Baldor Riding Toy mn722 User Manual
SERIES 22H  
Line Regen  
AC Flux Vector Control  
Installation & Operating Manual  
8/03  
MN722  
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Control Circuit Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Converting Control Board Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Inverter Control Board Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Serial Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Keypad Mode Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Standard Run 3 Wire Mode Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
15 Speed 2-Wire Mode Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
3 Speed Analog 2 Wire Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
3 Speed Analog 3 Wire Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Bipolar Speed and Torque Mode Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Multiple Parameter Sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Process Mode Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Electronic Pot 2 Wire Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Electronic Pot 3 Wire Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
External Trip Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Opto-Isolated Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Opto-Isolated Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Pre-Operation Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Power-Up Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
3-21  
3-21  
3-22  
3-22  
3-23  
3-24  
3-25  
3-26  
3-27  
3-28  
3-29  
3-30  
3-31  
3-32  
3-33  
3-33  
3-34  
3-35  
3-36  
Section 4  
Programming and Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Baldor Keypad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Display Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Adjusting Display Contrast . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Display Mode Screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Display Screens & Diagnostic Information Access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Fault Log Access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Program Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Parameter Blocks Access for Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Changing Parameter Values when Security Code Not Used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Reset Parameters to Factory Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Initialize New Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Parameter Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Converter Control Board Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Inverter Control Board Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
4-1  
4-1  
4-2  
4-3  
4-3  
4-3  
4-4  
4-5  
4-6  
4-6  
4-7  
4-8  
4-9  
4-10  
4-10  
4-12  
Continued on next page.  
ii Table of Contents  
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Section 5  
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
5-1  
5-1  
No Keypad Display - Display Contrast Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
When a Fault is Displayed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
How to Access the Fault Log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
How to Clear the Fault Log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
How to Access Diagnostic Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Electrical Noise Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Special Drive Situations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Control Enclosures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Special Motor Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
5-1  
5-4  
5-5  
5-6  
5-15  
5-16  
5-16  
5-16  
Section 6  
Manual Tuning the Series 22H Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
6-1  
6-1  
6-1  
6-1  
6-1  
6-2  
6-2  
6-2  
6-3  
Manually Tuning the Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Motor Mag Amps Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Slip Frequency Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Current Prop Gain Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Current Int Gain Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Speed Prop Gain Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Speed Int Gain Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
PI Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Continued on next page.  
MN722  
Table of Contents iii  
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Section 7  
Specifications, Ratings & Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
7-1  
7-1  
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Operating Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Keypad Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Control Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Differential Analog Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Diagnostic Indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Series 22H Vector Control Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Terminal Tightening Torque Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Size C+ Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Size D+ Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Size D Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Size E Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Size E Control – Through–Wall Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Size F Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Size F Control – Through–Wall Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Size G+ Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Size H Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
EK Controls - Filter Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
EK Controls - Boost Regulators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Appendix A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Converter Section Parameter Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Power Output Section Parameter Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Appendix B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
Remote Keypad Mounting Template . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  
7-1  
7-1  
7-2  
7-2  
7-2  
7-3  
7-3  
7-3  
7-4  
7-6  
7-7  
7-7  
7-8  
7-9  
7-10  
7-11  
7-13  
7-14  
7-16  
7-17  
7-18  
7-19  
A-1  
A-1  
A-2  
B-1  
B-2  
iv Table of Contents  
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Section 1  
Quick Start Guide  
Overview  
If you are an experienced user of Baldor controls, you are probably already familiar with  
the keypad programming and keypad operation methods. If so, this quick start guide has  
been prepared for you. This procedure will help get your system up and running in the  
keypad mode quickly. This will allow motor and control operation to be verified. This  
procedure assumes that the control and motor are correctly installed (see Section 3 for  
procedures) and that you have an understanding of the keypad programming & operation  
procedures. It is not necessary to wire the terminal strip to operate in the keypad mode, if  
Level 2 Protection block parameters “External Trip” and “Local Enable INP” are set to off.  
The quick start procedure is as follows:  
1. Read the Safety Notice and Precautions in section 2 of this manual.  
2. Mount the control. Refer to Section 3, “Physical Location” procedure.  
3. Connect AC power. Refer to Section 3, “AC Input Power Connections”.  
4. Connect the motor. Refer to Section 3, “Motor Connections”.  
5. Connect the encoder. Refer to Section 3, “Encoder Installation”.  
Check of electrical items.  
Quick Start Checklist  
CAUTION: After completing the installation but before you apply power, be  
sure to check the following items.  
1. Verify AC line voltage at source matches control rating.  
2. Inspect all power connections for accuracy, workmanship and torques as well  
as compliance to codes.  
3. Verify control and motor are grounded to each other and the control is  
connected to earth ground.  
4. Check all signal wiring for accuracy.  
5. Be certain all brake coils, contactors and relay coils have noise suppression.  
This should be an R-C filter for AC coils and reverse polarity diodes for DC  
coils. MOV type transient suppression is not adequate.  
WARNING: Make sure that unexpected operation of the motor shaft during start  
up will not cause injury to personnel or damage to equipment.  
Check of Motor and Coupling  
1. Verify freedom of motion of motor shaft.  
2. Verify that motor coupling is tight without backlash.  
2. Verify the holding brakes if any, are properly adjusted to fully release and set to  
the desired torque value.  
MN722  
Quick Start Guide 1-1  
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Quick Start Procedure  
Initial Conditions  
Be sure the 22H control and motor are installed and wired according to the procedures in  
Section 3 of this manual.  
Become familiar with the keypad programming and keypad operation of the control as  
described in Section 4 of this manual.  
1. Disconnect the load (including coupling or inertia wheels) from the motor shaft if  
possible.  
2. Verify that all enable inputs to J1-8 are open.  
3. Turn power on. Be sure no errors are displayed.  
4. Set the Level 1 Input block, Operating Mode parameter to “KEYPAD”.  
5. Set the Level 2 Output Limits block, “OPERATING ZONE” parameter as  
desired.  
6. Enter the following motor data in the Level 2 Motor Data block parameters:  
Motor Voltage (Nameplate, VOLTS)  
Motor Rated Amps (Nameplate, FLA)  
Motor Rated Speed (Nameplate, RPM)  
Motor Rated Frequency (Nameplate, HZ)  
Motor Mag Amps (Nameplate, NLA)  
Encoder Counts  
7. At the Level 2 Motor Data, go to CALC Presets and select YES (using the up  
arrow key). Press ENTER and let the control calculate the preset values for the  
parameters that are required for control operation.  
8. Disconnect the motor from the load (including coupling or inertia wheels). If the  
load can not be disconnected, refer to Section 6 and manually tune the control.  
After manual tuning, perform steps 10, 11, 15, 16 and 17.  
WARNING: The motor shaft will rotate during this procedure. Be certain that  
unexpected motor shaft movement will not cause injury to  
personnel or damage to equipment.  
9. At the Level 2 Autotune block, perform the following tests:  
CMD OFFSET TRIM  
CUR LOOP COMP  
STATOR R1  
FLUX CUR SETTING  
FEEDBACK TESTS  
SLIP FREQ TEST  
10. Set the Level 2 Output Limits block, “MIN OUTPUT SPEED” parameter.  
11 Set the Level 2 Output Limits block, “MAX OUTPUT SPEED” parameter.  
12. Remove all power from the control.  
13. Couple the motor to its load.  
14. Turn power on. Be sure no errors are displayed.  
15. Go to Level 2 Autotune block, and perform the SPD CNTRLR CALC test.  
16. Run the drive from the keypad using one of the following: the arrow keys for  
direct speed control, keypad entered speed or the JOG mode.  
17. Select and program additional parameters to suit your application.  
The control is now ready for use the in keypad mode. If a different operating mode is  
desired, refer to Section 3 for control connection diagrams and Section 4 Programming  
and Operation.  
1-2 Quick Start Guide  
MN722  
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Section 2  
General Information  
Overview  
The Baldor Series 22H Line Regen Vector Control provides full motoring and line  
regeneration to the AC power mains with a near unity power factor. The control uses  
PWM controlled by IGBT power transistors in both the converter and inverter sections of  
the control to provide 3 phase power to the motor and Regen power to the line. Flux  
vector technology (sometimes referred to as Field Oriented Control) is a closed loop  
control scheme that adjusts the frequency and phase of voltage and current applied to a  
three phase induction motor. The vector control separates the motor current into it’s flux  
and torque producing components. These components are independently adjusted and  
vectorially added to maintain a 90 degree relationship between them. This produces  
maximum torque from base speed down to and including zero speed. Above base  
speed, the flux component is reduced for constant horsepower operation. In addition to  
the current, the electrical frequency must also be controlled. The frequency of the  
voltage applied to the motor is calculated from the slip frequency and the mechanical  
speed of the rotor. This provides instantaneous adjustment of the voltage and current  
phasing in response to speed and position feedback from an encoder mounted on the  
motors’ shaft.  
The Line Regen vector control provides several advantages over non-regenerative  
drives:  
Regenerated energy from the motor is returned to the power source. The  
control can provide regenerated energy absorption up to it’s full rating on a  
continuous basis.  
Input current is controlled to be a near unity power factor at rated load.  
Line harmonic distortion is reduced.  
DC Bus voltage is always controlled. Therefore, line voltage transients do not  
affect the output voltage to the motor.  
The Baldor Series 22H control may be used in many different applications. It may be  
programmed by the user to operate in different operating zones. It can also be  
configured to operate in a number of modes depending upon the application  
requirements and user preference.  
It is the responsibility of the user to determine the optimum operating zone and mode to  
interface the control to the application. These choices are made with the keypad as  
explained in the programming section of this manual.  
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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.  
2-2 General Information  
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Safety Notice  
This equipment contains voltages that may be as high 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.  
WARNING: This unit has an automatic restart feature that will start the motor  
whenever input power is applied and a RUN (FWD or REV)  
command is issued. If an automatic restart of the motor could  
cause injury to personnel, the automatic restart feature should be  
disabled by changing the Level 2 Miscellaneous block, Restart  
Auto/Man parameter to Manual.  
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. Certain failure modes of the control can produce  
peak torque of several times the rated motor torque.  
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.  
WARNING: The motor shaft will rotate during the autotune procedure. Be  
certain that unexpected motor shaft movement will not cause injury  
to personnel or damage to equipment.  
Continued on next page  
MN722  
General Information 2-3  
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Caution:  
Suitable for use on a circuit capable of delivering not more than the  
RMS symmetrical short circuit amperes listed here at rated voltage.  
Horsepower RMS Symmetrical Amperes  
1–50  
5,000  
51–200  
201–400  
401–600  
601–900  
10,000  
18,000  
30,000  
42,000  
Caution:  
Caution:  
Disconnect motor leads (T1, T2 and T3) from control before you  
perform a “Megger” test on the motor. Failure to disconnect motor  
from the control will result in extensive damage to the control. The  
control is tested at the factory for high voltage / leakage resistance  
as part of Underwriter Laboratory requirements.  
Do not supply any power to the External Trip (motor thermostat)  
leads at J1-16 and 17. Power on these leads can damage the  
control. Use a dry contact type that requires no external power to  
operate.  
Caution:  
Caution:  
Caution:  
Do not connect AC power to the Motor terminals T1, T2 and T3.  
Connecting AC power to these terminals may result in damage to  
the control.  
Baldor recommends not using “Grounded Leg Delta” transformer  
power leads that may create ground loops and degrade system  
performance. Instead, we recommend using a four wire Wye.  
Do not use power factor correction capacitors at the input power  
lines to the 22H Line Regen control. Installing power factor  
correction capacitors may damage the control.  
2-4 General Information  
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Section 3  
Receiving & Installation  
Receiving & Inspection  
The Series 22H Vector Control is thoroughly tested at the factory and carefully packaged  
for shipment. When you receive your control, there are several things you should do  
immediately.  
1. Observe the condition of the shipping container and report any damage  
immediately to the commercial carrier that delivered your control.  
2. Verify that the part number of the control you received is the same as the part  
number listed on your purchase order.  
3. If the control is to be stored for several weeks before use, be sure that it is  
stored in a location that conforms to published storage specifications. (Refer to  
Section 7 of this manual).  
Physical Location  
The location of the 22H is important. It should be installed in an area that is protected  
from direct sunlight, corrosives, harmful gases or liquids, dust, metallic particles, and  
vibration. Exposure to these elements can reduce the operating life and degrade  
performance of the control.  
Several other factors should be carefully evaluated when selecting a location for  
installation:  
1. For effective cooling and maintenance, the control should be mounted vertically  
on a flat, smooth, non-flammable vertical surface. Size G+ are floor standing  
NEMA 1 enclosures.  
2. At least two inches clearance must be provided on all sides for air flow.  
3. Front access must be provided to allow the control cover to be opened or  
removed for service and to allow viewing of the Keypad Display. (The keypad  
may optionally be remote mounted up to 100 feet from the control.)  
Controls installed in a floor mounted enclosure must be positioned with  
clearance to open the enclosure door. This clearance will also provide  
sufficient air space for cooling.  
4. Altitude derating. Up to 3300 feet (1000 meters) no derating required. Above  
3300 ft, derate the continuous and peak output current by 2% for each 1000 ft.  
5. Temperature derating. Up to 40°C no derating required. Above 40°C, derate  
the continuous and peak output current by 2% per °C. Maximum ambient is  
55°C.  
6. 50Hz Operation derating. For operation on 50Hz input power, derate the  
continuous and peak output current by 15%.  
7. Shock Mounting. The control is designed to withstand 0.5G at 10 to 60 Hz  
shock during normal operation.  
Shock Mounting  
If the control will be subjected to levels of shock greater than 1G or vibration greater than  
0.5G at 10 to 60Hz, the control should be shock mounted. Excessive vibration within the  
control could cause internal connections to loosen and cause component failure or  
electrical shock hazard.  
MN722  
Receiving & Installation 3-1  
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,
Table 3-1 lists the Watts Loss ratings for Series 22H controls.  
Table 3-1 Series 22H Watts Loss Ratings.  
STD PWM  
CONV &  
INV  
BOOST  
REG Loss  
At Full  
STD PWM  
Total  
Losses  
QUIET PWM  
CONV & INV  
Losses  
CONTROL  
FIXED  
Losses  
Line Reactor Loss At Full  
Load  
QUIET PWM  
Total Losses  
CONTROL  
Losses  
Load  
MODEL No.  
ZD22H210-EL  
ZD22H215-EL  
ZD22H220-EL  
ZD22H225-EL  
ZD22H230-EL  
ZD22H240-EL  
ZD22H250-EL  
ZD22H410-EL  
ZD22H415-EL  
ZD22H420-EL  
ZD22H425-EL  
ZD22H430-EL  
ZD22H440-EL  
ZD22H450-EL  
ZD22H460-EK  
ZD22H475-EK  
ZD22H4100-EK  
ZD22H4150-EK  
ZD22H4200-EK  
ZD22H4250-EL  
ZD22H4300-EL  
ZD22H4450-EL  
ZD22H4400-EL  
ZD22H4450-EL  
SIZE  
C+  
C+  
C+  
C+  
D+  
D+  
D+  
C+  
C+  
C+  
D+  
D+  
D+  
D+  
D+  
E
INPUT VAC  
230  
230  
230  
230  
230  
230  
230  
460  
460  
460  
460  
460  
460  
460  
460  
460  
460  
460  
460  
460  
460  
460  
460  
460  
(Watts)  
268  
(Watts)  
315  
(Watts)  
102  
(Watts)  
80  
Cat. No.  
(Watts)  
49  
(Watts)  
499  
(Watts)  
546  
LRAC03501  
LRAC04501  
LRAC05501  
LRAC08001  
LRAC08001  
LRAC10001  
LRAC13001  
LRAC01802  
LRAC02502  
LRAC03502  
LRAC03502  
LRAC04502  
LRAC05502  
LRAC08002  
LRAC08002  
LRAC10002  
LRAC13002  
LRAC20002  
LRAC25002  
LRAC32002  
LRAC40002  
LRAC50002  
LRAC50002  
LRAC60002  
397  
311  
102  
109  
136  
137  
164  
187  
225  
80  
54  
662  
576  
527  
458  
102  
64  
829  
760  
690  
611  
102  
82  
1011  
987  
932  
571  
768  
170  
82  
1184  
1393  
1789  
551  
1095  
1437  
240  
942  
170  
94  
1546  
1940  
465  
1286  
326  
170  
108  
43  
102  
336  
259  
102  
86  
52  
576  
499  
432  
379  
102  
110  
134  
158  
228  
217  
299  
395  
420  
750  
850  
900  
1620  
1650  
1750  
1850  
54  
698  
645  
544  
504  
102  
54  
834  
794  
640  
740  
170  
62  
1030  
1345  
1513  
1765  
3032  
3753  
4719  
6022  
8364  
11093  
11390  
13650  
15144  
1130  
1203  
1496  
1721  
2954  
3681  
880  
738  
170  
67  
1040  
1280  
2400  
3000  
3610  
4750  
6200  
8140  
8400  
10560  
11880  
1023  
1236  
2322  
2928  
170  
86  
100  
86  
153  
84  
E
153  
180  
168  
231  
264  
333  
340  
340  
414  
F
191  
F
191  
G+  
G+  
G+  
G+  
G+  
1000  
1000  
1000  
1000  
1000  
CONTROL  
RATINGS  
NOT  
CONTROL  
RATINGS  
NOT  
AVAILABLE  
AVAILABLE  
3-2 Receiving & Installation  
MN722  
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Control Installation  
The control must be securely fastened to the mounting surface. Use the four (4)  
mounting holes to fasten the control to the mounting surface or enclosure.  
Through the Wall MountingControl sizes E and F are designed for panel or through the wall installation. To mount a  
control through the wall, an optional Through the Wall mounting kit must be purchased.  
These kits are:  
Kit No.  
Description  
V0083991 Size E control Through the Wall mounting kit.  
V0084001 Size F control Through the Wall mounting kit.  
Procedure:  
1. Refer to Section 7 of this manual for drawings and dimensions of the Through  
the Wall mounting kits. Use the information contained in these drawings to  
layout the appropriate size hole on your enclosure and wall.  
2. Cut the holes in your enclosure and wall.  
3. Locate and drill holes for mounting hardware as shown in the drawings.  
4. Cut foam tape and apply to perimeter of opening as shown.  
5. Secure the four (4) brackets to the exterior of the panel with the hardware  
provided.  
6. Secure the control to the panel using the hardware provided.  
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Optional Remote Keypad Installation The keypad may be remotely mounted using the optional Baldor keypad  
extension cable. The keypad assembly (white - DC00005A-01; grey - DC00005A-02)  
comes complete with the screws and gasket required to mount it to an enclosure. When  
the keypad is properly mounted to a NEMA Type 4X indoor enclosure, it retains the Type  
4X indoor rating.  
Tools Required:  
•
Center punch, tap handle, screwdrivers (Phillips and straight) and crescent  
wrench.  
•
8-32 tap and #29 drill bit (for tapped mounting holes) or #19 drill (for clearance  
mounting holes).  
•
•
•
•
1-1/4″ standard knockout punch (1-11/16″ nominal diameter).  
RTV sealant.  
(4) 8-32 nuts and lock washers.  
Extended 8-32 screws (socket fillister) are required if the mounting surface is  
thicker than 12 gauge and is not tapped (clearance mounting holes).  
Remote keypad mounting template. A tear out copy is provided at the end of  
this manual for your convenience.  
•
Mounting Instructions:  
For tapped mounting holes  
1. Locate a flat 4″ wide x 5.5″ minimum high mounting surface. Material should  
be sufficient thickness (14 gauge minimum).  
2. Place the template on the mounting surface or mark the holes as shown.  
3. Accurately center punch the 4 mounting holes (marked A) and the large  
knockout (marked B).  
4. Drill four #29 mounting holes (A). Thread each hole using an 8-32 tap.  
5. Locate the 1-1/4″ knockout center (B) and punch using the manufacturers  
instructions.  
6. Debur knockout and mounting holes making sure the panel stays clean and flat.  
7. Apply RTV to the 4 holes marked (A).  
8. Assemble the keypad to the panel. Use 8–32 screws, nuts and lock washers.  
9. From the inside of the panel, apply RTV over each of the four mounting screws  
and nuts. Cover a 3/4″ area around each screw while making sure to completely  
encapsulate the nut and washer.  
Mounting Instructions:  
For clearance mounting holes  
1. Locate a flat 4″ wide x 5.5″ minimum high mounting surface. Material should  
be sufficient thickness (14 gauge minimum).  
2. Place the template on the mounting surface or mark the holes as shown on the  
template.  
3. Accurately center punch the 4 mounting holes (marked A) and the large  
knockout (marked B).  
4. Drill four #19 clearance holes (A).  
5. Locate the 1-1/4″ knockout center (B) and punch using the manufacturers  
instructions.  
6. Debur knockout and mounting holes making sure the panel stays clean and flat.  
7. Apply RTV to the 4 holes marked (A).  
8. Assemble the keypad to the panel. Use 8–32 screws, nuts and lock washers.  
9. From the inside of the panel, apply RTV over each of the four mounting screws  
and nuts. Cover a 3/4″ area around each screw while making sure to completely  
encapsulate the nut and washer.  
3-4 Receiving & Installation  
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Electrical Installation  
Interconnection wiring is required between the motor control, AC power source, motor,  
host control and any operator interface stations. Use only UL (cUL) listed closed loop  
connectors that are of appropriate size for wire gauge being used. Connectors are to be  
installed using crimp tool specified by the manufacturer of the connector. Only Class 1  
wiring should be used.  
Baldor Series 22H controls feature UL approved adjustable motor overload protection  
suitable for motors rated at no less than 50% of the output rating of the control. Other  
governing agencies such as NEC may require separate over–current protection. The  
installer of this equipment is responsible for complying with the National Electric Code  
and any applicable local codes which govern such practices as wiring protection,  
grounding, disconnects and other current protection.  
Load Reactors  
Line reactors may be used at the control output to the motor. When used this way, they are  
called Load Reactors. Load reactors serve several functions that include:  
ꢀ
ꢀ
ꢀ
Protect the control from a short circuit at the motor.  
Limit the rate of rise of motor surge currents.  
Slowing the rate of change of power the control delivers to the motor.  
Load reactors should be installed as close to the control as possible. Select the load  
reactor that matches the full load amperes (FLA) stated on the nameplate of the motor  
you are using.  
System Grounding  
Baldor Controls are designed to be powered from standard three phase lines that are  
electrically symmetrical with respect to ground. System grounding is an important step in  
the overall installation to prevent problems. The recommended grounding method is  
shown in Figures 3-1 and 3-2.  
Figure 3-1 Recommended System Grounding – EL  
JOG  
FWD  
REV  
LOCAL  
DISP  
PROG  
SHIFT  
RESET  
ENTER  
STOP  
Series H  
Note: Wiring shown for clarity of grounding  
method only. Not representative of  
actual terminal block location.  
Note: A line reactor is required and  
L1 L2 L3  
T1 T2 T3  
must be ordered separately.  
Note: A load reactor is highly recommended  
and must be ordered separately.  
AC Main  
Supply  
L1  
Line  
Reactor  
Optional  
L2  
Load  
Reactor  
L3  
Earth  
Safety  
Ground  
Four Wire  
“Wye”  
Route all 4 wires L1, L2, L3 and Earth  
(Ground) together in conduit or cable.  
Route all 4 wires T1, T2, T3 and Motor  
Ground together in conduit or cable.  
Driven Earth  
Ground Rod  
(Plant Ground)  
Ground per NEC and  
Local codes.  
Connect all wires (including motor ground)  
inside the motor terminal box.  
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Figure 3-2 Recommended System Grounding – EK  
JOG  
FWD  
REV  
LOCAL  
DISP  
PROG  
SHIFT  
RESET  
ENTER  
STOP  
Series H  
Note: A boost regulator is required and  
provided with each model EK control.  
Note: Wiring shown for clarity of grounding  
method only. Not representative of  
actual terminal block location.  
Note: A line reactor is required and  
must be ordered separately.  
L1 L2 L3  
T1 T2 T3  
Note: A load reactor is highly recommended  
and must be ordered separately.  
AC Main  
Supply  
L1  
L2  
Line  
Reactor  
Boost  
Regulator  
Optional  
Load  
Reactor  
L3  
Earth  
Safety  
Ground  
Four Wire  
“Wye”  
Driven Earth  
Ground Rod  
(Plant Ground)  
Route all 4 wires L1, L2, L3 and Earth  
(Ground) together in conduit or cable.  
Ground per NEC and  
Local codes.  
Route all 4 wires T1, T2, T3 and Motor  
Ground together in conduit or cable.  
Connect all wires (including motor ground)  
inside the motor terminal box.  
Ungrounded Distribution System  
With an ungrounded power distribution system it is possible to have a continuous current  
path to ground through the MOV devices. To avoid equipment damage, an Isolation  
transformer with a grounded secondary is recommended. This provides three phase AC  
power that is symmetrical with respect ground.  
Input Power Conditioning  
Baldor controls are designed for direct connection to standard three phase lines that are  
electrically symmetrical with respect to ground. Certain power line conditions must be  
avoided. An AC line reactor or an isolation transformer may be required for some power  
conditions.  
ꢀ
Baldor Series H controls require a minimum line impedance of 3%. Refer to  
“Line Impedance” for additional information.  
ꢀ
If the feeder or branch circuit that provides power to the control has  
permanently connected power factor correction capacitors, an input AC line  
reactor or an isolation transformer must be connected between the power factor  
correction capacitors and the control.  
ꢀ
If the feeder or branch circuit that provides power to the control has power  
factor correction capacitors that are switched on line and off line, the capacitors  
must not be switched while the control is connected to the AC power line. If the  
capacitors are switched on line while the control is still connected to the AC  
power line, additional protection is required. TVSS (Transient Voltage Surge  
Suppressor) of the proper rating must be installed between the AC line reactor  
or an isolation transformer and the AC input to the control.  
3-6 Receiving & Installation  
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Current Requirements  
The input current for each control is given in Table 3-2 and the short circuit requirements  
are given in Table 3-3. The control may be damaged if input current exceeds ratings.  
Table 3-2 Input Current Requirements  
230VAC  
Catalog Numbers  
460VAC  
Catalog Numbers  
Input  
Amps  
Input  
Amps  
ZD22H210–EL  
ZD22H215–EL  
ZD22H220–EL  
ZD22H225–EL  
ZD22H230–EL  
ZD22H240–EL  
ZD22H250–EL  
24  
36  
47  
58  
68  
90  
111  
ZD22H410–EL  
ZD22H415–EK  
ZD22H420–EL  
ZD22H425–EL  
ZD22H430–EL  
ZD22H440–EL  
ZD22H450–EL  
ZD22H460–EK  
ZD22H475–EK  
ZD22H4100–EK  
ZD22H4150–EK  
ZD22H4200–EK  
ZD22H4250–EL  
ZD22H4300–EL  
ZD22H4350–EL  
ZD22H4400–EL  
ZD22H4450–EL  
13  
18  
23  
29  
34  
47  
56  
68  
85  
107  
162  
213  
264  
315  
357  
408  
459  
Table 3-3 Short Circuit Current Ratings  
230VAC  
Catalog Numbers  
460VAC  
Short Circuit  
Amps  
Catalog Numbers  
Short Circuit  
Amps  
ZD22H210–EL  
ZD22H215–EL  
ZD22H220–EL  
ZD22H225–EL  
ZD22H230–EL  
ZD22H240–EL  
ZD22H250–EL  
240  
360  
470  
580  
680  
890  
1110  
ZD22H410–EL  
ZD22H415–EK  
ZD22H420–EL  
ZD22H425–EL  
ZD22H430–EL  
ZD22H440–EL  
ZD22H450–EL  
ZD22H460–EK  
ZD22H475–EK  
ZD22H4100–EK  
ZD22H4150–EK  
ZD22H4200–EK  
ZD22H4250–EL  
ZD22H4300–EL  
ZD22H4350–EL  
ZD22H4400–EL  
ZD22H4450–EL  
130  
180  
230  
290  
340  
470  
550  
680  
850  
1060  
1620  
2130  
2640  
3150  
3570  
4080  
4590  
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Protection Devices  
Be sure a suitable input power protection device is installed. Use the recommended  
circuit breaker or fuses listed in Table 3-5 and 3-6. Input and output wire size is based on  
the use of copper conductor wire rated at 75 °C. The table is specified for NEMA B  
motors.  
Circuit Breaker:  
3 phase, thermal magnetic.  
Equal to GE type THQ or TEB for 230 VAC or  
GE type TED for 460 VAC  
Fast Action Fuses: 230 VAC, Buss KTN  
460 VAC, Buss KTS to 600A (KTU 601 - 1200A)  
Very Fast Action:  
230 VAC, Buss JJN  
460 VAC, Buss JJS  
Time Delay Fuses: 230 VAC, Buss FRN  
460 VAC, Buss FRS to 600A (KLU 601 - 1200A)  
Power Disconnect  
A power disconnect should be installed between the input power service and the control  
for a fail safe method to disconnect power. The control will remain in a powered-up  
condition until all input power is removed from the control and the internal bus voltage is  
depleted.  
Internal Fuses  
Table 3-4 Internal Fuses  
Zero Crossing  
(Input Interface  
Board)  
Filter Fuses  
(Filter Board)  
Control  
Transformer  
Soft Start  
Transformer  
Fan Control  
Transformer  
Control  
Size  
Rating  
Type  
Rating  
Type  
Rating  
Type  
MDA-  
Rating  
Type  
Rating  
Type  
FLQ-  
3
/
A
5A  
500VAC  
FNQ-5 or  
Equiv.  
