flexdrive/flex+drive series i and series ii · pdf file3-2 hardware comparison 3.2 hardware...

11/01 MN1913

SERVO DRIVE

FlexDrive/Flex+Drive Series I and Series II

Comparison

Contents i

Contents

1 General Information..........................................................................1-1

2 Introduction ......................................................................................2-1 2.1 Flex Series II..........................................................................................................................2-1

3 Hardware Comparison .....................................................................3-1 3.1 Enclosure Sizes .....................................................................................................................3-1 3.2 Hardware Comparison...........................................................................................................3-2 3.3 Control Architecture ...............................................................................................................3-4 3.4 Regen Resistor ......................................................................................................................3-5 3.5 DIP Switches .........................................................................................................................3-5 3.6 Status Indicator......................................................................................................................3-6 3.7 Connectors ............................................................................................................................3-8

3.7.1 X3: I/O and Command.............................................................................................................. 3-8 3.7.2 X6: Serial................................................................................................................................ 3-10 3.7.3 X7: Encoder Out..................................................................................................................... 3-11 3.7.4 X8: Feedback In ..................................................................................................................... 3-11 3.7.5 X9: Master Encoder (Handwheel Encoder) ............................................................................ 3-13

3.8 Digital Outputs .....................................................................................................................3-14

4 Front End .........................................................................................4-1 4.1 WorkBench v5 .......................................................................................................................4-1 4.2 SupportMe .............................................................................................................................4-2 4.3 Presets...................................................................................................................................4-3 4.4 PLC Task ...............................................................................................................................4-3

5 Mint Programming............................................................................5-1 5.1 Mint Programming .................................................................................................................5-1

6 Parameter Comparison ....................................................................6-1 6.1 Parameter Comparison .........................................................................................................6-1

ii Contents

6.2 Basic System Parameters .....................................................................................................6-2 6.2.1 Motor Parameters .....................................................................................................................6-2 6.2.2 Drive Parameters ......................................................................................................................6-2

6.3 Additional System Parameters ..............................................................................................6-3 6.3.1 Velocity Feedback Parameters .................................................................................................6-3 6.3.2 Software Limit Switch Parameters ............................................................................................6-3

6.4 PLC Parameters ....................................................................................................................6-3 6.5 Digital Interface Parameters ..................................................................................................6-4 6.6 Analog Interface Parameters .................................................................................................6-4 6.7 System Variables ...................................................................................................................6-5

6.7.1 General Variables: ....................................................................................................................6-5 6.7.2 Queries/Modifications of Fault Listing Variables: ......................................................................6-6

6.8 Communication Settings........................................................................................................6-7 6.9 Query of System Variables, Status and Faults......................................................................6-7

6.9.1 Single Values: ...........................................................................................................................6-7 6.9.2 Data Record:.............................................................................................................................6-8

6.10 Memory Related Queries and Modifications..........................................................................6-9 6.10.1 RAM Related.............................................................................................................................6-9

6.11 EEPROM Related..................................................................................................................6-9 6.12 Operation Mode Control ......................................................................................................6-10

6.12.1 Normal Mode: .........................................................................................................................6-10 6.12.2 Current Mode Parameters.......................................................................................................6-11 6.12.3 Velocity Mode Parameters ......................................................................................................6-12

6.13 Jog .......................................................................................................................................6-13 6.14 Position Controller ...............................................................................................................6-14 6.15 Pulse Follower .....................................................................................................................6-15 6.16 Point To Point ......................................................................................................................6-16 6.17 Homing.................................................................................................................................6-18

7 PC and PLC Applications................................................................. 7-1 7.1 Baldor Binary Protocol 2 ........................................................................................................7-1

8 Product Specification ....................................................................... 8-1 8.1 Software Features .................................................................................................................8-2

General Information 1-1

1 General Information

Copyright Baldor (c) 2001. 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. Mint™ is a registered trademark of Baldor. Windows 95, Windows 98, Windows ME, Windows NT and Windows 2000 are registered trademarks of the Microsoft Corporation.

Baldor UK Ltd Mint Motion Centre 6 Bristol Distribution Park Hawkley Drive Bristol, BS32 0BF Telephone: +44 (0) 1454 850000 Fax: +44 (0) 1454 850001 Email: [email protected] Web site: www.baldor.co.uk Baldor Electric Company Telephone: +1 501 646 4711 Fax: +1 501 648 5792 Email: [email protected] Web site: www.baldor.com

Baldor ASR GmbH Telephone: +49 (0) 89 90508-0 Fax: +49 (0) 89 90508-492 Baldor ASR AG Telephone: +41 (0) 52 647 4700 Fax: +41 (0) 52 659 2394 Australian Baldor Pty Ltd Telephone: +61 2 9674 5455 Fax: +61 2 9674 2495 Baldor Electric (F.E.) Pte Ltd Telephone: +65 744 2572 Fax: +65 747 1708 Baldor Italia S.R.L Telephone: +39 (0) 11 56 24 440 Fax: +39 (0) 11 56 25 660

General Information 1

Introduction 2-1

2 Introduction

2.1 Flex Series II FlexDriveII, Flex+DriveII and MintDriveII are a new generation of servo controls, which share a common control platform. Based on the Mint Operating System, the Series II controls share a common front end and parameter set with the NextMove series of motion controllers. MintDriveII is discussed in the manual “MintDrive Series I and Series II Comparison”. The features of the Series II FlexDrive and Flex+Drive include:

• New generation servo control • Standardized with Mint motion controllers • Rotary and linear motor support • Feedback options include:

• Resolver • Commutating Encoder • EnDat – single and multi-turn absolute

• No loss of Handwheel encoder for encoder based motors • Higher performance encoder input, 12MHz (post quadrature), for high speed linear motor

applications • Mint programmable Flex+DriveII for indexing applications and simple following (gearing)

applications • New 32-bit front end common to all Mint based controllers and Series II FlexDrives • Factory fit options:

• Additional 10 digital inputs and 5 digital outputs • DeviceNet fieldbus • Profibus-DP fieldbus • CANopen fieldbus

• Autotuning of current, velocity and position loops with Hall sequence detection and calculation of motor inductance and resistance

• 7-256 Preset positions selectable from user inputs, with independent absolute and relative indexing positions

• 7-256 Preset jog speeds, selectable from user inputs • PLC task with simple AND/OR logic

All software for the Series II is shipped on CD-ROM. This contains not only the front end, but also full documentation, including details on the ActiveX control for PC programming.

