Baldor MN1274 06/2001 - Manuals

viii 3 Input / Output 27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1 Outline 27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2 Analog I/O 27 . . . . . . . . . . . ...

ix 5 Mint WorkBench 67 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1 Outline 67 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1.1 Completing configuration 67 . . . . . . . ...

x Appendices A Tuning 97 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A.1 Introduction 97 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A.1.1 Closed loop control 99 . ...

xi C CE Guidelines 129 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.1 Outline 129 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.1.1 Declaration of Conformity 129 . . . ....

1 1.1 MintDrive features The MintDrive combines a powerful fully featured motion controller and brushless servo amplifier into acompact package. This provides a flexible and powerful motion control solution for almost any singleaxis positioning system. Programmable in Mint t , applications can be qu...

2 1.2 Receiving and inspection When you receive your MintDrive, there are several things you should do immediately: 1. Check the condition of the shipping container and report any damage immediately to the carrier that delivered your MintDrive. 2. Remove the MintDrive from the shipping container and...

3 1.3 MintDrive indicators 1.3.1 Monitor LED display The 7-segment Monitor LED display indicates general MintDrive status information: Drive Disabled Drive in error (see section 7) Drive Enabled Follow mode Jogging Local (see troubleshooting guide) Positional Move i.e. MOVEA, MOVER Flying shear Homi...

4 1.4 Units and abbreviations The following units and abbreviations are used in this manual: V Volt (also VAC and VDC) . . . . . . . . . . . . W Watt . . . . . . . . . . . . A Ampere . . . . . . . . . . . . Ω Ohm . . . . . . . . . . . . pF picofarad . . . . . . . . . . . mH millihenry . . . . . . . ...

5 2.1 Outline You must read all the sections in Basic Installation . It is important that the correct steps are followed when installing the MintDrive. This section covers themechanical and electrical installation of the MintDrive, including the following steps: H Location considerations H Mounting ...

7 2.1.2 RS485 / RS422 systems If your PC does not have an RS485 / RS422 connector, an RS232 to 4-wire RS485 / RS422 converterwill be required. This allows signals from the RS232 port to be converted to the signals necessary forRS485 / RS422 communications. Appropriate converters are available from K...

8 2.2 Mechanical installation and location requirements It is essential that you read and understand this section before beginning the installation . CAUTION : To prevent equipment damage, be certain that the input power has correctly ratedprotective devices installed. CAUTION : To prevent equipment...

9 H If multiple units are being mounted side by side, a spacing of 0.5” (13mm) must be providedbetween the units and from the unit to the side of the cabinet / enclosure. H To comply with CE directive 89/336/EEC an appropriate mains filter must be installed.For MintDrives requiring the external 24VD...

10 2.3 Power connections This section provides instructions for connecting the mains supply. It is important that you refer to thecorrect front panel for your MintDrive package.The installer of this equipment is responsible for complying with NEC (National Electric Code)guidelines or CE (Conformite ...

11 2.3.1 Grounding Single phase units AC MainsSupply Safety Ground Driven Earth Ground Rod (Plant Ground) L N Earth Route all 3 wires L, N, andEarth (Ground) together inconduit or cable. Powerwires must be kept separatefrom control signal wires. MintDrive Ground as perNEC and local codes. V L N U W ...

12 Ungrounded distribution systems To avoid equipment damage an isolation transformer with a grounded secondary is recommended.This provides three phase AC power that is symmetrical with respect to ground. 2.3.2 Input power conditioning Baldor drives are designed for direct connection to standard si...

13 L N Fuse Connection L N L1 L2 Earth MintDrive Circuit breaker and fuse not supplied. For CE Compliance, see Appendix C. Circuit Breaker L3 PE L1 L2 Figure 5 - Circuit breaker and fuse, single phase, package size C L1 Fuse Connection L1 L2 L1 L2 Earth MintDrive Circuit breaker and fuse not supplie...

14 2.3.4 Wire sizes Input and output wire size is based on the use of copper conductor wire rated at 167°F (75°C).The following tables describe the wire size to be used for power connections and the ratings of theprotection devices. Catalog Number Incoming Power g D Type Input Wire Gauge Nominal Con...