3.2A  
250VAC  
10  
3
2
C+  
D+  
D
/
or  
3 / or  
10  
10  
500VAC  
Equiv.  
Equiv.  
FLQ-  
MDA-  
3
/
A
5A  
500VAC  
FNQ-5 or  
Equiv.  
3.2A  
250VAC  
10  
3
2
/
or  
3 / or  
10  
10  
500VAC  
Equiv.  
Equiv.  
FLQ-  
MDA-  
3
/
A
10A  
KTK-10  
3.2A  
10  
3
2
/
or  
3 / or  
10  
10  
500VAC  
600VAC or Equiv. 250VAC  
Equiv.  
Equiv.  
FLQ-  
MDA-  
3
1
1
/
A
10A  
KTK-10  
3.2A  
/ A  
ABC /  
10  
3
2
2
2
E
F
/
or  
3 / or  
10  
10  
500VAC  
600VAC or Equiv. 250VAC  
250VAC or Equiv.  
Equiv.  
Equiv.  
3A  
ATM-3  
3A  
KTK-3 or  
Equiv.  
3A  
600VAC  
KTK-3 or  
Equiv.  
3A  
600VAC  
KTK-3 or  
Equiv.  
600VAC or Equiv. 500VAC  
FNQ-  
1
50A  
600VAC  
JJS or  
Equiv.  
3 / A  
4A  
500VAC  
FNQ-4 or  
Equiv.  
3A  
500VAC  
FNQ-3 or  
Equiv.  
2
1
G+ 250HP  
3 / or  
2
500VAC  
Equiv.  
FNQ-  
1
50A  
600VAC  
JJS or  
Equiv.  
3 / A  
4A  
500VAC  
FNQ-4 or  
Equiv.  
3A  
500VAC  
FNQ-3 or  
Equiv.  
2
1
G+300HP  
G+350HP  
G+400HP  
G+450HP  
3 / or  
2
500VAC  
Equiv.  
FNQ-  
1
60A  
600VAC  
JJS or  
Equiv.  
3 / A  
4A  
500VAC  
FNQ-4 or  
Equiv.  
3A  
500VAC  
FNQ-3 or  
Equiv.  
2
1
3 / or  
2
500VAC  
Equiv.  
FNQ-  
1
70A  
600VAC  
JJS or  
Equiv.  
3 / A  
4A  
500VAC  
FNQ-4 or  
Equiv.  
3A  
500VAC  
FNQ-3 or  
Equiv.  
2
1
3 / or  
2
500VAC  
Equiv.  
FNQ-  
1
70A  
600VAC  
JJS or  
Equiv.  
3 / A  
4A  
500VAC  
FNQ-4 or  
Equiv.  
3A  
500VAC  
FNQ-3 or  
Equiv.  
2
1
3 / or  
2
500VAC  
Equiv.  
Not applicable.  
3-8 Receiving & Installation  
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Wire Size and Protection Devices  
Table 3-5 230VAC Controls (3 Phase) Wire Size and Protection Devices  
Control Rating  
Input Fuse (Amps)  
Fast Acting Time Delay  
Wire Gauge  
AWG  
Input Breaker  
Amps  
3
4
HP  
0.75  
1
mm2  
2.5  
(Amps)  
7
7
15  
15  
20  
30  
40  
60  
5
6
4
5
14  
14  
14  
14  
12  
10  
8
6
6
4
3
2.5  
2.5  
2.5  
7
2
12  
9
10  
16  
22  
28  
42  
54  
68  
80  
104  
130  
145  
192  
3
5
15  
25  
35  
45  
70  
80  
100  
125  
175  
200  
225  
300  
12  
20  
30  
35  
60  
70  
90  
110  
150  
175  
200  
250  
3.31  
5.26  
8.37  
13.3  
13.3  
21.2  
26.7  
42.4  
53.5  
67.4  
107.0  
7.5  
10  
15  
20  
25  
30  
40  
50  
60  
75  
70  
90  
100  
150  
175  
200  
250  
1
1/0  
2/0  
4/0  
Table 3-6 460VAC Controls (3 Phase) Wire Size and Protection Devices  
Control Rating  
Input Breaker  
(Amps)  
Input Fuse (Amps)  
Fast Acting Time Delay  
Wire Gauge  
Amps  
2
2
HP  
0.75  
1
AWG  
14  
mm2  
2.5  
3
3
7
7
2
2
3
5
8
12  
2.5  
4.5  
6.3  
10  
14  
2.5  
4
2
14  
2.5  
5
3
14  
2.5  
8
5
15  
14  
2.5  
11  
14  
21  
7.5  
10  
15  
15  
20  
30  
17.5  
20  
30  
15  
17.5  
25  
14  
12  
10  
2.5  
3.31  
5.26  
27  
20  
40  
40  
35  
10  
5.26  
34  
25  
50  
50  
45  
8
8.37  
40  
30  
50  
60  
50  
8
8.37  
52  
40  
70  
80  
70  
6
13.3  
65  
77  
96  
50  
60  
75  
90  
100  
125  
150  
200  
250  
300  
350  
450  
600  
650  
750  
800  
900  
90  
4
3
2
21.2  
26.7  
33.6  
53.5  
67.4  
85.0  
(2) 67.4  
(2) 107.0  
(3) 67.4  
(3) 85.0  
(3) 107.0  
100  
125  
175  
200  
225  
300  
400  
450  
500  
600  
650  
750  
100  
125  
175  
200  
250  
300  
400  
450  
500  
600  
700  
800  
124  
156  
180  
240  
302  
361  
414  
477  
515  
590  
100  
125  
150  
200  
250  
300  
350  
400  
450  
500  
1/0  
2/0  
3/0  
(2) 2/0  
(2) 4/0  
(3) 2/0  
(3) 3/0  
(3) 4/0  
(3) 250MCM (3) 127.0  
(3) 300MCM (3) 152.0  
Note: All wire sizes are based on 75°C copper wire. Higher temperature smaller gauge wire may be used per NEC  
and local codes. Recommended fuses/breakers are based on 40°C ambient, maximum continuous control  
output current and no harmonic current.  
MN722  
Receiving & Installation 3-9  
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Three Phase Input Power Connections  
AC power and motor connections are different for controls that have a model number  
suffix of “EL” and “EK”. Be sure to use the correct procedure for your control.  
Note: “EK” Controls are input phase sensitive. Be sure all connections are correct.  
“EL” suffix  
The AC power and motor connections are shown in Figure 3-3. Overloads are not  
required. The 22H control has an electronic I2t motor overload protection. If motor  
overloads are desired, they should be sized according to the manufacturers specifications  
and installed between the motor and the T1, T2 and T3 terminals of the control.  
1. Connect the incoming AC power wires from the protection devices to terminals  
A1, B1 and C1 at the 3% line reactor.  
2. Connect A2, B2 and C2 3% line reactor terminals to the L1, L2 and L3 power  
input terminals of the control.  
3. * Connect earth ground to the “ ” of the control. Be sure to comply with local  
codes.  
*
Grounding by using conduit or panel connection is not adequate. A separate  
conductor of the proper size must be used as a ground conductor.  
Figure 3-3 “EL” Control 3 Phase AC Power and Motor Connections  
L1  
L2  
L3  
L1  
L2  
L3  
Earth  
Alternate *  
Fuse  
Connection  
Note 1  
Note 2  
* Circuit  
Breaker  
Note 1  
A1  
A2  
B1  
B2  
C1  
C2  
A1  
B1  
C1  
Line  
Reactor  
Note 3  
Note 2  
* Optional components not provided with 22H Control.  
Notes:  
L1  
L2  
L3  
1. See “Protective Devices” described previously in this section.  
2. Shield wires inside a metal conduit.  
Baldor  
Series 22HXXX-EL  
3. 3% Line Reactor is required at input.  
Control  
See Recommended Tightening Torques in Section 7.  
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“EK” suffix (“EK” Controls are input phase sensitive. Check all connections).  
The AC power and motor connections are shown in Figure 3-4. Overloads are not  
required. The 22H control has an electronic I2t motor overload protection. If motor  
overloads are desired, they should be sized according to the manufacturers specifications  
and installed between the motor and the T1, T2 and T3 terminals of the control.  
1. Connect the incoming AC power wires from the protection devices to terminals  
A1, B1 and C1 of the 3% line reactor.  
2. Connect A2, B2 and C2 3% line reactor terminals to the L1, L2 and L3 of the  
boost regulator.  
3. Connect X1, X2 and X3 boost regulator terminals to X1, X2 and X3 of the control.  
4. * Connect earth ground to the “ ” of the control. Be sure to comply with local codes.  
5. Connect boost regulator terminals L1A, L2A and L3A to Filter terminals J1-1,  
J1-2 and J1-3.  
6. Connect filter terminals J2-1, J2-2 and J2-3 to control terminals L1A, L2A and L3A.  
*
Grounding by using conduit or panel connection is not adequate. A separate  
conductor of the proper size must be used as a ground conductor.  
Figure 3-4 “EK” Control 3 Phase AC Power and Motor Connections (Size D, E & F)  
L1  
L2  
L3  
Earth  
L1  
L2  
L3  
Alternate *  
Fuse  
Connection  
Note 1  
Note 2  
* Circuit  
Breaker  
Note 1  
A1  
A2  
B1  
B2  
C1  
C2  
A1  
B1  
C1  
* Optional components not provided with 22H Control.  
3% Line  
Reactor  
Note 3  
Note 2  
Phase Sensitive Inputs  
X1  
X2  
X3  
L1  
L2  
L3  
Boost  
Regulator  
Notes:  
L1A L2A L3A  
1. See “Protective Devices” described  
X1  
X2  
X3  
Filter  
previously in this section.  
2. Shield wires inside a metal conduit.  
3. 3% Line Reactor is required at input.  
J1  
1
J2  
1
L1A  
Baldor  
L2A  
L3A  
Series 22HXXX-EK  
2
3
2
3
Phase Sensitive Inputs  
Control  
Boost Regulator to  
Filter (5 ft. max.)  
Filter to Control  
(10 ft. max.)  
Control Size  
2
2
D & E  
F
14AWG (2.08 mm ) 14AWG (2.08 mm )  
2
2
10AWG (5.26 mm ) 10AWG (5.26 mm )  
See Recommended Tightening Torques in Section 7.  
MN722  
Receiving & Installation 3-11  
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Single Phase Operation  
Single phase operation is not possible for Series 22H Line Regen Vector Controls.  
Operating the Control at a Reduced Input Voltage  
Series 22H Controls use a DC Bus regulation technique that provides full output voltage  
(240VAC for 230VAC Controls; or 480VAC for 460VAC controls) for the full input voltage  
range. However, at reduced input voltages the output current of the control may have to  
be derated. Table 3-7 lists the % derating of the output current for various motor voltage  
ratings and input power voltage levels to the control.  
Table 3-7 Output Current Derating at Reduced Input Voltages (2.5KHz PWM)  
Input Voltage  
% of Output Current after Derating  
230VAC Control  
460VAC Control  
340VAC  
240/480VAC Motor  
230/440VAC Motor  
208/400VAC Motor  
180VAC  
190VAC  
208VAC  
230VAC  
240VAC  
77%  
82%  
90%  
100%  
100%  
84%  
89%  
99%  
100%  
100%  
93%  
98%  
100%  
100%  
100%  
360VAC  
400VAC  
440VAC  
480VAC  
For example:  
A 460VAC Control that has a 400VAC input line can provide 90% of the rated current to a  
480VAC motor. In the Section 6 specifications we find our example 10HP control is  
ZD22H410-EL has a continuous current rating of 15 Amps. The derated current can be  
calculated as follows: 15A x 90% = 13.5A derated value.  
Hardware Changes for Reduced Voltage Input  
Size C+, D+,D, E, F and G+ controls all require modification for operation at a reduced  
line voltage (less than rated nominal). Table 3-8 defines the modifications for each  
enclosure size. Figure 3-1 shows the locations of the transformer locations for each  
enclosure size.  
Table 3-8 Hardware changes for 380-400VAC operation  
Enclosure  
Size  
Control  
Transformer Transformer  
Tap Change  
Contactor  
Fuse Block  
Connection  
Change  
Tap Change  
C+  
D+  
D
E
F
Yes  
Yes  
Yes  
Yes  
Yes  
No  
No  
No  
No  
Yes  
Yes  
Yes  
G+  
Yes  
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Figure 3-1 Control and Contactor Transformer Locations  
Control Sizes  
C+, D, D+  
Control Size  
E
Control Size  
F
Contactor  
Transformer  
Input  
Contactor  
Control  
Transformer  
Logic Control  
Board  
Input  
Contactor  
Contactor  
Transformer Transformer  
Control  
Control  
Transformer  
Fan  
Transformers  
Control Size  
G+  
xfmr  
xfmr  
Fuse  
Block  
Swing out panel  
Contactor  
Transformer  
Input  
Contactor  
Not drawn to scale or proportion  
Size C+, D, D+ E, and F size control procedure:  
Control Transformer  
1. Terminate drive operation and disable the control.  
2. Remove all power sources from the control. If power has been applied, wait at  
least 5 minutes for bus capacitors to discharge.  
3. Remove or open the front cover and locate the control transformer (Figure 3-2).  
4. Remove the wire from terminal 5 of the control transformer.  
5. Place the wire that was removed from terminal 5 onto terminal 4.  
6. Install or close the front cover.  
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Figure 3-2 Configuring the Control Transformer for 380 - 400 VAC Installation  
Contactor Transformer  
Only size E and F controls require a change of the contactor transformer tap.  
See Figure 3-3. Use the taps (H1 to H5) that are correct for the input voltage.  
Figure 3-3 Contactor Transformer Tap Change (380 -400VAC Input)  
H5  
Voltage  
Taps  
Frequency  
600VAC  
H4  
380  
440-460  
550  
H1 – H2  
H1 – H3  
H1 – H4  
H1 – H5  
50 / 60  
Hz  
550VAC  
H3  
600  
440VAC  
H2  
H1  
380VAC  
Size G+and H control procedure: (Refer to Figure 3-4.)  
Control Transformer  
1. Be sure drive operation is terminated and control is disabled.  
2. Remove all power sources from the control. If power has been applied, wait at  
least 5 minutes for bus capacitors to discharge.  
3. Remove or open the front cover. Locate the control transformer fuse block  
(see Figure 3-1).  
4. Remove the wires from the two right side terminals (460VAC connection).  
5. Place the wires on the center terminals as shown (380VAC connection).  
6. Install or close the front cover.  
Figure 3-4 Configuring the Control Transformer Fuse Block for 380 - 400 VAC Installation  
For Fuse Block, location  
refer to Figure 3-1.  
460VAC  
380-400VAC  
Connection  
Connection  
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Motor Connections  
Motor connections are shown in Figure 3-5.  
Figure 3-5 Motor Connections  
Notes:  
1. Metal conduit should be used. Connect conduits so the use of Load  
Reactor or RC Device does not interrupt EMI/RFI shielding.  
2. See Line/Load Reactors described previously in this section.  
3. Use same gauge wire for Earth ground as for L1, L2 and L3.  
Baldor  
Series 22H  
Control  
T1  
T2  
T3  
Note 1  
A1  
B1  
C1  
C2  
*Optional  
Load  
Reactor  
* Optional components not provided with 22H Control.  
Note 2  
Note 1  
A2  
B2  
Note 3  
T2 T3  
T1  
G
See recommended terminal tightening torques in Section 7.  
* AC Motor  
M-Contactor  
If required by local codes or for safety reasons, an M-Contactor (motor circuit contactor)  
may be installed. However, incorrect installation or failure of the M-contactor or wiring  
may damage the control. If an M-Contactor is installed, the control must be disabled for  
at least 20msec before the M-Contactor is opened or the control may be damaged.  
M-Contactor connections are shown in Figure 3-6.  
Figure 3-6 Optional M-Contactor Connections  
T1  
T2  
T3  
* Optional  
RC Device  
Electrocube  
RG1781-3  
* M-Contactor  
To Power Source  
(Rated Coil Voltage)  
M
M
M
J1  
*
M
Enable  
T2 T3  
T1  
* Motor  
7
8
9
Note: Close “Enable”  
after “M” contact closure.  
G
See recommended terminal  
M=Contacts of optional M-Contactor  
tightening torques in Section 7.  
MN722  
Receiving & Installation 3-15  
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Encoder Installation  
Electrical isolation of the encoder shaft and housing from the motor is required. Electrical  
isolation prevents capacitive coupling of motor noise that will corrupt the encoder signals.  
Baldor provides shielded wire for encoder connection. Figure 3-7 shows the electrical  
connections between the encoder and the encoder connector. Figure 3-8 shows the  
connections between the encoder connector and J1 of the control.  
Figure 3-7 Encoder Connections  
J1  
23  
24  
25  
26  
27  
28  
A
A
B
B
C
C
Electrically  
Isolated  
Encoder  
See recommended terminal  
tightening torques in Section 7.  
29 +5V  
30 COMMON  
Figure 3-8 Control Connections  
Encoder End  
Control End  
J1-23  
A
A
J1-24  
B
J1-25  
B
J1-26  
Index(C)  
Index(C)  
+5VDC  
Common  
Shield  
J1-27  
J1-28  
J1-29  
J1-30  
J1-30  
Single Ended Connections  
Differential inputs are recommended for best noise immunity. If only single ended  
encoder signals are available, connect them to A, B, and INDEX (C) (J1-23, J1-25 and  
J1-27 respectively).  
Buffered Encoder Output The control provides a buffered encoder output on pins J1-31 to J1-38. This output may  
be used by external hardware to monitor the encoder signals. It is recommended that this  
output only drive one output circuit load (a 26LS31 type device drives this output).  
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Home (Orient) Switch Input The Home or Orient function is active in the Bipolar and Serial modes and causes the  
motor shaft to rotate to a predefined home position. The homing function allows shaft  
rotation in the drive forward direction only. The home position is located when a machine  
mounted switch or the encoder “Index” pulse is activated (closed). Home is defined by a  
rising signal edge at terminal J1-27. The shaft will continue to rotate only in a “Drive  
Forward” direction for a user defined offset value. The offset is programmed in the Level  
2 Miscellaneous Homing Offset parameter. The speed at which the motor will “Home” or  
orient is set with the Level 2 Miscellaneous Homing Speed parameter.  
A machine mounted switch may be used to define the Home position in place of the  
encoder index channel. A differential line driver output from a solid state switch is  
preferred for best noise immunity. Connect this differential output to terminals J1-27 and  
J1-28.  
A single ended solid-state switch or limit switch should be wired as shown in Figure 3-9.  
Regardless of the type of switch used, clean rising and falling edges at J1-27 are required  
for accurate positioning.  
Note: A control may require dynamic brake hardware for Orient (Homing) function to  
work. The control may trip without dynamic brake hardware installed.  
Figure 3-9 Typical Home or Orient Switch Connections  
J1  
J1  
27  
28  
27  
28  
INDEX  
INDEX  
+5V  
INDEX  
INDEX  
+5V  
+5V Input  
Output  
29  
30  
29  
30  
Common  
Common  
Common  
5VDC Proximity Switch  
Limit Switch (Closed at HOME).  
See recommended terminal tightening torques in Section 7.  
Example:  
If the drive is operating in the forward direction when the “Orient” J1-11 input is closed,  
the drive will decel at “DECEL #1” speed. Then continue in the forward direction at the  
“Homing Speed” until the index pulse is received. The drive will continue past the int  
index in the forward direction by the amount of the “Homing Offset”. The drive will then  
stop and maintain position.  
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Control Board Jumpers  
Converter Section Control Board  
Figure 3-10 Converter Control Board Jumper JP1 Location  
Expansion Board  
Motor Control Board  
Keypad  
Connector  
3 2 1  
JP1  
See recommended terminal tightening  
torques in Section 7.  
Table 3-9 Converter Control Board Jumper  
Jumper  
Jumper Position  
Description of Jumper Position Setting  
1–2  
2–3  
Voltage Speed Command Signal. (Factory Setting)  
JP1  
4–20mA Speed Command Signal.  
Inverter Section Control Board  
Figure 3-11 Inverter Control Board Jumper Locations  
JP2  
1 2 3  
Refer to Table 3-10  
for jumper placement information.  
JP1  
See recommended terminal tightening torques in Section 7.  
Table 3-10 Inverter Control Board Jumper  
Jumper  
Jumper Position  
Description of Jumper Position Setting  
Voltage Speed Command Signal. (Factory Setting)  
4-20mA input at Analog #2  
1-2  
2-3  
1-2  
2-3  
JP1  
Factory Setting  
JP2  
Not used.  
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Analog Inputs  
Two analog inputs are available: analog input #1 (J1-1 and J1-2) and analog input #2  
(J1-4 and J1-5) as shown in Figure 3-12. Either analog input may be selected in the  
Level 1 INPUT block, Command Select parameter value. Analog input #1 is selected if  
the parameter value is “Potentiometer”. Analog input #2 is selected if the parameter  
value is “+/-10Volts, +/-5 Volts or 4-20mA”. Figure 3-13 shows the equivalent circuits of  
the Analog Inputs.  
Figure 3-12 Analog Inputs and Outputs  
J1  
Analog GND  
1
Command Pot or  
0-10VDC  
Analog Input 1  
Pot Reference  
Analog Input +2  
Analog Input -2  
2
3
4
5
Analog Input 1  
Analog Input 2  
5KW  
±5VDC, ±10VDC or 4-20 mA Input  
See recommended terminal tightening torques in Section 7.  
Analog Input #1  
(Single Ended)  
When using a potentiometer as the speed command, process feedback or setpoint  
source, the Level 1 Input block COMMAND SELECT parameter must be set to  
“POTENTIOMETER”.  
Note: A potentiometer value of 5kW to 10kW, 0.5 watt may be used.  
Parameter Selection  
The single ended analog input #1 can be used in one of three ways:  
1. Speed or Torque command (Level 1 Input block, Command Select=Potentiometer).  
2. Process Feedback (Level 2 Process Control block, Process Feedback=Potentiometer).  
3. Setpoint Source (Level 2 Process Control block, Setpoint Source=Potentiometer).  
When using Analog Input #1, the respective parameter must be set to  
“POTENTIOMETER”.  
Analog Input #2  
(Differential)  
Analog input #2 accepts a differential command 0-5VDC, 0-10VDC, ±5VDC, ±10VDC or  
4-20 mA. If pin J1-4 is positive with respect to pin 5, the motor will rotate in the forward  
direction. If pin J1-4 is negative with respect to pin 5, the motor will rotate in the reverse  
direction. JP1 must be set for voltage or current operation as required. Analog Input #2  
can be connected for single ended operation by grounding either of the inputs, provided  
the common mode voltage range is not exceeded.  
Note: The common mode voltage can be measured with a voltmeter. Apply the  
maximum command voltage to analog input 2 (J1-4, 5). Measure the AC and  
DC voltage across J1-1 to J1-4. Add the AC and DC readings together.  
Measure the AC and DC voltage from J1-1 to J1-5. Add the AC and DC  
readings together.  
If either of these measurement totals exceeds a total of ±15 volts, then the  
common mode voltage range has been exceeded. To correct this condition,  
either change the command source or isolate the command signal with a  
signal isolator.  
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Figure 3-13 Analog Inputs Equivalent Circuits  
30KW  
5.1V Zener  
J1  
-15VDC  
Notes:  
+
.033 mF  
All OP Amps are TL082 or TL084  
1
–
5KW  
Analog Ground is separated from  
Chassis Ground. Electrically they  
are separated by an RC network.  
20KW  
2
3
–
To Microprocessor  
+
See recommended terminal tightening  
torques in Section 7.  
1.96KW  
+15VDC  
10KW  
10KW  
10KW  
4
JP1  
+
4-20mA  
To Microprocessor  
–
500W  
10KW  
X N/C  
5
Analog Outputs  
Two programmable analog outputs are provided on J1-6 and J1-7. See Figure 3-14.  
These outputs are scaled 0 - 5 VDC (1mA maximum output current) and can be used to  
provide real-time status of various control conditions. The output conditions are defined  
in Table 4-4 of Section 4 of this manual.  
The return for these outputs is J1-1 analog ground. Each output is programmed in the  
Level 1 Output block.  
Figure 3-14 Analog Outputs Equivalent Circuits  
J1  
Notes:  
1
+
10KW  
All OP Amps are TL082 or TL084  
50W  
–
+
6
–
From Microprocessor  
Analog Ground is separated from  
Chassis Ground. Electrically they  
are separated by an RC network.  
10KW  
.033 mf  
See recommended terminal tightening  
torques in Section 7.  
10KW  
50W  
+
7
–
From Microprocessor  
.033 mf  
10KW  
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Control Circuit Connections  
There are two control boards in a Series 22H Vector Control. The Converter Control  
Board is used to rectify and process the incoming power. The Inverter Control Board  
provides the inverting and power output functions. The keypad is normally connected to  
the Inverter Control Board. Each converter board has its own J1 terminal strip. The  
Inverter Control Board provides the user interface for most external connections.  
Converter Control Board Connections  
All necessary connections for the Converter Control Board have been made at the factory  
prior to shipment.  
The jumper between J1-8 and J1-17 provides the enable signal to allow converter  
operation. The jumper between J1-39 and J1-40 provides +24VDC from the internal  
supply to allow the opto isolated input at J1-8 to operate. These jumpers should remain  
installed at all times.  
Sometimes it is necessary to troubleshoot the converter section using the isolated opto  
outputs. Figure 3-15 shows how to connect external relays to the board to “Sink” or  
“Source” the relay current.  
The function of each opto output is as follows: (these functions cannot be changed)  
J1-19  
J1-20  
J1-21  
J1-22  
Ready  
At Voltage  
Fault  
Overtemperature Warning  
Figure 3-15 Converter Control Board Opto Output Wiring  
24Com  
+24VDC  
24Com  
+24VDC  
17  
18  
19  
20  
21  
22  
39  
17  
18  
19  
20  
21  
22  
39  
41  
42  
43  
44  
41  
42  
43  
44  
Optional  
Customer  
Supplied  
Relays &  
Diodes  
Optional  
Customer  
Supplied  
Relays &  
Diodes  
Using Internal Supply  
(Sinking the Relay Current)  
Using Internal Supply  
(Sourcing the Relay Current)  
Note: Add appropriately rated  
protective device for AC relay  
(snubber) or DC relay (diode).  
See recommended terminal tightening torques in Section 7.  
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Inverter Control Board Connections  
Ten operating modes are available in the Series 22H vector control. These operating  
modes define the basic motor control setup and the operation of the input and output  
terminals. After the circuit connections are completed, the operating mode is selected by  
programming the Level 1 Input block, Operating Mode parameter.  
Available operating modes include:  
•
•
•
•
•
•
•
•
•
•
Keypad Control  
Standard Run, 3 Wire Control  
15 Speed, 2 Wire Control  
Three Speed, 2 Wire Control  
Three Speed, 3 Wire Control  
Serial  
Bipolar Speed or Torque  
Process Control  
EPOT, 2 Wire Control  
EPOT, 3 Wire Control  
Each mode requires connections to the J1 terminal strip (except keypad and serial  
modes, all connections are optional). The J1 terminal strip is shown in Figure 3-16. The  
connection of each input or output signal is described in the following pages.  
Figure 3-16 Control Signal Connections  
J1  
Analog GND  
1
2
3
4
5
6
7
8
9
23  
24  
25  
26  
A
A
B
B
Analog Input 1  
Pot Reference  
Analog Input +2  
Analog Input -2  
Analog Out 1  
Analog Out 2  
Input #1  
Refer to Analog Inputs  
Refer to Analog Outputs  
Refer to Encoder Installation  
27 INDEX  
28 INDEX  
29 +5VDC  
30 Common  
Input #2  
31  
A
A
B
B
Input #3  
10 32  
11 33  
12 34  
Input #4  
Input #5  
Refer to Buffered Encoder Output  
Refer to opto isolated Inputs  
Input #6  
13 35 INDEX  
14 36 INDEX  
15 37 Not Used  
16 38 Common  
17 39  
Input #7  
Input #8  
Input #9  
Opto In Common  
J1-39 & 40 Jumper as shown to power  
the opto inputs from the  
+24VDC  
Opto In Power  
18 40  
internal +24VDC supply.  
Opto Out #1  
Opto Out #2  
Opto Out #3  
Opto Out #4  
19 41 Opto Out #1 Return  
20 42 Opto Out #2 Return  
21 43 Opto Out #3 Return  
22 44 Opto Out #4 Return  
Note: J1-18 and J1-41 are connected  
together on the control circuit  
board.  
Refer to opto isolated Outputs  
See recommended terminal tightening torques in Section 7.  
Serial Mode  
The Serial operating mode requires one of the optional Serial Interface expansion boards  
(RS232 or 422/485). Installation and operation information for these serial expansion  
boards is provided in Serial Communications expansion board manual MN1310. This  
manual is shipped with the serial expansion board.  
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Keypad Mode Connections The Keypad operating mode allows the control to be operated from the keypad. This  
mode requires no connections to J1. However, the Enable, Stop and External Trip inputs  
may optionally be used. All other opto inputs remain inactive. The analog outputs and  
opto-outputs remain active at all times. See Figure 3-17.  
