Baldor MDH1A05TB-RC23 Installation Manual
MintDrive
II
Servo & Position Control
SERVO DRIVE
Installation Manual
01/07 MN1901
Contents i
MN1901
Contents
1 General Information 1-1.................................
2 Introduction 2-1........................................
2.1 MintDriveIIfeatures 2-1.....................................
2.2 Receiving and inspection 2-2................................
2.2.1 Identifying the catalog number 2-2....................................
2.3 Units and abbreviations 2-3..................................
3 Basic Installation 3-1....................................
3.1 Introduction 3-1............................................
3.1.1 Power sources 3-1................................................
3.1.2 Hardware requirements 3-1.........................................
3.1.3 RS485 / RS422 systems 3-2........................................
3.1.4 Tools and miscellaneous hardware 3-2................................
3.1.5 Other information needed for installation 3-3...........................
3.2 Mechanical installation and location requirements 3-4...........
3.2.1 Mounting the MintDrive
II
3-5.........................................
3.2.2 Dimensions 3-6...................................................
3.3 Connector locations 3-7.....................................
3.4 Power connections 3-8......................................
3.4.1 Single-phase connection to package sizes A, B, C, D 3-9................
3.4.2 Three-phase connection to package sizes E, G, H 3-10...................
3.4.3 Input power conditioning 3-11.........................................
3.4.4 Power disconnect and protection devices 3-11..........................
3.4.5 Power supply filters 3-12.............................................
3.4.6 Wire sizes and protection device ratings 3-13...........................
3.4.7 External customer supplied 24V control supply 3-14......................
3.5 Motor connections 3-15......................................
3.5.1 Motor circuit contactors 3-16.........................................
3.5.2 Motor power cable pin configuration - Baldor BSM rotary motors 3-16.......
3.5.3 Motor cable pin configuration - Baldor linear motors 3-17..................
3.5.4 Sinusoidal filter 3-17................................................
3.5.5 Thermal switch connection 3-18.......................................
3.5.6 Motor brake connection 3-19.........................................
3.6 Regeneration resistor (Dynamic Brake resistor) 3-20.............
3.6.1 Controlling regeneration 3-20.........................................
3.7 Feedback connections 3-21...................................
3.7.1 Resolver option - X8 3-22............................................
3.7.2 Encoder option - X8 3-24............................................
3.7.3 EnDat (absolute encoder) option - X8 3-27..............................
3.7.4 Hiperface (absolute encoder) option - X8 3-29...........................
ii Contents
MN1901
3.8 Drive enable 3-31...........................................
3.8.1 Drive enable - X3 3-31..............................................
3.8.2 Drive enable - SW1 DIP switch 3-32...................................
3.8.3 Drive enable command 3-32..........................................
3.9 DIP switches - SW1 3-33.....................................
3.9.1 Switches 1-4 3-33..................................................
3.9.2 Switch 5 - Hold 3-34................................................
3.9.3 Switch 6 - RS485 terminator 3-34.....................................
3.9.4 Switch 7 - Offset tuning 3-34.........................................
3.9.5 Switch 8 - Enable 3-34..............................................
3.9.6 Switches 9 and 10 - RS232/RS485 select 3-35..........................
3.9.7 Factory settings 3-35................................................
3.9.8 Preventing a program running at startup 3-36...........................
4 Input / Output 4-1......................................
4.1 Introduction 4-1............................................
4.2 Analog I/O 4-1.............................................
4.2.1 Analog input - X3 (demand) 4-2......................................
4.2.2 Analog input - X4 4-4...............................................
4.2.3 Analog outputs, bipolar - X4 4-6......................................
4.3 Digital I/O 4-7..............................................
4.3.1 Digital inputs - X3 4-8..............................................
4.3.2 CREF and digital inputs 4-9.........................................
4.3.3 Special functions on inputs DIN4 and DIN5 4-9.........................
4.3.4 Digital outputs - X3 4-1 1.............................................
4.3.5 Relay output / digital output - X3 4-12..................................
4.4 Other I/O 4-13..............................................
4.4.1 Encoder output - X7 4-13............................................
4.4.2 Master (auxiliary) encoder input - X9 4-15..............................
4.4.3 Serial port - X6 4-17.................................................
4.4.4 Using RS232 cable 4-18.............................................
4.4.5 Multidrop using RS485 / RS422 cable 4-19.............................
4.4.6 Connecting Baldor HMI Operator Panels 4-20...........................
4.5 Connection summary - minimum system wiring 4-21.............
4.6 Option connectors 4-22......................................
5 Operation 5-1..........................................
5.1 Introduction 5-1............................................
5.1.1 Connecting the MintDriveIIto the PC 5-1..............................
5.1.2 Installing the software 5-1...........................................
5.1.3 Starting the MintDrive
II
5-2..........................................
5.1.4 Preliminary checks 5-2.............................................
5.1.5 Power on checks 5-2...............................................
5.1.6 Offset tuning (optional) 5-3..........................................
5.2 WorkBench v5 5-4..........................................
5.2.1 Help file 5-4......................................................
5.2.2 Starting WorkBench v5 5-5..........................................
Contents iii
MN1901
5.2.3 Commissioning Wizard 5-7..........................................
5.2.4 Using the Commissioning Wizard 5-7.................................
5.2.5 Completing the Commissioning Wizard 5-7............................
5.2.6 Performing a test move 5-8.........................................
5.3 Further configuration 5-9....................................
5.3.1 Fine-tuning tool 5-9................................................
5.3.2 Parameters tool 5-11................................................
5.3.3 Digital I/O tool 5-12.................................................
5.3.4 Other tools and windows 5-12........................................
6 Preset Moves & PLC Task 6-1...........................
6.1 Introduction 6-1............................................
6.2 Preset moves 6-2..........................................
6.2.1 Defining a preset move 6-2..........................................
6.2.2 Testing a preset move 6-3...........................................
6.2.3 Using digital inputs to trigger a preset move 6-3........................
6.2.4 Controlling preset moves 6-6........................................
6.2.5 Using presets with the CAN & Auxiliary I/O option 6-6...................
6.3 PLC Task 6-7..............................................
6.3.1 Defining conditions 6-7.............................................
6.3.2 Enabling and downloading the actions 6-8.............................
6.3.3 Testing the PLC Task 6-9...........................................
6.4 Saving presets or PLC conditions 6-9.........................
7 Troubleshooting 7-1....................................
7.1 Introduction 7-1............................................
7.1.1 Problem diagnosis 7-1..............................................
7.1.2 SupportMe feature 7-1.............................................
7.1.3 Power-cycling the MintDrive
II
7-1....................................
