Baldor MDH1A05TB-RC23 Installation Manual
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Baldor MDH1A05TB-RC23 Installation Manual

Baldor MDH1A05TB-RC23 Installation Manual

Mintdrive ii series; mdh1a series; mdh2a series; mdh4a series
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SERVO DRIVE
II
MintDrive
Servo & Position Control
Installation Manual
01/07
MN1901

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Summary of Contents for Baldor MDH1A05TB-RC23

  • Page 1 SERVO DRIVE MintDrive Servo & Position Control Installation Manual 01/07 MN1901...

  • Page 3: Table Of Contents

    ......... 3-16 3.5.2 Motor power cable pin configuration - Baldor BSM rotary motors ..3-16 3.5.3...
  • Page 4 ......4-19 4.4.6 Connecting Baldor HMI Operator Panels ......4-20 Connection summary - minimum system wiring .
  • Page 5 5.2.3 Commissioning Wizard ......... . 5.2.4 Using the Commissioning Wizard .
  • Page 6 8.1.11 Relay / general purpose output (X3) ....... 8.1.12 Serial RS232 interface (X6) .

  • Page 7: General Information

    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.
  • Page 8 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.
  • Page 9 www.baldormotion.com WARNING: Be sure all wiring complies with the National Electrical Code and all regional and local codes. Improper wiring may result in unsafe conditions. WARNING: The stop input to this equipment should not be used as the single means of achieving a safety critical stop.
  • Page 10 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.

  • Page 11: Introduction

    DeviceNet or Profibus connectivity. See Appendix A for details about options. MintDrive 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.

  • Page 12: Receiving And Inspection

    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:...

  • Page 13: Units And Abbreviations

    www.baldormotion.com 2.3 Units and abbreviations The following units and abbreviations are used in this manual: ....Volt (also VAC and VDC) ....Watt .
  • Page 14 www.baldormotion.com 2-4 Introduction MN1901...

  • Page 15: Basic Installation

    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 MintDrive in the following stages: Location considerations Mounting the MintDrive Connecting the AC power supply Connecting the optional customer supplied 24VDC control supply Connecting the motor Installing a regeneration resistor (Dynamic Brake resistor)

  • Page 16: Rs485 / Rs422 Systems

    Note: The serial connector on the MintDrive (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.

  • Page 17: Other Information Needed For Installation

    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.

  • Page 18: Mechanical Installation And Location Requirements

    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.

  • Page 19: Mounting The Mintdrive

    www.baldormotion.com For effective cooling and maintenance, the MintDrive 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 MintDrive must be provided for airflow.

  • Page 20: Dimensions

    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 &...

  • Page 21: Connector Locations

    www.baldormotion.com 3.3 Connector locations X1 / X1A Power SW1 DIP switches Node Single-phase models number selection Earth (NC) Hold AC Line RS485 terminator AC Neutral Offset tuning Motor U Enable Motor V (Reserved) Motor W 10 RS232/RS485 Regen Resistor (Dynamic Brake) (NC) X9 Master Encoder +24V Customer...

  • Page 22: Power Connections

    Only class 1 wiring should be used. 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.

  • Page 23: Single-Phase Connection To Package Sizes A, B, C, D

    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 MDH1A... MDH2A... Nominal input 115VAC, 1Φ line to neutral 230VAC, 1Φ line to neutral voltage (U.S. single phase supply) (European single phase supply)* Range 75-125VAC 75-250VAC...

  • Page 24: Three-Phase Connection To Package Sizes E, G, H

    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 MDH2A15... MDH4A... Nominal input 230VAC, 3Φ line to line 230-460VAC, 3Φ line to line voltage Range 75-253VAC 75-528VAC Tightening torque for terminal block connections is 0.5-0.6Nm (4.4-5.3 lb-in).

  • Page 25: Input Power Conditioning

    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...

  • Page 26: Power Supply Filters

    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 MintDrive complies with the CE specifications for which it has been tested. Table 1 lists the appropriate filters:...

  • Page 27: Wire Sizes And Protection Device Ratings

    www.baldormotion.com 3.4.6 Wire sizes and protection device ratings Table 2 describes the wire size to be used for power connections and the ratings of the protection devices. Incoming Power Nominal Continuous D-Type Time Minimum Minimum Input Input Output Output Input Input Delay Delay...