Parameter Selection  
For operation in Keypad mode, set the Level 1 Input block, Operating Mode parameter to  
Keypad. The STOP key can operate in two ways:  
ꢀ
ꢀ
Press STOP key one time to brake or coast to stop.  
Press STOP key two times to disable control.  
To use the Enable input, J1-8 must be connected and the Local Enable INP parameter in  
the Level 2 Protection block must be set to ON. The Enable line is normally closed.  
When opened, the motor will COAST to a stop. When the enable line is again closed, the  
motor will not start until a new direction command is received from the keypad.  
To use the Stop input, J1-11 must be connected and the Level 1 Keypad Setup block,  
LOC. Hot Start parameter must be set to ON. The Stop line is normally closed. When  
opened, the motor will COAST or REGEN to a stop depending upon the setting of Level 1  
Keypad Setup block Keypad Stop Mode parameter value. Closing the input will  
immediately start the motor.  
The External Trip input causes a fault condition during a motor over temperature  
condition (when normally closed input opens). The External Trip input (J1-16) must be  
connected and the External Trip parameter in the Level 2 Protection block must be set to  
“ON”. When J1-16 is opened, an external trip fault occurs. The control will disable and  
the motor coasts to a stop. An external trip fault is displayed on the keypad display (also  
logged into the fault log).  
Figure 3-17 Keypad Control Connection Diagram  
J1  
Analog GND  
Analog Input 1  
Pot Reference  
Analog Input +2  
Analog Input -2  
Analog Out 1  
Analog Out 2  
Input #1  
J1-8  
If J1-8 is connected, you must set Level 2 Protection block, Local Enable INP  
parameter to “ON” to activate the opto input.  
CLOSED allows normal operation.  
1
2
OPEN disables the control and motor coasts to a stop.  
3
No Connection  
J1-11  
If J1-11 is connected, you must set Level 1 Keypad Setup block,  
Loc. Hot Start parameter to to “ON” to activate the opto input.  
CLOSED allows normal operation.  
OPEN motor decels to stop (depending on Keypad Stop mode). The motor  
will restart when J1-11 closes after open (if the keypad FWD or REV key is  
still pressed).  
4
5
6
7
Enable  
Stop  
8
Input #2  
J1-16  
If J1-16 is connected, you must set Level 2 Protection block, External Trip to  
“ON” to activate the opto input.  
CLOSED allows normal operation.  
OPEN causes an external trip to be received by the control. The control will  
disable and display external trip. When this occurs, the motor stop command  
is issued, drive operation is terminated and an external trip fault is displayed  
on the keypad display (also logged into the fault log).  
9
Input #3  
10  
11  
12  
13  
14  
15  
16  
17  
Input #4  
Input #5  
Input #6  
Input #7  
Input #8  
External Trip  
Input #9  
Opto In Common  
Refer to Figure 3-26.  
See recommended terminal tightening torques in Section 7.  
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Standard Run 3 Wire Mode Connections  
In Standard Run mode, the control is operated by the opto isolated inputs at J1-8 through  
J1-16 and the analog command input. The opto inputs can be switches as shown in  
Figure 3-18 or logic signals from another device. The external trip opto input at J1-16 is  
active if connected as shown and the Level 2 Protection block, External Trip parameter is  
set to ON.  
For 4–20mA operation, refer to Table 3-10. Analog input 2 can then be used for 4–20mA  
operation.  
Figure 3-18 Standard Run 3-Wire Connection Diagram  
J1  
J1-8  
J1-9  
CLOSED allows normal control operation.  
Analog GND  
Analog Input 1  
Pot Reference  
Analog Input +2  
Analog Input -2  
Analog Out 1  
Analog Out 2  
Enable  
OPEN disables the control and motor coasts to a stop.  
1
2
Command Pot or  
0-10VDC  
MOMENTARY CLOSED starts motor operation in the Forward direction.  
In JOG mode (J1-12 CLOSED), continuous CLOSED jogs motor in the  
Forward direction.  
5KW  
3
4
J1-10  
J1-11  
MOMENTARY CLOSED starts motor operation in the Reverse direction.  
In JOG mode (J1-12 CLOSED), CONTINUOUS closed JOGS motor in the  
Reverse direction.  
5
Programmable Output  
Programmable Output  
6
MOMENTARY OPEN causes motor to decel to stop (depending on Keypad  
Stop Mode parameter setting). Motor current continues to be applied to the  
motor.  
7
8
Forward Run  
Reverse Run  
Stop  
J1-12  
J1-13  
J1-14  
J1-15  
J1-16  
CLOSED places control in JOG mode, Forward and Reverse run are used  
to jog the motor.  
9
10  
11  
12  
13  
14  
15  
16  
17  
CLOSED selects group 2.  
OPEN selects ACC / DEC / S-CURVE group 1.  
Jog  
CLOSED selects preset speed #1, (J1-12, will override this preset speed).  
OPEN allows speed command from Analog input #1 or #2 or Jog.  
Accel/Decel  
Preset Speed #1  
Fault Reset  
External Trip  
Opto In Common  
CLOSED to reset fault condition.  
OPEN to run.  
If J1-16 is connected, you must set Level 2 Protection block, External Trip  
to “ON” to activate the opto input.  
CLOSED allows normal control operation.  
OPEN causes an external trip to be received by the control. The control  
will disable and display external trip. When this occurs, the motor stop  
command is issued, drive operation is terminated and an external trip fault  
is displayed on the keypad display (also logged into the fault log).  
Refer to Figure 3-26.  
See recommended terminal  
tightening torques in Section 7.  
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15 Speed 2-Wire Mode Connections Switch Truth Table is defined in Table 3-11.  
Operation in the 15 Speed 2-Wire mode is controlled by the Opto Isolated inputs at J1-8  
through J1-16. The Opto inputs can be switches as shown in Figure 3-19 or logic signals  
from another device.  
Switched inputs at J1-11 through J1-14 allow selection of 15 preset speeds and provide  
Fault Reset as defined in Table 3-11.  
Figure 3-19 15 Speed 2-Wire Control Connection Diagram  
J1  
J1-8  
J1-9  
CLOSED allows normal control operation.  
OPEN disables the control and motor coasts to a stop.  
Analog GND  
Analog Input 1  
Pot Reference  
Analog Input +2  
Analog Input -2  
Analog Out 1  
Analog Out 2  
Enable  
1
2
CLOSED operates the motor in the Forward direction (with J1-10 open).  
OPEN motor decels to stop (depending on Keypad Stop mode parameter  
setting).  
3
No Connection  
4
J1-10  
CLOSED operates motor in the Reverse direction (with J1-9 open).  
OPEN motor decels to stop depending on Keypad Stop mode parameter  
setting.  
5
Programmable Output  
Programmable Output  
6
J1-11 to 14 Selects programmed preset speeds as defined in Table 3-11.  
7
J1-15  
Selects ACC/DEC group. OPEN selects group 1. CLOSED selects  
group 2.  
8
Forward Run  
Reverse Run  
Switch 1  
9
J1-16  
If J1-16 is connected, you must set Level 2 Protection block, External  
Trip to “ON” to activate the opto input.  
CLOSED allows normal control operation.  
OPEN causes an external trip to be received by the control. The control  
will disable and display external trip. When this occurs, the motor stop  
command is issued, drive operation is terminated and an external trip  
fault is displayed on the keypad display (also logged into the fault log).  
10  
11  
12  
13  
14  
15  
16  
17  
Switch 2  
Switch 3  
Switch 4  
Accel/Decel/S Select 1  
External Trip  
Opto In Common  
Refer to Figure 3-26.  
See recommended terminal tightening torques in Section 7.  
Table 3-11 Switch Truth Table for 15 Speed, 2 Wire Control Mode  
Function  
Preset 1  
Preset 2  
Preset 3  
Preset 4  
Preset 5  
Preset 6  
Preset 7  
Preset 8  
Preset 9  
Preset 10  
Preset 11  
Preset 12  
Preset 13  
Preset 14  
Preset 15  
Fault Reset  
J1-11  
Open  
J1-12  
Open  
J1-13  
Open  
Open  
J1-14  
Open  
Open  
Open  
Open  
Closed Open  
Open  
Closed Closed Open  
Open  
Closed Open  
Open  
Closed Closed Closed Open  
Open  
Closed Open  
Open  
Closed Closed Open  
Open  
Closed Open  
Open  
Closed Closed Closed Closed  
Closed Open  
Open  
Closed Open  
Closed Open  
Closed Closed Open  
Open  
Open  
Open  
Closed  
Closed  
Closed  
Closed  
Closed Open  
Open  
Closed Closed  
Closed Closed  
Closed Closed Closed  
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3 Speed Analog 2 Wire Operating Mode  
Allows selection of 3 preset speeds with 2 wire inputs. The opto inputs can be switches  
as shown in Figure 3-20 or logic signals from another device.  
The values of the preset speeds are set in the Level 1 Preset Speeds block, Preset  
Speed #1, Preset Speed #2 and Preset Speed #3.  
Figure 3-20 3 SPD ANA 2 Wire Control Connection Diagram  
J1  
J1-8  
J1-9  
J1-10  
CLOSED allows normal operation.  
OPEN disables the control and the motor coasts to a stop.  
Analog GND  
Analog Input 1  
Pot Reference  
Analog Input +2  
Analog Input -2  
Analog Out 1  
Analog Out 2  
Enable  
Command Pot or  
0-10VDC  
1
2
CLOSED operates the motor in the Forward direction (with J1-10 open).  
OPEN motor decels to stop (depending on Keypad Stop mode).  
5KW  
3
CLOSED operates the motor in the Reverse direction (with J1-9 open).  
OPEN motor decels to stop (depending on Keypad Stop mode).  
4
5
Note: Closing both J1-9 and J1-10 at the same time will reset a fault condition.  
6
J1-11  
CLOSED selects Analog Input #1.  
OPEN selects Level 1 Input block, Command Select parameter.  
7
8
Forward Run  
Reverse Run  
Analog Input Select  
Run Command  
Speed Command  
Switch 1  
Note: If Command Select (Level 1 Input block) is set to Potentiometer, then Analog  
Input #1 is always selected regardless of this switch position.  
9
10  
11  
12  
13  
14  
15  
16  
17  
J1-12  
CLOSED selects STOP/START and Reset commands from terminal strip.  
OPEN selects STOP/START and Reset commands from Keypad.  
J1-13  
CLOSED selects Level 1 Input block, Command Select parameter.  
OPEN selects speed commanded from Keypad.  
Note: When changing from Terminal Strip to Keypad (J1-12 or J1-13) the motor speed  
and direction will remain the same after the change.  
Switch 2  
External Trip  
J1-14  
Selects preset speeds as defined in the Speed Select Table (Table 3-12).  
Selects preset speeds as defined in the Speed Select Table (Table 3-12).  
Opto In Common  
J1-15  
J1-16  
If J1-16 is connected, you must set Level 2 Protection block, External Trip to “ON”  
to activate the opto input.  
Refer to Figure 3-26.  
See recommended terminal  
CLOSED allows normal operation.  
tightening torques in Section 7.  
OPEN causes an external trip to be received by the control. The control will disable  
and display external trip. When this occurs, the motor stop command is issued,  
drive operation is terminated and an external trip fault is displayed on the keypad  
display (also logged into the fault log).  
Table 3-12 Speed Select Table  
J1-14  
J1-15  
Command  
OPEN  
OPEN  
Analog Input  
(Command Select)  
Preset #1  
CLOSED OPEN  
OPEN  
CLOSED CLOSED  
CLOSED  
Preset #2  
Preset #3  
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3 Speed Analog 3 Wire Operating Mode  
Allows selection of 3 preset speeds with 3 wire inputs. The opto inputs can be switches  
as shown in Figure 3-21 or logic signals from another device.  
The values of the preset speeds are set in the Level 1 Preset Speeds block, Preset  
Speed #1, Preset Speed #2 and Preset Speed #3.  
Figure 3-21 3 SPD ANA 3 Wire Control Connection Diagram  
J1  
J1-8  
CLOSED allows normal operation.  
Analog GND  
Analog Input 1  
Pot Reference  
Analog Input +2  
Analog Input -2  
Analog Out 1  
Analog Out 2  
Enable  
OPEN disables the control and the motor coasts to a stop.  
1
2
Command Pot or  
0-10VDC  
J1-9  
MOMENTARY CLOSED starts motor operation in the Forward direction.  
MOMENTARY CLOSED starts motor operation in the Reverse direction.  
J1-10  
5KW  
3
Note: Closing both J1-9 and J1-10 at the same time will reset a fault condition.  
4
5
J1-11  
Momentary OPEN motor decels to stop (depending on Keypad Stop mode).  
6
J1-12  
CLOSED selects STOP/START and Reset commands from terminal strip.  
OPEN selects STOP/START and Reset commands from Keypad.  
7
J1-13  
CLOSED selects Level 1 Input block, Command Select parameter.  
OPEN selects speed commanded from Keypad.  
8
Forward Run  
Reverse Run  
Stop  
9
Note: When changing from Terminal Strip to Keypad (J1-12 or J1-13) the motor  
speed and direction will remain the same after the change.  
10  
11  
12  
13  
14  
15  
16  
17  
J1-14  
Selects preset speeds as defined in the Speed Select Table (Table 3-13).  
Selects preset speeds as defined in the Speed Select Table (Table 3-13).  
Run Command  
Speed Command  
Switch 1  
J1-15  
J1-16  
If J1-16 is connected, you must set Level 2 Protection block, External Trip to  
“ON” to activate the opto input.  
CLOSED allows normal operation.  
OPEN causes an external trip to be received by the control. The control will  
disable and display external trip. When this occurs, the motor stop command  
is issued, drive operation is terminated and an external trip fault is displayed on  
the keypad display (also logged into the fault log).  
Switch 2  
External Trip  
Opto In Common  
Refer to Figure 3-26.  
See recommended terminal  
tightening torques in Section 7.  
Table 3-13 Speed Select Table  
J1-14  
J1-15  
Command  
OPEN  
OPEN  
Analog Input  
(Command Select)  
Preset #1  
CLOSED OPEN  
OPEN  
CLOSED CLOSED  
CLOSED  
Preset #2  
Preset #3  
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Bipolar Speed and Torque Mode Connections  
Provides bipolar speed or torque control. Also, you may store up to four (4) complete  
sets of operating parameters. This is important if you wish to store and use different  
acceleration rates, speed commands, jog speeds or to store tuning parameter values for  
different motors etc. The opto inputs can be switches as shown in Figure 3-22 or logic  
signals from another device.  
Figure 3-22 Bipolar Speed or Torque Connection Diagram  
J1  
J1-8  
J1-9  
CLOSED allows normal operation.  
Analog GND  
Analog Input 1  
Pot Reference  
Analog Input +2  
Analog Input -2  
Analog Out 1  
Analog Out 2  
Enable  
1
2
OPEN disables the control & motor coasts to a stop.  
Command Pot or  
0-10VDC  
CLOSED to enable operation in the Forward direction.  
OPEN TO DISABLE Forward operation (drive will brake to a stop if a Forward  
command is still present).  
5KW  
3
4
Reverse operation is still possible if J1-10 is closed.  
5
J1-10  
CLOSED to enable operation in the Reverse direction.  
OPEN to disable Reverse operation (drive will brake to a stop if a Reverse  
command is still present).  
6
7
Forward operation is still possible if J1-9 is closed.  
8
Forward Enable  
Reverse Enable  
Homing  
Note: If J1-9 and J1-10 are both opened, the drive will brake to a stop.  
9
J1-11  
CLOSED causes the motor to rotate in the forward direction until the load  
reaches a marker or external switch location.  
10  
11  
12  
13  
14  
15  
16  
17  
OPEN allows normal operation.  
Speed/Torque  
Switch 1  
J1-12  
CLOSED puts the control in torque command mode.  
OPEN puts the control in speed (velocity) command mode.  
Switch 2  
Note: If a stop command is issued while in the torque (current) mode, the  
control will stop but will not maintain position (zero current). This is  
different than zero speed operation for the velocity mode.  
Fault Reset  
External Trip  
Opto In Common  
J1-13 & 14 Select from four parameter tables as defined in Table 3-14.  
J1-15  
Momentary CLOSED to reset fault condition.  
OPEN allows normal operation.  
Refer to Figure 3-26.  
See recommended terminal  
J1-16  
If J1-16 is connected, you must set Level 2 Protection block, External Trip to  
“ON” to activate the opto input.  
tightening torques in Section 7.  
CLOSED allows normal operation.  
OPEN causes an external trip to be received by the control. The control will  
disable and display external trip. When this occurs, the motor stop command  
is issued, drive operation is terminated and an external trip fault is displayed  
on the keypad display (also logged into the fault log).  
Table 3-14 Bipolar Mode Table Select Truth Table  
Function  
J1-13  
Open  
J1-14  
Open  
Parameter Table #0  
Parameter Table #1  
Parameter Table #2  
Parameter Table #3  
Closed  
Open  
Open  
Closed  
Closed  
Closed  
Note: See multiple parameter sets.  
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Multiple Parameter Sets  
The following procedure allows you to program up to four complete sets of parameter  
values and to use these multiple parameter sets. When programming each parameter  
set, use the ENTER key to accept and automatically save parameter values.  
Note: The control can be programmed in the REMOTE mode with the drive enabled.  
The control must be disabled to change the operating mode parameter and  
the operating mode can not be stored in a parameter table.  
1. If this is a new installation, do this procedure after the Pre-Operation Checklist  
and Power-Up Procedures at the end of this section.  
2. Set the Level 1 INPUT block, Operating Mode parameter value to BIPOLAR in  
each of the parameter sets.  
3. Set switches J1-13 and J1-14 to Parameter Table #0 (both switches open). Be  
sure switches J1-9 and J1-10 are OPEN, J1-8 is CLOSED. Enter all parameter  
values, and autotune as instructed in Section 3 of this manual. This creates  
and saves the first parameter set which is numbered Table#0.  
4. Set switches J1-13 and J1-14 to Parameter Table #1. Be sure switches J1-9  
and J1-10 are OPEN, J1-8 is CLOSED. Enter all parameter values, and  
autotune as instructed in Section 3 of this manual. This creates and saves the  
second parameter set which is numbered Table#1.  
5. Set switches J1-13 and J1-14 to Parameter Table #2. Be sure switches J1-9  
and J1-10 are OPEN, J1-8 is CLOSED. Enter all parameter values, and  
autotune as instructed in Section 3 of this manual. This creates and saves the  
third parameter set which is numbered Table#2.  
6. Set switches J1-13 and J1-14 to Parameter Table #3. Be sure switches J1-9  
and J1-10 are OPEN, J1-8 is CLOSED. Enter all parameter values, and  
autotune as instructed in Section 3 of this manual. This creates and saves the  
final parameter set which is numbered Table#3.  
7. Remember that to change the value of a parameter in one of the parameter  
tables, you must first select the table using the switches. You cannot change a  
value in a table until you have first selected that table.  
Note: Preset speed does not apply to table select.  
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Process Mode Connections The process control mode provides an auxiliary closed loop general purpose PID set point  
control. The process control loop may be configured in various ways and detailed  
descriptions of the process mode are given in MN707 “Introduction to Process Control”.  
The opto inputs can be switches as shown in Figure 3-23 or logic signals from another device.  
Figure 3-23 Process Mode Connection Diagram  
J1  
J1-8  
J1-9  
CLOSED allows normal operation.  
OPEN disables the control & motor coasts to a stop.  
Analog GND  
Analog Input 1  
Pot Reference  
Analog Input +2  
Analog Input -2  
Analog Out 1  
Analog Out 2  
Enable  
1
2
CLOSED to enable operation in the Forward direction.  
OPEN TO DISABLE Forward operation (drive will brake to a stop if a Forward  
command is still present). Reverse operation is still possible if J1-10 is closed.  
Command Pot or  
0-10VDC  
5KW  
3
J1-10  
CLOSED to enable operation in the Reverse direction.  
OPEN to disable Reverse operation (drive will brake to a stop if a Reverse  
command is still present). Forward operation is still possible if J1-9 is closed.  
4
5
Note: If J1-9 and J1-10 are both opened, the drive will brake to a stop.  
CLOSED = TABLE 1, OPEN = TABLE 0. (See multiple parameter sets.)  
CLOSED, the control is in torque command mode.  
OPEN, the control is in speed (velocity) command mode.  
Note: If a stop command is issued while in the torque (current) mode, the control  
will stop but will not maintain position (zero current). This is different than  
zero speed operation for the velocity mode.  
6
J1-11  
J1-12  
7
8
Forward Enable  
Reverse Enable  
Table Select  
9
10  
11  
12  
13  
14  
15  
16  
17  
J1-13  
J1-14  
CLOSED to enable the Process Mode.  
CLOSED places control in JOG mode. The control will only JOG in the forward  
Speed/Torque  
direction.  
Process Mode Enable  
Jog  
J1-15  
J1-16  
CLOSED to reset a fault condition.  
OPEN to run.  
If J1-16 is connected, you must set Level 2 Protection block, External Trip to “ON”  
to activate the opto input.  
CLOSED allows normal operation.  
Fault Reset  
External Trip  
Opto In Common  
OPEN causes an external trip to be received by the control. The control will  
disable and display external trip. When this occurs, the motor stop command is  
issued, drive operation is terminated and an external trip fault is displayed on the  
keypad display (also logged into the fault log).  
Refer to Figure 3-26.  
See recommended terminal tightening torques in Section 7.  
Table 3-15 Process Mode Input Signal Compatibility  
Feedback  
10V EXB  
Setpoint or  
Feedforward  
4-20mA  
EXB  
3-15 PSI  
EXB  
DC  
Tach EXB  
J1-1 & 2  
J1-4 & 5  
5V EXBꢁ  
ꢁ
ꢁ
ꢂ
ꢃ
J1-1 & 2  
J1-4 & 5  
5V EXBꢁ  
10V EXBꢁ  
4-20mA EXB  
3-15 PSI EXB  
DC Tach EXB  
EXB PULSE FOL  
ꢁ
ꢂ
ꢃ
ꢄ
ꢅ
Serial EXB  
ꢅ
ꢆ
ꢁ
ꢂ
ꢃ
ꢄ
ꢅ
ꢆ
Requires expansion board EXB007A01 (High Resolution Analog I/O EXB).  
Requires expansion board EXB004A01 (4 Output Relays/3-15 PSI Pneumatic Interface EXB).  
Requires expansion board EXB006A01 (DC Tachometer Interface EXB).  
Requires expansion board EXB005A01 (Master Pulse Reference/Isolated Pulse Follower EXB).  
Used for Feedforward only. Must not be used for Setpoint Source or Feedback.  
Requires expansion board EXB001A01 (RS232 Serial Communication EXB). or  
Requires expansion board EXB002A01 (RS422/RS485 High Speed Serial Communication EXB). or  
Requires expansion board EXB012A01 (RS232/RS485 Serial Communication EXB).  
Conflicting inputs. Do not use same input signal multiple times.  
Conflicting level 1 or 2 expansion boards. Do not use!  
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Electronic Pot 2 Wire Operating Mode  
Provides speed Increase and Decrease inputs to allow EPOT operation with 2 wire  
inputs. The opto inputs can be switches as shown in Figure 3-24 or logic signals from  
another device. The values of the preset speeds are set in the Level 1 Preset Speeds  
block, Preset Speed #1 or Preset Speed #2.  
Figure 3-24 EPOT, 2 Wire Control Connection Diagram  
J1  
J1-8  
J1-9  
J1-10  
CLOSED allows normal operation.  
Analog GND  
Analog Input 1  
Pot Reference  
Analog Input +2  
Analog Input -2  
Analog Out 1  
Analog Out 2  
Enable  
1
2
OPEN disables the control and motor coasts to a stop.  
Command Pot or  
0-10VDC  
CLOSED starts motor operation in the Forward direction.  
OPEN motor decels to stop (depending on Keypad Stop mode).  
5KW  
3
CLOSED starts motor operation in the Reverse direction.  
OPEN motor decels to stop (depending on Keypad Stop mode).  
4
5
Note: Closing both J1-9 and J1-10 at the same time will reset a fault condition.  
6
J1-11  
Selects preset speeds as defined in the Speed Select Table (Table 3-16).  
Selects preset speeds as defined in the Speed Select Table (Table 3-16).  
7
J1-12  
J1-13  
8
Forward Run  
Reverse Run  
Switch 1  
CLOSED selects ACC / DEC / S-CURVE group 2.  
OPEN selects ACC / DEC / S-CURVE group 1.  
9
10  
11  
12  
13  
14  
15  
16  
17  
J1-14  
J1-15  
J1-16  
Momentary CLOSED increases motor speed while contact is closed.  
Momentary CLOSED decreases motor speed while contact is closed.  
Switch 2  
Accel/Decel  
Increase  
If J1-16 is connected, you must set Level 2 Protection block, External Trip  
to “ON” to activate the opto input.  
CLOSED allows normal operation.  
OPEN causes an external trip to be received by the control. The control will  
disable and display external trip. When this occurs, the motor stop  
command is issued, drive operation is terminated and an external trip fault  
is displayed on the keypad display (also logged into the fault log).  
Decrease  
External Trip  
Opto In Common  
Refer to Figure 3-26.  
See recommended terminal  
tightening torques in Section 7.  
Table 3-16 Speed Select Table  
J1-11  
J1-12  
Function  
OPEN  
CLOSED OPEN  
OPEN  
OPEN  
Electronic Pot  
Command Select *  
Preset #1  
CLOSED  
CLOSED CLOSED  
Preset #2  
* Command Select refers to the Level 1 Command Select parameter.  
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Electronic Pot 3 Wire Control Mode  
Provides speed Increase and Decrease inputs to allow EPOT operation with 3 wire  
inputs. The opto inputs can be switches as shown in Figure 3-25 or logic signals from  
another device.  
Figure 3-25 EPOT, 3 Wire Control Connection Diagram  
J1  
J1-8  
CLOSED allows normal operation.  
Analog GND  
Analog Input 1  
Pot Reference  
Analog Input +2  
Analog Input -2  
Analog Out 1  
Analog Out 2  
Enable  
OPEN disables the control and motor coasts to a stop.  
1
2
Command Pot or  
J1-9  
Momentary CLOSED starts motor operation in the Forward direction.  
Momentary CLOSED starts motor operation in the Reverse direction.  
0-10VDC  
J1-10  
5KW  
3
Note: Closing both J1-9 and J1-10 at the same time will reset a fault condition.  
4
5
J1-11  
Momentary OPEN motor decels to stop (depending on Keypad Stop mode).  
6
J1-12  
CLOSED selects Level 1 Command Select parameter value.  
OPEN selects EPOT.  
7
J1-13  
CLOSED selects ACC / DEC / S-CURVE group 2.  
OPEN selects ACC / DEC / S-CURVE group 1.  
8
Forward Run  
Reverse Run  
Stop  
9
J1-14  
J1-15  
J1-16  
Momentary CLOSED increases motor speed while contact is closed.  
Momentary CLOSED decreases motor speed while contact is closed.  
10  
11  
12  
13  
14  
15  
16  
17  
EPOT/Command Select  
Accel/Decel  
If J1-16 is connected, you must set Level 2 Protection block, External Trip to  
“ON” to activate the opto input.  
CLOSED allows normal operation.  
Increase  
OPEN causes an external trip to be received by the control. The control will  
disable and display external trip. When this occurs, the motor stop command  
is issued, drive operation is terminated and an external trip fault is displayed  
on the keypad display (also logged into the fault log).  
Decrease  
External Trip  
Opto In Common  
Refer to Figure 3-26.  
See recommended terminal  
tightening torques in Section 7.  
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External Trip Input  
To activate the External Trip input, the External Trip parameter in the programming  
Protection Block must be set to “ON”.  
Terminal J1-16 is available for connection to a normally closed thermostat or overload  
relay in all operating modes as shown in Figure 3-26. The thermostat or overload relay  
should be a dry contact type with no power available from the contact. If the motor  
thermostat or overload relay activates the control will automatically shut down and give  
an External Trip fault.  
Connect the External Trip Input wires to J1-16 and J1-17. Do not place these wires in the  
same conduit as the motor power leads.  
Figure 3-26 Motor Temperature Relay  
Note: Add appropriately rated  
T1  
T2  
T3  
protective device for AC relay  
(snubber) or DC relay (diode).  
Customer Provided  
Source Voltage  
External or remote motor  
overload protection may  
be required by National  
Electrical Code or equivalent  
J1  
*
CR1  
16  
17  
External Trip  
Do not run these wires in  
same conduit as motor  
leads or AC power wiring.  
M
M
M
T3  
T2  
T1  
* Motor  
G
See recommended terminal  
tightening torques in Section 7.  
Motor Thermostat Leads  
Optional hardware. Must be ordered separately.  
*
Opto-Isolated Inputs  
The equivalent circuit for the nine Opto inputs is shown in Figure 3-27. The function of  
each input depends on the operating mode selected and are described previously in this  
section. This Figure also shows the connections using the internal opto input Supply.  
