Baldor Tablet MN1851 User Manual

LINEAR DRIVE

Lin+Drive

Servo Control

Installation & Operating Manual

10/00

MN1851

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Section 5

Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-1

Installing Software on your PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Minimum system requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Host Communications Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Using The Setup Wizard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Set up Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Current Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Velocity Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Software Triggered . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Hardware Triggered . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Initialize Buffers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Home . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Limit Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Drift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Autotune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Main Menu Choice Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Watch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Windows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PLC Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Velocity Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-1

5-3

5-5

5-6

5-8

5-9

5-10

5-11

5-12

5-13

5-14

5-15

5-16

Section 6

Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-1

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Section 7

Specifications & Product Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-1

7-2

7-4

7-5

7-6

Identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

24VDC Logic Power Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Velocity Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Simulated Encoder Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Encoder Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Serial Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Optional Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Regeneration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Section 8

CE Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-1

8-3

CE Declaration of Conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EMC – Conformity and CE – Marking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EMC Installation Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Section 9

Accessories and Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-1

9-3

Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EMC AC Mains Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Regeneration Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Appendix A

Manual Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A-1

A-2

A-4

A-5

A-6

A-10

Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Current Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Velocity Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Drift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Manual Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Plotting of Move . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Appendix B

Command Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B-1

MN1851

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iv Table of Contents

MN1851

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Section 1

General Information

This manual is copyrighted and all rights are reserved. This document may not, in

whole or in part, be copied or reproduced in any form without the prior written

consent of Baldor.

Baldor makes no representations or warranties with respect to the contents hereof

and specifically disclaims any implied warranties of fitness for any particular

purpose. The information in this document is subject to change without notice.

Baldor assumes no responsibility for any errors that may appear in this document.

Microsoft and MS–DOS are registered trademarks, and Windows is a trademark of

Microsoft Corporation.

UL and cUL are registered trademarks of Underwriters Laboratories.

CE Compliance

A custom unit may be required, contact Baldor. Compliance to Directive

89/336/EEC is the responsibility of the system integrator. A control, motor and all

system components must have proper shielding, grounding, and filtering as

described in MN1383. Please refer to MN1383 for installation techniques for CE

compliance. For additional information, refer to Sections 3 and 8 of this manual.

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.

MN1851

General Information 1-1

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Product Notice Intended use:

These drives are intended for use in stationary ground based applications in

industrial power installations according to the standards EN60204 and VDE0160.

They are designed for machine applications that require variable speed controlled

three phase brushless AC motors.

These drives are not intended for use in applications such as:

–

Home appliances

Mobile vehicles

Ships

Airplanes

Unless otherwise specified, this drive is intended for installation in a suitable

enclosure. The enclosure must protect the control from exposure to excessive or

corrosive moisture, dust and dirt or abnormal ambient temperatures. The exact

operating specifications are found in Section 7 of this manual.

The installation, connection and control of drives is a skilled operation,

disassembly or repair must not be attempted.

In the event that a control fails to operate correctly, contact the place of purchase

for return instructions.

Safety Notice:

This equipment contains high voltages. 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.

–

System documentation must be available at all times.

Keep non-qualified personnel at a safe distance from this equipment.

Only qualified personnel familiar with the safe installation, operation and

maintenance of this device should attempt start-up or operating

procedures.

–

Always remove power before making or removing any connections to

this control.

PRECAUTIONS:

Classifications of cautionary statements.

WARNING:

Indicates a potentially hazardous situation which, if not avoided,

could result in injury or death.

Caution:

Indicates a potentially hazardous situation which, if not avoided,

could result in damage to property.

1-2 General Information

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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.

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.

WARNING:

Be sure all wiring complies with the National Electrical Code and

all regional and local codes or CE Compliance. Improper wiring

may cause a hazardous condition.

Be sure the system is properly grounded before applying power.

Do not apply AC power before you ensure that grounds are

connected. Electrical shock can cause serious or fatal injury.

Do not remove cover for at least five (5) minutes after AC power

is disconnected to allow capacitors to discharge. Electrical

shock can cause serious or fatal injury.

Improper operation of control may cause violent motion of the

motor and driven equipment. Be certain that unexpected

movement will not cause injury to personnel or damage to

equipment. Peak torque of several times the rated motor torque

can occur during control failure.

WARNING:

Motor circuit may have high voltage present whenever AC power

is applied, even when motor is not moving. Electrical shock can

cause serious or fatal injury.

If a motor is driven mechanically, it may generate hazardous

voltages that are conducted to its power input terminals. The

enclosure must be grounded to prevent a possible shock hazard.

A DB Resistor may generate enough heat to ignite combustible

materials. To avoid fire hazard, keep all combustible materials

and flammable vapors away from brake resistors.

The user must provide an external hard-wired emergency stop

circuit to disable the control in the event of an emergency.

Continued on next page.

MN1851

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Section 1

General Information

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

Caution:

To prevent equipment damage, be certain that the input power has

correctly sized protective devices installed as well as a power disconnect.

Avoid locating the control immediately above or beside heat generating

equipment, or directly below water or steam pipes.

Avoid locating the control in the vicinity of corrosive substances or

vapors, metal particles and dust.

Do not connect AC power to the control terminals U, V and W. 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.

Caution:

Logic signals are interruptible signals; these signals are removed when

power is removed from the drive.

Controls are intended to be connected to a permanent main power source,

not a portable power source. Suitable fusing and circuit protection devices

are required.

Caution:

The safe integration of the drive into a machine system is the

responsibility of the machine designer. Be sure to comply with the local

safety requirements at the place where the machine is to be used. In

Europe this is the Machinery Directive, the ElectroMagnetic Compatibility

Directive and the Low Voltage Directive. In the United States this is the

National Electrical code and local codes.

Caution:

Controls must be installed inside an electrical cabinet that provides

environmental control and protection. Installation information for the drive

is provided in this manual. Motors and controlling devices that connect to

the drive should have specifications compatible to the drive.

Caution:

Do not tin (solder) exposed wires. Solder contracts over time and may

cause loose connections.

Electrical components can be damaged by static electricity. Use ESD

(electro-static discharge) procedures when handling this control.

Ensure that encoder wires are properly connected. Incorrect installation

may result in improper rotation or incorrect commutation.

The holes in the top and bottom of the enclosure are for cable clamps. Be

sure to use an M4 bolt 12mm in length. Longer bolts may short circuit the

electrical components inside the control.

1-4 General Information

MN1851

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Section 2

Product Overview

Overview

The Lin+Drive product is designed to serve the needs of machine designers and

manufacturers. Baldor products have both UL and CE approvals. The Lin+Drive

is a “flexible” versatile compact control for linear brushless motors. This digital

servo control can be tailored to suit many applications. It can accept 0–10VDC

input, standard ±10VDC input, current loop input or 15 preset point to point moves.

Some options are CAN bus interface, internal or external regen, or with customer

provided 24VDC to maintain logic power.

The Lin+Drive can be integrated with Baldors’ motion controllers or to any industry

standard motion controller.

Motors

Baldor servo controls are compatible with many motors from Baldor and other

manufacturers. Motor parameters are provided with the PC software making the

setup easy. Baldor compatible motors include:

ꢀ

LMBL Series

LMCF Series

Contact your local Baldor distributor or sales representative for assistance with

motor sizing and compatibility. Custom motors or motors not manufactured by

Baldor may be used. Please contact your local Baldor distributor or sales

representative for assistance.

Command Source

In the analog mode (current or velocity), the control requires a variable 0-10VDC

or ±10VDC external analog signal. Suitable sources can be a PLC or motion

controller.

Positioning Mode

In the positioning mode, up to 15 preset repeatable positions (moves) may be

defined in software. These moves may either be incremental, absolute or mixed.

A specific “preset” position is selected using the switch inputs (machine inputs

1–4) and a “trigger” input activates the move. A home position could also be set if

desired.

Serial Communications Interface

A serial port allows external communication. This means that the Lin+Drive can

interface to a PC (for configuration and control) or to other user–supplied

equipment such as:

ꢀ

Host computers

PLC’s

PC’s

Motion controllers

The serial communication interface supports:

ꢀ

RS232 and the four wire RS–485 communication standards

Baud rate: 9600

MN1851

Product Overview 2-1

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Control Inputs Opto isolated inputs are single ended, user selectable and active high or low:

Enable

Quit

Fault Reset

Home Flag

Trigger

Machine Input 1

Machine Input 2

Machine Input 3

Machine Input 4

Note: Machine Inputs 1–4 allow up to 16 digital preset point to point positions.

Control Outputs

One normally closed relay contact provides a dedicated “Drive Ready” output.

Two opto isolated outputs are single ended, active low and are current sinking.

Either output can be assigned to one of the following:

In Position

CW Warning

CCW Warning

Following Error Flag

Following Error Warning

Drive Over Temperature

Machine Input 1

Machine Input 2

Machine Input 3

Machine Input 4

I²t Warning

Encoder Output

The motor encoder signals are available at this output connector (1 to 1).

2-2 Product Overview

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Section 3

Receiving and Installation

Receiving & Inspection Baldor Controls are 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. Remove the control from the shipping container and remove all packing

materials. The container and packing materials may be retained for

future shipment.

3. Verify that the part number of the control you received is the same as the

part number listed on your purchase order.

4. Inspect the control for external physical damage that may have been

sustained during shipment and report any damage immediately to the

commercial carrier that delivered your control.

5. 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 humidity and

temperature specifications stated in this manual.

Location Considerations The location of the control is important. Installation should be in an area

that is protected from direct sunlight, corrosives, harmful gases or liquids, dust,

metallic particles, and vibration. Exposure to these 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

on a smooth, non-flammable vertical surface.

2. At least 0.6 inches (15mm) top and bottom clearance must be provided

for air flow. At least 0.4 inches (10mm) clearance is required between

controls (each side).

3. Altitude derating. Up to 3300 feet (1000 meters) no derating required.

Derate the continuous and peak output current by 1.1% for each 330

feet (100 meters) above 3300 feet.