  • Page 28: External Customer Supplied 24V Control Supply

    I/O information. It is recommended that a separate fused 24V supply is provided for the MintDrive . 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 MintDrive from the rest of the system.

  • Page 29: Motor Connections

    www.baldormotion.com 3.5 Motor connections The motor can be connected directly to the MintDrive or through a motor contactor (M-Contactor). Location Connector X1 / X1A Part number MDH1A... MDH2A... MDH2A15... MDH4A... Nominal output voltage 160VDC 320VDC 320VDC 565/650V Output voltage range 135-176VDC 306-350VDC 258-355VDC 254-746VDC...

  • Page 30: Motor Circuit Contactors

    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:...

  • Page 31: Motor Cable Pin Configuration - Baldor Linear Motors

    3.5.3 Motor cable pin configuration - Baldor linear motors The following table shows the core colors used in a typical Baldor linear motor cable set, part number AY1763A00: Signal name Motor cable wire color Motor U Black Motor V...

  • Page 32: Thermal Switch Connection

    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 WorkBench v5 Digital I/O tool, the input can be configured to be the motor trip input. This allows the MintDrive to respond to motor over-temperature conditions.

  • Page 33: Motor Brake Connection

    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. from motor brake connections CGND...

  • Page 34: Regeneration Resistor (Dynamic Brake Resistor)

    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.

  • Page 35: Feedback Connections

    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 MintDrive (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.

  • Page 36: Resolver Option - X8

    WorkBench v5 Commissioning Wizard to provide 1024 ppr. The MintDrive 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).
  • Page 37 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 MintDrive Motor / cable Baldor resolver cable X8 pin internal wire colors REF+ REF- Blue COS+...

  • Page 38: Encoder Option - X8

    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.
  • Page 39 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 MintDrive Motor / cable Baldor encoder cable X8 pin internal wire colors CHA+...
  • Page 40 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...

  • Page 41: Endat (Absolute Encoder) Option - X8

    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.
  • Page 42 3.7.3.1 Absolute encoder cable pin configuration Figure 14 shows the pin configuration for a typical Baldor absolute encoder feedback cable, part number CBL025SF-D1. Signal name MintDrive Motor / cable Baldor EnDat cable X8 pin internal wire colors Data -...

  • Page 43: Hiperface (Absolute Encoder) Option - X8

    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.
  • Page 44 3.7.4.1 Absolute encoder cable pin configuration Figure 14 shows the pin configuration for a typical Baldor absolute encoder feedback cable, part number CBL025SF-D1. Signal name MintDrive Motor / cable Baldor Hiperface X8 pin cable internal wire colors Data -...

  • Page 45: Drive Enable - X3

    www.baldormotion.com 3.8 Drive enable 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 MintDrive and allow motion, three actions are necessary: A customer supplied externally generated 24VDC supply must be connected between pins 7 and 9 of connector X3.

  • Page 46: Drive Enable - Sw1 Dip Switch

    www.baldormotion.com 3.8.2 Drive enable - SW1 DIP switch To enable the MintDrive 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 WorkBench v5 Spy window.

  • Page 47: Dip Switches - Sw1

    www.baldormotion.com 3.9 DIP switches - SW1 Various functions of the MintDrive 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...

  • Page 48: Switch 5 - Hold

    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. WorkBench v5 (see section 5.2) reads the MintDrive node number (during the scan process) and then uses it to direct commands to the MintDrive Avoid accidentally setting switches 1-4 to the On position at the same time.

  • Page 49: Switches 9 And 10 - Rs232/Rs485 Select

    3.9.6 Switches 9 and 10 - RS232/RS485 select Switch 9 is reserved for Baldor keypad selection. Switch 10 selects RS232 communications (Off) or RS485/RS422 (On) the next time the MintDrive is power-cycled. 3.9.7 Factory settings If switches 1-4 are all in the On position and switch 8 is set to Off, the MintDrive will be reset to its preset factory settings at power on (or whenever the processor is reset by WorkBench v5).

  • Page 50: Preventing A Program Running At Startup

    www.baldormotion.com 3.9.8 Preventing a program running at startup If switches 5 and 9 are set to On and switch 8 is set to Off, any program already in the MintDrive that contains an Auto command will be prevented from running automatically at startup.