7.2 MintDriveIIindicators 7-2....................................
7.2.1 Status display 7-2.................................................
7.2.2 DB On (Regeneration) LED 7-5......................................
7.2.3 Communication 7-5................................................
7.2.4 Power on 7-6.....................................................
7.2.5 Tuning 7-6........................................................
7.2.6 Status display shows a digit or ‘E.’ 7-6................................
8 Specifications 8-1......................................
8.1 Introduction 8-1............................................
8.1.1 AC input power and motor output - single-phase models 8-2..............
8.1.2 AC input power and motor output - 230V three-phase models 8-3..........
8.1.3 AC input power and motor output - 230-460V three-phase models 8-4......
8.1.4 Customer supplied 24VDC supply input 8-5............................
8.1.5 Regeneration 8-5..................................................
8.1.6 Analog input (X3) 8-6...............................................
8.1.7 Analog input (X4) 8-7...............................................
8.1.8 Analog outputs (X4) 8-7............................................
8.1.9 Digital inputs (X3) 8-8..............................................
8.1.10 Digital outputs (X3) 8-8.............................................
iv Contents
MN1901
8.1.11 Relay / general purpose output (X3) 8-9...............................
8.1.12 Serial RS232 interface (X6) 8-9......................................
8.1.13 Serial RS485 interface (X6) 8-9......................................
8.1.14 Encoder output (simulated) (X7) 8-9..................................
8.1.15 Resolver feedback option (X8) 8-10...................................
8.1.16 Encoder feedback option (X8) 8-10....................................
8.1.17 EnDat (absolute encoder) feedback option (X8) 8-10.....................
8.1.18 Hiperface (absolute encoder) feedback option (X8) 8-11..................
8.1.19 Master (auxiliary) encoder input (X9) 8-11..............................
8.1.20 Pulse and direction input (X9) 8-11....................................
8.1.21 Environmental 8-12.................................................
Appendices
A Accessories A-1........................................
A.1 Introduction A-1............................................
A.1.1 Factory fitted options A-1...........................................
A.1.2 Motor power cables A-2.............................................
A.1.3 Motor power cable part numbers A-2..................................
A.1.4 Resolver feedback cables A-3.......................................
A.1.5 Encoder / Hall feedback cables A-4...................................
A.1.6 EnDat / Hiperface (absolute encoder) feedback cables A-4...............
A.1.7 Feedback cable part numbers A-5....................................
A.1.8 EMC filters A-6....................................................
A.1.9 Regeneration resistors A-9..........................................
B Control System B-1.....................................
B.1 Introduction B-1............................................
B.1.1 Positioning system with speed controller B-1...........................
B.1.2 Positioning system without speed controller B-2........................
B.1.3 Speed amplifier B-3................................................
B.1.4 Torque amplifier B-4................................................
B.2 Control system operation B-5................................
B.2.1 Position controller B-5..............................................
B.2.2 Speed controller B-6...............................................
B.2.3 Torque controller and feedback B-7...................................
C Mint Keyword Summary C-1.............................
C.1 Introduction C-1............................................
C.1.1 Keyword listing C-1................................................
D CE Guidelines D-1......................................
D.1 Introduction D-1............................................
D.1.1 EMC Conformity and CE marking D-1.................................
D.1.2 Declaration of conformity D-2........................................
D.1.3 Use of CE compliant components D-3.................................
D.1.4 EMC wiring technique D-3...........................................
D.1.5 EMC installation suggestions D-4.....................................
D.1.6 Wiring of shielded (screened) cables D-5..............................
www.baldormotion.com
General Information 1-1MN1901
LT0159A03 Copyright Baldor (c) 2006. All rights reserved.
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. The information in this
document is subject to change without notice. Baldor assumes no responsibility for any errors that
may appear in this document.
Mintt is a registered trademark of Baldor.
Windows 95, Windows 98, Windows ME, Windows NT, Windows XP and Windows 2000 are
registered trademarks of the Microsoft Corporation.
UL and cUL are registered trademarks of Underwriters Laboratories.
EnDat is a registered trademark of Heidenhain Corporation.
Hiperface is a registered trademark of Max Stegmann GmbH.
Limited Warranty
For a period of two (2) years from the date of original purchase, Baldor will repair or replace without
charge controls and accessories that our examination proves to be defective in material or
workmanship. This warranty is valid if the unit has not been tampered with by unauthorized persons,
misused, abused, or improperly installed and has been used in accordance with the instructions and/or
ratings supplied. This warranty is in lieu of any other warranty or guarantee expressed or implied.
Baldor shall not be held responsible for any expense (including installation and removal),
inconvenience, or consequential damage, including injury to any person or property caused by items of
our manufacture or sale. (Some countries and U.S. states do not allow exclusion or limitation of
incidental or consequential damages, so the above exclusion may not apply.) In any event, Baldor’s
total liability, under all circumstances, shall not exceed the full purchase price of the control. Claims for
purchase price refunds, repairs, or replacements must be referred to Baldor with all pertinent data as
to the defect, the date purchased, the task performed by the control, and the problem encountered. No
liability is assumed for expendable items such as fuses. Goods may be returned only with written
notification including a Baldor Return Authorization Number and any return shipments must be prepaid.
1 General Information
1
www.baldormotion.com
1-2 General Information MN1901
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.
Safety Notice
Intended use: These drives are intended for use in stationary ground based applications in industrial
power installations according to the standards EN60204 and VDE0160. They are designed for
machine applications that require variable speed controlled three-phase brushless AC motors. These
drives are not intended for use in applications such as:
H Home appliances
H Medical instrumentation
H Mobile vehicles
H Ships
H Airplanes.
Unless otherwise specified, this drive is intended for installation in a suitable enclosure. The enclosure
must protect the drive from exposure to excessive or corrosive moisture, dust and dirt or abnormal
ambient temperatures. The exact operating specifications are found in section 8 of this manual. The
installation, connection and control of drives is a skilled operation, disassembly or repair must not be
attempted. In the event that a drive fails to operate correctly, contact the place of purchase for return
instructions.
