This manual is copyrighted and all rights are reserved. This document or attached software may not, in whole or in part, be copied or reproduced in any form without the prior written consent of Baldor. Baldor makes no representations or warranties with respect to the contents hereof and specifically disclaims any implied warranties of fitness for any particular purpose.
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www.baldormotion.com Product notice Only qualified personnel should attempt the start-up procedure or troubleshoot this equipment. This equipment may be connected to other machines that have rotating parts or parts that are controlled by this equipment. Improper use can cause serious or fatal injury. Only qualified personnel should attempt to start-up, program or troubleshoot this equipment.
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www.baldormotion.com WARNING: MEDICAL DEVICE / PACEMAKER DANGER: Magnetic and electromagnetic fields in the vicinity of current carrying conductors and industrial motors can result in a serious health hazard to persons with cardiac pacemakers, internal cardiac defibrillators, neurostimulators, metal implants, cochlear implants, hearing aids, and other medical devices.
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CAUTION: Do not connect AC power to the drive terminals U, V and W. Connecting AC power to these terminals may result in damage to the drive. CAUTION: Baldor does not recommend using “Grounded Leg Delta” transformer power leads that may create earth/ground loops and degrade system performance. Instead, we recommend using a four wire Wye.
DeviceNet or Profibus connectivity. See Appendix A for details about options. FlexDrive will operate with a large number of brushless servo motors - for information on selecting Baldor servo motors, please see the sales brochure BR1202 (BR1800 for linear motors) available from your local Baldor representative.
The catalog number is marked on 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:...
www.baldormotion.com Basic Installation 3.1 Introduction You should read all the sections in Basic Installation to ensure safe installation. This section describes the mechanical and electrical installation of the FlexDrive in the following stages: Location considerations Mounting the FlexDrive Connecting the AC power supply Connecting the optional customer supplied 24VDC control supply Connecting the motor Installing a regeneration resistor (Dynamic Brake resistor)
Note: The serial connector on the FlexDrive (connector X6) can be configured as either RS232 or RS485 / RS422. Pin 9 is used to carry +8V for powering some Baldor keypad peripherals. Ensure that pin 9 is not connected to earth/ground or to equipment that could be damaged by the +8V supply.
www.baldormotion.com 3.1.5 Other information needed for installation This information is useful (but not essential) to complete the installation: The data sheet or manual provided with your motor, describing the wiring information of the motor cables/connectors Knowledge of which digital inputs/outputs will be ‘Active Low’, ‘Active High’ or edge triggered.
www.baldormotion.com 3.2 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 rated protective devices installed. CAUTION: To prevent equipment damage, be certain that input and output signals are powered and referenced correctly.
www.baldormotion.com For effective cooling and maintenance, the FlexDrive should be mounted on a smooth, non-flammable vertical surface. The power handling capability is affected by the temperature of the left side of the unit. At least 50mm (2 in) top and bottom clearance of the FlexDrive must be provided for airflow.
www.baldormotion.com 3.2.2 Dimensions 65mm Package size H only. Mounting keyhole and slot detail FRONT PANEL A 5mm (package sizes E, G and H: 6.5mm) B 10mm (package sizes E, G and H: 12mm) C 9mm (package sizes E, G and H: 10mm) Package sizes E, G &...
www.baldormotion.com 3.3 Connector locations X1 / X1A Power X9 Master Encoder Encoder Pulse & Dir. Single-phase models CHA+ Pulse+ CHB+ Dir.+ Earth CHZ+ (NC) (NC) (NC) (NC) AC Line DGND (NC) AC Neutral CHA- Pulse GND Motor U CHB- Dir. GND Motor V CHZ- (NC)
Connectors are to be installed using only the crimp tool specified by the manufacturer of the connector. Baldor drives are designed to be powered from standard single and three-phase lines (depending on model) that are electrically symmetrical with respect to earth/ground. Due to the importance of system earthing/grounding for increased reliability, earthing/grounding methods are shown in sections 3.4.1 and 3.4.2.
www.baldormotion.com 3.4.1 Single-phase connection to package sizes A, B, C, D Location Connector X1 (Mating connector: Phoenix COMBICON MVSTBW 2,5/9-ST, 5mm pitch) Part number FDH1A... / FPH1A... FDH2A... / FPH2A... Nominal input 115VAC, 1Φ line to neutral 230VAC, 1Φ line to neutral voltage (U.S.
www.baldormotion.com 3.4.2 Three-phase connection to package sizes E, G, H Location Connector X1A (Mating connector: Phoenix POWER COMBICON PC4/..-ST- 7.62) Part number FDH2A15... / FPH2A15... FDH4A... / FPH4A... Nominal input 230VAC, 3Φ line to line 230-460VAC, 3Φ line to line voltage Range 75-253VAC...
3.4.3 Input power conditioning Baldor drives are designed for direct connection to standard single and three-phase lines (depending on model) that are electrically symmetrical with respect to earth/ground. Certain power line conditions must be avoided; an AC line reactor, an isolation transformer or a step...
3.4.5 Power supply filters To comply with EEC directive 89/336/EEC, an AC power filter of the appropriate type must be connected. This can be supplied by Baldor and will ensure that the FlexDrive complies with the CE specifications for which it has been tested. Table 1 lists the appropriate filters:...