  • Page 51: Input / Output

    www.baldormotion.com Input / Output 4.1 Introduction This section describes the various digital and analog input and output capabilities of the MintDrive , with descriptions of each of the connectors on the front panel. The following conventions will be used to refer to the inputs and outputs: .

  • Page 52: Analog Input - X3 (Demand)

    www.baldormotion.com 4.2.1 Analog input - X3 (demand) Location Connector X3, pins 1-3 (Mating connector: 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...
  • Page 53 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 MN1901 Input / Output 4-3...

  • Page 54: Analog Input - X4

    www.baldormotion.com 4.2.2 Analog input - X4 Location Connector X4, pins 2 & 3 (Mating connector: Phoenix MINI-COMBICON MC 1.5/6-ST-3,5) Name AIN1 Mint keyword ADC.1 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...
  • Page 55 www.baldormotion.com +24VDC 1.5kΩ, 0.25W 1kΩ, 0.25W potentiometer AIN1 (ADC.1) Figure 29 - Typical input circuit to provide 0-10V (approx.) input from a 24V source MN1901 Input / Output 4-5...

  • Page 56: Analog Outputs, Bipolar - X4

    www.baldormotion.com 4.2.3 Analog outputs, bipolar - X4 Location Connector X4 Pins Name AOUT0 AOUT1 Mint keyword AUXDAC.0 AUXDAC.1 Description Two independent assignable outputs. Output range: ±10VDC. Resolution: 8-bit with sign (accuracy ±78mV). Output current: 1mA maximum. Update interval: Immediate - Software (Mint programs) 1ms, 2ms - DAC monitoring The two programmable analog outputs can be used to provide the status of various control conditions.

  • Page 57: Digital I/O

    www.baldormotion.com 4.3 Digital I/O The MintDrive 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...

  • Page 58: Digital Inputs - X3

    www.baldormotion.com 4.3.1 Digital inputs - X3 Location Connector X3 Pin Name Mint keyword 9 Drive Enable 10 DIN0 INX.0 CREF 7 11 DIN1 INX.1 12 DIN2 INX.2 13 DIN3 INX.3 14 DIN4 INX.4 15 DIN5 INX.5 16 DIN6 INX.6 17 DIN7 INX.7 Description Eight general-purpose optically isolated AC digital inputs.

  • Page 59: Cref And Digital Inputs

    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.
  • Page 60 www.baldormotion.com capture. To prevent subsequent inputs causing the captured value to be overwritten, the interrupt is latched in software. It is necessary to clear the latch before subsequent interrupts can be detected. See the Mint help file. Both inputs are fitted with Schmitt trigger devices. Note: The fast inputs are particularly sensitive to noise, so inputs must use shielded twisted pair cable.

  • Page 61: Digital Outputs - X3

    www.baldormotion.com 4.3.4 Digital outputs - X3 Location Connector X3 Pin Name Mint keyword 18 DOUT0 OUTX.0 19 DOUT1 OUTX.1 CGND 8 20 DOUT2 OUTX.2 Description Three general-purpose optically isolated digital outputs. Output current: 50mA maximum each output Update interval: Immediate - Software (Mint programs) 2ms - DRIVEENABLEOUTPUT, DRIVEOKOUTPUT and GLOBALERROROUTPUT functions...

  • Page 62: Relay Output / Digital Output - X3

    www.baldormotion.com 4.3.5 Relay output / digital output - X3 Location Connector X3, pins 4 (+) & 5 (-) Name General purpose relay Mint keyword RELAY / OUTX.3 Description Relay switch contacts controlled by Mint, rated at 1A, 30VDC. Update interval: Immediate The factory preset assignment for the relay is as the global error output signal (see the Mint keyword GLOBALERROROUTPUT).

  • Page 63: Other I/O

    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.
  • Page 64 MintDrive 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 35 - MintDrive encoder output to NextMove BX...

  • Page 65: Master (Auxiliary) Encoder Input - X9

    (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’ MintDrive...
  • Page 66 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 39 - 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.

  • Page 67: Serial Port - X6

    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.

  • Page 68: Using Rs232 Cable

    (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.

  • Page 69: Multidrop Using Rs485 / Rs422 Cable

    Figure 42. 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 WorkBench v5.

