Device Net
Expansion Board
(Baldor Binary Protocol)
Catalog No. EXB013A01
Installation and Operating Manual
8/03
MN1320
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Table of Contents
Section 1
General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-1
1-1
1-2
1-3
1-3
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Limited Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety Notice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 2
Expansion Board Description . . . . . . . . . . . . . . . . . . . . . . . . . .
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-1
2-1
Section 3
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-1
3-1
3-2
3-2
3-4
Board Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AC Controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Single Expansion Board Installation . . . . . . . . . . . . . . . . . .
Dual Expansion Board Installation . . . . . . . . . . . . . . . . . . .
Section 4
Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-1
4-1
4-1
4-1
4-4
4-5
DIP Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cable Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Powerup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LED Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control Terminal Strip Connections . . . . . . . . . . . . . . . . . . . . .
Section 5
Software Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-1
5-1
5-4
5-4
Configure Control Software for Device Net Mode . . . . . . . . .
Device Net Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EXB I/O Instances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 6
Command Language . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-1
6-1
6-1
EXB I/O Instances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Transaction Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Transaction Specification Table . . . . . . . . . . . . . . . . . . . . . . . .
5 - Command Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
31- Terminal Strip . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
36 or 37 - Optionald# . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
41 - Watchdog Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-5
6-17
6-19
6-20
6-21
6-21
Table of Contents i
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ii Table of Contents
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Section 1
General Information
Introduction
The Baldor controls represent the latest technology in microprocessor
based motor controls. In addition to the user programmable parameters
available in every control, many different expansion boards are available
from Baldor to further customize the control to most any application.
Expansion boards are categorized by compatibility into two groups:
Group 1 and Group 2, see Table 1-1. A board from either group may be
used alone in a control. If two boards are to be used, one board must
be from Group 1 and the other from Group 2.
Note: Using two Group 1 or two Group 2 boards in the same control is
not allowed.
Table 1-1 Group 1 and Group 2 Board Categories
Group 1 Board Name
Isolated Input
Master Pulse Reference/
Isolated Pulse Follower
Catalog No.
EXB003A0X
EXB005A0X
Manual No.
MN1314
MN1312
DC Tachometer Interface
Isolated Encoder
Resolver to Digital Interface
Group 2 Board Name
RS-232 Serial
RS-422/RS-485 Serial
RS-232/485 Serial
Four Output Relays/3-15 PSI
Pneumatic
EXB006A0X
EXB008A0X
EXB009A0X
MN1311
MN1317
MN1313
EXB001A0X
EXB002A0X
EXB012A0X
EXB004A0X
MN1310
MN1310
MN1310
MN1315
High Resolution Analog I/O
2 Isolated Analog Output/ 3 Relay
Output
EXB007A0X
EXB010A0X
MN1316
MN1319
Device Net
Profibus
Modbus Plus
EXB013A0X
EXB014A0X
EXB015A0X
MN1320
MN1323
MN1322
General Information 1-1
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Limited Warranty
For a period of two (2) years from the date of original purchase,
BALDOR will repair or replace without charge controls and
accessories which our examination proves to be defective in
material or workmanship. This warranty is valid if the unit has not
been tampered with by unauthorized persons, misused, abused, or
improperly installed and has been used in accordance with the
instructions and/or ratings supplied. This warranty is in lieu of any
other warranty or guarantee expressed or implied. BALDOR shall
not be held responsible for any expense (including installation and
removal), inconvenience, or consequential damage, including
injury to any person or property caused by items of our manufacture
or sale. (Some states do not allow exclusion or limitation of
incidental or consequential damages, so the above exclusion may
not apply.) In any event, BALDOR’s total liability, under all
circumstances, shall not exceed the full purchase price of the
control.
Claims for purchase price refunds, repairs, or
replacements must be referred to BALDOR with all pertinent data
as to the defect, the date purchased, the task performed by the
control, and the problem encountered. No liability is assumed for
expendable items such as fuses.
Goods may be returned only with written notification including a
BALDOR Return Authorization Number and any return shipments
must be prepaid.
1-2 General Information
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Safety Notice
This equipment contains voltages that may be as great as 1000 volts!
Electrical shock can cause serious or fatal injury. Only qualified
personnel should attempt the start-up procedure or troubleshoot this
equipment.
This equipment may be connected to other machines that have rotating
parts or parts that are driven by this equipment. Improper use can
cause serious or fatal injury. Only qualified personnel should attempt
the start-up procedure or troubleshoot this equipment.
PRECAUTIONS
WARNING: Do not touch any circuit board, power device or
electrical connection before you first ensure that power has
been disconnected and there is no high voltage present
from this equipment or other equipment to which it is
connected. Electrical shock can cause serious or fatal
injury. Only qualified personnel should attempt the start-up
procedure or troubleshoot this equipment.
WARNING: Be sure that you are completely familiar with the
safe operation of this equipment. This equipment may be
connected to other machines that have rotating parts or
parts that are controlled by this equipment. Improper use
can cause serious or fatal injury. Only qualified personnel
should attempt the start-up procedure or troubleshoot this
equipment.
General Information 1-3
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WARNING: Be sure the system is properly grounded before
applying power. Do not apply AC power before you ensure
that all grounding instructions have been followed.
Electrical shock can cause serious or fatal injury.
WARNING: Do not remove cover for at least five (5) minutes
after AC power is disconnected to allow capacitors to
discharge. Dangerous voltages are present inside the
equipment. Electrical shock can cause serious or fatal
injury.
WARNING: Improper operation of control may cause violent
motion of the motor shaft and driven equipment. Be certain
that unexpected motor shaft movement will not cause injury
to personnel or damage to equipment. Peak torque of
several times the rated motor torque can occur during
control failure.
WARNING: Motor circuit may have high voltage present
whenever AC power is applied, even when motor is not
rotating. Electrical shock can cause serious or fatal injury.
Caution: To prevent equipment damage, be certain that the
electrical service is not capable of delivering more than the
maximum line short circuit current amperes listed in the
appropriate control manual, 230 VAC, 460 VAC or 575 VAC
maximum per control rating.
1-4 General Information
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Section 2
Expansion Board Description
Introduction
The Device Net expansion board is a Device Net Group 2 Only Slave
device using the predefined master/slave connection set, as defined by
the ODVA. It is capable of explicit messaging, as well as polled and/or
COS/Cyclic I/O. The interface is based on the Baldor Binary Protocol
(BBP) command set.
Group 2 board
Device Net Communications Expansion Board
Catalog No. EXB013A01
Description 2-1
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2-2 Description
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Section 3
Installation
Board Installation
This section describes the Expansion Board installation procedure.