Introduction 2

Hardware Comparison 3-1

3 Hardware Comparison

3.1 Enclosure Sizes The Series II controls share the same enclosures as the Series I drive range. To support the various option cards, the enclosures have been renamed:

2.5Ano option

5A with option7.5A

173mm6.81”

109mm4.29”

67.5mm2.66”

84mm3.31”

5Ano option

92.5mm3.64”

2.5Awith option

AA

B CB

DC

2.5-7.5A 15-27.5A

130mm5.12”

65mm2.56”

357mm14.06”

GG

HH

Series IIPackage Size

Single Phase Units

Three Phase Units

Series IPackage Size

Figure 1: FlexDriveII Package Sizes

Hardware Comparison 3

3-2 Hardware Comparison

3.2 Hardware Comparison FlexDriveII uses the same power bases as the Series I controls and therefore shares the same specification. Improved performance and functionality is brought about with a new motor control card. This is design to be backward compatible in many respects to the Series I controls, but there are differences:

• All feedback options are supported through X8. There is no loss of the Handwheel encoder input (X9) for encoder based motors. • Resolver: 9-pin female • Encoder: 15-pin female • EnDat: 15-pin female

• Male serial connector X6 which is consistent with Mint motion controllers • 10-way DIP switch compared with 8-way on Series I. The additional 2 switches select RS232 and

RS485 communications (which is no longer a factory option) and Baldor keypad (when supported)

• All digital outputs are current source PNP. • X3 terminal strip connector uses 3.5mm screw terminators. A screwdriver is made available with

the drive to assist the user with wiring. • Master Encoder (previously known as Handwheel Encoder) is a 9-pin connector. Previously this

was a 15-pin connector. • There is no Ready LED. The seven segment display (now green) shows all status information. • RS485 connections conform to a new pin-out.


Figure 2: FlexDriveII versus FlexDrive

Green 7 segment status display10-way DIP switch No Ready LED X9: 9-pin Master Encoder Input X6: Male serial connector X3: 3.5mm pitch connector X7: Connector rotated 180º X8: Connector rotated 180º 15-pin for encoder 9-pin for resolver


3.3 Control Architecture The Series I controls use a single processor solution. The Series II controls use a two processor solution, utilizing the latest generation of motor control DSP. Features of the control card include:

• High performance motor control DSP • High performance 16 bit processor • Factory fit feedback option cards • Factory fit option cards • On board flash allowing firmware to be updated via the serial port

Figure 3: Series II Control Architecture

DSP

16-bit High Performance

Processor

Serial

Feedback Module

PWM Signals

Current Feedback

Analog InADC

14 bit

Serial57,600

Option

MasterEncoder

Digital I/O9 In

3 Out EE

EE

EE

Current Loop, Velocity Loop, Position Loop

Application (Mint) Bus communications

I2T I/O Control


3.4 Regen Resistor All 2.5A and 5.0A units are fitted with Regen (Dynamic Brake) resistors as standard.

3.5 DIP Switches The 8-way DIP switch has been replaced by a 10-pin DIP switch. The functions remain the same, with the exception of the CAN switch, which is now a reserved function. Position 9 is used to select the Baldor Keypad. This is presently not supported in software. Position 10 selects between RS232 and RS485 communications. If node DIP switches are set to all, this will set all parameters to factory default on the control during power up. This can be used to re-establish communication with the control in the event of failure.

SW1123456789

10

ReservedHoldAnalog OffsetDisable/EnableKeypad SelectRS232/485 Select

CANHoldAnalog OffsetDisable/EnableN/AN/A

Series II Series I

OFF ON

Node AddressAll ON = Factory Default

Node Address

Figure 4: DIP Switch Settings


3.6 Status Indicator The 7 segment status indicator on Flex Series II has been changed from red to green. The code are compatible in part, but some new codes have been added and some existing Series I codes are not supported. When an error occurs, the LED will now flash and the dot will remain permanently lit. This makes an error condition more obvious to the user.

Series I Description Series II Description

Error Conditions – Series II codes will blink

Processor watchdog timeout

Drive/Communication watchdog error

Over-voltage Over voltage

N/A

Integral Power Module (IPM) trip

Over-current fault Current trip

Over or under voltage fault on the 15V supply Under volts on the DC bus

Feedback fault Feedback fault

Electronic fusing

Motor or control trip – motor I2t or control It has tripped the control.

I2t limit reached Control over temperature

Motor or control foldback – motor I2t or control It foldback.

I2t limit reached Control over temperature

Motor or control over temperature

User define PLC fault N/A

Move command not accepted Reserved

CW Enable switch actived Forward limit (hardware or software)

CCW Enable switch actived Reverse limit (hardware or software)

EEPROM checksum error Status (not an error) – performing auto-tuning (motor moving)

Velocity data in EEPROM failed Status (not an error)– cam profiling

CAN bus problem detected N/A

Following error

General error

Fatal following error

Following error exceeded

Both limit switches active

EPROM version fault Initialization error

EEPROM version fault Power base not ready – 3 phase

units only


Series I Description Series II Description DB overload Over speed

Error input active

Crash Status – Series II codes remain static

Control disabled Control disabled

Control enabled Control enabled

Hold position mode Hold position

Jog mode Jog

Preset jog mode

In Position Positional move

Preset positions

Torque mode

Speed demand

Follow mode

Homing Suspend

Firmware download (horizontal bars appear sequentially)

Stop input active

Cam profiling Performing auto-tuning (motor

moving)


3.7 Connectors All the connectors share the same numbering as the Series I FlexDrive.

3.7.1 X3: I/O and Command All I/O is brought out onto connector X3. This is now a 3.5mm pitch connector, compared with 5mm pitch connector on Series I.

Pin Series I Function Series II Function 1 Command+ Command+ 2 Command- Command- 3 AGND AGND 4 Fault Relay+ Fault Relay+ 5 Fault Relay- Fault Relay- 6 CIV User V+ 7 CREF CREF 8 CGND CGND 9 Enable Drive Enable

10 MAI3/CW Limit DIN0/Fwd Limit 11 MAI4/CCW Limit DIN1/Rev Limit 12 Quit DIN2/Quit 13 Fault Reset DIN3/Fault Reset 14 Home Flag DIN4/Home 15 Trigger DIN5/Trigger 16 MAI1 DIN6 17 MAI2 DIN7 18 MAO1 DOUT0 19 MAO2 DOUT1 20 DrOK DOUT2/Drive OK

Clockwise (CW) and Counter-clockwise (CCW) Limits are referred to as Forward and Reverse Limits for Series II. This is due to the fact that Series II controls linear motors in addition to rotary motors. The Inputs have been ordered DIN0 through to DIN7. The Series I machine inputs MAIx are mapped to Series II inputs as: MAI1 � DIN6 MAI2 � DIN7 MAI3 � DIN0 MAI4 � DIN1


Machine outputs are mapped to Series II outputs as: MAO1 � DOUT0 MAO2 � DOUT2 MAO3 � DOUT3 DIN4 and DIN5 have special functions. These are high speed inputs for:

• Pulse and Direction • Position latching

Unlike Series I which has fixed input locations, the digital inputs are fully programmable in Series II for any of the following functions:

• Forward Limit • Reverse Limit • Home Input • Stop Input • Quit Input • Reset Input

The Trigger input is fixed. The allows inputs to be unassigned and use for machine inputs. The outputs can be programmed to:

• Drive OK • Drive Enable Output • Global Error Output

WorkBench v5 provides a graphical means of programming the inputs. The Suggested Settings button sets the inputs to have the same functionality as Flex Series I.