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www.baldormotion.com 3.4.6 Wire sizes and protection device ratings Table 2 describes the wire sizes to be used for AC input power and motor output connections, together with the ratings for protection devices. Incoming Power Nominal Continuous D-Type Time Minimum Minimum Input Input Output...
24V supply is provided for the FlexDrive . If other devices are likely to be powered from the same 24V supply then a filter (Baldor catalog number FI0014A00) should be installed to isolate the FlexDrive from the rest of the system.
www.baldormotion.com 3.5 Motor connections The motor can be connected directly to the FlexDrive or through a motor contactor (M-Contactor). Location Connector X1 / X1A FDH1A... FDH2A... FDH2A15... FDH4A... Part number FPH1A... FPH2A... FPH2A15... FPH4A... Nominal output voltage 160VDC 320VDC 320VDC 565/650V Output voltage range 135-176VDC 306-350VDC...
Ensure that shielding of the motor cable is continued on both sides of the contactor. 3.5.2 Motor power cable pin configuration - Baldor BSM rotary motors Figure 8 shows the pin configuration for a typical Baldor motor cable, part number CBL025SP-12:...
3.5.3 Motor cable pin configuration - Baldor linear motors The following table shows the pin colors used in a typical Baldor linear motor cable set, part number AY1763A00: Signal name Motor cable wire color Motor U Black Motor V...
www.baldormotion.com 3.5.5 Thermal switch connection You might wish to wire the motor’s thermal switch contacts (normally closed), using a relay, to a digital input on connector X3 (see section 4.3.1). Using the Mint WorkBench Digital I/O tool, the input can be configured to be the motor trip input. This allows the FlexDrive to respond to motor over-temperature conditions.
www.baldormotion.com 3.5.6 Motor brake connection You might wish to wire a motor’s brake, via relays, to digital outputs on connector X3 (see section 4.3.1). This provides a way for the Mint program to control the motor’s brake. A typical circuit is shown in Figure 10. (Flex+Drive only: MOTORBRAKEOUTPUT and associated keywords may be used to configure the motor brake output.) from motor brake...
The regeneration resistor should be mounted near the top of an enclosure to maximize heat dissipation. Baldor regeneration resistors are neither internally fused nor thermally protected and, under extreme conditions, can cause a fire hazard if not suitably protected or rated for the application.
www.baldormotion.com 3.7 Feedback connections Two feedback options are available for use with linear and rotary motors - commutating encoder or resolver. Confirm the catalog number of your FlexDrive (see section 2.2.1) to ensure you are wiring the correct feedback device. There are some important considerations when wiring the feedback device: The feedback device wiring must be separated from power wiring.
Mint WorkBench Commissioning Wizard to provide 1024 ppr. The FlexDrive provides an input accuracy of ±3 counts. When used with a typical Baldor BSM series resolver motor the combined accuracy is ±11 counts (calculated with the input equivalent resolution set to the factory preset value of 4096 ppr).
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3.7.1.1 Resolver cable pin configuration Figure 12 shows the pin configuration for a typical Baldor resolver feedback cable, part number CBL025SF-R1. Signal name FlexDrive Motor / cable Baldor resolver cable X8 pin internal wire colors REF+ REF- Blue COS+...
www.baldormotion.com 3.7.2 Encoder option - X8 The encoder connections (ABZ channels and Hall signals) are made using the 15-pin D-type female connector X8. Twisted pair cables must be used for the complementary signal pairs e.g. CHA+ and CHA-. The overall cable shield (screen) must be connected to the metallic shell of the D-type connector.
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3.7.2.1 Encoder cable pin configuration - rotary motors Figure 14 shows the pin configuration for a typical Baldor encoder feedback cable, part number CBL025SF-E1. Signal name FlexDrive Motor / cable Baldor encoder cable X8 pin internal wire colors CHA+...
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CHA- CHB+ Please refer to MN1800 Linear Motors Please refer to MN1800 Linear Motors Installation & Operating Manual for details. CHB- CHZ+ CHZ- Baldor Hall cable internal wire colors Hall U+ White Hall V+ Hall W+ Black Brown Hall GND...
www.baldormotion.com 3.7.3 EnDat (absolute encoder) option - X8 The absolute encoder interface supports both incremental and absolute (multi and single turn) feedback using SinCos technology. It is possible to read and write information to the encoder. The absolute encoder connections are made using the 15-pin D-type female connector X8. Twisted pair cables must be used for the complementary signal pairs e.g.
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3.7.3.1 Absolute encoder cable pin configuration Figure 17 shows the pin configuration for a typical Baldor absolute encoder feedback cable, part number CBL025SF-D1. Signal name FlexDrive Motor / cable Baldor EnDat cable X8 pin internal wire colors Data -...
www.baldormotion.com 3.7.4 Hiperface (absolute encoder) option - X8 The Hiperface absolute encoder interface supports both incremental and absolute (multi and single turn) feedback using SinCos technology. It is possible to read and write information to the encoder. The absolute encoder connections are made using the 15-pin D-type female connector X8.