Figure 3-27 Opto-Input Equivalent Circuit (Using Internal Supply)  
J1  
Opto In #1  
8
Opto In #2  
9
Opto In #3  
10  
Opto In #4  
11  
Opto In #5  
12  
Opto In #6  
13  
Opto In #7  
14  
Opto In #8  
15  
Opto In #9  
16  
Opto In Common  
17  
+24VDC @ 200mA  
39  
40  
6.8K  
6.8K  
6.8K  
6.8K  
6.8K  
6.8K  
6.8K  
6.8K  
6.8K  
(supply terminal 39).  
Jumper terminals 39 to 40  
(Factory Installed)  
See recommended terminal tightening torques in Section 7.  
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Figure 3-28 Opto-Input Equivalent Circuit (Using External Supply)  
J1  
8
J1  
8
Opto In #1  
Opto In #2  
Opto In #3  
Opto In #4  
Opto In #5  
Opto In #6  
Opto In #7  
Opto In #8  
Opto In #9  
Opto In #1  
Opto In #2  
Opto In #3  
Opto In #4  
Opto In #5  
Opto In #6  
Opto In #7  
Opto In #8  
Opto In #9  
9
9
10  
11  
12  
13  
14  
15  
16  
17  
10  
11  
12  
13  
14  
15  
16  
17  
See recommended terminal  
tightening torques in Section 7.  
* User VCC (-)  
* User VCC (+)  
* User VCC (+)  
* User VCC (-)  
* User VCC = 10 - 30VDC  
External Power Source  
39  
40  
39  
40  
Opto Inputs Closing to Ground  
Opto Inputs Closing to +VCC  
Opto-Isolated Outputs  
Four programmable Opto-isolated outputs are available at terminals J1-19 through J1-22.  
See Figure 3-29. Each output may be programmed to represent one output condition.  
The output conditions are defined in Table 4-4 of Section 4 of this manual.  
The Opto-isolated outputs may be configured for sinking or sourcing 50 mA each.  
However, all must be configured the same. The maximum voltage from opto output to  
common when active is 1.0 VDC (TTL compatible). The Opto-isolated outputs may be  
connected in different ways as shown in Figure 3-29. The equivalent circuit for the  
Opto-isolated outputs is shown in Figure 3-30.  
If the opto outputs are used to directly drive a relay, a flyback diode rated at 1A, 100 V  
(IN4002) minimum should be connected across the relay coil. See Electrical Noise  
Considerations in Section 5 of this manual.  
Each Opto Output is programmed in the Output programming block.  
Figure 3-29 Opto-isolated Output Configurations  
24Com  
+24VDC  
24Com  
+24VDC  
17  
18  
19  
20  
21  
22  
39  
17  
18  
19  
20  
21  
22  
39  
41  
42  
43  
44  
41  
42  
43  
44  
Optional  
Customer  
Supplied  
Relays &  
Diodes  
Optional  
Customer  
Supplied  
Relays &  
Diodes  
Using Internal Supply  
(Sinking the Relay Current)  
Using Internal Supply  
(Sourcing the Relay Current)  
-
-
Optional Customer Supplied  
10VDC to 30VDC Source  
Optional Customer Supplied  
10VDC to 30VDC Source  
17  
18  
19  
20  
21  
22  
39  
17  
18  
19  
20  
21  
22  
39  
+
+
41  
42  
43  
44  
41  
42  
43  
44  
Optional  
Customer  
Supplied  
Relays &  
Diodes  
Optional  
Customer  
Supplied  
Relays &  
Diodes  
Using External Supply  
(Sinking the Relay Current)  
Using External Supply  
(Sourcing the Relay Current)  
See recommended terminal tightening torques in Section 7.  
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Figure 3-30 Opto-Output Equivalent Circuit  
J1  
18  
Opto Output 1  
19  
Opto Output 2  
20  
Opto Output 3  
21  
Opto Output 4  
22  
10 – 30VDC  
Opto Outputs  
PC865  
50mA max  
PC865  
50mA max  
PC865  
50mA max  
PC865  
50mA max  
Opto Out 1 Return  
Opto Out 2 Return  
Opto Out 3 Return  
Opto Out 4 Return  
41  
42  
43  
44  
See recommended terminal tightening torques in Section 7.  
Pre-Operation Checklist  
Check of Electrical Items  
CAUTION: After completing the installation but before you apply power, be  
sure to check the following items.  
1. Verify AC line voltage at source matches control rating.  
2. Inspect all power connections for accuracy, workmanship and tightness and  
compliance to codes.  
3. Verify control and motor are grounded to each other and the control is  
connected to earth ground.  
4. Check all signal wiring for accuracy.  
5. Be certain all brake coils, contactors and relay coils have noise suppression.  
This should be an R-C filter for AC coils and reverse polarity diodes for DC  
coils. MOV type transient suppression is not adequate.  
WARNING: Make sure that unexpected operation of the motor shaft during start  
up will not cause injury to personnel or damage to equipment.  
Check of Motor and Coupling  
1. Verify freedom of motion of motor shaft.  
2. Verify that motor coupling is tight without backlash.  
3. Verify the holding brakes if any, are properly adjusted to fully release and set to  
the desired torque value.  
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Power-Up Procedure  
This procedure will help get your system up and running in the Keypad mode quickly.  
This will allow you to prove the motor and control operation. This procedure assumes  
that the control and motor are correctly installed (see Section 3 for procedures) and that  
you have an understanding of the keypad programming & operation procedures. It is not  
necessary to wire the terminal strip to operate the motor in the Keypad mode.  
Initial Conditions  
Be sure the control and motor are wired according to the procedures described previously  
in this manual. Become familiar with the keypad programming and keypad operation of  
the control as described in Section 4 of this manual.  
1. Disconnect the load (including coupling or inertia wheels) from the motor shaft if  
possible.  
2. Verify that all enable inputs to J1-8 are open.  
3. Turn power on. Be sure no errors are displayed.  
4. Set the Level 1 Input block, Operating Mode parameter to “KEYPAD”.  
5. Set the Level 2 Output Limits block, “OPERATING ZONE” parameter as desired  
(STD CONST TQ, STD VAR TQ, QUIET CONST TQ or QUIET VAR TQ).  
6. Enter the following motor data in the Level 2 Motor Data block parameters:  
Motor Voltage (Nameplate, VOLTS)  
Motor Rated Amps (Nameplate, FLA)  
Motor Rated Speed (Nameplate, RPM)  
Motor Rated Frequency (Nameplate, HZ)  
Motor Mag Amps (Nameplate, NLA)  
Encoder Counts  
7. At the Level 2 Motor Data, go to CALC Presets and select YES (using the up  
arrow key). Press ENTER and let the control calculate the preset values for the  
parameters that are required for control operation.  
8. Disconnect the motor from the load (including coupling or inertia wheels). If the  
load can not be disconnected, refer to Section 6 and manually tune the control.  
After manual tuning, perform steps 10, 11, 15, 16 and 17.  
WARNING: The motor shaft will rotate during this procedure. Be certain that  
unexpected motor shaft movement will not cause injury to  
personnel or damage to equipment.  
9. At the Level 2 Autotune block, perform the following tests:  
CMD OFFSET TRIM  
CUR LOOP COMP  
STATOR R1  
FLUX CUR SETTING  
ENCODER TESTS  
SLIP FREQ TEST  
10. Set the Level 2 Output Limits block, “MIN OUTPUT SPEED” parameter.  
11. Set the Level 2 Output Limits block, “MAX OUTPUT SPEED” parameter.  
12. Remove all power from the control.  
13. Couple the motor to its load.  
14. Turn power on. Be sure no errors are displayed.  
15. Go to Level 2 Autotune block, and perform the SPD CNTRLR CALC test.  
16. Run the drive from the keypad using one of the following: the arrow keys for  
direct speed control, keypad entered speed or the JOG mode.  
17. Select and program additional parameters to suit your application.  
The control is now ready for use the in keypad mode. If a different operating mode is  
desired, refer to Section 3 for control connection diagrams and Section 4 Programming  
and Operation.  
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Section 4  
Programming and Operation  
Overview  
The Series 22H Vector Line Regen Control has two control boards installed. The  
“Converter Control Board” is used to rectify and process the incoming power. The  
“Inverter Control Board” provides the inverting and power output functions. Each control  
board has its own J1 terminal strip.  
The Inverter Control Board normally has the keypad connected to it. The J1 terminal strip  
of the Inverter Board provides the user interface for most external connections and  
software parameters. The Inverter Control board is mounted above the Converter  
Control Board.  
The Converter Control Board is programmed at the factory and should not require  
program changes. However, you can change the values of several parameters within the  
firmware (refer to parameters in Appendix B). The J1 terminal strip of the Converter  
Control Board is factory wired for normal operation.  
The keypad must be plugged into the Converter Control Board to change parameter  
values, or access the fault log or the diagnostic information of the Converter Control  
Board. A sheet metal panel separates the two control boards and there is a small access  
hole the the sheet metal panel to attach the keypad to the Converter Control Board. To  
attach the keypad to the Converter control board, use the following procedure:  
Keypad Installation in the Converter Control Board  
1. Be sure all power is disconnected from the Series 22H Control. Wait at least 5  
minutes for the bus capacitors to discharge before you proceed.  
2. Open the Series 22H cover.  
3. Remove the keypad from the Inverter Control Board (secured by 4 screws).  
4. Remove the extension ribbon cable from its retaining strap (secured to the  
sheet metal panel).  
5. Connect one end of the ribbon cable into the keypad connector in the Converter  
Control Board (through the access hole in the sheet metal panel).  
6. Connect the other end of the ribbon cable to the keypad.  
The control can now be powered up and the Converter Control Board can be  
programmed or the fault log may be examined. To restore the keypad as factory  
installed, use the following procedure:  
Keypad Installation in the Inverter Control Board  
1. Be sure all power is disconnected from the Series 22H Control. Wait at least 5  
minutes for the bus capacitors to discharge before you proceed.  
2. Remove the keypad from the ribbon cable and remove the ribbon cable from  
the keypad connector in the Converter Control Board.  
3. Store the extension ribbon cable in its retaining strap (secured to the sheet  
metal panel).  
4. Install the keypad on Inverter Control Board (secured by 4 screws).  
5. Close and secure the Series 22H cover.  
MN722  
Programming & Operation 4-1  
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Baldor Keypad  
The keypad is used to program the control parameters, operate the motor and monitor  
the status and outputs of the control by accessing the display options, diagnostic menus  
and the fault log.  
Figure 4-1 Keypad  
JOG -  
FWD -  
REV -  
(Green) lights when Jog is active.  
(Green) lights when FWD direction is commanded.  
(Green) lights when REV direction is commanded.  
STOP - (Red) lights when motor STOP is commanded.  
Indicator Lights  
Keypad Display - Displays status  
information during Local or Remote  
operation. It also displays information  
during parameter setup and fault or  
Diagnostic Information.  
PROG - Press PROG to enter the  
program mode. While in the Program  
mode the PROG key is used to edit a  
parameter setting.  
JOG - Press JOG to select the  
preprogrammed jog speed. After the  
JOG key has been pressed, use the  
FWD or REV keys to run the motor in the  
direction that is needed. The JOG key is  
only active in the Local mode.  
ꢇ
-
(
U
P
A
r
r
o
w
)
.
Press ꢇ to change the value of the  
parameter being displayed. Pressing  
ꢇ
increments the value to the next greater  
value. Also, when the fault log or  
parameter list is displayed, the ꢇ key will  
scroll upward through the list. In the  
local mode pressing the ꢇ key will  
increase motor speed to the next greater  
value.  
FWD - Press FWD to initiate forward  
rotation of the motor. This key is only  
active in the Keypad or Local mode.  
DISP - Press DISP to return to Display  
mode from Programming mode. Provides  
operational status and advances to the  
next display menu item including the  
diagnostic screens.  
REV - Press REV to initiate reverse  
rotation of the motor. This key is active  
only in the Keypad or Local mode.  
ENTER - Press ENTER to save  
parameter value changes and move  
back to the previous level in the  
programming menu. In the Display  
mode the ENTER key is used to directly  
set the local speed reference. It is also  
used to select other operations when  
prompted by the keypad display.  
SHIFT - Press SHIFT in the program  
mode to control cursor movement.  
Pressing the SHIFT key once moves the  
blinking cursor one character position to  
the right. While in Program mode, a  
parameter value may be reset to the  
factory preset value by pressing the  
SHIFT key until the arrow symbols at the  
far left of the keypad display are flashing,  
then press an arrow key. In the Display  
mode the SHIFT key is used to adjust  
the keypad contrast.  
STOP - Press STOP one time to initiate  
a stop sequence. Depending on the  
setup of the control, the motor will either  
ramp or coast to a stop. This key is  
operational in all modes of operation  
unless it has been disabled by the  
Keypad Stop parameter in the Keypad  
(programming) Setup Block. Press STOP  
twice to disable control (coast to stop).  
ꢈ - (Down Arrow)  
Press ꢈ to change the value of the  
parameter being displayed. Pressing  
ꢈ
LOCAL - Press LOCAL to change  
between the local (keypad) and remote  
operation. When the control is in the  
local mode all other external commands  
to the J1 terminal strip will be ignored  
with the exception of the external trip  
input.  
decrements the value to the next lesser  
value. Also, when the fault log or  
parameter list is displayed, the ꢈ key will  
scroll downward through the list. In the  
local mode pressing the ꢈ key will  
decrease motor speed to the next lower  
value.  
RESET - Press RESET to clear all fault  
messages (in local mode). Can also be  
used to return to the top of the block  
programming menu without saving any  
parameter value changes.  
4-2 Programming & Operation  
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Display Mode  
The control is in the DISPLAY MODE at all times except when parameter values are  
changed (Programming mode). The Keypad Display shows the status of the control as in  
the following example.  
Motor Status  
Control Operation  
Output Condition  
Value and Units  
The DISPLAY MODE is used to view operating status, Diagnostic INFO and the Fault  
Log. The description of how to do these tasks are described on the following pages.  
Adjusting Display Contrast When AC power is applied to the control, the keypad should display the status of the  
control. If there is no visible display, use the following procedure to adjust the contrast of  
the display.  
(Contrast may be adjusted in display mode when motor is stopped or running)  
Action  
Description  
Display  
Comments  
Apply Power  
No visible display  
Press DISP Key  
Press SHIFT SHIFT  
Press ꢇ or ꢈ Key  
Press ENTER  
Places control in display mode  
Allows display contrast  
adjustment  
Adjusts display intensity  
Saves level of contrast and exits  
to display mode  
Typical display  
Display Mode Screens  
Action  
Description  
Display  
Comments  
Apply Power  
Logo display for 5 seconds.  
Display mode showing motor  
speed.  
No faults present. Local keypad  
mode. If in remote/serial mode,  
press local for this display.  
Press DISP key  
Display mode showing custom  
unit output rate.  
Output rate display will only  
appear if Value At Speed  
parameter is entered.  
Press DISP key  
Press DISP key  
Press DISP key  
Press DISP key  
Press DISP key  
Press DISP key  
Press DISP key  
Display Frequency  
DIsplay Current  
DIsplay Voltage  
Combined DIsplay  
Screen to enter Fault Log  
Screen to enter Diagnostic Menu  
Exit Display mode and return to  
Motor Speed display  
MN722  
Programming & Operation 4-3  
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Display Mode Continued  
Display Screens & Diagnostic Information Access  
Action  
Description  
Display  
Comments  
Apply Power  
Logo display for 5 seconds.  
Display mode showing motor  
speed.  
No faults present. Local keypad  
mode. If in remote/serial mode,  
press local for this display.  
Press DISP key 6 times Scroll to Diagnostic Information  
screen  
Diagnostic Access screen.  
Press ENTER key  
Press DISP key  
Press DISP key  
Press DISP key  
Press DISP key  
Access diagnostic information.  
First Diagnostic Information  
screen.  
Display mode showing control  
temperature.  
Display mode showing bus  
voltage.  
XXXV  
Display mode showing %  
overload current remaining.  
Display mode showing opto  
inputs & outputs states.  
0=OPEN, 1=CLOSED.  
Opto Inputs states (Left);  
Opto Outputs states (Right).  
Press DISP key  
Press DISP key  
Press DISP key  
Display mode showing actual  
drive running time.  
HR.MIN.SEC format.  
Typical display.  
Display mode showing operating  
zone, voltage and control type.  
Display mode showing continuous  
amps; PK amps rating; amps/volt  
scale of feedback, power base ID.  
ID is displayed as a hexadecimal  
value.  
Press DISP key  
Press DISP key  
Display mode showing which  
Group1 or 2 expansion boards  
are installed and recognized.  
Display mode showing motor  
shaft revolutions from the REV  
home set point.  
Press DISP key  
Press DISP key  
Display mode showing parameter  
table selected.  
Display mode showing software  
version and revision installed in  
the control.  
Press DISP key  
Displays exit choice.  
Press ENTER to exit diagnostic  
information.  
4-4 Programming & Operation  
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Display Mode Continued  
Fault Log Access  
When a fault condition occurs, motor operation stops and a fault code is displayed on the  
Keypad display. The control keeps a log of up to the last 31 faults. If more than 31 faults  
have occurred the oldest fault will be deleted from the fault log to make room for the  
newest fault. To access the fault log perform the following procedure:  
Action  
Description  
Display  
Comments  
Apply Power  
Logo display for 5 seconds.  
Display mode showing motor  
speed.  
Display mode.  
Press DISP key 5 times Scroll to the Fault Log screen  
Fault Log access screen.  
Press ENTER key  
Press ꢇ key  
Display first fault type and time  
fault occurred.  
1=Most recent fault displayed.  
2=Second most recent fault, etc.  
Scroll through fault messages.  
Return to display mode.  
If no messages, the fault log exit  
choice is displayed.  
Press ENTER key  
Display mode stop key LED is on.  
MN722  
Programming & Operation 4-5  
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Program Mode  
The Program Mode is used to:  
1. Enter motor data.  
2. CALC Presets and Autotune the drive.  
3. Customize the drive (Control and Motor) parameters to your application.  
From the Display Mode press the PROG key to access the Program Mode.  
Note: When a parameter is selected, alternately pressing the Disp and Prog keys  
will toggle between the Display Mode and the selected parameter. When a  
parameter is selected for programming, the keypad display gives you the  
following information:  
Parameter  
Parameter Status  
Value and Units  
Parameter Status. All programmable parameters are displayed with a “P:” in the lower  
left corner of the keypad display. If a parameter is displayed with a “V:”, the parameter  
value may be viewed but not changed while the control is enabled. If the parameter is  
displayed with an “L:”, the value is locked and the security access code must be entered  
before its’ value can be changed.  
Parameter Blocks Access for Programming  
Use the following procedure to access parameter blocks to program the control.  
Action  
Description  
Display  
Comments  
Apply Power  
Keypad Display shows this  
opening message.  
Logo display for 5 seconds.  
If no faults and programmed for  
LOCAL operation.  
Display mode.  
If no faults and programmed for  
REMOTE operation.  
If fault is displayed, refer to the  
Troubleshooting section of this  
manual.  
Press PROG key  
Press ꢇ or ꢈ key  
Press ꢇ or ꢈ key  
Press ENTER key  
Press ꢇ or ꢈ key  
Press ENTER key  
Press ENTER to access Preset  
Speed parameters.  
Scroll to the ACCEL/DECEL  
block.  
Press ENTER to access Accel  
and Decel rate parameters.  
Scroll to the Level 2 Block.  
First Level 2 block display.  
Scroll to Programming Exit menu.  
Return to display mode.  
Press ENTER to access Level 2  
Blocks.  
Press ENTER to return to Display  
mode.  
4-6 Programming & Operation  
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Program Mode Continued  
Changing Parameter Values when Security Code Not Used  
Use the following procedure to program or change a parameter already programmed into  
the control when a security code is not being used.  
The example shown changes the operating mode from Keypad to Bipolar.  
Action  
Description  
Display  
Comments  
Apply Power  
Keypad Display shows this  
opening message.  
Logo display for 5 seconds.  
If no faults and programmed for  
LOCAL operation.  
Display mode. Stop LED on.  
Press PROG key  
Press ꢇ or ꢈ key  
Press ENTER key  
Press ENTER key  
Press ꢇ key  
Access programming mode.  
Scroll to Level 1 Input Block.  
Access Input Block.  
Press ENTER to access INPUT  
block parameter.  
Keypad mode shown is the  
factory setting.  
Access Operating Mode  
parameter.  
Keypad mode shown is the  
factory setting.  
Scroll to change selection.  
Save selection to memory.  
Scroll to menu exit.  
At flashing cursor, select desired  
mode, BIPOLAR in this case.  
Press ENTER  
Press ENTER to save selection.  
Press ꢇ key  
Press ENTER key  
Press DISP key  
Return to Input Block.  
Return to Display Mode.  
Typical display mode.  
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Programming & Operation 4-7  
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Program Mode Continued  
Reset Parameters to Factory Settings  
Sometimes it is necessary to restore the parameter values to the factory settings. Follow  
this procedure to do so. Be sure to change the Level 2 Motor Data block “Motor Rated  
Amps” to the correct value after this procedure (restored factory setting is 999).  
Note: All specific application parameters already programmed will be lost when  
resetting the control to factory settings.  
Note: After factory settings are restored, the drive must be re-tuned.  
Action  
Description  
Display  
Comments  
Apply Power  
Keypad Display shows this  
opening message.  
Logo display for 5 seconds.  
If no faults and programmed for  
LOCAL operation.  
Display mode. Stop LED on.  
Press PROG key  
Press ꢇ or ꢈ key  
Press ENTER key  
Press ꢇ or ꢈ key  
Press ENTER key  
Press ꢇ key  
Enter program mode.  
Scroll to Level 2 Blocks.  
Select Level 2 Blocks.  
Scroll to the Miscellaneous block.  
Select Miscellaneous block.  
Scroll to Factory Settings  
parameter.  
Press ENTER key  
Press ꢇ key  
Access Factory Settings  
parameter.  
ꢉ
r
e
p
r
e
s
e
n
t
s
b
l
i
n
k
i
n
g
c
u
r
s
o
r
.
Scroll to YES, to choose original  
factory settings.  
Press ENTER key  
Restores factory settings.  
“Loading Presets” is first message  
“Operation Done” is next  
“No” is displayed last.  
Press ꢇ key  
Scroll to menu exit.  
Press ENTER key  
Press ꢇ or ꢈ key  
Press ENTER key  
Return to Level 1 blocks.  
Scroll to Programming exit.  
Return to display mode.  
Exit Level 2 blocks.  
Exit Programming mode and  
return to Display mode.  
Display mode. Stop LED on.  
4-8 Programming & Operation  
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Program Mode Continued  
Initialize New Firmware  
After new firmware is installed, the control must be initialized to the new firmware version  
and memory locations. Use the following procedure to Initialize the firmware.  
Action  
Description  
Display  
Comments  
Apply Power  
Keypad Display shows this  
opening message.  
Logo display for 5 seconds.  
If no faults and programmed for  
LOCAL operation.  
Display mode. Stop LED on.  
Press PROG key  
Press ꢇ or ꢈ key  
Press ENTER key  
Press ꢇ or ꢈ key  
Press ENTER key  
Press ꢇ key  
Enter program mode.  
Scroll to Level 2 Blocks.  
Select Level 2 Blocks.  
Scroll to the Miscellaneous block.  
Select Miscellaneous block.  
Scroll to Factory Settings  
parameter.  
Press ENTER key  
Press ꢇ key  
Access Factory Settings  
parameter.  
ꢉ
r
e
p
r
e
s
e
n
t
s
b
l
i
n
k
i
n
g
c
u
r
s
o
r
.
Scroll to YES, to choose original  
factory settings.  
Press ENTER key  
Restores factory settings.  
“Loading Presets” is first message  
“Operation Done” is next  
“No” is displayed last.  
Press ꢇ key  
Scroll to menu exit.  
Press ENTER key  
Return to display mode.  
Display mode. Stop LED on.  
Press DISP key several Scroll to diagnostic information  
If you wish to verify the software  
version, enter diagnostic info.  
times  
screen.  
Press ENTER key  
Access diagnostic information.  
Displays commanded speed,  
direction of rotation, Local/  
Remote and motor speed.  
Press DISP key  
Press DISP key  
Display mode showing software  
version and revision installed in  
the control.  
Verify new firmware version.  
Displays exit choice.  
Press ENTER to exit diagnostic  
information.  
MN722  
Programming & Operation 4-9  
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Parameter Definitions  
Converter Control Board Parameters  
Converter section parameters are programmed at the factory. Table 4-1 is a list of the  
parameters that can be changed. However, to make any parameter adjustments the  
keypad must be installed in the Converter Control Board as described previously in this  
section. Each Converter section parameter is defined in Table 4-2.  
Table 4-1 Converter Section Parameter List  
LEVEL 1 BLOCKS  
Miscellaneous  
Factory Settings  
Line Inductor  
Bus Capacitance  
DAC Selection  
Security Control  
Security State  
Access Timeout  
Access Code  
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Table 4-2 Converter Control Board Parameter Definitions  
Block Title  
Parameter  
Description  
MISC  
Factory Settings  
Restores factory settings for converter section parameters. Select YES and press  
ENTER to restore factory parameter values. The Keypad Display will show  
“Operation Done” then return to “NO” when complete.  
Line Inductor  
(Boost  
The value of the internal or external boost regulator inductor in “mH”. This parameter  
sets the current loop gain of the converter section. This value is factory set and  
should not require adjustment.  
Regulator)  
Bus Capacitance  
Sets the nominal DC Bus capacitance. This parameter sets the voltage loop gain for the  
converter section. This value is factory set and should not require adjustment unless  
more capacitance or more controls are added across the DC Bus.  
DAC Selection  
This parameter configures both Analog Outputs #1 (J1-6) and #2 (J1-7) at the same time  
for troubleshooting purposes.  
AB BC Cross- This selection provides a scaled 0-5VDC signals at Outputs #1 and #2.  
Analog Output #1 represents the Line-Line voltage (L1–L2).  
Analog Output #2 represents the Line-Line voltage (L2–L3).  
DQ CONTRLR- This selection provides a scaled 0-5VDC signals at Outputs #1 and #2.  
Analog Output #1 represents the Direct Control voltage.  
Analog Output #2 represents the Quadrature Control voltage.  
DQ Currents- This selection provides a scaled 0-5VDC signals at Outputs #1 and #2.  
Analog Output #1 represents the Direct Control current.  
Analog Output #2 represents the Quadrature Control current.  
IQ Command-This selection provides a scaled 0-5VDC signals at Outputs #1 and #2.  
Analog Output #1 represents the Quadrature Command signal.  
Analog Output #2 represents the Quadrature Feedback signal.  
IB and IC-  
This selection provides a scaled 0-5VDC signals at Outputs #1 and #2.  
Analog Output #1 represents the Phase B current feedback.  
Analog Output #2 represents the Phase C current feedback.  
Va and Vb- This selection provides a scaled 0-5VDC signals at Outputs #1 and #2.  
Analog Output #1 represents the PWM voltage for Phase A.  
Analog Output #2 represents the PWM voltage for Phase B.  
Ia and Ib-  
This selection provides a scaled 0-5VDC signals at Outputs #1 and #2.  
Analog Output #1 represents Phase A current.  
Analog Output #2 represents Phase B current.  
SECURITY  
CONTROL  
Security State  
Off - No security Access Code required to change parameter values.  
Local - Requires security Access Code to be entered (using the keypad) before  
parameter changes can be made using the Keypad.  
Serial - Requires security Access Code to be entered (over the Serial Link) before  
parameter changes can be made using the Serial Link.  
Total - Requires security Access Code to be entered (using Keypad or Serial Link)  
before parameter changes can be made using the Keypad or serial link.  
Note: If security is set to Local, Serial or Total you can press PROG and scroll  
through the parameter values and view their values but you are not allowed  
to change their values unless you enter the correct access code.  
Access Timeout  
Access Code  
The time in seconds the security access remains enabled after leaving the programming  
mode. If you exit and go back into the program Mode within this time limit, the  
security Access Code does not have to be re-entered. This timer starts when leaving  
the Program Mode (by pressing DISP).  
Note: This feature is not available when using the Serial operating mode or if  
power is cycled.  
A 4 digit number code. Only persons that know the code can change secured Level 1  
and Level 2 parameter values.  
Note: Please record your access code and store it in a safe place. If you cannot  
gain entry into parameter values to change a protected parameter, please  
contact Baldor. Be prepared to give the 5 digit code shown on the lower  
right side of the Keypad Display at the Security Control Access Code  
parameter prompt.  
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Programming & Operation 4-11  
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Inverter Control Board Parameters (Version 3.20)  
To make programming easier, parameters have been arranged into the two level structure shown in  
Table 4-3. Press the PROG key to enter the programming mode and the “Preset Speeds”  
programming block will be displayed. Use the Up (ꢇ) and Down (ꢈ) arrows to scroll through the  
parameter blocks. Press ENTER to access parameters within a programing block.  
Tables 4-4 and 4-5 provide an explanation of each parameter. A complete Parameter Block Values  
list is located at the end of this manual. This list defines the programmable range and factory preset  
value for each parameter. The list has a space to record your settings for future reference.  