Figure 5: WorkBench v5 I/O Configuration

3.7.2 X6: Serial X6 supports both RS232 and RS485 communications. This is selected from the DIP switch location 10. The pin-out for the RS485 connector has changed to conform to:

Pin Series I Function Series II Function RS232 RS485 RS232 RS485

1 Reserved TX- N/C N/C 2 RXD TX+ RXD RX- 3 TXD RX+ TXD TX- 4 DTR RX- N/C N/C 5 DGND DGND DGND DGND 6 DSR RTS- N/C N/C 7 RTS RTS+ RTS RX+ 8 CTS CTS+ CTS TX+ 9 +5v CTS- Do not connect 8V (keypad)


3.7.3 X7: Encoder Out Both Series I and Series II share the same pin-out.

Pin Series I Function Series II Function 1 CHA+ CHA+ 2 CHB+ CHB+ 3 CHC+ CHZ+ 4 Reserved Reserved 5 DGND DGND 6 CHA- CHA- 7 CHB- CHB- 8 CHC- CHZ- 9 Reserved Reserved

3.7.4 X8: Feedback In For encoder based motors, X8 is now used for feedback instead of X9. Resolver:

Pin Series I Function Series II Function Notes 1 Ref+ Ref+ 2 COS+ COS+ 3 SIN+ SIN+ 4 Reserved N/C 5 AGND AGND 6 Ref- Ref- 7 COS- COS- 8 SIN- SIN- 9 Reserved Chassis Ground Chassis ground added


Commutating Encoder:

Pin Series I Function Series II Function Notes 1 CHA+ CHA+ 2 CHB+ CHB+ 3 CHC+ CHZ+ 4 Sync-U+ Hall U+ 5 Sync-U- Hall U-

Sync now referred to as Hall

6 CHA- CHA- 7 CHB- CHB- 8 CHC- CHZ- 9 Sync-W+ Hall W+

10 Sync-V+ Hall V+ Sync now referred to as

Hall 11 +5VDC +5VDC 12 N/C N/C 13 DGND DGND 14 Sync-W- Hall W- 15 Sync-V- Hall V-

Sync now referred to as Hall


3.7.5 X9: Master Encoder (Handwheel Encoder) If an encoder based motor is used with the Series I FlexDrive, the user would lose the use of the X9 connector for the Handwheel. The Series II FlexDrive no longer uses X9 as the motor feedback, but instead uses X8. This frees up X9 as a master encoder input for following and gearing applications, regardless of motor feedback type. Since X9 is not longer used for commutating encoder motors, the connector has been changed to a 9-pin female connector with the following pin out:

Pin Series I Function Series II Function 1 CHA+ CHA+ 2 CHB+ CHB+ 3 CHC+ CHZ+ 4 Sync-U+ Reserved 5 Sync-U- DGND 6 CHA- CHA- 7 CHB- CHB- 8 CHC- CHZ- 9 Sync-W+ +5V

10 Sync-V+ 11 +5VDC 12 N/C 13 DGND 14 Sync-W- 15 Sync-V-


3.8 Digital Outputs The three digital outputs (X3 connector) are current source (PNP) on Series II. This offer better protection for machine safety should there be a short to ground on the output.

CGND

OUTX.x

USR V+FlexDriveII

NEC PS2562L-1

DOUTx

Load(Relay withflyback diodeshown)

Pins 18-20

Pin 8

Series I: NPN, sinks current

Figure 6: NPN Outputs for Series I controls

CGND

OUTX.x USR V+

FlexDrive IIII

NEC PS2562L-1 DOUTx

Load(Relay withflyback diodeshown)

Pins18-20

Pin 8

Pin 6

Series II: PNP, sources current

Figure 7: PNP Outputs for Series II controls

Front End 4-1

4 Front End 4.1 WorkBench v5

Series II is commissioned and programmed using a new 32 bit Windows front end, called WorkBench v5. This is a universal front end for the following products:

• FlexDriveII • Flex+DriveII • MintDriveII • NextMove PCI • NextMove BX

Figure 8: WorkBench v5

Front End 4

Work Area – view changes with each Tool selected from the Toolbox

Toolbox – selects the function required

Spy Window shows drive data, I/O mimics and Comms data

LED Mimic

4-2 Front End

4.2 SupportMe WorkBench v5 supports a feature called SupportMe. This will extract from the system as much information as possible for the control support team. An example of a SupportMe output is shown: Example SupportMe output:

SupportMeDate and Time: 11/6/2001 16:59:14

WorkBenchBuild number: 5009Registered compilers: 5

Operating SystemWindows XPApprox Processor Speed: 863 MHzTotal Memory: 129256 KbAvailable Memory: 22188 Kb

ControllerCatalog Number: MD2A07TR-EN20Firmware: Version 5.0 Build 5009.Bootloader: M-Flex/I-Flex Bootloader v1.1Virtual Machine build: 5System Lifetime: 2 days 20:09:33 hh:mm:ssFirst Commissioned: 30Oct2001Relays: 1DIP switch settings: 0000000100

Communication SettingsPort: COM2Speed: 57600Channel: RS232NodeNumber: 2

FeedbackType: Resolver

Axes 1 (1 addressable)Servos: 1Steppers: 1

Axis 0Motor Catalog Number: BSM90A-1250AAConfig: _cfServo

PLC TasksStatus: DisabledLogic:IF False OR False THEN User output 0IF False OR False THEN User output 1IF False OR False THEN User output 2IF False OR False THEN Global err outputIF False OR False THEN Enable PLC Jog ControlIF False OR False THEN Jog negativeIF False OR False THEN Jog positiveIF False OR False THEN Hold position

Front End 4-3

IF False OR False THEN StopIF False OR False THEN Error decelIF False OR False THEN CancelIF False OR False THEN DisableIF False OR False THEN Force abort

Error Log67:21:37.0786 Logged - Factory defaults used67:21:37.1874 Logged – Forward limit detected

It is possible to save, print or email this information from within WorkBench v5.

