Page 1 (217) 352-9330 | Click HERE Find the ABB / Baldor MDH2A07TR-RB23 at our website:...
Page 2 SERVO DRIVE MintDrive Servo & Position Control Installation Manual 03/10 MN1901 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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Page 4: Table Of Contents
......... 3-16 3.5.2 Motor power cable pin configuration - Baldor BSM rotary motors ..3-16 3.5.3...
Page 5 ......4-20 4.4.6 Connecting Baldor HMI Operator Panels ......4-21 Connection summary - minimum system wiring .
Page 6 Mint WorkBench ........5.2.1 Help file .
Page 7 8.1.4 Customer supplied 24VDC supply input ......8.1.5 Regeneration ..........8.1.6 Analog input (X3) .
Page 8 D CE & UL ......... . . Introduction .
Page 9 MN1901 vi Contents Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 10: 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 11 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 12 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.
Page 13 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 14: 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 15: 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 16: 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 17 www.baldormotion.com 2-4 Introduction MN1901 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 18: 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 19: 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 20: 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 21: 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 22: 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 23: 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 24: 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 25: Power Connections
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.
Page 26: 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 27: 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 28: 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 29: 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 30 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. Nominal Continuous D-Type Time Minimum Minimum Input Input Output Output Input...
Page 31: 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 32: 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 33: 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 34: 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 35: 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 Mint WorkBench 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 36: 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 37: 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 38: 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 39: Resolver Option - X8
Mint WorkBench 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 40 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 41: 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 42 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 43 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 44: 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 45 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 46: 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 47 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 48: 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 49: 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 Mint WorkBench Spy window.
Page 50: 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 51: 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. Mint WorkBench (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 52: Switch 9 - Modbus Select
www.baldormotion.com 3.9.6 Switch 9 - MODBUS select Switch 9 enables the MODBUS serial protocol the next time the MintDrive 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.
Page 53: Preventing A Program Running At Startup / Restoring Communciation
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.
Page 54: 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 55: 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 56 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 Artisan Technology Group - Quality Instrumentation ...
Page 57: 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 58 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 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 59: 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 60: 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 61: 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 62: 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 63 www.baldormotion.com 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 64 www.baldormotion.com Incremental encoder MintDrive ‘X3’ Twisted pairs DIN4 (Pulse) DIN5 (Dir) CREF Connect shields at one end only Encoder Encoder supply supply Figure 34 - Pulse and direction inputs - typical connection from an incremental encoder: MintDrive with internally generated 24V supply option, ‘active high’ inputs Note: When using an incremental encoder source, do not connect the A- or B- outputs;...
Page 65: 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 intervals: Immediate: Software (Mint programs) LOOPTIME (default 1ms): DRIVEENABLEOUTPUT, DRIVEOKOUTPUT and GLOBALERROROUTPUT functions.
Page 66: 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 intervals: Immediate: Software (Mint programs) LOOPTIME (default 1ms): DRIVEENABLEOUTPUT, DRIVEOKOUTPUT and GLOBALERROROUTPUT...
Page 67: 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 68 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 37 - MintDrive encoder output to NextMove BX...
Page 69: 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 70 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 41 - 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 71: 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 72: 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 73: Multidrop Using Rs485 / Rs422 Cable
Figure 44. 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.
Page 74 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 45:...
Page 75: 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 76: 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 77 www.baldormotion.com 4-24 Input / Output MN1901 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 78: 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 79: 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 80: 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 81: Mint Workbench
www.baldormotion.com 5.2 Mint WorkBench Mint WorkBench is a fully featured application for programming and controlling the MintDrive 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.
Page 82: Starting Mint Workbench
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.
Page 83 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 84: 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 85: 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 86: Further Configuration
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 MintDrive are briefly described here.
Page 87 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 88: 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 89: 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 90: 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 Artisan Technology Group - Quality Instrumentation ...
Page 91: 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 (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.
Page 92: Testing A Preset Move
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.
Page 93 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 94 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 95: 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 96: 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 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 MintDrive if required.
Page 97: 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 98: 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 99 www.baldormotion.com 6-10 Preset Moves & PLC Task MN1901 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 100: 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 101: 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 102 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 103 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 104: 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 105: 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 106: Specifications
www.baldormotion.com Specifications 8.1 Introduction This section provides technical specifications for the various MintDrive models. MN1901 Specifications 8-1 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 107 www.baldormotion.com 8.1.1 AC input power and motor output - single-phase models Unit 2.5A 7.5A 115VAC (Catalog number MDH1...) 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 108 www.baldormotion.com 8.1.2 AC input power and motor output - 230V three-phase models Unit 230VAC 50/60Hz (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 109 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 MDH4...) Nominal input voltage 230-460 Minimum input voltage 180 / 75* (recommended / absolute) Maximum input voltage Nominal input current 36.5 @ max.