Caution: Before you proceed, be sure to read and become
familiar with the safety precautions at the beginning of this
manual. Do not proceed if you are unsure of the safety
precautions described. If you have any questions, contact
BALDOR before you proceed.
1. Remove the expansion board from the shipping container.
2. Remove all packing material from the board.
Caution: Be sure all packing materials are removed from the
board. Conductive foam may be present on the connectors
to prevent static build up during shipping. This can prevent
proper circuit operation.
If you are installing only one board, refer to the “Single Expansion Board
Installation” procedure. If you are installing two expansion boards (or a
second board) refer to the “Dual Expansion Board Installation”
procedure.
Installation 3-1
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AC Controls
(For all 15H Inverter, 21H Line Regen Inverter, 18H Vector, 22H Line
Regen Vector and 23H Servo).
Single Expansion Board Installation
Procedure:
1. Be sure drive operation is terminated and secured.
2. Remove all power sources from the control.
3. Wait at least 5 minutes for internal capacitors to discharge.
1
4. Remove the four (4) Phillips head screws ( / turn) that secure the
4
control cover. (For A & B size, remove four screws that secure the
cover. On floor mounted G size enclosures, open the enclosure
door).
5. Remove the control cover.
6. Slide the expansion board male connector into the female
connector of the control board. See Figure 3-1.
7. Securely mount the expansion board to the sheet metal mounting
plate using the #6 screws provided in the installation hardware.
See Figure 3-2.
8. The mechanical installation of the expansion board is now
complete. Refer to Section 4 of this manual and configure the
jumpers as desired. Also complete the wiring before you proceed
to step 9.
9. When complete, install the control cover using the four (4) Phillips
1
head screws ( / turn). (For A & B size, install four screws that
4
secure the cover. On floor mounted G size enclosures, close the
enclosure door).
10. Restore all power sources to the control.
11. Restore drive operation.
3-2 Installation
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AC Controls
Single Expansion Board Installation (Continued)
Figure 3-1 Single Expansion Board Installation
Expansion Board
Motor Control Board
Terminal tightening torque is 7 lb-in (0.8 Nm) maximum.
Figure 3-2 Single Expansion Board Installation
#6 Screw
Group 1 or 2 Expansion Board
Sheet Metal Mounting Plate
Installation 3-3
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AC Controls (Continued)
Dual Expansion Board Installation
Procedure:
1. Be sure drive operation is terminated and secured.
2. Remove all power sources from the control.
3. Wait at least 5 minutes for internal capacitors to discharge.
1
4. Remove the four (4) Phillips head screws ( / turn) that secure the
4
control cover. (For A & B size, remove four screws that secure the
cover. On floor mounted G size enclosures, open the enclosure
door).
5. Remove the control cover.
6. Slide the Group 1 expansion board male connector into the female
connector of the control board. See Figure 3-1.
7. Securely mount the Group 1 expansion board to the sheet metal
mounting plate using the short standoffs provided in the installation
hardware. See Figure 3-3.
8. The mechanical installation of the expansion board is now
complete. Refer to the manual for the Group 1 board and configure
the jumpers as desired. Also complete the wiring before you
proceed to step 9.
9. Install the Group 2 board on top of the previously installed Group 1
board by plugging the female connector onto the male connector of
the Group 1 board as shown in Figure 3-3.
10. Secure this Group 2 board to the Group 1 board using the #6
screws provided. See Figure 3-3.
11. The mechanical installation of the expansion board is now
complete. Refer to the manual for the Group 2 board and configure
any jumpers and switches as desired. Also complete the wiring for
this board before you install or close the cover.
3-4 Installation
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AC Controls
Dual Expansion Board Installation (Continued)
12. When complete, install the control cover using the four (4) Phillips
1
head screws ( / turn). (For A & B size, install four screws that
4
secure the cover. On floor mounted G size enclosures, close the
enclosure door).
13. Restore all power sources to the control.
14. Restore drive operation.
Figure 3-3 Dual Expansion Board Installation
#6 Screw
Group 2 Expansion Board
Female Connector
Short
Aluminum
Male Connector
Standoff
Group 1 Expansion Board
Control Board Mounting Plate
Installation 3-5
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3-6 Installation
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Section 4
Hardware Setup
DIP Switch Settings
This procedure will configure the Device Net Expansion Board for
communication with a computer or terminal. Reference Figure 4-1 and
Table 4-1 for the following procedure.
1. Set DIP switches 1 and 2 for the desired baud rate.
2. Set switches 3 through 8 for the ID number desired.
3. Install the Device Net expansion board in the Series H control as
instructed in Section 3 of this manual.
Note: The switch settings can be changed after the board is powered
up. However, switch changes will not take effect until the board
is reset (by pushing PB1 or by turning power off then on).
Cable Connection
1. Connect the Device Net wires to the 5 pin connector provided with
the expansion board as shown in Figure 4-1.
Note: The Device Net bus must provide 24VDC power to the
expansion board.
2. If a terminator is required, connect a 120 ohm terminating resistor
across pins 2 and 4 of the modular connector (CAN– and CAN+).
Powerup
When the Device Net expansion board is powered up it will perform the
following:
1. Perform a self test.
2. Check the switch settings for configuration information.
3. Verify communications with the Series H control board.
4. Check for power on the Device Net bus.
5. Perform a Duplicate MAC ID check to determine if any other
devices on the network have the same MAC ID number.
6. Go online.
After powerup, both LED’s should be GREEN.
Refer to the LED Indicators description in this section of the manual.
Hardware Setup 4-1
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Figure 4-1 Board Configuration
Device Net Expansion Board Catalog No. EXB013A01
Reset switch
All switches shown in OFF position.
O N
1 2 3 4 5 6 7 8
Side
View
Module Status LED
Network Status LED
1
2
3
4 5
4-2 Hardware Setup
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Table 4-1 Switch Settings
Switch Number
Description
1
2
3
4
5
6
7
8
125kBPS
250kBPS
500kBPS
MAC ID 0
MAC ID 1
MAC ID 2
MAC ID 3
MAC ID 4
MAC ID 5
MAC ID 6
MAC ID 7
MAC ID 8
MAC ID 9
MAC ID 10
MAC ID 11
MAC ID 12
MAC ID 13
MAC ID 14
MAC ID 15
MAC ID 16
MAC ID 17
MAC ID 18
MAC ID 19
MAC ID 20
MAC ID 21
MAC ID 22
MAC ID 23
MAC ID 24
MAC ID 25
MAC ID 26
MAC ID 27
MAC ID 28
MAC ID 29
MAC ID 30
MAC ID 31
MAC ID 32
. . .
