Flex+DriveII Demonstration Unit · MN1917 Introduction 2-1 2.1 Features The Flex+DriveII demonstration unit combines a Flex+DriveII, a brushless servo motor and an input/output control

Flex+DriveII

Demonstration Unit

SERVO DRIVE

Operating Manual

03/02 MN1917

Contents iMN1917

Contents

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

2 Introduction 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2.1 Features 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1.1 Upgrade kits 2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Setup 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.1 Introduction 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.1 Controls and indicators 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.1.2 Setup 3-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.1.3 Drive enable switch 3-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.1.4 Installing the software 3-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.1.5 Starting WorkBench v5 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Commissioning and Tuning 3-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.2.1 Using the Commissioning Wizard 3-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.2.2 Autotune mode 3-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.2.3 Saving tuning information 3-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3.2.4 Fine-tuning mode 3-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 Basic Demonstrations 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.1 Introduction 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.1 Basic controls - input switches 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.1.2 Basic controls - output LEDs 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.1.3 Analog input 4-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Demonstration files 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.2.1 Preparation 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.2.2 Opening Mint (.mnt) program files 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 Preset moves 4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.3.1 Testing Preset moves 4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 PLC Task 4-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.4.1 Testing the PLC Task 4-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.4.2 Using Presets and the PLC Task simultaneously 4-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 Applications 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.1 Introduction 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 Tool changer 5-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2.1 Using the program 5-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 PLC program 5-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.3.1 Using the program 5-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4 Following 5-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.4.1 Changing the master encoder source 5-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.4.2 Performing an offset move 5-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.4.3 Changing the follow ratio 5-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5 MintMT ActiveX control 5-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.5.1 Preparing the Flex+DriveII 5-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.5.2 Starting the project 5-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.5.3 Inserting the ActiveX control 5-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

ii Contents MN1917

5.5.4 Inserting command buttons 5-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.5.5 Adding program lines (code) 5-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.5.6 Opening the example VBA file 5-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.5.7 Testing the form 5-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6 Specifications 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6.1 Introduction 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.1 Specifications 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Appendices

A Upgrade Kit A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A.1 Introduction A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.2 Dismantling the demonstration unit A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A.2.1 Removing the Flex+Drive A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A.2.2 Removing the motor resolver cable A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A.2.3 Removing the side panel, control panel and blanking plate A-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A.2.4 Removing the cables A-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A.3 Building the new unit A-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A.3.1 Inserting the cables A-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A.3.2 Reattaching the blanking plate A-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A.3.3 Attaching the new resolver cable A-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A.3.4 Attaching the Flex+DriveII A-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A.3.5 Reattaching the power connections A-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A.3.6 Installing WorkBench v5 A-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

General Information 1-1MN1917

LT0162A00 Copyright Baldor (c) 2002. All rights reserved.

This manual is copyrighted and all rights are reserved. This document or attached software may not, in whole or in part, becopied 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 impliedwarranties of fitness for any particular purpose. The information in this document is subject to change without notice. Baldorassumes no responsibility for any errors that may appear in this document.Mintt is a registered trademark of Baldor.

Microsoft Excel, Windows 95, Windows 98, Windows ME, Windows NT, Windows XP and Windows 2000 are registeredtrademarks of Microsoft Corporation.UL and cUL are registered trademarks of Underwriters Laboratories.

Product noticeOnly qualified personnel should attempt to operate or troubleshoot this equipment.

Safety NoticeIntended use: These units are intended solely for stationary ground based demonstration purposes. They are not intended foruse in industrial power installations. The connection and control of drives is a skilled operation, disassembly or repair must notbe attempted. In the event that a drive fails to operate correctly, contact the place of purchase for return instructions.

Precautions

WARNING: Do not touch any circuit board, power device or electrical connection before you first ensure that no highvoltage is present at this equipment or other equipment to which it is connected. Electrical shock cancause serious or fatal injury. Only qualified personnel should attempt to start-up, program or troubleshootthis equipment.

WARNING: Be sure that you are completely familiar with the safe operation and programming of this equipment. Onlyqualified personnel should attempt to operate or troubleshoot this equipment.

WARNING: Be certain that unexpected motor movement will not cause injury to personnel.

WARNING: The motor circuit might have high voltages present whenever AC power is applied, even when the motoris not moving. Electrical shock can cause serious or fatal injury.

CAUTION: Do not connect AC power to the drive terminals U, V and W. Connecting AC power to these terminals mayresult in damage to the drive.

CAUTION: Violent jamming (stopping) of the motor during operation may damage the motor and drive.

1 General Information 1

1-2 General Information MN1917

Introduction 2-1MN1917

2.1 FeaturesThe Flex+DriveII demonstration unit combines a Flex+DriveII, a brushless servo motor and an input/output controlpanel. Features include:

H Single axis AC brushless drive with integrated Mint controllerH Direct connection to 115VAC or 230VAC single-phase (model dependent)H Programmable in MintH Position, velocity and current control, preset and point to point moves, and gearingH Auto-tuning wizard (including position loop) and software oscilloscope facilitiesH 8 optically isolated digital inputsH 3 optically isolated digital outputsH 1 general-purpose analog input (can be used as a speed or torque command reference)H 1 control relayH Flash memory for program storage (16k)

2.1.1 Upgrade kitsIf you have obtained an upgrade kit (FPHKIT/115 or FPHKIT/230), go straight to Appendix A for instructions oninstalling the upgrade components.

2 Introduction 2

2-2 Introduction MN1917

Setup 3-1MN1917

3.1 IntroductionThe Flex+DriveII demonstration unit is supplied with all necessary wiring already connected (except for upgradekits). The user must only connect the AC power supply and serial cable. A PC will be necessary to run theWorkBench v5 software.