16 2.3.7 Three phase connection to package size C Location Connector X1, single or 2-part connector Part number MD 2 A... Input voltage 230VAC, 3 φ line to line Range 220-250VAC Note: Tightening torque for terminal block connections is 4.4~5.3 lbin (0.5~0.6Nm).The threaded holes in the top and botto...

17 2.3.9 DC Bus power connections from package size C Location Connector X1, single or 2-part connector Part number MD1A xx S x ... MD2A xx S x ... Output voltage 160VDC 320VDC Range 135-176VDC 306-350VDC The MintDrive 10A and 15A variants are available with a DC bus supply output for powering other...

19 2.4 Motor connections This section provides instructions for connecting the motor. Location Connector X1, single or 2-part connector Part number MD 1 A... MD 2 A... Nominal output voltage 160VDC 320VDC Range 135-176VDC 306-350VDC V W U PE Motor Optional motor circuit contactors M M M (MintDrive 2...

20 2.4.1 Motor circuit contactors If required by local codes or for safety reasons, an M-Contactor (motor circuit contactor) may beinstalled to provide a physical disconnection of the motor windings from the MintDrive (see page 19).Opening the M-Contactor ensures that the MintDrive cannot drive the ...

21 2.4.2 Regeneration resistor (Dynamic Brake resistor) The 2.5A and 5A MintDrives both have internally fitted regeneration resistors*. For 7.5A, 10A and 15AMintDrives, an external regeneration (Dynamic Brake) resistor must be installed to dissipate excesspower from the internal DC bus during motor ...

22 2.5 Feedback connections Two feedback options are available; a commutating encoder or a resolver, both using connector X2.Check with the catalog number (see page 2) to ensure you are wiring the correct feedback device. Resolver based MintDrives provide a simulated encoder output signal available ...

23 2.5.1 Resolver option The resolver connections are made using the 15-pin D-type female connector X2.Twisted pair cables must be used for the complementary signal pairs e.g. SIN+ and SIN-.The overall cable screen/shield must be connected to the metallic shell of the D-type connector. Location Conn...

24 2.5.1.1 Resolver cable pin configuration The table and diagram below show the pin configuration for a typical Baldor Resolver Feedback cable,part number CBL030SF-ALM. Signal name X2 pin Motor / cable pin Resolver cable wire color REF+ 3 1 Red REF- 8 2 Blue COS+ 2 3 Green COS- 7 4 Yellow SIN+ 1 5 ...

25 2.5.2 Encoder option The encoder connections are made using the 15-pin D-type female connector X2. This provides theABZ channels and Hall signals. Twisted pair cables must be used for the complementary signal pairse.g. CHA+ and CHA-. The overall cable screen/shield must be connected to the metall...

26 2.6 Drive enable To operate the MintDrive, the drive stage must be active and enabled. This requires an externallygenerated 24VDC supply to be connected between pins 1 and 12. This connection can be wireddirectly or through an intermediate switch; if a switch is used it should always be used to s...

28 3.2.1 Analog Input, Single Ended - X11 Location Connector X11, pins 1 & 2 Name AIN2 Mint keyword ADC.2 Description Single ended input.Range: 0 - ±10VDC.Resolution: 9-bit with sign. Input impedance: >4k Ω . Sampling interval: 5ms. Note: There is a +15V reference voltage supplied on X11 pin ...

29 3.2.2 Analog Input, Differential - X11 Location Connector X11, pins 4 (+) & 5 (-) Name AIN3 Mint keyword ADC.3 Description Differential input.Common mode voltage range: ±10VDC.Resolution: auto-selecting as follows: 12-bit with sign (<1V DC input)9-bit with sign (>1V DC input) Common mod...

36 Pin 12 (CREF) controls the sense of all the digital inputs (X13 pins 1 to 9) and should be permanentlywired, dependent on the user requirements, as described below: Active high : connect +24VDC to pin1 and 0V to pin 12. The digital inputs will be active when a voltage of +24VDC (±20%) is applied ...

38 These inputs are isolated and share a single common line (COM). The entire input bank may beconfigured for use in PNP mode (sinking current, where current flows in to the inputs) by connectingCOM to the negative rail of the externally generated power source. Alternatively the entire input bankmay...