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3.7.4.1 Absolute encoder cable pin configuration Figure 19 shows the pin configuration for a typical Baldor absolute encoder feedback cable, part number CBL025SF-D1. Signal name FlexDrive Motor / cable Baldor Hiperface X8 pin cable internal wire colors Data -...
www.baldormotion.com 3.8 Drive enable - X3 Location Connector X3, pins 7 & 9 (Mating connector: Phoenix MINI-COMBICON MC 1.5/20-ST-3,5) Name Drive enable Input voltage +24VDC (±20%) CREF 7 ENABLE 9 To enable the FlexDrive and allow motion, three actions are necessary: A customer supplied externally generated 24VDC supply must be connected between pins 7 and 9.
www.baldormotion.com 3.8.2 Drive enable - SW1 DIP switch To enable the FlexDrive the front panel DIP switch 8 must be set to On. This switch provides a local enable/disable switch that can be useful during testing. The state of the drive enable DIP switch is displayed in the Mint WorkBench Spy window.
www.baldormotion.com 3.9 DIP switches - SW1 Various functions of the FlexDrive can be controlled by the front panel SW1 DIP switches. Location Switch block SW1 Switch Function Node number selection (serial and fieldbus networks) Node number selection (serial and fieldbus networks) Bit pattern values shown in italics 5 Hold 6 RS485 terminator...
www.baldormotion.com If switches 1-4 are all in the Off position, the Mint NODE keyword can be used to set the node number. Mint WorkBench (see section 5.2) reads the FlexDrive node number (during the scan process) and then uses it to direct commands to the FlexDrive Avoid accidentally setting switches 1-4 to the On position at the same time.
www.baldormotion.com 3.9.6 Switch 9 - MODBUS select Switch 9 enables the MODBUS serial protocol the next time the FlexDrive is power-cycled. This affects the value of the Mint keyword SERIALPROTOCOL. Enabling MODBUS disables the Host Comms Protocol (HCP), so attempts to access the drive’s comms array over the serial connection (using a serial HMI panel for example) will no longer work.
Auto command will be prevented from running automatically at startup. It is possible for normal (Baldor Binary Protocol) serial communication to be lost if bit 5 of the Mint keyword COMMSMODE has been set. This can occur when alternative communication protocols have been used.
www.baldormotion.com Input / Output 4.1 Introduction This section describes the various digital and analog input and output capabilities of the FlexDrive , with descriptions of each of the connectors on the front panel. The following conventions will be used to refer to the inputs and outputs: .
www.baldormotion.com 4.2.1 Analog input - X3 (demand) Connector X3, pins 1-3 (Mating connector: Location Phoenix MINI-COMBICON MC 1.5/20-ST-3,5) Name AIN0 Mint keyword ADC.0 Description Single ended or differential input. Common mode voltage range: ±10VDC. Resolution: 14-bit with sign (accuracy ±1.2mV) Common mode rejection: 40dB Input impedance: >5kΩ...
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www.baldormotion.com AIN0+ AIN0+ AIN0 AIN0 AIN0- (ADC.0) (ADC.0) Differential connection Single ended connection Figure 25 - AIN0 analog input wiring +24VDC 1.5kΩ, 0.25W 1kΩ, 0.25W potentiometer AIN0 (ADC.0) Figure 26 - Typical input circuit to provide 0-10V (approx.) input from a 24V source MN1902 Input / Output 4-3 Artisan Technology Group - Quality Instrumentation ...
www.baldormotion.com 4.3 Digital I/O The FlexDrive provides as standard: * 8 general-purpose inputs on connector block X3 3 general-purpose outputs on connector block X3 1 relay / general-purpose output on connector block X3 A digital input can be used to support many typical input functions: Error input Reset input Stop input...
www.baldormotion.com 4.3.2 CREF and digital inputs Pin 7 (CREF) controls the sense of all the digital inputs (X3 pins 9 to 17) and should be permanently wired, dependent on the user requirements: Active high: connect 0V to pin 7. The digital inputs will be active when a voltage of +24VDC (greater than 12VDC) is applied to them and will sink a current of approximately 5mA each.
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www.baldormotion.com Incremental encoder FlexDrive ‘X3’ Twisted pairs DIN4 (Pulse) DIN5 (Dir) CREF ‘X1’ Connect shields at one end only Drive Drive supply supply Figure 29 - Pulse and direction inputs - typical connection from an incremental encoder: FlexDrive with external 24V supply option, ‘active high’ inputs Incremental encoder FlexDrive ‘X3’...
www.baldormotion.com 4.3.4 Special functions on DIN4 and DIN5 - fast inputs Flex+Drive only: DIN4 and DIN5 can be configured using the FASTSELECT keyword to perform special functions: Fast interrupt hardware position capture input. The position of the axis is captured in real time and can be read using the Mint keyword FASTPOS.
If the basic encoder feedback option is fitted, X7 duplicates the encoder signals entering X8. However, the simulated encoder output is in the opposite direction to the encoder input. When connecting the output to another Baldor controller, the ENCODERMODE or AUXENCODERMODE keywords can be used to re-invert the signal.
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FlexDrive NextMove BX encoder input CHA+ CHA- Baldor cable parts CHZ+ CBL0xxMF-E3B are CHZ- recommended (where xx represents CHB+ a choice of available CHB- lengths). DGND Connect overall shield to connector backshells. Figure 33 - FlexDrive encoder output to NextMove BX...
(RS422) to be used. The interface also provides an isolated 5V supply for the encoder electronics, capable of driving up to 100mA. CAUTION: The master encoder input does not use the same pin configuration as some Baldor controllers such as NextMove BX ‘X3’ FlexDrive...