Table 4-3 Inverter Section Parameter List  
LEVEL 1 BLOCKS  
LEVEL 2 BLOCKS  
Preset Speeds  
Input  
Output Limits  
Motor Data – Continued  
Preset Speed #1  
Preset Speed #2  
Preset Speed #3  
Preset Speed #4  
Preset Speed #5  
Preset Speed #6  
Preset Speed #7  
Preset Speed #8  
Preset Speed #9  
Preset Speed #10  
Preset Speed #11  
Preset Speed #12  
Preset Speed #13  
Preset Speed #14  
Preset Speed #15  
Operating Mode  
Command Select  
ANA CMD Inverse  
ANA CMD Offset  
ANA 2 Deadband  
ANA1 CUR Limit  
Operating Zone  
Min Output Speed  
Max Output Speed  
PK Current Limit  
PWM Frequency  
CUR Rate Limit  
Resolver Speeds  
CALC Presets  
Brake Adjust  
Resistor Ohms  
Resistor Watts  
DC Brake Current  
Output  
Custom Units  
Decimal Places  
Value at Speed  
Units of Measure  
Opto Output #1  
Opto Output #2  
Opto Output #3  
Opto Output #4  
Zero SPD Set PT  
At Speed Band  
Set Speed  
Process Control  
Process Feedback  
Process Inverse  
Setpoint Source  
Setpoint Command  
Set PT ADJ Limit  
Process ERR TOL  
Process PROP Gain  
Process INT Gain  
Process DIFF Gain  
Follow I:O Ratio  
Follow I:O OUT  
Protection  
Overload  
External Trip  
Local Enable INP  
Following Error  
Torque Proving  
Analog Out #1  
Analog Out #2  
Analog #1 Scale  
Analog #2 Scale  
Position Band  
Accel / Decel Rate  
Accel Time #1  
Decel Time #1  
S-Curve #1  
Miscellaneous  
Restart Auto/Man  
Restart Fault/Hr  
Restart Delay  
Accel Time #2  
Decel Time #2  
S-Curve #2  
Master Encoder  
Vector Control  
Ctrl Base Speed  
Feedback Filter  
Feedback Align  
Current PROP Gain  
Current INT Gain  
Speed PROP Gain  
Speed INT Gain  
Speed DIFF Gain  
Position Gain  
Communications Protocol  
Protocol  
Factory Settings  
Homing Speed  
Homing Offset  
Jog Settings  
Jog Speed  
Baud Rate  
Drive Address  
Jog Accel Time  
Jog Decel Time  
Jog S-Curve Time  
Security Control  
Security State  
Access Timeout  
Access Code  
Auto-Tuning  
CALC Presets  
CMD Offset Trim  
CUR Loop Comp  
Flux CUR Setting  
Feedback Test  
Slip Freq Test  
Keypad Setup  
Keypad Stop Key  
Keypad Stop Mode  
Keypad Run Fwd  
Keypad Run Rev  
Keypad Jog Fwd  
Keypad Jog Rev  
Local Hot Start  
Slip Frequency  
Stator R1  
Motor Data  
Stator X1  
Motor Voltage  
Prop Gain #1  
Motor Rated Amps  
Motor Rated SPD  
Motor Rated Freq  
Motor Mag Amps  
Encoder Counts  
SPD CNTRLR CALC  
Int Gain #1  
4-12 Programming & Operation  
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Table 4-4 Inverter Control Board Level 1 Parameter Definitions  
Block Title  
Parameter  
Description  
PRESET  
SPEEDS  
Preset Speeds  
#1 – #15  
Allows selection of 15 predefined motor operating speeds.  
Each speed may be selected using external switches connected to J1-11, J1-12,  
J1-13 and J1-14 when Operating Mode is set to 15 Speed.  
For motor operation, a motor direction command must be given along with a preset  
speed command.  
ACCEL/DECEL  
RATE  
Accel Time #1,2  
Accel time is the number of seconds required for the motor to increase at a linear rate  
from 0 RPM to the RPM specified in the “Max Output Speed” parameter in the Level 2  
Output Limits block.  
Decel Time #1,2  
S-Curve #1,2  
Decel time is the number of seconds required for the motor to decrease at a linear rate  
from the speed specified in the “Max Output Speed” parameter to 0 RPM.  
S-Curve is a percentage of the total Accel and Decel time and provides smooth starts  
and stops. Half of programmed S-Curve % applies to Accel and half to Decel ramps.  
0% represents no “S” and 100% represents full “S” with no linear segment.  
Note: Accel #1, Decel #1 and S-Curve #1 are associated together. Likewise,  
Accel #2, Decel #2 and S-Curve #2 are associated together. These  
associations can be used to condition any Preset Speed or External Speed  
command.  
Note: If drive faults occur during rapid Accel or Decel, selecting an S-curve may  
eliminate the faults.  
JOG SETTINGS  
Jog Speed  
Jog Speed is the programmed speed used during for jog. Jog can be initiated from the  
keypad or terminal strip. At the Keypad, press the JOG key then press and hold the  
FWD or REV. For Standard Run, close the JOG input (J1-12) then close and maintain  
the direction input (J1-9 or J1-10).  
Process Control mode operation is different. If the terminal strip Process Mode  
Enable input (J1-13) is closed, pressing the Keypad JOG key (or closing J1-14) will  
cause the drive to move in the direction of the error (without pressing FWD or REV).  
Jog Accel Time changes the slope of the jog accel ramp. It is the time from zero speed  
to maximum speed programmed in seconds.  
Jog Accel Time  
Jog Decel Time  
Jog S-Curve  
Jog Decel Time changes the slope of the jog decel ramp. It is the time from maximum  
speed to zero speed programmed in seconds.  
Jog S-Curve changes the S-Curve to a preset value for jog mode.  
Figure 4-2 40% S-Curve Example  
40%  
Curve  
40%  
Curve  
20  
%
0%  
Curve  
0%  
20  
Curve  
%
20  
%
20  
%
0
0
Accel Time  
Decel Time  
Accel S-Curves  
Decel S-Curves  
MN722  
Programming & Operation 4-13  
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Table 4-4 Inverter Control Board Level 1 Parameter Definitions - Continued  
Block Title  
Parameter  
Description  
KEYPAD SETUP  
Keypad Stop Key  
Stop Key -  
Allows keypad “STOP” key to initiate motor stop during remote or serial  
operation (if Stop key is set to Remote ON). If active, pressing “STOP”  
automatically selects Local mode and initiates the stop command.  
Stop Mode - Selects if the Stop command causes the motor to “COAST” to a stop or  
“REGEN” to a stop. In COAST, the motor is turned off and allowed to  
coast to a stop. In REGEN, the voltage and frequency to the motor is  
reduced at a rate set by “Decel Time”.  
Keypad Stop Mode  
Run FWD - ON makes the keypad “FWD” key active in Local mode.  
Keypad Run FWD  
Keypad Run REV  
Keypad Jog FWD  
Keypad Jog REV  
Loc. Hot Start  
Run REV -  
Jog FWD -  
Jog REV -  
ON makes the keypad “REV” key active in Local mode.  
ON makes the keypad “FWD” key active in Local Jog mode.  
ON makes the keypad “REV” key active in Local Jog mode.  
Loc. Hot Start OFF disables the Stop input at J1-11 in the keypad operating mode.  
ON enables the Stop input at J1-11 in the keypad operating mode.  
INPUT  
Operating Mode  
Ten “Operating Modes” are available. Choices are: Keypad, Standard Run, 15SPD, 3  
SPD ANA 2 Wire, 3 SPD ANA 3 Wire, Serial, Bipolar, Process, EPOT 2 Wire and  
EPOT 3 Wire. External connections to the control are made at the J1 terminal strip  
(wiring diagrams are shown in Section 3 “Operating Modes”).  
Selects the external speed reference to be used. The easiest method of speed control is  
to select POTENTIOMETER and connect a 5KW pot to J1-1, J1-2, and J1-3. ±5, ±10VDC  
or 4-20mA input command can be applied to J1-4 and J1-5.  
Command Select  
If long distance is required between the external speed control and the control, the 4-20mA  
selections at J1-4 and J1-5 should be considered. Current loop allows long cable lengths  
without attenuation of the command signal.  
10 VOLT W/TORQ FF - when a differential command is present at J1-4 and 5, allows addi-  
tional 5V torque feedforward input at J1-1, 2 and 3 to set a predetermined amount of  
torque inside the rate loop with high gain settings.  
EXB PULSE FOL - selects optional Master Pulse Reference/Isolated Pulse Follower ex-  
pansion board if installed.  
5VOLT EXB - selects optional High Resolution I/O expansion board if installed.  
10VOLT EXB - selects optional High Resolution I/O expansion board if installed.  
4–20mA EXB – selects the 4–20mA input of the optional High Resolution I/O expansion  
board if installed.  
3-15 PSI EXB selects optional 3-15 PSI expansion board if installed.  
Tachometer EXB- selects optional DC Tachometer expansion board if installed.  
Serial -selects optional Serial Communications expansion board if installed.  
None - Used in Process Control mode, two input configuration with no Feedforward input.  
Note: When using the 4-20mA input, the JP1 jumper on the main control board  
must be moved to pins 2 and 3.  
ANA CMD Inverse “OFF” will cause a low input voltage (e.g. 0VDC) to be a low motor speed command and  
a maximum input voltage (e.g. 10VDC) to be a maximum motor speed command.  
“ON” will cause a low input voltage (e.g. 0VDC) to be a maximum motor speed command  
and a maximum input voltage (e.g. 10VDC) to be a low motor speed command.  
ANA CMD Offset  
Provides an offset to the Analog Input to minimize signal drift. For example, if the  
minimum speed signal is 1VDC (instead of 0VDC) the ANA CMD Offset can be set to  
-10% so the minimum voltage input is seen by control as 0VDC.  
ANA 2 Deadband  
ANA 1 CUR Limit  
Allows a defined range of voltage to be a deadband. A command signal within this  
range will not affect the control output. The deadband value is the voltage above and  
below the zero command signal level.  
“OFF” Allows normal control operation.  
“ON” Allows the 5V input at J1-2 (referenced to J1-1) to be used for reduction of the  
programmed current limit parameter for torque trimming during operation.  
4-14 Programming & Operation  
MN722  
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Table 4-4 Inverter Control Board Level 1 Parameter Definitions - Continued  
Block Title  
Parameter  
Description  
OUTPUT  
OPTO OUTPUT  
#1 – #4  
Four optically isolated digital outputs that have two operating states, logical High or Low.  
Each output may be configured to any of the following conditions:  
Condition  
Ready -  
Description  
Active when power is applied and no faults are present.  
Zero Speed -  
Active when motor RPM is below the value of the Level 1 Output  
“Zero SPD Set Pt” parameter.  
At Speed -  
Active when output speed is within the speed range defined by  
the Level 1 Output “At Speed Band” parameter.  
At Set Speed -  
Overload -  
Active when output speed is at or above the Level 1 Output  
“Set Speed” parameter.  
Active during an Overload fault caused by a time out when  
output current is greater than Rated Current.  
Keypad Control - Active when control is in Local keypad control.  
Fault -  
Active when a fault condition is present.  
Following ERR -  
Active when the motor speed is outside the user specified  
tolerance band defined by the At Speed Band parameter.  
Motor Direction - Active High when REV direction feedback is sensed. Active Low  
when FWD direction feedback is sensed.  
Drive On -  
Active when control is “Ready” (has reached excitation level and  
capable of producing torque).  
CMD Direction -  
Active when Forward or Reverse is selected or enabled. Logical  
output state indicates Forward or Reverse direction. High=FWD,  
Low=REV.  
AT Position -  
Active during an internal positioning command when control is  
within the position band parameter tolerance.  
Over Temp Warn - Active when control heat sink is within 3°C of Int Overtemp.  
Process Error -  
Active when process feedback signal is outside the Level 2  
Process Control block, PROC ERR TOL parameter value. Turns  
off when process feedback error is within tolerance.  
Drive Run -  
Active when drive is Ready, Enabled, Speed or Torque command  
received with FWD/REV direction issued.  
Serial –  
Active when in Serial mode.  
Zero SPD Set PT  
At Speed Band  
Sets the speed at which the Zero Speed opto output becomes active (turns on). When the  
speed is less than the ZERO SPD SET PT, the Opto Output becomes active. This is use-  
ful when a motor brake is to interlock operation with a motor.  
The At Speed Band serves two Opto Output Conditions and the Level 2 Protection block  
Following Error:  
Sets the speed range in RPM at which the At Speed opto output turns on and remains  
active within the range.  
Sets the Following Error Tolerance Band for the Level 1 OUTPUT, Opto Output condition  
Following ERR. The opto output is active if the motor speed is outside this band.  
Sets the allowable following error speed band. This value is used by the Level 2  
Protection block, Following Error parameter (if it is set to ON). If the drive speed falls  
out of this band, the Level 2 Protection block, Following Error parameter will shut  
down the drive (if it is set to ON).  
Set Speed  
Sets the speed that the AT Set Speed opto output becomes active (turns on). When the  
speed is greater than the Level 1 Output SET SPEED parameter, the Opto Output  
becomes active. This is useful when another machine must not start or stop until the  
motor exceeds a predetermined speed.  
MN722  
Programming & Operation 4-15  
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Table 4-4 Inverter Control Board Level 1 Parameter Definitions - Continued  
Block Title  
Parameter  
Description  
OUTPUT  
(Continued)  
Analog Output  
#1 and #2  
Two Analog 0-5VDC linear outputs may be configured to represent any of 19 conditions  
as follows:  
Condition  
Description  
ABS Speed - Represents the absolute motor speed where 0VDC = 0 RPM and  
+5VDC = MAX RPM.  
ABS Torque - Represents the absolute value of torque where  
+5VDC = Torque at CURRENT LIMIT.  
Speed Command - Represents the absolute value of commanded speed where  
+5VDC = MAX RPM.  
PWM Voltage - Represents the amplitude of PWM voltage where  
+5VDC = MAX AC Voltage.  
Flux Current - Represents the actual portion of total current used for excitation.  
5VDC= MAX flux current.  
CMD Flux CUR - Represents the calculated value for flux current.  
5VDC= MAX commanded flux current.  
Load Current - Represents the actual portion of total current used to produce torque  
(CW and CCW torque).  
5V = Max. CW torque, 0V = Max. CCW torque.  
CMD Load Current - Represents the calculated value of load current.  
5V = Max. commanded load current.  
Motor Current - Amplitude of continuous current including motor excitation current.  
5VDC = Rated Current.  
Load Component - Amplitude of load current not including the motor excitation  
current. 5VDC = Rated Current.  
Quad Voltage - Load controller output. Used to diagnose control problems.  
Direct Voltage - Flux controller output. Used to diagnose control problems.  
AC Voltage -  
A scaled AC waveform that represents the AC line to line motor  
terminal voltage. 0V = Neg Peak PWM voltage. 2.5V centered.  
5V = Pos Peak PWM voltage. At rated motor voltage, a full 0 to 5V  
sinusoidal waveform should be present. This waveform should be at  
or greater than the motor base frequency. (At half the motor base  
frequency, a 1.25V to 3.75 sine wave is present.)  
Bus Voltage - Bus voltage scaled to 0-5VDC. 5V = 1000VDC.  
Torque -  
Power -  
Velocity -  
Overload -  
Bipolar torque output. 2.5V centered, 5V = Max Positive Torque,  
0V = Max negative torque.  
Bipolar power output. 2.5V = Zero Power, 0V = negative rated peak  
power, +5V = Positive rated peak power.  
Represents motor speed scaled to 0V = negative max RPM,  
+2.5V = Zero Speed, +5V = positive max RPM.  
(Accumulated current)2 x (time), Overload occurs at +5V.  
PH 2 Current - Sampled AC phase 2 motor current. 2.5V = zero amps,  
0V = negative rated peak amps, +5V = positive rated peak amps.  
PH 3 Current - Sampled AC phase 1 motor current. 2.5V = zero amps,  
0V = negative rated peak amps, +5V = positive rated peak amps.  
Process Feedback - Represents the selected Process Feedback signal.  
2.5V centered, 5V = 100%, 0V = –100%.  
Setpoint Command - Represents the selected Setpoint Command signal.  
2.5V centered, 5V = 100%, 0V = –100%.  
Position -  
Position within a single revolution. +5V = 1 complete revolution.  
The counter will reset to 0 every revolution.  
Serial –  
0–5VDC level that indicates a value programmed by a serial  
command.  
Analog #1 Scale & Scale factor for the Analog Output voltage. Useful to set the zero value or full scale  
range for external meters.  
Analog #2 Scale  
Position Band  
Sets the acceptable range in digital counts (pulses) at which the AT Position Opto  
becomes active (turns on).  
4-16 Programming & Operation  
MN722  
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Table 4-4 Inverter Control Board Level 1 Parameter Definitions - Continued  
Block Title  
Parameter  
Description  
VECTOR CONTROL CTRL BASE Speed Sets the speed in RPM at which the saturation voltage of the control is reached. Above  
this RPM value the control will output constant voltage and variable frequency.  
Feedback Filter  
A larger value provides a more filtered signal but at the cost of reduced bandwidth.  
Feedback Align  
Sets the encoder’s electrical direction of rotation to match that of the motor.  
Current PROP  
Gain  
Sets the current loop proportional gain.  
Current INT Gain  
Sets the current loop integral gain.  
Speed PROP Gain Sets the speed (velocity) loop proportional gain.  
Speed INT Gain  
Speed DIFF Gain  
Position Gain  
Sets the speed (velocity) loop integral gain.  
Sets the speed (velocity) loop differential gain.  
Sets the position loop proportional gain.  
Sets the rated slip frequency of the motor.  
Slip Frequency  
Stator R1  
Stator resistance in ohms. If set too high, the motor will tend to stall at zero speed when  
reversing or accelerating from low speed. Reducing this value may eliminate the  
problem. When too low, speed regulation may suffer.  
Stator X1  
Stator leakage reactance, in ohms at 60Hz. This parameter has most impact when  
reversing motor rotation at full current limit. If set too low, the decel time will tend to  
increase.  
Prop Gain #1  
INT Gain #1  
The anti–saturation controller’s proportional gain. Leave the gain at the factory setting.  
Do not change this gain unless authorized by Baldor.  
The anti–saturation controller’s integral gain. Leave the gain at the factory setting.  
Do not change this gain unless authorized by Baldor.  
LEVEL 2 BLOCK  
ENTERS LEVEL 2 MENU  
MN722  
Programming & Operation 4-17  
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Table 4-5 Inverter Control Board Level 2 Parameter Definitions  
Block Title  
Parameter  
Description  
OUTPUT LIMITS  
Operating Zone  
Sets the PWM operating zone to Standard 2.5KHz or Quiet 8.0KHz output carrier  
frequency. Two operating modes are also selectable: Constant Torque and Variable  
Torque.  
Constant Torque allows 170 - 200% for 3 seconds overload or 150% for 60 seconds  
overload.  
Variable Torque allows 115% peak overload for 60 seconds.  
MIN Output Speed Sets the minimum motor speed in RPM. During operation, the motor speed will not be  
allowed to go below this value except for motor starts from 0 RPM or during dynamic  
braking to a stop.  
MAX Output Speed Sets the maximum motor speed in RPM.  
PK Current Limit  
The maximum output peak current to the motor. Values above 100% of the rated current  
are available depending upon the operating zone selected.  
PWM Frequency  
The frequency that the output transistors are switched. PWM frequency is also referred  
to as “Carrier” frequency. PWM should be as low as possible to minimize stress on  
the output transistors and motor windings. It is recommended that the PWM  
frequency be set to approximately 15 times the maximum output frequency of the  
control. Ratios less than 15 will result in non-Sinusoidal current waveforms. See  
Figure 4-3.  
CUR Rate Limit  
Decimal Places  
Limits the rate of torque change in response to a torque command.  
CUSTOM UNITS  
The number of decimal places of the Output Rate display on the Keypad display. This  
value will be automatically reduced for large values. The output rate display is only  
available if the Value At Speed parameter value is non zero.  
Value At Speed  
Sets the desired output rate per RPM of motor speed. Two numbers are displayed on  
the keypad display (separated by a slash “/”). The first number (left most) is the value  
you want the keypad to display at a specific motor speed. The second number (right  
most) is the motor RPM corresponding to the units in the first number. A decimal may  
be inserted into the left numbers by placing the flashing cursor over the up/down  
arrow and use the arrow keys.  
Units of Measure  
Allows user specified units of measure to be displayed on the Output Rate display. Use  
the shift and arrow keys to scroll to the first and successive characters. If the  
character you want is not displayed, move the flashing cursor over the special  
up/down character arrow on the left side of the display. Use the up/down arrows and  
the shift key to scroll through all 9 character sets. Use the ENTER key to save your  
selection.  
PROTECTION  
Overload  
Sets the protection mode to Fault (trip off during overload condition) or to Foldback  
(automatically reduce the output current below the continuous output level) during an  
overload. Foldback is the choice if continuous operation is desired. Fault will require  
the control be “Reset” manually or automatically after an overload.  
Note: The “Foldback” selection may not be available on some early versions of  
the software.  
External Trip  
OFF - External Trip is Disabled.  
ON - External Trip is enabled. If a normally closed contact at J1-16 is opened, an  
External Trip fault will occur and cause the drive to shut down.  
Local Enable INP  
Following Error  
OFF - Ignores J1-8 input when in the “LOCAL” mode.  
ON - Requires J1-8 input to be closed to enable the control when in the “LOCAL” mode.  
This parameter determines if the control is to monitor the amount of following error that  
occurs in an application. Following Error is the programmable tolerance for the AT  
Speed Opto output as defined by the Level 1 Output block, AT Speed Band  
parameter. Operation outside the speed range will cause a fault and the drive will  
shut down.  
Torque Proving  
When this parameter is set to ON the control measures output current in all three  
phases to the motor. If output current is unbalanced, the control will trip off generating  
a torque proving fault. In a hoist application, for example, this is useful to ensure that  
motor torque exists before the fail safe brake is released. “Drive On” output, if  
programmed, will not occur if torque proving fails.  
4-18 Programming & Operation  
MN722  
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Figure 4-3 Maximum Output Frequency vs PWM Frequency  
It is recommended that the PWM frequency parameter be set  
to approximately16 times the maximum output frequency of  
the control. The greater the ratio, the more sinusoidal the  
output current waveform will be.  
500  
400  
300  
200  
Note: The output current rating of the control must be derated for high PWM  
frequency operation as follows:  
Standard Constant Torque and Standard Variable Torque: Linearly  
derate to 10% between 2.5 and 5.0KHz (10% derating at 5.0KHz).  
Quiet Constant Torque and Quiet Variable Torque: Linearly derate to  
30% between 8.0 and 16KHz (30% derating at 16KHz).  
100  
50  
HZ  
1.00KHz  
8.00KHz  
16.00KHz  
PWM FREQUENCY  
Table 4-5 Inverter Control Board Level 2 Parameter Definitions - Continued  
Block Title  
MISCELLANEOUS  
Parameter  
Description  
Restart Auto/Man  
Manual - If a fault or power loss occurs, the control must be manually reset to resume  
operation.  
Automatic - If a fault or power loss occurs, the control will automatically reset to  
resume operation.  
Restart Fault/Hr  
The maximum number of automatic restart attempts before requiring a manual restart.  
After one hour without reaching the maximum number of faults or if power is turned  
off and on again, the fault count is rest to zero.  
Restart Delay  
The amount of time allowed after a fault condition for an automatic restart to occur.  
Useful to allow sufficient time to clear a fault before restart is attempted.  
Factory Settings  
Restores factory settings for all parameter values. Select YES and press “ENTER” key  
to restore factory parameter values. The keypad Display will show “Operation Done”  
then return to “NO” when completed.  
Note: When factory settings are reset, the Motor Rated Amps value is reset to  
999.9 amps. This Level 2 Motor Data block parameter value must be  
changed to the correct value (located on the motor rating plate) before  
attempting to start the drive.  
Homing Speed  
Homing Offset  
In Bipolar and Serial modes, this parameter sets the speed that the motor shaft will  
rotate to a “Home” position when the orient command is issued.  
In Bipolar and Serial modes, this parameter sets the number of digital encoder counts  
past home at which the motor zero speed command is issued. Quadrature encoder  
pulses are 4 times the number of encoder lines per revolution. The recommended  
minimum number is 100 encoder counts to allow for deceleration distance to allow the  
motor to stop smoothly.  
Note: Homing direction is always in the forward direction.  
MN722  
Programming & Operation 4-19  
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Table 4-5 Inverter Control Board Level 2 Parameter Definitions - Continued  
Block Title  
Parameter  
Description  
SECURITY  
CONTROL  
Security State  
Off - No security Access Code required to change parameter values.  
Local - Requires security Access Code to be entered (using the keypad) before  
parameter changes can be made using the Keypad.  
Serial - Requires security Access Code to be entered (over the Serial Link) before  
parameter changes can be made using the Serial Link.  
Total - Requires security Access Code to be entered (using Keypad or Serial Link)  
before parameter changes can be made using the Keypad or serial link.  
Note: If security is set to Local, Serial or Total you can press PROG and scroll  
through the parameter values and view their values but you are not allowed  
to change their values unless you enter the correct access code.  
Access Timeout  
Access Code  
The time in seconds the security access remains enabled after leaving the programming  
mode. If you exit and go back into the program Mode within this time limit, the  
security Access Code does not have to be re-entered. This timer starts when leaving  
the Program Mode (by pressing DISP).  
Note: This feature is not available when using the Serial operating mode or if  
power is cycled.  
A 4 digit number code. Only persons that know the code can change secured Level 1  
and Level 2 parameter values.  
Note: Please record your access code and store it in a safe place. If you cannot  
gain entry into parameter values to change a protected parameter, please  
contact Baldor. Be prepared to give the 5 digit code shown on the lower  
right side of the Keypad Display at the Security Control Access Code  
parameter prompt.  
MOTOR DATA  
Motor Voltage  
The rated voltage of the motor (listed on the motor nameplate).  
Motor Rated Amps The full load current of the motor (listed on the motor nameplate). If the motor current  
exceeds this value for a period of time, an Overload fault will occur.  
Motor Rated SPD  
The rated speed of the motor (listed on the motor nameplate). If Motor Rated SPD =  
1750 RPM and Motor Rated Freq = 60 Hz, the Keypad Display will show 1750 RPM  
at 60 Hz and 875 RPM at 30Hz.  
Motor Rated Freq  
Motor Mag Amps  
The rated frequency of the motor (listed on the motor nameplate).  
The motor magnetizing current value (listed on the motor nameplate). Also called no  
load current. Measure using a clamp on amp meter at the AC power line while the  
motor is running at line frequency with no load connected to the motor shaft.  
Encoder Counts  
Resolver Speed  
CALC Presets  
The number of encoder feedback counts (lines per revolution).  
The speed of the resolver, if a resolver is used for feedback.  
This procedure loads preset values into memory that are required to perform Auto Tune.  
Always run CALC Presets as the first step of Auto Tune.  
4-20 Programming & Operation  
MN722  
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Table 4-5 Inverter Control Board Level 2 Parameter Definitions - Continued  
Block Title  
Parameter  
Description  
BRAKE ADJUST  
Resistor Ohms  
The dynamic braking resistor value in ohms. Refer to dynamic braking manual or call  
Baldor for additional information.  
Resistor Watts  
The dynamic braking resistor watts rating. Refer to dynamic braking manual or call  
Baldor for additional information.  
DC Brake Current  
The amount of DC injection brake current. 0% = Flux current, 100% = Motor rated  
current. (Used during encoderless operation).  
PROCESS  
CONTROL  
Process Feedback Sets the type of signal used for the process feedback signal.  
Process Inverse  
Causes the process feedback signal to be inverted. Used with reverse acting processes  
that use a unipolar signal such as 4-20mA. If “ON”, 20mA will decrease motor speed  
and 4mA will increase motor speed.  
Setpoint Source  
Sets the source input signal to which the process feedback will be compared.  
If “Setpoint CMD” is selected, the fixed value of the set point is entered in the Setpoint  
Command parameter value.  
Setpoint Command Sets the value of the setpoint the control will try to maintain by adjusting motor speed.  
This is only used when the Setpoint Source is a fixed value “Setpoint CMD” under  
Setpoint Source.  
Sets the maximum speed correction value to be applied to the motor (in response to the  
Set PT ADJ Limit  
maximum feedback setpoint error). For example, if the max motor speed is 1750  
RPM, the setpoint feedback error is 100% and the setpoint adjustment limit is 10%,  
the maximum speed the motor will run in response to the setpoint feedback error is  
±175 RPM. If at the process setpoint, the motor speed is 1500 RPM, the maximum  
speed adj limits is then 1325 to 1675 RPM.  
Sets the width of the comparison band (% of setpoint) with which the process input is  
compared. The result is that if the process input is within the comparison band the  
corresponding Opto Output will become active.  
Process ERR TOL  
Sets the PID loop proportional gain. This determines how much adjustment to motor  
speed or torque (within the Set PT ADJ Limit) is made to reduce process error.  
Process PROP  
Gain  
Sets the PID loop Integral gain. This determines how quickly the motor speed or torque  
is adjusted to correct long term error.  
Process INT Gain  
Process DIFF Gain  
Follow I:O Ratio  
Sets the PID loop differential gain. This determines how much adjustment to motor  
speed (within the Set PT ADJ Limit) is made for transient error.  