4. Temperature derating. From 0°C to 40°C ambient no derating

required. Above 40°C, derate the continuous and peak output current by

2.5% per °C above 40°C. Maximum ambient is 50°C.

Mechanical Installation

Mount the control to the mounting surface. The control must be securely fastened

to the mounting surface by the control mounting holes. The location of the

mounting holes is shown in Section 7 of this manual.

MN1851

Receiving & Installation 3-1

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Electrical InstallationAll interconnection wires between the control, AC power source, motor, host

control and any operator interface stations should be in metal conduits. Use 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.

System Grounding Baldor controls are designed to be powered from standard single and 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 Figure 3-1 and 3-3 for UL compliant

systems (Figure 3-2 and 3-4 for CE compliant systems).

Figure 3-1 Recommended System Grounding (3 phase) for UL

Note:

Control

Wiring shown for clarity of

grounding method only.

Not representative of actual

terminal block location.

AC Main

Supply

L1 L2 L3 PE

Earth

Safety

Ground

Route all power wires L1, L2, L3 and Earth

(Ground) together in conduit or cable.

Four Wire

“Wye”

Driven Earth

Ground Rod

(Plant Ground)

Note: Use shielded cable for control signal wires. Route

control signal wires in conduit. These wires must be

kept separate from power and motor wires.

Ground per NEC and Local codes.

Figure 3-2 Recommended System Grounding (3 phase) for CE

Note:

AC Main

Supply

Control

Wiring shown for clarity of

grounding method only.

Not representative of actual

terminal block location.

L1 L2 L3 PE

Four Wire

“Wye”

Safety

Ground

Route all power wires

Motor

GND

L1, L2, L3 and Earth

(Ground) together in

conduit or cable.

All shields

Enclosure Backplane (see Section 8)

Note: Use shielded cable for control signal wires. Route

control signal wires in conduit. These wires must be

kept separate from power and motor wires.

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MN1851

Figure 3-3 Recommended System Grounding (1 phase) for UL

Note:

AC Main

Supply

Control

Wiring shown for clarity of grounding

method only. Not representative of

actual terminal block location.

Safety

Ground

Earth

Route all 3 wires L, N, and Earth

(Ground) together in conduit or cable.

Driven Earth

Ground Rod

(Plant Ground)

Note: Use shielded cable for control signal wires. Route

control signal wires in conduit. These wires must be

kept separate from power and motor wires.

Ground per NEC and Local codes.

Figure 3-4 Recommended System Grounding (1 phase) for CE

AC Main

Supply

Note:

Control

Wiring shown for clarity of

grounding method only.

Not representative of actual

terminal block location.

Four Wire

“Wye”

Safety

Ground

Neutral

Route all power wires

together in conduit or

cable.

Motor

GND

All shields

Enclosure Backplane (see Section 8)

Note: Use shielded cable for control signal wires. Route

control signal wires in conduit. These wires must be

kept separate from power and motor wires.

MN1851

Receiving & Installation 3-3

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System Grounding Continued

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 to ground.

Input Power Conditioning

Baldor controls are designed for direct connection to standard single and 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.

•

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.

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.

Protection Devices The control must have a suitable input power protection device installed.

Input and output wire size is based on the use of copper conductor wire rated at

75 °C. Table 3-1 and 3-2 describes the wire size to be used for power connections

and the ratings of the protection devices. Use the recommended circuit breaker or

fuse types as follows:

Circuit Breaker:

1 phase, thermal magnetic.

Equal to GE type THQ or TEB for 115 or 230 VAC

3 phase, thermal magnetic.

Equal to GE type THQ or TEB for 230 VAC or

GE type TED for 460 VAC.

Time Delay Fuses: Buss FRN on 230 VAC or

Buss FRS on 460 VAC or equivalent.

Recommended fuse sizes are based on the following:

UL 508C suggests a fuse size of four times the continuous output

current of the control.

Dual element, time delay fuses should be used to avoid nuisance trips

due to inrush current when power is first applied.

For European installations, you may want to consider the following fast acting

fuse: Gould Shawmut Cat. No. ATMR15 for up to 15 amperes.

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MN1851

Table 3-1 Wire Size and Protection Devices (for units with Power Supply)

Catalog Number

Incoming Power

Input

Wire Gauge

Continuous

Output

Amps (RMS)

Input

Fuse

Nominal Input

Voltage

Breaker

Time

AWG

(USA)

mm²

(Europe)

(A)

Delay (A)

LP1A02SR-EXXX

LP2A02SR-EXXX

LP1A02TR-EXXX

LP2A02TR-EXXX

LP4A02TB-EXXX

LP1A05SR-EXXX

LP1A05TR-EXXX

LP2A05TR-EXXX

LP4A05TB-EXXX

LP1A07TR-EXXX

LP2A07TR-EXXX

LP4A07TR-EXXX

LP1A10SR-EXXX

LP2A10SR-EXXX

LP1A15SR-EXXX

115V (1f)

230V (3f)

115V (1f)

230V (1f)

400/460V (3f)

115V (1f)

230V (3f)

115V (1f)

230V (1f)

400/460V (3f)

115V (1f)

230V (1f)

400/460V (3f)

115V (1f)

230V (3f)

115V (1f)

2.0A

2.5A

2.0A

2.5A

7.5A

10A

15A

2.5

LP2A15SR-EXXX

LP4A15TR-EXXX

LP4A20TR-EXXX

230V (3f)

15A

20A

2.5

400/460V (3f)

Table 3-2 Wire Size (for units without Power Supply)

Catalog Number

Wire Gauge

Continuous

Output

Bus

Voltage

AWG

mm²

(Europe)

Amps

(USA)

LP1A02PO-EXXX

LP2A02PO-EXXX

LP1A05PO-EXXX

LP2A05PO-EXXX

LP1A10PO-EXXX

LP2A10PO-EXXX

LP1A15PO-EXXX

LP2A15PO-EXXX

160VDC

300VDC

160VDC

300VDC

160VDC

300VDC

160VDC

300VDC

2.0A

2.5A

5.0A

2.5

5.0A

10.0A

15.0A

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 25°C

ambient, maximum continuous control output current and no harmonic current.

X1 Power Connections

Power connections are shown in Figures 3-5 through 3-8.

MN1851

Receiving & Installation 3-5

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Figure 3-5 Single Phase AC Power Connections (LP1AxxT & LP2AxxT only)

Earth

Note 3 & 4

Alternate *

Fuse

Note 1

Note 2

* Circuit

Breaker

Note 1

Connection

* Components not provided with Control.

Notes:

Baldor

Control

See “Protection Devices” described in this section.

Metal conduit or shielded cable should be used. Connect

conduits so the use of a Reactor or RC Device does not

interrupt EMI/RFI shielding.

Use same gauge wire for Earth ground as is used for L and N.

(VDE (Germany) requires 10mm²minimum, 6AWG). For CE

Compliance, connect

to the backplane of the enclosure.

For CE Compliance, refer to Section 8 of this manual.

Reference EMC wiring in Section 8.

Figure 3-6 Single Phase AC Power Connections (LP1AxxS only)

Earth

Note 3 & 4

Alternate *

Fuse

Note 1

Note 2

* Circuit

Breaker

Note 1

Connection

* Components not provided with Control.

Notes:

Baldor

Control

See “Protection Devices” described in this section.

Metal conduit or shielded cable should be used. Connect

conduits so the use of a Reactor or RC Device does not

interrupt EMI/RFI shielding.

Use same gauge wire for Earth ground as is used for L and N.

(VDE (Germany) requires 10mm²minimum, 6AWG). For CE

Compliance, connect

to the backplane of the enclosure.

For CE Compliance, refer to Section 8 of this manual.

Reference EMC wiring in Section 8.

Note: These Lin+Drive versions are not designed for use with 400/460VAC

connections.

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MN1851

Figure 3-7 3 Phase Power Connections (LP2AxxS & LP4AxxT only)

Earth

Alternate *

Fuse

Connection

Note 1

Note 2

Note 3 & 4

* Circuit

Breaker

Note 1

* Components not provided with Control.

Notes:

See Protection Device description in this section.

Baldor

Control

Metal conduit or shielded cable should be used. Connect

conduits so the use of a Reactor or RC Device does not interrupt

EMI/RFI shielding.

Use the same gauge wire for Earth as used for L1, L2, L3

connections.

Use same gauge wire for Earth ground as is used for L and N.

(VDE (Germany) requires 10mm²minimum, 6AWG). For CE

compliance, connect “PE” to the backplane of the enclosure.

For CE Compliance, refer to Section 8 of this manual.

Reference EMC wiring in Section 8.

A shared supply configuration is shown in Figure 3-8. The first drive must have an

internal power supply such as an Option “S” control.

Figure 3-8 Shared Supply Power Connections

VCC+

VCC-

VCC+

VCC-

VCC+

VCC-

VCC+

VCC-

VCC+

VCC-

Baldor

Option S

Control

Baldor

Option P

Control

Baldor

Option P

Control

Regen

Resistor

MN1851

Receiving & Installation 3-7

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Figure 3-9 Connector Locations (Single Phase Controls)

X1 - Power Connector

The holes in the top and

Monitor

bottom of the enclosure

are for cable clamps. Be

sure to use an M4 bolt

12mm in length. Longer

bolts may short circuit the

electrical components

inside the control.