39 3.3.3 Digital Outputs - X13 Location Connector X13 Pin Name Mint keyword 13 DOUT5- OUT.5 14 DOUT5+ OUT.5 15 DOUT6- OUT.6 16 DOUT6+ OUT.6 17 DOUT7- OUT.7 18 DOUT7+ OUT.7 19 DOUT8- OUT.8 20 DOUT8+ OUT.8 Description Four general purpose optically isolated digital outputs(DOUT5 to DOUT8). Each optica...

41 3.4 Other I/O 3.4.1 Simulated encoder output - X3 Location Connector X3 Pin Name 1 CHA+ 2 CHB+ 3 CHZ+ 4 ( not connected ) 5 DGND 6 CHA- 7 CHB- 8 CHZ- 9 ( not connected ) Description Simulated encoder output on a 9-pin female D-typeconnector This output can be used for master slave situations wher...

42 3.4.2 Master (auxiliary) encoder input - X6 Location Connector X6 Pin Name 1 CHA+ 2 CHB+ 3 CHZ+ 4 ( not connected ) 5 DGND 6 CHA- 7 CHB- 8 CHZ- 9 +5V Description Optically isolated encoder input on a 9-pin femaleD-type connector The MintDrive provides an auxiliary (master or handwheel) encoder in...

45 3.4.4 Using RS232 cable CAUTION : The serial connector on the MintDrive (X7) supports two serial channels, oneRS232 and one RS485 / RS422. The serial cable with catalog numberCBL001-501 must NOT be used with the MintDrive as this may result in damageto the unit. Please use serial cable CBL023-501...

47 3.4.6 Connecting Baldor HMI Operator Panels Baldor HMI Operator Panels use a 15-pin male D-type connector (marked PLC PORT), but theMintDrive connector X7 is a 9-pin D-type connector. If you do not require hardware handshaking thenthe following connections should be made: 7 RTS 8 CTS 3 TXD 2 RXD ...

48 3.4.7 Optional breakout board for connector X5 An optional screw connection fitting is available should you wish to purchase a break-out board. Thebreak-out board, often referred to as a ’card’, mounts on a 35mm DIN rail. The board has two-partscrew terminals for all of the digital inputs, digita...

49 4.1 Outline Before powering the MintDrive you will need to connect the PC to the MintDrive using a serial cable andinstall the supplied software on the PC. The software provided includes a number of applications andutilities to allow you to configure, tune and program the MintDrive. If you do not...

50 4.1.3 Starting the MintDrive If you have followed the instructions in the previous sections, you should now have connected all thepower sources, your choice of I/O peripherals, CAN network connections (if required) and the serialcable linking the PC with the MintDrive. It is advisable to check al...

51 4.2 Mint Configuration Tool Startup Wizard - coarse tuning Each type of motor and drive combination has a slightly different response. Before the MintDrive can beused to control the motor accurately, the MintDrive must be “tuned”. This is the process where theMintDrive powers the motor using a pr...

52 3. Click Next > . MCT will search the serial ports on the PC until the MintDriveis detected.If the MintDrive is not found, check the serial connection andclick Rescan . 4. Click Next > . Check that Axis-0 is highlighted. Note: If you need to change the configuration, click on thehighlighted...

54 4.3 MCT Startup Wizard - fine-tuning In the previous section, the motor response was ‘coarse tuned’. The following sections describe how tofine tune the motor response. If you are familiar with closed loop servo control theory then you maywish to proceed straight to section 4.3.2. If not, the fol...

56 4.3.2 Fine-tuning the speed loop Before selecting the servo (position) loop gains, the speed loop gains might need to be fine tuned. Note: MCT will have created starting values for the speed loop gains, so if you are not sure which values to adjust, you can go straight to section 4.3.3 on page 57...

57 4.3.3 Fine-tuning the position loop The following tuning methods involve adjusting the servo loop terms KVELFF, KPROP, KVEL andKDERIV, which all have a default value of zero. 1. Click the Position Loop Tuning tab 2. The Tuning Parameters frame shows the values of the terms. 3. The first value to ...