OFF
OFF
ON
OFF
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
OFF
OFF
OFF
OFF
ON
OFF
OFF
ON
OFF
ON
OFF
ON
ON
OFF
OFF
ON
OFF
ON
ON
ON
OFF
ON
ON
ON
OFF
OFF
OFF
OFF
ON
OFF
OFF
ON
OFF
ON
ON
ON
OFF
ON
ON
ON
ON
OFF
OFF
ON
OFF
ON
ON
ON
ON
ON
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
OFF
OFF
OFF
OFF
ON
OFF
OFF
ON
OFF
ON
ON
ON
OFF
ON
ON
ON
ON
OFF
OFF
ON
OFF
ON
ON
ON
ON
ON
OFF
ON
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
OFF
OFF
ON
OFF
ON
ON
ON
ON
ON
OFF
ON
ON
ON
ON
ON
ON
OFF
OFF
ON
OFF
ON
ON
ON
ON
ON
ON
ON
OFF
ON
ON
ON
ON
ON
OFF
. . .
OFF
. . .
OFF
. . .
OFF
. . .
OFF
. . .
. . .
. . .
. . .
MAC ID 63
ON
ON
ON
ON
ON
ON
Hardware Setup 4-3
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LED Indicators
Two LED’s are located on the Device net expansion board.
MS - Module Status LED
Displays the operational status of the Device Net Interface expansion
board (EXB). Status is summarized in Table 4-2.
Table 4-2
LED State Status Description
OFF
No power is applied to the EXB.
Green
The EXB is operating in a normal condition.
Flashing
Green
The EXB is in standby mode. The EXB may be attempting to
communicate with the Series H control. Be sure the Series H
control is in RS485BBP mode.
Red
The EXB has an unrecoverable fault and may need to be
replaced.
Flashing
Red
The EXB has had a recoverable fault. This may be an invalid
DIP switch setting or the lost Bus Power (Device Net cable
disconnected).
Flashing
Red-Green
The EXB is in a self test mode.
NS - Network Status LED
Displays the status of the connection to the Device Net network. Status
is summarized in Table 4-3.
Table 4-3
LED State Status Description
OFF
The EXB is not Online or has lost power.
Green
The EXB is Online and operating. Link OK, Online, Connected.
Flashing
Green
EXB is Online but no connection is established. EXB passed
the DUP_MAC_ID test, Online, but has no connections to other
nodes.
Red
Failed communications tests. EXB detected errors that prevent
it from communicating on the network. Duplicate MAC ID,
Bus-Off.
Flashing
Red
One or more I/O connections have timed out. Connection timed
out.
Flashing
Red-Green
The EXB is in a self test mode.
4-4 Hardware Setup
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Control Terminal Strip Connections
For Serial Mode operation, the Input/Output terminal strip of the control
(J1 of the Vector and DC controls and J4 of the Inverters) is wired as
shown in Figure 4-2. Connect the Enable, Forward Enable Switch,
Reverse Enable Switch, External Trip and Opto Common connections
as shown.
Note: All opto-isolated outputs and analog outputs remain active while
operating in the Serial Mode.
When these connections are complete, refer to Section 5 of this manual
and set the software for Serial Mode.
Figure 4-2 Serial Opto Input Connections
J1*
J4**
8
Enable
8
Enable
Forward
Enable
Reverse
Enable
9
Forward
Enable
Reverse
Enable
9
10
10
External
Trip
16
17
16
17
External
Trip
Common
Common
*
**
Series 18H, 22H and 23H controls.
Series 15H and 21H controls.
Hardware Setup 4-5
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4-6 Hardware Setup
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Section 5
Software Setup
Configure Control Software for Device Net Mode
The Series H control operating mode must be set to Serial to use the
Device Net expansion board. There is no selection for Device Net on
the Level 1 Input block Operating mode parameter list. However,
selecting Serial with the Device Net expansion board installed will allow
operation of the Device Net board.
Many commands in the Command Language can be used regardless of
the setting of the control’s Operating Mode parameter (such as
changing and viewing parameters). However, commands intended to
control the motor shaft require the control be in the Serial (Device Net)
Mode.
Note: The firmware version of the Series H control must support the
Baldor Binary Protocol (BBP). To confirm that BBP is supported,
perform the following:
Scroll to the Level 2 Communications block, and view the
selections. If RS485BBP is available, the software version is
compatible with the Device Net expansion board. Otherwise,
contact Baldor to obtain a software update.
During power up, the control checks if the communication board
is installed. If an RS485 board is installed, the RS485BBP
protocol is automatically selected during power up.
Software Setup 5-1
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Action
Apply
Power
Description
Display illuminates
Display
BALDOR
MOTORS & DRIVES
Comments
Logo is
displayed for 5
seconds.
STP MOTOR SPEED
If no fault is found and
control is programmed for
local mode,OR,
Display mode.
LOCAL
0RPM
STP MOTOR SPEED
REMOTE 0RPM
If no fault is found and
control is programmed for
remote mode
Display mode.
PRESS ENTER FOR
PRESET SPEEDS
Press
PROG key
Access programming mode.
First screen in
programming
mode
PRESS ENTER FOR
INPUT
Press Y
or B key
Scroll to Level 1 Input block
First selection choice
Input Block.
OPERATING MODE
Press
Enter key
Now in keypad
KEYPAD
mode.
P:
OPERATING MODE
KEYPAD
Press
Flashing cursor indicates
Enter key mode can be changed
OPERATING MODE
SERIAL
Press Y
or B key
Scroll to Serial mode
Change to
Serial mode.
OPERATING MODE
Press
Enter key
Saves mode change value
P:
SERIAL
COMMAND SELECT
Press Y
key
Scroll to Command Select
parameter
Now in ±10 Volt
input mode.
P:
+/–10VOLTS
Press
Flashing cursor indicates
COMMAND SELECT
+/–10VOLTS
Enter key mode can be changed
COMMAND SELECT
SERIAL
Press Y
or B key
Scroll to Serial mode
Change to
Serial mode.
COMMAND SELECT
P:
Press
Saves change to serial
Control is now
SERIAL
in Serial mode.
Enter key command select
Note: The 15H control does not have a Command Select “Serial”,
this is not needed for this control.
5-2 Software Setup
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Action
Description
Display
Comments
PRESS ENTER FOR
LEVEL 2 BLOCKS
Press Y
or B key
Scroll to Level 2 blocks
PRESS ENTER FOR
OUTPUT LIMITS
Press
ENTER
key
Select Level 2 blocks.