4.3 Presets Flex+DriveII supports preset positions and preset jog speeds. The presets can be selected from the user inputs on the control. With additional I/O, up to 256 presets can be stored and commanded. See Figure 8. New features of the presets are:

• Independent acceleration and deceleration parameters • Independent absolute and relative moves • Up to 256 presets • Preset jog speeds

4.4 PLC Task Series I Flex allows the following condition to be applied: For Series II, the PLC task has been improved to include operators. This allows the following conditions to be applied: The following truth table applies:

Condition 1 Condition 2 OR AND XOR NOR NAND False False False False False True True False True True False True False True True False True False True False True True True True True False False False

If Condition1

OR AND XOR NOR NAND

Condition2 Then Action

If Condition1 Then Action

4-4 Front End

Figure 9: PLC Window

The number of input conditions and actions has been added to in order to meet many more applications. The following is a list of the possible actions:

User Output 0: Sets or clears Digital output 0. The output is set if the result of the expression is True.



Global Error Output: If the condition is True it sets the output/relay assigned (if any) as the Global Error output. If the condition is False, the output will be cleared providing

Jog negative: If the condition is True, then it will Jog the motor in the negative direction at the speed defined by JOGSPEED (this can be changed on WorkBench v5 screen). If the condition is False and currently jogging in the –ve direction, then it will stop the Jog profile.

Front End 4-5

Jog Positive: If the condition is True, then it will Jog the motor in the positive direction at the speed defined by JOGSPEED (this can be changed on WorkBench v5 screen). If the condition is False and currently jogging in the +ve direction, then it will stop the Jog profile.

Hold command: If True, it will ramp down motion to zero demand (this depends upon your Config setting). When the condition changes from True to False, motion will be resumed and ramped back up. Not all move types are affected by the Hold condition. The ramp rate depends upon the move type.

Stop command: If True, a STOP command will be issued (see definition of STOP). There is no action if the condition result is False.

Decelerate and Disable: If True, motion will be ramped down to zero demand and then disable the drive. Not all move types are affected by the Hold condition (see online Help) The ramp rate depends upon the move type (see online Help).

Cancel: If the condition is True, it will issue a CANCEL command. There is no action if the condition result is False.

Force Abort: If this condition is True it will issue a Forced Abort error condition. There is no action if the condition result is False.

The actions also have an implied precedence (ie. Jog +ve has precedence over the Jog –ve command). This doesn’t mean that an Output action won’t come on because we have issued a Cancel action. The following is a list of the possible conditions:

False: The condition is always False.

True: The condition is always True.

Digital Input 0 .. 7: The (specified) digital input is active.

Forward Hardware Limit: The Forward Hardware limit is active. The setting of LIMITMODE is ignored ie. Taken from corresponding bit setting in AxisStatus.

Reverse Hardware Limit: The Reverse Hardware limit is active. The setting of LIMITMODE is ignored ie. Taken from corresponding bit setting in AxisStatus.

Software Forward Limit: The forward software limit has been detected. The setting of SOFTLIMITMODE is ignored

Software Reverse Limit: The reverse software limit has been detected. The setting of SOFTLIMITMODE is ignored

Move Status: True if MOVESTATUS is set to Idle (ie. No move is being profiled by the VPU). The MOVESTATUS flag, indicates the status of the VPU – this flag only affects trapezoidal moves (e.g. MoveA, MoveR, etc).

Idle: True if the IDLE conditions are met – see definition of IDLE.

Position achieved: True if the IDLE conditions are met and the Target position matches the demand position.

At target position: True if the Target position matches the demand position.

4-6 Front End

In Idle Position Window: True if the measured position is within the bounds set by IDLEPOS. See IDLEPOS and FOLERROR.

Following Error Fatal: True if the following error has exceeded the FOLERRORFATAL parameter.

Following Error Warning: True if the following error has exceeded the FOLERRORWARNING parameter.

At Speed: True if the measured speed is within the bounds set by VELFATAL (see also VELFATALMODE).

Vel Error: True if the measured speed is outside the bounds set by VELERROR (see also VELFATALMODE).

Vel Setpoint Min: True if the measured speed is below the speed set by VELSETPOINTMIN.

Vel Setpoint Max: True if the measured speed is above the speed set by VELSETPOINTMAX.

I2T Warning: True if we are at application current limit (torque limited). The application current limit is defined by CURRENTLIMIT.

Motor Overload: The motor I2T algorithm has exceeded the integral limit. See MOTOROVERLOAD.

Drive Overload: The drive IT algorithm has exceed the integral limit. See DRIVEOVERLOAD.

Motor Direction: True if the motor direction is +ve, False if –ve.

Command Direction: True if the profiled demand direction is +ve, False if -ve

Ready: True if there are no motion errors.

Drive On: True if the drive is enabled.

Motor Over-temperature trip: True if the Motor Over Temp trip input has occurred. See also MOTORTEMPERATUREINPUT.

Drive Over-temperature Trip: True if the drive’s temperature has exceeded that defined for the drive. The drives temperature limit can be read using TEMPERATURELIMITFATAL.

Drive Over-Temperature Warning: True if the drive’s temperature has exceeded that defined for the drive. The warning level can be read using TEMPERATURELIMITWARNING.

Home Status: True is the drive has been Homed since power-up (see also HOMESTATUS).

Mint Programming 5-1

5 Mint Programming

5.1 Mint Programming Flex+DriveII supports Mint programming for single tasks. Features include:

• Basic like programming language • User defined variables, functions and subroutines • Event handling for inputs, error conditions and data update • Full I/O control for simple PLC style tasks • MintMT features, with single task only • Motion:

• Jog • Positional moves – incremental and absolute • Software gearboxes – master following applications

• Context sensitive help for Mint keywords Features, such as Presets, allow simple indexing applications to be realised. Mint brings power and flexibility to more demanding applications. Consider for example a tool changer application. Mint can be used to calculate the shortest path of a tool.

Figure 10: Tool Changer Carousel

With Presets, moving from Tool 2 to Tool 12 will move the tool changer in a clockwise direction. A Mint program can be created that moves in an anti-clockwise direction from 2 to 12, passing 1.

Mint Programming 5

4

1

76

5

8

9

2

3

10

11

12

5-2 Mint Programming

Since the tools are equidistant from each other, the distance between tools can be easily programmed without having to fill lengthy tables. Example Mint Program for Tool Changer Application: '======================================================================='' File Name: tool_picker.mnt '' '' Baldor 2001 '' '' Description: '' Example program showing how an axis may be used to move to a range '' of discrete positions using the smallest move possible. ''======================================================================='

'Constant declarationsConst noOfTools = 16 'Number of tools in the machineConst distanceBetweenTools = 1000 'Distance between each tool (counts)Const toolMask = 01111 'Mask for digital inputs 0-3

'Macro declarationsDefine TriggerInput = INX.4 'Define the trigger inputDefine InMotion = OUTX.1 'Output for in motion flag to PLC

'Enable the driveDRIVEENABLE = 1

'Number of encoder counts per rev of the tool changerENCODERWRAP.0 = noOfTools * distanceBetweenTools

'Wait here in a loop to allow the program to runLoopPause TriggerInput 'Wait for a trigger to activatepickTool IN & toolMask 'Pick tool based on digital inputs 0-3Pause !TriggerInput 'Wait for trigger to deactivate

