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6-18 Configuration

MN1942

6.4.6 Optimizing the velocity response

It may be desirable to optimize the default autotuned response to better suit your application.
The following sections describe the two main tuning issues and how to correct them.

6.4.6.1 Correcting overshoot

Figure 51 shows a response where the measured velocity overshoots the demand by a
significant amount.

1. Go to the Fine-tuning window’s Velocity

tab.

To reduce the amount of overshoot, click

Calculate...

and increase the bandwidth

using the slider control. Alternatively, type
a larger value in the Bandwidth box.

Click

to close the Bandwidth dialog.

2. Click

to start the test move. Mint

WorkBench will perform the test move
and display a graph of the result.

Measured
velocity

Demand velocity

Figure 51 - Velocity overshoots demand

Содержание MicroFlex e100

Страница 1: ......

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Страница 3: ...Overtemperature trips 3 8 3 3 Connector locations 3 9 3 3 1 Front panel connectors 3 9 3 3 2 Top panel connectors 3 10 3 4 Power connections 3 11 3 4 1 Earthing grounding 3 11 3 4 2 Single phase or th...

Страница 4: ...5 5 2 3 General purpose digital inputs DIN1 DIN2 5 7 5 2 4 Special functions on inputs DIN1 DIN2 5 8 5 2 5 General purpose status output DOUT0 5 10 5 2 6 General purpose output DOUT1 5 12 5 3 USB com...

Страница 5: ...s tool 6 25 6 5 3 Spy window 6 26 6 5 4 Other tools and windows 6 27 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 Power cycling the MicroFle...

Страница 6: ...power cables A 8 A 2 2 Feedback cable part numbers A 10 A 2 3 SSI feedback cables A 10 A 2 4 Encoder Hall feedback cables A 11 A 2 5 BiSS EnDat and SinCos feedback cables A 12 A 2 6 Ethernet cables A...

Страница 7: ...th by unauthorized persons 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 guaran...

Страница 8: ...sassembly or repair must not be attempted In the event that a drive fails to operate correctly contact the place of purchase for return instructions Precautions Do not touch any circuit board power de...

Страница 9: ...e100 the motor could begin to move immediately The metal heatsink on the left side of the MicroFlex e100 can become very hot during normal operation When operating a rotary motor with no load coupled...

Страница 10: ...that connect to the drive should have specifications compatible to the drive Failure to meet cooling air flow requirements will result in reduced product lifetime and or drive overtemperature trips V...

Страница 11: ...al output to indicate error conditions H USB 1 1 serial port compatible with USB2 0 H CANopen protocol for communication with Mint controllers and other third party CANopen devices H ETHERNET Powerlin...

Страница 12: ...ivered your MicroFlex e100 5 If MicroFlex e100 is to be stored for several weeks before use be sure that it is stored in a location that conforms to the storage humidity and temperature specifications...

Страница 13: ...tion International Users and Manufacturers Group e V CTRL E on the PC keyboard press Ctrl then E at the same time DAC Digital to Analog Converter DS301 CiA CANopen Application Layer and Communication...

Страница 14: ...www baldormotion com 2 4 Introduction MN1942...

Страница 15: ...oFlex e100 was tested see section 3 4 7 The 24 VDC control circuit supply must be a regulated power supply with a continuous current supply capability of 1 A 4 A power on surge 3 1 2 Hardware requirem...

Страница 16: ...icroFlex e100 It is recommended to install a separate dedicated Ethernet adapter in the PC which can be configured for use with the MicroFlex e100 See section 6 2 4 3 1 3 Tools and miscellaneous hardw...

Страница 17: ...300 ft H The MicroFlex e100 must be installed where the pollution degree according to IEC664 shall not exceed 2 H The 24 VDC control circuit supply must be installed so that the 24 VDC supplied to the...

Страница 18: ...ensions 80 3 2 63 5 2 5 11 0 4 167 7 6 6 180 7 1 6 0 24 6 0 24 5 0 2 Mounting hole and slot detail 5 5 mm Dimensions shown as mm inches Depth 157 mm 6 2 in Weight 3 A 1 45 kg 3 2 lb 6 A 1 50 kg 3 3 lb...

Страница 19: ...he cooling equipment Optional fan tray FAN001 024 mounted exactly as shown in section A 1 1 ensures that correct cooling is provided and allows the MicroFlex e100 to be UL listed 3 2 2 1 Effects of mo...

Страница 20: ...MFE230A003 0 1 2 3 30 35 40 45 50 55 Ambient temperature C Rated output current A rms Single phase AC supply Natural cooling Natural cooling 0 1 2 3 30 35 40 45 50 55 Ambient temperature C Three phase...

