly the measured position will accurately track the position demand The speed demand signal from the position controller is fed into a sp...

Page 124: ...tioning applications the control structure which includes the speed loop _cfSERVO will give superior results However in a few applications where stationary positioning accuracy is the most overriding...

Page 125: ...d input or Fieldbus provides targets for a speed profiler The profiler generates a speed demand signal that smoothly changes between successive speed targets This speed demand signal is fed into the s...

Page 126: ...ndow the analog demand input or Fieldbus provides targets for a torque profiler The profiler generates a torque demand signal that smoothly changes between successive torque targets This torque demand...

Page 127: ...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 gain KVELFF to give a contributi...

Page 128: ...et to zero When the MintDriveII is set to positioning mode CONFIG is _cfSERVO the profiler acceleration is fed forward by gain KACCEL to give a contribution to the final torque demand The speed contro...

Page 129: ...It also compensates for the back EMF of the motor with the voltage constant of the motor being set using the MOTORFLUX keyword Values for MOTORRS MOTORLS and MOTORFLUX are set automatically by the Co...

Page 130: ...www baldormotion com B 8 Control System MN1901...

Page 131: ...EROFFSET 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 acce...

Page 132: ...e specified configuration AUTOSTARTMODE To set the autostart mode for the specified configuration AUXDAC To set or read the auxiliary DAC outputs AUXENCODER To set or read the auxiliary encoder input...

Page 133: ...ltage 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 To specify the bus baud rate BUSCOMMANDMASK Defi...

Page 134: ...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 stop motion and clear errors on all axes CAPTUREBUFFERSIZE To read the...

Page 135: ...UE Sets the trigger value when triggering from a capture channel source CLEARERRORLOG To clear the error log COMMISSIONED To set or read whether the axis drive has been commissioned COMMS Accesses the...

Page 136: ...for the drive DRIVEBUSOVERVOLTS To set or return the overvoltage trip level for the drive DRIVEBUSUNDERVOLTS To set or return the undervoltage trip level for the drive DRIVEBUSVOLTS To return the cur...

Page 137: ...s changes to the encoders ENCODERSCALE To set or read the scale factor for the encoder channel ENCODERVEL To read the velocity from an encoder channel ENCODERWRAP To set or read the encoder wrap range...

Page 138: ...read the axis fast interrupt latch FASTLATCHEDGE To define which edge polarity should cause the fast position to be captured FASTLATCHMODE To set the default action to be taken to clear the encoder s...

Page 139: ...ether a node is a member of a group GROUPCOMMS To write to the comms arrays of all the nodes within a specified group GROUPMASTER To set a node as the master of a group or to return the node ID of the...

Page 140: ...a homing sequence HOMESWITCH To return the state of the home input HOMETYPE To set the homing mode to be performed at start up HTA Starts the hold to analog mode of motion HTACHANNEL To specify the an...

Page 141: ...ital inputs should be edge or level triggered INPUTNEGTRIGGER To set or return the user inputs that become active on negative edges INPUTPOSTRIGGER To set or return the user inputs that become active...

Page 142: ...proportional gain used by the speed controller KVTIME To set the time constant of a low pass filter applied to measured speed LED To set or read the display mode for the seven segment display LEDDISP...

Page 143: ...AKE To manually override motor brake control MOTORBRAKEDELAY To specify engage disengage delays associated with motor brake control MOTORBRAKEMODE To activate or deactivate motor brake control MOTORBR...

Page 144: ...ESOLVEROFFSET To set the feedback alignment for a resolver motor MOTORRS To set the motor stator resistance MOTORSPECNUMBER To return the spec number of the motor MOTORTEMPERATUREINPUT To assign a dig...

Page 145: ...ntroller NUMBEROFEXTENDED To return information about the abilities of the controller NVFLOAT To read or write a floating point value in non volatile memory NVLONG To read or write a long integer valu...

Page 146: ...sk channel PLCAUTOENABLE To specify whether the PLC Task will be automatically enabled on power up PLCCONDITION To read a PLC test condition PLCDEFAULT To reset the PLC Task table to default settings...