Sets the ratio of the Master to the Follower in Master/Follower configurations. Requires  
the Master Pulse Reference/ Isolated Pulse Follower expansion board. For example,  
the master encoder you want to follow is a 1024 count encoder. The follower motor  
you wish to control also has a 1024 count encoder on it. If you wish the follower to  
run twice the speed of the master, a 1:2 ratio is entered. Fractional ratios such as  
0.5:1 are entered as 1:2. Ratio limits are (1-65,535) : (1-20).  
Note: The Master Encoder parameter must be defined if a value is entered in the  
Follow I:O Ratio parameter.  
Note: When using Serial Communications to operate the control, this parameter  
value is the MASTER portion of the ratio. The FOLLOWER portion of the  
ratio is set in the Follow I:O Out parameter.  
This parameter is used only when Serial Communications is used to operate the control.  
A Master Pulse Reference/ Isolated Pulse Follower expansion board is required. This  
parameter represents the FOLLOWER portion of the ratio. The MASTER portion of  
the ratio is set in the Follow I:O Ratio parameter when using Serial operating mode.  
Follow I:O Out  
Only used if an optional Master Pulse Reference/Isolated Pulse Follower expansion  
board is installed. Defines the number of pulses per revolution of the master encoder.  
Programmed into follower drives only.  
Master Encoder  
COMMUNICATIONS Protocol  
Sets the type of communication the control is to use, RS-232 ASCII, RS-485 ASCII,  
RS-232 BBP or RS-485 BBP protocol.  
Baud Rate  
Sets the speed at which communication is to occur.  
Sets the address of the control for communication.  
Drive Address  
MN722  
Programming & Operation 4-21  
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Table 4-5 Inverter Control Board Level 2 Parameter Definitions - Continued  
Block Title  
Parameter  
Description  
AUTO TUNING  
The Auto Tune procedure is used to automatically measure and calculate certain  
parameter values. Dynamic Brake Hardware is required to perform “Slip Freq Test”  
and “Spd Cntrlr Calc” autotuning test. Occasionally, the Auto Tune procedure cannot  
be run due to various circumstances such as the load cannot be uncoupled from the  
motor. The control can be manually tuned by entering the parameter values based on  
calculations you have made. Refer to “Manually Tuning the Control” in the  
Troubleshooting section of this manual.  
CALC Presets  
Loads operating values into memory. These values are based on information  
programmed into the Level 2 Output Limits and Motor Data parameter values.  
CALC Presets must be run before Autotuning or manually tuning the drive.  
CMD Offset Trim  
CUR Loop COMP  
Flux CUR Setting  
Feedback Tests  
This procedure trims out voltage offsets for the differential analog input at J1-4 and J1-5.  
Measures current response to pulses of one half the rated motor current.  
Sets motor magnetizing current by running motor at near rated speed.  
Checks the values for Encoder Lines per revolution and encoder alignment parameters  
while the motor is running at near full rated speed. Test will automatically switch  
encoder phasing to match motor rotational direction.  
Slip FREQ Test  
Calculates motor Slip Frequency during repeated motor accelerations.  
SPD CNTRLR  
CALC  
Should be performed with the load coupled to the motor shaft. Sets the motor current to  
acceleration ratio, Speed INT gain and Speed PROP gain values. If done under no  
load, the Integral gain will be too large for high inertia loads if the PK Current Limit is  
set too low. If the control is too responsive when the drive is loaded, adjust the PK  
Current Limit parameter to a greater value and repeat this test.  
LEVEL 1 BLOCK  
ENTERS LEVEL 1 MENU  
4-22 Programming & Operation  
MN722  
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Section 5  
Troubleshooting  
Baldor Series 22H Controls require very little maintenance and should provide years of  
trouble free operation when installed and applied correctly. Occasional visual inspection  
should be considered to ensure tight wiring connections and to avoid the build up of any  
dust, dirt, or foreign debris which can reduce heat dissipation. The control should be  
mounted in a location that protects the internal circuits and external wiring from moisture  
or liquid contaminants.  
When a fault condition occurs, motor operation stops and the fault is displayed on the  
Keypad Display. If a REGEN FLT is displayed, this indicates a fault in the converter  
section of the control. To determine the specific converter section fault, the keypad must  
be moved to the Converter Control Board keypad connector. The fault log can be  
examined and the specific faults will help to further isolate the failure. A list of possible  
Converter Control Board Fault Messages is given in Table 5-1. Other fault messages that  
pertain to the Inverter Control Board are given in Table 5-2.  
When a fault has been identified, all input power must be removed from the control to  
avoid the possibility of electrical shock. The servicing of this equipment should be  
handled by a qualified electrical service technician experienced in the area of high power  
electronics.  
It is important to familiarize yourself with the following information before attempting any  
troubleshooting or service of the control. Most troubleshooting can be performed using  
only a digital voltmeter having an input impedance exceeding 1 megOhm. In some  
cases, an oscilloscope with 5 MHZ minimum bandwidth may be useful. Before consulting  
the factory, check that all power and control wiring is correct and installed per the  
recommendations given in this manual.  
No Keypad Display - Display Contrast Adjustment  
If there is no visible display, use the following procedure to adjust the contrast of the  
display.  
Action  
Description  
Display  
Comments  
Apply Power  
No visible display.  
Press DISP key  
Puts control in Display mode.  
Display mode with nothing visible.  
Press SHIFT key 2 times Accesses display contrast  
adjustment.  
Press ꢇ or ꢈ key  
Adjusts display contrast  
(intensity).  
Press ENTER key  
Saves display contrast  
adjustment level and exits to  
display mode.  
When a Fault is Displayed When a fault is displayed, press “DISP” so that you can view the menu items (to go to  
Diagnostic or Fault Log menus etc.). When you exit these menus, the fault message will  
again be displayed. The control must be reset to clear the fault message from the  
display.  
MN722  
Troubleshooting 5-1  
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Table 5-1 Converter Control Board Fault Messages  
DESCRIPTION  
FAULT MESSAGE  
Current Sens FLT  
Defective phase current sensor or open circuit detected between control board and current  
sensor.  
DC Bus High  
DC Bus Low  
GND FLT  
Bus over voltage condition occurred.  
Bus under voltage condition occurred.  
Low impedance path detected between an output phase and ground.  
High INIT CUR  
Phasing between main power connections, zero crossing detectors, line reactor and  
control does not match.  
ID:No Feedback  
Control board installed in power base that does not have current feedback and current  
feedback is required.  
INT Over-Temp  
Invalid Base ID  
Logic Supply FLT  
Lost AB Phase  
Lost BC Phase  
Lost User Data  
Temperature of control heatsink exceeded safe level.  
Control does not recognize power base ID.  
Logic power supply not working properly.  
Missing phase detected by mP.  
Missing phase detected by mP.  
Battery backed RAM parameters have been lost or corrupted.  
When fault cleared (Reset), the control should reset to factory preset values.  
Low INIT Bus V  
Memory Error  
mP Reset  
Insufficient bus voltage on startup.  
EEPROM error occurred. Contact Baldor.  
Watchdog timer detected error.  
New Base ID  
No Faults  
Control board sensed a different power base since last time it was powered up.  
Fault log is empty.  
Overcurrent FLT  
Overload  
Instantaneous over current condition detected by bus current sensor.  
Output current exceeded allowable rating.  
PWR Base FLT  
Sync To Line  
Desaturation of power device occurred or bus current threshold exceeded.  
Incorrect line phasing or frequency detected on startup.  
5-2 Troubleshooting  
MN722  
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Table 5-2 Inverter Control Board Fault Messages  
DESCRIPTION  
FAULT MESSAGE  
Current Sens FLT  
Defective phase current sensor or open circuit detected between control board and current  
sensor.  
DC Bus High  
DC Bus Low  
Encoder Loss  
Bus over voltage condition occurred.  
Bus under voltage condition occurred.  
Encoder coupling slipping or broken; noise on encoder lines, encoder power supply loss or  
defective encoder.  
External Trip  
An open circuit on J1-16 typically indicating an external over temperature condition.  
Excessive following error detected between command and feedback signals.  
Low impedance path detected between an output phase and ground.  
Temperature of control heatsink exceeded safe level.  
Control does not recognize power base ID.  
Following Error  
GND FLT  
INT Over-Temp  
Invalid Base ID  
Inverter Base ID  
Line Regen FLT  
Logic Supply FLT  
Lost User Data  
Control board installed on power base without current feedback.  
Indicates a converter section fault.  
Logic power supply not working properly.  
Battery backed RAM parameters have been lost or corrupted.  
When fault cleared (Reset), the control should reset to factory preset values.  
Low INIT Bus V  
Memory Error  
New Base ID  
Insufficient bus voltage on startup.  
EEPROM error occurred. Contact Baldor.  
Control board sensed a different power base since last time it was powered up.  
Fault log is empty.  
No Faults  
No EXB Installed  
Over Current FLT  
Overload - 1 min  
Overload - 3 sec  
Over speed  
Programmed parameter requires an expansion board.  
Instantaneous over current condition detected by bus current sensor.  
Output current exceeded 1 minute rating.  
Output current exceeded 3 second rating.  
Motor RPM exceeded 110% of programmed MAX Motor Speed.  
Power cycled before the residual Bus voltage reached 0VDC.  
Desaturation of power device occurred or bus current threshold exceeded.  
Resolver feedback problem is indicated (if resolver used).  
Unbalanced current between all 3 motor phases.  
Custom software operating fault occurred.  
mP Reset  
PWR Base FLT  
Resolver Loss  
Torque Prove FLT  
User Fault Text  
MN722  
Troubleshooting 5-3  
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How to Access the Fault Log When a fault condition occurs, motor operation stops and a fault code is displayed on  
the keypad display. The control keeps a log of up to the last 31 faults. If more than 31  
faults have occurred the oldest fault will be deleted from the fault log to make room for the  
newest fault. To access the fault log use the following procedure:  
Action  
Description  
Display  
Comments  
Apply Power  
Logo display for 5 seconds.  
Display mode showing output  
frequency  
Display mode.  
Press DISP key 5 times Use DISP key to scroll to the  
Fault Log entry point.  
Press ENTER key  
Press ꢇ key  
Display first fault type and time  
fault occurred.  
Typical display.  
Scroll through fault messages.  
Return to display mode.  
If no messages, the fault log exit  
choice is displayed.  
Press ENTER key  
Display mode stop key LED is on.  
5-4 Troubleshooting  
MN722  
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How to Clear the Fault Log Use the following procedure to clear the fault log and reset the internal clock.  
Action  
Description  
Display  
Comments  
Apply Power  
Logo display for 5 seconds.  
Display mode showing output  
frequency.  
Display mode.  
Press DISP key  
Press DISP to scroll to the Fault  
Log entry point.  
Press ENTER key  
Press SHIFT key  
Press RESET key  
Press SHIFT key  
Press ENTER key  
Press ꢇ or ꢈ key  
Press ENTER key  
Displays most recent message.  
1=Most recent fault.  
2=Second most recent fault, etc.  
Fault log is cleared.  
Scroll Fault Log Exit.  
Return to display mode.  
No faults in fault log. Also resets  
the internal clock.  
MN722  
Troubleshooting 5-5  
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How to Access Diagnostic Information  
Action  
Description  
Display  
Comments  
Apply Power  
Logo display for 5 seconds.  
Display mode showing motor  
speed.  
No faults present. Local keypad  
mode. In remote/serial mode,  
disable drive then press local for  
this display.  
Press DISP key 6 times Scroll to Diagnostic Information  
screen  
Diagnostic Access screen.  
Press ENTER key  
Press DISP key  
Press DISP key  
Press DISP key  
Press DISP key  
Access diagnostic information.  
First Diagnostic Information  
screen.  
Display showing control  
temperature.  
Display showing bus voltage.  
XXXV  
Display showing % overload  
current remaining.  
Display showing opto inputs &  
outputs states.  
Opto Inputs states (Left);  
Opto Outputs states (Right).  
0=OPEN, 1=CLOSED.  
Press DISP key  
Press DISP key  
Press DISP key  
Display showing actual drive  
running time.  
HR.MIN.SEC format.  
Display showing operating zone,  
voltage and control type.  
Display showing continuous  
amps; PK amps rating; amps/volt  
scale of feedback, power base ID.  
ID is displayed as a hexadecimal  
value.  
Press DISP key  
Press DISP key  
Display showing which Group1 or  
2 expansion boards are installed  
and recognized.  
Display showing motor shaft  
revolutions from the REV home  
set point.  
Press DISP key  
Press DISP key  
Display mode showing parameter  
table selected.  
Display showing software version  
and revision installed in the  
control.  
Press DISP key  
Displays exit choice.  
Press ENTER to exit diagnostic  
information.  
5-6 Troubleshooting  
MN722  
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Table 5-3 Converter Section Troubleshooting  
INDICATION  
POSSIBLE CAUSE  
CORRECTIVE ACTION  
Current Sense FLT Open circuit between control board Check control wires between control board and current feedback sensor.  
and current sensor or defective  
current sensor.  
DC Bus High  
DC Bus Low  
Incorrect setting of converter bridge Check Bus Capacitance value of converter section parameters.  
parameter.  
Decel rate too fast.  
Increase Decel time parameter setting.  
Input voltage too low.  
Monitor power line fluctuations with date and time imprint  
to isolate power problem.  
Check power line disturbances (sags caused by start up of  
other equipment).  
Use step up isolation transformer if needed.  
GND FLT  
Improper wiring.  
Disconnect wiring between control and motor. Retry test.  
If GND FLT is cleared, reconnect motor leads and retry the test.  
Rewire as necessary.  
Repair motor.  
If GND FLT remains, contact Baldor.  
High INIT CUR  
Incorrect phasing between input  
power, filter assembly and line  
reactors.  
Check connections for proper phasing as detailed in Section 3 of this  
manual.  
ID:No Feedback  
INT Over-Temp  
Control board is installed on wrong Change power base to one that has current feedback sensors.  
power base.  
Ambient temperature too high.  
Relocate control to a cooler area. Add cooling fans or air condition the  
cabinet.  
Drive overloaded.  
Verify proper sizing of control and motor. Correct loading of motor.  
Cooling fans or air path is clogged. Clean fans and air path.  
Ensure fans are operating.  
Invalid Base ID  
Control does not recognize  
converter power base.  
Press “RESET” key on keypad. If fault remains, call Baldor.  
Logic Supply FLT  
Lost AB Phase  
Power supply malfunctioned.  
Replace logic power supply.  
Wire disconnected or phase lost.  
Check for input power on all 3 phases.  
Check wiring and correct errors in all output wiring and wiring between  
individual components on EK type controls. Press “RESET” key on  
keypad. If fault remains, call Baldor.  
Lost BC Phase  
Lost User Data  
Wire disconnected or phase lost.  
Battery backed memory failure.  
Check for input power on all 3 phases.  
Check wiring and correct errors in all output wiring and wiring between  
individual components on EK type controls. Press “RESET” key on  
keypad. If fault remains, call Baldor.  
Parameter data was erased. Disconnect power to control and  
apply power (cycle power). Enter all parameters.  
Cycle power. If problem persists, contact Baldor.  
Low INIT Bus V  
Memory Error  
mP Reset  
Improper AC line voltage.  
Check input AC voltage level.  
EEPROM memory fault occurred.  
Press “RESET” key on keypad. If fault remains, call Baldor.  
Power was cycled before Bus  
voltage reached 0VDC.  
Press “RESET” key on keypad.  
Disconnect power and allow at least 5 minutes for  
Bus capacitors to discharge before applying power.  
If fault remains, call Baldor.  
New Base ID  
Software parameters are not  
initialized on newly installed  
control board.  
Press “RESET” key on keypad to clear the fault condition. Cycle power  
(turn power OFF then ON). Refer to Section 4 and initialize new software.  
Access diagnostics and compare power base ID number to list in Table  
5-5 to ensure a match. Re-enter the Parameter Block Values you  
recorded in the User Settings at the end of this manual. Autotune the  
control. If fault remains, call Baldor.  
Continued on next page.  
MN722  
Troubleshooting 5-7  
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Table 5-3 Converter Section Troubleshooting Continued  
INDICATION  
POSSIBLE CAUSE  
CORRECTIVE ACTION  
Over Current FLT  
Possible converter transistor failure. Check transistors for shorted junctions.  
Incorrect inductance set in Line  
Inductor parameter.  
Check inductance parameter value.  
Overload FLT  
Drive overloaded.  
Verify proper sizing of control and motor.  
PWR Base FLT  
Incorrect phase connections.  
Check connections for proper phasing of EK drive components as  
detailed in Section 3 of this manual.  
Excessive current draw.  
Power device saturated.  
Electrical noise from DC coils.  
Disconnect motor wiring and retry test. If fault remains, call Baldor.  
Install flyback diodes (reverse biased 1N4002 or equivalent)across all  
external DC relay coils..  
Electrical noise from AC coils.  
Incorrect phase connections.  
Install RC snubbers on all external AC coils.  
Sync To Line  
Check connections for proper phasing as detailed in Section 3 of this  
manual.  
Incorrect frequency detected at  
startup.  
Check incoming line voltage and frequency.  
5-8 Troubleshooting  
MN722  
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Table 5-4 Inverter Section Troubleshooting  
INDICATION  
No Display  
POSSIBLE CAUSE  
CORRECTIVE ACTION  
Lack of input voltage.  
Check input power for proper voltage.  
Verify fuses are good (or breaker is not tripped).  
Loose connections.  
Check input power termination.  
Verify connection of operator keypad.  
Bent pins in keypad to control  
connector.  
Check connector pins and straighten as required.  
Adjust display contrast.  
Encoder miswired.  
See Adjust Display Contrast in Sec. 4.  
Correct wiring problems.  
Auto Tune  
Encoder Test failed  
Encoder coupling slipping, broken  
or misaligned.  
Correct encoder to motor coupling.  
Excessive noise on encoder lines.  
Check the position counter in the Diagnostic Information for  
jittering which will confirm an encoder problem.  
Use recommended encoder cable.  
Check encoder connections including shields.  
Separate encoder leads from power wiring.  
Cross encoder wires and power leads at 90°.  
Electrically isolate encoder from motor.  
Install optional Isolated Encoder Feedback expansion board.  
Wrong parameter values for “Motor Enter correct parameter values.  
Base Speed”, “Frequency” or  
“Encoder Counts”.  
Motor coupled to load.  
Disconnect load then autotune.  
Current Sense FLT Open circuit between control board Check connections between control board and current sensor.  
and current sensor.  
Defective current sensor.  
Excessive regenerated power.  
Input voltage too high.  
Replace current sensor.  
Increase the DECEL time.  
DC Bus High  
DC Bus Low  
Verify proper AC line voltage.  
Use step down isolation transformer if needed.  
Use line reactor to minimize spikes.  
Input voltage too low.  
Disconnect dynamic brake hardware and repeat operation.  
Verify proper AC line voltage.  
Use step up isolation transformer if needed.  
Check power line disturbances (sags caused by start up of  
other equipment).  
Monitor power line fluctuations with date and time imprint  
to isolate power problem.  
Encoder Loss  
Encoder power supply failure.  
Check 5VDC at J1-29 and J1-30.  
Also check at encoder end pins D and F.  
Check encoder cable continuity.  
Encoder coupling slipping, broken  
or misaligned  
Correct or replace encoder to motor coupling.  
Excessive noise on encoder lines.  
Check the position counter in the Diagnostic Information for  
jittering which will confirm an encoder problem.  
Check encoder connections.  
Separate encoder leads from power wiring.  
Use Baldor encoder cable.  
Cross encoder wires and power leads at 90°.  
Electrically isolate encoder from motor.  
Install optional Isolated Encoder Feedback expansion board.  
Continued on next page.  
MN722  
Troubleshooting 5-9  
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Table 5-4 Inverter Section Troubleshooting Continued  
INDICATION  
POSSIBLE CAUSE  
CORRECTIVE ACTION  
External Trip  
Motor ventilation insufficient.  
Clean motor air intake and exhaust.  
Check external blower for operation.  
Verify motor’s internal fan is coupled securely.  
Verify correct line power to external blower.  
Motor draws excessive current.  
No thermostat connected.  
Check motor for overloading.  
Verify proper sizing of control and motor.  
Connect thermostat.  
Verify connection of all external trip circuits used with thermostat.  
Disable thermostat input at J1-16 (External Trip Input).  
Poor thermostat connections.  
Check thermostat connections.  
External trip parameter incorrect.  
Verify connection of external trip circuit at J1-16.  
Set external trip parameter to “OFF” if no connection made  
at J1-16.  
Following ERR  
Speed proportional gain set too low. Following error tolerance band set too narrow.  
Increase Speed PROP Gain parameter value.  
Current limit set too low.  
ACCEL/DECEL time too short.  
Excessive load.  
Increase Current Limit parameter value.  
Increase ACCEL/DECEL parameter time  
Verify proper sizing of control and motor.  
GND FLT  
Improper wiring.  
Disconnect wiring between control and motor. Retry test.  
If GND FLT is cleared, reconnect motor leads and retry the test.  
Rewire as necessary.  
Wiring shorted in conduit.  
Motor winding shorted.  
Repair motor.  
If GND FLT remains, contact Baldor.  
INT Over-Temp  
Motor Overloaded.  
Correct motor loading.  
Verify proper sizing of control and motor.  
Ambient temperature too high.  
Check that air flow path is clean and free of debris.  
Relocate control to cooler operating area.  
Add cooling fans or air conditioner to control cabinet.  
Invalid Base ID  
Inverter Base ID  
Control does not recognize HP and Press “RESET” key on keypad. If fault remains, access diagnostic info  
Voltage configuration.  
and compare power output section Power Base ID # with Table 5-5. If  
different, contact Baldor.  
Power base with no output phase  
current sensors being used.  
Replace power base with one that has output leg current  
feedback. Contact Baldor.  
Logic Supply FLT Power supply malfunctioned.  
Replace logic power supply.  
Lost User Data  
Battery backed memory failure.  
Parameter data was erased. Disconnect power to control and  
apply power (cycle power). Enter all parameters.  
Cycle power. If problem persists, contact Baldor.  
Low INIT Bus V  
Memory Error  
mP Reset  
Improper AC line voltage.  
Check input AC voltage level.  
EEPROM memory fault occurred.  
Press “RESET” key on keypad. If fault remains, call Baldor.  
Power was cycled before Bus  
voltage reached 0VDC.  
Press “RESET” key on keypad.  
Disconnect power and allow at least 5 minutes for  
Bus capacitors to discharge before applying power.  
If fault remains, call Baldor.  
Continued on next page.  
5-10 Troubleshooting  
MN722  
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Table 5-4 Inverter Section Troubleshooting Continued  
INDICATION  
POSSIBLE CAUSE  
CORRECTIVE ACTION  
Motor has wrong Analog input common mode voltage Connect control input source common to control common to minimize  
response to  
Speed Command  
may be excessive.  
common mode voltage. Maximum common mode voltage at terminals  
J1-4 and J1-5 is ±15VDC referenced to chassis common.  
Incorrect MIN or MAX speed  
settings.  
Check Level 2 Output Limits block, MIN Output Speed and MAX Output  
Speed parameter values and adjust as needed.  
Analog offset trim is incorrectly set. Re-run “Offset Trim” autotune test.  
Speed gain value is too large.  
Reduce the Level 1 Vector Control block, Speed PROP Gain and  
Speed INT Gain parameter values.  
Motor Shaft  
Oscillates back  
and forth  
Incorrect encoder alignment  
direction.  
Change the Feedback Align parameter in the Level 1 Vector Control block.  
If Reverse, set to Forward. If Forward, set to Reverse.  
Motor Shaft  
rotates at low  
speed regardless  
of commanded  
speed  
Incorrect encoder alignment  
direction.  
Check encoder connections.  
Change the Feedback Align parameter in the Level 1 Vector Control block.  
If Reverse, set to Forward. If Forward, set to Reverse.  
Motor Shaft  
rotates in wrong  
direction  
Incorrect encoder wiring.  
Reverse the A and A or B and B encoder wires at the J1 input to control  
and change encoder direction in the Feedback Align parameter in the  
Level 1 Vector Control block.  
Motor Will Not  
Start  
Not enough starting torque.  
Motor overloaded.  
Increase Current Limit setting.  
Check for proper motor loading.  
Check couplings for binding.  
Verify proper sizing of control and motor.  
Motor may be commanded to run  
below minimum speed setting.  
Increase speed command or reduce minimum speed setting.  
Incorrect Command Select  
parameter.  
Change Command Select parameter to match wiring at J1.  
Incorrect speed command.  
Max Output Speed set too low.  
Motor overloaded.  
Verify control is receiving proper command signal at J1.  
Motor Will Not  
Reach Maximum  
Speed  
Adjust Level 2 Output Limits block, MAX Output Speed parameter value.  
Check for mechanical overload. If unloaded motor shaft does not rotate  
freely, check motor bearings.  
Improper speed command.  
Verify control is set to proper operating mode to receive speed command.  
Verify control is receiving proper command signal at input terminals.  
Check velocity loop gains.  
Speed potentiometer failure.  
Replace potentiometer.  
Motor Will Not  
Stop Rotation  
MIN Output Speed parameter set  
too high.  
Adjust MIN Output Speed parameter value.  
Improper speed command.  
Verify control is receiving proper command signal at input terminals.  
Verify control is set to receive speed command.  
Speed potentiometer failure.  
Replace potentiometer.  
Analog input common mode voltage Connect control input source common to control common (J1-1) to  
may be excessive.  
minimize common mode voltage. Maximum common mode voltage at  
terminals J1-4 and J1-5 is ±15VDC referenced to chassis common.  
Analog offset trim set incorrectly.  
Re-run “Offset Trim” autotune test.  
Adjust the Level 1 Input block, ANA CMD Offset parameter to obtain zero  
speed.  
Continued on next page.  
MN722  
Troubleshooting 5-11  
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Table 5-4 Inverter Section Troubleshooting Continued  
INDICATION  
POSSIBLE CAUSE  
CORRECTIVE ACTION  
New Base ID  
Software parameters are not  
initialized on newly installed  
control board.  
Press “RESET” key on keypad to clear the fault condition. Reset  
parameter values to factory settings. Access diagnostics and compare  
power base ID number to list in Table 5-5 to ensure a match. Re-enter the  
Parameter Block Values you recorded in the User Settings at the end of  
this manual. Autotune the control.  
No EXB Installed Incorrect programmed parameter.  
Change the Level 1 Input block, Command Select parameter and the Level  
2 Process Control block, Process Feedback and Setpoint Source  
parameters to a value that does not require an expansion board.  
Need expansion board.  
Install the correct expansion board for selected operating mode.  
Over Current FLT Current Limit parameter set lower  
than drive rating.  
Increase the Level 2 Output Limits block, PK Current Limit parameter.  
Do not exceed drive rating.  
ACCEL/DECEL time too short.  
Increase the Level 1 ACCEL/DECEL Rate block ACCEL/DEC parameters.  
Correct or replace encoder to motor coupling.  
Encoder coupling slipping, broken  
or misaligned.  
Encoder bearing failure.  
Replace encoder.  
Excessive noise on encoder lines.  
Check the position counter in the Diagnostic Information for  
jittering which will confirm an encoder problem.  
Check encoder connections.  
Separate encoder leads from power wiring.  
Use Baldor encoder cable.  
Cross encoder wires and power leads at 90°.  
Electrically isolate encoder from motor.  
Install optional Isolated Encoder Feedback expansion board.  
Electrical noise from external DC  
coils.  
Install reverse biased diodes across all external DC relay coils as shown in  
the Opto Output circuit examples of this manual. See Electrical Noise  
Considerations in Section 5 of this manual.  
Electrical noise from external AC  
coils.  
Install RC snubbers on all external AC coils. See Electrical Noise  
Considerations in Section 5 of this manual.  
Excessive load.  
Reduce the motor load.  
Verify proper sizing of control and motor.  
Overload - 3 Sec Peak output current exceeded 3  
Check the Level 2 Output Limits block PK Current Limit parameter.  
Change the Level 2 Protection block Overload parameter from Trip to  
Foldback.  
FLT  
second rating.  
Check motor for overloading.  
Increase Level 1 ACCEL/DECEL Rate block ACCEL/DEC parameters.  
Reduce motor load.  
Verify proper sizing of control and motor.  
Encoder coupling slipping, broken  
or misaligned.  
Correct or replace encoder to motor coupling.  
Encoder bearing failure.  
Replace encoder.  
Overload - 1 Min  
FLT  
Peak output current exceeded 1  
minute rating.  
Verify proper motor data has been entered.  
Check the Level 2 Output Limits block PK Current Limit parameter.  
Change the Level 2 Protection block Overload parameter from Trip to  
Foldback.  
Check motor for overloading.  
Increase Level 1 ACCEL/DECEL Rate block ACCEL/DEC parameters.  
Reduce motor load.  
Verify proper sizing of control and motor.  
Encoder coupling slipping, broken  
or misaligned.  
Correct or replace encoder to motor coupling.  
Encoder bearing failure.  
Replace encoder.  
Over Speed  
Motor exceeded 110% of MAX  
Speed parameter value.  
Check the Level 2 Output Limits block Max Output Speed.  
Increase the Level 1 Vector Control block Speed PROP Gain.  
Continued on next page.  
5-12 Troubleshooting  
MN722  
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Table 5-4 Inverter Section Troubleshooting Continued  
INDICATION  
Power Module  
PWR Base FLT  
POSSIBLE CAUSE  
Power supply failure.  