Страница 21: ...30 35 40 45 50 55 Ambient temperature C Single phase AC supply Natural cooling 1 m s forced air 1 5 m s forced air 0 1 2 3 4 5 6 30 35 40 45 50 55 Ambient temperature C Three phase AC supply Natural c...

Страница 22: ...imit for model MFE230A009 is 18 A Rated output current A rms Ambient temperature C Single phase AC supply Rated output current A rms 0 1 2 3 4 5 6 7 8 9 30 35 40 45 50 55 Natural cooling 1 m s forced...

Страница 23: ...CHZ NC NC NC 12 5 V out 5 V out 5 V out 5 V out 13 DGND DGND DGND DGND 14 Hall W NC NC NC 15 Hall W NC NC NC Shell Shield Shield Shield Shield 1 Status 2 DGND 3 DOUT1 4 DIN2 5 DGND 6 DIN1 7 DIN0 8 DGN...

Страница 24: ...com 3 10 Basic Installation MN1942 3 3 2 Top panel connectors CAN 1 NC 2 CAN 3 CAN GND 4 NC 5 Shield 6 CAN GND 7 CAN 8 NC 9 CAN V Ethernet 1 TX 2 TX 3 RX 4 NC 5 NC 6 RX 7 NC 8 NC Both connectors have...

Страница 25: ...e size for the wire gauge being used Connectors are to be installed using only the crimp tool specified by the manufacturer of the connector 3 4 1 Earthing grounding A permanent earth ground bonding p...

Страница 26: ...er must be connected between the AC power supply and the MicroFlex e100 If local codes do not specify different regulations use at least the same gauge wire for earth ground as is used for L1 L2 and L...

Страница 27: ...ust be installed between the AC line reactor or isolation transformer and the AC input to the MicroFlex e100 3 4 3 1 Input power cycling and inrush If AC power has been removed from the MicroFlex e100...

Страница 28: ...ecommended circuit breakers are thermal magnetic devices 1 or 3 phase as required with characteristics suitable for heavy inductive loads C type trip characteristic Circuit breaker or fuses are not su...

Страница 29: ...6x32 FA series 12 5 A X084315P 12 5 A 14 2 0 3 X084315P or BS88 2 5 URGS 12 A P076649 12 5 A 14 2 0 1 Ferraz Shawmut 25 A 14 2 5 1 Ferraz Shawmut BS88 2 5 URGS 25 A R076651 25 A 14 2 5 MFE A009 9 A 3...

Страница 30: ...rth leakage from the MicroFlex e100 is 3 4 mA per phase 230 V 50 Hz supply This value does not include the earth leakage from the AC power filter which could be much larger see section A 1 4 3 4 7 1 H...

Страница 31: ...rest of the system Alternatively a ferrite sleeve may be attached to the supply cable near connector X2 Location Connector X2 Nominal input voltage 24 VDC Range 20 30 VDC Input current Maximum Typical...

Страница 32: ...se the Parameters tool in Mint WorkBench see section 6 5 2 Location Connector X1 AC supply voltage 115 VAC 1 230 VAC 1 230 VAC 3 Output voltage range 0 115 VAC 3 0 230 VAC 3 0 230 VAC 3 Unshielded len...

Страница 33: ...ore the M Contactor is opened If the M Contactor is opened while the MicroFlex e100 is supplying voltage and current to the motor the MicroFlex e100 may be damaged Incorrect installation or failure of...

Страница 34: ...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 eliminat...

Страница 35: ...supplied 24 VDC supply 24 V 0 V Separate customer supplied 24 VDC supply 24 V 0 V DIN1 DIN1 16 6 X3 The relay has normally open contacts and is shown deactivated contacts open motor overheated Figure...

Страница 36: ...the brake To engage the brake H The motor is brought to rest under normal control H Relay 2 is deactivated causing the brake to engage H The drive is disabled This removes power from the motor and ca...

Страница 37: ...inals Use a suitable heatsink with fanif necessary to coolthe regenerationresistor The regeneration resistor and heatsink if present can reach temperatures in excess of 80 C 176 F Regeneration resisto...

Страница 38: ...nal motor speed after deceleration is complete in radians per second Multiply RPM by 0 1047 to get radians per second This value will be zero if the load is going to be stopped Final motor speed V ___...

Страница 39: ...than the drive s regeneration capacity shown in Table 5 on page 3 23 a regeneration resistor will not be required If E is greater than the drive s regeneration capacity then continue to section 3 7 3...