End Loop

End

'Place the drive configuration parameters here'This will be called on program start-upStartupSCALE = 1 'Assume scaling is in countsINPUTMODE = 0 'Setup the I/OINPUTPOSTRIGGER = 0HOMEINPUT.0 = 5 'The digital input used to mark the home positionHOMESPEED.0 = 500HOMEBACKOFF.0 = 2 'Back-off at half the home speed

End Startup

'This subroutine serves two purposes, firstly to home the tool picker'when a tool index of zero is supplied, and secondly to pick tools'when supplied with a non-zero tool index.Sub pickTool(ByVal toolIndex As Integer)

'Check that toolIndex is within rangeIf toolIndex > noOfTools Then Exit Sub

InMotion = 1 'Turn on the "in motion" signal

Mint Programming 5-3

If toolIndex = 0 ThenHOME.0 = _hmNEGATIVE_SWITCHPause IDLE.0POS.0 = 0ENCODER.0 = 0

ElseDim PositionToMove = toolIndex * distanceBetweenTools - ENCODER.0

'The required move distance need never be greater than half a'revolution, so add or subtract 1/2 a tool revolutionIf PositionToMove > (distanceBetweenTools * noOfTools) / 2 ThenPositionToMove = PositionToMove - distanceBetweenTools * noOfTools

Else If PositionToMove < -(distanceBetweenTools * noOfTools) / 2 ThenPositionToMove = PositionToMove + distanceBetweenTools * noOfTools

End If

'Perform a relative move to the tool location and wait for completionMOVER.0 = PositionToMoveGO.0

End If

InMotion = 0 'Turn off the "in motion" signal

End Sub

'Onerror handler'Should handle following errors, etc.Event OnErrorPrint "Error ", Err, " on line ", ErlEnd

End Event

Mint can also be used for simple and complex PLC tasks where the PLC Task window is limited.

Parameter Comparison 6-1

6 Parameter Comparison

6.1 Parameter Comparison It is recommended that SupportMe is used within WorkBench v5 to read information about the control. See Section 4.2.


SYS.POWER Queries dip switch ID, (see DRV.ID)

N/A Information on the powerbase is held in EEPROM

SYS.FBACK Queries system feedback (encoder/resolver)

N/A

SYS.INFO Query firmware version FirmwareRelease SYS.VER With naming and version

number as ASCII string Details are available in

SupportMe. SYS.LEVEL Queries level version Details are available in

SupportMe. SYS.OPT Queries options Details are available in

SupportMe. SYS.STTS

Parameter Comparison 6

6-2 Parameter Comparison

6.2 Basic System Parameters Series II uses a different control scheme in addition to providing enhanced performance. It is therefore recommended that the Commissioning Wizard is used to select the motor/control and perform the tuning operation.

6.2.1 Motor Parameters Motor parameters are set with during the commissioning wizard. It is recommended that the Commissioning Wizard is used.


MTR.IDX D3S/FlexDrive/Flex+Drive Setup library defined Motor Index

N/A

MTR.IND Motor inductance MotorLS MTR.INOM Motor nominal current MotorRatedCurrent MTR.IPEAK Motor peak MotorPeakCurrent MTR.JM Motor Inertia LoadIntertia MTR.MPLS Motor number of poles MotorPoles MTR.RES Motor resistance MotorRS MTR.KT Motor torque constant (torque

to RMS phase current)

N/A

MTR.KV Motor bemf constant N/A MTR.NAME Motor string name in ASCII

characters N/A

6.2.2 Drive Parameters


DRV.BUSAPP Application bus voltage DriveBusNominalVolts DRV.BUSOV Application bus over voltage DriveBusOverVolts DRV.BUSV Drive Bus voltage DriveBusVolts DRV.I2T I2t warning time DrivePeakDuration DRV.ID Drive ID (EEPROM value) to

be checked against power ID ( dip switch ) in case of Version Error ( “U” )

N/A WB - SupportMe

DRV.IDX FlexDrive/Flex+Drive Setup library index

N/A

N/A DRV.INOM Drive nominal current DriveRatedCurrent DRV.IPEAK Drive peak current DrivePeakCurrent


6.3 Additional System Parameters 6.3.1 Velocity Feedback Parameters


MTR.RPLS Resolver number of poles N/A SYS.ENCRES Queries / updates encoder

feedback resolution for encoder motors (in pulses per revolution, i.e. before quadrature)

N/A

SYS.ENCTBL Queries encoder motor hall table type

N/A

6.3.2 Software Limit Switch Parameters


LIM.CCW Absolute Position of Software Limit Switch CCW (related to1 Home, activated after Homing only)

SoftLimitReverse Counter clockwise renamed to Reverse for linear motors and linear actuators. Does not require homing first. Only active when drive is enabled.

LIM.CW Absolute Position of Software Limit Switch CW (related to1 Home, activated after Homing only)

SoftLimitForward Clockwise renamed to Forward for linear motors and linear actuators. Does not require homing first. Only active when drive is enabled.

LIM.ON Deactivate / activate Software Limit Switches (independent from Hardware Limit Switches)

SoftLimitMode Allows different actions to take place on a limit error.

LIM.LRN Take actual position as software limit for CW respectively CCW

N/A Use front end or command SoftLimitReverse = POS

6.4 PLC Parameters See Section 4.4.


6.5 Digital Interface Parameters Series II allows full programmability of the user inputs.


MOT.INCCW Defines digital Input CCW/MAI4 as CCW (0) or as MAI4 (1) for positioning

LimitReverseInput Hardware limits can be assigned to any digital input. Their action is defined by LIMITMODE.

MOT.INCW Defines digital Input CW/MAI3 as CW (0) or as MAI3 for positioning

LimitForwardInput Hardware limits can be assigned to any digital input. Their action is defined by LIMITMODE.

6.6 Analog Interface Parameters


SYS.RFOFS (RFOFS)

Query / updates system reference offset of the analog input, with analog input range ±10V (RFOFS only supports query) mV

N/A


6.7 System Variables 6.7.1 General Variables:


DRV.LIFE Drive life time LifeTime Also reported in SupportMe SYS.STTS Queries system status as a

double word, where Word High word is drive address (set by Dip switches) Low word: bit array “OR”ed with system status: 0x0001: Disable SW 0x0002: Disable HW 0x0004: CW 0x0008: CCW 0x0010: Fault exists 0x0020: Warning exits 0x0040: Hold mode 0x0080: Burn in Status 0x0100: Jog Status 0x0200: Enable 0x0400: Jog Non Zero Velocity 0x0800: n/a 0x1000: HW source for Disable HW: 0x2000: PLC active

AxisStatus DriveError AxisMode

Status and error information are reported by different keywords.


