Baldor MN1274 User Manual

Installation

Installation

Manual

Manual

MN1274 06/2001

Copyright Baldor (c) 2001. All rights reserved.

Teleph

61296745455

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 and Windows 2000 are registered
trademarks of the Microsoft Corporation.

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 which 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.

Baldor UK Ltd
Mint Motion Centre
6 Bristol Distribution Park
Hawkley Drive
Bristol, BS32 0BF
Telephone: [phone]
Fax: [phone]
Email: [e-mail]
Web site: www.baldor.co.uk

Baldor Electric Company
Telephone: [phone]
Fax: [phone]
Email: [e-mail]
Web site: www.baldor.com

Baldor ASR GmbH
Telephone: [phone]
Fax: [phone]

Baldor ASR AG
Telephone: [phone]
Fax: [phone]

Australian Baldor Pty Ltd

one: +

Fax: [phone]

Baldor Electric (F.E.) Pte Ltd
Telephone: [phone]
Fax: [phone]

Baldor Italia S.R.L
Telephone: [phone]
Fax: [phone]

iii

Safety 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 c an cause serious or fatal injury. Only qualified personnel should attempt to start-up,
program or troubleshoot this equipment.

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 grounded before applying power. Do not apply AC power

before you ensure that 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.

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 shaft

and driven equipment. Be certain that unexpected motor shaft 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 rotating. 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 grounded to prevent possible shock hazard.

WARNING: When operating a 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.

iv

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
1-50 5,000

CAUTION: Avoid locating the drive immediately above or beside heat generating equipment, or directly

below water or steam pipes.

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 ground loops and degrade system performance. Instead, we recommend using a four
wire Wye.

RMS Symmetrical Amperes

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 s hould have specifications compatible to the
drive.

CAUTION: Violent jamming (stopping) of the motor shaft 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.

v

CAUTION: Ensure that resolver or encoder wires are properly connected. Incorrect installation may

result in improper rotation or incorrect commutation.

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.

vi

Contents

1 Introduction 1..............................................

1.1 MintDrive features 1.........................................................

1.2 Receiving and inspection 2...................................................

1.2.1 Identifying the catalog number 2.................................................

1.3 MintDrive indicators 3.......................................................

1.3.1 Monitor LED display 3..........................................................

1.3.2 CAN 1 and 2 LEDs 3...........................................................

1.3.3 Ready LED 3.................................................................

1.3.4 DB On (Regeneration Load) LED 3...............................................

1.4 Units and abbreviations 4....................................................

2 Basic Installation 5.........................................

2.1 Outline 5..................................................................

2.1.1 Hardware requirements 5.......................................................

2.1.2 RS485 / RS422 systems 7......................................................

2.1.3 Power sources 7..............................................................

2.1.4 Tools and miscellaneous hardware 7.............................................

2.1.5 Other information needed for installation 7.........................................

2.2 Mechanical installation and location requirements 8..............................

2.2.1 Dimensions and mounting 9.....................................................

2.3 Power connections 10........................................................

2.3.1 Grounding 11..................................................................

2.3.2 Input power conditioning 12......................................................

2.3.3 Power disconnect and protection devices 12........................................

2.3.4 Wire sizes 14..................................................................

2.3.5 Single phase connection to package size A or B 15..................................

2.3.6 Single phase connection to package size C 15......................................

2.3.7 Three phase connection to package size C 16......................................

2.3.8 24V control supply 16...........................................................