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www.baldormotion.com Twisted pairs CHA+ CHA- - CHB+ CHB- - Master CHZ+ Encoder CHZ - - DGND Connect internal shields to DGND. Connect overall shield to connector backshells. Figure 37 - Differential encoder connections 4.4.2.1 Dual encoder feedback The master encoder input can be used as a second feedback input in dual encoder systems. The Mint keyword AXISPOSENCODER is used to select the master (auxiliary) encoder input as a feedback input.
120Ω termination resistor between the RX+ and RX- signals. Switch 6 should remain in the Off position when using RS232. CAUTION: Pin 9 is used to carry +8V for powering certain Baldor keypad peripherals. Ensure that pin 9 is not connected to earth/ground or to equipment that could be damaged by the +8V supply.
(X6) can be configured as either RS232 or RS485 / RS422. Pin 9 is used to carry +8V for powering certain Baldor keypad peripherals. Ensure that pin 9 is not connected to earth/ground or to equipment that could be damaged by the +8V supply.
Figure 40. Four-wire RS485 may be used for single point-to-point applications involving only one Baldor controller. If firmware is updated over RS485/RS422, it can only be downloaded to the drive that was chosen in the Select Controller dialog in Mint WorkBench.
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4.4.6 Connecting Baldor HMI Operator Panels Baldor HMI Operator Panels use a 15-pin male D-type connector (marked PLC PORT), but the FlexDrive connector X6 is a 9-pin male D-type connector. If you do not require hardware handshaking then use the connections shown in Figure 41:...
Demand input may be differential or single ended. See section 4.2.1. The encoder output (X7) would normally be connected to a motion controller (not shown). Motor represents a typical Baldor BSM motor. Linear motors may also be controlled by FlexDrive Shield earth/ground clamps are not supplied.
www.baldormotion.com 4.6 Option connectors If there are additional connectors on the front panel of your FlexDrive that have not been described in previous sections, these are part of a factory fitted option. You will need to refer to the extra manual supplied with your FlexDrive for details of the option’s connectors.
RS232 to get started (the preset factory setting) and use RS485 later. Pin 9 is used to carry +8V for powering a Baldor keypad peripheral. Ensure that pin 9 is not connected to earth/ground or to equipment that could be damaged by the +8V supply.
www.baldormotion.com 5.1.3 Starting the FlexDrive If you have followed the instructions in the previous sections, you should now have connected all the power sources, your choice of inputs and outputs and the serial cable linking the PC with the FlexDrive 5.1.4 Preliminary checks Before you apply power for the first time, it is very important to verify the following: Disconnect the load from the motor until instructed to apply a load.
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www.baldormotion.com 5.1.6 Offset tuning If the FlexDrive will be using analog input 0 (AIN0) as a demand reference input (or for any other purpose) you may wish to perform offset tuning before continuing. The purpose of offset tuning is to remove DC offset voltages on the demand reference input to achieve a stationary motor shaft with 0VDC at the input.
www.baldormotion.com 5.2 Mint WorkBench Mint WorkBench is a fully featured application for programming (Flex+Drive only) and controlling the FlexDrive . The main Mint WorkBench 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.
www.baldormotion.com 5.2.2 Starting Mint WorkBench 1. On the Windows Start menu, select Programs, Mint Machine Center, Mint WorkBench. Mint WorkBench will start, and the Tip of the Day dialog will be displayed. You can prevent the Tip of the Day dialog appearing next time by removing the check mark next to Show tips at startup.
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www.baldormotion.com 3. In the Select Controller dialog, go to the drop down box near the top and select the PC serial port to which the drive is connected. (If you are unsure which PC serial port is connected to the drive, select Scan all serial ports). Click Scan to search for the FlexDrive When the search is complete, click on FlexDrive in the list to select it, and click the Select...
www.baldormotion.com 5.2.3 Commissioning Wizard Each type of motor and drive combination has slightly different performance characteristics. Before the FlexDrive can be used to control the motor accurately, the FlexDrive must be “tuned”. This is the process where the FlexDrive powers the motor in a series of tests. By monitoring the feedback from the motor’s resolver or encoder and performing a number of calculations, the FlexDrive can make small adjustments to the way it controls the motor.
www.baldormotion.com 5.2.6 Performing a test move This section tests the basic operation of the drive and motor. 1. Check that the Drive enable button is pressed (down). 2. In the Toolbox, click the Edit & Debug icon. 3. Click in the Command window. 4.
www.baldormotion.com 5.3 Further configuration Mint WorkBench provides a number of tools, each of which has an icon on the left of the screen. Click once on an icon to select the tool. Three of the main tools used for tuning and configuring the FlexDrive are described in the following sections.
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www.baldormotion.com 5.3.1.2 Fine-tuning - Speed tab The speed tab allows you to set speed loop gains and perform test moves. The Commissioning Wizard may have already set some of these values, depending on the type of system selected on the mode screen. Enter new values in the required boxes and then click Apply to download the values to the FlexDrive .
www.baldormotion.com 5.3.2 Parameters tool The Parameters tool can be used to setup many important parameters, such as a scaling factor for the feedback input, and the action to take when errors occur. 1. Click the Parameters icon in the Toolbox on the left of the screen.
www.baldormotion.com 5.3.3 Digital I/O tool The Digital I/O tool allows you to define how each digital input and output will be triggered and if it is to be assigned to a special function, for example the forward limit or stop input. 1.
www.baldormotion.com Preset Moves & PLC Task 6.1 Introduction Two of the important features introduced on the FlexDrive are preset moves and the PLC task. Basic operation of these two features are described in the following sections. MN1902 Preset Moves & PLC Task 6-1 Artisan Technology Group - Quality Instrumentation ...
www.baldormotion.com 6.2 Preset moves The FlexDrive can store 16 preset moves. (Flex+Drive only: If the CAN & Auxiliary I/O option is fitted, 256 preset moves can be stored.) Presets can be selected and triggered using software (Mint WorkBench or a Mint program) or by using a combination of the digital inputs. In Mint WorkBench, the Presets tool displays an interactive table allowing you to set up the preset moves.
www.baldormotion.com 6.2.2 Testing a preset move For testing, Mint WorkBench can be used to trigger the preset moves. 1. At the bottom of the Presets window, ensure that the Software option is checked. This means that Mint WorkBench will be used to control the preset moves.