Precautions
WARNING: Do not touch any circuit board, power device or electrical connection before you
first ensure that no high voltage is present at this equipment or other equipment to
which it is connected. Electrical shock can cause serious or fatal injury. Only
qualified personnel should attempt to start-up, program or troubleshoot this
equipment.
WARNING: Be sure the system is properly earthed/grounded before applying power. Do not
apply AC power before you ensure that earths/grounds are connected. Electrical
shock can cause serious or fatal injury.
WARNING: Be sure that you are completely familiar with the safe operation and programming
of 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 program,
start-up or troubleshoot this equipment.
www.baldormotion.com
General Information 1-3MN1901
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. Drive disable, motor disconnect, motor brake and
other means should be used as appropriate. Only qualified personnel should
attempt to program, start-up or troubleshoot this equipment.
WARNING: Improper operation or programming of the drive may cause violent motion of the
motor and driven equipment. Be certain that unexpected motor movement will not
cause injury to personnel or damage to equipment. Peak torque of several times
the rated motor torque can occur during control failure.
WARNING: The motor circuit might have high voltages present whenever AC power is
applied, even when the motor is not moving. Electrical shock can cause serious or
fatal injury.
WARNING: If a motor is driven mechanically, it might generate hazardous voltages that are
conducted to its power terminals. The enclosure must be earthed/grounded to
prevent possible shock hazard.
WARNING: When operating a rotary motor with no load coupled to its shaft, remove the shaft
key to prevent it flying out when the shaft rotates.
WARNING: A regeneration resistor may generate enough heat to ignite combustible materials.
To avoid fire hazard, keep all combustible materials and flammable vapors away
from the brake resistors.
CAUTION: To prevent equipment damage, be certain that the input power has correctly sized
protective devices installed.
CAUTION: To prevent equipment damage, be certain that input and output signals are
powered and referenced correctly.
CAUTION: To ensure reliable performance of this equipment be certain that all signals to/from
the drive are shielded correctly.
CAUTION: Suitable for use on a circuit capable of delivering not more than the RMS
symmetrical short circuit amperes listed here at rated voltage.
Horsepower
RMS Symmetrical Amperes
1-50 5,000
CAUTION: Avoid locating the drive immediately above or beside heat generating equipment,
or directly below water or steam pipes.
www.baldormotion.com
1-4 General Information MN1901
CAUTION: Avoid locating the drive in the vicinity of corrosive substances or vapors, metal
particles and dust.
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.
CAUTION: Drives are intended to be connected to a permanent main power source, not a
portable power source. Suitable fusing and circuit protection devices are required.
CAUTION: The safe integration of the drive into a machine system is the responsibility of the
machine designer. Be sure to comply with the local safety requirements at the
place where the machine is to be used. In Europe these are the Machinery
Directive, the ElectroMagnetic Compatibility Directive and the Low Voltage
Directive. In the United States this is the National Electrical code and local codes.
CAUTION: Drives must be installed inside an electrical cabinet that provides environmental
control and protection. Installation information for the drive is provided in this
manual. Motors and controlling devices that connect to the drive should have
specifications compatible to the drive.
CAUTION: If the drive is subjected to high potential (‘hipot’) testing, only DC voltages may be
applied. AC voltage hipot tests could damage the drive. For further information
please contact your local Baldor representative.
CAUTION: Violent jamming (stopping) of the motor during operation may damage the motor
and drive.
CAUTION: Do not tin (solder) exposed wires. Solder contracts over time and may cause
loose connections. Use crimp connections where possible.
CAUTION: Electrical components can be damaged by static electricity. Use ESD
(electro-static discharge) procedures when handling this drive.
CAUTION: Ensure that resolver or encoder wires are properly connected. Incorrect
installation may result in improper movement.
CAUTION: The threaded holes in the top and bottom of the enclosure are for cable clamps.
Be sure to use a M4 bolt no longer than 12mm in length. Longer bolts might
short-circuit the electrical components inside the drive.
CAUTION: Removing the cover will invalidate UL certification.
www.baldormotion.com
Introduction 2-1MN1901
2.1 MintDriveIIfeatures
The MintDriveIIcombines a powerful fully featured motion controller and brushless servo
control into a compact package. This provides a flexible and powerful motion control solution
for single axis rotary and linear positioning systems. Programmable in Mint, applications can
be quickly written and tested. Standard features include:
H Single axis AC brushless drive with integrated Mint controller
H Wide range of models with continuous current ratings from 2.5A to 27.5A
H Direct connection to 115V AC or 230VAC single-phase or 230-460VAC three-phase
supplies (model dependent)
H Resolver, encoder, EnDat or Hiperface feedback
H Programmable in Mint, with multi-tasking capability
H Position, velocity and current control, preset and point to point moves, software cams and
gearing
H Auto-tuning wizard (including position loop) and software oscilloscope facilities
H 8 optically isolated digital inputs
H 3 optically isolated digital outputs
H 2 general-purpose analog inputs (can be used as a speed or torque demand reference)
H 2 general-purpose analog outputs
H 1 control relay
H Selectable RS232 or RS485 communications
H Flash memory for program storage (128k)
H Non-volatile RAM.
Factory-fitted options expand the I/O capabilities of the MintDrive
II
and provide CAN bus,
DeviceNet or Profibus connectivity. See Appendix A for details about options. MintDrive
II
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.
This manual is intended to guide you through the installation of MintDrive
II
. The sections
should be read in sequence.
The Basic Installation section describes the mechanical installation of the MintDrive
II
,the
power supply connections and motor connections. The other sections require knowledge of
the low level input/output requirements of the installation and an understanding of computer
software installation. If you are not qualified in these areas you should seek assistance before
proceeding.
2 Introduction
2
www.baldormotion.com
2-2 Introduction MN1901
2.2 Receiving and inspection
When you receive your MintDriveII, there are several things you should do immediately:
1. Check the condition of the shipping container and report any damage immediately to the
carrier that delivered your MintDrive
II
.
2. Remove the MintDrive
II
from the shipping container and remove all packing material. The
container and packing materials may be retained for future shipment.
3. Verify that the catalog number of the MintDrive
II
you received is the same as the catalog
number listed on your purchase order. The catalog number is described in the next section.