  • Page 70: Connecting Baldor Hmi Operator Panels

    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 MintDrive connector X6 is a 9-pin male D-type connector. If you do not require hardware handshaking then use the connections shown in Figure 43:...

  • Page 71: Connection Summary - Minimum System Wiring

    This model requires an external regeneration resistor and customer supplied 24V supply - see sections 3.6 and 3.4.7. Some models contain an internal 24V supply and/or an internal regeneration resistor. Motor represents a typical Baldor BSM motor. Linear motors may also be controlled by MintDrive Shield earth/ground clamps are not supplied.

  • Page 72: Option Connectors

    www.baldormotion.com 4.6 Option connectors If there are additional connectors on the front panel of your MintDrive 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 MintDrive for details of the option’s connectors.

  • Page 73: Operation

    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.

  • Page 74: Starting The Mintdrive

    www.baldormotion.com 5.1.3 Starting the MintDrive 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 MintDrive 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.

  • Page 75: Offset Tuning (Optional)

    www.baldormotion.com 5.1.6 Offset tuning (optional) If the MintDrive 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.

  • Page 76: Workbench V5

    www.baldormotion.com 5.2 WorkBench v5 WorkBench v5 is a fully featured application for programming and controlling the MintDrive The main WorkBench v5 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.

  • Page 77: Starting Workbench V5

    www.baldormotion.com 5.2.2 Starting WorkBench v5 1. On the Windows Start menu, select Programs, WorkBench v5, WorkBench v5. WorkBench v5 will start, and the Tip of the Day dialog will be displayed. You can prevent the Tip of the Day dialog appearing next time by removing the check mark next to Show tips at startup.
  • Page 78 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 MintDrive When the search is complete, click on MintDrive in the list to select it, and click the Select...

  • Page 79: Commissioning Wizard

    www.baldormotion.com 5.2.3 Commissioning Wizard Each type of motor and drive combination has slightly different performance characteristics. Before the MintDrive can be used to control the motor accurately, the MintDrive must be “tuned”. This is the process where the MintDrive 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 MintDrive can make small adjustments to the way it controls the motor.

  • Page 80: Performing A Test Move

    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.

  • Page 81: Further Configuration

    www.baldormotion.com 5.3 Further configuration WorkBench v5 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 MintDrive are briefly described here.
  • Page 82 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 MintDrive .

  • Page 83: Parameters Tool

    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.

  • Page 84: Digital I/O Tool

    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.

  • Page 85: Preset Moves & Plc Task

    www.baldormotion.com Preset Moves & PLC Task 6.1 Introduction Two of the important features introduced on the MintDrive are preset moves and the PLC task. Basic operation of these two features are described in the following sections. MN1901 Preset Moves & PLC Task 6-1...

  • Page 86: Preset Moves

    www.baldormotion.com 6.2 Preset moves The standard MintDrive can store 16 preset moves. If the CAN & Auxiliary I/O option is fitted, 256 preset moves can be stored. Presets can be selected and triggered using software (WorkBench v5 or a Mint program) or by using a combination of the digital inputs. In WorkBench v5, the Presets tool displays an interactive table allowing you to set up the preset moves.

  • Page 87: Testing A Preset Move

    www.baldormotion.com 6.2.2 Testing a preset move For testing, WorkBench v5 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 WorkBench v5 will be used to control the preset moves.
  • Page 88 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.
  • Page 89 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.

  • Page 90: Controlling Preset Moves

    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.

  • Page 91: Plc Task

    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 WorkBench v5, the PLC Task tool allows you to enter conditional statements that respond to the events by performing a particular action.

  • Page 92: Enabling And Downloading The Actions

    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.

  • Page 93: Testing The Plc Task

    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.
  • Page 94 www.baldormotion.com 6-10 Preset Moves & PLC Task MN1901...

  • Page 95: Troubleshooting

    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.

  • Page 96: Mintdrive Ii Indicators

    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).
  • Page 97 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).
  • Page 98 www.baldormotion.com Preset jog. The drive is jogging. The jog was triggered from a Preset jog table. 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.

  • Page 99: Db On (Regeneration) Led

    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.

  • Page 100: Power On

    www.baldormotion.com 7.2.4 Power on Problem Check The Status display is The MintDrive 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.