First screen in
Level 2 block
PRESS ENTER FOR
COMMUNICATIONS
Press Y
or B key
Scroll to Communications
block
PROTOCOL
p: RS232 ASCII
Press
ENTER
key
Select Level 2
Communications block.
PROTOCOL
RS232ASCII
Press
Flashing cursor indicates
Enter key mode can be changed
PROTOCOL
RS485BBP
Press Y
or B key
Scroll to RS 485 BBP
(Baldor Binary Protocol)
PROTOCOL
Press
ENTER
key
Select RS 485 BBP mode.
p:
RS485BBP
PRESS ENTER FOR
MENU EXIT
Press Y
or B key
Scroll to Exit Menu
STP MOTOR SPEED
Press
DISP key
Returns to Display mode.
Display mode.
LOCAL
0RPM
STP MOTOR SPEED
SERIAL 0RPM
Press
LOCAL
key
Changes to Serial
Operation.
Ready for
device net
operation.
The control is now configured for Device Net mode and the Host
software can now be setup.
Software Setup 5-3
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Device Net Configuration
The Device Net expansion board is a Device Net Group 2 Only Slave
device using the predefined master/slave connection set, as defined by
the ODVA. It is capable of explicit messaging, as well as polled and/or
COS/Cyclic I/O. The interface is based on the Baldor Binary Protocol
(BBP) command set.
This EDS file (Electronic Data Sheets) is used by Device Net equipment
to communicate with the BBP of the Baldor Device Net expansion
board. The Baldor EDS file is provided on a diskette that is shipped with
the expansion board. A Device Net configuration tool, such as
Allen-Bradley “Device Net Manager” software should be used to
configure the Device Net expansion board. The EDS file is also
available on the Baldor World Wide WEB page (www.baldor.com).
EXB I/O Instances
The input and output assembly instances are predefined I/O data
formats that can be selected based on your application. If an I/O
connection is being used, the selected I/O assembly instance
determines the size and format of the data. Only one input instance and
one output instance can be selected. The Input and Output instances
should be set using a Device Net configuration tool prior to connection
to a host device.
Note: Instances 105 and 155 are factory preset. These instances must
be properly set for your application.
Elements of an I/O instance can be 1 to 32 bits in length and can
reference any of the Baldor Binary Protocol (BBP) transactions
supported by the Device Net expansion board (see Section 6 of
this manual). Each assembly instance can contain no more than
8 bytes.
Tables 5-1 and 5-2 defines the format of the Input and Output Assembly
Instances.
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Table 5-1 Format of Input Assembly Instances
Instance Byte Format
#
Byte
Bit7
Bit6
Bit5
Bit4
Bit3
Bit2
Bit1
Bit0
ControlState
Warning
Output1
Output2
Output3
Output4
0
T#4
T#27
TerminalStrip T#31
CommandMode
network
remote
rev
fwd
1
T#5
CtrlSourceT#3
RunCMDT#1
151
SpeedActual T#18 (Low Byte)
SpeedActual T#18 (High Byte)
CurrentActual T#17 (Low Byte)
CurrentActual T#17 (High Byte)
SpeedActual T#18 (Low Byte)
SpeedActual T#18 (High Byte)
CurrentActual T#17 (Low Byte)
CurrentActual T#17 (High Byte)
2
3
4
5
0
1
2
3
ZeroSpd
AtSpeed
Input 4
Input 5
Input 6
Input 7
Input 8
Input 9
4
5
6
152
T#25
T#26
TerminalStrip T#31
FaultStatus T#45
MotorDir
ControlState
Output1
Output2
Output3
Output4
fwd
T#24
T#4
TerminalStrip T#31
remote rev
CommandMode
network
7
T#5
CtrlSourceT#3
RunCMDT#1
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Table 5-1 Format of Input Assembly Instances Continued
Instance Byte Format
#
Byte
Bit7
Bit6
Bit5
Bit4
Warning
Bit3
Bit2
Bit1
Bit0
ControlState
Output1 Output2 Output3 Output4
0
1
T#4
T#27
TerminalStrip T#31
CommandMode
network remote
rev
fwd
T#5
CtrlSourceT#3
RunCMDT#1
153
FreqActual T#19 (Low Byte)
2
3
4
5
CurrentActual T#17 (Low Byte)
CurrentActual T#17 (High Byte)
Input6
Input7
Input8
Input9 Output1 Output2 Output3 Output4
TerminalStrip T#31
0
CommandMode
network remote
rev
fwd
1
2
T#5
CtrlSourceT#3
RunCMDT#1
SpeedActual T#18 (Low Byte)
SpeedActual T#18 (High Byte)
154
3
4
5
6
7
Position T#15 (Low Word/Low Byte)
Position T#15 (Low Word/High Byte)
Position T#15 (High Word/Low Byte)
Position T#15 (High Word/High Byte)
Note: For Table 5-2, use instance 103 for 15H and 21H controls (speed
is sent in Hertz). Use other instances for 18H, 22H and 23H
(speed is sent in RPM).
5-6 Software Setup
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Table 5-2 Format of Output Assembly Instances
Instance Byte Format
#
Byte
Bit7
FaultRst RunInhibit
T#46 T#2
Bit6
Bit5 Bit4
TableSelect ꢀ
Bit3 Bit0
Output1 Output2 Output3 Output4
Bit2
Bit1
0
1
T#39
T#75
CommandMode
network
remote
rev
fwd
T#5
CtrlSourceT#3
RunCMDT#1
101
2
3
4
5
0
1
2
3
4
5
(RPM) SpeedRef T#7 (Low Byte)
(RPM) SpeedRef T#7 (High Byte)
TorqueRef T#9 (Low Byte)
TorqueRef T#9 (High Byte)
SpeedRef T#7 or PositionSpeed T#13 Low Byte ꢁ
SpeedRef T#7 or PositionSpeed T#13 High Byte ꢁ
TorqueRef T#9 or TorqueRef T#12 Low Word, Low Byte ꢂ
TorqueRef T#9 or TorqueRef T#12 Low Word, High Byte ꢂ
TorqueRef T#9 or TorqueRef T#12 High Word, Low Byte ꢂ
TorqueRef T#9 or TorqueRef T#12 High Word, High Byte ꢂ
102
103
104
FaultRst ZeroPos
T#46 T#12
AccDecGroup
Output1 Output2 Output3 Output4
6
7
0
1
T#40
T#75
CommandMode
network
remote
rev
fwd
T#5
CtrlSourceT#3
Output1 Output2 Output3 Output4
RunCMDT#1
FaultRst RunInhibit
TableSelect ꢀ
T#46
T#2
CommandMode
T#39
T#75
network
remote
rev
fwd
T#5
CtrlSourceT#3
RunCMDT#1
2
3
4
5
(0.1Hz) HzSpeedRef T#6 (Low Byte)
(0.1Hz) HzSpeedRef T#6 (High Byte)
TorqueRef T#9 (Low Byte)
TorqueRef T#9 (High Byte)
FaultRst ZeroPos
TableSelect ꢀ
Output1 Output2 Output3 Output4
0
T#46
T#12
CommandMode
T#39
T#75
network
remote
rev
fwd
1
T#5
CtrlSourceT#3
RunCMDT#1
2
3
4
5
6
7
PositionSpeed T#13 (Low Byte)
PositionSpeed T#13 (High Byte)
PositionRef T#12 (Low Word/Low Byte) ꢃ
PositionRef T#12 (Low Word/High Byte) ꢃ
PositionRef T#12 (High Word/Low Byte) ꢃ
PositionRef T#12 (High Word/High Byte) ꢃ
See notes on next page.