Page 110: Customer Supplied 24Vdc Supply Input
www.baldormotion.com 8.1.4 Customer supplied 24VDC supply input Unit 2.5A 7.5A 27.5A 24VDC (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 Unit 2.5A...
Page 111: Analog Input (X3)
www.baldormotion.com Unit 230VAC three-phase models (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 Unit 2.5A 7.5A 27.5A 230-460VAC three-phase models (Catalog number MDH4...) Switching threshold =400VAC on / off: 750...
Page 112: Analog Input (X4)
www.baldormotion.com 8.1.7 Analog input (X4) Unit All models 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) Unit...
Page 113: Digital Inputs (X3)
www.baldormotion.com 8.1.9 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...
Page 114: Relay / General Purpose Output (X3)
www.baldormotion.com 8.1.11 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...
Page 115: Encoder Output (Simulated) (X7)
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) Unit All models Catalog numbers MDHxxxxxx-Exxxx...
Page 116: Endat (Absolute Encoder) Feedback Option (X8)
512 or 2048 Sin/Cos cycles per turn, with absolute positioning resolution of up to 65536 steps. (Many other encoder specifications are supported - contact Baldor.) Output power supply to encoder 5.2V (±5%), 200mA max. Maximum recommended cable length 30.5m (100ft) 8.1.18 Hiperface (absolute encoder) feedback option (X8)
Page 117: Pulse And Direction Input (X9)
www.baldormotion.com 8.1.20 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 8.1.21 Environmental Unit All models Operating temperature range °C °F Minimum...
Page 118: 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 119: 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 120 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 121 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 122: 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 123: 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 124 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 125 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 52 - Filter dimensions, type FI0029A00 A-8 Accessories MN1901 Artisan Technology Group - Quality Instrumentation ...
Page 126: 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 127 www.baldormotion.com A-10 Accessories MN1901 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 128: 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 54 to 57.
Page 129: 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 55. 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 130: 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 56. Here, a speed reference obtained from a specified source (e.g. a Mint program, the Mint WorkBench Command window, the analog demand input, or Fieldbus) provides targets for a speed profiler.
Page 131: 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 57. Here, a torque reference obtained from a specified source (e.g. a Mint program, the Mint WorkBench Command window, the analog demand input, or Fieldbus) provides targets for a torque profiler.
Page 132: 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 133: Speed Controller
www.baldormotion.com B.2.2 Speed controller The speed controller, shown in Figure 59, 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 134: Torque Controller And Feedback
www.baldormotion.com B.2.3 Torque controller and feedback The torque controller, shown in Figure 60, 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 135 www.baldormotion.com B-8 Control System MN1901 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 136: 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 137 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.
Page 138 www.baldormotion.com Keyword Description To read the auxiliary encoder position at the last Z AUXENCODERZEROPOSITION capture. 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...
Page 139 www.baldormotion.com Keyword Description To configure the data type for process data that will be BUSPROCESSDATAOUT- sent by the drive. DATATYPE 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.
Page 140 www.baldormotion.com Keyword Description To read the number of captured points per channel. CAPTURENUMPOINTS To define the interval between data captures. CAPTUREPERIOD To allow individual capture values to be read. CAPTUREPOINT CAPTUREPOINTINTEGER To allow individual capture values to be read as integer values.
Page 141 www.baldormotion.com Keyword Description Returns the status of the connection between this node CONNECTSTATUS and another node. To set or read the control mode. CONTROLMODE To restrict the current output to a defined range. CURRENTLIMIT Reads the measured current. CURRENTMEAS To specify a multiplying factor for use during DAC DACMONITORGAIN monitoring.
Page 142 www.baldormotion.com Keyword Description To assign a digital output as the Drive OK output. DRIVEOKOUTPUT Reads the extent of a drive overload condition. DRIVEOVERLOADAREA Sets or reads the action taken in the event of a drive DRIVEOVERLOADMODE overload condition. Reads the peak current rating of the drive. DRIVEPEAKCURRENT Reads the duration for which peak drive current can be DRIVEPEAKDURATION...
Page 143 www.baldormotion.com Keyword Description To save the error log to non-volatile EEPROM memory. ERRORLOGSAVE To return the state of the error input. ERRORSWITCH Indicates whether an event is currently active. EVENTACTIVE EVENTDISABLE To selectively enable and disable Mint events. To indicate whether an event is currently pending. EVENTPENDING To reset parameter table entries to their default values.
Page 144 www.baldormotion.com Keyword Description To control the use of slew speed, acceleration, FEEDRATEMODE deceleration and feedrate override. Overrides the current speed or feedrate being used. FEEDRATEOVERRIDE To read the release number of the firmware. FIRMWARERELEASE To read the version number of the firmware. FIRMWAREVERSION To create a flying shear by following a master axis with controlled acceleration and deceleration.