3.1.1 Controls and indicators

Fuse Compartment250V, T5AL

Power on/off switch

AC power socket

OnOff

On

Off

OutputLEDs

Input switches

Drive enable switchAnalog inputcontrol

24V output(not used)

Master encoder(handwheel) input

Enable

DisableDrive enable LED

Figure 1 - Control panel layout and AC power location

3 Setup 3

3-2 Setup MN1917

3.1.2 SetupThere are two different Flex+DriveII demonstration units available.

Model number FPHDEMO/EN/115 requires a 115VAC single phase input.Model number FPHDEMO/EN/230 requires a 230VAC single phase input.

Check that you are using the correct unit before applying power.

WARNING: When the demonstration unit is turned on, high voltages will be present on connector X1 of theFlex+DriveII. Do not touch connector X1 while the unit is powered, or until 5 minutes afterpower has been removed.

1. Remove the demonstration unit from the carrying case.2. Connect the AC power cord to the power socket on the side of the demonstration unit, as shown in Figure 1. Check

that the switch is in the Off position.3. Connect the serial cable to connector X6 on the front panel of the Flex+DriveII. Connect the other end of the cable

to a free serial (COM) port on the PC.4. Set all control panel switches to the off (up) position, as shown in Figure 1.5. Turn on the demonstration unit using the power on/off switch on the side of the base unit.

After a brief startup sequence, the Status LED on the front of the Flex+DriveII should display a minus ( ) sign. Thisindicates that the drive is currently disabled, but ready for demonstration.

Note: The motor shaft should rotate freely by hand. Zero torque is present when the drive is disabled.

3.1.3 Drive enable switchThe Flex+DriveII cannot drive the motor unless the Enable switch is activated. Before attempting demonstrations,check that this switch is in the on (down) position, and the LED above it is illuminated (see Figure 1).

3.1.4 Installing the softwareThe Flex+DriveII will have been supplied with the Baldor Motion Toolkit v5 CD.

1. Insert the CD into the PC�s drive.2. After a few seconds the setup wizard should start automatically. If the setup wizard does not appear, select Run...

from the Windows Start menu and type

d:\start

where d represents the drive letter of the CD-ROM device (use the correct letter for your installation).

Follow the on-screen instructions to install WorkBench v5. The setup wizard will copy the files to appropriate folderson the hard disk. The default folder can be changed during setup.

The CD also contains the demonstration files used in this manual.

Setup 3-3MN1917

3.1.5 Starting WorkBench v5

1. On the Windows Start menu, selectPrograms,WorkBench v5,WorkBench v5.

WorkBench v5 will start, and the Tip of theDay dialog will be displayed.

You can prevent the Tip of the Day dialogappearing next time by removing the checkmark next to Show tips at startup.

Click Close to continue.

2. In the opening dialog box, clickStart New Project...

3. In theSelect Controller dialog, go to the drop down boxnear the top and select the PC serial port to which thedrive is connected.

(If you are unsure which PC serial port is connected tothe drive, select Scan all serial ports).

Click Scan to search for the Flex+DriveII.

When the search is complete, click on Flex+DriveII inthe list to select it.

Note: If the Flex+DriveII is not listed, check the seriallead between the MintDriveII and the PC.Check the demonstration unit is turned on.Check that SW1 DIP switches 1 to 4 are all inthe Off position. In the Search up to box, selectNode 15. Click Scan to re-scan the ports.

4. If this is the first time that you have used thedemonstration unit, or you want to demonstrate thecommissioning process again, confirm that theLaunch Commissioning Wizard option is checked,then click Select.

If the Flex+DriveII has been commissioned before, and you do not want to demonstrate commissioning again,clear the Launch Commissioning Wizard option, click Select and go straight to section 4.

Ensure this option is checked if you want to see thecommissioning process. When you click select, theCommissioning Wizard will start automatically.

3-4 Setup MN1917

3.2 Commissioning and TuningIf you checked the Launch Commissioning Wizard option, the Commissioning Wizard will start automatically.

Each type of motor and drive combination has slightly different performance characteristics. Before the Flex+DriveIIcan be used to control the motor accurately, the Flex+DriveIImust be �tuned�. This is the process where theFlex+DriveII powers the motor in a series of tests. By monitoring the feedback from the motor�s resolver or encoderand performing a number of calculations, the Flex+DriveII can make small adjustments to the way it controls themotor. This information is stored in the Flex+DriveII EEPROM, which means commissioning is not necessary aftereach power cycle.

The Commissioning Wizard and Autotune provide a simple way to tune the Flex+DriveII and create the necessaryconfiguration information for your drive/motor combination.

3.2.1 Using the Commissioning WizardWhen you have completed a screen, click Next > to display the next screen. If you need to change something on aprevious screen, click the < Back button. The Commissioning Wizard remembers information that you have enteredso you will not need to re-enter everything if you go back to previous screens. For the demonstration unit, use thesettings listed below:

WelcomeCheck the I am starting a new application... option.Select metric or imperial measurement as required by the customer.

Motor typeRotary Brushless Motor is already selected, so no action is necessary on this screen.

Select MotorUse the Select motor by Catalog number option.For new demonstration units, enter BSM 50N 133 A E.For upgraded units, enter the motor catalog number that was noted during the upgrade procedure (section A.2.1).

Confirm Motor and DriveNo action necessary on this screen, apart from highlighting that WorkBench v5 has sourced all the detailed motorparameters from its internal database.

FeedbackFor new demonstration units, no action is necessary on this screen; the encoder resolution has been selected fromthe motor database.For upgraded units, select 4096 in both drop down boxes.