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www.baldormotion.com 6.2.3.1 Configuring digital inputs to control presets The default combination of digital inputs used for triggering presets is 6, 7, 0 and 1 to select the preset, and 5 to trigger the preset. However, this combination can be changed to use any four (or fewer) contiguous inputs, plus a trigger input.
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www.baldormotion.com 2. At the bottom of the Digital I/O window, click in the Preset Inputs drop down box and select the number of inputs to be used for preset selection. For example, if the application requires only four different preset moves, choose 2. This means only two digital inputs will be used to select preset moves, allowing 4 different combinations (moves) to be selected.
www.baldormotion.com 6.2.4 Controlling preset moves Additional options are available to control the operation of preset moves. Dwell Time can be used to set a delay period between the triggering of a preset move and its commencement. If the Wait for Idle option is checked, the preset move will not begin until the previous one has been completed.
www.baldormotion.com 6.3 PLC Task The PLC Task is a special task that can be set up to monitor various events and act upon them if they become true. In Mint WorkBench, the PLC Task tool allows you to enter conditional statements that respond to the events by performing a particular action. The statements can be downloaded to the FlexDrive if required.
www.baldormotion.com 6.3.2 Enabling and downloading the actions Individual actions can be enabled by clicking in the appropriate check box in the Enable column. When the PLC Task is activated, only those actions that have been enabled will be evaluated. 1. Set the required check boxes in the Enable column.
www.baldormotion.com 6.3.3 Testing the PLC Task There is no way to test the PLC Task other than causing the required conditions to occur. For example, if you have an action that is triggered by the condition Digital input 0, then activating digital input 0 will cause the corresponding action to occur.
If you cannot solve the problem or the problem persists, the SupportMe feature can be used. 7.1.2 SupportMe feature The SupportMe feature (on the Help menu) can be used to e-mail information to the Baldor representative from whom you purchased the equipment. If required, you can choose to add your program files as attachments.
This is potentially a severe problem if it occurs repeatedly. Communications failure could indicate a process locking out the interprocessor communications. Clear the error; if the problem persists then contact Baldor technical support. Over volts. The DC Bus voltage has exceeded the powerbase overvolts level (see DRIVEBUSOVERVOLTS).
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www.baldormotion.com Overtemperature. The temperature of the drive or motor has exceeded a trip level (see Mint keyword TEMPERATURELIMITFATAL ) or the Motor overtemperature trip input has been activated (see Mint keyword MOTORTEMPERATUREINPUT). Drive enabled. The drive is enabled (except where CONFIG = _cfVirtual, where it is not physically enabled).
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www.baldormotion.com Overspeed. The measured speed of the motor has exceeded the trip level defined by DRIVESPEEDFATAL. Check that the trip level is set to a suitable value for your application. When accelerating to a demand speed close to the trip level, there will typically be a certain amount of overshoot.
www.baldormotion.com 7.2.2 DB On (Regeneration) LED The front panel DB On LED indicates regeneration activity. Yellow Power is being dissipated into the regeneration resistor No regeneration is occurring. 7.2.3 Communication Problem Check Status display is Check that the customer supplied 24VDC power supply is connected blank correctly to connector X1 and is switched on.
www.baldormotion.com 7.2.4 Power on Problem Check The Status display is The FlexDrive has detected a motion error. Use the Error showing a flashing symbol Log tool to view a list of recent errors, or click the Error with a static decimal point. button on the motion toolbar to view a description of the error.
www.baldormotion.com Specifications 8.1 Introduction This section provides technical specifications for the various FlexDrive models. MN1902 Specifications 8-1 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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www.baldormotion.com 8.1.1 AC input power and motor output - single-phase models Unit 2.5A 7.5A 115VAC (Catalog number FDH1... / FPH1...) Nominal input voltage Minimum input voltage (recommended / absolute) 97 / 75* Maximum input voltage Nominal input current 6.25 @ maximum rated output current Nominal DC-Bus voltage Minimum operating DC-Bus voltage Maximum operating DC-Bus voltage...
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www.baldormotion.com 8.1.2 AC input power and motor output - 230V three-phase models Unit 230VAC 50/60Hz (Catalog numbers FDH2A15... and FPH2A15...) Nominal input voltage Minimum input voltage (recommended / absolute) 184 / 75* Maximum input voltage Nominal input current @ maximum rated output current Nominal DC-Bus voltage Minimum operating DC-Bus voltage Maximum operating DC-Bus voltage...