2.3.9 DC Bus power connections from package size C 17.................................

2.3.10 Power supply filters 18..........................................................

2.4 Motor connections 19.........................................................

2.4.1 Motor circuit contactors 20.......................................................

2.4.2 Regeneration resistor (Dynamic Brake resistor) 21...................................

2.5 Feedback connections 22.....................................................

2.5.1 Resolver option 23..............................................................

2.5.2 Encoder option 25..............................................................

2.6 Drive enable 26..............................................................

vii

3 Input / Output 27............................................

3.1 Outline 27..................................................................

3.2 Analog I/O 27...............................................................

3.2.1 Analog Input, Single Ended - X11 28...............................................

3.2.2 Analog Input, Differential - X11 29.................................................

3.2.3 Analog Inputs, Differential - X5 30.................................................

3.2.4 Analog Outputs, Bipolar - X11 32..................................................

3.2.5 Analog Outputs, Bipolar - X5 33...................................................

3.3 Digital I/O 34................................................................

3.3.1 Digital Inputs - X13 35...........................................................

3.3.2 Digital Inputs - X5 37............................................................

3.3.3 Digital Outputs - X13 39.........................................................

3.3.4 Digital Outputs - X5 40...........................................................

3.4 Other I/O 41................................................................

3.4.1 Simulated encoder output - X3 41.................................................

3.4.2 Master (auxiliary) encoder input - X6 42............................................

3.4.3 Serial port - X7 44..............................................................

3.4.4 Using RS232 cable 45...........................................................

3.4.5 Multidrop using RS485 / RS422 cable 46...........................................

3.4.6 Connecting Baldor HMI Operator Panels 47........................................

3.4.7 Optional breakout board for connector X5 48.......................................

3.4.8 CAN peripherals 48.............................................................

4 Tuning and Configuration 49..................................

4.1 Outline 49..................................................................

4.1.1 Connecting the MintDrive to the PC 49.............................................

4.1.2 Installing the software 49.........................................................

4.1.3 Starting the MintDrive 50.........................................................

4.2 Mint Configuration Tool Startup Wizard - coarse tuning 51.........................

4.3 MCT Startup Wizard - fine-tuning 54...........................................

4.3.1 An introduction to closed loop control 54...........................................

4.3.2 Fine-tuning the speed loop 56....................................................

4.3.3 Fine-tuning the position loop 57...................................................

4.3.4 Jog test 59.....................................................................

4.3.5 Completing the Startup Wizard 60.................................................

4.4 MCT Wizard - hardware configuration 61........................................

4.4.1 Digital input configuration 61.....................................................

4.4.2 Digital output configuration 62....................................................

4.4.3 Axis0 parameter configuration 63.................................................

4.4.4 Axis0 error configuration 63......................................................

4.4.5 Axis0 tuning configuration 64.....................................................

4.4.6 Miscellaneous configuration 64...................................................

4.4.7 Completing the configuration wizard 65............................................

viii

5 Mint WorkBench 67.........................................

5.1 Outline 67..................................................................

5.1.1 Completing configuration 67......................................................

5.2 Using WorkBench 68.........................................................

5.2.1 Selecting the controller 68.......................................................

5.2.2 Menus and buttons 68...........................................................

5.3 Watch window 70............................................................

5.3.1 Quick Watch tab 70.............................................................

5.3.2 Speed Loop tab 71..............................................................

5.3.3 Position Loop tab 72............................................................

5.3.4 Capture tab 73.................................................................

5.4 Editor windows 74...........................................................

5.4.1 Configuration window 74.........................................................

5.4.2 Program window 74.............................................................

5.4.3 Terminal window 75.............................................................

5.4.4 Useful commands for testing 75...................................................

5.4.5 Firmware update 77.............................................................

6 Specifications 79............................................

6.1 Outline 79..................................................................

6.1.1 General specifications 79........................................................

6.1.2 Power 80......................................................................

6.1.3 Rectifier and regeneration 81.....................................................

6.1.4 Resolver feedback 81...........................................................

6.1.5 Encoder feedback 82...........................................................

6.1.6 Control signals 82..............................................................

6.1.7 Environmental 83...............................................................

7 Troubleshooting 85..........................................

7.1 Outline 85..................................................................

7.1.1 Problem diagnosis 85...........................................................

7.1.2 Communication 86..............................................................

7.1.3 Power up 87...................................................................

7.1.4 Tuning 89.....................................................................

7.1.5 Mint gains 90..................................................................

7.1.6 Ready LED is red 91............................................................

7.1.7 CAN 94.......................................................................

ix

Appendices

A Tuning 97..................................................

A.1 Introduction 97..............................................................

A.1.1 Closed loop control 99...........................................................

A.1.2 Position loop 100................................................................

A.1.3 Speed loop 101..................................................................

A.1.4 Current loop 101.................................................................

A.1.5 MintDrive operational modes 101..................................................

A.1.6 Tuning the position loop for a velocity servo drive 102.................................

A.1.7 Tuning the position loop for a servo drive 102........................................

A.1.8 Tuning the position loop for a torque servo drive 105..................................

A.1.9 Saving tuning information 105.....................................................

B CAN 107....................................................

B.1 Outline 107..................................................................

B.1.1 MintDrive capabilities 107.........................................................

B.2 CAN 1 (CANopen) 109........................................................

B.2.1 CAN 1 (CANopen) - X9 109.......................................................

B.2.2 What is CANopen? 110...........................................................