Earth

AS1

Input Power

AC Line

Neutral

Motor lead “U”

Motor lead “V”

Motor lead “W”

Dynamic Brake

Motor

Dynamic Brake

Dynamic Brake (Regen Resistor)

Off/On

+24V Customer

0V Provided

LPxAxxxx-xxx3

only

X9 - Encoder Input

Ready

ꢁ

CHA+

CHB+

CHC+

Hall 1+

Hall 1–

CHA-

Hall 3+

10 Hall 2+

11 +5VDC

12 Reserved

13 DGND

14 Hall 3–

15 Hall 2–

CHB-

Terminal tightening torque is

0.5 lb-in (0.6Nm)

+24V

CHC-

X6 - RS232 / 485

RS232 RS485

Reserved 1 TX-

DB On

R Data

TX+

T Data

RX+

DTR

DGND

DSR

RTS

CTS

+5V

RX-

DGND

RTS-

RTS+

CTS+

CTS-

X3 - Control Signals & Digital I/O

CMD+

CMD-

AGND

Fault Relay+

Fault Relay-

CIV

X7 - Encoder Output

CHA+

CHB+

CHC+

CHA–

CHB–

CHC–

CREF

CGND

Enable

Reserved 9 Reserved

10 MaI3

DGND

11 MaI4

12 Quit

13 Fault Reset

14 Home Flag

15 Trigger

16 MaI1

17 MaI2

18 MaO1

19 MaO2

20 DrOK

Note: Reserved means no

connection is required and

no connection should be

made to this terminal. It is

reserved for future use.

^ꢁImportant:

LPxAxxxx-xxx3 only.

A separate 24VDC supply to the “Logic Power” input is required for

operation. An LPxAxxxx-xxx3 control will not operate without 24VDC

on this input.

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MN1851

Figure 3-10 Connector Locations (Three Phase Controls)

The holes in the top and bottom of the

enclosure are for cable clamps. Be sure

to use an M4 bolt 12mm in length.

Longer bolts may short circuit the

electrical components inside the control.

X1 - Power Connector

Earth

Phase 1 Input

Phase 2 Input

Phase 3 Input

Motor lead “U”

Motor lead “V”

Motor lead “W”

Dynamic Brake

Input Power

Motor

Dynamic Brake

(Regen Resistor)

+24V Customer

0V Provided

LPxAxxxx-xxx3

only

ꢁ

Terminal tightening torque is

0.5 lb-in (0.6Nm)

X9 - Encoder Input

CHA+

CHB+

CHC+

Hall 1+

Hall 1–

CHA-

Hall 3+

10 Hall 2+

11 +5VDC

12 Reserved

13 DGND

14 Hall 3–

15 Hall 2–

CHB-

CHC-

X6 - RS232 / 485

RS232 RS485

X3 - Control Signals & Digital I/O

CMD+

Reserved 1 TX-

CMD-

R Data

TX+

AGND

T Data

RX+

Fault Relay+

Fault Relay-

CIV

DTR

DGND

DSR

RTS

CTS

+5V

RX-

DGND

RTS-

RTS+

CTS+

CTS-

CREF

CGND

Enable

10 MaI3

11 MaI4

12 Hold

X7 - Encoder Output

13 Fault Reset

14 Home Flag

15 Trigger

16 MaI1

CHA+

CHB+

CHC+

CHA–

CHB–

CHC–

Reserved 9 Reserved

17 MaI2

DGND

18 MaO1

19 MaO2

20 DrOK

Note: Reserved means no connection is required

and no connection should be made to this

terminal. It is reserved for future use.

ꢁ

LPxAxxxx-xxx3 only.

A separate 24VDC supply to the “Logic Power” input is required for

operation. An LPxAxxxx-xxx3 control will not operate without 24VDC on this input.

MN1851

Receiving & Installation 3-9

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X1 Motor Connections Motor connections are shown in Figures 3-11 and 3-12.

It is important to connect the motor leads U, V and W correctly at the X1 connector

of the control. Incorrect wiring can cause erratic operation including moves at

peak force until the overcurrent limit trips. This will result in a display of “7” and a

“6” on the monitor. If erratic movement of the motor occurs, turn off power

immediately and check the connections of the motor, hall sensors and encoder.

Figure 3-11 Motor Connections for UL

Notes:

Metal conduit or shielded cable should be used. Connect

conduits so the use of Load Reactor* or RC Device* does not

interrupt EMI/RFI shielding.

Baldor

Control

Use same gauge wire for Earth ground as is used for L and N.

(VDE (Germany) requires 10mm²minimum, 6AWG).

Reference EMC wiring in Section 8.

Motor and encoder are phase sensitive. Connect only as

instructed.

Note 1

Note 2

For three phase controls, this is labeled “PE”.

* Optional components not provided with control.

* Linear Motor

Figure 3-12 Motor Connections for CE

Notes:

Metal conduit or shielded cable should be used. Connect

Baldor

Control

conduits so the use of Load Reactor* or RC Device* does not

interrupt EMI/RFI shielding.

Use same gauge wire for Earth ground as is used for L and N.

(VDE (Germany) requires 10mm²minimum, 6AWG). For CE

compliance, connect motor ground to the backplane of the

enclosure.

Note 1

Reference EMC wiring in Section 8.

Motor and encoder are phase sensitive. Connect only as

instructed.

Note 2

Enclosure Backplane (see Section 8)

* Linear Motor

* Optional components not provided with control.

Note: For CE compliant installations, connect unused leads within the motor cable

to “PE” on both ends of the cable.

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 3-13.

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MN1851

Figure 3-13 Optional M-Contactor Connections

* RC Device

Electrocube

RG1781-3

* M-Contactor

To Power Source

(Rated Coil Voltage)

For three phase

controls, this is

labeled “PE”.

* Optional components not provided with control.

Note 1

Note 2

Enable

Note: Close “Enable”

after “M” contact closure.

* Motor

M=Contacts of optional M-Contactor

Notes:

Use same gauge wire for Earth ground as is used for L and N. (VDE (Germany) requires10mm²minimum, 6AWG).

For UL installations, connect motor ground to of the control as shown.

For CE installations, connect motor ground to the enclosure backplane (see Figure 3-12).

Motor Thermostat A relay contact can be used to isolate the motor thermostat leads for use with

other devices, shown in Figure 3-14. The thermostat or overload relay should be a

dry contact type with no power available from the contact. The optional relay

(CR1) shown provides the isolation required and the N.O. contact is open when

power is applied to the relay and the motor is cold. If the motor thermostat is

tripped, CR1 is de-energized and the N.O. contact closes.

Connect the External Trip Input wires (N.O. relay contact) to a PLC or other

device. Note that a machine input may be used and the PLC software of the

Lin+Drive can define the thermal protection. Do not place these wires in the same

conduit as the motor power leads.

Figure 3-14 Motor Temperature Relay

Customer Provided

Source Voltage

Note: Add appropriately rated protective

device for AC relay (snubber)

or DC relay (diode).

CR1

External Trip

Do not run these wires in same conduit

as motor leads or AC power wiring.

Motor Thermostat Leads

* Linear Motor

* Optional, customer provided hardware.

X1 Dynamic Brake Resistor An external DB (dynamic brake or regen resistor) resistor may be

required to dissipate excess power from the DC bus during motor deceleration

operations. Some controls have an internal resistor. For selection of the DB

resistor, refer to the specifications located in Section 7 and the regeneration

resistor specifications in Section 9 of this manual. DB hardware is connected at

R1 and R2 terminals of the X1 connector, Figure 3-9 and 3-10.

MN1851

Receiving & Installation 3-11

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X1 +24VDC Logic Supply For LPxAxxxx-xxx3 only. A separate 24VDC supply to the “Logic

Power” input is required for operation. An external 24 VDC power source must be

used. If bus power is lost, the logic circuits are still active if the 24VDC is present.

This is important to maintain position reference, for example.

If the control was not ordered with this option, do not connect any voltage to these

pins.

X3 Control Inputs & Digital I/O Connections

Control Inputs X3 pins 1 and 2 allows connection of an external analog command input. This

input can accept a 0-10VDC or ±10VDC signal and can be wired as a single

ended or differential input, shown in Figure 3-15.

Figure 3-15 Control Input Wiring

Single Ended Connection

Differential Connection

CMD+

CMD-

AGND

CMD+

CMD-

AGND

Signal

Source

Signal

Source

X3 Digital Inputs - Opto Isolated Inputs (uses CREF, X3-7)

Active High (Sourcing) - If pin X3-7 is grounded, an input is active when it is

at +24VDC (+12VDC to +30VDC).

Active Low (Sinking) - If pin X3-7 is at +24VDC (+12VDC to +30VDC), an

input is active when it is grounded.

Logic input connections are made at terminal strip X3. Input connections can be

wired as active High or active Low as shown in Figure 3-16. X3 pin 7 is the

Control Reference point (CREF) for the Opto Isolated Input signals.

Note: An internal 24VDC power supply connection is not available from the control

to power the Opto Input circuits. A customer provided external power

source must be used as indicated in Figure 3-16.

Figure 3-16 Active HIGH /LOW Relationship

Note: All Opto inputs are referenced to

CREF, X3-7.

Input

Active Low

(Sink)

Active High

(Source)

CREF

CGND

Input

+24VDC

GND

ENABLE

+24VDC

CW-ENABLE

CCW-ENABLE

QUIT

20mA

+24VDC

GND

9 - 17

FAULT RESET

HOME FLAG

TRIGGER

GND

+24VDC

Typical

MAI1

MAI2

Control

Source

Sink

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MN1851

X3 Digital Inputs Continued

Table 3-3 Opto Input Signal Conditions

Number

Signal

Name

Switch = Closed (active)

Switch = Open (not active)

X3-9

Enable

Drive enabled.

Drive disabled.

X3-10 MaI3

X3-11 MaI4

X3-12 Quit

Machine Input 3 = Logical 1

Machine Input 4 = Logical 1

Stop positioning mode operation

Machine Input 3 = Logical 0

Machine Input 4 = Logical 0

Positioning mode is operating

X3-13 Fault Reset

X3-14 Home Flag

X3-15 Trigger

X3-16 MaI1

Fault Reset is active (reset control). Fault Reset is not active.

Home flag = closing (rising) edge

Trigger = closing (rising) edge

Machine Input 1 = Logical 1

Machine Input 2 = Logical 1

Home flag = opening (falling) edge

Trigger = opening (trailing) edge

Machine Input 1 = Logical 0

Machine Input 2 = Logical 0

X3-17 MaI2

Signal Name Opto Input Signal Definition

Enable

CLOSED allows normal operation.