Страница 40: ...Table 6 can withstand a brief overload of 10 times the rated power for 5 seconds Please contact Baldor if larger power ratings are required 3 7 5 Resistor derating The regeneration resistors shown in...

Страница 41: ...are some important considerations when wiring the feedback device H The feedback device wiring must be separated from power wiring H Where feedback device wiring runs parallel to power cables they mu...

Страница 42: ...e Hall U Hall V and Hall W pins unconnected The overall cable shield screen must be connected to the metallic shell of the D type connector Connector X8 includes a Sense pin which is used to detect th...

Страница 43: ...otors CHA CHA CHB CHB 5 V out DGND 1 9 2 10 3 11 12 X8 CHZ INDEX CHZ INDEX 6 5 15 14 8 7 13 Hall U Hall U Hall W Hall W Hall V Hall V 4 Sense Hall Feedback Connect overall shield to connector backshel...

Страница 44: ...ector backshells Twisted pairs Encoder Feedback Motor Figure 15 Encoder cable connections without halls rotary motors 4 1 1 3 Halls only feedback devices Feedback devices using only Hall sensors may b...

Страница 45: ...rple White CHB 2 5 Green CHB 10 6 Green White CHZ 3 7 Brown CHZ 11 8 Brown White Hall U 6 10 Pink Hall U 5 11 Pink Black Hall V 8 12 Yellow Hall V 7 13 Yellow Black Hall W 15 14 Grey Hall W 14 15 Grey...

Страница 46: ...Please refer to MN1800 Linear Motors CHB 10 Please refer to MN1800 Linear Motors Installation Operating Manual for details CHZ 3 CHZ 11 Baldor Hall cable internal wire colors Hall U 6 White Hall V 8...

Страница 47: ...runs This allows the MicroFlex e100 to increase the supply voltage on pin 12 to maintain a 5 VDC supply at the encoder 200 mA max Pin BiSS function 1 Data 2 Clock 3 NC 4 Sense 5 Sin Note If your cable...

Страница 48: ...otor cable pin Baldor BiSS EnDat SinCos cable internal wire colors Data 9 1 Brown White Clock 10 5 Pink Black Clock 2 7 Pink Sense 4 9 Orange 5V out 12 9 Red DGND 13 10 Blue Data 1 12 Brown 1 2 3 4 5...

Страница 49: ...ield screen must be connected to the metallic shell of the D type connector Connector X8 includes a Sense pin which is used to detect the voltage drop on long cable runs This allows the MicroFlex e100...

Страница 50: ...pin Baldor SSI cable internal wire colors 5 V out 12 1 Red DGND 13 2 Blue Clock 2 3 Green Clock 10 4 Yellow Data 1 5 Pink Data 9 6 Grey Sense 4 9 Orange 1 2 3 4 5 6 7 8 9 10 11 12 Motor SSI connector...

Страница 51: ...detect the voltage drop on long cable runs This allows the MicroFlex e100 to increase the encoder supply voltage on pin 12 to maintain a 5 V supply at the encoder 200 mA max The Sin and Cos channel in...

Страница 52: ...le internal wire colors Not used 9 1 Brown White Sin 6 2 Green Cos 8 4 Purple Not used 10 5 Pink Black Not used 2 7 Pink Cos 7 8 Purple White Sense 4 9 Orange 5 V out 12 9 Red DGND 13 10 Blue Sin 5 11...

Страница 53: ...l of the D type connector Connector X8 includes a Sense pin which is used to detect the voltage drop on long cable runs This allows the MicroFlex e100 to increase the encoder supply voltage on pin 12...

Страница 54: ...nCos cable internal wire colors Data 9 1 Brown White Sin 6 2 Green Cos 8 4 Purple Clock 10 5 Pink Black Clock 2 7 Pink Cos 7 8 Purple White Sense 4 9 Orange 5 V out 12 9 Red DGND 13 10 Blue Sin 5 11 G...

Страница 55: ...bes the various digital input and output capabilities of the MicroFlex e100 with descriptions of each of the connectors on the front panel The following conventions are used to refer to the inputs and...

Страница 56: ...general purpose digital inputs H 1 dedicated drive enable input H 1 general purpose digital output H 1 general purpose drive status output The general purpose digital inputs can be configured for typ...

Страница 57: ...enable status In all cases the drive enable input must be active and there must be no errors present before the MicroFlex e100 can be enabled It is recommended that an emergency stop switch or emergen...