Drive Setup completeNo action necessary on this screen.

Operating modeIf not already selected, choose the Position / Pulse Follower option.

Current ControlNo action necessary on this screen.

Speed ControlIn the Application Max Speed box, enter 3500.

Position ControlA number of parameters must be changed on this screen. In later demonstrations, parameter files will be used toalter these settings (and others) when necessary.

Max Position Error: For new demonstration units, enter 1000. For upgraded demonstration units, enter 4096.Idle Position Tolerance: For new demonstration units, enter 10. For upgraded demonstration units, enter 40.Idle Velocity: For new demonstration units, enter 250. For upgraded demonstration units, enter 1000.Positioning SPEED: For new demonstration units, enter 200000. For upgraded demonstration units, enter 819200.Accel Time to SPEED: For new and upgraded demonstration units, enter 250.

Analog inputOn the control panel, set the Analog In 0 potentiometer to the marked 0V position.Click Tune Offset. This will calibrate the 0V (zero input) point for analog input 0.

Operation Setup completeThe Commissioning Wizard is now complete. Click Next > to continue.

Setup 3-5MN1917

3.2.2 Autotune modeWhen the Commissioning Wizard had finished, you are taken directly to Autotune mode. This toolperforms a number of automatic tuning tests. It is best to use the default settings at this stage.

1. Click START.

2. In the dialog box that appears, click Yes to confirm.

3. WorkBench v5 will perform a number of tests, during which the motor will move. Progress is indicated on screen.

When the tests are complete, a message box will appear. Click OK to confirm.

3.2.3 Saving tuning informationFor the purposes of these demonstrations, it is very important that the tuning information is saved in a parameter file.

1. On the menu, choose Tools, Parameter Table, Upload...

2. In the Save As box, enter a filename and click Save.

3. In the dialog box that appears, click Yes.

The drive will be reset, and after a few seconds the parameter table will be uploaded from the Flex+DriveII andsaved. This file contains all the tuning parameters for the Flex+DriveII, and will be needed in the followingdemonstrations.

3.2.4 Fine-tuning modeThe Autotune procedure will have tuned the motor sufficiently well to allow the demonstrations to work normallywithout any further tuning. The demonstration of Fine-tuning mode only needs to be performed if the user isparticularly interested in Fine-tuning.

Fine-tuning mode can be used to adjust the tuning to suit a particular application, perform test moves, and thendisplay the results of the tests as graphs. In the following demonstration, the test bandwidth will be adjusted to alterthe response of the system.

1. In the WorkBench v5 toolbox, click Setup then clickthe Fine-tuning icon.

2. At the bottom of the Fine-tuning window, click thePosition tab.

3. In the Distance box, enter a value for the testdistance. Remember, this value is in user units.

3-6 Setup MN1917

4. In the Profile Parameters area, click Go.

The Flex+DriveII will perform a test move, causing the motor to turn. As the soon as the move is completed,WorkBench v5 will upload captured data from the Flex+DriveII. The data will then be displayed in the Capturewindow as a graph.

5. Using the check boxes below the graph, select only thetraces you require, for example Demand position andMeasured position. Clear the other boxes.

6. On the Position tab, click Calculate...

7. Drag the Autotune Bandwidth slider to a slightly fastersetting, as shown here.

This will automatically adjust certain parameters onthe Position and Speed tabs to create a fasterresponse.

8. Click OK to send the changes to the Flex+DriveII.

9. In the Profile Parameters area, click Go.

The Flex+DriveII will perform another test move. The graph will show that the response of the system is now fasterthan before, as a result of changing the bandwidth.

Parameters can also be changed simply by typing a new value in the appropriate box, clicking Apply, thenperforming a test move to study the effect on system response. Sometimes only small changes are required to alterthe response significantly.

The Profile Parameters area can be used to adjust the type of test move. Parameters such as Accel and Acceltimeare linked; adjusting one automatically changes the other.

If Fine-tuning has improved the response, you might wish to resave the parameter file as described in section 3.2.3.Alternatively, to return the Flex+DriveII to its condition just after Autotuning, choose Tools, Parameter Table,Download... from the menu and select the file that you saved in section 3.2.3.

Basic Demonstrations 4-1MN1917

4.1 IntroductionThis section demonstrates the basic controls and introduces the PLC Task and Presets modes.

During some tests there may be a small delay before WorkBench v5 responds to control panel input. This is not causedby the Flex+DriveII, but is a deliberate system refresh delay built in to WorkBench v5. To adjust the refresh rate, chooseTools, Options from themenu and select the System tab. Using short delays will improve WorkBench v5�s response, butwill reduce the performance of other applications running on the PC.

4.1.1 Basic controls - input switchesThe Flex+DriveII has a minimum of 8 digital inputs accessed on connector X3 pins 10 to 17.On the demonstration unit, switches 0 - 7 on the control panel are already wired to this connector, so they can beused to simulate digital inputs.

1. In the WorkBench v5 toolbox, click Application thenclick the Edit & Debug icon. This will ensure that theSpy window is displayed.

2. At the bottom of the Spy window, click the I/O tab.This will display virtual LEDs indicating the state ofthe digital inputs (and outputs).

3. Operate the control panel input switches. The corresponding Spy window LEDs will show the inputs beingrecognized by the Flex+DriveII.

4.1.2 Basic controls - output LEDsThe Flex+DriveII has 3 digital outputs available on connector X3 pins 18 to 20. Output LEDs 0 - 2 on the controlpanel show active digital outputs.

1. If Edit & Debug mode is not already selected, in theWorkBench v5 toolbox click Application then clickthe Edit & Debug icon. This will ensure that the Spywindow is displayed.