  • Page 101: Specifications

    www.baldormotion.com Specifications 8.1 Introduction This section provides technical specifications for the various MintDrive models. MN1901 Specifications 8-1...

  • Page 102: Ac Input Power And Motor Output - Single-Phase Models

    www.baldormotion.com 8.1.1 AC input power and motor output - single-phase models 115VAC (Catalog number MDH1...) Unit 2.5A 7.5A 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...

  • Page 103: Ac Input Power And Motor Output - 230V Three-Phase Models

    www.baldormotion.com 8.1.2 AC input power and motor output - 230V three-phase models 230VAC 50/60Hz Unit (Catalog number MDH2A15...) 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...

  • Page 104: Ac Input Power And Motor Output - 230-460V Three-Phase Models

    www.baldormotion.com 8.1.3 AC input power and motor output - 230-460V three-phase models 230-460VAC 50/60Hz Unit 2.5A 7.5A 27.5A (Catalog number MDH4...) Nominal input voltage 230-460 Minimum input voltage 180 / 75* (recommended / absolute) Maximum input voltage Nominal input current 36.5 @ max.

  • Page 105: Customer Supplied 24Vdc Supply Input

    www.baldormotion.com 8.1.4 Customer supplied 24VDC supply input 24VDC Unit 2.5A 7.5A 27.5A (Catalog number MDHxxxxx-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 115VAC (Catalog number MDH1...) Unit...

  • Page 106: Analog Input (X3)

    www.baldormotion.com 230VAC three-phase models Unit (Catalog number MDH2A15...) Switching threshold on: 376, off: 365 Nominal power (10% power cycle) Peak power (10% power cycle) Maximum regeneration switching current Maximum load inductance μH 230-460VAC three-phase models Unit 2.5A 7.5A 27.5A (Catalog number MDH4...) Switching threshold =400VAC on / off: 750...

  • Page 107: Analog Input (X4)

    www.baldormotion.com 8.1.7 Analog input (X4) All models Unit All models Type Differential Common mode voltage range ±10 Common mode rejection Input impedance kΩ >5 Input ADC resolution bits (includes sign bit) Equivalent resolution ±1.2 Sampling interval μs Software (Mint programs) Demand reference signal 8.1.8 Analog outputs (X4) All models...

  • Page 108: Digital Inputs (X3)

    www.baldormotion.com 8.1.9 Digital inputs (X3) All models Unit 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 Maximum pulse input frequency (DIN4, pulse and direction mode) Minimum pulse width (DIN4/DIN5, pulse and direction mode) 8.1.10 Digital outputs (X3)

  • Page 109: Relay / General Purpose Output (X3)

    www.baldormotion.com 8.1.11 Relay / general purpose output (X3) All models Unit 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...

  • Page 110: Resolver Feedback Option (X8)

    MintDrive 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) 8.1.16 Encoder feedback option (X8) Catalog numbers MDHxxxxxx-Exxxx Unit All models...

  • Page 111: Hiperface (Absolute Encoder) Feedback Option (X8)

    Single or multi-turn. 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 8V, 200mA max. Maximum recommended cable length 30.5m (100ft) 8.1.19 Master (auxiliary) encoder input (X9)

  • Page 112: Environmental

    www.baldormotion.com 8.1.21 Environmental All models Unit Operating temperature range °C °F Minimum Maximum +104 Derate 2.5% / °C between 2.5% / 1.8°F between 40°C and 50°C (max) 104°F and 122°F (max) Storage temperature range -25 to +70 -13 to +158 Humidity 10-90 non-condensing according to DIN40 040 / IEC144...

  • Page 113: A Accessories

    MN1908 - CAN & Auxiliary I/O Option for Flex+Drive and MintDrive Option B provides CANopen, Baldor CAN and additional input / output capabilities. If this option is fitted, the MintDrive front panel will include connectors X10, X11 and X12.

  • Page 114: Motor Power Cables

    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:...

  • Page 115: A.1.4 Resolver Feedback Cables

    A.1.4 Resolver feedback cables This table lists part numbers of Baldor resolver feedback cables for use with the MintDrive 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.

  • Page 116: A.1.5 Encoder / Hall Feedback Cables

    A.1.5 Encoder / Hall feedback cables This table lists part numbers of Baldor encoder feedback cables for use with the MintDrive 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.