B.2.3 Configuring nodes 111...........................................................

B.2.4 Network manager - node 1 111....................................................

B.2.5 Scanning nodes 111.............................................................

B.2.6 Connecting to nodes 112.........................................................

B.2.7 Monitoring CAN events 113.......................................................

B.2.8 Controller nodes 114.............................................................

B.2.9 I/O nodes 115...................................................................

B.2.10 HMI Operator Panels 117.........................................................

B.3 CAN 2 (Baldor CAN) 119.......................................................

B.3.1 CAN 2 (Baldor CAN) - X8 119.....................................................

B.3.2 Preparing the MintDrive 120.......................................................

B.3.3 Preparing the CAN peripheral 120..................................................

B.3.4 Connecting the PC, MintDrive and CAN peripheral 120................................

B.3.5 Node IDs 121...................................................................

B.3.6 Static configuration 121...........................................................

B.3.7 Adding the node to the network 122................................................

B.3.8 Monitoring CAN Bus communications 123...........................................

B.3.9 Controlling the CAN peripheral 123.................................................

B.3.10 Normal operation 123............................................................

B.3.11 KeypadNode 124................................................................

B.3.12 ioNode 24/24 125................................................................

B.3.13 Example CAN network 126........................................................

B.3.14 Mint CAN related keywords 127....................................................

x

C CE Guidelines 129...........................................

C.1 Outline 129..................................................................

C.1.1 Declaration of Conformity 129.....................................................

C.1.2 EMC Conformity and CE marking 130..............................................

C.1.3 Use of CE compliant components 130..............................................

C.1.4 EMC wiring technique 130........................................................

C.1.5 EMC installation suggestions 131..................................................

C.1.6 Wiring of shielded (screened) cables 132............................................

D Accessories and options 135..................................

D.1 Outline 135..................................................................

D.1.1 Cables 135.....................................................................

D.1.2 Resolver feedback cable 136......................................................

D.1.3 EMC mains filters 137............................................................

D.1.4 Regeneration resistors 139........................................................

D.1.5 Breakout board - X5 140..........................................................

xi

xii

1.1 MintDrive features

The MintDrive combines a powerful fully featured motion controller and brushless servo amplifier into a
compact package. This provides a flexible and powerful motion control solution for almost any single
axis positioning system. Programmable in Mintt, applications can be quickly realized. Using the
onboard CAN bus, drives can be connected together for loosely coupled multi-axis systems.

Features include:

H Single axis AC brushless drive with integrated Mint controller

H 2.5A to 15A continuous current ratings (model dependent)

H Direct on line connection to 115V or 230V single input or 230V three phase input (model dependent)

H Programmable in Mint

H Point to point moves, software cams and gearing

H 18 optically isolated digital inputs

H 9 optically isolated digital outputs

H 4 general purpose analog inputs

H 4 general purpose analog outputs

H CANopen protocol for peer-to-peer communications with other Mint v4 controllers, and other third

party devices.

H Proprietary CAN protocol for control of Baldor remote I/O devices

H RS232 and RS485 communications

H Flash memory for program and data storage.

1 Introduction

1

MintDrive will operate with a large number of brushless servo motors. For information on selecting
Baldor servo motors, please see the sales catalog BR1202.

This manual is intended to guide you through the installation of MintDrive, whether you are a novice in
the field of motion control or an experienced engineer.

The chapters should be read in sequence.

The Basic Installation section describes the mechanical installation of the MintDrive, the power supply
connections and motor connections. The following 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.

1

1.2 Receiving and inspection

When you receive your MintDrive, there are several things you should do immediately:

1. Check the condition of the shipping container and report any damage immediately to the carrier that
delivered your MintDrive.

2. Remove the MintDrive from the shipping container and remove all packing material. The container and
packing materials may be retained for future shipment.

3. Verify that the catalog number of the MintDrive you received is the same as the catalog number listed
on your purchase order. The catalog/part number is described in the next section.

4. Inspect the MintDrive for external damage during shipment and report any damage to the carrier that
delivered your MintDrive.

5. If MintDrive 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 on page 83.

1.2.1 Identifying the catalog number

MintDrives are available with different current ratings and package sizes.
The catalog number describing the model is marked on a label on the side of the unit.
It is a good idea to look for the catalog number (sometimes shown as ID/No: ) and write it in the space
provided below.