2. At the bottom of the Spy window, click the I/O tab.This will display virtual LEDs indicating the state ofthe digital outputs (and inputs).

4 Basic Demonstrations 4

4-2 Basic Demonstrations MN1917

3. To activate a digital output, for example output 2, click in the Command window and type:

OUTX.2 = 1

where 2 is the digital output to be activated. To deactivate the output, type:

OUTX.2 = 0

The status of the output will be shown in the Spy window and on the control panel of the demonstration unit.The command OUTX can be incorporated into Mint programs to control outputs.

4.1.3 Analog inputThe Flex+DriveII has one differential analog input on connector X3 pins 1 and 2. On the demonstration unit, theAnalog In 0 potentiometer on the control panel is already wired to this connector, so can be used to simulate ananalog input.

1. If Edit & Debug mode is not already selected, in theWorkBench v5 toolbox click Application then clickthe Edit & Debug icon. This will ensure that the Spywindow is displayed.

2. At the bottom of the Spy window, click the Monitortab.

3. Click in one of the drop down boxes displaying theword OFF.

Scroll down the list and select Analog Input.

4. Operate the control panel Analog In 0 potentiometer. The virtual LED display will show the analog input valuepresent on connector X3.


4.2 Demonstration filesFor demonstration purposes, a number of files are included on the CD-ROM. These include tables and sampleapplications for each type of demonstration unit, whether it is a Flex+DriveII or MintDriveII or designed for 115V or230V operation. When selecting files for demonstrations, it is very important to use the correct set of files for yourdemonstration unit. The files should be installed before demonstration begins:

4.2.1 Preparation

1. Open Windows Explorer and locate the Demonstration Units folder on the CD.

2. Copy the folder to your hard disk.

You must now download the parameter table file that you previously saved in section 3.2.3. However, if you areworking through the manual in sequence, and have not used Fine-tuning or adjusted any other parameters, this stepis not necessary.

3. In WorkBench v5 choose Tools, Parameter Table, Download... from the menu.

4. Select the parameter file and click Open.

5. In the dialog box that appears, click Yes.The parameter table file will now be downloaded to the Flex+DriveII. This may take 1-2 minutes.

4.2.2 Opening Mint (.mnt) program filesWhen selecting files for demonstrations, it is very important to use the correct files for your demonstration unit.

1. In the Toolbox, click Applicationthen click the Edit & Debug icon.

2. Important! Before loading a program file, close anyediting windows used by a previous demonstration.

This will avoid possible confusion about which editingwindow�s code belongs to the current demonstration.

3. On the menu, choose File, Open File...

4. Carefully locate the correct subfolder for your demonstration unit.

Locate the required file and click Open.


4.3 Preset movesThe Flex+DriveII can store 16 preset moves. Presets can be selected and triggered using software (WorkBench v5or a Mint program) or by using a combination of the digital inputs. In this demonstration the digital inputs will be used,operated by the control panel switches.

1. In the Open dialog, select the file Presets.mnt, and click Open.

2. Click the Start button to run the program.

3. In the Toolbox, click Application then click the Presets icon.

In Presets mode, an interactive table allows you to setup preset moves, witheach preset shown on a separate row. WorkBench v5 reads the currentpreset data from the Flex+DriveII whenever you switch to Presets mode.Preset tables can also be saved in files on the PC and downloaded to theFlex+DriveII from WorkBench v5.

For this demonstration, it will be necessary to download a preset table:

4. Click the Open icon just above the presets table.

5. In the Demonstration Units folder, carefully locate the correct subfolderfor your demonstration unit.

6. Select the file Presets.pre and click Open.

7. Click Apply to download the Presets table to the Flex+DriveII.

Figure 2 - The Presets table

Open Save Help


4.3.1 Testing Preset movesIn this demonstration digital inputs will be used to trigger preset moves.

1. At the bottom of the Presets window, ensure that theDigital Inputs option is checked. This means thedigital inputs will be used to control the preset index,not WorkBench v5.

The Use Trigger option must also be checked.This means that a digital input (DIN7 in this example) will be used to trigger the preset move.

2. Confirm that the control panel input switches 0-7 are in the off (up) position.

3. Just above the Presets table, click Enable to allow preset moves.

4. On the control panel, a combination of digital inputs 0, 1, 2 and 3 is used to set the preset index. Thesecombinations are described in the table below:

Preset index(Bit pattern sum)

Input switch 0(Bit pattern value: 1)




0 0 0 0 01 1 0 0 02 0 1 0 03 1 1 0 04 0 0 1 05 1 0 1 06 0 1 1 07 1 1 1 08 0 0 0 19 1 0 0 110 0 1 0 111 1 1 0 112 0 0 1 113 1 0 1 114 0 1 1 115 1 1 1 1

Table 1 - Preset selection using digital inputs 0-3

For example, to select preset move 6, set input switches 1 and 2 to the on (down) position.

5. On the control panel, set input switch 7 to the on (down) position to trigger the preset move.Preset move 6 will now be performed once.

6. To perform a different preset move, select it using input switches 0, 1, 2 and 3, then move input switch 7 from offto on to trigger the new move.

Note: The choice of digital inputs used to select and trigger presets is configurable. In this demonstration, theMint program Presets.mnt configured switches 0, 1, 2, 3 and 7.


4.4 PLC TaskThe PLC Task is a special task that can be setup to monitor various conditions and act upon them if they becometrue. PLC Task mode allows you to enter statements that respond to conditions.

