Brushless ac Servo Systems Baldor Digital Control Brushless ac Servo Drives + ™ ™ Series II – FlexDrive II & Flex Drive II + FlexDrive II, Flex Drive II are part of a new Feature Comparison (For all new applications, Baldor recommends you choose Series II drives) generation of Baldor servo controls, which + + Feature FlexDrive Flex Drive FlexDrive II Flex Drive II share a common control platform. Based on ™ the MintMT Operating System, the Series Digital Inputs 8 + Enable PNP/NPN 8 + Enable PNP/NPN Software Configurable II controls share a common front-end and Fixed functionality parameter set with the Baldor NextMove Digital Outputs 3 NPN + 1 Relay 3 PNP + 1 Relay Software Configurable series of motion controllers. Analog Inputs 1 – 12bit 1 – 14bit Software Programmable + FlexDrive II and Flex Drive II servo Serial Connector 9-pin female 9-pin male drivers offer: RS485 Option (4-wire with RTS/CTS) Std – user configurable 4-wire • New 32-bit front-end common to all RS232 Option Std – user configurable Series II FlexDrives and MintDrives. Baud Rate 9,600 (57,600 max RS232) (19,000 max RS485) 24V Logic Supply Option for single phase controls Option for single phase controls • Rotary and linear motor support. Resolver Feedback Yes Yes • Feedback options include: Encoder Feedback Yes (loss of master encoder) Yes Resolver Encoder Frequency 400kHz 12MHz (post quad) Commutating Encoder EnDat (absolute) No Yes Linear Motor control LinDrive Lin+Drive Yes EnDat – single and multi-turn Master Encoder Yes (resolver motors only) Yes absolute Pulse Direction Yes No Yes • Handwheel encoder for both encoder and Position Latch No 2x (1µs) resolver based motors. Control Law Pl Pole Placement Pl (current) + accel feedforward • Higher performance encoder input, PID (vel) PIDVFF (pos) 12MHz (post quadrature), for high speed Autotune Via front end Via front end linear motor applications. Hall Sequence Detection No Yes • Auto-tuning of current, velocity and Inductance & Resistance No Yes position loops with Hall sequence Measurement detection and calculation of motor Velocity/Currency loops 500µs Velocity/125µs Current 250µs Velocity/125µs Current inductance and resistance. Position Loop 1ms 500µsec • Preset jog speeds, selectable from user Profiler Rate 1ms 1ms/2ms inputs. (7 standard or up to 256 with EEPROM Parameter Storage Yes yes option). CANOpen Yes Yes • PLC task with simple AND/OR logic DeviceNet No Yes • All software for the Series II is shipped Profibus-DP No Yes on CD-ROM. This contains not only the Windows Front End 16bit Dedicated for each Control 32bit Universal front end front end, but also full documentation, Programmable I/O Functions Hardware Limits Only Yes including details on the ActiveX control Software Limits Yes Yes for PC programming. PLC Task Yes Yes (extended conditions) + Flex Drive II also offers AND/OR Operations No Yes Preset Positions No Yes – up to 15 No Yes – up to 256 • Mint programmable for indexing applications and simple following with I/O expansion (gearing) applications. Jog Yes Yes Preset Jog Speeds 1 – via PLC task Yes – up to 256 with I/O expansion • Preset positions selectable from user Homing No Yes No Yes inputs, with independent absolute