6.7.2 Queries/Modifications of Fault Listing Variables:


FAULT Gets system fault string list, response is multiple string X1

N/A Fault information is given in the Error Log in WorkBench v5

FLT Gets system fault string list, response is error numberX1


LOG, LG Gets system fault log list X1 N/A Fault information is given in the Error Log in WorkBench v5

Gets system fault log number list X1 WRN Gets system warning list as multiple strings

N/A

LG Queries system fault as ID of the most significant fault


SYS.FAULT Queries system warnings. The most important warning will be reported as ID

AxisError DriveError MiscError InitError

SYS.WRN AxisWarning FRST Resets system faults if

allowed. Reset is not allowed, if error is still pending.

Cancel CANCEL will clear the error and retain position. RESET will set position to zero.

LOGRST Resets system fault log N/A Performed within WorkBench v5 (Error Log)


6.8 Communication Settings Series II does not support a command line interface, except via WorkBench v5 front end. Communications with the drive is performed via BBP, a protected protocol. This is supported for PC development by the ActiveX control.


ECHO Disable / enable echoing for input characters

N/A

PROMPT Enables / disables terminal prompt

N/A

TALK Enables / Disables terminal error notification

N/A

COM.STTS Queries the most recent communication handler error

N/A

B Opens communication to the drive, called by its address (the addresses a constant, which can be queried by COM.ADDR or SYS.STTS)

N/A

6.9 Query of System Variables, Status and Faults 6.9.1 Single Values:


ACTU CUR.ACTU

Query for actual current U CurrentMeas There is no keyword to read the U current value

ACTV CUR.ACTV

Query for actual current V CurrentMeas There is no keyword to read the U current value

ANAIN SYS.ANAIN

Query for analog input ADC Reads a percentage of full scale.

POS, RPOS,

Queries motor position Pos Returns the motor position scaled to user units by SCALE.

SYS.POS POS.POS

Resolver bits / encoder counts N/A

VEL VEL.VEL

Query feedback velocity Vel Returns the motor velocity scales to user units by SCALE.


6.9.2 Data Record: Series II allows up to 6 channels of information to be recorded. Two of these channels can be high speed channels from the motor control DSP.


REC.GAP Specify gap between recording samples in number of servo loops (0.5 ms)

CaptureInterval CapturePeriod

REC.TIME Specify recording time N/A REC.VAR1, REC.VAR2

Specify recording variable: “POS”: position, “REF”: velocity command, “VEL”: velocity, “CUR”: current command, “ACTU”: current U, “ACTV”: current V, “FE”: position following error.

CaptureMode CaptureModeParameter CaptureHSMode

1- Measured Speed 2- Following Error 3- Measured Position 4- DAC Demand 5- Demand Position 6- Demand Speed 7- Mode 8- Inputs 9- Aux Encoder 10- Aux Encoder Speed 11- Encoder 12- Encoder Speed 13- High Speed Channel 0 14- High Speed Channel 1 15- Ouptuts 16- Demand Torque 17- Analog Input 18- Analog Output

REC.VFREE1 Specify recording address for REC.VAR1

N/A There is no direct access to memory.

REC.VFREE1 Specify recording address for REC.VAR2

N/A There is no direct access to memory.

GETD Gets data from recording buffer in decimal form.

N/A Data is captured to WorkBench v5 and can be saved as a CSV file for import into Excel for example.

GETX Gets data from recording buffer in hex form, data buffer is cleared afterwards

N/A Data is captured to WorkBench v5 and can be saved as a CSV file for import into Excel for example.

REC Starts(“on”) / stops (“off”) recording process

Capture Defines the mode for capture: Start/Stop


6.10 Memory Related Queries and Modifications 6.10.1 RAM Related

Series II does not allow access to memory.


BDUMP Gets hexadecimal memory dump in bytes

N/A

BMEMH Query / Update memory byte in hex

N/A

BMEMD Query / Update memory byte in dec

N/A

WDUMP Get hexadecimal memory dump in words

N/A

WMEMH Query / update hexadecimal word memory location

N/A

WMEMD Query / update decimal word memory

N/A

6.11 EEPROM Related Series I Description Series II Description

CLEAR Clear EEPROM content and drive life time variable by filling it with 0xFFFF (except code for Level I/II; Baldor/HD)

N/A EEPROM contents cannot be cleared. FACTORYDEFAULT will set the EEPROM values to predefined factory defaults.

EEDUMP Display all EEPROM data (256 words).

N/A EEPROM contents can be saved through WorkBench v5.

UP Uploads EEPROM data to terminal (ASCII file)

N/A


6.12 Operation Mode Control 6.12.1 Normal Mode:


SYS.MOD Queries / updates system operating mode

Config Different values are used for setting the mode of operation.

MODE Where 0 – current, 1 – velocity, 2 – position

Config

STATUS Queries drive status: DIS_HW, DIS_SW, ENABLE, BURN_IN, FAULT

DriveEnable DriveEnableSwitch EnableSwitch

DIS Disables drive passively DriveEnable = 0 DISA Disables drive actively, brake

to stop, then disable control N/A

ENA Enables drive DriveEnable = 1 HOLD QUIT

Stops drive and maintains position after stop

Stop Cancel

Crash stop, but keep enabled

STOP Stops drive and maintains position after stop (CONT will resume the interrupted move)

Suspend Suspend = 1

CONT Continues interrupted move (interrupted by STOP or HOLD)

Suspend Suspend = 0


6.12.2 Current Mode Parameters Current Mode parameters are set with during commissioning with the Commissioning Wizard.


CUR.BEMF Back EMF voltage compensation, in percentage of nominal motor value Ke.

N/A

CUR.IPEAK Queries / updates application peak current in percentage of DRV.IPEAK

CurrentLimit

CUR.INOM Queries / updates application nominal current in percentage of DRV.IPEAK

N/A

CUR.TOFR Queries / updates mantissa of Torque Optimizer: Phase Advance or BEMF Compensation

N/A

CUR.TOSH Queries / updates Torque Optimizer Shift coefficient

N/A

CUR.SCAL Corresponding current value to analog input voltage CUR.VOLT for setting of analog input scaling

N/A

CUR.VOLT Corresponding analog input voltage to current value CUR.SCAL for setting of analog input scaling

N/A

CUR.CUR CUR

Query for actual current command

CurrentMeas

CALC Calculate current control parameters from MTR.*, DRV.* and CUR.* parameters.

N/A

T Commanding digital current command (torque equivalent)

Torque TorqueRefSource

Torque command is profiled with programmable rise and fall times.

TS Stops current commanded motion (started by T“command”)

Stop Fall time can be programmed for profiled torque command.


6.12.3 Velocity Mode Parameters Velocity Mode parameters are set with during commissioning with the Commissioning Wizard. Series II does not support pole placement.


VEL.ACC Queries /updates velocity acceleration limits ( time to max. velocity ).

Accel Decel AccelTime DecelTime

Accel affects all move types with an acceleration profile.