1. In the Open dialog, select the file PLC.mnt, and click Open.

2. Click the Start button to run the program.

3. In the Toolbox, click Application then click the PLC Task icon.

In PLC Task mode, an interactive table allows you to setup actions, with eachaction shown on a separate row. WorkBench v5 reads the current PLC Taskdata from the Flex+DriveII whenever you switch to PLC Task mode.PLC Task tables can also be saved in files on the PC and downloaded to theFlex+DriveII from WorkBench v5.

For this demonstration, it will be necessary to download a PLC Task table:

4. Click the open icon just above the PLC Task table.

5. In the Demonstration Units folder, carefully locate the correct subfolderfor your demonstration unit.

6. Select the file PLC.plc and click Open.

7. Click Apply to download the PLC Task table to the Flex+DriveII .

Figure 3 - The PLC Task table

Open Save Help


Individual actions can be enabled by clicking the appropriate check box in the enable column. When the PLC Task isactivated, only those actions that have been enabled will be evaluated.

An individual action can be disabled even while the PLC Task is running. To disable an action that is not required,clear the action�s Enable check box and click Apply.

4.4.1 Testing the PLC TaskActions are triggered as a result of the logical evaluation of one or two conditions, called Condition 1 and Condition2. If the result of this logical comparison is true, the action is triggered. If Condition 2 is not required it can be left asFalse.

In this demonstration digital inputs will be used to trigger preset moves, as described in section 4.3.1. The PLC Taskwill monitor the state of the motor and digital inputs 4, 5 and 6.


2. Confirm that the Enable PLC Task option at the top ofthe screen is checked to allow the PLC Task to run.

3. Operate input switch 4. When it is in the on position, output LED 0 is illuminated.This action is controlled by the first row in the PLC Task table. The PLC condition �If User Input 4� has becometrue, so the corresponding PLC action �User Output 0� has been performed.

Input switch 5 works in the same way, controlling output LED 1.

4. Set input switches 4 and 5 to the on position. When they are both on, the drive is enabled.This action is controlled by the fifth row of the PLC Task table. The PLC condition �If User Input 4 AND User Input5� has become true, so the corresponding PLC action �Drive Enable� has been performed.

4.4.2 Using Presets and the PLC Task simultaneouslyIn these demonstrations, Presets mode and PLC Task mode have been setup to use different ranges of digitalinputs. Presets mode will still be active (provided its Enable button is pressed), so even while PLC Task mode isbeing displayed, presets can still be selected and triggered using digital inputs 0, 1, 2, 3 and 7.

5. Setup preset move 3, by setting input switches 0 and 1 to the on position.

6. Trigger preset move 3 by setting input switch 7 to the on position.

While the motor is moving, output LED 2 is turned off. When the motor becomes idle, output LED 2 is illuminated.This is controlled by the third row in the PLC Task table.

If input switch 6 is set, the drive becomes disabled. This is controlled by the twelfth row in the PLC Task table.Actions are tested in the order they appear in the table, so the Disable action overrides the Enable drive action.


Applications 5-1MN1917

5.1 IntroductionA number of applications are included on the CD to demonstrate some of the major features of the Flex+DriveII.

All the necessary demonstration files should have already been copied to the host PC�s hard disk, as described insection 4.2.1. When selecting files for demonstrations, it is very important to use the correct files for yourdemonstration unit.

5 Applications 5

5-2 Applications MN1917

5.2 Tool changerIn this demonstration a Mint program will be used to increase the speed of a typical tool changer application. This isachieved by ensuring that the specified tool is always selected by rotating the tool carousel by the �shortest path�.The tool positions are read from the presets table.

1. If you are not working through the manual in sequence, you must download your parameter file.See section 4.2.1, steps 3. to 5. if you are not sure how to do this.

2. Download the preset table Presets.pre.See section 4.3, steps 3. to 6. if you are not sure how to do this.

3. Open the file Toolchanger.mnt.See section 4.2.2. if you are not sure how to do this.

4. On the toolbar, click the Start button.

5.2.1 Using the programThe program reads the digital inputs to determine which tool is required. In this demonstration, 8 different tools canbe selected by using a combination of input switches 0, 1 and 2, as shown in Table 2.

Tool(Bit pattern sum)




0 Off Off Off1 On Off Off2 Off On Off3 On On Off4 Off Off On5 On Off On6 Off On On7 On On On

Table 2 - Tool selection using digital inputs

1. Confirm input switch 7 is in the off (up) position.

2. Use a combination of input switches 0, 1 and 2 to select a tool. For example, to select tool 3 set input switches 0 and1 to the on position.

It is important to understand that the program is now using the digital inputs. The input switches are not being usedto directly select a preset move, as they were in section 4.3.1.

3. Set input switch 7 to the on position to start the move.

The program compares the position of the current tool and the new tool, using information from the presets table.From this, it calculates the shortest (and therefore quickest) way to rotate the tool carousel to select the new tool.To move the new tool into position, the program performs a relative move.

The status of the program is shown in the Output window at the bottom of the Edit & Debug screen.


5.3 PLC programIn this demonstration a Mint program will be used to perform the same actions as the PLC task.


2. Open the file PLC.mnt.See section 4.2.2. if you are not sure how to do this.


5.3.1 Using the programDigital inputs 4 and 5 will be used to activate digital outputs 0 and 1. When used together, they will enable the drive.Digital input 6 will be used to disable the drive.


2. Set input switch 4 to the on position. Output LED 0 will be illuminated. If the input switch is moved to the offposition, the LED will be turned off. In the program, this action is controlled by the line:

OUTX.0 = INX.4

A similar line of code exists to control output LED 1 using input switch 5.