CORRECTIVE ACTION  
Press “RESET” key on keypad. If fault remains, call Baldor.  
Improper ground  
Be sure control has separate ground wire to earth ground.  
Panel grounding or conduit connections is not sufficient.  
Disconnect motor leads from control and retry test. If fault remains, call  
Baldor.  
Excessive current usage.  
Encoder coupling slipping, broken  
or misaligned.  
Correct or replace encoder to motor coupling.  
Encoder bearing failure.  
Replace encoder.  
Excessive noise on encoder lines.  
Check encoder connections.  
Separate encoder leads from power wiring.  
Use Baldor encoder cable.  
Cross encoder wires and power leads at 90°.  
Electrically isolate encoder from motor.  
Install optional Isolated Encoder Feedback expansion board.  
Electrical noise from external DC  
coils.  
Install reverse biased diodes across all external DC relay coils as shown in  
the Opto Output circuit examples of this manual. See Electrical Noise  
Considerations in Section 5 of this manual.  
Electrical noise from external AC  
coils.  
Install RC snubbers on all external AC coils. See Electrical Noise  
Considerations in Section 5 of this manual.  
Excessive load.  
Correct motor load.  
Verify proper sizing of control and motor.  
Excessive power in dynamic brake  
circuit.  
Verify proper Ohm and Watt parameters of Brake Adjust block.  
Increase decel time.  
Regen PWR FLT Excessive input voltage.  
Verify proper AC Line voltage.  
Use step down transformer if needed.  
Use line reactor to minimize spikes.  
Resolver Loss  
Resolver defect.  
Check resolver to motor coupling (align or replace if needed).  
Verify correct wiring. Refer to the Resolver to Digital  
expansion board manual.  
Electrically isolate resolver from motor.  
Use Baldor Resolver cable.  
Torque Prove FLT Unbalanced current in 3 motor  
phases.  
Check continuity from control to motor windings and verify motor  
connections.  
Unknown Fault  
Fault occurred but cleared before its Check AC line for high frequency noise.  
source could be identified.  
Check input switch connections and switching noise.  
User Fault Text  
Fault detected by custom software. Refer to custom software fault list.  
MN722  
Troubleshooting 5-13  
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Table 5-5 Power Base ID - Series 22H  
230VAC  
Catalog Numbers  
460VAC  
Power  
Base  
ID No.  
Catalog Numbers  
Power  
Base  
ID No.  
ZD22H210–EL  
ZD22H215–EL  
ZD22H220–EL  
ZD22H225–EL  
ZD22H230–EL  
ZD22H240–EL  
ZD22H250–EL  
919  
910  
911  
91D  
913  
914  
915  
ZD22H410–EL  
ZD22H415–EK  
ZD22H420–EL  
ZD22H425–EL  
ZD22H430–EL  
ZD22H440–EL  
ZD22H450–EL  
ZD22H460–EK  
ZD22H475–EK  
ZD22H4100–EK  
ZD22H4150–EK  
ZD22H4200–EK  
ZD22H4250–EL  
ZD22H4300–EL  
ZD22H4350–EL  
ZD22H4400–EL  
ZD22H4450–EL  
B2D  
B10  
B11  
B12  
B13  
B14  
B15  
B16  
BAB  
B18  
B9A  
B9B  
BC3  
BAE  
BA6  
BA7  
BA9  
Note: The Power Base ID number of a control is displayed in a Diagnostic  
Information screen as a hexadecimal value.  
Note: The power Base ID number is the same for both the converter and the  
Inverter sections of the control.  
5-14 Troubleshooting  
MN722  
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Electrical Noise Considerations All electronic devices are vulnerable to significant electronic interference signals  
(commonly called “Electrical Noise”). At the lowest level, noise can cause intermittent  
operating errors or faults. From a circuit standpoint, 5 or 10 millivolts of noise may cause  
detrimental operation. For example, analog speed and torque inputs are often scaled at 5  
to 10 VDC maximum with a typical resolution of one part in 1,000. Thus, noise of only 5  
mV represents a substantial error.  
At the extreme level, significant noise can cause damage to the drive. Therefore, it is  
advisable to prevent noise generation and to follow wiring practices that prevent noise  
generated by other devices from reaching sensitive circuits. In a control, such circuits  
include inputs for speed, torque, control logic, and speed and position feedback, plus  
outputs to some indicators and computers.  
Unwanted electrical noise can be produced by many sources. Various methods can be  
used to reduce the effects of this noise. All methods are less costly when designed into a  
system initially than if added after installation.  
Relay and Contactor Coils Among the most common sources of noise are the ever–present coils of contactors and  
relays. When these highly inductive coil circuits are opened, transient conditions often  
generate spikes of several hundred volts in the control circuit. These spikes can induce  
several volts of noise in an adjacent wire that runs parallel to a control–circuit wire.  
Figure 5-1 illustrates noise suppression for AC and DC operated coils.  
Figure 5-1 AC & DC Coil Noise Suppression  
RC snubber  
+
0.47 mF  
33 W  
DC Coil  
AC Coil  
Diode  
–
Wires between Controls and Motors  
Output leads from a typical 460 VAC drive controller contain rapid voltage rises created  
by power semiconductors switching 650V in less than a microsecond, 1,000 to 10,000  
times a second. These noise signals can couple into sensitive drive circuits. If shielded  
pair cable is used, the coupling is reduced by nearly 90% compared to unshielded cable.  
Even input AC power lines contain noise and can induce noise in adjacent wires. In  
severe cases, line reactors may be required.  
To prevent induced transient noise in signal wires, all motor leads and AC power lines  
should be contained in rigid metal conduit, or flexible conduit. Do not place line  
conductors and load conductors in same conduit. Use one conduit for 3 phase input  
wires and another conduit for the motor leads. The conduits should be grounded to form  
a shield to contain the electrical noise within the conduit path. Signal wires - even ones in  
shielded cable should never be placed in the conduit with motor power wires.  
If flexible conduit is required, the wires should be shielded twisted-pair. Although this  
practice gives better protection than unshielded wires, it lacks the protection offered by  
rigid metal conduit.  
MN722  
Troubleshooting 5-15  
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Electrical Noise Considerations Continued  
Special Drive Situations  
For severe noise situations, it may be necessary to reduce transient voltages in the wires  
to the motor by adding load reactors. Load reactors are installed between the control and  
motor.  
Reactors are typically 3% reactance and are designed for the frequencies encountered in  
PWM drives. For maximum benefit, the reactors should be mounted in the drive  
enclosure with short leads between the control and the reactors. Baldor can deliver line  
and load reactors that will reduce ripple current and improve motor life.  
Control Enclosures  
Motor controls mounted in a grounded enclosure should also be connected to earth  
ground with a separate conductor to ensure best ground connection. Often grounding  
the control to the grounded metallic enclosure is not sufficient. Usually painted surfaces  
and seals prevent solid metallic contact between the control and the panel enclosure.  
Likewise, conduit should never be used as a ground conductor for motor power wires or  
signal conductors.  
Special Motor Considerations  
Motor frames must also be grounded. As with control enclosures, motors must be  
grounded directly to the control and plant ground with as short a ground wire as possible.  
Capacitive coupling within the motor windings produces transient voltages between the  
motor frame and ground. The severity of these voltages increases with the length of the  
ground wire. Installations with the motor and control mounted on a common frame, and  
with heavy ground wires less than 10 ft. long, rarely have a problem caused by these  
motor–generated transient voltages.  
Sometimes motor frame transient voltages are capacitively coupled to feedback devices  
mounted on the motor shaft. To prevent this problem, add electrical isolation between  
the motor and the feedback device. The most simple isolation method, shown in Figure  
5-2, has two parts: 1) A plate of electrical insulating material placed between the motor  
mounting surface and the feedback device. 2) An insulating coupling between motor  
shaft and the shaft of the feedback device.  
Figure 5-2 Isolated Mounting Method  
Insulating Coupling  
Insulating plate  
Encoder or other  
feedback device  
Mounting bracket  
5-16 Troubleshooting  
MN722  
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Section 6  
Manual Tuning the Series 22H Control  
Manually Tuning the Control In some applications the drive cannot be accurately auto-tuned in an application. In  
these cases it is necessary to calculate the values needed to tune the drive and manually  
enter these calculated parameter values.  
Motor Mag Amps Parameter This parameter is located in the Level 2, Motor Data Block. This parameter is  
normally entered using the nameplate data (motor no load amps) or auto–tuned. If no  
other data is available, set Motor Mag Amps parameter to about 40% of the motor rated  
current stated on the nameplate.  
The following procedure should be used for setting the Motor Mag Amps parameter with  
the motor coupled to the load:  
1. Adjust the Motor Mag Amps Parameter to 40% of the motor nameplate full load  
current rating.  
2. Give the controller a speed command input of 80% of the Base Speed on motor  
nameplate.  
3. Select motor voltage on keypad display by pressing the DISP key until the  
motor voltage value is displayed.  
4. Observe the motor voltage. Ideally, it should read 80% of motor nameplate  
voltage. By raising the Motor Mag Amps parameter value, the motor voltage  
will raise proportionally. Continuing to raise the Motor Mag Amps parameter  
value will eventually saturate the motor voltage. By lowering the Motor Mag  
Amps parameter value, the motor voltage will lower proportionally.  
5. While the motor is running adjust the Motor Mag Amps parameter until the  
display indicates the proper voltage (80% of motor rated).  
Slip Frequency Parameter This parameter is located in the Level 1, Vector Control Block. The slip frequency  
may be calculated from nameplate data or auto tuned.  
(
)
Rated RPM x Number of Motor Poles  
120  
+ Rated Freq * ƪ  
ƫ OR  
Fslip  
Base Speed  
Sync Speed  
(
)
+ Rated Freq * ǒ  
ǓRated Freq  
Fslip  
Current Prop Gain Parameter This parameter is located in the Level 1, Vector Control Block. The Current Prop  
Gain parameter is normally auto–tuned when motor inductance is not known. Where  
auto–tuning can’t be used, the proper manual setting for the proportional gain can be  
calculated by:  
ƪ
ǒ
Ǔƫ  
740 x L x AńV  
Current PROP Gain +  
VAC  
Where:  
L = Line to neutral leakage inductance of the motor in mH  
VAC = Nominal line Volts  
A/V = The Amps/Volt scaling of the current feedback  
Motor line to neutral leakage inductance can be obtained either from the motor  
manufacturer or by measuring the line–to–line inductance and dividing by two.  
The A/V scaling for the controller can be found in the diagnostic information located in the  
DISPLAY MODE.  
For most applications setting the Current Prop Gain parameter to a value of 20 will yield  
adequate performance.  
MN722  
Manual Tuning the Series 22H Control 6-1  
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Current Int Gain Parameter  
The Current Int Gain parameter located in the Level 1 Vector Control Block is factory  
preset at 150 Hz. This setting is suitable for essentially all systems. DO NOT CHANGE  
WITHOUT FACTORY APPROVAL.  
Speed Prop Gain Parameter  
The Speed Prop Gain parameter located in the Level 1 Vector Control Block is factory set  
to 10. This gain may be increased or decreased to suit the application. Increasing the  
Speed Prop Gain parameter will result in faster response, excessive proportional gain will  
cause overshoot and ringing. Decreasing the Speed Prop Gain parameter will cause  
slower response and decrease overshoot and ringing caused by excessive proportional  
gain.  
Speed Int Gain Parameter  
The Speed Int Gain parameter located in the Level 1 Vector Control Block is set to 1 Hz  
and may be set at any value from zero to 9.99 Hz. See also, PI Controller later in this  
section.  
Setting the Speed Int Gain parameter to 0Hz removes integral compensation that results  
in a proportional rate loop. This selection is ideal for systems where overshoot must be  
avoided and substantial stiffness (ability of the controller to maintain commanded speed  
despite varying torque loads) isn’t required.  
Increasing values of the Speed Int Gain parameter increases the low frequency gain and  
stiffness of the controller, an excessive integral gain setting will cause overshoot for  
transient speed commands and may lead to oscillation. Typical setting is 4 Hz. If the  
Speed Prop Gain parameter and the Speed Int Gain parameter are set too high, an  
overshoot condition can also occur.  
To manually tune the control, the following procedure is used:  
1. Set the speed Int Gain parameter = 0 (remove integral gain).  
2. Increase the Speed Prop Gain parameter setting until adequate response to  
step speed commands is attained.  
3. Increase the Speed Int Gain parameter setting to increase the stiffness of the  
drive or its’ ability to maintain speed with dynamic load changes.  
Note: It is convenient to monitor speed step response with a strip chart recorder or  
storage oscilloscope connected to J1–6 or –7 with Level 1, Output Block  
Analog Out #1 or #2 set to ABS SPEED, 0 VDC = zero speed. See Section 3  
for a discussion of analog outputs.  
6-2 Manual Tuning the Series 22H Control  
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PI Controller  
Both the current and rate control loops are of the Proportional plus Integral type. If “E” is  
defined to be the error signal,  
E = Command – Feedback  
then the PI controller operated on “E” as  
Output = (K * E) + (K s E dt)  
p
i
where K is the proportional gain of the system and K is the integral gain of the system.  
p
i
The transfer function (output /E) of the controller using 1/s (Laplace Operator) to denote  
the integral,  
Output/E = K + K / s = K (s + K /K ) /s.  
p
I
p
i
p
The second equation shows that the ratio of K /K is a frequency in radians/sec. In the  
i
p
Baldor Series 22H AC Vector Control, the integral gain has been redefined to be,  
K = (K / K ) / (2p) Hz,  
I
i
p
and the transfer function is,  
Output/E = K (s + 2pK ) / s.  
p
I
This sets the integral gain as a frequency in Hz. As a rule of thumb, set this frequency  
about 1/10 of the bandwidth of the control loop.  
The proportional gain sets the open loop gain of the system, the bandwidth (speed of  
response) of the system. If the system is excessively noisy, it is most likely due to the  
proportional gain being set too high.  
MN722  
Manual Tuning the Series 22H Control 6-3  
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6-4 Manual Tuning the Series 22H Control  
MN722  
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Section 7  
Specifications, Ratings & Dimensions  
Specifications:  
Horsepower  
10-50 HP @ 230VAC  
10-450 HP @ 460VAC  
Input Frequency  
50/60 HZ ± 5%  
Note: 50Hz operation requires a 15% control  
derating.  
Output Voltage  
Output Current  
Service Factor  
Duty  
0 to Maximum Input VAC  
See Ratings Table  
1.0  
Continuous  
Overload Capacity  
Constant Torque Mode:  
170-200% for 3 secs  
150% for 60 secs  
115% for 60 secs  
Variable Torque Mode:  
5k or 10k ohm, 0.5 watt  
Speed Command Potentiometer  
Operating Conditions:  
Voltage Range: 230 VAC Models  
460 VAC Models  
180-264 VAC 3φ 60 Hz / 180-230 VAC 3φ 50 Hz  
340-528 VAC 3φ 60 Hz / 340-460 VAC 3φ 50 Hz  
Note: 50Hz operation requires a 15% control  
derating.  
Input Line Impedance:  
3% minimum  
Ambient Operating Temperature:  
10 to +40 °C  
Derate Output 2% per °C over 40 °C to 55 °C Max  
Rated Storage Temperature:  
Enclosure:  
– 30 °C to +65 °C  
NEMA 1:  
NEMA 1:  
NEMA 1:  
Open Chassis:  
EL (suffix) Control Module  
EK (suffix) Control Module  
EK (suffix) Filter Assembly  
EK 12% Boost Regulator  
3% Line Reactor  
Humidity:  
Altitude:  
NEMA 1:  
10 to 90% RH Non-Condensing  
Sea level to 3300 Feet (1000 Meters)  
Derate 2% per 1000 Feet (303 Meters) above 3300 Feet  
Shock:  
1G  
Vibration:  
0.5G at 10Hz to 60Hz  
Keypad Display:  
Display  
Backlit LCD Alphanumeric  
2 Lines x 16 Characters  
Keys  
12 key membrane with tactile response  
Functions  
Output status monitoring  
Digital speed control  
Parameter setting and display  
Diagnostic and Fault log display  
Motor run and jog  
Local/Remote toggle  
LED Indicators  
Remote Mount  
Forward run command  
Reverse run command  
Stop command  
Jog active  
100 feet (30.3m) max from control  
MN722  
Specifications, Ratings & Dimensions 7-1  
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Control Specifications:  
Control Method  
PWM  
Velocity Loop Bandwidth  
Current Loop Bandwidth  
Maximum Output Frequency  
Standard Frequency Version  
Adjustable to 180 Hz  
Adjustable to 1200 Hz  
500 Hz  
Full rating 1-2.5 KHz PWM frequency,  
Adjustable to 5 KHz with linear derating (between 2.5 - 5KHz)  
by 10% at 5 KHz  
Quiet Frequency Version  
Full rating 1-8 KHz PWM frequency,  
Adjustable to 16 KHz with linear derating (between 8 - 16KHz)  
by 30% at 16 KHz  
Selectable Operating Modes  
Keypad  
Standard 3 Wire Control  
15 Speed Two Wire Control  
3 Speed, 2 Wire Control  
3 Speed, 3 Wire Control  
Bipolar Speed/Torque Control  
Serial  
Process Control  
EPOT, 2 Wire Control  
EPOT, 3 Wire Control  
Differential Analog Input:  
Common Mode Rejection  
Full Scale Range  
Resolution  
40 db  
±5VDC, ±10VDC, 4-20 mA  
9 bits + sign  
Other Analog Input:  
Full Scale Range  
Resolution  
0 - 10 VDC  
9 bits + sign  
Analog Outputs:  
Analog Outputs  
Full Scale Range  
Source Current  
Resolution  
2 Assignable  
0 - 5 VDC  
1 mA maximum  
8 bits  
7-2 Specifications, Ratings & Dimensions  
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Digital Inputs:  
Opto-isolated Logic Inputs  
Rated Voltage  
9 Assignable  
10 - 30 VDC (closed contacts std)  
6.8 K Ohms  
Input Impedance  
Leakage Current  
10 mA maximum  
Digital Outputs:  
Opto-isolated Logic Outputs  
ON Current Sink  
4 Assignable  
50 mA Max  
2 VDC Max  
30 VDC  
ON Voltage Drop  
Maximum Voltage  
Diagnostic Indications:  
Inverter Section:  
Current Sense Fault  
Ground Fault  
Over speed  
New Base ID  
Torque Proving  
Following Error  
Encoder Loss  
DC Bus High  
Lost User Data  
Soft Start Fault  
No EXB Installed  
Ready  
DC Bus Low  
External Trip  
Int. Overtemp  
Over Current FLT  
Overload - 3 sec  
Low INIT Bus Volts  
Microprocessor Reset  
Over temperature (Motor or Control)  
User Text Fault  
Logic Supply Fault Invalid Base ID  
Power Base Fault Inverter Base ID  
Line REGEN Fault Resolver Loss  
Memory Errors  
Overload - 1 min  
Converter Section:  
Current Sense Fault  
GND Fault  
Invalid Base ID  
ID No Feedback  
Power Base Fault  
Lost User Data  
DC Bus High  
DC Bus Low Fault  
High Initial Current Fault  
Over Current Fault  
Overload Fault  
Lost AB Phase  
Lost BC Phase  
Low Init Bus Volts  
Memory Error  
New Base ID  
Microprocessor Reset  
Int Over temperature  
Sync to Line Fault  
Logic Supply Fault  
MN722  
Specifications, Ratings & Dimensions 7-3  
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Series 22H Vector Control Ratings  
ENCLO-  
SURE  
SIZE  
STANDARD 2.5 kHz PWM  
CONSTANT TORQUE VARIABLE TORQUE  
QUIET 8.0 kHz PWM  
CONSTANT TORQUE VARIABLE TORQUE  
CATALOG  
NO.  
INPUT  
VOLT  
HP  
10  
15  
20  
25  
30  
40  
50  
KW  
7.4  
IC  
28  
42  
55  
68  
80  
IP  
56  
HP  
10  
15  
20  
25  
30  
40  
50  
KW  
7.4  
IC  
28  
42  
55  
68  
80  
IP  
32  
48  
62  
78  
92  
HP  
10  
10  
15  
20  
25  
30  
40  
KW  
7.4  
IC  
28  
30  
42  
54  
70  
80  
IP  
48  
HP  
10  
15  
20  
25  
30  
40  
50  
KW  
7.4  
IC  
28  
42  
54  
68  
80  
IP  
32  
48  
62  
78  
92  
ZD22H210–EL  
ZD22H215–EL  
ZD22H220–EL  
ZD22H225–EL  
ZD22H230–EL  
ZD22H240–EL  
ZD22H250–EL  
230  
230  
230  
230  
230  
230  
230  
C+  
C+  
C+  
C+  
D+  
D+  
D+  
11.1  
14.9  
18.6  
22.3  
84  
11.1  
14.9  
18.6  
22.3  
7.4  
61  
11.1  
14.9  
18.6  
22.3  
100  
116  
140  
11.1  
14.9  
18.6  
22.3  
92  
92  
122  
160  
29.8 105 200  
37.2 130 225  
29.8 105 120  
37.2 130 150  
29.8 104 120  
37.2 130 150  
29.8 105 183  
ZD22H410–EL  
ZD22H415–EL  
ZD22H420–EL  
ZD22H425–EL  
ZD22H430–EL  
ZD22H440–EL  
ZD22H450–EL  
ZD22H460–EK  
ZD22H475–EK  
ZD22H4100–EK  
ZD22H4150–EK  
ZD22H4200–EK  
ZD22H4250–EL  
ZD22H4300–EL  
ZD22H4350–EL  
ZD22H4400–EL  
ZD22H4450–EL  
460  
460  
460  
460  
460  
460  
460  
460  
460  
460  
460  
460  
460  
460  
460  
460  
460  
C+  
C+  
C+  
C+  
D+  
D+  
D+  
D
10  
15  
20  
25  
30  
40  
50  
60  
75  
100  
7.4  
11.1  
14.9  
18.6  
22.3  
29.8  
37.2  
44.7  
56  
15  
21  
27  
34  
40  
55  
65  
80  
30  
36  
10  
15  
20  
25  
30  
40  
50  
60  
75  
7.4  
11.1  
14.9  
18.6  
22.3  
29.8  
37.2  
44.7  
56  
15  
21  
27  
34  
40  
55  
65  
80  
17  
24  
31  
39  
46  
63  
75  
92  
7.5  
10  
15  
20  
25  
30  
40  
50  
60  
75  
5.5  
7.4  
11  
15  
21  
27  
35  
40  
55  
65  
80  
22  
30  
10  
15  
20  
25  
30  
40  
50  
60  
75  
7.4  
11.1  
14.9  
18.6  
22.3  
29.8  
37.2  
44.7  
56  
15  
21  
27  
34  
40  
52  
65  
80  
17  
24  
31  
39  
46  
60  
75  
92  
54  
11.1  
14.9  
18.6  
22.3  
29.8  
37.2  
44.7  
56  
46  
58  
46  
70  
61  
100  
115  
140  
80  
92  
122  
140  
E
100 170  
100 115  
125 144  
100 115  
125 144  
E
75  
125 220 100  
75  
100 180 100  
75  
F
150 112 190 380 150 112 190 220 125  
93  
150 260 150 112 170 200  
F
200 149 250 500 200 149 250 290 150 112 190 380 175 131 210 240  
250 187 310 620 250 187 310 356  
G+  
G+  
G+  
G+  
G+  
300 224 370 630 300 224 370 425  
350 261 420 720 350 261 420 480  
400 298 480 820 400 298 480 552  
450 336 540 920 450 336 540 620  
IC =  
IP=  
EL=  
EK=  
Continuous Output Current (in Amps)  
Peak Output Current (in Amps)  
NEMA 1 enclosure  
Control, filter, and boost regulator shipped separately. Control and filter in NEMA1 enclosure.  
Boost regulator and 3% line reactor are open chassis.  
PWM Frequency Continuous and Peak Current Derating:  
2.5KHz Ratings - Full rating from 1 - 2.5KHz  
Adjustable from 1 - 5KHz with linear derating to 90% current rating at 5KHz  
8.0KHz Ratings - Full rating from 1 - 8.0KHz  
Adjustable from 1 - 16KHz with linear derating to 70% current rating at 16KHz  
Custom Order.  
Not Available.  
7-4 Specifications, Ratings & Dimensions  
MN722  
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Table 7-6 Matched Component Matrix  
Control  
Control  
Specification  
No.  
230 VAC  
380-415 VAC  
460 VAC  
Boost Regulator  
Specification No.  
FIlter  
Catalog No.  
3% Line Reactor 4% Line Reactor 3% Line Reactor  
Specification No.  
Catalog No.  
LRAC03501  
LRAC04501  
LRAC05501  
LRAC08001  
LRAC08001  
LRAC10001  
LRAC13001  
Catalog No.  
Catalog No.  
ZD22H210–EL  
ZD22H215–EL  
ZD22H220–EL  
ZD22H225–EL  
ZD22H230–EL  
ZD22H240–EL  
ZD22H250–EL  
ZD22H410–EL  
ZD22H415–EL  
ZD22H420–EL  
ZD22H425–EL  
ZD22H430–EL  
ZD22H440–EL  
ZD22H450–EL  
ZD22H460–EK  
ZD22H475–EK  
ZD22H4100–EK  
ZD22H4150–EK  
ZD22H4200–EK  
ZD22H4250–EL  
ZD22H4300–EL  
ZD22H4350–EL  
ZD22H4400–EL  
ZD22H4450–EL  
VE0574A00  
VE0575A00  
VE0576A00  
VE0577A00  
VE0568A00  
VE0569A00  
VE0570A00  
VE0565A00  
VE0082A00  
VE0088A00  
VE0090A00  
VE0092A00  
VE0094A00  
VE0096A00  
VE0097A00  
VE0099A00  
VE0077A00  
VE0079A00  
VE0084A00  
VE0671A00  
VE0631A00  
VE0632A00  
VE0633A00  
VE0634A00  
Included in “EL” Suffix  
Catalog Numbers  
LRAC01802  
LRAC02502  
LRAC03502  
LRAC04502  
LRAC04502  
LRAC05502  
LRAC08002  
LRAC08002  
LRAC10002  
LRAC13002  
LRAC25003  
LRAC32003  
LRAC32002  
LRAC40002  
LRAC50002  
LRAC60002  
LRAC75003  
LRAC01802  
LRAC02502  
LRAC03502  
LRAC03502  
LRAC04502  
LRAC05502  
LRAC08002  
LRAC08002  
LRAC10002  
LRAC13002  
LRAC20002  
LRAC25002  
LRAC32002  
LRAC40002  
LRAC50002  
LRAC50002  
LRAC60002  
Included in “EL” Suffix  
Catalog Numbers  
V2080709  
LF1015  
LF1015  
LF1015  
LF2015  
LF2015  
V2080710  
V2080711  
V2080712  
V2080713  
Included in “EL” Suffix  
Catalog Numbers  
Included in EL Suffix Control Catalog Number.  
Not applicable.  
Note: Line reactor, boost regulator, filter assembly and control must be ordered separately.  
MN722  
Specifications, Ratings & Dimensions 7-5  
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Terminal Tightening Torque Specifications  
Table 7-7 Tightening Torque Specifications  
Tightening Torque  
Control J1 Interface J3 &  
Power TB1  
Ground  
Lb-in  
Filter  
Line Reactor  
Catalog No.  
L1A, L2A, L3A  
J1 & J2  
Lb-in  
Nm  
4
Nm  
5.6  
5.6  
5.6  
5.6  
5.6  
5.6  
5.6  
5.6  
5.6  
5.6  
5.6  
2.5–3  
2.5–3  
2.5–3  
2.5–3  
5.6  
5.6  
31  
Lb-in  
Nm  
Lb-in  
Nm  
Lb-in  
Nm  
Lb-in  
Nm  
ZD22H210–EL  
ZD22H215–EL  
ZD22H220–EL  
ZD22H225–EL  
ZD22H230–EL  
ZD22H240–EL  
ZD22H250–EL  
ZD22H410–EL  
ZD22H415–EL  
ZD22H420–EL  
ZD22H425–EL  
ZD22H430–EL  
ZD22H440–EL  
ZD22H450–EL  
ZD22H460–EK  
ZD22H475–EK  
ZD22H4100–EK  
ZD22H4150–EK  
ZD22H4200–EK  
ZD22H4250–EL  
ZD22H4300–EL  
ZD22H4350–EL  
ZD22H4400–EL  
ZD22H4450–EL  
35  
35  
50  
50  
7
0.8  
4
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
0.8  
0.8  
0.8  
0.8  
0.8  
0.8  
0.8  
0.8  
0.8  
0.8  
0.8  
0.8  
0.8  
0.8  
0.8  
0.8  
0.8  
0.8  
0.8  
0.8  
0.8  
0.8  
0.8  
35  
4
50  
35  
4
50  
35  
4
50  
35  
4
50  
35  
4
50  
35  
4
50  
35  
4
50  
35  
4
50  
35  
4
50  
35  
4
22–26  
22–26  
22–26  
22–26  
50  
22–26  
22–26  
22–26  
22–26  
140  
275  
275  
275  
375  
375  
375  
375  
2.5–3  
2.5–3  
2.5–3  
2.5–3  
15  
31  
31  
31  
42  
42  
42  
42  
7
7
7
7
7
0.8  
0.8  
0.8  
0.8  
0.8  
7
7
7
7
7
0.8  
0.8  
0.8  
0.8  
0.8  
50  
50  
50  
50  
50  
5.6  
5.6  
5.6  
5.6  
5.6  
50  
275  
275  
275  
375  
375  
375  
375  
31  
31  
42  
42  
42  
42  
Not Applicable.  