58 5. Click Start Move . In the dialog box that appears, click GO . The motor will now attempt to rotate 0.2 revolutions. MCT will upload the recorded (captured) data fromthe MintDrive and the Tuning Graph tab will be shown. Below the graph, make sure that only theActual Position and Demand Position...

59 If KPROP is increased too far,overshoot or ringing will occur. Theplot opposite shows the effect ofsetting KPROP to a value of 7. This overshoot and/or ringing canbe reduced by introducing adamping term - either KVEL orKDERIV... 7. The plot opposite shows how applying a value of 0.25 to KVEL(with...

60 4.3.5 Completing the Startup Wizard The Startup Wizard is now complete. The next step is to continue with the configuration of otherparameters such as inputs and outputs.If you have not used the MCT before, it is recommended that you continue using the Wizard mode toguide you through all the stag...

61 4.4 MCT Wizard - hardware configuration The next part of the Mint Configuration Tool allows you to setup the digital inputs and outputs, performfurther fine-tuning and configure many other parameters. At the bottom of the window, the help barshows guidance about the current options. 4.4.1 Digital...

62 3. Continue this process until you have configured all the requiredinputs. Click Next > to continue. The Undo Changes button can be used to reset all the items onthe tab to their original values. 4.4.2 Digital output configuration The Digital Output Configuration tab allows you to define how e...

63 4.4.3 Axis0 parameter configuration The Axis0 Parameter Configuration tab allows you to setup various axis parameters.If you do not wish to make any changes, click Next > and go to section 4.4.4. 1. Click in the appropriate boxes and type the required values. If you do not understand an item,c...

64 4.4.5 Axis0 tuning configuration The Axis0 Tuning Configuration tab provides a further opportunity to make adjustments to the drivetuning. The previous values that you set will already be entered in the boxes. If you do not wish to makeany changes, click Next > and go to section 4.4.6. 1. Clic...

65 4.4.7 Completing the configuration wizard The configuration must now be saved.(If you wish to go back and make any further changes, click < Back . 1. Check that the drop down box is showing Mint Configuration File Format . If it is not, then select this option. Click Next > to continue. 2. ...

67 5.1 Outline Mint WorkBench is the main application for programming and controlling the MintDrive.The Terminal window allows you control the MintDrive in real-time, while the Program window allowsyou to construct complex programs using the Mint t programming language. The Configuration window allo...

68 5.2 Using WorkBench If you have not just completed the Mint Configuration Tool Wizard, you will need to start MintWorkBench manually. On the Windows Start menu, select Programs , Mint v4 , Mint WorkBench . 5.2.1 Selecting the controller Before WorkBench can communicate with the MintDrive, it must...

69 5.2.2.2 Motion toolbar functions 1 2 3 4 5 6 7 8 1 Axis selection (Only Axis0 can be selected) 2 Jog (reverse) Causes the motor to start a reverse jog motion. 3 Jog speed Sets the jog speed (in user units per second) 4 Jog (forward) Causes the motor to start a forward jog motion. 5 Stop Stops the...

70 5.3 Watch window The Watch window contains four tabs, providing real-time information and allowing tuning of the motor.If a tab is not visible, click the buttons at the bottom of the window. 5.3.1 Quick Watch tab The Quick Watch tab provides real-time information about variousWorkBench and motor ...

71 5.3.2 Speed Loop tab The Speed Loop tab provides a further opportunity to tune the motor.Click in the appropriate boxes and type the required values. Click Start Move to perform the move. The motor will now rotate, WorkBench will upload the recorded(captured) data from the MintDrive and the Captu...

72 5.3.3 Position Loop tab The Position Loop tab provides a further opportunity to tune the motorand perform test moves. Click in the appropriate boxes and type therequired values. For a full description of the position loop tuningparameters, see Appendix A. Click Start Move to perform the move. The...

73 5.3.4 Capture tab Each time a speed or position test move is performed using WorkBench,the data from the move is automatically captured and uploaded in toWorkBench. The Capture tab allows you to select the type of plot producedfrom the captured data. Click in the appropriate boxes to select there...