Страница 58: ...troller Mint DRIVEENABLEOUTPUT 10k DOUT0 USR GND 1 10 UDN2982 User supply 24 V User supply GND USR V 9 X11 Drive Enable MicroFlex e100 Drive Enable X3 3k3 TLP280 100R 19 9 Emergency stop Figure 28 Dri...

Страница 59: ...ither polarity The state of the digital input is displayed in the Mint WorkBench Spy window The input can be can be configured for different user definable functions DIN0 3k3 TLP280 DGND Mint Vcc Micr...

Страница 60: ...N1942 NextMove e100 controller Mint OUTX 0 10k DOUT0 USR GND 1 10 UDN2982 User supply 24 V User supply GND USR V 9 X11 DIN0 MicroFlex e100 DIN0 X3 3k3 TLP280 100R 17 7 Figure 30 Digital input typical...

Страница 61: ...nput signal to be connected with either polarity The state of the digital input is displayed in the Mint WorkBench Spy window The inputs can be can be configured for different user definable functions...

Страница 62: ...eyword to become a fast latch input This allows the position of the axis to be captured in real time and read using the Mint keyword LATCHVALUE The input can configured using the LATCHTRIGGEREDGE keyw...

Страница 63: ...16 Twisted pairs DIN2 Dir 14 A A B B 24V GND DIN1 6 DIN2 4 GND 1 X2 2 24V DGND 5 Drive supply GND Drive supply 24V Figure 33 Step and direction inputs typical connection from an incremental encoder N...

Страница 64: ...moved If the output is used to directly drive a relay a suitably rated diode must be fitted across the relay coil observing the correct polarity This is to protect the output from the back EMF generat...

Страница 65: ...com Input Output 5 11 MN1942 NextMove e100 controller DOUT0 DOUT0 8 9 MicroFlex e100 DIN4 CREF1 TLP127 TLP280 User supply GND User supply 24 V 11 1 X3 X9 Figure 35 DOUT0 typical connections to a Bald...

Страница 66: ...econds to reset after the load has been removed If the output is used to directly drive a relay a suitably rated diode must be fitted across the relay coil observing the correct polarity This is to pr...

Страница 67: ...com Input Output 5 13 MN1942 NextMove e100 controller DOUT1 DOUT1 8 9 MicroFlex e100 DIN4 CREF1 TLP127 User supply GND User supply 24 V 13 3 X3 X9 TLP280 Figure 37 DOUT1 typical connections to a Bald...

Страница 68: ...a USB port on the host PC If it is connected to a hub shared by other USB devices communication could be affected by the activity of the other devices A 2 m 6 5 ft standard USB cable is supplied The m...

Страница 69: ...yword InKey can be used to receive characters The RS485 port can also be used to exchange data using the Baldor Host Comms Protocol HCP HCP2 See the Mint WorkBench help file for details Operator panel...

Страница 70: ...even firmware to be sent to the controller over the Ethernet network When operating in standard Ethernet mode TCP IP cannot be used to communicate with a controller on a daisy chained network This is...

Страница 71: ...equipment This allows nodes to be connected as a daisy chain network of up to 10 nodes avoiding the need for additional hubs If the network comprises more than 10 nodes an external hub must be used Th...

Страница 72: ...o not run Ethernet cables close to AC supply cables motor power cables or other sources of noise as this can sometimes cause spurious errors to be reported Cables may be up to 100 m 328 ft long Two va...

Страница 73: ...ND Ground earth reference for CAN signals 4 NC 5 Shield Shield connection 6 CAN GND Ground earth reference for CAN signals 7 CAN CAN channel positive 8 NC 9 CAN V CAN power V 12 24 V 5 6 2 CAN wiring...

Страница 74: ...ired for the isolated CAN circuit A connector such as the Phoenix Contact SUBCON PLUS F3 Phoenix part 2761871 provides a 9 pin D type female connector with easily accessible terminal block connections...

Страница 75: ...and pin 6 of the CAN connector The configuration and management of a CANopen network must be carried out by a single node acting as the network manager for example NextMove e100 or by a third party C...

Страница 76: ...1 2 0 2 66 4 2 130 8 2 194 C 2 3 0 3 67 4 3 131 8 3 195 C 3 4 0 4 68 4 4 132 8 4 196 C 4 5 0 5 69 4 5 133 8 5 197 C 5 6 0 6 70 4 6 134 8 6 198 C 6 7 0 7 71 4 7 135 8 7 199 C 7 8 0 8 72 4 8 136 8 8 200...