3. Set input switches 4 and 5 to the on position. The drive will now be enabled. In the program, this action iscontrolled by the line:

DRIVEENABLE = INX.4 And INX.5 And Not INX.6

The words at the end of the line, And Not INX.6, are used to check that input 6 is not active. Input switch 6 isused to disable the drive, so if it is active the drive cannot be enabled.

4. The line:

OUTX.2 = IDLE

causes output LED 2 to be illuminated while the drive is idle. To test this, click in the Command window at thebottom of the screen and type:

MOVER=4000 : GO

When the drive is moving (not idle), the LED will be turned off.


5.4 FollowingIn this demonstration a Mint program will be used to demonstrate master encoder following. The program uses inputswitches 1, 4 and 5, the Analog Input 0 potentiometer, and the Master Encoder handwheel to control the program.


2. Open the file Follow.mnt.See section 4.2.2. if you are not sure how to do this.


5.4.1 Changing the master encoder sourceThe Flex+DriveII can be configured to follow a specific master source.

Switch 1 off (up): Program sets the following mode to follow the Master Encoder.Switch 1 on (down): Program sets the following mode to follow an internal (virtual) master.

1. Confirm input switch 1 is in the off position.

2. Turn the Master Encoder handwheel to demonstrate encoder following.

3. Set input switch 1 to the on position. The axis will now follow an internally generated virtual master.

4. Turn the Analog Input 0 potentiometer to adjust the speed of the virtual master.

5.4.2 Performing an offset moveAn offset move is used to make a positional correction during a follow move. In this program, the triggering of anevent causes the offset move to be performed. Events are special sections of code that have a high priority in aMintMT program. There are a number of predefined events that can respond to various sources, both external ininternal. Event IN4 responds to digital input 4.

Switch 4 off (up): No action; event is not triggered.Switch 4 on (down): Trigger Event IN4.

1. Confirm input switch 4 is in the off position.

2. Set input switch 1 to the on position to follow the internal (virtual) master.

3. Adjust the Analog Input 0 potentiometer (virtual master speed) so that the motor is moving slowly.

4. Set input switch 4 to the on position to trigger Event IN4.

5. The offsetmove will be performed, indicated by themotor briefly changing speed to achieve an offset of 1 revolution.


5.4.3 Changing the follow ratioThe rate at which an axis follows the master can be adjusted, using a �software gearbox�. In the program, switches 2and 3 can be used to set the ratio of the software gearbox, as described in Table 3:

Ratio(Bit pattern sum)



1 Off Off2 On Off3 Off On4 On On

Table 3 - Ratio selection using digital inputs

1. Confirm that input switches 2 and 3 are in the off position.

2. Set input switch 1 to the off position, to follow the Master Encoder.

3. Rotate the Master Encoder to confirm that for one turn of the Master Encoder, the motor completes one turn.

4. Now set input switch 2 to the on position to select a ratio of 2.For one turn of the encoder, the motor now completes two turns.

5. Try different combinations of input switches 2 and 3 to select different ratios.

Note: An additional function is included in the program. When input switch 5 is set to the on position, Event IN5is triggered, which disables following.


5.5 MintMT ActiveX controlIn this demonstration the ActiveX control will be used within Microsoft Excel to control the Flex+DriveII.A very simple form (window) will be designed, to represent a typical user application.

5.5.1 Preparing the Flex+DriveII1. If you are not working through the manual in sequence, you must download your parameter file.

See section 4.2.1, steps 3. to 5. if you are not sure how to do this.

5.5.2 Starting the project

1. Start Microsoft Excel.

2. On the menu, choose View, Toolbars, Visual Basic.The Visual Basic toolbar will be displayed.

3. Click the Visual Basic Editor button.

4. If any code windows are displayed automatically,close them.

5. Check that Sheet 1 is highlighted, then click theInsert User Form button.

A new form (window) appears, called UserForm1.


5.5.3 Inserting the ActiveX controlThe floating Toolbox contains a number of standard tools that can be used to construct new forms. However, theMint ActiveX control is a special control so it must be added to the Toolbox before it can be used.

1. On the menu, click Tools, Additional Controls.

2. Scroll down the list and check the box next to�MintController Control for MintMT...�.Do not select any of the other Mint options.

3. Click OK. The Mint ActiveX Control will now appearas a new button in the Toolbox.

4. Click the Mint Controller button to select it.Then, in UserForm1, click and drag to draw a smallbox. When you release the mouse, a MintControllerobject will be placed on the form.

The presence of the MintController object on the form means that it can now be referenced by Visual Basic programcode, which will be added in the following sections. The object represents a file called MintControls.ocx, which isinstalled on the PC at the same time as WorkBench v5.

You might wish to drag the object to the corner of the form to leave room for further controls. The form can be madelarger by clicking on a blank area to select it, then dragging its bottom-right corner handle.


5.5.4 Inserting command buttonsNearly all Windows software uses familiar command buttons. A number of these need to be added to create thebasic controls for the application.

1. In the Toolbox, click the CommandButton control.

2. In UserForm1, click and drag to draw a smallrectangle. When you release the mouse, a newcommand button will be created, calledCommandButton1. If you cannot see the button�s fullname, drag its corner handles to make it larger.

3. With the command button selected, the left pane ofthe Excel window will show a list of properties for thebutton.

The (Name) and Caption properties should now be changed to make the button easier to use. The (Name) propertyis the most important because it is used by the program code to refer to the button. The Caption property is usedonly to define the text that appears on the button - it is not used by the program.

4. On the (Name) row, replace CommandButton1 withbtnInit.

The letters �btn� mean button, and will help make theInitialization button�s code easier to identify later on.

5. On the Caption row, replace CommandButton1 withInit.

Note: You can also rename the MintController object if you wish, to give it a more meaningful name. However, inthe following examples the default name of MintController1 will be used.