  • Page 117: Feedback Cable Part Numbers

    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.

  • Page 118: Emc Filters

    AC filters remove high frequency noise from the AC power supply, protecting the MintDrive 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...
  • Page 119 www.baldormotion.com Dimensions mm (inches) Dimension FI0014A00 FI0015A00 FI0015A02 85 (3.35) 113.5 (4.47) 156 (6.14) 54 (2.13) 57.5 (2.26) 40 (1.57) 46.6 (1.83) 65 (2.56) 94 (3.70) 130.5 (5.14) 75 (2.95) 103 (4.06) 143 (5.63) 27 (1.06) 25 (0.98) 12 (0.47) 12.4 (0.49) 29.5 (1.16) 32.4 (1.28)
  • Page 120 www.baldormotion.com Mounting keyhole and slot detail A 5.5mm B 11mm C 10mm D 5mm Dimensions shown as: mm (inches). Dimensions mm (inches) Dimension FI0029A00 255 (10.04) 100 (3.94) 244.5 (9.63) 70 (2.76) 40 (1.57) 20 (0.79) Figure 50 - Filter dimensions, type FI0029A00 A-8 Accessories MN1901...

  • Page 121: Regeneration Resistors

    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.
  • Page 122 www.baldormotion.com A-10 Accessories MN1901...

  • Page 123: B Control System

    www.baldormotion.com Control System B.1 Introduction The MintDrive can be configured for four basic control modes to suit the particular application. The choice of mode is defined using the Commissioning Wizard or the Mint keyword CONFIG. See the Mint help file for details. The four control modes are shown in Figures 52 to 55.

  • Page 124: Positioning System Without Speed Controller

    www.baldormotion.com B.1.2 Positioning system without speed controller Setting CONFIG to _cfTORQUE_SERVO configures the MintDrive to act as a different type of positioning system, as shown in Figure 53. Here, the speed controller is not present and the position controller performs the task of speed tracking. To achieve this, the position controller generates a torque demand signal directly.

  • Page 125: Speed Amplifier

    www.baldormotion.com B.1.3 Speed amplifier Setting CONFIG to _cfVELOCITY configures the MintDrive as a speed amplifier, as shown in Figure 54. Here, a speed reference obtained from a specified source (e.g. a Mint program, the WorkBench v5 Command window, the analog demand input, or Fieldbus) provides targets for a speed profiler.

  • Page 126: Torque Amplifier

    www.baldormotion.com B.1.4 Torque amplifier Setting CONFIG to _cfTORQUE configures the MintDrive as a torque amplifier, as shown in Figure 55. Here, a torque reference obtained from a specified source (e.g. a Mint program, the WorkBench v5 Command window, the analog demand input, or Fieldbus) provides targets for a torque profiler.

  • Page 127: Control System Operation

    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.

  • Page 128: Speed Controller

    www.baldormotion.com B.2.2 Speed controller The speed controller, shown in Figure 57, 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.

  • Page 129: Torque Controller And Feedback

    www.baldormotion.com B.2.3 Torque controller and feedback The torque controller, shown in Figure 58, 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.
  • Page 130 www.baldormotion.com B-8 Control System MN1901...