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www.baldormotion.com 8.1.3 AC input power and motor output - 230-460V three-phase models Unit 2.5A 7.5A 27.5A 230-460VAC 50/60Hz (Catalog number FDH4... / FPH4...) Nominal input voltage 230-460 Minimum input voltage 180 / 75* (recommended / absolute) Maximum input voltage Nominal input current 36.5 @ max.
www.baldormotion.com 8.1.4 Customer supplied 24VDC supply input Unit 2.5A 7.5A 27.5A 24VDC (Catalog numbers FDHxxxxx-xxx3 and FPHxxxxx-xxx3) Nominal input voltage Minimum input voltage 20.4 Maximum input voltage 28.8 Maximum ripple ±10 Maximum continuous current 1.75 @24VDC Power on surge current @24VDC, 100ms 8.1.5 Regeneration Unit...
www.baldormotion.com Unit 230VAC three-phase models (Catalog number FDH2A15... / FPH2A15...) Switching threshold on: 376, off: 365 Nominal power (10% power cycle) Peak power (10% power cycle) Maximum regeneration switching current Maximum load inductance μH Unit 2.5A 7.5A 27.5A 230-460VAC three-phase models (Catalog number FDH4...
www.baldormotion.com 8.1.7 Digital inputs (X3) Unit All models All models Type Opto-isolated DC inputs Input voltage (Active high) Nominal Minimum Input voltage (Active low) Nominal Maximum Input current (approximate, per input) Sampling interval Equivalent to LOOPTIME: 1ms (default) or 2ms Maximum pulse input frequency (DIN4, pulse and direction mode) Minimum pulse width...
www.baldormotion.com 8.1.9 Relay / general purpose output (X3) Unit All models All models Contacts Normally closed Contact rating (resistive) 1A @ 30VDC 0.5A @ 125VAC Maximum carrying current Maximum switching power 62.5AV, 30W Maximum switching voltage 250VAC, 220VDC Maximum switching current Capacitance (between open contacts, at 1kHz) Update interval...
Resolver winding ratio FlexDrive resolver input accuracy counts ±3 Typical accuracy counts ±11 using Baldor BSM series resolver motor (with input set to simulate 4096 ppr) Maximum recommended cable length 30.5m (100ft) 8.1.14 Encoder feedback option (X8) Unit All models Catalog numbers:...
512 or 1024 Sin/Cos cycles per turn, with absolute positioning resolution of 2048 or 4096 steps. (Many other encoder specifications are supported - contact Baldor.) Output power supply to encoder 7V - 11V (supply dependent), 200mA max. Maximum recommended cable length 30.5m (100ft)
www.baldormotion.com 8.1.18 Pulse and direction input (X9) Unit All models All models Pulse and direction signals RS422 Input current (5V input) 1.2mA Maximum input frequency 1.25 Sampling interval Software selectable: 1, 2 8.1.19 Environmental Unit All models All models Operating temperature range °C °F Minimum...
www.baldormotion.com Accessories A.1 Introduction This section describes accessories and options that you may need to use with your FlexDrive . Shielded (screened) cables provide EMI / RFI shielding and are required for compliance with CE regulations. All connectors and other components must be compatible with the shielded cable.
A.1.3 Motor power cable part numbers For easier installation, it is recommended that a color-coded Baldor motor power cable is used. A description of a Baldor rotary motor power cable catalog number is shown here, using the example number CBL025SP-12:...
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A.1.4 Resolver feedback cables This table lists part numbers of Baldor resolver feedback cables for use with the FlexDrive Length Cable assembly description Cable assembly description Catalog number Catalog number Resolver Feedback Cable: CBL044-501 Available by the meter no connectors or on 100m drum.
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A.1.5 Encoder / Hall feedback cables This table lists part numbers of Baldor encoder feedback cables for use with the FlexDrive Length Cable assembly description Cable assembly description Baldor catalog number Baldor catalog number Encoder Feedback Cable: CBL043-501 Available by the meter no connectors or on 100m drum.
EnDat/Hiperface) Note: Feedback cables have the outer shield tied to the connector housing(s). If you are not using a Baldor cable with your chosen feedback device, be sure to obtain a cable that is a shielded twisted pair 0.34mm (22 AWG) wire minimum, with an overall shield.
AC filters remove high frequency noise from the AC power supply, protecting the FlexDrive These filters also prevent high frequency signals from being transmitted back onto the power lines and help meet CE requirements. To select the correct filter, see section 3.4.5. A.1.8.1 Catalog numbers Baldor Rated amps Leakage Weight...
To avoid fire hazard, keep all combustible materials and flammable vapors away from the brake resistors. Ensure that the resistor has clearance of at least 50mm (2 in) above and below and 26mm (1 in) left and right. Baldor regeneration resistors are neither internally fused nor thermally protected and, under extreme conditions, can cause a fire hazard if not suitably protected or rated for the application.
www.baldormotion.com Control System B.1 Introduction The FlexDrive can be configured for three basic control modes: Current (Torque) control Velocity (Speed) control Position Control (Pulse and Direction following/gearing) The Flex+Drive can be configured for three basic control modes: Current (Torque) control Velocity (Speed) control Position Control The mode you require is selected in Mint WorkBench using the Commissioning Wizard.
www.baldormotion.com B.1.1 Current (Torque) control Setting the control mode to Current Control configures the FlexDrive or Flex+Drive as a torque amplifier, as shown in Figure 50. Here, a torque reference is obtained from a specified source. Mint / host command (profiled) High speed analog input (not profiled) Analog input (profiled) Fieldbus (profiled).