5.5.5 Adding program lines (code)Each command button requires some Visual Basic program code, so that when the user clicks the button, a functionwill be performed.

1. Right-click on the Init button, and choose View Code.This will display the underlying code for the button.

The lines �Private Sub btnInit_Click� and�End Sub� are essential and must not be deleted. Allcode for a button must be entered between these twolines.

2. Type the lines:

MintController1.setFlexPlusDrive2Link 2, 1, 57600, TrueMintController1.getAAABuild lBuildMintController1.doCancel 0MintController1.setDriveEnable 0, True

3. Using the left drop down box at the top of the codewindow, select another button.

4. In this way, code can be entered for each button. However, to save time, the complete form, buttons and codehave already been created in the file VBA.xls. See the next section.


5.5.6 Opening the example VBA fileIt is recommended that the file VBA.xls is used to continue the demonstration. The file contains comments to explaineach section of code, together with an error handling routine. All code assumes that the Flex+DriveII is connected tothe host PC�s COM1 port. Confirm that the Flex+DriveII SW1 DIP switches 1-4 are all in the off position.

Before opening VBA.xls, it will be necessary to close the current test file�s windows.

1. Click the Close button at the top of the main VisualBasic editing window.

This will return the application to the normalspreadsheet view.

2. Click the Close Window button at the top of the Excelspreadsheet window.

3. Choose File, Open.Locate the example file VBA.xls and click Open.

4. Click the Visual Basic Editor button.

Ensure that UserForm1 is the currently selectedwindow.

5.5.7 Testing the formExcel can �run� the form, almost as if it were a separate application. If any errors occur Excel will stop the programand highlight the error.

1. Click the Run Sub/UserForm button.

The form will now become active.

2. Click the Init button.The Init button�s code will be executed, initializing the Flex+DriveII. The other buttons will also become active.

3. Click the << or >> button.The button�s code will be executed, causing the motor to jog in the positive or negative direction.

4. Click the Stop button to stop motion.

Specifications 6-1MN1917

6.1 IntroductionThis section provides technical specifications for the Flex+DriveII demonstration unit.

6.1.1 Specifications

Description FPHDEMO/EN/115 FPHDEMO/EN/230

Input voltage 115VAC 230VAC

Flex+DriveII type FPH1A02TB-EN20 FPH2A02TB-EN20

Flex+DriveII feedback type Encoder

Motor BSM50N133AE

Dimensions (HxWxD) 368mm x 144mm x 296mm(14.5in x 5.7in x 11.65in)

Weight 7.7kg (17lb)

Note: These specifications are for new Flex+DriveII demonstration units and do not describe upgraded units.

6 Specifications 6

6-2 Specifications MN1917

Upgrade Kit A-1MN1917

A.1 IntroductionA Flex+DriveII demonstration unit can be created by upgrading an existing Flex+Drive demonstration unit. Theupgrade kit provides the necessary parts to perform the upgrade.

An upgraded unit will not be identical to a new unit. Existing demonstration units incorporate a resolver motor;correspondingly, the Flex+DriveII used for the upgrade must be a model designed for resolver feedback (catalognumbers FPHxxxxxx-Rxxx).

New Flex+DriveII demonstration units use a motor and drive incorporating encoder feedback.

A.2 Dismantling the demonstration unitBefore dismantling the demonstration unit, inspect the layout of the cables and the way they have been clamped andsecured.

A.2.1 Removing the Flex+Drive

1. Ensure that all power has been removed from the demonstration unit for at least 5 minutes. This allows any highvoltages present on the Flex+Drive�s power connector to dissipate.

2. Unplug all connectors from the front of the Flex+Drive, but do not remove any of the individual crimp connectorsfrom the 9-pin Phoenix connector (the power connector). Some D-type plugs may require a small screwdriver toloosen the jack screw(s) before they can be removed.

3. Remove the earth bolt from the top of the Flex+Drive and disconnect the earth wire. Cut any cable ties that havebeen used to secure cables to the drive.

4. Loosen the bolts attaching the Flex+Drive to the back plate of the demonstration unit. Remove the Flex+Drive.

5. The motor�s nameplate will now be visible on the side of the motor. Write down the catalog number of the motor,for example BSM50A175AA. The catalog number will be needed later.

A.2.2 Removing the motor resolver cableWhen viewed from the front of the demonstration unit, the motor�s resolver cable is connected to the left socket onthe motor, and is the thinner of the two motor cables.

1. Cut any cable ties that have been used to secure the resolver cable to the motor power cable or drive.

2. Unscrew the resolver connector by rotating its knurled collar.

3. Remove the resolver cable.

A Upgrade Kit A

A-2 Upgrade Kit MN1917

A.2.3 Removing the side panel, control panel and blanking plateThe control panel is the large yellow panel at the base of the demonstration unit containing the switches andindicators. The blanking plate is screwed to the rear wall of the demonstration unit, and supports a rubber grommetthrough which the cables pass into the demonstration unit.

Side panel

Control panel

Blanking plate(coveringblanking plateaperture)

Controlpanelaperture

Figure 4 - Side panel, control panel and blanking plate

1. Using a 2.5mm (3/32in) Allen key (hexagonal socket wrench), remove the Allen bolts on the right side panel ofthe demonstration unit. Remove the side panel.

2. Remove the four corner bolts on the control panel. Carefully withdraw the control panel.

3. Remove the four corner bolts on the blanking plate. Remove the blanking plate.

A.2.4 Removing the cablesA PCB will be seen mounted on the rear of the control panel.