  • Page 131: C Mint Keyword Summary

    www.baldormotion.com Mint Keyword Summary C.1 Introduction The following table summarizes the Mint keywords supported by the MintDrive . Note that due to continuous developments of the MintDrive and 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.
  • Page 132 www.baldormotion.com Keyword Description Sets the upper analog limit value for the specified analog ADCMAX input. ADCMIN Sets the lower analog limit value for the specified analog input. To set the analog input mode. ADCMODE Specifies the analog inputs that an axis will monitor for ADCMONITOR analog limit checking.
  • Page 133 www.baldormotion.com Keyword Description To read the state of the auxiliary encoder’s Z latch. AUXENCODERZLATCH To read back the motion error. AXISERROR To return the current mode of motion. AXISMODE To select the source of the position signal used in dual AXISPOSENCODER encoder feedback systems.
  • Page 134 www.baldormotion.com Keyword Description To define the update interval for information sent in BUSPROCESSDATAOUT- process data telegrams. INTERVAL BUSPROCESSDATAOUT- To define the associated parameter for items sent in process data telegrams. PARAMETER Resets the bus controller. BUSRESET Returns the status of the bus controller. BUSSTATE Perform a cam profile.
  • Page 135 www.baldormotion.com Keyword Description Sets the duration of the pre-trigger phase. CAPTUREPRETRIGGER- DURATION CAPTUREPROGRESS Returns the progress of the pre-trigger or post-trigger capture phase. 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.
  • Page 136 www.baldormotion.com Keyword Description To specify which axis to monitor during DAC monitoring. DACMONITORAXIS To specify a multiplying factor for use during DAC DACMONITORGAIN monitoring. To specify which axis parameter to monitor during DAC DACMONITORMODE monitoring. To specify a parameter associated with DACMONITORMODEPARAMETER DACMONITORMODE.
  • Page 137 www.baldormotion.com Keyword Description Reads the peak current rating of the drive. DRIVEPEAKCURRENT Reads the duration for which peak drive current can be DRIVEPEAKDURATION sustained. Reads the continuous current rating for the drive. DRIVERATEDCURRENT To define the overspeed trip level. DRIVESPEEDFATAL To set or read the maximum motor speed to be used.
  • Page 138 www.baldormotion.com Keyword Description To return the instantaneous auxiliary encoder value that FASTAUXENCODER was recorded on the fast interrupt. FASTAUXLATCH To read the auxiliary encoder fast interrupt latch. To specify the distance over which further auxiliary FASTAUXLATCHDISTANCE encoder latch edges will be ignored. To select the capture edge for fast capture on the FASTAUXLATCHEDGE auxiliary encoder.
  • Page 139 www.baldormotion.com Keyword Description To set the maximum permissible following error before FOLERRORFATAL an error is generated. FOLERRORMODE To determine the action taken on the axis in the event of a following error. Sets the following error threshold before an axis warning FOLERRORWARNING is generated.
  • Page 140 www.baldormotion.com Keyword Description To set the home back-off speed factor. HOMEBACKOFF To set the creep speed for homing moves. HOMECREEPSPEED To set the deceleration rate for the homing profile. HOMEDECEL To set a digital input to be the home switch input for the HOMEINPUT specified axis.
  • Page 141 To set the servo loop acceleration feed forward gain. To set the servo loop derivative gain on the servo axes. KDERIV To remap the layout of the keys on a Baldor CAN KEYS KeypadNode. To set the integral gain used by the current controller.
  • Page 142 www.baldormotion.com Keyword Description To set the servo loop integral gain. KINT To restrict the overall effect of the integral gain KINT. KINTLIMIT To control when integral action will be applied in the KINTMODE servo loop. To set the proportional gain used by the current KIPROP controller.
  • Page 143 www.baldormotion.com Keyword Description To define the equivalent viscous damping coefficient for LOADDAMPING the motor and load. LOADINERTIA To define the combined inertia of the motor and load. To set the servo loop update interval in microseconds. LOOPTIME To set or read the channel of the input device used for MASTERCHANNEL gearing.
  • Page 144 www.baldormotion.com Keyword Description To set the resolution of the encoder on a linear motor. MOTORLINEARENCODER- RESOLUTION MOTORLINEARPOLEPITCH To set or read the distance between north poles on a linear motor. To set or read the motor leakage inductance. MOTORLS Reads the extent of an overload condition. MOTOROVERLOADAREA To set or read the action taken in the event of a motor MOTOROVERLOADMODE...
  • Page 145 www.baldormotion.com Keyword Description To load a change of state for a specific digital output into MOVEOUTX the move buffer. MOVEPULSEOUTX To load a pulsed change of state for a specific digital output into the move buffer. To set up a positional move to a relative position. MOVER To return information about the progress of the current MOVESTATUS...
  • Page 146 www.baldormotion.com Keyword Description To select amount of current applied to the motor during PHASESEARCHCURRENT the phase search sequence. PHASESEARCHMODE To turn on the ‘debounce’ controller used during the initial alignment stage of the phase search sequence. To select the speed of travel during the search sections PHASESEARCHSPEED of a phase search sequence.
  • Page 147 www.baldormotion.com Keyword Description To read the target position of the current positional POSTARGET move. POSTARGETLAST To read the target position of the last move in the move buffer. To set up a preset ’move’ to perform a cancel command. PRESETCANCEL To specify a dwell time between a hardware trigger and PRESETDWELLTIME the preset move starting.
  • Page 148 To control the rate of change on a remote analog input REMOTEADCDELTA before a REMOTEADC message is sent. To specify the CAN baud rate of a remote Baldor CAN REMOTEBAUD node (I/O or Keypad). To control the value of a remote analog output channel REMOTEDAC (DAC).
  • Page 149 To request data from a node in the form of a PDO REMOTEPDOIN message. To force a Baldor controller node to transmit a variable REMOTEPDOOUT 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.
  • Page 150 www.baldormotion.com Keyword Description To read the ’lowVal’ or ’highVal’ parameter used by a SENTINELTRIGGERVALUE sentinel channel. SERIALBAUD To set the baud rate of the RS232 / RS485/422 port. To read the current sextant value for a motor using Hall SEXTANT sensors.
  • Page 151 www.baldormotion.com Keyword Description To pause the current move. SUSPEND To reset parameter table entries to their default values SYSTEMDEFAULTS and erase the Mint program, NVRAM and error log. To set or read a programmable system lifetime counter SYSTEMSECONDS for the drive. To report the internal drive temperature.
  • Page 152 www.baldormotion.com Keyword Description To provide access to user-programmable parameters USERPARAMETER stored in EEPROM. USERPOSITIONUNITS To define a text description for the user unit. To define a text description for the user time unit. USERTIMEUNITS To return the instantaneous axis velocity. To read the current instantaneous demand velocity.