OPEN disables the control and motor coasts to a stop.

Quit

CLOSED cancels any move in progress and the motor will decelerate (at

parameter MOT.ACC) to rest. This input is edge triggered.

OPEN allows position mode operation.

Fault Reset

CLOSED allows the control to be cleared or “Reset” for any of the following four

fault conditions (provided that the cause of the fault has been removed):

•

Overvoltage

Undervoltage

•

Electronic Fusing

Resolver Fault

OPEN allows normal operation.

Home Flag

Trigger

Edge triggered input that is used to sense the “Home Position”.

Rising edge triggered input that initiates a “point-to-point move”. The move is

defined by the machine inputs MaI1 - 4.

MaI1,2,3,& 4 Four machine inputs are provided. These may be used with the internal PLC

software program. The internal PLC software can cause an event to occur based

on the presence of these inputs.

However, more often these inputs are used to define up to 15 preset positions or

point to point moves. The 16th move is always home. With this method, it is not

possible to use hardware limits (CW and CCW). Therefore, software limits must

be used. Software limits are only active after a homing routine has completed.

Note: Hardware limit switches may be wired in series with the “Enable” input

X3–9. Then if a limit is reached, the control will be disabled.

MN1851

Receiving & Installation 3-13

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X3 Digital Inputs Continued

Figure 3-17 Positioning Mode Timing Diagram

MaI1 - 4

Time

Trigger

Trajectory

See Table 3-4.

Motion Ready =

Motion in Process

Table 3-4 Process Duration

Time

Required Duration

≥2ms

≥1ms

≥14ms

≤14ms

≥100ms

≥2ms

T10

≥2ms

Figure 3-18 Homing Process Timing Diagram

Trigger

Time

Trajectory

See Table 3-4.

T10

Recognition Time (T10)

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MN1851

X3 Digital Outputs

The control outputs are located on the X3 connector. A customer provided,

external power supply must be used if digital outputs are to be used. The opto

outputs provide status information and are not required for operation, Table 3-5.

Figure 3-19 Fault Relay Connections

Customer provided external power source: and Non-Inductive Load

110VAC @ 0.3A maximum or

Relay

24VDC @ 0.8A maximum

Contact is closed when power is on

and no faults are present.

Control

Customer Provided Interface Circuit

Figure 3-20 Opto Output Connections

Customer Interface Voltage (+12VDC to +30VDC)

35mA Maximum

18, 19, 20

R (2.2K typical @ 24VDC)

Output Signal is only available if

Customer Interface Voltage is present.

Output Signal + Common

Typical

CGND

Control

Customer Provided Interface Circuit

Table 3-5 Opto Output Signal Conditions

Number

Signal

Name

Switch = Closed (active)

Switch = Open (not active)

X3-4

X3-5

X3-18 MAO1

X3-19 MAO2

X3-20 DrOK

Fault +

Fault -

Drive OK - no faults detected

Machine Output 1 = Logical 1

Machine Output 2 = Logical 1

Drive OK - no faults detected

Fault is detected

Machine Output 1 = Logical 0

Machine Output 2 = Logical 0

Fault is detected

Fault Relay

MaO1 & 2

A normally closed relay contact that opens if a fault occurs. The contact is rated:

24VDC @ 0.8A maximum or 110VAC @ 0.3A maximum.

Two machine outputs are provided. Either output can be set to one of the

following conditions: CW Warning, CCW Warning, In Position, Error Flag,

Following Error Warning, MAI1-2, Drive Overtemperature or I²T Warning.

Each output is rated 30VDC @ 35mA maximum.

DrOK

This output is active when the control is ready for operation.

This output is rated 30VDC @ 35mA maximum.

MN1851

Receiving & Installation 3-15

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X6 RS232 / 485 Connections

RS232

A null modem cable (also called a modem eliminator cable) must be used to

connect the control and the computer COM port. This will ensure that the transmit

and receive lines are properly connected. Either a 9 pin or a 25 pin connector

can be used at the computer, Figure 3-21. Maximum recommended length for

RS232 cable is 3 ft. (1 meter).

Figure 3-21 9 & 25 Pin RS-232 Cable Connections for UL Installations

9 Pin Connector

Signal

RXD

TXD

GND

25 Pin Connector

Signal

RXD

TXD

GND

Null Modem Cable Connections

RXD

TXD

RXD

TXD

Computer

COM

Port

Control

(DCE)

GND

(DTE)

Chassis

Figure 3-22 9 & 25 Pin RS-232 Cable Connections for CE Installations

Null Modem Cable Connections

RXD

TXD

RXD

TXD

Computer

COM

Control

Port

(DCE)

GND

(DTE)

Note: For CE installations, connect the overall shield at each end of the cable to PE. The

voltage potential between the PE points at each end of the cable must be Zero Volts.

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MN1851

RS485

Standard RS485 connections are shown in Figures 3-23 and 3-24. Maximum

cable length is 3280 ft (1000M).

Figure 3-23 9 Pin RS-485 Cable Connections For UL Installations

RX+

RX–

TX+

TX-

TX+

TX–

RX+

RX-

9 Pin Connector

Computer

COM

Control

Port

Signal

TX-

TX+

(DCE)

DGND

(DTE)

RX+

RX-

Chassis

DGND

Figure 3-24 9 Pin RS-485 Cable Connections For CE Installations

RX+

RX–

TX+

TX-

TX+

TX–

RX+

RX-

9 Pin Connector

Computer

COM

Control

Port

Signal

TX-

TX+

RX+

RX-

(DCE)

DGND

(DTE)

Chassis

DGND

Note: For CE installations, connect the overall shield at each end of the cable to PE. The

voltage potential between the PE points at each end of the cable must be Zero Volts.

RS485 Multi-Drop Connections

What does termination or a termination resistor do?

Termination resistance is used to match the impedance of the load to the

impedance of the transmission line (cable) being used. Unmatched impedance

causes the transmitted signal to not be fully absorbed by the load. This causes a

portion of the signal to be reflected back into the transmission line (noise). If the

Source impedance, Transmission Line impedance, and Load impedance are all

equal, these reflections (noise) are eliminated.

Termination does increase load current and sometimes changes the bias

requirements and increases the complexity of the system.

What is a termination resistor?

A resistor that is added in parallel with the receiver input to match the impedance

of the cable being used. Typically, the resistor value that is used is 100 ohm or

120 ohm. Resistors with 90 ohms or less should never be used.

Where are these resistors placed?

Terminators or Termination resistors are placed in parallel with the receiver at both

ends of a transmission line. This means that you should never have more than

two terminators in the system (unless repeaters are being used).

How many resistors should my system have?

Terminators or Termination resistors are placed in parallel with the receiver at both

ends of a transmission line. This means that you should never have more than

two terminators in the system (unless repeaters are being used).

MN1851

Receiving & Installation 3-17

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Figure 3-25 RS485 4 Wire Multi-Drop for UL Installations

Host

Computer

RX+

RX–

TX+

TX–

RX+

RX-

= Twisted Pair

TX+

TX-

DGND

GND

DGND

GND

Shields

Use twisted pair shielded cable

with an overall shield.

TX+

TX–

RX+

RX-

Terminating resistor T is 120 W typical value.

Only the PC and last control are terminated.

DGND

GND

Shields

Figure 3-26 RS485 4 Wire Multi-Drop for CE Installations

Host

Computer

RX+

RX–

TX+

TX–

RX+

RX-

= Twisted Pair

TX+

TX-

DGND

GND

DGND

GND

Use twisted pair shielded cable

with an overall shield.

TX+

TX–

RX+

RX-

Terminating resistor T is 120 W typical value.

Only the PC and last control are terminated.

DGND

GND

Note: For CE installations, connect the overall shield at each end of the cable to PE. The

voltage potential between the PE points at each end of the cable must be Zero Volts.

See Section 4 of this manual for the description of switch “AS1-1 to AS1-4” for

address settings for multi-drop applications.

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MN1851

X7 Encoder Output

The control provides a buffered encoder output at connector X7. This output may

be used by external hardware to monitor the encoder signals. It is recommended

that this output only drive one circuit load (RS422 interface – 28LS31 device).

Refer to Table 3-6.

Table 3-6 Buffered Encoder Output at X7 Connector

X7 Pin

Signal Name

A+

B+

C+

Reserved

DGND

A–

B–

C–

Reserved

Shell

* Chassis (Cable Shield)

* For UL Installations ONLY. For CE Installations, connect the outer shield on

each end of the cable to the enclosure backplane “PE”.

MN1851

Receiving & Installation 3-19

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X9 Encoder and Hall Feedback (LPxAxxxx-Exxx)

Twisted pair shielded wire with an overall shield should be used. Figure 3-27

shows the electrical connections between the encoder and the encoder connector.

Figure 3-27 Encoder and Hall Feedback Connections for UL Installations

A+

A–

B+

Encoder

B–

C+

C–

11 +5V

DGND

Hall 1+

Hall 1–

Hall 3+

Hall

Feedback

14 Hall 3–

Hall 2+

Hall 2–

12 Not Used

Shell (Chassis)

Figure 3-28 Encoder and Hall Feedback Connections for CE Installations

A+

A–

B+

Encoder

B–

C+

C–

+5V

DGND

Hall 1+

Hall 1–

Hall 3+

Hall 3–

Hall 2+

Hall 2–

Not Used

Hall

Feedback

Shell (Chassis)

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MN1851

Section 4

Switch Setting and Start-Up

Switch AS1 Settings

AS1

Monitor

AS1 switches are located on the front panel

between X1 and the “Monitor” LED.

Note: AS1–8 is shown in the “ON” position (Drive

Enabled). All other switches are shown in

the “OFF” position.

Off / On

Address Setting, AS1-1 to AS1-4 (for Multi-Drop Applications)

Each control address can be set using switches AS1-1 to AS1-4 of each control.

Each control must have a unique address. Refer to Table 4-1.