and relative indexing positions. (7 standard Electronic Gearing Yes No Yes or up to 256 with option). Fault Log 10 faults with timestamp 32 faults with timestamp Cleared faults also Latched Factory-fit Options: Tuning Scope Yes 2 Channels Yes 6 Channels • Additional 10 digital inputs and 5 digital Save to CSV Save to .gph file Yes outputs Mint Programmable No No Yes • DeviceNet fieldbus Program Size N/A N/A 16K Host Interface ASCII BBP2 • Profibus-DP fieldbus Windows programming tools No Active X • CANopen fieldbus NOTE: ‘FlexDrive™’ and ‘Flex+Drive™’ products are mature, with no further development or software enhancements possible. ☎ (02) 9674 5455 4th Oct 2004 – All Prices Exclude GST ☎ (03) 9753 4355 Fax (02) 9674 2495 Page 14 Fax (03) 9753 4366 Brushless ac Servo Systems Baldor Digital Control Brushless ac Servo Drives Series II + ™ ™ FlexDrive II & Flex Drive II Alternative Configurations (Available with original order only. Non-standard configurations ex-factory only) Feedback FlexDrive II Flex+Drive II E = Encoder Standard Standard R = Resolver +$110 +$110 D = Endat +$110 +$110 Bus Options N = None standard standard B = CAN open + extra I/O N/A +$500 C = CAN open (1 channel) +$253 +$253 D = Devicenet +$490 +$490 P = Profibus +$440 +$440 Serial Port 2 = RS232 standard standard + 4 = RS485 user selectable Flex Drive II SERVODRIVER Logic Supply Voltage Drive Specifications 0 = Internally generated Std on 1ph/not avail. on 3ph Input Voltage Range Nom. 230Vac/1ph Nom. 415Vac/3ph 3 = Customer supplied Std on 3ph/no charge on 1ph (220 – 250Vac) (180 – 528Vac) Input Frequency 50/60Hz ±5% Logic Input Supply +20.4 – 28.8Vdc/1.75A Output Bus voltage 320Vdc 586Vdc @230Vac/1 ph input @415Vac/3 ph input Efficiency ≥ 95% Minimum Load Inductance 200µH Operating Altitude 1000m ASL (derate 1.1% per 300m above) Operating Temperature 0 to +40°C (derate 2.5%/°C to max. 50°C Storage Temperature -25 to + 70°C Humidity 10% – 90% non-condensing Shock 1G Vibration 1 G (10 – 60 Hz) ‘FlexDrive’ – Catalogue Nº and Configuration Information F D H 2 A 0 2 T B – R N 2 3 Control Family Feedback Options Current Continuous FDH = FLEXDrive II R = Resolver A02 = 2.5 amps + FPH = FLEX Drive II E = Encoder A05 = 5.0 amps FD = FLEXDrive D = Endat A07 = 7.5 amps + FP = FLEX Drive A10 = 10 amps A15 = 15 amps Bus Options A20 = 20 amps N = None Input/Bus Voltage A27 = 27.5 amps B = Baldor CAN 1 = 115Vac/160Vdc C = 1 CAN channel (CAN open) 2 = 230Vac/300Vdc D = Devicenet 4 = 400-460Vac/560Vdc Serial Port Options P = Profibus 2 = RS232 4 = RS485 Enclosure Type Logic Supply T = Panel Mount WITH Internal Power Supply Voltage Options Braking Capabilities P = Panel Mount WITHOUT Power Supply (DC input) R = Requires External Resistor 0 = Internally Generated S = Panel Mount WITH Internal Power Supply 3 = External Customer B = Built in Regeneration Resistor (suitable for sharing across multiple drives) supplied +24Vdc O = No internal braking capability ☎ (02) 9674 5455 4th Oct 2004 – All Prices Exclude GST ☎ (03) 9753 4355 Fax (02) 9674 2495 Page 15 Fax (03) 9753 4366 Brushless ac Servo Systems ™ ‘FlexDrive II ’ Servo Drives Catalogue Continuous Peak Input Voltage Range Nominal Braking Resistor* Package