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Notes:
ꢁ
Used with CommandMode (T#5). These bytes represent the variables
SpeedRef (T#7), or Position SpeedRef (T#13).
ꢂ
Used with CommandMode (T#5). These bytes represent the variables
TorqueRef or PositionRef. PositionRef requires 4 bytes. TorqueRef
requires 2 bytes (Low Word).
ꢀ
ꢃ
TableSelect is not implemented at this time.
When a PLC updates memory in the middle of a double integer write of
PositionRef, a problem may occur. If the first integer is written and the
PLC updates the memory of a networked device, the position information
is wrong (second integer is missing). To avoid this problem, be sure the
CommandMode (T#5) is not set to PositionCmd until after both integers
are written.
ꢄ
Torque and Position commands are not implemented for the Series 15H
Control.
5-8 Software Setup
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Section 6
Command Language
Transaction Specification
This section contains a detailed list of the transactions currently
supported by the protocol. The list includes the transaction
number, name, type description, and a detailed specification of
the required and returned data.
Note: Some transactions are not supported by all control types.
Also some controls require variations in commanded data.
Where these exceptions exist, they will be identified in the
text.
How To Read The Transaction Specification
The transaction table provides quick access to relevant
information about each transaction. When necessary a
transaction will be explained in more detail in the sections that
follow.
Transaction Number (T#)
The transaction number is the identification of the command. As
mentioned in Section 3, the maximum number of transactions is
256 (250 – 255 are reserved for future use.)
Command Language 6-1
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Name
The ‘Name’ field refers to a ‘C’ style variable for function names
associated with the transaction. Use of these names is not
necessary to interface with the transaction. These names may
be used in present and future software drivers and libraries
provided by Baldor. When used in conjunction with Baldor
software tools, the transaction name is case sensitive.
Type
There are three basic transaction types: Set, Get, and those
which do both: Set/Get.
S
‘Set’ transactions are used to change internal values, or
execute one–time (nonmodal) commands. As a general rule
most ‘set’ transactions pass data to the control, but do not
return any. Most execution ‘set’ commands do not pass or
return data.
S
S
‘Get’ transactions are used to retrieve internal values or
control conditions. Most ‘get’ transactions return data but do
not pass data.
‘Set/Get’ transactions do both functions. Usually these
transaction always return data, but only accept or pass data
when a ‘set’ or change function is occurring. When no data is
passed, the ‘Set/Get’ functions as a ‘Get’ or read–only
transaction.
When a transaction does not fit these general rules, both passed
and returned data fields will be clearly specified.
6-2 Command Language
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Data Field
The Data Field defines the data transfer requirements of the
application layer message. This field describes the data using
the ‘data type’ defined in Section 2.l. Commas separate
individual elements of data.
As previously discussed in Section 3, there are two types of
application layer packets–. Command and Response.
Command packets ALWAYS contain a transaction number
(USINT). Response packets ALWAYS contain a transaction
number (USINT) and a status (USINT). The transaction
specification is only concerned with the data field portion of these
messages. The transaction number and status are assumed to
be present, and are not shown in the specification.
In transactions that fit the basic Set, Get, and Set/Get definitions,
only a single data field is described in the specification. In these
cases it is assumed that a ‘Set’ transaction has only Command
packet data. A ‘Get’ has only Response packet data. And a
‘Set/Get’ has the same data in the Command and Response
packet, unless it is being used to ‘Get’ only, in which case there
is no Command data.
Transactions are not required to conform to these basic rules.
When such exceptions exist, both their Command and Response
data fields will be described in detail. The command data field is
preceded by a C:, the response data field is preceded by a R: for
identification purposes only.
In some cases variable names are given in the data field
specification. These names are used to describe multiple
elements of a common data type. These names are not required
for use, but may be included in present and future software
drivers and libraries provided by Baldor. (When used with tools
provided by Baldor, variable names are case sensitive.)
Command Language 6-3
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Class
The class field indicates the product classes that support the
transaction. The product codes are as follows:
E
I
S
V
= Encoderless Vector
= Inverter
= Servo
= Vector
V* = Vector with custom software for positioning
Description
The description field gives information regarding the use of the
transaction. When possible the data range, scale, units, etc. are
also given. When it is not possible to fully describe the
transaction in the table, or when other information such as a
state diagram or event matrix must be given, further information
will be included in sections following the transaction table. An
asterisk is used to indicate default power up values where
applicable.
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Transaction Specification Table
Table 6-1 Transaction Specification Table
T#
Name
Type Data Field Class
Description
0
Null
Set
None
All
No action.
This can be used to
reset the watchdog
timer, or as a
placeholder in
conjunction with a
global Execute
Buffer transaction.
1
RunCmd
Set/
Get
USINT
All
Network run / stop
command. Get 0 =
Stop (refer to stop
mode parameter)
1 = Fwd
2 = Rev
3 = Bipolar Run *
Actual motor
direction is returned
in Motor Direction. In
fwd or rev, only the
absolute value of the
command
references (speed,
torque) are used. In
bipolar run, the
signed reference
values control the
direction. These
commands are only
valid when
CtrlSource = 2
(control from
network)
2
RunInhibit
Set/
Get
BOOL
All
Commands a stop
regardless of the
command source
(Local Keypad,
Remote terminal
strip, control from
network.)
1 = Stop, 0 = No
action*
* Indicates initial powerup value.