4. Inspect the MintDrive
II
for external damage during shipment and report any damage to the
carrier that delivered your MintDrive
II
.
5. If MintDrive
II
is to be stored for several weeks before use, be sure that it is stored in a location
that conforms to the storage humidity and temperature specifications shown in section 8.1.21.
2.2.1 Identifying the catalog number
The MintDriveIIis available with different current ratings and package sizes. 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:
Catalog number:
MDH______________-________
Installed at: ________________________
Date: ______
A description of a catalog number is shown here, using the example MDH1A05TB-RC23:
Meaning Alternatives
MDH MintDriveIIfamily -
1 Requires an AC supply voltage of 115 Volts, 1Φ
2=230V (1Φ or 3Φ);
4=230V-460V (3Φ)
A05 Continuous current rating of 5.0A
A02=2.5A; A07=7.5A; A15=15A;
A20=20A; A27=27.5A
T Built in AC power supply -
B
Dynamic Brake with a built in transistor and
resistor (available on 2.5A and 5A models only)
R= Requires external braking
resistor
R Feedback option is a resolver
E=Encoder (incremental);
D=EnDat (absolute encoder);
H=Hiperface (absolute encoder)
C Options: 1 CAN channel
B=CAN & Auxiliary I/O;
D=DeviceNet; P=Profibus DP;
N=No options specified
2 Serial port type is combined RS232 / RS485 -
3
Customer’s own 24VDC supply is required to
power the internal MintDrive
II
logic
0= Internally generated 24VDC
supply*
Additional suffix letters may be used to indicate customer-specific builds.
* An external 24VDC supply will always be required to operate the enable input, digital inputs
and digital outputs on connectors X3 and X4. See sections 4.3.1 to 4.3.4.
www.baldormotion.com
Introduction 2-3MN1901
2.3 Units and abbreviations
The following units and abbreviations are used in this manual:
V Volt (also VAC and VDC)...............
WWatt..............
A Ampere...............
Ω Ohm...............
μF microfarad..............
pF picofarad..............
mH millihenry.............
Φ phase...............
ms millisecond..............
μs microsecond..............
ns nanosecond..............
Kbaud kilobaud (the same as Kbit/s in most applications)...........
MB megabytes.............
CDROM Compact Disc Read Only Memory.........
CTRL+E on the PC keyboard, press Ctrl then E at the same time..........
mm millimeter.............
m meter...............
in inch...............
ft feet...............
lb-in pound-inch (torque).............
Nm Newton-meter (torque).............
ADC Analog to Digital Converter............
DAC Digital to Analog Converter............
AWG American Wire Gauge............
(NC) Not Connected............
www.baldormotion.com
2-4 Introduction MN1901
www.baldormotion.com
Basic Installation 3-1MN1901
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
II
in the
following stages:
H Location considerations
H Mounting the MintDrive
II
H Connecting the AC power supply
H Connecting the optional customer supplied 24VDC control supply
H Connecting the motor
H Installing a regeneration resistor (Dynamic Brake resistor)
H Connecting the feedback device
H Connecting the drive enable input.
These stages should be read and followed in sequence.
3.1.1 Power sources
An AC power source (IEC1010 over-voltage category III or less) in the installation area is
required. This will need to be single or three-phase depending upon the type of MintDrive
II
.
An AC power filter is required to comply with the CE directive for which the MintDrive
II
was
tested (see section 3.4.5).
If the MintDrive
II
requires an external (customer supplied) 24VDC logic supply then this must
be a regulated power supply with a continuous current supply capability of 1.75A (4A power on
surge). A 24V filter may be required to comply with the CE directive for which the MintDrive
II
was tested (see section 3.4.5).
3.1.2 Hardware requirements
The components you will need to complete the basic installation are:
H The motor that will be connected to the MintDrive
II
H A motor power cable
H A resolver or encoder feedback cable (and Hall cable for linear motors)
H With some applications there may be a requirement for a regeneration resistor (Dynamic
Brake).
Note: Without the regeneration resistor, the drive may produce an overvoltage fault.
All MintDrive
II
models have overvoltage sensing circuitry, but only 2.5A and 5A
models (catalog numbers MDHxxxxxB-xxxx) have an internal regeneration
resistor. For 7.5A, 15A, 20A and 27.5A models a regeneration resistor must be
purchased separately if required. See Appendix A.
3 Basic Installation
3
www.baldormotion.com
3-2 Basic Installation MN1901
H A serial cable.
Note: The serial connector on the MintDrive
II
(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. See sections 4.4.3 to 4.4.4.
A suitable cable is available from Baldor, catalog number CBL001-501.
H A PC (with one free COM port) with the following specification:
Minimum specification Recommended specification
Processor Intel Pentium 500 MHz Intel PentiumIII 1 GHz or faster
RAM 64 MB 128 MB
Hard disk space 40 MB 40 MB
CD-ROM ACD-ROMdrive
Screen 1024 x 768, 16-bit color 1 152 x 864, 16-bit color
Mouse A mouse or similar pointing device
Operating
system
Windows 95, Windows 98, Windows ME,
Windows NT, Windows 2000 or Windows XP
3.1.3 RS485 / RS422 systems
If you will be using RS485 / RS422 and your PC does not have an RS485 / RS422 connector,
an RS232 to 4-wire RS485 / RS422 converter will be required. These commercially available
devices convert the signals from the RS232/RS485 port (connector X6) to the signals
necessary for RS485 / RS422 communications. Special care must be taken with the pin
assignment on all RS485 / RS422 devices, as this can differ between products. Connectors
might need to be rewired to provide the correct pin assignment. The MintDrive
II
pin
assignment is shown in section 4.4.3.
Note: If this is the first time you are installing a MintDrive
II
then it is strongly
recommended that you use RS232 to get started and try RS485 later. This will
avoid any potential problems involving the RS232-RS485 converter. Selection of
RS232 or RS485 is controlled using DIP switch 10 - see section 3.9.6.
3.1.4 Tools and miscellaneous hardware
H Your PC operating system user manual might be useful if you are not familiar with
Windows
H A small screwdriver (supplied) with a blade width less than 3mm (1/10 in).
H M5 screws or bolts for mounting the MintDrive
II
H Crimping tool.