VEL.ADZON Queries / updates min. velocity in RPM

N/A

VEL.BW Queries / updates velocity control band width

N/A

VEL.CTRL Queries / updates velocity control type VEL.GV Queries / updates velocity control proportional gain

N/A

VEL.GVI Queries / updates velocity control integral gain

KVINT

VEL.INRT Load inertial, set in % of motor inertia MTR.JM

LoadIntertia

VEL.LPFA Bandwidth of single velocity control filter.

N/A

VEL.LPFB Second Bandwidth of double velocity control filter (First s. VEL.LPFA).

N/A

VEL.LPFMOD Type of velocity control filter (0: no filter, 1: filter with bandwidth VEL.LPFA, 2: double filter with bandwidths VEL.LPFA and VEL.LPFB

N/A

VEL.TRKFCT Queries / updates velocity control tracking factor

N/A

VEL.MXRPM Queries / updates velocity control MAX RPM value. The limit for this value is internally calculated by the Application Bus Voltage and the Motor Voltage Constant. Absolute limit for velocity is 7500 RPM.

DriveSpeedMax

VEL.SCAL Corresponding velocity value to analog input voltage VEL.VOLT for setting of analog input scaling.

N/A

VEL.VOLT Corresponding analog input voltage to velocity value

N/A



VEL.SCAL for setting of analog input scaling

VEL.VREF VREF

Queries velocity reference, commanded at analog input

SpeedRef

VCRST Velocity controller parameters reset to default values: Pole Placement controller: BW = 20 Hz, TRFCT = 0 , INRT = 0; PI controller: GV, GVI equivalent to Bandwidth 20 Hz

N/A

6.13 Jog Series II supports preset jog speeds which can be selected with user inputs.


JOG.TIME Jog time in milliseconds JogDuration JOG.TYPE 0 – continuous, 1 – step, 2 –

square wave JogMode 0 – continuous

1 – Run for specified JogDuration

JOG.VEL Jog velocity in RPM, limited to maximum velocity VEL.MXRPM.

Jog JogSpeed

JOG Commanding a Jog according to JOG.* parameters

Jog

JS Stops jog and returns to previous operation mode

Stop


6.14 Position Controller Position Controller parameters are set with during commissioning with the Commissioning Wizard.


POS.FFA Queries/updates acceleration FF factor unsigned integer ranged 0..100

Kaccel

POS.FFTYPE Queries / updates FF type with position controller redesign 0 – FF none, 1 – velocity FF, 2 – acceleration FF

N/A

POS.FFV Queries / updates velocity FF factor unsigned integer ranged within 0..100

KvelFF

POS.KP Queries / updates position gain unsigned integer ranged within 25.. 200

Kprop

POS.FEWRN Queries / updates FE warning limits resolver: 1/4096 of revolution, encoder: 1/(4*SYS. encres) of revolution integer, > 0 (< 0: disabled)

FolErrorWarning Value is scaled to user units, set by SCALE.

POS.FEFAT Queries / updates FE fatal limits 1/4096 of revolution, integer

FolErrorFatal Value is scaled to user units, set by SCALE.

POS.IPOS Queries / updates FE in position limits 1/4096 of revolution, integer, > 0 (< 0:disabled)

FolError Value is scaled to user units, set by SCALE.

POS.MPFE MPFE

Queries maximum position following error

N/A

POS.PFE PFE

Queries position following error

FolError Value is scaled to user units, set by SCALE.

PREF Queries for position reference

N/A

POS.REF Queries position controller reference, 1/4096 of revolution

N/A

POS.FEST FEST

Returns follow error status: 0 – normal, 1 – in position, 2 –warning, 3 – error

N/A

PRST Resets position following error

Cancel Reset

Cancel will not set position (POS) to zero, Reset will.


6.15 Pulse Follower Series I Description Series II Description

HW.GRFX Queries/updates mantissa HW gear parameter, negative value means negative gear.

N/A

HW.GRSH Queries/updates shift HW gear parameter

N/A

HW.PLC GEAR Queries/ updates PLC gear ratio

N/A

HW.RES Queries / updates HW resolution in pulses per revolution (only necessary for

N/A

HW.TYPE Queries / updates HW type: 0 – None, 1 – Pulse and Direction at connector X3, 2 – A leads B at connector X9, 3 – B leads A respectively, Pulse and Direction at connector X9, 4 – A leads B at connector X3

N/A


6.16 Point To Point FlexDriveII supports Mint programmability for more sophisticated motion applications. In addition to the Mint programming, preset positions can be created using WorkBench v5.


MOT.ACC Motion acceleration and deceleration

Accel Decel AccelTime DecelTime PresetAccel PresetDecel

Accel and Decel are scaled to user units by SCALE.

MOT.BUF With parameters [line] [position] [velocity] [acceleration], the motion buffer is initialized line by line. Query is done line by line by only adding the parameter [line]. Query of whole motion buffer can be done by BUFDUMP.

N/A

MOT.BUFTYPE Defines, whether buffered target positions are absolute or incremental: 0 – incremental; 1, 2 – absolute

PresetMoveType The move type applies to individual moves in the buffer.

MOT.DWELL Queries / updates dwell time between the end of a running trajectory and the trajectory start of a stored move.

PresetDwellTime

MOT.SRC Defines source of motion command 0 – RS232 / CAN; 1 – digital input combination x

PresetIndexMode

MOT.TRIG Defines trigger for motion start: 0 – immediate; 1 – rising edge at digital input trigger

PresetIndexMode

MOT.TYPE (ABS,INC)

Defines, whether motion to (ABS, INC) target position is absolute or incremental: 0 – incremental; 1 – absolute.

PresetMoveType MoveA MoveR

MoveA and MoveR will perform absolute and relative moves respectively.

MOT.VEL Queries / updates motion velocity, stored in x Reference: MOT.INCW, MOT.INCCW

PresetMoveSpeed

MOT.ABSPOS Actual absolute position related to ZERO

Pos Encoder

MOT.STATUS Indicates the status of the motion process

MoveStatus



0 – Ready to start move 1 – acceleration and constant velocity phase of trajectory 2 – deceleration phase of trajectory 3 – dwell state after finishing trajectory

MOT.GENPOS Actual commanded position related to ZERO (following the trajectory in process)

PosDemand Value is scaled to user units, set by SCALE.

BUFDUMP Reads out whole buffer lines N/A Use WorkBench v5 to record the preset moves.

GO Commands the buffered move (according to buffered target position, velocity, acceleration and buffer type), chosen by the parameter

N/A

LRN Writes actual position, velocity MOT.VEL and acceleration MOT.ACC into the buffer line, chosen by the parameter

N/A Use WorkBench v5 to record the preset moves, otherwide read the position and store this to Preset

MOV Executes motion according to previously defined motion type (ABS/INC), acceleration (PTP.ACC),cruise velocity (PTP.VEL).