Table 4-1 Control Address Setting

AS1-1

OFF

AS1-2

OFF

AS1-3

OFF

AS1-4

OFF

Control Address (Hexadecimal)

0 (Factory Setting)

OFF

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Setting of switches AS1-5 to AS1-8

The function of switches AS1-5 to AS1-8 are described in Table 4-2.

Table 4-2 AS1-5 to AS1-8 Description

Switch

AS1-5

AS1-6

AS1-7

Function

Not Used

OFF

Hold-Position Hold-Position is active.

Offset Tuning Automatic Offset Tuning is

active.

Hold-Position is not active

Automatic Offset Tuning is not

active.

AS1-8

Enable

Control is enabled

(Enable is active)

Control is disabled

(Enable is not active)

Hold-Position OFF allows normal operation.

ON causes the motor to quickly decelerate to stop and maintain a constant

position (in current or velocity modes). (Time to max velocity = 0 with the Hold

function.)

Offset Tuning OFF allows normal operation.

ON causes Offset Tuning to automatically start the next time Enable is changed

from ON to OFF. The purpose of Offset Tuning is to remove DC offset voltages (on

the command input X3-1 and X3-2) and achieve a stationary motor shaft with

0VDC at the command input. Leave this switch OFF when not in use. See Figure

4-1 for additional information.

Enable

OFF disables the control and the motor coasts to a stop.

ON allows normal operation.

Note: AS1-8 and X3-9 must both be enabled to allow control operation.

Figure 4-1 Automatic Offset Tuning Timing Diagram

Main

Power

Off

Time

Enable

On or Off

Switch AS1-8

Off

Time

Offset Tuning

Switch AS1-7

Off

Start

Offset

Tuning

Offset

Tuning

Done

Automatic

Offset Tuning

Note: It is important that you set the analog command to 0VDC before the

Automatic Offset Tuning is started.

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MN1851

Start-Up Procedure

Power Off Checks

Before you apply power, it is very important to verify the following:

1. Disconnect the load from the motor shaft until instructed to apply a load.

If this cannot be done, disconnect the motor wires at X1-U, V and W.

2. Verify that switches AS1-5 to AS1-8 are set to OFF.

3. Verify the AC line voltage at the source matches the control rated

voltage.

4. Inspect all power connections for accuracy, workmanship and tightness.

5. Verify that all wiring conforms to applicable codes.

6. Verify that the control and motor are properly grounded to earth ground.

7. Check all signal wiring for accuracy.

Power On Checks

When power is first applied, the “Monitor” LED display will show four indications if

there is no failure found.

8. All segments and decimal point are on.

Display test.

Option number of test (1, 2 etc.).

Final display with no decimal point (control disabled because

AS1-8 = OFF).

Procedure:

1. Apply AC power.

2. Apply logic power (only if your control is equipped with this option).

3. Verify the Monitor LED power on sequence. If “d” is displayed, continue

otherwise disconnect AC power and refer to the Troubleshooting

procedure.

4. Disconnect AC power.

5. Connect the load to the motor shaft (or connect the motor wires at X1).

6. Apply Logic Power (24VDC) if option is present.

7. Apply AC power.

8. Set switches AS1-7 and AS1-8 to ON.

9. Set switch AS1-8 to OFF (initiate offset tuning).

10. Set switch AS1-7 to OFF.

11. Configure the control using the Setup Software provided.

Refer to Section 5 of this manual.

12. Set switch AS1-8 to ON (drive enabled).

13. Perform System Tuning.

The drive is now ready for use.

Note: To protect the internal fuse, allow at least 1 minute after power down before

turning power on (power Off/On cycle).

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MN1851

Section 5

Operation

Installing Software on your PC

The setup software is Windows–based. The servo control connects to a serial port

on your PC. The setup wizard will guide you through the necessary steps to

set–up your servo control. Online–help to each topic is available.

Minimum system requirements

Hardware requirements (minimum):

Processor: Intel 80486 / 33 MHz

RAM: 8 MB

Hard Disk Space: 50 MB

Screen: 600 x 480 (minimum)

Recommended: Intel Pentium, 16 MB RAM, 133 MHz, 100 MB Free Space

Software requirements:

Operating system: Windows 3.1x (minimum)

Recommended: Win95 or Windows NT

Installation

The following procedure will install the setup software on your computer’s hard

disk:

1. Start Windows. Make sure that no other programs are running during

this installation.

2. Place installation Disk #1 in your computer’s floppy drive.

3. Run A:\Setup.exe (if A:\ is your floppy drive) or double click the file

Setup.exe from My computer, 3.5 inch Floppy (A:).

4. Follow the instructions and insert the other installation disks as required.

After the installation process is finished, a program manager group for Lin+ with a

Lin+ progman icon is created. Double clicking this icon will start the setup

program.

A file “Readme.txt” is included in the master directory of the software. This file

contains installation instructions, change notices from previous revisions and

information that became available after this manual was printed.

Host Communications Setup

Be sure the communications port of the PC is correctly set for communications

with the Drive software. The following examples assume COM1 of the PC is used.

If you are using COM2 – 4, substitute the correct COM port number in the

example.

Windows 3.1 Terminal Emulation

1. Power up the Host and start Windows software.

2. In the “Windows Accessories Group” select “Terminal” ICON.

3. Select “Communications” from the Settings pull down menu within

Terminal program.

4. Set the communications settings for:

9600 Baud rate

8 Data Bits

1 Stop Bit

No Parity

Xon/Xoff Flow Control

COM1

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5. Select “Binary Transfers” from the Settings pull down menu within

Terminal program.

6. Set the Binary Transfer protocol to XModem/CRC.

7. Close menu and save the settings.

8. Terminal Communications settings are now complete.

Windows 95

1. Power up the Host and start Windows software.

2. In “Control Panel” select and open “System”.

3. Open “Ports”, select the COM port you are using then click “properties”.

Figure 5-2

4. Be sure the port settings are as: Bits per second=9600, Data bits=8,

Parity=none, Stop bits=1 and Flow control=Xon/Xoff.

Windows NT

1. Power up the Host and start Windows software.

2. In “Control Panel”, select and open “Ports” then click “Settings”.

Figure 5-3

3. Be sure the port settings are as: Bits per second=9600, Data bits=8,

Parity=none, Stop bits=1 and Flow control=Xon/Xoff.

5-2 Operation

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Using The Setup Wizard

The setup software wizard guides you through each step to set the basic

parameters. This wizard is activated automatically after each start-up of the

software. This automatic start of the Wizard can be turned off. It can be activated

(and reset to automatic start) by Help " Wizard.

Figure 5-1 shows the flowchart of the Setup Wizard.

All parameters can be stored in a file. These saved values can be restored at any

time. To save the configuration, select Setup " Save Configuration. To restore

these parameter values or to configure several controls with the same parameter

sets, select the Setup " Restore Configuration.

MN1851

Operation 5-3

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Figure 5-1 Flowchart of the Setup Wizard

Setup Wizard

Sequence 1:

Motor and Control

Skip

Sequence 4:

Velocity Parameters

Skip

General:

– App. Bus Voltage

–Enc. Output

General:

– Max. Velocity

– Time to

Max. Velocity

– Min. Velocity

– Scaling Factor

Motor:

– Select the motor

Download

Control:

– Control is selected

Sequence 5:

Drift Offset

automatically

Skip

Download

Sequence 2:

Operating Mode

Auto

Tune

Offset

Value

(mV)

Skip

General:

Download

– Current

– Velocity

– Positioning

Sequence 6:

Auto tuning

Download

Sequence 3:

Current Parameters

Skip

Auto Tuning

Procedure

General:

– App. Peak Amps

–App. Nom. Amps

–BEMF Compensation

–Scaling Factor

Done

Sequence 4:

5-4 Operation

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Set up Software Opening menu. If you have previously set up the motor and control parameters

and saved them to a file, click FINISH then load the parameter file using the File

" Open selection. If you are setting up parameters for the first time, click NEXT

to go to the Set up Software.

The General menu appears first. If you are using a stock Baldor linear motor, click the Motor tab to

select the motor from the list and these parameters will be entered automatically for you. For a custom

motor or a motor from another maker, the parameters must be entered manually on the General menu.

First, click on “Motor” and then select “User Models” in the Library menu. Then, click “General” to

return to this menu and enter all parameter values.

MN1851

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There are 7 parts to the setup procedure:

Motor

First, select the “Motor Type”. Then select your specific “Motor ID”. All of the

parameters will be entered if your motor is on the list. If your motor is not on the

list, you must define a motor and all of its parameters. If your motor is not listed,

select “User Models” in the Library menu and Then click the General tab and enter

the motor parameters. Click “Download” when finished.

Figure 5-2 Motor Selection Screen

Control

The “Control ID” is automatically selected. All of the parameters will be entered if

your control is on the list. Click “Download” when finished.

Figure 5-3 Control Selection Screen

5-6 Operation

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After the motor and control are selected, click the General menu and note that the values are filled in.

Confirm that the Bus Voltage is correct. Enter the Encoder Feedback value for your encoder (see

Table 5-1). Click “Download” when finished.

Table 5-1 Encoder Feedback

Encoder Feedback

Encoder Resolution

counts / meter

LMBLxx–A or

LMBLxx–B

LMBLxx–E

LMCF (All)

micron

counts / mm

not available

1143

2286

4572

762

1524

3048

7620

15240

50,000

100,000

200,000

500,000

1,000,000

100

200

500

1,000

2286

5715

11430

14 bits maximum

For encoders other than those listed in Table 5-1, calculate the encoder resolution

as follows: (An example of a 5 micron encoder with an LMCF motor is given).

motor pitch (mm)

60.96

Encoder Feedback +

+ 3048

ǒ Ǔ_x4

Ǔ_x4

(

)

200

counts per mm

Where:

motor pitch = 45.72 mm (LMBLxx–A or B series)

motor pitch = 91.44 mm (LMBLxx–E series)

motor pitch = 60.96 mm (LMCF cog free motors)

MN1851

Operation 5-7

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Operating Mode

Select the operating mode of the control. Choices are:

1. Current Mode

2. Velocity Mode

3. Positioning Mode (15 preset point to point moves)

Click “Download” when finished.