A connector kit is supplied with your MintDrive
II
. This contains a number of useful connectors
and a screwdriver for tightening the connections.
www.baldormotion.com
Basic Installation 3-3MN1901
3.1.5 Other information needed for installation
This information is useful (but not essential) to complete the installation:
H The data sheet or manual provided with your motor, describing the wiring information of
the motor cables/connectors
H Knowledge of which digital inputs/outputs will be ‘Active Low’, ‘Active High’ or edge
triggered.
www.baldormotion.com
3-4 Basic Installation MN1901
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.
CAUTION: To ensure reliable performance of this equipment be certain that all
signals to/from the MintDrive
II
are shielded correctly.
CAUTION: Avoid locating the MintDriveIIimmediately above or beside heat
generating equipment, or directly below water steam pipes.
CAUTION: Avoid locating the MintDriveIIin the vicinity of corrosive substances or
vapors, metal particles and dust.
The safe operation of this equipment depends upon its use in the appropriate environment.
The following points must be considered:
H The MintDrive
II
must be installed indoors, permanently fixed and located so that it can only
be accessed by service personnel using tools.
H The maximum suggested operating altitude is 1000m (3300ft).
Above 1000m (3300ft) de-rate output current 1.1% per 100m (330ft).
H The MintDrive
II
must operate in an ambient temperature of 0°C to 40°C (32°F to 104°F).
De-rate output current 2.5% per 1°C (1.8°F) from 40°C (104°F) to 50°C (122°F) maximum.
H The MintDrive
II
must operate in relative humidity levels of less than 90% for temperatures
up to 31°C (87°F) decreasing linearly to 50% relative humidity at 40°C (104°F)
(non-condensing).
H The MintDriveIImust be installed where the pollution degree according to IEC664 shall not
exceed 2.
H The external customer supplied 24VDC for the logic supply must be installed so that the
24VDC supplied to the unit is isolated from the AC supply using double or reinforced
insulation.
H The inputs and outputs of the control circuit must be limited to Safety Extra Low Voltage
circuits.
H Both the AC supply and the external 24VDC supply must be fused.
H The atmosphere must not contain flammable gases or vapors.
H There must not be abnormal levels of nuclear radiation or X-rays.
H The MintDrive
II
must be secured by the slots in the flange, with the protective
earth/ground stud bonded to a safety earth/ground by either a 25A conductor or a
conductor of three times the peak current rating - whichever is the greater.
www.baldormotion.com
Basic Installation 3-5MN1901
H For effective cooling and maintenance, the MintDriveIIshould 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.
H At least 50mm (2 in) top and bottom clearance of the MintDriveIImust be provided for
airflow.
H If multiple MintDrive
II
are being mounted side by side there must be 13mm (0.5 in)
between them. The MintDrive
II
nearest the side of the cabinet / enclosure must be
separated from it by at least 13mm (0.5 in).
H To comply with CE directive 89/336/EEC an appropriate AC filter must be installed. The
external customer supplied 24VDC logic supply might also require a 24V filter. See section
3.4.7.
H The threaded holes in the top and bottom of the enclosure are for cable clamps. The holes
are threaded for M4 bolts no longer than 12mm (0.47 in) in length. Longer bolts may short
circuit the electrical components inside the MintDrive
II
.
H Each D-type connector on the front panel of the MintDrive
II
is secured using two
hexagonal jack screws (sometimes known as “screwlocks”). If a jack screw is removed
accidentally or lost it must be replaced with an identical jack screw with an external male
threaded section of 5mm (0.2 in). Jack screws with longer threads could damage or short
circuit internal components.
3.2.1 Mounting the MintDrive
II
Ensure you have read and understood the Mechanical installation and location requirements in
section 3.2. Mount the MintDrive
II
on its rear side, the side opposite to the front panel.
The MintDrive
II
must be mounted upright to ensure adequate cooling (you can check this by
ensuring that the Hazardous Voltages warning information is clearly readable to you).
M5 bolts or screws should be used to mount the MintDrive
II
.
There are seven different package sizes depending on the specification of the MintDrive
II
:
AC power
Current Factory fitted option Package size
Single-phase 2A without option A
with option B
5A without option C
with option D
7.5A without option D
with option D
230V
Three-phase
15A with or without option E
230-460V
2.5A, 5A, 7.5A with or without option G
Three-phase
15A, 20A, 27.5A with or without option H
Detailed dimensions for each package are shown in section 3.2.2.
www.baldormotion.com
3-6 Basic Installation MN1901
3.2.2 Dimensions
H
1
H
2
H
W
D
W
2
W
1
W
3
Package size
H only.
W
4
Package sizes E, G & H only:
W4=9.5mm.