Catalog number:

Installed at: ___________________________

A description of a catalog number is shown below, using the example number MD1A05TB-RC23:

Meaning Alternatives

MD The unit is a member of the MintDrive family. -

1 Requires an AC supply voltage of 115 Volts. 2=230V

A05 Continuous current rating of 5.0A.

T Built in mains power supply.

Dynamic Brake with a built in transistor and resistor

B

(available on 2.5A and 5A models only).

R Feedback option is a resolver. E=Encoder

C CAN Bus option (MintDrive is always fitted with CAN). -

2 Serial port type is combined RS232 / RS485. -

Additional 24VDC supply is required to power the

3

internal MintDrive logic*.

* An external 24VDC supply will always be required to operate the enable input and digital inputs on

connectors X13 and X5. See pages 26, 35 and 37.

MD_____________-_______

Date: ______

A02=2.5A; A07=7.5A;
A10=10A; A15=15A

S=Built in mains power supply with

DC out for powering other drives

R=Requires external braking resistor

0=Self generated internal 24VDC
logic supply*

2

1.3 MintDrive indicators

1.3.1 Monitor LED d isp lay

The 7 -segment Monitor LED display indicates general MintDrive status information:

Drive Disabled Driveinerror(seesection7)

Drive Enabled Follow mode

Jogging Local (see troubleshooting guide)

Positional Move i.e. MOVEA, MOVER Flying shear

Homing Cam

Incremental move i.e. INCA, INCR Speed Demand

Torque mode Firmware being updated by WorkBench

1.3.2 CAN 1 an d 2 LEDs

The CAN 1 and 2 LEDs refer to the independent CAN buses CAN1 and CAN2.

Green

Red/
Green

Red The bus is OFF (see page 94)

Off No primary power to the MintDrive

The bus is operational

The bus is passive (see page 94)

1.3.3 Ready LED

The front panel Ready LED indicates the general status of the MintDrive.

Green

Red An error condition exists (see page 91)

Off No primary power to the MintDrive

The MintDrive is operating normally

1.3.4 DB On (Regeneration Load) LED

The front panel DB On LED indicates regeneration activity.

Yellow

Off No regeneration occurring

Power is being dissipated into the regeneration resistor

3

1.4 Units and abbreviations

The following units and abbreviations are used in this manual:

V Volt (also VAC and VDC)............

WWatt............

A Ampere............

Ω Ohm............

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............

”inch.............

ft feet.............

lbin pound-inch (torque)...........

Nm Newton-meter (torque)...........

ADC Analog to Digital Converter..........

AWG American Wire Gauge.........

4

2.1 Outline

You must read all the sections in Basic Installation.

It is important that the correct steps are followed when installing the MintDrive. This section covers the
mechanical and electrical installation of the MintDrive, including the following steps:

H Location considerations

H Mounting the MintDrive

H Connecting the power supply

H Connecting the optional control supply

H Connecting the motor

H Installing a regeneration resistor

H Connecting the feedback signal

H Connecting the drive enable signal.

Each step should be followed in sequence.

2 Basic Installation

2

2.1.1 Hardware requirements

The components you will need to complete the basic installation are described below:

H Under some applications, such as those with high deceleration rates, there may be a requirement

for a dynamic brake (or regeneration) resistor.

Note: Without the braking resistor, the drive may produce an overvoltage fault.

All MintDrives have overvoltage sensing circuitry, but only the 2.5A and 5A units have an
integral regeneration resistor. For 7.5A, 10A and 15A units a regeneration resistor must be
purchased separately if required. See Appendix D.

H A PC that fulfills the following specification:

Processor Intel Pentium 133MHz Intel Pentium 200MHz or faster

RAM 32MB 64MB

Hard disk space 40MB 60MB

CD-ROM A CD-ROM drive is required

Screen 800 x 600, 256 colors 1024 x 768, 256 colors

Mouse A mouse or similar pointing device is required

Operating system Windows 95, Windows 98, Windows ME, Windows NT or Windows 2000

Minimum specification Recommended specification

5

H The servo motor that will be connected to the MintDrive.

H The appropriate motor cable. For easier installation it is recommended that a color-coded Baldor

motor power cable is used. A description of a Baldor motor power cable catalog number is shown
below, using the example number CBL030SP-MHM:

Meaning Alternatives

CBL The item is a cable. -

030 Indicates the length, in this example 3.0 meters. Various lengths are available

SP ThecableisaServo motor Power cable. -

M Current rating of 10A. F=20A; E=30A

H 8-pin connector -

M Metric style threaded connector CE=CE connector

Motor power cables are also available without connectors, in which case the last two letters (HM in
the example above) are not used.