Страница 77: ...2 F 111 6 F 175 A F 239 E F 48 3 0 112 7 0 176 B 0 240 F 0 49 3 1 113 7 1 177 B 1 241 F 1 50 3 2 114 7 2 178 B 2 242 F 2 51 3 3 115 7 3 179 B 3 243 F 3 52 3 4 116 7 4 180 B 4 244 F 4 53 3 5 117 7 5 1...

Страница 78: ...controlled node a node that will accept commands from the manager node H Node ID 240 F0 is reserved for the EPL manager node for example NextMove e100 so cannot be used by MicroFlex e100 H Node IDs 2...

Страница 79: ...Conductive shield earth ground clamps are not supplied 5 The threaded holes in the top and bottom of the case are for M4 bolts no longer than 11 mm 0 43 in in length 6 When using single phase supplies...

Страница 80: ...www baldormotion com 5 26 Input Output MN1942...

Страница 81: ...ex e100 then this adapter s configuration can be altered without affecting the PC s office Ethernet connection If you are unsure about making changes to your PC s Ethernet adapter configuration or are...

Страница 82: ...thed grounded H Check all signal wiring for accuracy 6 2 2 Power on checks If at any time the Status LED flashes red the drive has detected a fault see section 7 1 Turn on the 24 VDC supply 2 Turn on...

Страница 83: ...or another CD the two driver files must be in the same folder 2 During installation Windows XP may report that the driver is unsigned This is normal for the MicroFlex e100 driver so click the Continu...

Страница 84: ...s 2 In the Network Connections Window right click the Local Area Connection entry for the required Ethernet adapter and choose Properties 3 In the Local Area Connection Properties dialog in the This c...

Страница 85: ...for all connected controllers Clicking once on a controller s name causes various options to be displayed in the information pane Double clicking on a controller s name launches an instance of Mint W...

Страница 86: ...Mint Machine Center USB RS232 RS485 422 MintDriveII MicroFlex e100 MintDriveII MicroFlex e100 USB Mint WorkBench Ethernet Mint WorkBench Mint WorkBench Mint WorkBench Mint WorkBench Host PC Figure 47...

Страница 87: ...enter 2 In the controller pane ensure that Host is selected In the information pane click Scan 3 When the search is complete click once on MicroFlex e100 in the controller pane to select it then doubl...

Страница 88: ...kBench window contains a menu system the Toolbox and other toolbars Many functions can be accessed from the menu or by clicking a button use whichever you prefer Most buttons include a tool tip hold t...

Страница 89: ...provides an alphabetic list of all topics in the file and allows you to search for them by name The Search tab allows you to search for words or phrases appearing anywhere in the help file Many words...

Страница 90: ...you have already used MMC to start an instance of Mint WorkBench then the following steps are unnecessary Go to section 6 4 3 to continue configuration 1 On the Windows Start menu select Programs Min...

Страница 91: ...ch is complete click MicroFlex e100 in the list to select it then click Select This check box is already selected for you When you click Select it means that the Commissioning Wizard will start automa...

Страница 92: ...djusted manually after commissioning is complete 6 4 3 1 Using the Commissioning Wizard Each screen of the Commissioning Wizard requires you to enter information about the motor drive or application R...

Страница 93: ...eference source should only be selected after the MicroFlex e100 has been commissioned and is ready to add to the EPL network This can be selected by choosing the Operating Mode tool in the Toolbox Ap...

Страница 94: ...l performance with the attached motor This removes the need for manual fine tuning of the system although in some critical applications this still may be required Click Options to configure optional a...

Страница 95: ...ing on the configuration mode you selected in the Commissioning Wizard 3 In the Test Parameters area at the bottom of the tab click in the Move Type drop down box and select Forward In the Velocity an...

Страница 96: ...e 50 Typical autotuned response no load Figure 50 shows that the response reaches the demand quickly and only overshoots the demand by a small amount This can be considered an ideal response for most...

Страница 97: ...the Autotune icon in the Toolbox on the left of the screen 3 Click the Autotune on load check box 4 Click START to begin the auto tuning process Mint WorkBench will take measurements from the motor an...

Страница 98: ...a response where the measured velocity overshoots the demand by a significant amount 1 Go to the Fine tuning window s Velocity tab To reduce the amount of overshoot click Calculate and increase the b...

Страница 99: ...ringing in the motor 1 Go to the Fine tuning window s Velocity tab To reduce the amount of noise click Calculate and decrease the bandwidth using the slider control Alternatively type a smaller value...

Страница 100: ...peat the tests described in sections 6 4 6 1 and 6 4 6 2 until the optimal response is achieved Figure 53 shows an ideal velocity response There is only a small amount of overshoot and very little zer...