74 5.4 Editor windows Mint WorkBench has three main editor windows; the Configuration window, the Program window andthe Terminal window. 5.4.1 Configuration window If the configuration window is not visible,select Window , Configuration from the main menu. The configuration window is used for writin...

75 5.4.3 Terminal window If the terminal window is not visible, select Tools , Terminal from the main menu. (Alternatively, click the Terminal button on thestandard toolbar or press CTRL+T). The Terminal window can be used forcontrolling the MintDrive directly and formonitoring output messages from ...

77 5.4.5 Firmware update Occasionally there may be updates to Mint to either fix problems or to add new features.The Mint firmware is stored in Flash memory and can be updated using the RS232 serial port.The RS485 port cannot be used for firmware update. CAUTION : The state of the analog and digital...

79 6.1 Outline This section provides technical specifications of the MintDrive variants 6.1.1 General specifications The MintDrive is an integrated motion controller and brushless AC servo drive with internal powersupply. H Five current output ratings are available: 2.5A, 5A, 7.5A, 10A and 15A H Fou...

80 6.1.2 Power Mains and motor output Unit 2.5A 5A 7.5A 10A 15A Nominal input voltage (V in =230VAC) VAC 230 Minimum input voltage 220 Maximum input voltage 250 Nominal DC-Bus voltage VDC 320 Minimum DC-Bus voltage 306 Maximum DC-Bus voltage 350 Nominal input voltage (V in =115VAC) VAC 115 Minimum i...

81 6.1.3 Rectifier and regeneration Rectifier Unit All models Input voltage (±15%, f=50~60Hz) V in =230VAC V in =115VAC NominalMinimumMaximum VAC 230190265 115 90 130 DC-Bus voltage (absolute) MinimumMaximum VDC 270360 125175 Regeneration Unit 2.5A* 5A* 7.5A 10A 15A Switching threshold V in =230VAC ...

82 6.1.5 Encoder feedback All models Encoder input A/B Differential, Z index Signal frequency (maximum) 1.5MHz (6MHz quadrature) Hall inputs Single ended, 5V logic 6.1.6 Control signals Encoder output (simulated) Unit All models Signal - RS422 Encoder resolution ResolverEncoder - 1024ppr, simulated ...

83 CAN Bus interfaces Unit All models Signal - 2-wire, isolated Channels - 2 Bit rate Kbit/s 10, 20, 50, 125, 250, 500, 1000 (800 also available on CAN bus 1 only) Protocols - CAN bus 1: CANopen CAN bus 2: Baldor CAN 6.1.7 Environmental Unit All models Operating temperature range °C °F MinimumMaximu...

85 7.1 Outline This section explains common problems that may be encountered and their solutions.If you want to know the meaning of the LED Monitor display, see section 1.3 on page 3. 7.1.1 Problem diagnosis If you have followed all the instructions in this manual in sequence, as instructed, you sho...

86 7.1.2 Communication Problem Check No LEDs are illuminated(+24VDC models) Check that the 24VDC power supply is connected on connector X1and is switched on. No LEDs are illuminated(Mains only models) Check the mains supply is connected and switched on. Mint WorkBench fails to detectthe MintDrive - ...

87 7.1.3 Power up Problem Check No LEDs are illuminated Check that the 24VDC power supply is connected on connector X1and is switched on.Check the mains supply is connected and switched on. One or more of the Monitor,Ready or CAN LEDs is notilluminated Check power connections. Power-cycle the MintDr...

90 7.1.5 Mint gains Problem Check Cannot enable the MintDrivebecause AXISERROR has bit13 set Check the drive enable input on connector X13-1 and X13-12 isconnected and that the input is enabled. Check that you have configured the MintDrive, for example: CONFIG = _cfSERVO or CONFIG = _cfCURRENT_AMPLI...

91 7.1.6 Ready LED is red If the Ready LED is illuminated red and the Monitor LED shows , at the command line type PRINT DRIVEFAULT . This will return one of the codes listed below. Alternatively, click on the error button on the motiontoolbar, which will also display the drive fault. If the code is...