H A resolver 9-core cable, 15-core if the MintDrive is fitted with the encoder option. A description of a

feedback cable catalog number is shown below, using the example number CBL030SF-ALM.

Meaning Alternatives

CBL The item is a cable. -

030 Indicates the length, in this example 3.0 meters. Various lengths are available

SF ThecableisaServo motor Feedback cable. -

A Suitable for resolver feedback

K=Suitable for Encoder / Hall

feedback

L 12-pin connector -

M Metric style threaded connector CE=CE connector

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 22 AWG (0.34mm

2)

wire minimum, with an overall shield. Ideally, the cable
should not exceed 66ft (20m) in length. Maximum wire-to-wire or wire-to-shield capacitance is 50pF
per foot (300mm) (maximum of 7500pF for 150ft).

H An RS232 cable (Baldor order code CBL023-501), or the components to build one yourself.

Note: As the RS232 connector is shared with the RS485 port, a standard serial cable must not be

used as this may result in damage to the unit. See pages 44 and 45.

H (Optional) A break-out board (catalog number OPT017-501) for input/output from connector X5.

H A mains cable.

6

2.1.2 RS485 / RS422 systems

If your PC does not have an RS485 / RS422 connector, an RS232 to 4-wire RS485 / RS422 converter
will be required. This allows signals from the RS232 port to be converted to the signals necessary for
RS485 / RS422 communications. Appropriate converters are available from KK Systems Ltd
(www.kksystems.com).

Note: If this is the first time you are installing a MintDrive then it is strongly recommended that you

use RS232 to get started and use RS485 later. This will avoid any potential problems
involving the RS232-RS485 converter.
Also, MME (Mint Motion Engine) firmware can only be updated over RS232.

2.1.3 Power sources

If the MintDrive requires an external 24VDC for the logic supply then this must be a regulated power
supply with a minimum current supply capability of 1.6A. A 24V filter may be required to comply with
the CE directive for which the MintDrive was tested (see page 18).
A 24VDC power supply is required for the drive enable input, the digital outputs and the digital inputs;
24V cannot be sourced from the MintDrive unit itself.
A mains source (installation 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. A mains filter is
required to comply with the CE directive for which the MintDrive was tested (see page 18).

2.1.4 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 with a blade width less than 1/8” (3.5mm)
H Screws or bolts (depending on your own mounting requirements) with an M5 fixing
H Soldering equipment with suitable soldering tips.

2.1.5 Other information needed for installation

You will need the following information to complete the installation:

H The data sheet or manual provided with your motor, describing the wiring information of the motor

cables/connectors

H Whether digital inputs/outputs will be ’Active Low’ or ’Active High’ to meet the requirements and

specification of the system you are going to build.

7

2.2 Mechanical installation and location requirements

It is essential that you read and understand this section before beginning the installation.

CAUTION: To prevent equipment damage, be certain that the input power has correctly 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 are shielded correctly.

CAUTION: Avoid locating the MintDrive immediately above or beside heat generating

equipment, or directly below water steam pipes.

CAUTION: Avoid locating the MintDrive in 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 must be installed indoors, permanently fixed and located so that it is not accessible

by the operator and can only be accessed by service personnel using tools.

H The maximum suggested operating altitude is 3300ft (1000m).

Above 3300ft (1000m) de -rate output current 2% per 1000ft (300m).

H The MintDrive must be installed in an ambient temperature of 32°F to 104°F (0°C to 40°C).

De-rate output current 2.5% per 1.8°F (1°C) from 104°F (40°C) to 122°F (50°C) maximum.

H The MintDrive must be installed in relative humidity levels of less than 80% for temperatures up to

87°F (31°C) decreasing linearly to 50% relative humidity at 104°F (40°C) (non -condensing).

H The MintDrive must be installed where the pollution degree according to IEC664 shall not exceed 2.

H For MintDrives that require an external 24VDC for the logic supply, it must be installed so that the

24VDC supplied to the unit is isolated from the mains using double or reinforced insulation.

H The inputs and outputs of the control circuit must be confined to Safety Extra Low Voltage circuits.

H Both the mains supply and the external 24VDC supply must be fused.

H The atmosphere shall not contain flammable gases or vapors.

H There shall not be abnormal levels of nuclear radiation or X-rays.