www.baldormotion.com B.1.2 Velocity (Speed) control Setting the control mode to Velocity Control configures the FlexDrive or Flex+Drive as a speed amplifier, as shown in Figure 51. Here, a speed reference is obtained from a specified source. Mint / host command (profiled) High speed analog input (not profiled) Analog input (profiled) Fieldbus (profiled).
www.baldormotion.com B.1.3 Position control (Pulse and Direction) Setting the control mode to Position Control (Pulse and Direction) configures the FlexDrive as a positioning system, as shown in Figure 52, capable of following a position demand signal. The profiler interprets the pulse and direction signals and uses them to generate corresponding position, speed and acceleration demand signals.
www.baldormotion.com B.1.4 Position control Flex+Drive only: Setting the control mode to Position Control configures the Flex+Drive as a full positioning system, as shown in Figure 53. Here, the Flex+Drive can be used to command many different position profiles: Preset moves Absolute or relative moves Incremental absolute or relative moves Jog control...
www.baldormotion.com B.2 Control system operation The following sections describe the operation of the position, speed and torque controllers. B.2.1 Position controller The position controller, shown below, is a typical proportional + integral + derivative (PID) controller, with gains set by the Mint keywords KPROP, KINT and KDERIV. The position demand from the profiler is compared with the measured position and the error is fed into the PID control calculation.
www.baldormotion.com B.2.2 Speed controller The speed controller, shown in Figure 55, is also a PID controller. Gains are set using the Mint keywords KVPROP, KVINT and KVDERIV. The speed is compared with the measured speed and the error is fed into the PID control calculation. The result forms the torque demand for the torque controller.
www.baldormotion.com B.2.3 Torque controller and feedback The torque controller, shown in Figure 56, is a PI controller. Gains are set using the Mint keywords KIPROP and KIINT. The torque demand is scaled into a current demand. This is compared with the measured current, obtained from the current sensors, and the error is fed into the PI control calculation.
www.baldormotion.com Mint Keyword Summary C.1 Introduction The following table summarizes the Mint keywords supported by the FlexDrive Flex+Drive . Note that due to continuous developments of the FlexDrive , Flex+Drive the Mint language, this list is subject to change. Check the latest Mint help file for a complete list of new keywords, changed keywords, and those used for controlling program flow.
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www.baldormotion.com Keyword Description Sets the upper analog limit value for the specified analog ADCMAX input. Sets the lower analog limit value for the specified analog ADCMIN input. To set the analog input mode. ADCMODE Specifies the analog inputs that an axis will monitor for ADCMONITOR analog limit checking.
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www.baldormotion.com Keyword Description To read back the motion error. AXISERROR To return the current mode of motion. AXISMODE AXISPOSENCODER * To select the source of the position signal used in dual encoder feedback systems. To return the current error status from the specified axis. AXISSTATUS To read the DS402 status word for a remote axis.
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www.baldormotion.com Keyword Description To define the update interval for information sent in BUSPROCESSDATAOUT- process data telegrams. INTERVAL To define the associated parameter for items sent in BUSPROCESSDATAOUT- process data telegrams. PARAMETER Resets the bus controller. BUSRESET Returns the status of the bus controller. BUSSTATE To alter the inter-character timeout for MODBUS ASCII.
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www.baldormotion.com Keyword Description Returns the progress of the capture. CAPTURESTATUS To generate a capture trigger. CAPTURETRIGGER To ignore the sign of the trigger value when triggering CAPTURETRIGGERABSOLUTE from a capture channel source. Sets the channel to be used as the reference source for CAPTURETRIGGERCHANNEL triggering.
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www.baldormotion.com Keyword Description To return the nominal value of the DC bus voltage for the DRIVEBUSNOMINALVOLTS drive. To set or return the overvoltage trip level for the drive. DRIVEBUSOVERVOLTS To set or return the undervoltage trip level for the drive. DRIVEBUSUNDERVOLTS To return the current level of the DC bus.
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www.baldormotion.com Keyword Description To define the resolution of the encoder output. ENCODERLINESOUT To make miscellaneous changes to the encoders. ENCODERMODE To set or read the scale factor for the encoder channel. ENCODERSCALE ENCODERVEL To read the velocity from an encoder channel. To set or read the encoder wrap range for the encoder ENCODERWRAP channel.
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www.baldormotion.com Keyword Description FASTENABLE * Manually clears the encoder’s fast position latch. FASTENCODER * To return the instantaneous encoder value that was recorded on the fast interrupt. FASTLATCH * To read the axis fast interrupt latch. FASTLATCHEDGE * To define which edge polarity should cause the fast position to be captured.
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www.baldormotion.com Keyword Description To write to the comms arrays of all the nodes within a GROUPCOMMS specified group. To determine whether the current node is master of the GROUPMASTERSTATUS group. To determine whether the current node is a member of GROUPSTATUS the group.
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www.baldormotion.com Keyword Description Indicates if a move has finished executing and the axis IDLE has finished moving. To control the checks performed when determining if an IDLEMODE axis idle. Reads or sets the idle following error limit. IDLEPOS To read the time taken for an axis to become idle. IDLESETTLINGTIME To specify the period for which the axis must meet its IDLETIME...
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www.baldormotion.com Keyword Description To set the servo loop acceleration feed forward gain. KACCEL To set the servo loop derivative gain on the servo axes. KDERIV To set the integral gain used by the current controller. KIINT KINT To set the servo loop integral gain. To restrict the overall effect of the integral gain KINT.