Страница 101: ...ocated on the right of the screen Check that the axis tab is selected The Spy window s Velocity display should show 10 approximately If there seems to be very little motor movement it is probably due...

Страница 102: ...or the drive enable button on the toolbar Alternatively use the Mint WorkBench Red Stop Button feature 1 Check that the Drive enable button is pressed down 2 In the Toolbox click the Edit Debug icon...

Страница 103: ...amp etc Click on a tab to select it Click the tab for the type of tests you wish to perform Note Some tabs may not be available depending on the configuration mode you selected in the Commissioning Wi...

Страница 104: ...e the normal trapezoidal move profile to be modified to create smoother acceleration and decleration Enter new values in the required boxes and then click Preview to see an example of the intended mov...

Страница 105: ...actory default value either during the commissioning process or by the user 2 In the parameters tree scroll tothe requireditem Click on the small sign beside the item s name The list will expand to sh...

Страница 106: ...the screen The Spy Window is displayed on the right of the screen Click on the tabs at the bottom of the window to select the required function 2 The Axis tab displays the five most commonly monitore...

Страница 107: ...nd window and Output window The Command window can be used to send immediate Mint commands to the MicroFlex e100 If you tried the test moves in section 6 4 7 or 6 4 8 then you have already used Edit D...

Страница 108: ...www baldormotion com 6 28 Configuration MN1942...

Страница 109: ...s are provided at the front of this manual Please have the following information ready H The serial number of your MicroFlex e100 if known H Use the Help SupportMe menu item in Mint WorkBench to view...

Страница 110: ...luding Internal supply error encoder supply error parameter restore failure power base not recognized If multiple errors occur at the same time the lowest numbered error code will be flashed For examp...

Страница 111: ...e node Continuous flashing Node in PRE OPERATIONAL state Flickering very fast flashing Auto baudrate detection or LSS services in progress flickers alternately with red LED Continuously illuminated no...

Страница 112: ...1 flash Node in PRE OPERATIONAL1 state EPL mode is starting 2 flashes Node in PRE OPERATIONAL2 state EPL mode is starting 3 flashes Node in READY TO OPERATE state The node is signalling its readiness...

Страница 113: ...t pins for damage or sticking Check that the USB device driver has been installed a USB Motion Controller device should be listed in Windows Device Manager H Check that the PC s Ethernet port has been...

Страница 114: ...dapter has been correctly configured as described in section 6 2 4 The ETHERNET Powerlink network does not seem to be operating correctly H Confirm that only one device on the newtork is set to be the...

Страница 115: ...that the network is working correctly see previous symptoms and the bus is in an Operational state check H Only nodes that conform to DS401 DS403 and other Baldor CANopen nodes are recognized by the M...

Страница 116: ...www baldormotion com 7 8 Troubleshooting MN1942...

Страница 117: ...ge 230 VAC input VDC 305 321 3 A 6 A 9 A 3 A 6 A 9 A Nominal input current maximum rated output current A 7 5 15 22 4 8 12 The MicroFlex e100 will operate at lower input voltages although the drive wi...

Страница 118: ...5 250 AC supply voltage rms DC bus ripple of DC bus voltage Single phase AC supply Three phase AC supply 8 1 1 3 Effect of output current on DC bus ripple voltage 0 5 10 15 20 25 30 35 40 45 50 55 60...

Страница 119: ...0 V 3 VA 1195 2390 3585 Output voltage range line line VDC bus 320 V VRMS 0 230 Output frequency Hz 0 2000 Output dV dt at drive phase phase at drive phase ground at motor using 20 m cable phase phase...

Страница 120: ...width s 5 8 1 6 Digital inputs DIN1 DIN2 high speed general purpose X3 Unit All models Type Opto isolated inputs Input voltage Nominal Minimum Maximum Active Inactive VDC 24 12 30 12 2 Input current...

Страница 121: ...encoder interface Differential Data and Clock Operating mode Single or multi turn A wide range of devices can be supported Contact Baldor technical support before selecting a device Output power supp...

Страница 122: ...tions are supported contact Baldor Output power supply to encoder 5 V 7 200 mA max Maximum recommended cable length 30 5 m 100 ft 8 1 12 Ethernet interface Description Unit Value Signal 2 twisted pair...

Страница 123: ...Hz IP rating IP20 MicroFlex e100 complies with the following environmental test standards BS EN60068 2 1 1993 low temperature operational 0 C BS EN60068 2 2 1993 high temperature operational 45 C BS...