Dimensions Weight List Price Number Output Output 50/60Hz ±5% Bus Voltage B = Built-in Standard/With Option Group E3 A(rms) A(rms) Vac/ph Vdc RGxx = Resistor Nº Refer to Page 21 kg $ F ™ F FlexDrive II BRUSHLESS ac SERVODRIVER with INTEGRATED POWER SUPPLY FDH2A02TB-RN23 2.5 5 220-250/1ph 300 B A std, B w/Opt 1.25 (1.55) 1,585 FDH2A02TB-EN23 2.5 5 220-250/1ph 300 B A std, B w/Opt 1.25 (1.55) 1,475 FDH2A05TB-RN23 5.0 10 220-250/1ph 300 B C std, D w/Opt 2.1 (2.3) 1,782 FDH2A05TB-EN23 5.0 10 220-250/1ph 300 B C std, D w/Opt 2.1 (2.3) 1,672 L L FDH2A07TR-RN23 7.5 15 220-250/1ph 300 RG39 D 2.30 1,918 FDH2A07TR-EN23 7.5 15 220-250/1ph 300 RG39 D 2.30 1,808 FDH2A15TR-RN23 15.0 30 184-253/3Ph 300 RG10 E 3.30 2,684 FDH2A15TR-EN23 15.0 30 184-253/3Ph 300 RG10 E 3.30 2,576 E E FDH4A02TB-RN23 2.5 5 180-528/3ph 560 B G 4.90 2,476 FDH4A02TB-EN23 2.5 5 180-528/3ph 560 B G 4.90 2,368 FDH4A05TB-RN23 5.0 10 180-528/3ph 560 B G 4.90 2,548 FDH4A05TB-EN23 5.0 10 180-528/3ph 560 B G 4.90 2,440 X X FDH4A07TR-RN23 7.5 15 180-528/3ph 560 RG68 G 4.90 2,624 FDH4A07TR-EN23 7.5 15 180-528/3ph 560 RG68 G 4.90 2,516 FDH4A15TR-RN23 15.0 30 180-528/3ph 560 RG27A H 9.05 3,158 FDH4A15TR-EN23 15.0 30 180-528/3ph 560 RG27A H 9.05 3,050 FDH4A20TR-RN23 20.0 40 180-528/3ph 560 RG27A H 9.05 3,635 II II FDH4A20TR-EN23 20.0 40 180-528/3ph 560 RG27A H 9.05 3,527 FDH4A27TR-RN23 27.5 55 180-528/3ph 560 RG11 H 9.05 4,113 FDH4A27TR-EN23 27.5 55 180-528/3ph 560 RG11 H 9.05 4,005 NOTES: EXTERNAL REGENERATION RESISTORS – May be required depending upon load characteristics. Refer to page 21. * 1ph not recommended for more than 5amps bus current. The above configurations are standard Australian stock items. Alternative configurations for 115Vac/50-60Hz input are available ex-factory. Refer page 15. ™ ‘FlexDrive ’ Servo Drives (Series I) ™ NOTE: Not for new applications. Please choose from FlexDrive II ‘FDH’ or ‘FPH’ models. These products are mature, with no further development or software enhancements possible. Catalogue Continuous Peak Input Voltage Range Nominal Braking Resistor* Dimensions Weight List Price Number Output Output 50/60Hz ±5% Bus Voltage B = Built-in Refer to Page 21 Group E3 A(rms) A(rms) Vac/ph Vdc RGxx = Resistor Nº Package Size kg $ ™ FlexDrive BRUSHLESS ac SERVODRIVER with INTEGRATED POWER SUPPLY FD2A02TB-RN20 2.5 5 184 – 253/1ph 300 B A 1.24 1,638 FD2A05TB-RN20 5.0 10 184 – 253/1ph 300 B B 2.13 1,841 FD2A07TR-RN20 7.5 15 184 – 253/1ph 300 RG39 C 2.18 1,980 NOTES: EXTERNAL REGENERATION RESISTORS – May be required depending upon load characteristics. Refer to page 21. * 1ph not recommended for more than 5amps bus current. The above configurations are standard Australian stock items. Alternative configurations for 115Vac/50-60Hz input are available ex-factory. Refer page 15. ☎ (02) 9674 5455 4th Oct 2004 – All Prices Exclude GST ☎ (03) 9753 4355 Fax (02) 9674 2495 Page 16 Fax (03) 9753 4366 Brushless ac Servo Systems ™ ‘Flex+Drive II ’ Servo Drives Catalogue Continuous Peak Input Voltage Range Nominal Braking Resistor* Package Dimensions Weight List Price Number Output Output 50/60Hz ±5% Bus Voltage B = Built-in Standard/With Option Std/With Option Group E3 A(rms) A(rms) Vac/ph Vdc RGxx = Resistor