D-type D-type

Power (black/redtwisted pair)

Figure 5 - PCB D-type and power connector positions

1. Disconnect the two D-type plugs, and remove the two cables from the demonstration unit.

A brown/blue/earth power cable group also emerges from the blanking plate aperture. Leave this cable group inplace, and retain the blanking plate�s rubber grommet.

2. A thin black/red twisted pair cable is connected near the edge of the PCB by a small two-pin plug (see Figure 5).Disconnect the plug from the PCB, but do not remove the cable from the demonstration unit; it will be used toprovide power to the new control panel.

Upgrade Kit A-3MN1917

A.3 Building the new unit

A.3.1 Inserting the cablesThe upgrade kit is supplied with three cables, described in Table 4. A cable�s number is marked on a label attachedto the cable.

Cable Purpose Flex+DriveII connector Control panel connectorLD5177A12 Main I/O cable 20-pin Phoenix plug 25-pin female D-typeLD5177A09 Master encoder cable 9-pin male D-type 9-pin female D-type

Motor connectorLD5177A10 Motor resolver cable 9-pin female D-type 12-pin Contact connector

Table 4 - Upgrade kit cables

1. From the upgrade kit, take the three cables labelled LD5177A12 and LD5177A09.

2. From the front of the unit, pass the two D-type control panel connectors (see Table 4) through the blanking plateaperture, down the inside of the demonstration unit and out through the control panel aperture.

3. From the upgrade kit, take the new control panel. Connect the two D-type control panel connectors to the PCBon the rear of the control panel.

4. Reconnect the black/red twisted pair power cable plug to the two pin header on the edge of the PCB.

5. Mount the control panel on the front of the demonstration unit, gently pulling spare cable back up through theblanking plate aperture.

6. Using the four corner bolts, attach the control panel to the demonstration unit.

A.3.2 Reattaching the blanking plate

1. Attach the rubber grommet around the two cables and the brown/blue/earth power cable group.

2. Slide the rubber grommet into the slot on the blanking plate and reattach the blanking plate using the four cornerbolts.

A.3.3 Attaching the new resolver cable

1. From the upgrade kit, take the remaining cable labelled LD5177A10.

2. Screw the Contact connector to the motor�s resolver socket, taking care to align the pins correctly.Tighten until finger tight only - do not use tools to tighten this connector.

3. Loop the cable over the back of the motor, and out along the left side of the motor so that the D-type connector isavailable at the front of the demonstration unit.

A-4 Upgrade Kit MN1917

A.3.4 Attaching the Flex+DriveII

1. Take the Flex+DriveII and mount it on the demonstration unit.

The motor power cable and brown/blue/earth power cable group should be positioned above the Flex+DriveII.The I/O cable, the master encoder cable and the motor resolver cable should all be positioned below theFlex+DriveII.

Tighten the three mounting bolts.

2. Connect the 9-pin female D-type connector of the motor resolver cable to connector X8 on the Flex+DriveII.

3. Connect the 9-pin male D-type connector of the master encoder cable to connector X9 on the Flex+DriveII.

4. Connect the 20-pin Phoenix plug to connector X3 on the Flex+DriveII.

A.3.5 Reattaching the power connectionsIt is important to connect the power and motor cables in the correct manner. Failure to do so could result in anunsafe demonstration unit or unwanted electrical noise.

1. Reconnect the 9-pin Phoenix plug to connector X1 on the Flex+DriveII. Check that all the crimp connectors haveremained securely fastened into the Phoenix plug.

2. If the existing motor power cable on your demonstration unit has an individual earth lead (a green/yellow wire notconnected to the Phoenix plug) reattach it to the earthing point on top of the unit.

If the existing motor power cable on your demonstration unit has been earthed using an exposed section ofscreen near the end of the cable, this should be clamped to the earthing point on the top of the Flex+DriveII.

To finish the upgrade, use cable ties to secure cables where necessary.

A.3.6 Installing WorkBench v5The Flex+DriveII is supplied with WorkBench v5, a Windows application for controlling, testing and programming theFlex+DriveII. If you have not already done so, this software should be installed on your PC before using thedemonstration unit. See section 3.1.4.

IndexMN1917

AActiveX control, 5-6

Applications, 5-1

Autotune mode, 3-5

CCommissioning, 3-4

Wizard, 3-4

Control panel, 3-1

Controls and indicators, 3-1

DDemonstrations

Basic controls, 4-1�4-3See also Controls and indicators

Following, 5-4Introduction, 4-1MintMT ActiveX control, 5-6PLC program, 5-3PLC Task, 4-6

testing, 4-7using with presets, 4-7

Preparation, 4-3Preset moves, 4-4

testing, 4-5Tool changer, 5-2

Drive enable switch, 3-2

FFeatures, 2-1

Files, opening, 4-3

Fine-tuning mode, 3-5

Following, 5-4

LLEDs. See Controls and indicators

MMintMT ActiveX control, 5-6

PPLC program, 5-3

PLC Task, 4-6

Preset moves, 4-4

SSafety information, 1-1

Setting upIntroduction, 3-1Setup, 3-2

Specifications, 6-1

TTool changer, 5-2

UUpgrade kit, A-1

WWorkBench v5

Installing, 3-2Starting, 3-3

Index

Index MN1917

Printed in UK Baldor UK Ltd

Baldor Electric CompanyP.O. Box 2400

Ft. Smith, AR 72902-2400Tel: (479) 646-4711Fax: (479) 648-5792

www.baldor.com

LT0162A00

Documents

Flex+DriveII Demonstration Unit · MN1917 Introduction 2-1 2.1 Features The Flex+DriveII demonstration unit combines a Flex+DriveII, a brushless servo motor and an input/output control