MoveA MoveR IncA IncR

The keyword determines whether the move is absolute or relative. SPEED and ACCEL/DECEL define the profile.

PLOAD Load EEPROM values of MOT.ACC, MOT.VEL, MOT.TRIG, MOT.DWELL to octal ones (i.e. activate them)

N/A

PSAVE Saves preset values of MOT.ACC, MOT.VEL, MOT.TRIG, MOT.DWELL into the EEPROM

N/A


6.17 Homing Series I Description Series II Description

HOM.ACC Queries / updates HOME acceleration

HomeAccel HomeDecel

HOM.VEL Queries / updates homing velocity

HomeSpeed HomeBackoff defines the backoff speed from the switch

HOM.TYPE Queries / updates HOME type: 1 – ZERO is found by Home Flag and Resolver zero respectively Encoder Index 2 – ZERO position is captured at Home Flag edge 3 – Actual position is defined as ZERO

Home Defines the type of homing and starts the homing operation

HOM.OFFSET Queries / updates HOME offset

HomeOffset

HOM.POLR Queries / updates HOME switch polarity: 0 – active low, 1 – active high

InputMode InputActiveLevel

HOM.STATUS 0 – power up (i.e. homing not done yet) 2 – moving out of Home area (only, if HOME is commanded while the drive is standing in the Home area) 5 – moving in specified direction, waiting for Home Signal 10 – home motion finished (1, 3, 4, 6, 7, 8, 9 – in between status)

HomePhase HomeStatus

HOME Executes homing the drive according to previously defined parameters HOM.*, if motion command source is set to software (MOT.SRC=0)

Home

PC and PLC Applications 7-1

7 PC and PLC Applications

7.1 Baldor Binary Protocol 2 The ASCII protocol of Series I controls is not support. Instead, the Series II controls support a protected protocol called Baldor Binary Protocol 2 (BBP2). This provides a safe mechanism for getting data to and from the control.

Figure 11: Originator and Reply Telegrams

The BBP2 protocol is fully supported by an ActiveX control which allows easy access to any Mint parameter from within any application such as Visual Basic, Delphi, Labview and Visual C++, that support ActiveX.

DLL Originator Telegram

DLE LengthSI DLL Version DestinationNode

TransferNode

SourceNode

DLLMessage Id

DLL ControlByte DLL Message Body CRCL CRCH

DLE LengthSO

DLL Reply Telegram

DLL Version DestinationNode

TransferNode

SourceNode

DLLMessage Id

DLL ControlByte DLL Message Body CRCL CRCH

PC and PLC Applications 7

7-2 PC and PLC Applications

DLE SILen::CRC

DLE SILen::CRC

DLE SO...CRC

ProcessMessage

DLE SILen::CRC

Command

Acknowledge

Response

Confirm

Master SlaveRx Buffer(Data Link

Layer)

Tx Buffer(Data Link

Layer)

Transport/Presentation/Application

Layer

EventHandler

tt'

DLE SO...CRC

DLE SILen::CRC

DLE SO...CRC

Confirm

DLE SO...CRC

Acknowledge

Figure 12: BBP2 Protocol

Full details of the BBP2 protocol can be found within the control’s documentation, enclosed on the CD-ROM that accompanies the product.

Product Specification 8-1

8 Product Specification

Series I Series II

FlexDrive Flex+Drive FlexDriveII Flex+DriveII

Digital Inputs 8 + Enable PNP/NPN

Fixed functionality

8 + Enable PNP/NPN

Software Configurable

Digital Outputs 3 NPN + 1 Relay 3 PNP + 1 Relay

Software Configurable

Analog Inputs 1 – 12bit 1 – 14bit Software Programmable

Serial Connector 9-pin female 9-pin male

RS485 Option 4-wire with RTS/CTS

Std - User configurable 4-wire

RS232 Option Std User configurable

Baud Rate 9,600 57,600 max (RS232) 19,200 max (RS485)

24V logic supply Option for single phase controls Option for single phase controls Resolver feedback Yes Yes

Encoder feedback Yes Loss of master encoder Yes

Encoder Frequency 400kHz 12MHz (post quad) EnDat (absolute) No Yes

Linear Motor control LinDrive Lin+Drive Yes

Master Encoder Yes Resolver motors only

Yes

Pulse Direction Yes No Yes

Position Latch No 2x 1 µs

Control Law PI

Pole Placement

PI (current) + accel feedforward PID (vel)

PIDVFF (pos) Autotune Via front end Via front end

Hall sequence detection No Yes Inductance & Resistance

measurement No Yes

Velocity/Current loops 500µs Velocity 125µs Current

250µs Velocity 125µs Current

Position Loop 1ms 500µsec Profiler rate 1ms 1ms/2ms

Product Specification 8

8-2 Product Specification

Series I Series II

FlexDrive Flex+Drive FlexDriveII Flex+DriveII EEPROM Parameter

storage Yes Yes

CANOpen Yes Yes DeviceNet No Yes

Profibus-DP No Yes

8.1 Software Features Series I Series II

FlexDrive Flex+Drive FlexDriveII Flex+DriveII

Windows Front End 16-bit Dedicated for each control

32 bit universal front end

Programmable I/O functions Hardware limits only Yes

Software limits Yes Yes

PLC Task Yes Yes Extended conditions

AND/OR Operations No Yes Preset Positions Yes - Up to 15 Yes - Up to 256 with I/O expansion

Jog Yes Yes Preset Jog Speeds 1 – via PLC task Yes – up to 256 with I/O expansion

Homing No Yes Yes Electronic Gearing Yes No Yes

Fault Log 10 faults with timestamp 32 faults with timestamp Cleared faults also latched

Tuning Scope Yes 2 Channels

Yes 6 Channels

Save to CSV Save to .gph file Yes Mint Programmable No No Yes

Program Size N/A N/A 16K Host Interface ASCII BBP2

Windows programming tools No ActiveX

Baldor UK Ltd Mint Motion Centre

6 Bristol Distribution Park Hawkley Drive, Bristol

BS32 0BF, UK

UK TEL: +44 1454 850000 FAX: +44 1454 850001

US TEL: +1 501 646-4711 FAX: +1 501648-5792

MX TEL: +52 47 61 2030 FAX: +52 47 61 2010

CH TEL: +41 52 647 4700 FAX: +41 52 659 2394

D TEL: +49 89 90 50 80 FAX: +49 89 90 50 8491

F TEL: +33 145 10 7902 FAX: +33 145 09 0864

I TEL: +39 11 562 4440 FAX: +39 11 562 5660

AU TEL: +61 29674 5455 FAX: +61 29674 2495

CC TEL: +65 744 2572 FAX: +65 747 1708

MNxxxx 09/2001

MN1913 11/2001

Printed in UK Baldor UK Ltd

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