All other sizes:
W4=W
2
H3H
4
65mm
FRONT PANEL
H5H
6
Mounting keyhole and slot detail
A
B
C
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)
A
Dimensions
mm / inches
Weight
Pack W W
1
W
2
W
3
H H
1
H
2
H
3
H
4
H
5
H
6
D kg / lb
A 67.5
2.66
15
1.25
2.76
B 84
3.31
40
1
5
0.59
40 173 195.5 205 23.5 6.5 8.5 3 152
1.55
3.42
C 92.5
3.64
4
0
1.57
23
4
0
1.57
173
6.81
195.5
7.70
205
8.07
2
3.5
0.93
6.5
0.26
8.5
0.3330.12
152
6.00
2.1
4.63
D 109
4.29
2
3
0.91
2.3
5.07
E 55
2.17361.42
27.5
1.08
- 263.5
10.37
3.3
7.28
G 65
2.56461.81
32.5
1.28
-
357
14.06
384
15.12
400
15.75
26.5
1.0480.31
16.5
0.6580.31
265.3
10.44
4.9
10.8
H 130
5.12
111
4.37
27.5
1.08752.95
265.3
10.44
9.05
19.95
Figure 1 - Package dimensions
www.baldormotion.com
Basic Installation 3-7MN1901
3.3 Connecto r locations
Earth
NC (NC)
LACLine
N AC Neutral
UMotorU
VMotorV
WMotorW
R1 Regen Resistor
R2 (Dynamic Brake)
- (NC)
+24V Customer
0V supplied 24V
(MDHxxxxxx-xxx3
only)
Earth
Earth
L1 AC Phase 1
L2 AC Phase 2
L3 AC Phase 3
UMotorU
VMotorV
WMotorW
R1 Regen Resistor
R2 (Dynamic Brake)
+24V Customer supplied 24V
0V (MDH4xxxxx-xxx3 onl y)
1 AIN0+ (Demand+)
2 AIN0- (Demand-)
3AGND
4 Relay+ (DOUT3)
5 Relay6UserV+
7 CREF
8CGND
9 Drive Enable
10 DIN0
11 DIN1
12 DIN2
13 DIN3
14 DIN4 (Pulse)
15 DIN5 (Direction)
16 DIN6
17 DIN7
18 DOUT0
19 DOUT1
20 DOUT2
1 CHA+
2 CHB+
3 CHZ+
4 (NC)
5DGND
6 CHA7 CHB8 CHZ9 (NC)
RS232 RS485/422
1 (NC) (NC)
2RXD RX3TXD TX4 (NC) (NC)
5 0V GND 0V DGND
6 (NC) (NC)
7 RTS TX+
8CTS RX+
9 (NC - see secti on 4.4.3)
X3 General I/O
X6 RS232/RS485
X7 Encoder Out
X8 Feedback In
1REF+
2COS+
3SIN+
4 (NC)
5AGND
6REF7COS8SIN9 Chassis
Incremental EnDat Hiperface
1 CHA+ Data+ Data+
2 CHB+ Data- Data3 CHZ+ +5V +8V
4 Hall U+ +5V +8V
5 Hall U- DGND DGND
6 CHA- Shield Shield
7 CHB- Cos B- Cos B8 CHZ- (NC) (NC)
9 Hall W+ Clock- (NC)
10 Hall V+ Clock+ (NC)
11 +5V DGND DGND
12 (NC) Sin A- Sin A13 DGND Sin A+ Sin A+
14 Hall W- Cos B+ Cos B+
15 Hall V- (NC) (NC)
Resolver option
Encoder options
X1 / X1A Power
Single-phase models
Three-phase models, 230-460V
Tightening torque for terminal block
connections is 0.5-0.6Nm (4.4-5.3 lb-in)
X9 Master Encoder
II
Options:
If there are other connectors on the front panel of your MintDriveII, then an
option is fitted. See the other manuals supplied with your Mi ntDriv eII.
* Warning! High voltages are present on
terminals labeled Vcc+ and Vcc-. Do not
make a connection to these terminals.
(NC) = Not Connected. Do not make a
connection to this pin.
Encoder Pulse & Dir.
1 CHA+ Pulse+
2 CHB+ Dir.+
3 CHZ+ (NC)
4 (NC) (NC)
5DGND (NC)
6 CHA- Pulse GND
7 CHB- Dir. GND
8 CHZ- (NC)
9+5V (NC)
1 Node
2 number
3 selection
4
5Hold
6 RS485 terminator
7 Offset tuning
8 Enable
9 (Reserved)
10 RS232/RS485
SW1 DIP switches
1 Chassis
2AIN1+
3AIN14AOUT0
5AOUT1
6AGND
X4 Analog I/O
Earth
Earth
L1 AC Phase 1
L2 AC Phase 2
L3 AC Phase 3
UMotorU
VMotorV
WMotorW
Vcc+ (NC)*
Vcc- (NC)*
R1 Regen Resistor
R2 (Dynamic Brake)
+24V Customer supplied 24V
0V (MDH2xxxxx-xxx3 onl y)
Three-phase models, 230V
www.baldormotion.com
3-8 Basic Installation MN1901
3.4 Power connections
This section provides instructions for connecting the AC power supply. It is important that you
refer to the correct front panel for your MintDrive
II
package.
The installer of this equipment is responsible for complying with NEC (National Electric Code)
guidelines or CE (Conformite Europeene) directives and application codes that govern wiring
protection, earthing/grounding, disconnects and other current protection.
WARNING: Electrical shock can cause serious or fatal injury. Do not touch any
power device or electrical connection before you first ensure that
power has been disconnected and there is no high voltage present
from this equipment or other equipment to which it is connected.
The power supply module within all MintDrive
II
models provides rectification, smoothing and
current surge protection. On 2.5A and 5A models a regeneration resistor (Dynamic Brake
resistor) is also built-in. The power stage is internally fused and therefore self protected, but
fuses or circuit breakers are required in the input lines for cable protection (depending on local
codes and regulations).
A power disconnect should be installed between the AC supply and the input of the MintDrive
II
for a fail safe method to disconnect mains power. On models with the internally generated
24VDC logic supply (catalog numbers MDHxxxxx-xxx0), the MintDrive
II
will remain
operational until the internal bus voltage is depleted. Position and I/O information will then be
lost. On models with an external customer supplied 24VDC logic supply (catalog numbers
MDHxxxxx -xxx3), position and I/O information will be retained while the 24V supply is present.
Note: A Residual Current Device (RCD) must not be used for fusing the drive. A circuit
breaker or fuse must be used.
All interconnection wires should be in metal conduits between the MintDrive
II
, AC power
source, motor, host controller and any operator interface stations. Use UL listed closed loop
connectors that are of appropriate size for the wire gauge being used. Connectors are to be
installed using only the crimp tool specified by the manufacturer of the connector. 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.
Note: When using unearthed/ungrounded distribution systems, an isolation transformer
with an earthed/grounded secondary is recommended. This provides three-phase
AC power that is symmetrical with respect to earth/ground and can prevent
equipment damage.
MintDrive
II
may also be powered from a DC supply. However, details are not provided here
since output current derating and other important limitations apply when using a DC supply.
Please contact Baldor technical support for advice.
www.baldormotion.com
Basic Installation 3-9MN1901
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
voltage
115VAC, 1Φ line to neutral
(U.S. single phase supply)
230VAC, 1Φ line to neutral
(European single phase supply)*
Range 75-125VAC 75-250VAC
* The required 230VAC supply may also be derived from two phases of a U.S. 230VAC
3-phase supply, i.e. 230VAC line to line. Connect one phase to L and the other phase to N.
For single-phase connection, the voltage ripple on the DC-bus is 25Vp-p for 5A peak current
rising to 50Vp-p for 10A peak current. This can limit the maximum speed of the motor.
Tightening torque for terminal block connections is 0.5-0.6Nm (4.4-5.3 lb-in).