H The MintDrive must be secured by the slots in the flange, with the protective earth stud bonded to a

safety earth by either a 25A conductor or a conductor of three times the peak current rating ­whichever is the greater.

H 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 hand side of the unit. Ensure a free flow of air is available to maintain the control electronics at a
suitable temperature.

H At least 2” (50mm) top and bottom clearance of the MintDrive must be provided for airflow.

8

H If multiple units are being mounted side by side, a spacing of 0.5” (13mm) must be provided

between the units and from the unit to the side of the cabinet / enclosure.

H To comply with CE directive 89/336/EEC an appropriate mains filter must be installed.

For MintDrives requiring the external 24VDC logic supply, a 24V filter must also be installed.
See page 18.

2.2.1 Dimensions and mounting

Ensure you have read and understood page 8. Mount the MintDrive on its rear side, the side opposite
to the front panel. The MintDrive 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 unit.

W

1

3

H

2

H

1

H

W

W

D

3

2

W

4

Package A

2.5A

Package C

10A / 15A

Package B

5A / 7.5A

Dimensions inches (mm) Weight

Package Current H1 H2 H3 W1 W2 W3 W4 D lb (kg)

A 2.5A 6.81

B 5A /

7.5A

C 10A /

15A

(173)

6.81

(173)

14.05
(357)

7.67

(195.5)

7.67

(195.5)

15.12
(384)

8.07

(205)

8.07

(205)

15.75
(400)

0.6

(15)

0.9

(23)

1.1

(27.5)

0.6

(15)

0.9

(23)

0.37

(9.5)

1.57
(40)

1.57
(40)

1.42
(36)

3.31
(84)

4.29

(109)

2.17
(55)

6.00

(152)

6.00

(152)

10.43
(265)

4.89

(2.22)

5.31

(2.41)

9.92
(4.5)

Figure 1 - Package dimensions

9

2.3 Power connections

This section provides instructions for connecting the mains supply. It is important that you refer to the
correct front panel for your MintDrive 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, 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 the MintDrive provides rectification, smoothing, regeneration capability
(built-in on 2.5A and 5A models only) and current surge protection.
The power stage is internally fused and therefore self protected, but fuses or circuit breakers may be
used in the input lines for cable protection.
A power disconnect should be installed between the mains supply and the input of the MintDrive for a
fail safe method to disconnect power. The MintDrive will remain in a powered condition until all input
power is removed from the MintDrive and the internal bus voltage is depleted.
On units without the self generated internal 24VDC logic supply (catalog number ends with 3), you
might wish the external 24VDC logic supply to remain connected to retain position and I/O information.
The MintDrive with package size C can accept either single phase direct (115V or 230V depending on
model) or 3 phase with transformer (250VAC max).

Note: A Residual Current Device (RCD) must not be used for fusing the drive.

10

All interconnection wires should be in metal conduits between the MintDrive, 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 ground. Due to the importance of system
grounding for increased reliability, grounding methods are shown in the following sections.

2.3.1 Grounding

Single phase units

AC Mains
Supply

Earth

Safety Ground

Driven Earth
Ground Rod

(Plant Ground)

L

N

Circuit breaker
or fuses.
See section

2.3.3.

MintDrive

VLN U W

Route all 3 wires L, N, and
Earth (Ground) together in
conduit or cable. Power
wires must be kept separate
from control signal wires.

Note: Wiring shown for clarity of

grounding method only.
Not representative of actual
terminal block location.

Ground as per
NEC and local codes.

Figure 2 - Recommended single phase system grounding

Note: For CE compliance, a 3-phase mains filter must be connected between the mains supply

and the MintDrive. The MintDrive and motor earths should be connected to the enclosure
backplane. (The enclosure backplane should be connected to the earth at the mains source.
There should be a separate connection from the earth at the mains source to the plant
ground rod).

Three phase units

AC Mains
Supply

Four Wire

“Wye”

L1

L2

L3

MintDrive

L3

Note: Wiring shown for clarity of

grounding method only.

VL1 L2 U W

Not representative of actual
terminal block location.

Safety

Ground

Driven Earth
Ground Rod

(Plant Ground)

Earth

Circuit breaker
or fuses.
See section

2.3.3.

Route wires L1, L2, L3 and
Earth (Ground) together in
conduit or cable. Power wires
must be kept separate from
control signal wires.

Ground as per
NEC and local codes.