Figure 5-4 Operating Mode Selection Screen

5-8 Operation

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Current Parameter

Nominal and peak current values are automatically entered for the motor type.

For manual tuning only, set the control current limit value to a percentage of the

continuous current rating. For example, if your control is rated for 5A continuous

current and you desire to limit the output current to 4A, enter 80%. If you wish to

use the full output power of the control, enter 100%. Click “Download” when

finished.

Figure 5-5 Current Parameter Screen

Velocity Parameter (Refer to Help→“Unit Conversion from Linear to Rotary” for more information)

Set the velocity parameters of the control:

Refer to “Velocity Parameters (RPM → m/s)” at the end of this section.

1. Scale factor - ratio of the input voltage to output speed.

2. Minimum velocity

3. Time to maximum velocity

Click “Download” when finished.

Figure 5-6 Velocity Parameter Screen

MN1851

Operation 5-9

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Positioning

There are two ways to start a move: Software triggered or Hardware triggered.

Software Triggered

1. From the Main menu select “Setup

Operation Mode”.

2. Click on “Positioning Tab” and set Command Source to “Software”.

3. Set Motion Trigger to “Immediate” then click “Download” and “Close”.

4. From the Main menu select “Motion

Positioning”.

5. Set Motion Type to “INC” = Incremental or “ABS” = Absolute.

6. Set “Dwell Time” as desired (the wait time before the next move starts).

7. Set Motion Trigger to “Immediate”.

Note: The Motion Trigger must be set to identical values in both of these

positioning menus. Otherwise, problems will occur.

8. For Direct move, enter the position, velocity and acceleration parameters.

9. For Buffered move, select “Buffered Move” then select the buffer line number 1–15.

10. Click the Start button to begin (Quit button to stop).

Dwell

Time

Motion

Trigger

Rev

65536

Hardware Triggered

1. From the Main menu select “Setup

Operation Mode”.

2. Click on “Positioning Tab” and set Command Source to “Digital I/O’s”.

3. Set Motion Trigger to “HW Trig.” then click “Download” and “Close”.

4. From the Main menu select “Motion

Positioning”.

5. Set Motion Type to “INC” = Incremental or “ABS” = Absolute.

6. Set “Dwell Time” as desired (the wait time before the next move starts).

7. Set Motion Trigger to “HW Trig.”.

Note: The Motion Trigger must be set to identical values in both of these

positioning menus. Otherwise, problems will occur.

8. For a Direct move, enter position, velocity and acceleration parameters.

9. To start a direct move, the external trigger must be present at input X3

pin 15.

10.For a buffered move, the buffer line must be selected by MAI1–4.

11.After the buffer line is selected, the external trigger must be present at

input X3 pin 15 to start the move.

Buffer MAI4 MAI3 MAI2 MAI1

Open Open Open Open

Open Open Open Closed

Open Open Closed Open

etc.

Initialize Buffers

1. From the Main menu select “Motion

2. Select “Edit Buffer”.

Positioning”.

3. Set Motion Type, Dwell and Motion Trigger. (Software or

Hardware Triggered).

4. If you want to see the buffer contents, click on “Show Buffer”.

5. Define up to 15 moves by selecting the Buffer Line number,

then enter the position, velocity and acceleration for that move.

6. If you want the present absolute position to be stored in a

buffer, select the buffer line number, then click “Learn”.

Rev

65536

7. In the box “Edit Buffer” select the “Buffer Type”

(INC = incremental, ABS = absolute or Mixed = absolute +

incremental). Mixed is a combination of absolute and

incremental. The position value in line 0 is an absolute position and is the reference position for the other buffer lines.

Example:

The position values in the buffer lines 2 .. 15 are incremental values.

e.g. Position value in Buffer line 1=1000, Buffer line 2=10.

If you start a move with buffer line one, the control stops the move when the position 1000 is reached.

If you start a move with buffer line two the control stops the move if the position 10 reached.

If you start an incremental move with buffer line 1, then buffer line 2 the control stops the move at position 1010.

5-10 Operation

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Home

Starts a search for the machines absolute zero position. When home is found, the

control will hold the position at absolute zero. There are three Homing types:

Index channel, Capture and Actual Position.

Index Channel causes the motor shaft to rotate to a predefined

home position. The motor may rotate CW or CCW as specified

by the user. Home is located when a machine mounted switch is

activated, then the motor direction is reversed and continues until

the “0” position of the resolver is detected (or the “C” channel of

an encoder). The actual position of “Zero” relative to this point

can be set by the user by changing the offset value.

If home flag is active, clear absolute revolution counter at position

C. Set C (+ HOME.OFFSET) = Zero Position.

Brake with HOME.ACC to zero velocity. Move to Zero.

Capture

Capture is a more accurate way to define home position.

The home flag captures the closure of the machine mounted

switch. This captured position (+ HOME.OFFSET) = Zero

Position.

Rev

65536

Brake with HOME.ACC to zero velocity. Move back to Zero.

Actual position sets the Zero position to the current position.

No movement required.

Procedure to define home position.

1. Be sure the machine mounted switch (Home position) is connected to X3 pin 14.

2. Select “Homing” from the Motion menu.

3. Choose the desired homing type.

4. Choose the desired capture edge (rising or falling).

5. Choose the desired home direction, CW or CCW.

6. Choose the desired home velocity, acceleration and offset parameters.

7. Click Download.

8. Click the Start button to begin the homing definition (Quit button to stop).

9. To start homing by hardware, buffer line 0 must be selected by MAI1–4.

10. To begin the home move, the external trigger must be present at input X3 pin 15.

Limit Switches After Homing is set, the limit switches can be activated and set as desired. If the

inputs at X3–10 and X3–11 are used for machine inputs, software limits can be

used to sense when a position limit has been reached.

1. From the Main menu select “Setup

Limit Switches”.

2. Set “Hardware Limit Switches” as limits switches or as machine inputs.

3. Set the Software Limit Switches, “Active” to Yes or No. Yes activates a software

switch when the position exceeds a predefined limit. No deactivates the software

limit switch feature.

4. If software limit switches are set to Active = Yes, enter a position for the CW limit

and a position for the CW limit.

If you want to take the current absolute position as CW limit or CCW limit, click on

“Learn CW” or “Learn CCW”. The ”Learn” function only works after a successful

homing sequence.

Rev

65536

5. Click ”Download” to send the parameters to the control.

Note: The value for the CW limit must be greater than the CCW limit value.

MN1851

Operation 5-11

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Drift

If you know the input offset value of the control, you may enter the value manually.

Otherwise, you may initiate automatic offset tuning and let the control measure

and set this value. Click “Download” when finished.

Figure 5-7 Drift Parameter Screen

Autotune

You may manually tune the control (see appendix) or use autotune to allow the

control to tune itself. Click “Download” when finished.

Figure 5-8 Autotune Screen

5-12 Operation

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Main Menu Choice Descriptions

File

Open a new editor window.

Open an existing editor window.

Close the active editor window.

Close all editor windows.

Save the active editor window to a file.

Save the active editor window to a new file name .

Save all editor windows.

Print the contents of the active editor window.

Exit and close the Set up software.

Edit

Cut the selected text in the active editor window to the clipboard.

Copy the selected text in the active editor window to the clipboard.

Paste text from the clipboard at the cursor location in the active editor window.

Erase the contents of the active window.

Select everything in the active window.

Save the active editor window to a new file name .

Setup

Allows selection of the motor being used.

Allows selection of Current, Velocity or Positioning modes.

Allows PC to read the control configuration and save the parameters to a file.

Allows PC to read a configuration file and download parameters to the control.

Save the present motion buffer to a file (*.buf).

Send a saved motion buffer file (*.buf) to the control.

Select a control for communication (8 maximum in daisy chain).

Setup or read the value of the IMAS “Multi–Resolver Absolute Position Feedback”.

Enable or disable the controls second analog input.

Set CW and CCW inputs to MAI3 and MAI4 respectively.

MN1851

Operation 5-13

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Tuning

Watch

Allows manual or automatic tuning to remove offset drift.

Allows manual or automatic tuning of velocity control parameters.

Show or hide the “symbols list bar”.

Show or hide the “system parameters bar”.

Show or hide the “system status bar”.

Gather and plot motor data for two variables.

View the error log.

View the available options for the selected control.

Functions

Enable the control.

Disable the control – Active: Motor decels to stop then control disables.

Passive: Motor coasts to stop.

Cause motor to stop and maintain position.

Not available for this control.

Allow you to Jog the position of the motor.

Define up to 12 PLC statements (logical association of input / output conditions).

Motion

Search for the systems absolute zero position and hold that position.

Start a direct or buffered move.

Terminal

Windows

Allows communication with selected control using command set (see Appendix B).

Configure PC COM port 1, 2, 3 or 4 to communicate with the selected control.

Cascade display of all open software windows.

Tile display of all open software windows.

5-14 Operation

MN1851

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Help

Alphabetic glossary listing of keywords.

Search for help based on a keyword.

Get help for a specific topic.

Open the help contents.

Convert between linear and rotary motor units.

Starts the setup wizard to configure a motor and control.

Software version and release information.

PLC Program

At the main menu, select “Functions” then “PLC”. See Figure 5-9.

1. Determine which event (listed under the THEN column) you wish to use.

2. Next, click in the IF column on the same ROW as the desired event. For

example, If you are to use the MAO1 output, click in row 1 in the IF

column as shown.

3. Choose the condition for the desired event.

4. Set other event conditions as desired.

5. Activate the PLC by selecting “Enable” on PLC Status.

6. Select “Download” to update the parameter values in the control.

7. Select “Close” when finished.

Note: To reset all IF conditions to False, select “Clear” located just below the

Download selection. This will clear all condition choices.