Page 147: ...ad the current state of digital inputs representing the preset index PRESETJOG To set up a jog preset move PRESETMOVEA To set up an absolute preset move PRESETMOVEENABLE Enables or disables preset mov...

Page 148: ...used to debounce an input on a remote CAN node REMOTEEMERGENCYMESSAGE Returns the error code from the last emergency message received from a particular CANopen node REMOTEERROR Reads the CANopen error...

Page 149: ...a variable length PDO message with a specific COB ID The PDO will contain up to 64 bits of data that can be passed in the form of two 32 bit values REMOTERESET Force a remote CAN node to do a software...

Page 150: ...peed and the measured speed SPEEDERRORFATAL To set or read the trip limit for the error between demanded and measured speed SPEEDMEASURED To return the measured speed SPEEDREF To set or read a fixed p...

Page 151: ...en terminal TIMEREVENT To set or read the rate of the timer event TIMESCALE To scale speed related values into user time units TORQUEDEMAND To return the instantaneous torque demand TORQUELIMITNEG To...

Page 152: ...t VEL To return the instantaneous axis velocity VELDEMAND To read the current instantaneous demand velocity VELERROR To report the velocity following error VELFATAL To set or read the threshold for th...

Page 153: ...urn these minimum technical requirements are intended to enhance the levels of safety both directly and indirectly Council directive 89 336 EEC relating to Electro Magnetic Compliance EMC indicates th...

Page 154: ...tive 89 336 EEC relating to Electromagnetic Compatibility by the application of the following standards Standard EN61800 3 1996 Title Adjustable speed electrical power drive systems Part 3 EMC Product...

Page 155: ...shield screen connections can be connected to earth ground Within the cabinet there should be a spatial separation between power wiring motor and AC power cables and control wiring Shield screen conne...

Page 156: ...on H The shield connections of the signal and power cables should be connected to the shield rails or clamps The shield rails or clamps should be conductive clamps fastened to the cabinet H The cable...

Page 157: ...nect overall shield to connector backshell REF REF COS COS SIN SIN AGND Figure 60 Resolver cable grounding 1 6 2 7 3 8 11 13 MintDriveII X8 Encoder Connector Housing Cable Twisted pairs Connect overal...

Page 158: ...www baldormotion com D 6 CE Guidelines MN1901...

Page 159: ...hase 3 9 three phase 3 10 thermal switch 3 18 Connector locations 3 7 Control system B 1 operation position controller B 5 speed controller B 6 torque controller and feedback B 7 positioning with spee...

Page 160: ...4 2 8 6 analog input X4 4 4 8 7 analog output X4 4 6 8 7 connection summary 4 21 digital I O 4 7 digital inputs X3 4 8 8 8 digital outputs X3 4 11 4 12 8 8 encoder output X7 4 13 8 9 master encoder in...

Page 161: ...ification 8 10 RS232 cable 4 18 specification 8 9 X6 4 17 RS485 RS422 specification 8 9 systems 3 2 X6 4 17 4 20 S Safety Notice 1 2 Specifications 8 1 115V 230V single phase models 8 2 230V three pha...

Page 162: ...1 U Units and abbreviations 2 3 W Wire sizes 3 13 WorkBench v5 5 4 Commissioning Wizard 5 7 digital I O tool 5 12 fine tuning tool 5 9 help file 5 4 other tools and windows 5 12 parameters tool 5 11 s...

Page 163: ...your comments in the space provided below remove this page from the manual and mail it to Manuals Baldor UK Ltd Mint Motion Centre 6 Bristol Distribution Park Hawkley Drive Bristol BS32 0BF United Ki...

Page 164: ...www baldormotion com Comments MN1901 Thank you for taking the time to help us...

Page 165: ......

Page 166: ...2030 Fax 52 477 761 2010 U S A Headquarters Baldor Electric Company Tel 1 479 646 4711 Fax 1 479 648 5792 Singapore Baldor Electric PTE Ltd Tel 65 744 2572 Fax 65 747 1708 Japan Baldor Japan Corporat...

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