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www.baldormotion.com Keyword Description To return the state of the reverse limit switch input for LIMITREVERSE the given axis. To set the user digital input configured to be the reverse LIMITREVERSEINPUT end of travel limit switch input for the specified axis. To define the equivalent viscous damping coefficient for LOADDAMPING the motor and load.
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www.baldormotion.com Keyword Description To read the type of feedback error when using a MOTORFEEDBACKPROTOCOL- Hiperface encoder. ERROR To set or read the number of retries to attempt when an MOTORFEEDBACKPROTOCOL- error occurs on a Hiperface encoder. RETRIES To read the current status of the EnDat or Hiperface MOTORFEEDBACKSTATUS encoder.
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www.baldormotion.com Keyword Description MOVEBUFFERIDLAST * To read a 16-bit identifier from the move buffer. MOVEBUFFERLOW * To set or return the number of free spaces in the move buffer before a move buffer low event is generated. MOVEBUFFERSIZE * To set or return the size of the move buffer allocated on the specified axis.
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www.baldormotion.com Keyword Description To define the bandwidth used to design the ‘debounce’ PHASESEARCHBANDWIDTH controller used during the initial alignment stage of the phase search sequence. PHASESEARCHCURRENT To select amount of current applied to the motor during the phase search sequence. To turn on the ‘debounce’...
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www.baldormotion.com Keyword Description To set or read the instantaneous position demand. POSDEMAND To indicate the remaining move distance. POSREMAINING To count the number of wraps of the axis position value. POSROLLOVER POSTARGET Reads the target position of the current positional move. To read the target position of the last move in the move POSTARGETLAST buffer.
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To request data from a node in the form of a PDO message. REMOTEPDOOUT * To force a Baldor controller node to transmit 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.
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www.baldormotion.com Keyword Description To set or read the status register on a remote CAN REMOTESTATUS node. To clear motion errors, set the position to zero and RESET re-enable the drive. To perform a reset on all axes. RESETALL To define the reset input for an axis. RESETINPUT To scale axis encoder counts, or steps, into user defined SCALEFACTOR...
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www.baldormotion.com Keyword Description To return the measured speed. SPEEDMEASURED To set or read a fixed point speed reference. SPEEDREF To set or read the acceleration ramp for a speed profile. SPEEDREFACCELTIME To set or read the deceleration ramp for a speed profile. SPEEDREFDECELTIME To read the calculated speed demand.
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www.baldormotion.com Keyword Description To return the instantaneous torque demand. TORQUEDEMAND To set or read the maximum negative torque limit. TORQUELIMITNEG To set or read the maximum positive torque limit. TORQUELIMITPOS To set or read a torque reference for torque (constant TORQUEREF current) mode on a servo axis.
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FlexDrive is sufficiently qualified to perform the task, and is aware of local regulations and requirements. Baldor products that meet the EMC directive requirements are indicated with a “CE” mark. A duly signed CE declaration of conformity is available from Baldor.
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D.1.2 Declaration of conformity EC Declaration of Conformity Date: 01/06/02 Ref: DE00011-001 Manufacturer: Baldor UK Limited Address: Mint Motion Centre, Hawkley Drive, Bristol Distribution Centre, Bristol, BS32 0BF, United Kingdom This is to certify that MintDrive , FlexDrive and Flex+Drive...
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An exception to this is the analog demand signal. Earthing/grounding For safety reasons (VDE0160), all Baldor components must be connected to earth/ground with a separate wire. Earth/ground connections must be made from the central earth/ground (star point) to the regeneration resistor enclosure and from the central earth/ground (star point) to the power supply.
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www.baldormotion.com D.1.5 EMC installation suggestions To ensure electromagnetic compatibility (EMC), the following installation points should be considered to help reduce interference: Earthing/grounding of all system elements to a central earth/ground point (star point) Shielding of all cables and signal wires Filtering of power lines.
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www.baldormotion.com D.1.6 Wiring of shielded (screened) cables Remove the outer insulation Flat or p-type to expose the overall shield. conductive Clamp should provide 360° clamp contact with the cable. Figure 57 - Earthing/grounding cable shields FlexDrive Resolver Connector Cable Housing Twisted pairs REF+ REF-...
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D.2 UL file numbers The following table lists UL file numbers for Baldor products and other accessories. Note that UL file numbers for accessories that are not manufactured by Baldor are beyond Baldor’s control and therefore subject to change without notice.
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Index operation position controller, B-6 Abbreviations. See Units and Abbreviations speed controller, B-7 Absolute encoder torque controller and feedback, B-8 cable, 3-28, 3-30, A-4 position control, B-5 Hiperface option, 3-29 position control (pulse & direction), B-4 option, 3-27 velocity (speed) control, B-3 specification, 8-10 Accessories, A-1 EMC filters, A-6...
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4-20 relay - X3, 4-10, 8-8 PLC Task, 6-7 serial port - X6, 4-15, 8-8 defining conditions, 6-7 connecting Baldor HMI panels, 4-18 enabling and downloading, 6-8 multidrop using RS485/RS422 cable, 4-17 MN1902 Index Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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MN1902 Index Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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If you have any suggestions for improvements to this manual, please let us know. Write 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...
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www.baldormotion.com Thank you for taking the time to help us. Comments MN1902 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...