7-6 Specifications, Ratings & Dimensions  
MN722  
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Dimensions  
Size C+ Control  
12.20(309.9mm)  
12.00(304.8)  
11.50  
0.40  
(292.1)  
(10.2)  
0.50  
5.25  
(133.3)  
5.25  
(133.3)  
0.31  
(7.9)  
LIFTING  
FLANGE  
(12.7)  
AIR OUTLET  
AIR OUTLET  
AIR OUTLET  
JOG  
LOCAL  
DISP  
PROG  
FWD  
REV  
SHIFT  
RESET  
ENTER  
STOP  
28.32  
(719.3)  
AIR INLET (Top)  
29.25  
(743.0)  
30.00  
(762.0)  
AIR OUTLET  
AIR OUTLET  
.31(7.9mm)  
AIR INLET (Bottom)  
Note:  
Allow 2 inches minimum clearance on all sides  
for ventilation.  
An internal baffle divides the enclosure into two parts.  
The upper and lower parts each have separate air  
inlets and outlets as shown.  
AIR INLET  
(Bottom)  
MN722  
Specifications, Ratings & Dimensions 7-7  
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Dimensions Continued  
Size D+ Control  
0.40(10.2)  
12.20(309.9)  
12.00(304.8)  
14.50(368.3)  
LIFTING FLANGE  
0.50  
(12.7)  
6.75  
(171.5)  
6.75  
(171.5)  
0.31  
(7.9)  
AIR OUTLET  
AIR OUTLET  
AIR OUTLET  
JOG  
LOCAL  
DISP  
PROG  
FWD  
REV  
SHIFT  
RESET  
ENTER  
STOP  
36.00  
(914.4)  
AIR INLET (Top)  
35.25  
(895.4)  
34.08  
(865.6)  
AIR OUTLET  
AIR OUTLET  
0.31  
(7.9)  
WIDE  
AIR INLET (Bottom)  
Note:  
Allow 2 inches minimum clearance on all sides  
for ventilation.  
An internal baffle divides the enclosure into two parts.  
The upper and lower parts each have separate air  
inlets and outlets as shown.  
AIR INLET  
(Bottom)  
7-8 Specifications, Ratings & Dimensions  
MN722  
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Dimensions Continued  
Size D Control  
14.50  
Air  
Outlet  
(368.5mm)  
13.50  
(343.0mm)  
JOG  
LOCAL  
DISP  
PROG  
FWD  
25.00  
(635.0mm)  
REV  
SHIFT  
RESET  
ENTER  
STOP  
24.25  
(616.0mm)  
23.12  
(587.0mm)  
.31  
(8.0mm)  
CUSTOMER  
POWER  
AIR INLET  
CONNECTIONS  
10.00  
(254.0mm)  
10.20  
(259.0mm)  
MN722  
Specifications, Ratings & Dimensions 7-9  
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Dimensions Continued  
Size E Control  
Air  
Outlet  
Thru–wall  
Mounting Flange  
Surface  
Mounting  
Flange  
.38  
(9.5mm)  
2 Places  
R
AM  
VO  
Hz  
JOG LOCAL PROG  
FWD  
DISP  
REV SHIFT ENTER  
STOP RESET  
30.00  
(762mm)  
5.75  
6.25  
.38  
(9.5mm)  
2 Places  
17.70  
(450mm)  
(146mm)  
(159mm)  
Air Inlet  
7-10 Specifications, Ratings & Dimensions  
MN722  
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Dimensions Continued  
Size E Control – Through–Wall Mounting  
Mounting hole locations for Thru-Wall or  
surface mounting. Recommended hard-  
ware: 5/16″ or M8. (4 Places)  
Mounting hole locations for Thru-Wall  
mounting using kit #0083991. Thru hole  
.218″ (5.5mm) DIA. (4 Places)  
(716mm)  
(711mm)  
(686mm)  
(672mm)  
28.19  
28.00  
27.00  
26.44  
(552mm)  
21.75  
Cutout for thru–wall mounting  
(343mm) 13.50  
(133mm) 5.25  
(14mm)  
.56  
.00  
1.00  
1.19  
(25mm)  
(30mm)  
MN722  
Specifications, Ratings & Dimensions 7-11  
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Dimensions Continued  
Size E Control – Through–Wall Mounting Continued  
14 Places  
Controller Assembly  
4 Places  
Customer’s Panel  
Cut foam tape and apply  
to perimeter of opening  
(to seal installation of  
controller)  
Bracket  
2 Places  
Bracket  
2 Places  
Thru–Wall Mounting Kit No. V0083991  
Parts List  
QTY Part No.  
Description  
2
2
V1083991  
V1083992  
Bracket, small (left & right)  
Bracket, Large (top & bottom)  
Screw, 10-32 x 5/8  
Lock Washer No. 10  
Hex Bolt 5/16-18 x 5/8  
Lock Washer 5/16  
14 V6300710  
14 V6420010  
4
4
4
1
V6390205  
V6420032  
V6410132  
C6990204  
Flat Washer 5/16  
Tape, Single coated vinyl – 3.0 Yards (2.74m)  
7-12 Specifications, Ratings & Dimensions  
MN722  
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Dimensions Continued  
Size F Control  
Thru–wall  
Mounting  
Flange  
22.75 (577.9mm)  
Surface  
Mounting  
Flange  
.38 (9.5mm)  
3 Places  
Air Outlet  
45.00  
(1143mm)  
44.00  
(1117.6mm)  
11.38  
(28.9mm)  
11.38  
(28.9mm)  
0.38 (9.5mm)  
3 Places  
Air Inlet  
6.76  
6.24  
(158mm)  
27.00  
(686mm)  
(172mm)  
MN722  
Specifications, Ratings & Dimensions 7-13  
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Dimensions Continued  
Size F Control – Through–Wall Mounting  
Mounting hole locations for Thru-Wall mounting  
Mounting hole locations for Thru-Wall mounting  
using kit #0084001. Thru hole .218″ (5.5mm)  
DIA. (18 Places, coded B)  
or without thru-wall mounting kit #0084001.  
Thru hole .218″ (5.5mm) DIA. (16 Places,  
coded A)  
A
B
B
B
B
43.01  
42.24  
41.98  
40.74  
A
A
B
B
A
36.99  
A
B
B
30.86  
28.99  
A
A
A
A
B
Cutout for thru–wall mounting  
20.99  
B
A
A
A
12.99  
11.11  
B
B
B
A
4.99  
1.24  
B
.00  
.26  
1.03  
A
A
A
B
B
B
B
7-14 Specifications, Ratings & Dimensions  
MN722  
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Dimensions Continued  
Size F Control – Through–Wall Mounting Continued  
Controller  
Assembly  
34 Places  
Customer’s  
Panel  
Cut foam tape and apply to  
perimeter of cutout  
(to seal installation of  
controller)  
Bracket  
2 Places  
Bracket  
2 Places  
Thru–Wall Mounting Kit No. V0084001  
Parts List  
QTY Part No.  
Description  
2
2
V1084002  
V1084001  
Bracket, small (left & right)  
Bracket, Large (top & bottom)  
Screw, 10-32 x 5/8  
34 V6300710  
34 V6420010  
Lock Washer No. 10  
1
C6990204  
Tape, Single coated vinyl – 4.0 Yards (3.65m)  
MN722  
Specifications, Ratings & Dimensions 7-15  
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Dimensions Continued  
Size G+ Control  
35.18  
[893.6]  
3.72  
[94.6]  
24.00  
[609.6]  
Removable Conduit  
Mounting Plates  
(Customer Power COnnections)  
8.63  
[219]  
8.63  
[219]  
12.41  
[315]  
2.66  
[67.6]  
63.00  
[1600]  
23.63  
[600]  
Air  
Outlet  
Grills  
(2)  
LINE REGEN  
93.00  
[2362]  
Air  
Inlet  
Grills (8)  
90.55  
[2300]  
4.00  
[101.6]  
7-16 Specifications, Ratings & Dimensions  
MN722  
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Dimensions Continued  
Size H Control  
35.18  
[893.6]  
Removable Conduit  
Mounting Plates  
3.72  
[94.6]  
24.00  
[609.6]  
(Customer Power Connections)  
8.63  
[219]  
8.63  
[219]  
12.41  
[315]  
2.66  
[67.6]  
94.5  
[2400]  
23.63  
[600]  
Air Outlet Grills (3)  
LINE REGEN  
93.00  
[2362]  
Air  
Inlet  
Grills  
(12)  
90.55  
[2300]  
4.00  
[101.6]  
MN722  
Specifications, Ratings & Dimensions 7-17  
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EK Controls - Filter Assembly  
A
B
E
F
D
C
G
LF1015  
LF2015  
mm  
Dimension  
In  
mm  
196.9  
101.6  
46.0  
In  
A
B
C
D
E
F
7.75  
4.00  
1.81  
15.25  
3.52  
2.00  
0.92  
10.25  
5.00  
3.31  
18.00  
3.65  
2.00  
0.92  
260.3  
127.0  
84.1  
387.4  
89.4  
457.2  
92.7  
50.8  
50.8  
G
23.3  
23.3  
7-18 Specifications, Ratings & Dimensions  
MN722  
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EK Controls - Boost Regulators  
H
B
STACK  
G
Max  
C E  
D
F
0.380  
4 PLACES  
I
A
MAX  
L1  
L2  
X2 L3  
X3  
X1  
“HR”  
.13  
Electrical Specification/Approximate Weight  
Dimensions - inches  
E
HP Baldor P/N  
mH  
Amps  
68  
Lbs  
80  
A
11.75  
B
2.25  
C
5.50  
D
F
G
H
I
60  
V2080709  
1.20  
9.25  
4.50  
12.25  
5.75  
0.50  
1.50  
F
D
.44” DIA X .75” LONG SLOT  
4 PLACES  
I
H
TERMINAL BLOCK  
L1A  
L2A  
L3A  
To Control J3  
Connector  
G
MAX  
B
C E  
STACK  
”HR”  
A
MAX  
L1  
L2  
X2  
L3  
X3  
X1  
Electrical Specifications/Approximate Weight  
Dimensions - inches  
E
HP Baldor P/N  
75 V2080710  
mH  
1.00  
0.75  
Amps  
85  
Lbs  
100  
125  
A
13.50  
15.50  
B
3.00  
3.00  
C
9.50  
9.25  
D
F
G
H
I
3.75  
3.75  
8.25  
8.25  
11.32  
11.32  
10.75  
11.00  
0.62  
0.63  
3.79  
3.79  
100 V2080711  
106  
MN722  
Specifications, Ratings & Dimensions 7-19  
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EK Controls - Boost Regulators Continued  
.44” DIA X .75” LONG SLOT  
4 PLACES  
F
D
I
H
TERMINAL BLOCK  
L1A  
L2A  
L3A  
To Control J3  
Connector  
B
G
C E  
MAX  
STACK  
“HR”  
L1  
L2  
X2  
L3  
X3  
A
MAX  
X1  
Electrical Specifications/Approximate Weight  
Dimensions - inches  
E
HP Baldor P/N  
150 V2080712  
mH  
0.50  
Amps  
162  
Lbs  
155  
A
18.00  
B
2.50  
C
9.50  
D
F
13.56  
G
H
I
4.50  
8.25  
12.00  
0.63  
4.53  
F
D
.44” DIA X .75”LONG SLOT  
4 PLACES  
I
H
E
TERMINAL BLOCK  
G
MAX  
L1A  
L2A  
L3A  
B
C
To Control J3  
Connector  
STACK  
L1  
L2  
L3  
A
MAX  
X1  
X2  
X3  
Electrical Specifications/Approximate Weight  
Dimensions - inches  
E
HP Baldor P/N  
200 V2080713  
mH  
0.40  
Amps  
213  
Lbs  
220  
A
19.00  
B
3.50  
C
10.00  
D
F
G
H
I
5.00  
8.74  
14.75  
11.75  
0.63  
4.88  
7-20 Specifications, Ratings & Dimensions  
MN722  
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Appendix A  
Converter Section Parameter Values  
Table A-1 Converter Section Parameter Block Values Level 1  
Level 1 Blocks  
Block Title  
Parameter  
Adjustable Range  
Factory  
Setting  
User  
Setting  
MISC  
FACTORY SETTINGS  
LINE INDUCTOR  
NO, YES  
NO  
CALC  
100%  
BUS CAPACITANCE  
DAC SELECTION  
50 – 500%  
AB BC CROSS  
AB CROSS  
AB BC  
CROSS  
DQ CONTRLR  
DQ CURRENTS  
IQ COMMAND  
IB AND IC  
Va AND Vb  
Ia AND Ib  
SECURITY  
CONTROL  
SECURITY STATE  
OFF  
OFF  
LOCAL  
SERIAL  
TOTAL  
ACCESS TIMEOUT  
ACCESS CODE  
0 – 600 SEC  
0 – 9999  
0 SEC  
9999  
MN722  
Appendix A-1  
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Power Output Section Parameter Values (Version 3.20)  
Table A-2 Power Output Parameter Block Values Level 1  
Level 1 Blocks  
Adjustable Range  
Block Title  
Parameter  
P#  
Factory  
Setting  
User  
Setting  
PRESET  
SPEEDS  
PRESET SPEED #1  
PRESET SPEED #2  
PRESET SPEED #3  
PRESET SPEED #4  
PRESET SPEED #5  
PRESET SPEED #6  
PRESET SPEED #7  
PRESET SPEED #8  
PRESET SPEED #9  
PRESET SPEED #10  
PRESET SPEED #11  
PRESET SPEED #12  
PRESET SPEED #13  
PRESET SPEED #14  
PRESET SPEED #15  
ACCEL TIME #1  
1001 0-MAX Speed  
1002 0-MAX Speed  
1003 0-MAX Speed  
1004 0-MAX Speed  
1005 0-MAX Speed  
1006 0-MAX Speed  
1007 0-MAX Speed  
1008 0-MAX Speed  
1009 0-MAX Speed  
1010 0-MAX Speed  
1011 0-MAX Speed  
1012 0-MAX Speed  
1013 0-MAX Speed  
1014 0-MAX Speed  
1015 0-MAX Speed  
1101 0 to 3600.0 Seconds  
1102 0 to 3600.0 Seconds  
1103 0-100%  
0 RPM  
0 RPM  
0 RPM  
0 RPM  
0 RPM  
0 RPM  
0 RPM  
0 RPM  
0 RPM  
0 RPM  
0 RPM  
0 RPM  
0 RPM  
0 RPM  
0 RPM  
3.0 SEC  
3.0 SEC  
0 %  
ACCEL/DECEL  
RATE  
DECEL TIME #1  
S-CURVE #1  
ACCEL TIME #2  
1104 0 to 3600.0 Seconds  
1105 0 to 3600.0 Seconds  
1106 0-100%  
3.0 SEC  
3.0 SEC  
0 %  
DECEL TIME #2  
S-CURVE #2  
JOG SETTINGS  
KEYPAD SETUP  
JOG SPEED  
1201 0-MAX Speed  
1202 0 to 3600.0 Seconds  
1203 0 to 3600.0 Seconds  
1204 0-100%  
200 RPM  
3.0 SEC  
3.0 SEC  
0 %  
JOG ACCEL TIME  
JOG DECEL TIME  
JOG S-CURVE TIME  
KEYPAD STOP KEY  
1301 0– REMOTE OFF (Stop key inactive REMOTE  
during remote or serial operation).  
1– REMOTE ON (Stop key active  
during remote or serial operation).  
ON  
KEYPAD STOP MODE  
KEYPAD RUN FWD  
KEYPAD RUN REV  
KEYPAD JOG FWD  
KEYPAD JOG REV  
LOCAL HOT START  
1302 0–COAST, 1–REGEN  
REGEN  
ON  
1303 0–OFF, 1– ON  
1304 0–OFF, 1– ON  
1305 0–OFF, 1– ON  
1306 0–OFF, 1– ON  
1307 0–OFF, 1– ON  
ON  
ON  
ON  
OFF  
A-2 Appendix A  
MN722  
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Table A-2 Power Output Parameter Block Values Level 1 Continued  
Level 1 Blocks - Continued  
Block Title  
Parameter  
P#  
Adjustable Range  
Factory  
User  
Setting  
INPUT  
OPERATING MODE  
1401 1– KEYPAD  
KEYPAD  
2– STANDARD RUN  
3– 15SPD  
4– 3SPD ANA 2WIRE  
5– 3SPD ANA 3WIRE  
6– SERIAL  
7– BIPOLAR  
8– PROCESS MODE  
9– EPOT –2WIRE  
10– EPOT –3WIRE  
COMMAND SELECT  
1402 0– POTENTIOMETER  
1– +/-10 VOLTS  
2– +/-5 VOLTS  
+/-10  
VOLTS  
3– 4 To 20 mA  
4– 10V W/TORQ FF  
5– EXB PULSE FOL  
6– 5VOLT EXB  
7– 10 VOLT EXB  
8– 4-20mA EXB  
9– 3-15 PSI EXB  
10– TACHOMETER EXB  
11– SERIAL  
12– NONE  
ANA CMD INVERSE  
ANA CMD OFFSET  
1403 0–OFF, 1– ON  
OFF  
1404 -20.0 TO +20.0%  
0.0 %  
(where ±0.5V=±20%)  
ANA 2 DEADBAND  
ANA 1 CUR LIMIT  
OPTO OUTPUT #1  
1405 0-10.00 V  
0.00 V  
OFF  
1406 0–OFF, 1– ON  
OUTPUT  
1501 0– READY  
1– ZERO SPEED  
2– AT SPEED  
READY  
3– OVERLOAD  
OPTO OUTPUT #2  
1502  
ZERO  
SPEED  
4– KEYPAD CONTROL  
5– AT SET SPEED  
6– FAULT  
7– FOLLOWING ERR  
8– MOTR DIRECTION  
9– DRIVE ON  
10– CMD DIRECTION  
11– AT POSITION  
12– OVER TEMP WARN  
13– PROCESS ERROR  
14– DRIVE RUN  
OPTO OUTPUT #3  
OPTO OUTPUT #4  
1503  
1504  
AT SPEED  
FAULT  
15– SERIAL  
ZERO SPD SET PT  
AT SPEED BAND  
SET SPEED  
1505 1-MAX Speed  
1506 1-1000 RPM  
1507 0-MAX Speed  
200 RPM  
100 RPM  
Rated Motor  
Speed  
MN722  
Appendix A-3  
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Table A-2 Power Output Parameter Block Values Level 1 Continued  
Level 1 Blocks - Continued  
Block Title  
Parameter  
P#  
Adjustable Range  
Factory  
ABS  
User  
Setting  
OUTPUT  
(Continued)  
ANALOG OUT #1  
1508 0– ABS SPEED  
1– ABS TORQUE  
SPEED  
2– SPEED COMMAND  
3– PWM VOLTAGE  
4– FLUX CURRENT  
5– CMD FLUX CUR  
6– LOAD CURRENT  
7– CMD LOAD CUR  
8– MOTOR CURRENT  
9– LOAD COMPONENT  
10– QUAD VOLTAGE  
11– DIRECT VOLTAGE  
12– AC VOLTAGE  
13– BUS VOLTAGE  
14– TORQUE  
ANALOG OUT #2  
1509  
MOTOR  
CURRENT  
15– POWER  
16– VELOCITY  
17– OVERLOAD  
18– PH2 CURRENT  
19– PH3 CURRENT  
20– PROCESS FDBK  
21– SETPOINT CMD  
22– POSITION  
23– SERIAL  
ANALOG #1 SCALE  
ANALOG #2 SCALE  
POSITION BAND  
1510 10 - 100%  
1511 10 - 100%  
1512 1-32767 CNTS  
1601 1-MAX Speed  
1602 0-7  
100%  
100%  
CALC  
CALC  
CALC  
FORWARD  
CALC  
150 Hz  
10  
VECTOR CONTROL CTRL BASE SPEED  
FEEDBACK FILTER  
FEEDBACK ALIGN  
CURRENT PROP GAIN  
CURRENT INT GAIN  
SPEED PROP GAIN  
SPEED INT GAIN  
SPEED DIFF GAIN  
POSITION GAIN  
1603 0–REVERSE, 1–FORWARD  
1604 0-1000  
1605 0-400 Hz  
1606 0-1000  
1607 0-9.99 Hz  
1608 0-100  
1.00 Hz  
0
1609 0-9999  
CALC  
CALC  
CALC  
CALC  
15000  
5000  
SLIP FREQUENCY  
STATOR R1  
1610 0-20.00 Hz  
1611 0–65.635  
1612 0–65.635  
1613 0–65635  
1614 0–65635  
STATOR X2  
PROP GAIN #1  
INT GAIN #1  
LEVEL 2 BLOCK  
ENTERS LEVEL 2 MENU - See Table A-3.  
Exit programming mode and return to display mode.  
PRESS ENTER FOR  
PROGRAMMING EXIT  
A-4 Appendix A  
MN722  
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Table A-3 Power Output Parameter Block Values Level 2  
Level 2 Blocks  
Adjustable Range  
Block Title  
Parameter  
P#  
Factory  
STD  
User  
Setting  
OUTPUT LIMITS  
OPERATING ZONE  
2001 1–STD CONST TQ  
2–STD VAR TQ  
CONST TQ  
3–QUIET CONST TQ  
4–QUIET VAR TQ  
MIN OUTPUT SPEED  
MAX OUTPUT SPEED  
2002 0-MAX Speed RPM  
2003 0-30000 RPM  
0 RPM  
Rated Motor  
Speed  
PK CURRENT LIMIT  
PWM FREQUENCY  
2004 0-PEAK RATED CURRENT  
PK Control  
Rating  
2005 1.0-5.0 KHZ (Standard)  
1.0-16.0 KHZ (Quiet)  
2.5 KHZ  
CUR RATE LIMIT  
DECIMAL PLACES  
VALUE AT SPEED  
2006 0.001-10.000 SEC  
2101 0-5  
0.004 SEC  
5
CUSTOM UNITS  
PROTECTION  
2102 0-65535 / 0-65535  
00000/  
01000 RPM  
UNITS OF MEASURE  
OVERLOAD  
2103 Selection of 9 Character Sets  
2201 0–FOLDBACK, 1–FAULT  
2202 0–OFF, 1– ON  
-
FOLDBACK  
OFF  
EXTERNAL TRIP  
LOCAL ENABLE INP  
FOLLOWING ERROR  
TORQUE PROVING  
RESTART AUTO/MAN  
RESTART FAULT/HR  
RESTART DELAY  
FACTORY SETTINGS  
HOMING SPEED  
2203 0–OFF, 1– ON  
OFF  
2204 0–OFF, 1– ON  
OFF  
2205 0–OFF, 1– ON  
OFF  
MISCELLANEOUS  
2301 0–MANUAL, 1–AUTOMATIC  
2302 0-10  
MANUAL  
0
2303 0-120 SECONDS  
2304 0–NO, 1–YES  
0 SEC  
NO  
2305 0-MAX Speed  
100 RPM  
1024 CNTS  
OFF  
HOMING OFFSET  
SECURITY STATE  
2306 0-65535 Encoder Counts  
SECURITY  
CONTROL  
2401 0–OFF  
1–LOCAL SECURITY  
2–SERIAL SECURITY  
3–TOTAL SECURITY  
ACCESS TIMEOUT  
ACCESS CODE  
2402 0-600 SEC  
2403 0-9999  
0 SEC  
9999  
MOTOR DATA  
MOTOR VOLTAGE  
MOTOR RATED AMPS  
MOTOR RATED SPD  
MOTOR RATED FREQ  
MOTOR MAG AMPS  
ENCODER COUNTS  
RESOLVER SPEEDS  
CALC PRESETS  
2501 150-999 VOLTS  
2502 0-999.9  
Factory Set  
Factory Set  
1750 RPM  
60.0 Hz  
CALC  
2503 0-32767 RPM  
2504 0-500.0 Hz  
2505 0-0.54 AMPS  
2506 0-65535 CNTS  
2507 0 to 10  
1024 PPR  
1 SPEED  
NO  
2508 0–NO, 1–YES  
MN722  
Appendix A-5  
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Table A-3 Power Output Parameter Block Values Level 2 Continued  
Level 2 Blocks - Continued  
Block Title  
BRAKE  
Parameter  
P#  
Adjustable Range  
Factory  
User  
Setting  
RESISTOR OHMS  
2601 0-250.0 Ohms  
2602 0-360.00 Watts  
2603 0-100%  
Factory Set  
Factory Set  
0
ADJUST  
RESISTOR WATTS  
DC BRAKE CURRENT  
PROCESS FEEDBACK  
PROCESS  
CONTROL  
2701 0– POTENTIOMETER  
1– +/-10VOLTS  
2– +/-5 VOLTS  
NONE  
3– 4 To 20mA  
4– 5V EXB  
5– 10V EXB  
6– 4-20mA EXB  
7– 3-15 PSI EXB  
8– TACHOMETER EXB  
9– NONE  
PROCESS INVERSE  
SETPOINT SOURCE  
2702 0–OFF, 1– ON  
OFF  
2703 0– POTENTIOMETER  
1– +/-10VOLTS  
2– +/-5 VOLTS  
SETPOINT  
CMD  
3– 4 To 20mA  
4– 5V EXB  
5– 10V EXB  
6– 4-20mA EXB  
7– 3-15 PSI EXB  
8– TACHOMETER EXB  
9– NONE  
10– SETPOINT CMD  
SETPOINT COMMAND  
SET PT ADJ LIMIT  
2704 –100.0% to +100.0%  
2705 0-100.0%  
0.0 %  
10.0 %  
10 %  
0
PROCESS ERR TOL  
PROCESS PROP GAIN  
PROCESS INT GAIN  
PROCESS DIFF GAIN  
FOLLOW I:O RATIO  
FOLLOW I:O OUT  
2706 1-100%  
2707 0-2000  
2708 0-9.99 HZ  
0.00 HZ  
0
2709 0-1000  
2710 (1-65535) : (1-20)  
2711 1-65535 : 1-65535  
2712 50-65535  
1:1  
1:1  
MASTER ENCODER  
1024 PPR  
A-6 Appendix A  
MN722  
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Table A-3 Power Output Parameter Block Values Level 2 Continued  
Level 2 Blocks - Continued  
Block Title  
Parameter  
P#  
Adjustable Range  
Factory  
RS–232  
User  
Setting  
COMMUNICATIONS PROTOCOL  
BAUD RATE  
2801 0-RS-232 ASCII, 1-RSĆ485 ASCII,  
2-RS-232 BBP, 3-RSĆ485 BBP  
BBP  
2802 0-9600, 1-19.2KB, 2-38.4KB, 3-57.6KB,  
4-115.2KB, 5-230.4KB, 6-460.8KB,  
7-921.6KB  
9600  
DRIVE ADDRESS  
2803 0 - 31  
0
AUTO-TUNING  
2508 0–NO, 1–YES  
NO  
-
CALC PRESETS  
AU1  
-
CMD OFFSET TRM  
Measures and trims out  
offset voltage at Analog  
Input #2 (J1-4 & J1-5).  
AU2  
-
-
CUR LOOP COMP  
Measures current  
response while running  
motor at one half the rated  
motor current.  
AU3  
AU4  
AU5  
-
-
-
-
-
-
STATOR R1  
Measures stator resistance  
FLUX CUR SETTING  
Sets the Motor Mag Amps.  
FEEDBACK TESTS  
Checks the Master  
Encoder and Feedback  
Align values.  
AU6  
AU7  
-
-
-
SLIP FREQ TEST  
Measures motor Slip  
Frequency during motor  
acceleration/deceleration  
at repeated intervals.  
SPD CNTRLR CALC  
Measures the motor  
current to acceleration  
ratio during motor rotation.  
This procedure adjusts the  
Speed INT Gain and  
Speed PROP Gain  
parameters.  
LEVEL 1 BLOCK  
Enters Level 1 Menu - See Table A-2.  
PRESS ENTER FOR  
PROGRAMMING EXIT  
Exit programming mode and return to display mode.  
MN722  
Appendix A-7  
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A-8 Appendix A  
MN722  
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Appendix B  
MN722  
Appendix B-1  
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Remote Keypad Mounting Template  
4.00  
2.500  
(A)  
(A)  
Four Places  
Tapped mounting holes, use #29 drill and 8-32 tap  
(Clearance mounting holes, use #19 or 0.166″ drill)  
1-11/16″ diameter hole  
Use 1.25″ conduit knockout  
(B)  
(A)  
(A)  
1.250  
Note: Template may be distorted due to reproduction.  
B-2 Appendix B  
MN722  
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BALDOR ELECTRIC COMPANY  
P.O. Box 2400  
Ft. Smith, AR 72902–2400  
(479) 646–4711  
Fax (479) 648–5792  
2003 Baldor Electric Company  
MN722  
Printed in USA  
8/03 C&J1000  
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