Страница 124: ...www baldormotion com 8 8 Specifications MN1942...

Страница 125: ...ribes accessories and options that you may need to use with your MicroFlex e100 Shielded screened cables provide EMI RFI shielding and are required for compliance with CE regulations All connectors an...

Страница 126: ...file NMMS E128059 when used in conjunction with the fan tray mounted exactly as shown in Figure 54 Fan tray FAN001 024 94 3 7 84 3 3 66 2 6 142 5 5 6 21 5 0 85 Fan tray dimensions 16 0 63 Bottom of Mi...

Страница 127: ...Footprint filter FI0029A00 Fan tray FAN001 024 MicroFlex e100 MFE230A00x Figure 55 Assembled footprint filter fan tray and MicroFlex e100 A 1 3 24 V power supplies A range of compact 24 V DIN rail mou...

Страница 128: ...g 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 FI0015A01 250 10 0 4 0 73 1 61 FI0015A02 250 12...

Страница 129: ...A02 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 2...

Страница 130: ...ing keyhole and slot detail G H J G 5 5 mm H 11 mm J 10 mm K 5 mm G K 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...

Страница 131: ...present at these terminals Use a suitable heatsink with fanif necessary to coolthe regenerationresistor The regeneration resistor and heatsink if present can reach temperatures in excess of 80 C 176 F...

Страница 132: ...nal box connections so a motor power connector is not required A 2 1 1 Cables available in North and South America Cable Cable assembly Catalog number Length Cable rated current Cable assembly descrip...

Страница 133: ...threaded motor connector motor end only CBL025SP 12 CBL050SP 12 CBL075SP 12 CBL100SP 12 CBL150SP 12 CBL200SP 12 2 5 5 0 7 5 10 15 20 8 2 16 4 24 6 32 8 49 2 65 6 Power cable no connector CBL051 501 Av...

Страница 134: ...e to wire or wire to shield capacitance is 50 pF per 300 mm 1 ft length to a maximum of 5000 pF for 30 5 m 100 ft A 2 3 SSI feedback cables A 2 3 1 Cables available in North and South America Cable as...

Страница 135: ...pin D type drive connector CBL015SF E2 CBL030SF E2 CBL061SF E2 CBL091SF E2 CBL152SF E2 CBL229SF E2 1 5 3 0 6 1 9 1 15 2 22 9 5 10 20 30 50 75 A 2 4 2 Cables available in the rest of the world Cable as...

Страница 136: ...embly description Baldor catalog number m ft Absolute encoder feedback cable no connectors CBL045 501 Available by the meter or on 100 m drum Absolute encoder feedback cable assembly CE style threaded...

Страница 137: ...ations H Servo Position H Torque Servo Current Each configuration supports different control modes selected by using the Tools Control Mode menu item or by using the CONTROLMODE keyword in the Command...

Страница 138: ...block uses the space vector modulation method to convert these voltage demands into a sequence of U V and W phase switching signals which are applied to the output bridge of the drive The PWM block u...

Страница 139: ...TORQUEFILTERBAND TORQUEFILTERDEPTH KIPROP KIINT KITRACK EFFORT DRIVEBUSVOLTS KACCEL KVPROP KVINT KVTRACK VELERROR KVELFF KPROP KINT KINTMODE KINTLIMIT KDERIV FOLERROR POSDEMAND VELDEMAND TORQUEDEMAND...

Страница 140: ...to the current loop via the torque filters The torque servo configuration is useful when the drive is operating as a closed loop position controller and settling time must be minimized Although the se...

Страница 141: ...QUEFILTERTYPE TORQUEFILTERFREQ TORQUEFILTERBAND TORQUEFILTERDEPTH KIPROP KIINT KITRACK EFFORT DRIVEBUSVOLTS KACCEL KVELFF KPROP KINT KINTMODE KINTLIMIT KDERIV FOLERROR POSDEMAND VELDEMAND TORQUEDEMAND...

Страница 142: ...www baldormotion com B 6 Control System MN1942...

Страница 143: ...ation rate of an axis ACCELDEMAND To read the instantaneous demand acceleration ACCELJERK To define the jerk rate to be used during periods of acceleration ACCELJERKTIME To define the jerk rate to be...

Страница 144: ...REMODE To set or read the mode on a capture channel CAPTUREMODEPARAMETER To specify a parameter associated with CAPTUREMODE CAPTURENUMPOINTS To read the number of captured points per channel CAPTUREPE...

Страница 145: ...ode used when the drive is turned on CONTROLRATE To set the control loop and profiler sampling rates CONTROLREFCHANNEL To specify a channel for the source of the control reference command CONTROLREFSO...