The threaded hole in the top of the enclosure is for protective earth/ground connections.
The threaded hole in the bottom of the enclosure may be used as an additional functional
earth/ground connection for signals on connector X3. It may also be used to attach strain relief
clamps. The holes are threaded for M4 bolts no longer than 12mm (0.47 in) in length. Longer
bolts may short circuit the electrical components inside the MintDrive
II
.
AC
Supply
Line (L)
Neutral (N)
Route L, N, and
earth/ground together
in conduit or cable
Circuit breaker or fuse.
See section 3.4.4
AC filter.
See section
3.4.5
STAR POINT
Incoming safety
earth/ground (PE)
Isolating switch
* If filter has no
output
earth/ground
terminal, earth
wire may be
connected directly
to star point.
*
If AC power wires
are shielded,
earth/ground
outer shield using
360º c lamps
connected to
backplane.
Figure 2 - Earthing/grounding for single-phase installations
Note: For CE compliance, a filter must be connected between the AC power supply and
the MintDrive
II
. If local codes do not specify different regulations, use at least the
same gauge wire for earth/ground as is used for L and N.
www.baldormotion.com
3-10 Basic Installation MN1901
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
voltage
230VAC, 3Φ line to line 230-460VAC, 3Φ line to line
Range 75-253VAC 75-528VAC
Tightening torque for terminal block connections is 0.5-0.6Nm (4.4-5.3 lb-in). The threaded
hole in the top of the enclosure is for protective earth/ground connections. The threaded hole
in the bottom of the enclosure (if present) may be used as an additional functional
earth/ground connection for signals on connector X3. It may also be used to attach strain relief
clamps. The holes are threaded for M4 bolts no longer than 12mm (0.47 in) in length. Longer
bolts may short circuit the electrical components inside the MintDrive
II
.
AC
Supply
Line (L1)
Route L1, L2, L3 and
earth/ground together
in conduit or cable
Circuit breaker or fuses.
See section 3.4.4
AC filter.
See section
3.4.5
Line (L2)
Line (L3)
STAR POINT
Incoming safety
earth/ground (PE)
Isolating switch
* If filter has no
output
earth/ground
terminal, earth
wire may be
connected
directly to star
point.
*
MDH4A... show n
for illustration
purposes
If AC power wires
are shielded,
earth/ground
outer shield using
360º c lamps
connected to
backplane.
Figure 3 - Earthing/grounding for three-phase installations
WARNING: Drives with part numbers MDH2A15... have two additional terminals
on the X1 connector labeled Vcc+ and Vcc-. The full DC bus output
voltage is present on the these terminals so do not make any
connection to them.
Note: For CE compliance, a three-phase AC filter must be connected between the AC
power supply and the MintDrive
II
. If local codes do not specify different
regulations, use at least the same gauge wire for earth/ground as is used for L
and N.
www.baldormotion.com
Basic Installation 3-11MN1901
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
up/step down transformer may be required for some power conditions:
H If the feeder or branch circuit that provides power to the MintDrive
II
has permanently
connected power factor correction capacitors, an input AC line reactor or an isolation
transformer must be connected between the power factor correction capacitors and the
MintDrive
II
.
H If the feeder or branch circuit that provides power to the MintDrive
II
has power factor
correction capacitors that are switched on line and off line, the capacitors must not be
switched while the drive is connected to the AC power line. If the capacitors are switched
on line while the drive is still connected to the AC power line, additional protection is
required. A Transient Voltage Surge Suppressor (TVSS) of the proper rating must be
installed between the AC line reactor (or isolation transformer) and the AC input to the
MintDrive
II
.
3.4.3.1 Input power-cycling
If AC power has been removed from the MintDrive
II
, it should not be reapplied for at least one
minute. This delay allows the input surge protection circuit to perform correctly. Power-cycling
the drive more frequently could cause nuisance trips when power is reapplied and reduce the
lifetime of the MintDrive
II
.
3.4.4 Power disconnect and protection devices
A power disconnect should be installed between the input power service and the MintDrive
II
for a fail-safe method to disconnect power. The MintDriveIIwill remain in a powered condition
until all input power is removed from the drive and the internal bus voltage has depleted.
The MintDrive
II
must have a suitable input power protection device installed. Recommended
circuit breakers are thermal magnetic devices (1 or 3 phase as required) with characteristics
suitable for heavy inductive loads (D-type trip characteristic). Recommended time delay fuses
are Buss FRN on 230VAC or equivalent, following the UL 508C recommendation of a fuse
size of four times the continuous output current of the drive. Dual element, time delay fuses
should be used to avoid nuisance trips due to inrush current when power is first applied.
Circuit Breaker
L
N
From
supply
L
N
From
supply
Fuse
L
N
L
N
Figure 4 - Circuit breaker and fuse, single-phase (package sizes A, B, C, D)
www.baldormotion.com
3-12 Basic Installation MN1901
Note: Power to single phase models may be derived by connecting two phases of an
appropriate three-phase supply (L1 and L2 for example). When supplying
AC
power in this way, the voltage between the two phases must not exceed the
rated
input voltage of the MintDrive
II
. A two pole breaker must be used to isolate both
lines. Fuses must be fitted in both lines. Circuit breaker or fuse are not supplied.
For CE compliance, see Appendix D.
Circuit Breaker
Circuit breaker or fuse are not supplied.
For CE Compliance, see Appendix C.
L1
From
supply
Fuses
L2
L3
L1
L2
L3
From
supply
L1
L2
L3
Figure 5 - Circuit breaker and fuse, three-phase (package sizes E, G, H)
Note: Metal conduit or shielded cable should be used. Connect conduits so the use of a
line reactor or RC device does not interrupt EMI/RFI shielding.