  • Page 153: Dce Guidelines

    MintDrive 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.

  • Page 154: D.1.2 Declaration Of Conformity

    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...

  • Page 155: Use Of Ce Compliant Components

    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.

  • Page 156: Emc Installation Suggestions

    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.

  • Page 157: D.1.6 Wiring Of Shielded (Screened) Cables

    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 59 - Earthing/grounding cable shields MintDrive Resolver Connector Cable Housing Twisted pairs REF+ REF-...
  • Page 158 www.baldormotion.com D-6 CE Guidelines MN1901...
  • Page 159 Index Control system, B-1 operation Abbreviations. See Units and Abbreviations position controller, B-5 Absolute encoder speed controller, B-6 cable, 3-28, 3-30, A-4 torque controller and feedback, B-7 EnDat option, 3-27 positioning with speed controller, B-1 Hiperface option, 3-29 positioning without speed controller, B-2 specification, 8-10, 8-11 speed amplifier, B-3 Accessories, A-1...
  • Page 160 8-10 option connectors, 4-22 relay - X3, 4-12, 8-9 EnDat. See Absolute encoder serial port - X6, 4-17, 8-9 Environmental connecting Baldor HMI panels, 4-20 location, 3-4–3-5 multidrop using RS485/RS422 cable, 4-19 specification, 8-12 using RS232 cable, 4-18 Installation...
  • Page 161 X6, 4-17 RS485 / RS422 PLC Task, 6-7 specification, 8-9 defining conditions, 6-7 systems, 3-2 enabling and downloading, 6-8 X6, 4-17–4-20 saving conditions, 6-9 testing, 6-9 Power Safety Notice, 1-2 24V control supply, 3-14 Specifications, 8-1 connections, 3-8 115V / 230V single-phase models, 8-2 disconnect and protection devices, 3-11 230V three-phase models, 8-3 input conditioning, 3-11...
  • Page 162 Commissioning Wizard, 5-7 digital I/O tool, 5-12 Units and abbreviations, 2-3 fine-tuning tool, 5-9 help file, 5-4 other tools and windows, 5-12 Wire sizes, 3-13 parameters tool, 5-11 WorkBench v5, 5-4 starting, 5-5 Index MN1901...
  • Page 163 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...
  • Page 164 www.baldormotion.com Thank you for taking the time to help us. Comments MN1901...
  • Page 166 Baldor Japan Corporation Baldor Electric Company Tel: +81 45 412 4506 Tel: +1 479 646 4711 Fax: +81 45 412 4507 Fax: +1 479 648 5792 For additional office locations visit www.baldor.com Printed in UK LT0159A03 E Baldor UK Ltd...

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