Command Language 6-5
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Table 6-1 Transaction Specification Table Continued
T#
Name
Type Data Field Class
Description
3
CtrlSource
Set
USINT
All
0 = Keypad (local)
1 = Terminal strip
(remote)
2 = Control from
network
4
5
ControlState
Get
USINT
E,V,S 0 = Not Ready (no
main power)
1 = Ready (disabled)
2 = Enabled
3 = Stopping
4 = Fault exists
CommandMode Set/
Get
USINT
All
Command Mode
0 = None (Disabled) *
1 = Torque CMD
selected
source
2 = Torque CMD
network
3 = Speed CMD
selected
source
4 = Speed CMD
network
5 = Orient
6 = Position CMD ABS
7 = Position CMD INC
9 = Position CMD
external
10 = Home
11 = Process Torque
12 = Process Speed
13 = Auto Tune
Refer to the command
mode section for
complete operational
description.
* Indicates initial powerup value.
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Table 6-1 Transaction Specification Table Continued
T#
Name
Type Data Field Class
Description
6
HzSpeedRef
Set/
Get
INT
INT
I,
All
Hertz Speed
Reference.
Set Units: 0.1 Hz
(one decimal place)
7
8
SpeedRef
Set/
Get
INT
INT
E,V,S, Speed reference
All
Units: RPM
(Standard Get
Resolution)
SpeedRefHigh
Set/
Get
DINT
E,S,V Speed reference
(High Resolution)
Units: 1/256 RPM .
The middle 16 bits
mirror SpeedRef.
Not supported by all
product classes.
9
TorqueRef
Set/
Get
INT
S,V
Torque reference
(Current)
Scaling: ±15bit
(32767) =
programmed current
limit.
12 PositionRef
Set/
Get
DINT
INT
S, V* Position Reference
Scaling = quadrature
counts (4 x
feedback counts per
rev.)
13 PositionSpeed
Set/
Get
S, V* Positioning Speed
Reference
Max speed used for
positioning
commands. Also
referred to as feed
rate or target
velocity.
Units: RPM
15 Position
Set/
Get
DINT
S, V* Position counter
Scaling = quadrature
V*
= Vector with custom software for positioning
Command Language 6-7
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Table 6-1 Transaction Specification Table Continued
T#
Name
Type Data Field Class
Description
17 CurrentActual
Get
INT
INT
INT
E,I,S, Actual motor phase
V
current
Units: 100mA RMS
Note: calculated on
inverter.
18 SpeedActual
Get
All
Actual motor speed
(absolute value.)
(Approximated in
some products.)
Units: RPM
19 FrequencyActual Get
E,I,S, Actual motor
frequency Units: 0.1
V
Hz (one decimal
place)
20 PowerActual
21 InputVoltage
22 OutputVoltage
Get
Get
Get
INT
INT
INT
E,V,S Actual output power
Units: Watts
E,V,S Input line voltage
Units: Volts RMS
E,V,S Motor phase voltage
(commanded)
Units: Volts RMS
24 MotorDirection
Get
BOOL
E,V,S 0 = Fwd
1 = Rev
Actual in position
feedback products,
commanded in
others.
25 ZeroSpeed
26 AtSpeed
Get
Get
BOOL
BOOL
E,S,V 1 = At zero
0 = Not at zero
E,V,S 1 = At commanded
speed
0 = Not at speed
27 Warning
Get
BOOL
E,V,S 1 = Warning
0 = No warnings
present
* Indicates initial powerup value.
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Table 6-1 Transaction Specification Table Continued
T#
Name
Type Data Field Class
Description
28 AtPosition
29 AtSetpoint
30 AtSetSpeed
31 TerminalStrip
Get
Get
Get
Get
BOOL
BOOL
BOOL
WORD
S,V
1 = At position
0 = Not at position
E,V,S 1 = At setpoint
0 = Not at setpoint
E,V,S 1 = At set speed
0 = Not at set speed
All
Digital I/O status
word. Refer to Table
6-3 for description.
32 SoftwareVersion
Get
STRING
UINT
E,V,S Control software
version (16
characters
maximum.)
33 SoftwareRevision Get
All
Control software
revision number. For
example S15–4.03 is
returned as 403.
Note: for custom
software revisions,
only the core
(standard) revision is
returned.
34 ProductSeries
35 ProductClass
Get
Get
UINT
All
All
Product series for
example a Series
15H returns: 15.
USINT
0 = D
1 = DP
2 = E
3 = I
4 = S
5 = V
36 Optionld1
37 Optionld2
Get
Get
USINT
USINT
E,V,S Option ID1 (see
table 6-4)
0 = Not installed
E,V,S Option ID2 (see
table 6-4)
0 = Not installed
* Indicates initial powerup value.
Command Language 6-9
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Table 6-1 Transaction Specification Table Continued
T#
Name
Type Data Field Class
Description
38 RunTime
Get
UDINT
E,V,S Total time power has
been applied. Units:
seconds.
39 TableSelect
Get/
Set
USINT
E,S,V Parameter table
select
Range 0 – 3
Note: DDC only
supports 2 tables.
Can only be
changed when under
network control
40 AccDecGroup
41 WatchdogTime
Get/
Set
USINT
UINT
E,V,S Accel / decel group
select
Range 1 – 2 Can
only be changed
when under network
control.
Get/
Set
All
Network watchdog
timer Get Units:
10mS
0 = disable
2= 20mS minimum
6000= 60S
maximum
Note: resolution
varies among
product classes.
45 FaultStatus
Get
USINT
All
Request current fault
condition
0 = No fault
1–xx = Current fault
code (See H Series
– Fault Message
Description table at
the end of this
section for
description.)
* Indicates initial powerup value.
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Table 6-1 Transaction Specification Table Continued
T#
Name
Type Data Field Class
Description
46 FaultRst
Set
BOOL
All
1 = Execute fault
reset
0 = No action
Clears any active
fault condition.
Operation resumes
at previous
command.
47 FaultLog
Get
C: USINT
FaultLogInde
x
R: UINT
FaultCode,
UDINT
All
Requests the
FaultCode and
TimeStamp for the
given index. The
fault log holds the
last 31 fault
TimeStamp
conditions (1 being
most recent) The log
will return a 0 for the
code and time stamp
if the specified index
is empty. Time
stamp is in seconds.
48 FaultCodeText
Get
C: USINT
FaultCode
R: STRING
FaultText
All
Returns the text
string associated
with the FaultCode.
16 characters
maximum.
49 ForceFault
Set
Get
BOOL
USINT
All
All
0->1 =Force Network
Fault
0 = No action
50 SecurityStatus
Requests network
security status.
0 = Security disabled
1 = Security
unlocked
2 = Security locked
* Indicates initial powerup value.