Nº Refer to Page 21 kg $ + ™ Flex Drive II BRUSHLESS ac SERVODRIVER with INTEGRATED POWER SUPPLY FPH2A02TB-RN23 2.5 5 220-250/1ph 300 B A std, B w/Opt 1.25 (1.55) 1,829 FPH2A02TB-RB23 2.5 5 220-250/1ph 300 B A std, B w/Opt 1.25 (1.55) 2,329 F F FPH2A02TB-EN23 2.5 5 220-250/1ph 300 B A std, B w/Opt 1.25 (1.55) 1,721 FPH2A02TB-EB23 2.5 5 220-250/1ph 300 B A std, B w/Opt 1.25 (1.55) 2,221 FPH2A05TB-RN23 5.0 10 220-250/1ph 300 B C std, D w/Opt 2.1 (2.3) 2,023 FPH2A05TB-RB23 5.0 10 220-250/1ph 300 B C std, D w/Opt 2.1 (2.3) 2,523 L FPH2A05TB-EN23 5.0 10 220-250/1ph 300 B C std, D w/Opt 2.1 (2.3) 1,915 L FPH2A05TB-EB23 5.0 10 220-250/1ph 300 B C std, D w/Opt 2.1 (2.3) 2,415 FPH2A07TR-RN23 7.5 15 220-250/1ph 300 RG39 D 2.30 2,157 FPH2A07TR-RB23 7.5 15 220-250/1ph 300 RG39 D 2.30 2,657 FPH2A07TR-EN23 7.5 15 220-250/1ph 300 RG39 D 2.30 2,049 E E FPH2A07TR-EB23 7.5 15 220-250/1ph 300 RG39 D 2.30 2,549 FPH2A15TR-RN23 15.0 30 184-253/3Ph 300 RG10 E 3.30 2,955 FPH2A15TR-EN23 15.0 30 184-253/3Ph 300 RG10 E 3.30 2,847 FPH2A15TR-EB23 15.0 30 184-253/3Ph 300 RG10 E 3.30 3,350 X X FPH4A02TB-RN23 2.5 5 180-528/3ph 560 B G 4.90 2,751 FPH4A02TB-EN23 2.5 5 180-528/3ph 560 B G 4.90 2,643 FPH4A05TB-RN23 5.0 10 180-528/3ph 560 B G 4.90 2,821 FPH4A05TB-EN23 5.0 10 180-528/3ph 560 B G 4.90 2,713 + + FPH4A07TR-RN23 7.5 15 180-528/3ph 560 RG68 G 4.90 2,883 FPH4A07TR-EN23 7.5 15 180-528/3ph 560 RG68 G 4.90 2,775 FPH4A15TR-RN23 15.0 30 180-528/3ph 560 RG27A H 9.05 3,414 FPH4A15TR-EN23 15.0 30 180-528/3ph 560 RG27A H 9.05 3,306 II II FPH4A20TR-RN23 20.0 40 180-528/3ph 560 RG27A H 9.05 3,891 FPH4A20TR-EN23 20.0 40 180-528/3ph 560 RG27A H 9.05 3,783 FPH4A27TR-RN23 27.5 55 180-528/3ph 560 RG11 H 9.05 4,370 FPH4A27TR-EN23 27.5 55 180-528/3ph 560 RG11 H 9.05 4,262 NOTES: EXTERNAL REGENERATION RESISTORS – May be required depending upon load characteristics. Refer to page 21. * 1ph not recommended for more than 5amps bus current. The above configurations are standard Australian stock items. Alternative configurations for 115Vac/50-60Hz input are available ex-factory. Refer page 15. ™ ‘Flex+Drive ’ Servo Drives (Series I) ™ NOTE: Not for new applications. Please choose from FlexDrive II ‘FDH’ or ‘FPH’ models. These products are mature, with no further development or software enhancements possible. Catalogue Continuous Peak Input Voltage Range Nominal Braking Resistor* Dimensions Weight List Price Number Output Output 50/60Hz ±5% Bus Voltage B = Built-in Refer to Page 21 Group E3 A(rms) A(rms) Vac/ph Vdc RGxx = Resistor Nº Package Size kg $ ™ FlexDrive BRUSHLESS ac SERVODRIVER with INTEGRATED POWER SUPPLY FP2A05TB-RN20 5.0 10 184 – 253/1ph 300 B B 2.13 2,183 FP2A07TR-RN20 7.5 15 184 – 253/1ph 300 RG39 C 2.18 2,328 FP2A02TB-RN20 2.5 5.0 184 – 253/1ph 300 B A 1.24 1,973 NOTES: EXTERNAL REGENERATION RESISTORS – May be required depending upon load characteristics. Refer to page 21. * 1ph not recommended for more than 5amps bus current. The above configurations are standard Australian stock items. Alternative configurations for 115Vac/50-60Hz input are available ex-factory. Refer page 15. ☎ (02) 9674 5455 4th Oct 2004 – All Prices Exclude GST ☎ (03) 9753 4355 Fax (02) 9674 2495 Page 17 Fax (03) 9753 4366