Страница 146: ...a text description for the drive DRIVEOVERLOADAREA Reads the extent of a drive overload condition DRIVEOVERLOADMODE Sets or reads the action taken in the event of a drive overload condition DRIVEPEAK...

Страница 147: ...stop input ERRORINPUT To set or return the digital input to be used as the error input for the specified axis ERRORINPUTMODE To control the default action taken in the event of an external error inpu...

Страница 148: ...the electrical angles at which Hall states change when the motor is running in the forward direction for feedback devices which use Hall sensors HALLREVERSEANGLE To define the electrical angles at wh...

Страница 149: ...bank INCA To set up an incremental move to an absolute position INCR To set up an incremental move to a relative position INPUTACTIVELEVEL To set the active level on the digital inputs INPUTDEBOUNCE...

Страница 150: ...servo loop velocity feedback gain 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 proportiona...

Страница 151: ...LIMITMODE To control the default action taken in the event of a forward or reverse hardware limit switch input becoming active LIMITREVERSE To return the state of the reverse limit switch input for th...

Страница 152: ...nt of an overload condition MOTOROVERLOADMODE To set or read the action taken in the event of a motor overload condition MOTORPEAKCURRENT To set or read the peak current rating of the motor MOTORPEAKD...

Страница 153: ...SIZE To set or return the size of the move buffer allocated on the specified axis MOVER To set up a positional move to a relative position NETFLOAT To access a controller s network data array storing...

Страница 154: ...l during the search sections of a phase search sequence PHASESEARCHSTATUS To determine whether commutation is aligned on an axis PHASESEARCHSWITCH To return the current state of the phase search input...

Страница 155: ...rgency message received from a specific node REMOTEIN To read the state of all the digital inputs on a remote CAN node REMOTEINBANK To read the state of a bank of digital inputs on a remote CAN node R...

Страница 156: ...source used by a sentinel channel SENTINELSOURCEPARAMETER To set or read the parameter used to qualify the primary sentinel source SENTINELSOURCE2 PARAMETER To set or read the parameter used to quali...

Страница 157: ...STEMSECONDS To set or read a programmable system lifetime counter for the drive TEMPERATURE To read the internal drive temperature TEMPERATURELIMITFATAL To set or read the temperature fatal limit TERM...

Страница 158: ...city following error VELFATAL To set or read the threshold for the maximum difference between demand and actual velocity VELFATALMODE To control the default action taken in the event of the velocity t...

Страница 159: ...esponsibility of the system integrator to ensure that the entire system complies with all relative directives at the time of installing into service Motors and controls are used as components of a sys...

Страница 160: ...800 2 1998 Adjustable speed electrical power drive systems General requirements Rating specifications for low voltage adjustable frequency a c power drive systems EN50178 1997 Electronic equipment for...

Страница 161: ...und and all outer 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 S...

Страница 162: ...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 to t...

Страница 163: ...de 360 contact with the cable Flat or p type conductive clamp Figure 62 Earthing grounding cable shields 1 9 2 10 3 11 12 13 MicroFlex e100 X8 Encoder Connector Housing Cable Twisted pairs Connect ove...

Страница 164: ...scription E128059 Baldor Electric Co Drives 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...

Страница 165: ...nections See also Input Output feedback 4 1 motor 3 18 power 3 11 3 12 Connectors CAN 5 19 Ethernet 5 16 5 18 I O 5 3 5 12 locations 3 9 3 10 RS485 5 14 USB 5 14 Control system B 1 servo configuration...

Страница 166: ...e Earthing grounding H Hardware requirements 3 1 Help file 6 9 I Incremental encoder cable 4 3 A 11 feedback 4 2 specification 8 5 without Halls 4 4 Indicators CAN LEDs 7 3 ETHERNET LEDs 7 4 STATUS LE...

Страница 167: ...control circuit supply 3 17 24 V power supplies A 3 connections 3 11 discharge period 3 13 disconnect and protection devices 3 14 input conditioning 3 13 input cycling 3 13 7 1 inrush 3 13 sources 3...

Страница 168: ...demand output 6 21 6 22 Thermal switch connection 3 21 Tools 3 2 Troubleshooting 7 1 CAN LEDs 7 3 CANopen 7 6 communication 7 5 Ethernet 7 6 ETHERNET LEDs 7 4 Mint WorkBench 7 5 power cycling 7 1 powe...

Страница 169: ...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...

Страница 170: ...Comments MN1942 Thank you for taking the time to help us...

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