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
II
complies with
the CE specifications for which it has been tested. Table 1 lists the appropriate filters:
MintDrive
II
Input voltages
cu
r
rent
rating
115VAC, 1Φ 230VAC, 1Φ 230VAC, 3Φ 230-460VAC, 3Φ
2.5A FI0015A00 or FI0029A00 FI0018A00
5A FI0015A02 or FI0029A00
FI0018A00
7.5A FI0029A00 FI0018A00
15A FI0018A01 FI0018A01
20A FI0018A01
27.5A FI0018A01
Ta ble 1 - Baldor filter part numbers
All single-phase MintDrive
II
models can be mounted directly onto the body of filter FI0029A00,
reducing the amount of panel area required for filter and drive.
www.baldormotion.com
Basic Installation 3-13MN1901
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
Catalog Number
Input
Output
y
p
Input
Dela
yMinimu
m
Wire Gauge
Vol
t
age
A
mps
(RMS)
B
reaker
(A)
I
npu
t
Fuse
(A)
AWG mm
2
MDH1A02xx-xxxx 115V (1Φ) 2.5A 6 6 14 2.0
MDH2A02xx-xxxx 230V (1Φ) 2.5A 6 6 14 2.0
MDH1A05xx-xxxx 115V (1Φ) 5A 10 10 14 2.0
MDH2A05xx-xxxx 230V (1Φ) 5A 10 10 14 2.0
MDH1A07xx-xxxx 115V (1Φ) 7.5A 16 16 14 2.0
MDH2A07xx-xxxx 230V (1Φ) 7.5A 16 16 14 2.0
MDH4A02xx-xxxx
230-460V
(3Φ)
2.5A 6 6 14 2.0
MDH4A05xx-xxxx
230-460V
(3Φ)
5A 10 10 14 2.0
MDH4A07xx-xxxx
230-460V
(3Φ)
7.5A 16 16 14 2.0
MDH2A15xx-xxxx 230V (3Φ) 15A 32 32 12 3.3
MDH4A15xx-xxxx
230-460V
(3Φ)
15A 32 32 12 3.3
MDH4A20xx-xxxx
230-460V
(3Φ)
20A 40 40 10 5.3
MDH4A27xx-xxxx
230-460V
(3Φ)
27.5A 60 60 10 5.3
Table 2 - Protection device and wire ratings
Note: All wire sizes are based on 75°C (167°F) copper wire. Higher temperature smaller
gauge wire may be used per National Electric Code (NEC) and local codes.
Recommended fuses/breakers are based on 25°C (77°F) ambient, maximum
continuous control output current and no harmonic current. Earth/ground wires
must be the same gauge, or larger, than the Line and Neutral wires.
www.baldormotion.com
3-14 Basic Installation MN1901
3.4.7 External customer supplied 24V control supply
Depending on model (catalog numbers MDHxxxxx-xxx3) a 24VDC control supply must be
provided to power the control electronics. This is useful for safety reasons where AC power
needs to be removed from the power stage but the control electronics must remain powered to
retain position and I/O information. It is recommended that a separate fused 24V supply is
provided for the MintDrive
II
. 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
II
from the rest of the system.
Location
Connector X1 / X1A
Part number MDHxxxxx -xxx3
Nominal input voltage 24V
Range 20.4-28.8VDC
Input current
(maximum)
1.75A continuous (4A power on surge)
Tightening torque for terminal block connections is 0.5-0.6Nm (4.4-5.3 lb-in)
Note: Connect 24V to connector X1 only if your model has this feature. Connecting 24V
to a model that does not require an external 24V supply (MDHxxxxx-xxx0) could
damage the unit.
Note: The label on filter FI0014A00 correctly indicates that it is designed for connection
to AC power supplies. However, this filter has been tested and is suitable for use
with a 24VDC input as indicated in Figure 6. Do not attempt to use an alternative
AC power filter as a 24VDC input filter.
Customer s upplied
24VDC (fused)
+24V
24V filter *
(optional)
GND
Single-phase model
shown for illustration
purposes
STAR
POINT
Incoming safety
earth/ground (PE)
If 24V wires are
shielded,
earth/ground
outer shields
using 360º
clamps connected
to backplane.
* An AC input voltage is indicated on the label of fi lter
FI0014A00, but it may also be used with a 24VDC input.
Figure 6 - Customer supplied 24V supply connections
www.baldormotion.com
Basic Installation 3-15MN1901
3.5 Motor connections
The motor can be connected directly to the MintDriveIIor 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
See
section
3.5.5
V
W
U
Motor
To earth/ground outer shi eld, use 360° clamps connected to backplane
Thermal
switch
A
B
Brake
(if present)
C
D
See
section
3.5.6
Unshielded
lengths should be
as short as
possible.
Optional motor
circuit contactors
Figure 7 - Motor connections
CAUTION: Do not connect supply power to the MintDriveIIUVW outputs.
The MintDrive
II
might be damaged.
CAUTION: The motor leads U, V and W must be connected to their corresponding U,
V or W terminal on the motor. Misconnection could result in uncontrolled
motor movement.
The motor power cable must be shielded for CE compliance. The connector or gland used at
the motor must provide 360 degree shielding. The maximum recommended cable length is
30.5m (100ft).
Note: For CE compliance the motor earth/ground should be connected to the drive
earth/ground.
www.baldormotion.com
3-16 Basic Installation MN1901
3.5.1 Motor circuit contactors
If required by local codes or for safety reasons, an M-Contactor (motor circuit contactor) may
be installed to provide a physical disconnection of the motor windings from the MintDrive
II
(see
section 3.5). Opening the M-Contactor ensures that the MintDrive
II
cannot drive the motor,
which may be necessary during equipment maintenance or similar operations. Under certain
circumstances it may also be necessary to fit a brake to a rotary motor. This is important with
hanging loads where disconnecting the motor windings could result in the load falling. Contact
your local supplier for details of appropriate brakes.
CAUTION: If an M-Contactor is installed, the MintDriveIImust be disabled at least
20ms before the M-Contactor is opened. If the M-Contactor is opened
while the MintDrive
II
is supplying voltage and current to the motor, the
MintDrive
II
may be damaged. Incorrect installation or failure of the
M-Contactor or its wiring may result in damage to the MintDrive
II
.
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:
Signal name
Motor / cable pin Motor cable wire color
Motor U 1 Black, labeled ‘1’
Motor V 4 Black, labeled ‘2’
Motor W 3 Black, labeled ‘3’
Earth/ground 2 Green/Yellow
Thermal switch A Green
Thermal switch B Whit e
Brake C Blue
Brake D Red
Cable connector end view
(female)
1
B
A
3
2
4
Motor power connector
(male)
1
B
A
3
2
4
C
D
C
D
Note:
Not all motors
arefittedwith
a brake so
pins C and D
might not be
connected.
Figure 8 - Baldor motor power cable pin configuration
Loading...