Command Language 6-11
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Table 6-1 Transaction Specification Table Continued
T#
Name
Type Data Field Class
Description
51 SecurityLock
Set
INT or
NONE
All
Unlocks or locks
network parameter
security. Passing the
valid SecurityCode
unlocks parameter
access. Any other
value (including
NONE) locks
parameter access.
52 CalcPresets
Set
BOOL
E,S,V This transaction is
used during setup to
calculate initial
values for tuning and
performance
parameters based
on motor nameplate
values. Note: this
command is not valid
for all product
classes.
1 = Execute preset
calculation
0 = No action
56 BlockStructure
57 BlockDetail
Get
Get
USINT
All
All
Returns the number
of blocks on each
programming level.
Assumes a max of
three programming
levels.
Level1Max,
Level2Max,
Level3Max,
C: USINT
Level, Block
R: USINT
MaxParams,
STRING
Returns the number
of parameters in the
block and the
BlockName (16
characters max.)
BlockName
* Indicates initial powerup value.
6-12 Command Language
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Table 6-1 Transaction Specification Table Continued
T#
Name
Type Data Field Class
Description
58 BlockParamDetail Get
C: USINT
Level, Block,
Index
R: INT
Pnum,
All
Returns full
parameter detail
information for the
parameter specified
at the given Level,
Block and index.
Pvalue,
Pmin, Pmax,
Pdlft, Pprec,
Ptype,
STRING
Pname,
Punits
59 ParameterDetail
Get
C: INT
Pnum,
R: INT
Pnum,
All
Returns full
parameter detail
information for the
given Pnum.
Pvalue,
Pmin, Pmax,
Pdlft, Pprec,
Ptype,
STRING
Pname,
Punits
60 ParameterList
Get
C: INT
Pnum,
All
Returns the
enumerated list
ListIndex
R: STRING
ListText
string for the given
parameter number
and list index. 16
characters max. If
ListIndex exceeds
the number of
elements an ‘end of
block’ status will be
returned. (Note: Use
Pmax to determine
the end of the list.)
* Indicates initial powerup value.
Command Language 6-13
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Table 6-1 Transaction Specification Table Continued
T#
Name
Type Data Field Class
Description
61 ParameterValue
Set/
Get
C: INT
Pnum,
Pvalue
R: INT
All
Change / request
value of specified
user parameter.
Returned value will
give actual, after any
bounds checking.
Refer to the control
manual for
Pvalue
(excluding
Pvalue from
CMD
indicates
request only).
description.
62 BatchSend
Get
C: INT
GroupNumbe
r
All
Batch transfer that
returns raw (data
only) from control to
host. Up to 16
parameters are sent
at a time. Last group
will be truncated if
necessary. Group
numbers start at 0. If
the GroupNumber
exceeds the number
of blocks an ‘end of
block’ status is
R: INT
Pnum ,
N
Pvalue , ...
N
N=16
returned. The control
must be disabled.
63 BatchRcv
Set
INT
All
Block transfer that
accepts raw
parameter (data
only) from host to
control. Up to 16
parameters may be
sent at a time.
Pnum ,
N
Pvalue , ...
N=16
N
Parameters may be
sent in any order.
The control must be
disabled.
64 FactorySettings
Set
BOOL
All
1 = Reset all
parameters to
factory settings.
0 = No action
* Indicates initial powerup value.
6-14 Command Language
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Table 6-1 Transaction Specification Table Continued
T#
Name
Type Data Field Class
Description
69 ClearAll
Set
Set
Get
USINT
USINT
UINT
All
All
All
Reserved for factory
use.
70 LogClear
71 AnalogInput1
Reserved for factory
use.
Reads the raw value
of the A/D
converters on the
control. Update rate
and resolution vary
per control. Unused
MSBs will be padded
with zero.
72 AnalogInput2
Get
Set
UINT
INT
All
All
73 SetAnalogOut1
Commands the
DACs on the control,
and/or option card.
Analog output
parameter must be
set to Serial to be
valid. (Note 8 bit
DACs will only use
the upper byte.)
74 SetAnalogOut2
75 SetDigitalOut
Set
Set
INT
All
All
BYTE
Commands the
digital outputs on the
control, and/or option
card. Only lowest
four bits are used.
The LSB
corresponds to opto
out #4. The opto
output parameter
must be set to serial
to be valid.
76 GetDebugVal
Get
C: INT
MemLoc
R: INT Value
All
Reserved for factory
use.
* Indicates initial powerup value.
Command Language 6-15
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Table 6-1 Transaction Specification Table Continued
T#
Name
Type Data Field Class
Description
250
Reserved for future
use.
251
252
253
254
255
Reserved for future
use.
Reserved for future
use.
Reserved for future
use.
Reserved for future
use.
Reserved for future
use.
6-16 Command Language
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5 - Command Mode
Command
5
USINT CommandMode
Response
5
ST USINT CommandMode
Type: Set/Get
This transaction changes the command mode of the Series H
control. The command mode is an 8–bit value. Loading the
appropriate value into the command mode register activates the
appropriate operating mode. Only one mode can be selected at
a time. Table 6-2 provides a description of the possible command
modes.
Initial Condition:
At powerup, the command mode is set to 00H (disabled).
Command Language 6-17
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Table 6-2 Command Mode Table
Value
Mode
Class
Description
0
None
ALL
No mode selected. Output stage of
control remains off or disabled (voltage
and current removed from the motor),
regardless of RunCmd condition.
1
Torque CMD
selected source
S,V
Closes the current loop with command
input from the source selected in the
COMMAND SELECT parameter.
2
3
Torque CMD
Network
S,V
All
Closes the current loop with command
input from the TorqueRef register.
Speed CMD
selected source
Closes the velocity loop with command
input from the source selected in the
COMMAND SELECT parameter.
4
5
Speed CMD
Network
All
Closes the velocity loop with command
input from the SpeedRef register.
Orient
S,V
C or Index channel orient. The motor will
be commanded in the Fwd direction at
the predefined homing speed until the
index pulse is detected. The motor will
then be commanded to hold position at
the predefined home offset.
6
Position CMD
ABS
S,V
S,V
S,V
All
Closes the position loop with an absolute
position command from the PositionRef
register.
7
Position CMD
INC
Closes the position loop with an
incremental position command from the
PositionRef register.
9
Position CMD
External
Closes the position loop with command
input from external option source (such
as pulse follower EXB card.)
11
12
Process Torque
Process Velocity
Closes the torque process control loop.
Commands come from the appropriate
command input parameters.
All
Closes the velocity process control loop.
Commands come from the appropriate
command input parameters.
6-18 Command Language
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31- TerminalStrip
Command
31
Response
31 ST WORD TerminalStrip
Type: Get
This transaction returns a bit–wise word representing the status
of the control digital inputs and outputs.