Figure 5-9 PLC Program Menu

MN1851

Operation 5-15

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Velocity Parameters (RPM " m/s)

The velocity parameters require parameter values to be entered in RPM.

Therefore, you must convert the meters/second value for the linear motor to the

RPM value for the parameter entry.

Velocity Parameter Screen

Determine the RPM parameter value for your application from the following table.

Linear Motor

RPM

meters/second

0.00006

LMBL08E–HW Iron Core Brushless

LMBL17E–HW Iron Core Brushless

All other LMBL Iron Core Brushless

Cog Free Brushless

0.00006

0.00003

0.001016

5-16 Operation

MN1851

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Section 6

Troubleshooting

Overview

The system troubleshooting procedures involve observing the status of the

“Ready” LED, the “DB On” LED and the “Monitor” 7 segment display. The tables

in this section provide information related to the indications provided by these

devices.

Note: The “Ready” LED can display RED, YELLOW or GREEN color.

Table 6-1 Operating Mode Indications

Ready Monitor

OFF OFF

Status

Cause

Control Disabled

No Fault.

Green Decimal Control Enabled

Point

Normal operating mode. No Fault.

Red

Over-voltage fault (DC Bus)

Missing, damaged or wrong REGEN resistor.

Input voltage too high.

Red

Over-current fault.

(More than 2X peak current)

Motor leads shorted or control failure.

Load exceeds motor rating (too much

current).

Accel time set too short.

Red

Over or Under-voltage fault.

Encoder fault (or encoder fault).

Internal 15VDC supply fault.

Encoder or cable short circuit or encoder not

connected (open circuit).

Red

Electronic fusing

(also see fault 7)

Control current over-load detected by

software.

I t limit reached. After a fault is detected, Cycle time between Acceleration and

control will run at nominal output current for Deceleration is too short.

2.5 seconds then stop. The control is disabled

and the Monitor will first display “7” fault then

the “6” fault.

Control Over-Temperature

Control should be relocated to cooler area.

Add fans or air conditioning to control

cabinet.

Red

User defined fault (see PLC).

Processor “Watchdog” timeout

Reset control (turn off AC power, wait 1

minute then turn power on).

Green

Move Command not accepted.

More than two move commands have been

sent to the control. To return to normal

status, send a “Quit” or a new move

command to the control.

A non-initialized buffer line has been called

by the Machine inputs. To return to normal

status, call an initialized buffer line by

MA1-4 or send a “Quit” to the control.

Green

-l

CW Enable switch activated.

CCW Enable switch activated.

CW limit reached. Check X3-10 input.

CCW limit reached. Check X3-11 input.

Note: To protect the internal fuse, allow at least 1 minute after power down before

turning power on (power Off/On cycle).

MN1851

Troubleshooting 6-1

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Table 6-1 Operating Mode Indications Continued

Ready Monitor

Status

Cause

Red

EEPROM checksum error.

The personality must be downloaded to

EEPROM and reset the control. If problem

remains, contact Baldor.

Red

Velocity data in the EEPROM failed.

CAN bus problem detected.

The velocity data must be downloaded to

EEPROM and reset the control. If problem

remains, contact Baldor.

(“C” blinking) A communication error on the

CAN bus exists. The control is still

connected to the CAN bus.

(“C” blinking) A communication error on the

CAN bus exists. The control will attempt

resynchronization to establish the CAN bus.

Green

Red

Green

Control Disabled.

Following Error.

Disable mode activated by hardware or

software.

The following error exceeded the user

defined value of the Following Error Band.

This error is not stored and goes away when

the following error is reduced to within limits.

Green

Fatal Following Error.

Hold-Position mode.

The following error exceeded the user

defined value of the Fatal Following Error.

The following error preset level is

“Operation Mode → Pulse Follower”

This error is stored and must be cleared by

the operator, but operation continues as

long as the error is less than ±2 (±32768).

Hold mode activated by hardware or

software.

Green

Red

Green

Jog mode.

Both limit switches active.

In Position.

Jog mode activated by hardware or software.

Defective or missing limit switch or wiring.

The following error is less than the user

defined preset value.

Red

EPROM version fault.

EEPROM version fault.

The personality must be downloaded to

EEPROM and reset the control.

The personality must be downloaded to

EEPROM and reset the control.

It is important to connect the motor leads U, V and W correctly at the X1 connector

of the control. Incorrect wiring can cause erratic operation including moves at

peak force until the overcurrent limit trips. This will result in a display of “7” and a

“6” on the monitor. If erratic movement of the motor occurs, turn off power

immediately and check the connections of the motor, hall sensors and encoder.

6-2 Troubleshooting

MN1851

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Section 7

Specifications & Product Data

Identification

X A X X X –E C 4 3

Servo Control

Lin+ Drive

Logic Supply (Option)

0 = Internal 24VDC Supply

3 = External customer provided

24VDC required

Input Voltage

1=115VAC

2=230VAC

4=460/400VAC

Serial Port Type (Option)

2 = RS232

4 = RS485

Continuous Current Rating

A02 = 2 / 2.5 Amps

A05 = 5 Amps

A07 = 7.5 Amps

Bus (Option)

N = None *

A10 = 10 Amps

A15 = 15 Amps

A20 = 20 Amps

Feedback Device (Option)

E= Encoder

Enclosure Type

T= Panel Mount w/internal power supply

P= Panel Mount w/external power supply

S = Panel Mount w/internal power supply

(suitable for sharing with other controls).

Braking (Option)

R = Requires external regen resistor

B = Built-in regen resistor

O = No internal regen capability

* Note: CAN bus is not available for use with

encoder feedback devices.

MN1851

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Specifications

Description

Unit

LPx

A02T

LPx

A05T

LPx

A07T

LPx

A02S

ꢂ

LPx

A05S

ꢂ

LPx

A010S

ꢂ

LPx

A015S

ꢂ

Input Voltage Range

Nominal

Minimum

Maximum

VAC

115

132

230

184

265

Input Frequency

50/60 ±5%

Nominal Output Bus

(@ 115 / 230 input)

Nominal

Minimum

Maximum

VDC

160

180

320

176

360

Nominal Phase Current (±10%)

2.5

5.0

7.5

2.0

5.0

RMS

Peak Phase Current (±10%); for

2.4sec (+0.5s/–0sec) maximum

ꢁ

Nominal Output Power

Output Frequency

Efficiency

KVA

1.01

2.17

2.99

0.87

0 – 500

>95

2.17

4.33

5.2

Nominal Switching Frequency

Current Loop Bandwidth

Velocity Loop Bandwidth

Mounting

KHz

–

8.5

1200

10 to 200 (software selectable)

Panel

Package Size

–

Operating Altitude

Feet

(Meters)

To 3300 feet (1000 meters). Derate the continuous and

peak output current by 1.1% for each 330 feet (100

meters) above 3300 feet.

Operating Temperature

°C

+0 to 40. Above 40°C, derate the continuous and peak

output current by 2.5% per °C above 40°C. Maximum

ambient is 50°C.

Rated Storage Temperature

Humidity

°C

–25 to +70

10% to 90% non-condensing

IP20

Class of Protection (Enclosure)

Shock

10G (according to DIN IEC 68–2–6/29)

1G @ 10 – 150 Hz (according to DIN IEC 68–2–6/29)

Vibration

ꢁ

ꢂ These specifications also apply to model LPxAxxP except it has DC input (no AC input).

All values at ambient temperature of 25°C unless otherwise stated.

For safe operation, allow a clearance distance between each control and on all sides of each control.

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MN1851

Specifications Continued

Description

Unit

LP4 A02TB LP4 A05TB LP4 A07TR

LP4 A15TR LP4 A20TR

Input Voltage Range

Nominal

Minimum

Maximum

VAC

460 @ 60Hz / 400 @ 50Hz

400 / 360

528 / 480

Input Frequency

50/60 ±5%

Nominal Output Bus

(@ 400 / 460 input)

Nominal

Minimum

Maximum

VDC

565 / 678

509 / –

– / 744

Nominal Phase Current (±10%)

2.5

7.5

RMS

Peak Phase Current (±10%);

2.4s +0.5s/–0s

ꢁ

Nominal Output Power

Output Frequency

Efficiency

KVA

1.9

3.7

5.6

0 – 500

>95

11.2

14.9

Nominal Switching Frequency

Current Loop Bandwidth

Velocity Loop Bandwidth

Mounting

KHz

–

8.0

1200

10 to 200 (software selectable)

Panel

Package Size

–

Operating Altitude

Feet

(Meters)

To 3300 feet (1000 meters). Derate the continuous and

peak output current by 1.1% for each 330 feet (100

meters) above 3300 feet.

Operating Temperature

°C

+0 to 40. Above 40°C, derate the continuous and peak

output current by 2.5% per °C above 40°C. Maximum

ambient is 50°C.

Rated Storage Temperature

Humidity

°C

–25 to +70

10% to 90% non-condensing

IP20

Class of Protection (Enclosure)

Shock

10G (according to DIN IEC 68–2–6/29)

1G @ 10 – 150 Hz (according to DIN IEC 68–2–6/29)

Vibration

ꢁ

All values at ambient temperature of 25°C unless otherwise stated.

For safe operation, allow a clearance distance between each control and on all sides of each control.

MN1851

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24VDC Logic Power Input (Option LPxAxxxx–xxx3 ONLY)

Description

Unit

LPx

A02T A05T

LPx

A07T A02S A05S A10S A15S

Input Voltage (maximum ripple = ±10%)

Input Current @ 24VDC

VDC

20 – 30

0.55 – 0.8

ꢁ

1.4

2.5

RMS

Power On surge current (24VDC 100msec)

4.0

ꢁ Depends on installed options.