97 A.1 Introduction Within the MintDrive control software, instantaneous axis position demands produced by the MintDrivesoftware must be translated into motor currents. This is achieved by closed loop control of the motor.The motor is controlled to minimize the error between the demanded and measure...

99 A.1.1 Closed loop control It is possible that control could be achieved by applying a signal proportional to the position error alone,but this is a rather simplistic approach. If it is imagined that there is a small error between demandedand actual position, a proportional controller will simply ...

100 In systems where precise positioning accuracy is required, it is often necessary to position within oneencoder count. The Proportional gain is not normally able to achieve this because a very smallfollowing error will only produce a small demand for the amplifier which may not be enough to overc...

101 A.1.3 Speed loop The speed loop uses a Proportional and Integral (PI) algorithm. The PI algorithm is as follows: Command = KVP . e + KVI . Σ e where: KVP Proportional speed loop gain KVI Integral gain e Speed error A.1.4 Current loop The current loop uses a Proportional and Integral (PI) algorit...

102 A.1.6 Tuning the position loop for a velocity servo drive The MintDrive can be tuned as a velocity servo drive, passing the profiled demand components throughthe speed and current loops only. To do this the MintDrive keyword CONFIG should be set to 1 by typing: CONFIG=1 The gain term KVELFF shou...

105 A.1.8 Tuning the position loop for a torque servo drive The MintDrive can be tuned as a torque servo drive, passing the profiled demand components throughthe position and current loops only. To do this the MintDrive keyword CONFIG should be set to 6 by typing: CONFIG=6 You should have already tu...

107 B.1 Outline This section provides an introduction to the CAN (Controller Area Network) peripherals and how these are configured to operate with the MintDrive. B.1.1 MintDrive capabilities The MintDrive can communicate with I/O expansion modules or other Mint v4 controllers via CAN, and is compat...

109 B.2 CAN 1 (CANopen) This section provides an introduction to CANopen. peripherals and how they are configured to operatewith the MintDrive. B.2.1 CAN 1 (CANopen) - X9 Location Connector X9 Pin Name Description 1 - Not connected 2 CAN1- CAN channel 1 negative 3 CAN1 0V Ground/earth reference for ...

111 B.2.3 Configuring nodes A node must be assigned a unique node number. On Baldor controllers, the node number and CANbaud rate can be set using the NODE and CANBAUD Mint keywords. For example the following commands change the controller’s node number to 12 and the baud rate to 500Kbaud: NODE = 12...

112 Alternatively, the NODELIVE and NODETYPE keywords can be used within a Mint program to return the same information. The following commands will get information about node 2: ? NODELIVE.1.2? NODETYPE.1.2 When a node has been successfully scanned it can be removed from the bus by setting the node ...

113 B.2.7 Monitoring CAN events When a node’s status changes (live or dead for example), it will generate a CAN message to inform thenetwork manager of the change. The network manager will then generate a Mint event. The type ofevents that are supported on the CAN bus 1 are listed below: Event Numbe...

114 B.2.8 Controller nodes Each controller node on the network contains its own comms array, which provides a convenientmethod of transferring data between controller nodes on the bus. The meaning of the data, which ispassed between the controllers is determined by the application (Mint) program.For...

117 The Mint keyword REMOTEADCDELTA can also be used to reduce the amount of CAN traffic. This keyword allows the user to specify an amount by which an analog input must change (delta) beforea CAN message is generated. The value used will depend on the type of node; please refer to themanufacturer’s...

118 In addition to being able to set data on the HMI from a Baldor controller, the HMI panel can set its owndata, the nature of which is determined when the user designs their own HMI project using the HMIOperator Panel design software. The HMI communicates its own changes to the MintDrive using CAN...

120 B.3.2 Preparing the MintDrive Termination resistors must be fitted at each end of the network to reduce signal reflection.The MintDrive is fitted with a termination resistor for this purpose. On the front panel of your MintDrive the termination resistor should be selected by setting the CAN2DIP ...

121 B.3.5 Node IDs Each CAN peripheral must be given a unique “node ID” within the network.The node ID, which is just a number, is used to ensure that a node only responds to messagesintended for it. The node ID does not have to reflect the order in which the nodes are physicallyconnected in the net...