Figure 3 - Recommended 3-phase system grounding

Note: For CE compliance, a 3-phase mains filter must be connected between the mains supply

and the MintDrive. The MintDrive and motor earths should be connected to the enclosure
backplane. (The enclosure backplane should be connected to the earth at the mains source.
There should be a separate connection from the earth at the mains source to the plant
ground rod).

11

Ungrounded distribution systems

L

To avoid equipment damage an isolation transformer with a grounded secondary is recommended.
This provides three phase AC power that is symmetrical with respect to ground.

2.3.2 Input power conditioning

Baldor drives are designed for direct connection to standard single and three phase lines that are
electrically symmetrical with respect to 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 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.

H If the feeder or branch circuit that provides power to the MintDrive 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.

2.3.3 Power disconn ect and protection devices

A power disconnect should be installed between the input power service and the MintDrive for a
fail-safe method to disconnect power. The MintDrive will remain in a powered condition until all input
power is removed from the drive and the internal bus voltage has depleted.

The MintDrive 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.
For CE installations the Gould Shawmut Cat. No. ATMR15 may be suitable, up to 15A.

Circuit
Breaker

N

LN

Earth

Fuse

Connection

LN

LN

MintDrive

Circuit breaker and fuse not supplied.
For CE Compliance, see Appendix C.

Figure 4 - Circuit breaker and fuse, single phase, package size A or B

12

L

N

L1L

L

LN

Earth

Circuit

Fuse

Connection

Breaker

L1 L2

MintDrive

L3

PE

Circuit breaker and fuse not supplied.
For CE Compliance, see Appendix C.

Figure 5 - Circuit breaker and fuse, single phase, package size C

2

3

Earth

Circuit

Fuse

Connection

Breaker

L1 L2

L3

PE

L1 L2

L1

L2 L3

L1 L2 L3

MintDrive

Circuit breaker and fuse not supplied.
For CE Compliance, see Appendix C.

Figure 6 - Circuit breaker and fuse, three phase, package size C

Note: Metal conduit or shielded cable should be used. Connect conduits so the use of a Reactor

or RC Device does not interrupt EMI/RFI shielding. If local codes do not specify different
regulations, use the same gauge wire for Earth ground as is used for L and N.
Connect earth to the backplane of the enclosure.

13

2.3.4 Wire sizes

g

Input

W

ireG

Nominal

Continuou

s

I

Input and output wire size is based on the use of copper conductor wire rated at 167°F (75°C).
The following tables describe the wire size to be used for power connections and the ratings of the
protection devices.

Catalog Number

Nominal Continuous

Input

Voltag e

MD1A02xx-xxxx 115V (1φ) 2.5A 6 6 14 2.5

MD2A02xx-xxxx 230V (1φ) 2.5A 6 6 14 2.5

MD1A05xx-xxxx 115V (1φ) 5A 10 10 14 2.5

MD2A05xx-xxxx 230V (1φ) 5A 10 10 14 2.5

MD1A07xx-xxxx 115V (1φ) 7.5A 16 16 14 2.5

MD2A07xx-xxxx 230V (1φ) 7.5A 16 16 14 2.5

MD1A10xx-xxxx 115V (1φ) 10A 20 20 14 2.5

MD2A10xx-xxxx 230V (3φ) 10A 20 20 14 2.5

MD1A15xx-xxxx 115V (1φ) 15A 32 32 12 2.5

MD2A15xx-xxxx 230V (3φ) 15A 32 32 12 2.5

Note: All wire sizes are based on 75°C copper wire. Higher temperature smaller gauge wire may

be used per NEC and local codes. Recommended fuses/breakers are based on 77°F (25°C)
ambient, maximum continuous control output current and no harmonic current.

Output

Amps

(RMS)

Incoming Power

D-Type

nput

Breaker

(A)

Input
Fuse

Time

Delay

(A)

auge

AWG mm

2

14

2.3.5 Single phase connection t o package size A or B

E

L

N

Location Connector X1, single or 2-part connector

Part number MD1A... MD2A...

Input voltage 115VAC, 1φ line to neutral 230VAC, 1φ line to neutral

Range 97-125VAC 220-250VAC

Note: For single phase connection, the voltage ripple on the DC-bus is 25Vp-p for 5A (the peak

current for a 2.5A MintDrive) and 50Vp-p for 10A (the peak current for a 5A MintDrive).
This can limit the maximum speed of the motor.
Tightening torque for terminal block connections is 4.4~5.3 lbin (0.5~0.6Nm).
The threaded holes in the top and bottom of the enclosure are for cable clamps (provided).
The holes are threaded for M4 bolts no longer than 0.47” (12mm) in length. Longer bolts
may short circuit the electrical components inside the MintDrive.