Page 145 www.baldormotion.com Keyword Description To define the electrical angles at which Hall states HALLFORWARDANGLE change, when the motor is running in the forward direction, for feedback devices which use Hall sensors. HALLREVERSEANGLE To define the electrical angles at which Hall states change, when the motor is running in the reverse direction, for feedback devices which use Hall sensors.
Page 146 www.baldormotion.com Keyword Description Specifies the integral gain term used in the Hold To HTAKINT Analog (HTA) force loop. Specifies the proportional gain term used in the Hold To HTAKPROP Analog (HTA) force loop. Indicates if a move has finished executing and the axis IDLE has finished moving.
Page 147 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 148 www.baldormotion.com Keyword Description To set the user digital input configured to be the forward LIMITFORWARDINPUT end of travel limit switch input for the specified axis. To control the default action taken in the event of a LIMITMODE forward or reverse hardware limit switch input becoming active.
Page 149 www.baldormotion.com Keyword Description To set or read the feedback type of the motor. MOTORFEEDBACK To set or read the electrical angle at which the absolute MOTORFEEDBACKOFFSET position read from an EnDat or Hiperface encoder is zero. To read the type of feedback error when using a MOTORFEEDBACKPROTOCOL- Hiperface encoder.
Page 150 www.baldormotion.com Keyword Description To return the number of free spaces in the move buffer MOVEBUFFERFREE for the specified axis. To attach or read back a 16-bit identifier from the move MOVEBUFFERID buffer. To read a 16-bit identifier from the move buffer. MOVEBUFFERIDLAST To set or return the number of free spaces in the move MOVEBUFFERLOW...
Page 151 www.baldormotion.com Keyword Description Define the mode of operation on the OFFSET keyword. OFFSETMODE To read the status of the previous offset move. OFFSETSTATUS To set or read the state of all the outputs on an output bank. To set the active level on the digital outputs. OUTPUTACTIVELEVEL To set or read an individual digital output.
Page 152 www.baldormotion.com Keyword Description To read the operator for a PLC Task channel. PLCOPERATOR To read the associated parameter used by a PLC Task PLCPARAMETER channel’s condition. To read a bit pattern of active (true) PLC Task channels. PLCSTATUS To set up PLC Task channels. PLCTASK To read the current state of an individual PLC Task.
Page 153 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 154 To read the state of individual digital inputs from a REMOTEINX remote CAN node. To control the update mode for a remote node. REMOTEMODE To specify the node ID of a remote Baldor CAN node REMOTENODE (I/O or Keypad). To access the Object Dictionary of any CANopen node REMOTEOBJECT present on the network.
Page 155 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...
Page 156 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 SPEEDREFDECELTIME To set or read the deceleration ramp for a speed profile. To read the calculated speed demand.
Page 157 www.baldormotion.com Keyword Description To set or read the rate of the timer event. TIMEREVENT To scale speed related values into user time units. TIMESCALE To return the instantaneous torque demand. TORQUEDEMAND TORQUELIMITNEG To set or read the maximum negative torque limit. To set or read the maximum positive torque limit.
Page 158 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 159 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 160 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 161 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 162 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 61 - Earthing/grounding cable shields MintDrive Resolver Connector Cable Housing Twisted pairs REF+ REF-...
Page 163 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.
Page 164 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, 8-11 speed amplifier, B-3 Accessories, A-1...
Page 165 8-10 option connectors, 4-23 relay - X3, 4-13, 8-9 EnDat. See Absolute encoder serial port - X6, 4-18, 8-9 Environmental connecting Baldor HMI panels, 4-21 location, 3-4–3-5 multidrop using RS485/RS422 cable, 4-20 specification, 8-12 using RS232 cable, 4-19 Installation...
Page 166 installing software, 5-1 Resolver offset tuning, 3-34, 5-3 cable, 3-23, A-3 power on checks, 5-2 option, 3-22 preliminary checks, 5-2 specification, 8-10 starting, 5-2 RS232 Options, A-1 cable, 4-19 specification, 8-9 X6, 4-18 RS485 / RS422 PLC Task, 6-7 specification, 8-9 defining conditions, 6-7 systems, 3-2 enabling and downloading, 6-8...
Page 167 power cycling, 7-1 power on, 7-6 UL file numbers, D-6 problem diagnosis, 7-1 Units and abbreviations, 2-3 Status display, 7-2 SupportMe, 7-1 tuning, 7-6 Wire sizes, 3-13 MN1901 Index Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 168 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 169 www.baldormotion.com Thank you for taking the time to help us. Comments MN1901 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 170 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 171 Tel: +91 20 25 45 27 17 Tel: +44 1454 850000 Fax: +91 20 25 45 27 19 Fax: +44 1454 859001 For additional office locations visit www.baldor.com Printed in UK E Baldor UK Ltd LT0159A05 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

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