122 Type a number between 1 and 63, followed by the Enter key. This will tell the node its new nodenumber. Remember to choose a number that no other node will be using. A prompt for the CAN Baud rate will be shown. New CAN Baud ? Type a valid Baud rate (in Kbaud), for example 125 . Note: The CAN bau...

123 B.3.8 Monitoring CAN Bus communications CAN Bus communications can be monitored in real-time using Mint WorkBench. To monitor CAN Buscommunications, type: VIEW CANEVENT All events and errors on the CAN Bus will be reported. To stop monitoring CAN events, press CTRL+E. To confirm that the MintDri...

127 B.3.14 Mint CAN related keywords The following Mint keywords are used for communicating with CAN. Full details of the use and syntaxof Mint commands can be found in the Mint Programming Guide . Keyword Abbreviation Keyword Abbreviation CANBAUD CB REMOTEDEBOUNCE RD CANBUSRESET CBR REMOTEESTOP RES...

129 C.1 Outline This section provides general information regardingrecommended methods of installation for CE compliance.It is not intended as an exhaustive guide to good practiceand wiring techniques. It is assumed that the installer ofthe MintDrive is sufficiently qualified to perform the task,and...

130 C.1.2 EMC Conformity and CE marking The information contained herein is for your guidance only and does not guarantee that the installationwill meet the requirements of the council directive 89/336/EEC. The purpose of the EEC directives is to state a minimum technical requirement common to all t...

131 EMC filters The EMI or mains filter should be mounted next to the power supply. For the connection to and fromthe mains filter screened cables should be used. The cable screens should be connected to screenclamps on both sides. An exception to this is the analog command signal. Grounding (Earth)...

132 C.1.6 Wiring of shielded (screened) cables Conductive Clamp Remove the outer insulation to expose the overall screen. Conductive Clamp - Must contact bare cable shield and be secured to metal backplane. Twisted pairs Cable MintDrive Figure C.2 Grounding cable screens Cable 162738 MintDrive X2 Tw...

133 16273 85 MintDrive X6 Handwheel / Encoder Housing Connection of shields to analog ground is optional. Cable Twisted pairs Connector backshell Connector backshell Figure C.4 Handwheel (Encoder) cable grounding 162738 11 13 MintDrive X2 Encoder Connector Housing Connection of shields to digital gr...

135 D.1 Outline This section describes common accessories and options that you may need to use with your MintDrive. D.1.1 Cables Shielded (screened) cables provide EMI / RFI shielding and are required for compliance with CEregulations. All connectors and other components used must be compatible with...

136 D.1.2 Resolver feedback cable The following table lists the part numbers of resolver feedback cables for use with the MintDrive. Motor type Cable assembly Baldor catalog Length Motor type Cable assembly description Baldor catalog number ft m BSM 50/63/80/90/100 Resolver Feedback Cable Assembly T...

137 D.1.3 EMC mains filters AC filters remove high frequency noise from the mains supply, protecting the MintDrive. These filtersalso prevent high frequency signals from being transmitted back onto the power lines and help meet CErequirements. To select the correct filter, see section 2.3.10. D.1.3....

139 D.1.4 Regeneration resistors Some drives are shipped with an internal regeneration resistor (see page 2). If an internal resistor is notpresent, a regeneration resistor should be installed to dissipate energy during braking if a fault “1”(over-voltage) occurs. Baldor catalog number MintDrive 115...

140 D.1.5 Breakout board - X5 An optional screw connection fitting is available should you wish to purchase a break-out board. Thebreak-out board, often referred to as a ’card’, mounts on a 35mm DIN rail. The board has two-partscrew terminals for all of the digital inputs, digital outputs, analog in...

Baldor UK Ltd Mint Motion Centre 6 Bristol Distribution Park Hawkley Drive, Bristol BS32 0BF, UK Printed in UK  Baldor UK Ltd CH TEL: +41 52 647 4700 FAX: +41 52 659 2394 D TEL: +49 89 90 50 80 FAX: +49 89 90 50 8491 UK TEL: +44 1454 850000 FAX: +44 1454 850001 I TEL: +39 11 562 4440 FAX: +39 11 56...