Table 6-3 provides a description of the codes.
Note: A bit value of 1=closed or ON, 0=open or OFF.
Table 6-3 TerminalStrip Table
Bit
Name
Output4
Typical Single-Axis
Typical Multi-Axis
Location
Location
0
1
2
3
4
5
6
7
8
9
J1 (J4) - 22
J1 (J4) - 21
J1 (J4) - 20
J1 (J4) - 19
J1 (J4) - 16
J1 (J4) - 15
J1 (J4) - 14
J1 (J4) - 13
J1 (J4) - 12
J1 (J4) - 11
J1 (J4) - 10
J1 (J4) - 9
J1 (J4) - 8
Not Used
J1B - 13
Output3
Output2
Output1
Input9
Input8
Input7
Input6
Input5
Input4
Input3
Input2
Input1
J1B - 12
J1B - 11
J1B - 10
J1B - 9
J1B - 8
J1B - 7
J1B - 6
J1B - 5
J1B - 4
J1B - 3
J1B - 2
J1B - 1
10
11
12
13
14
15
Not Used
Not Used
Note: J1 = for Vector Controls, J4 = for Inverter Controls.
Command Language 6-19
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36 or 37 - Optionald#
Command
36
Response
36 ST USINT Optionld
Type: Get
This transaction returns the id number for the option installed in
the specified location.
Table 6-4 provides a description of the possible values.
Table 6-4 Optionald# Table
ID
EXB No.
EXB001A01
EXB002A01
EXB003A01
EXB004A01
EXB005A01
EXB Name
RS232 Serial Communications
RS422/485 Serial Communications
Isolated Input
Group
1
2
3
4
5
2
2
1
2
1
4 Output Relays / 3-15 PSI Pneumatic
Master Pulse Reference/Isolated Pulse
Follower
6
7
8
9
EXB006A01
EXB007A01
EXB008A01
EXB009A01
EXB010A01
EXB012A00
DC Tachometer
1
2
1
1
2
2
High Resolution Analog I/O
Isolated Encoder
Resolver to Digital
10
11
2 Isolated Analog Output / 3 Relay
RS232/485 Serial Communications
6-20 Command Language
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41 - WatchdogTime
Command
41 UINT WatchdogTime
Response
41 ST UINT WatchdogTime
Type: Set/Get
This transaction is used to change the value of the network
watchdog timer. The value is entered in milliseconds (mS). The
watchdog timer is used to detect a communications loss. When
the time between network commands exceeds the value stored
in this register, a fault is generated and the control is disabled.
Each time a network command is received, the internal timer is
reset to zero. The host must continuously send commands to
keep the timer reset. If desired a NULL transaction can be used
to reset the timer. Setting the timer to zero disables this function.
The minimum time value (other than zero) is 20mS (2). The
maximum value is 60S (6000). Resolution varies among product
classes.
Scale/ Units: 10mS
ParameterDetails
Table 6-5 describes the data that is returned during a parameter detail
response.
Command Language 6-21
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Table 6-5 ParameterDetails Table
Description
Parameter minimum allowed value.
Field Name
INT Pmin
INT Pmax
Parameter maximum allowed value. (Number of list items
in an enumerated type parameter.)
INT Pdflt
Parameter default value (factory) value.
USINT Pprec
Indicates the number of decimal places to use for the
parameter value.
BYTE Ptype
Returns bit–wise parameter type.
Bit 0 = Numeric parameter
Bit 1 = Enumerated list parameter
Bit 2 = Can be changed while enabled
Bit 3 = Default from calculation
Bit 4 = Not set during ‘restore to factory’
Bit 5 = Signed parameter
STRING Pname
STRING Punits
Returns string representing parameter name. For example
“Preset Speed #1”. Max number of characters is 16.
Returns the parameter engineering units string. Max
number of characters is 4.
6-22 Command Language
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H Series – Fault Message Description
Fault Code
Fault Message
Fault Description
15H 18H
Line Regen
1
1
Fault in Line REGEN converter unit -
Series 21H Line REGEN Inverter control.
Feedback Fault
Invalid Base ID
2
3
Loss of encoder feedback.
3
Failed to read configuration from the Power
Base ID value in software.
Low INIT Bus V
4
5
4
5
Low bus voltage detected on start–up.
Regen Res
Power
Excessive power dissipation required by
Dynamic Brake Hardware.
Current SENS
FLT
6
7
8
6
7
8
Failure to sense phase current.
HW
Desaturation
High output current condition detected (greater
than 400% of rated output current).
HW Ground
Fault
Ground Fault detected (output current leakage
to ground).
Resolver Fault
9
Loss of resolver feedback.
HW Power
Supply
10
10
Control Board power supply failure detected.
Overcurrent
11
12
11
12
Continuous current limit exceeded.
High DC Bus voltage.
Bus
Overvoltage
Following ERR
Torque Prove
13
14
15
Motor speed/position does not follow command.
Unbalanced current between all 3 phases.
Low DC Bus voltage condition detected.
Bus
Undervoltage
15
3 Sec Overload 16
16
Peak output current exceeded the 3 second
rating value.
Over Speed
17
18
19
20
21
Motor RPM exceeded 110% of MAX Speed.
Motor over temperature
Motor Temp
Heatsink Temp 19
Control heatsink exceeded temperature limit.
Connection at J1/J4 pin 16 and 17 is open.
Parameter checksum error.
External Trip
18
51
Param
Checksum
Command Language 6-23
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H Series – Fault Message Description Continued
Fault Code
Fault Message
Fault Description
15H 18H
µp Reset
22
22
A software watchdog timer has reset the
processor because a process has timed out.
ROM Fault
23
24
ROM checksum error.
1 Min Overload 24
Peak output current exceeded the 1 minute
rating value.
No I Feedback
25
26
Loss of current feedback
New Base ID
EXB Selection
26
27
Control board detected a change in the Power
Base ID value in software.
27
Expansion board not installed to support the
Level 1 Input Block, Command Select
parameter.
Power module
28
29
30
Power module failure.
Co–processor
Co–processor error (i.e. DSP board).
Wrong control software version detected.
Software
Version
Feedback
Module
31
Feedback HW module failure.
Serial watchdog
32
33
Serial port transmit/receive error
Lost network communications.
FLT Network
33
54
Hardware
Protect
A general hardware fault was detected but
cannot be isolated.
Unknown FLT
Code
55
56
34
Microprocessor detected a fault that is not
identified in the fault code table.
Bus Current
SENS
Failure to sense bus current.
Note These faults may be different for custom software.
6-24 Command Language
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