2.3.6 Single phase connection t o package size C

or

E

L

N

Earth stud

Location Connector X1, single or 2-part connector

Part number MD1A... MD2A...

Input voltage 115VAC, 1φ line to neutral 230VAC, 1φ line to neutral

Range 97-125VAC 220-250VAC

Note: For single phase connection, the voltage ripple on the DC-bus is 25Vp-p for 5A (the peak

current for a 2.5A MintDrive) and 50Vp-p for 10A (the peak current for a 5A MintDrive). This
can limit the maximum speed of the motor.
Tightening torque for terminal block connections is 4.4~5.3 lbin (0.5~0.6Nm).
The threaded holes in the top and bottom of the enclosure are for cable clamps (provided).
The holes are threaded for M4 bolts no longer than 0.47” (12mm) in length. Longer bolts
may short circuit the electrical components inside the MintDrive.

15

2.3.7 Three phase connection t o package size C

or

E

L1
L2
L3

Earth stud

Note: Tightening torque for terminal block connections is 4.4~5.3 lbin (0.5~0.6Nm).

The threaded holes in the top and bottom of the enclosure are for cable clamps (provided).
The holes are threaded for M4 bolts no longer than 0.47” (12mm) in length. Longer bolts
may short circuit the electrical components inside the MintDrive.

2.3.8 24V control supply

Depending on model, a 24VDC control supply may be required to provide power to the control
electronics when power is removed from the amplifier (see page 2). This is useful for safety where
power needs to be removed from the amplifier stage but the control electronics must be powered to
retain position and I/O information. The 24VDC supply is connected via X1.

Note: A 24VDC supply is always required for the drive enable input on connector X13.

Location Connector X1, single or 2-part connector

Part number MD2A...

Input voltage 230VAC, 3φ line to line

Range 220-250VAC

16

Location

Connector X1, single or 2-part connector

Part number MDxxxxxx-xxx3

Input voltage 24V

Input current 1.6A (maximum)

Range 20.4 - 28.8VDC

+24V

GND

Note: Tightening torque for terminal block connections is 4.4~5.3 lbin (0.5~0.6Nm)

2.3.9 DC Bus p o wer conn ections from package size C

Location Connector X1, single or 2-part connector

Part number MD1AxxSx... MD2AxxSx...

To external

drive(s)

with

Vcc inputs

Output voltage 160VDC 320VDC

Range 135-176VDC 306-350VDC

The MintDrive 10A and 15A variants are available with a DC bus supply output for powering other
drives that do not have their own internal mains power supplies. This power is available on the X1
connector pins Vcc+ and Vcc-.

MintDrive

External drive

External drive

(MD1AxxSx... )

Vcc+

Vcc-

R1

R2

Vcc+

Vcc-

Vcc+

Vcc-

Vcc+

Vcc-

Vcc+

Vcc-

Regeneration

Resistor

Note: It is important to ensure that the total current required by the powering drive, the

external drive(s) and their maximum combined loads does not exceed the current
rating of the powering drive.

Tightening torque for terminal block connections is 4.4~5.3 lbin (0.5~0.6Nm).
The threaded holes in the top and bottom of the enclosure are for cable clamps (provided).
The holes are threaded for M4 bolts no longer than 0.47” (12mm) in length. Longer bolts
may short circuit the electrical components inside the MintDrive.

17

2.3.10 Power supply filters

To comply with EEC directive 89/336/EEC, a mains filter of the appropriate type must be connected.
This will ensure that the unit complies with the CE specifications for which it has been tested. If the
MintDrive has the 24VDC input power supply option then a further filter will be necessary to comply with
CE specifications. Schaffner filters are recommended, with part numbers shown below:

MintDrive current rating 2.5A FN2070-10-06 FN9675-3-06

All models FN9675-3-06

Voltag e

230VAC, 1φ 115VAC, 1φ

5A FN2070-6-06 FN2070-10-06

7.5A FN2070-10-06

(Use FN2070-12-06 if 24V
option is fitted)

230VAC, 3φ -

10A FN351-36-33 -

15A FN351-50-33 -

24VDC

FN2070-12-06

18

Table 1 - Schaffner filter part numbers

See Appendix D, section D.1.3 for details of filter dimensions and Baldor catalog numbers.