24VDC Logic Power Input Continued (Option LP4Axxxx–xxx3 ONLY)

Description

Unit

LP4 A02

LP4 A05

LP4 A10

LP4 A15

Input Voltage (maximum ripple = ±10%)

Input Current @ 24VDC

VDC

20 – 30

0.8

4.0

1.0

4.0

1.0

4.0

1.4

4.0

RMS

Power On surge current (24VDC 100msec)

Velocity Control

Description

Unit

VDC

bit

All

Command Input

Command Signal Resolution

Update Rate

0 to 10; or ±10

msec

500

Simulated Encoder Output

Description

Signal

Unit

All

RS422

Encoder Resolution

counts

1 : 1 (input to output)

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MN1851

Encoder Input (Feedback)

Description

Unit

All

Signal Type

RS422

Operating Mode

Maximum Input Frequency

Cycle Time

A / B Quadrature

kHz

400

msec

Serial Interface (Option LPxAXXXX–XX2X)

Description

Unit

All

Communication Type

Transmission Rate

RS232C (not galvanically isolated)

9600 (not adjustable)

Baud

Optional Interface (Option LPxAXXXX–XX4X)

Communication Type

RS485 (not galvanically isolated)

9600 (not adjustable)

Transmission Rate

Baud

Regeneration (115 / 230VAC)

Description

Unit

LPx

A02T A05T

LPx

A07T A02S A05S A10S A15S

ON:

188 - 195

373 - 383

OFF:

183 - 188

362 - 372

ON:

180

388

OFF:

200

375

Switching Threshold

115VAC

VDC

230VAC

Nominal / Peak Power (10% Duty Cycle)

Maximum Regeneration Switching Current

Maximum Load Inductance

0.25 / 2.7

100

Regeneration (400 / 460VAC)

Description

Unit

VDC

LP4 A02 LP4 A05 LP4 A07 LP4 A15 LP4 A20

ON: 794 OFF: 764

0.94 / 9.4

Switching Threshold

400/460VAC

Nominal / Peak Power (10% Duty Cycle)

Maximum Regeneration Switching Current

Maximum Load Inductance

2.9 / 29

100

MN1851

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Dimensions

Size E, G and H

Size A, B and C

1.57″

(40mm)

15.75

(400)

7.70″

(195.5mm)

15.14

(385)

6.81″

(173mm)

14.05

(357)

Depth

Size A, B, C = 6.0 (152)

0.2 (5.2) Dia.

4 Places

0.12 (3.0)

Clearance Requirements (all sizes):

0.06″ (15mm) top and bottom

0.04″ (10mm) left and right side

0.374 (9.5)

0.3

(8.0)

0.25 (6.5) Dia. 3 Places

Depth

Weight lb (kg)

Package

Size

Dimensions in (mm)

Size E, G and H = 10.4 (265)

0.59 (15)

0.90 (23)

1.08 (27.5)

1.28 (32.5)

2.6 (65)

3.3 (84)

4.3 (109)

2.17 (55)

2.6 (65)

5.3(130)

–

2.73 (1.24)

4.69 (2.13)

4.8 (2.19)

11 (5)

1.42 (36)

1.81 (46)

4.37 (111)

10.1 (4.6)

20.9 (9.5)

For safe operation, allow a clearance distance between each control and on all sides of each control.

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MN1851

Section 8

CE Guidelines

CE Declaration of Conformity

Baldor indicates that the products are only components and not ready for

immediate or instant use within the meaning of “Safety law of appliance”, “EMC

Law” or “Machine directive”.

The final mode of operation is defined only after installation into the user’s

equipment. It is the responsibility of the user to verify compliance.

The product conforms with the following standards:

DIN VDE 0160 / 05.88

Electronic equipment for use in electrical power

installations

DIN VDE 0100

Erection of power installations with nominal

voltages up to 1000V

DIN IEC 326 Teil 1 / 10.90

Design and use of printed boards

DIN VDE 0110Teil 1-2 / 01.89 Dimensioning of clearance and creepage

DIN VDE 0110Teil 20 / 08.90

EN 60529 / 10.91

distances

Degrees of protection provided by enclosures

EMC – Conformity and CE – Marking

The information contained herein is for your guidance only and does not

guarantee that the installation will meet the requirements of the council directive

89/336/EEC.

The purpose of the EEC directives is to state a minimum technical requirement

common to all the member states within the European Union. In turn, these

minimum technical requirements are intended to enhance the levels of safety both

directly and indirectly.

Council directive 89/336/EEC relating to Electro Magnetic Compliance (EMC)

indicates that it is the responsibility of the system integrator to ensure that the

entire system complies with all relative directives at the time of installing into

service.

Motors and controls are used as components of a system, per the EMC directive.

Hence all components, installation of the components, interconnection between

components, and shielding and grounding of the system as a whole determines

EMC compliance.

The CE mark does not inform the purchaser which directive the product complies

with. It rests upon the manufacturer or his authorized representative to ensure the

item in question complies fully with all the relative directives in force at the time of

installing into service, in the same way as the system integrator previously

mentioned. Remember, it is the instructions of installation and use, coupled with

the product, that comply with the directive.

Wiring of Shielded (Screened) Cables

Conductive

Clamp

Remove the outer insulation

to expose the overall screen.

MN1851

CE Guidelines 8-1

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Using CE approved components will not guarantee a CE compliant system!

1. The components used in the drive, installation methods used, materials

selected for interconnection of components are important.

2. The installation methods, interconnection materials, shielding, filtering

and grounding of the system as a whole will determine CE compliance.

3. The responsibility of CE mark compliance rests entirely with the party

who offers the end system for sale (such as an OEM or system

integrator).

Baldor products which meet the EMC directive requirements are indicated with a

“CE” mark. A duly signed CE declaration of conformity is available from Baldor.

EMC Wiring Technique

CABINET

The drawing shows an electroplated zinc coated enclosure,

which is connected to ground.

This enclosure has the following advantages:

Capacitor

– All parts mounted on the back plane are connected to ground.

– All shield (screen) connections are connected to ground.

Within the cabinet there should be a spatial separation between

power wiring (motor and AC power cables) and control wiring.

SCREEN CONNECTIONS

All connections between components must use shielded cables.

The cable shields must be connected to the enclosure. Use

conductive clamps to ensure good ground connection. With this

technique, a good ground shield can be achieved.

EMC – FILTER

The EMI or main filter should be mounted next to the power

supply (here BPS). For the connection to and from the main

filter screened cables should be used. The cable screens should

be connected to screen clamps on both sides. (Exception:

Analog Command Signal).

Grounding (Earth)

For safety reasons (VDE0160), all BALDOR components must

be connected to ground with a separate wire. The diameter of

the wire must be at minimum AWG#6 (10mmꢃ ). Ground

connections (dashed lines) must be made from the central

ground to the regen resistor enclosure and from the central

ground to the Shared Power Supply.

Y–CAPACITOR

The connection of the regeneration resistor can cause RFI (radio

frequency interference) to be very high. To minimize RFI, a

Y–capacitor is used. The capacitor should only be connected

between the dynamic brake resistor housing and terminal pin R1

(lead from Lin).

Recommendation: 0,1µF / 250VAC Type: PME265

BALDOR–Ordering–No.: ASR27104

8-2 CE Guidelines

MN1851

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EMC Installation Instructions

To ensure electromagnetic compatibility (EMC), the following installation

instructions should be completed. These steps help to reduce interference.

Consider the following:

•

Grounding of all system elements to a central ground point

Shielding of all cables and signal wires

Filtering of power lines

A proper enclosure should have the following characteristics:

A) All metal conducting parts of the enclosure must be electrically

connected to the back plane. These connections should be made with a

grounding strap from each element to a central grounding point .

ꢁ

B) Keep the power wiring (motor and power cable) and control wiring

separated. If these wires must cross, be sure they cross at 90 degrees to

minimize noise due to induction.

C) The shield connections of the signal and power cables should be

connected to the screen rails or clamps. The screen rails or clamps

should be conductive clamps fastened to the cabinet.

ꢂ

D) The cable to the regeneration resistor must be shielded. The shield must

be connected to ground at both ends.

E) The location of the AC mains filter has to be situated close to the drive

so the AC power wires are as short as possible.

F) Wires inside the enclosure should be placed as close as possible to

conducting metal, cabinet walls and plates. It is advised to terminate

unused wires to chassis ground.

ꢁ

G) To reduce ground current, use at least a 10mm²(6 AWG) solid wire for

ground connections.

ꢁ

ꢂ

Grounding in general describes all metal parts which can be connected to a protective

conductor, e.g. housing of cabinet, motor housing, etc. to a central ground point. This

central ground point is then connected to the main plant (or building) ground.

Or run as twisted pair at minimum.

Cable Screens Grounding

Cable (Twisted Pair Conductors)

Conductive Clamp – Must contact bare cable shield

and be secured to metal backplane.

MN1851

CE Guidelines 8-3

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Input Signal Cable Grounding

Control

Cable

Simulated Encoder Output Cable Grounding

Control

Cable

Controller

Encoder Input Cable Grounding

Control

A+

A–

B+

Encoder

B–

C+

C–

11 +5V

DGND

Hall 1+

Hall 1–

Hall 3+

Hall

Feedback

14 Hall 3–

Hall 2+

Hall 2–

12 Not Used

Shell (Chassis)

8-4 CE Guidelines

MN1851

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Section 9

Accessories and Options

Cables

Shielded (Screened) cable provides EMI / RFI shielding and are required for

compliance to CE regulations. All connectors and other components used must

be compatible with this shielded cable.

Connectors

Mating Connector by connector number (for spare parts)

X1 – #ASR29714 (9 pin, Female) Phoenix Part No. MVSTBW2,5/9–ST

X1 – #ASR29715 (2 pin, Female) Phoenix Part No. MVSTBW2,5/2–ST

X3 – #ASR16000 (20 pin, Female) Phoenix Part No. MVSTBR2,5/20–ST

X6 – #ASR16215 (9 pin, Male)

X7 – #ASR16215 (9 pin, Male)

X8 – #ASR23345 (9 pin, Female)

X9 – #ASR25828A (15 pin, Male)

EMC AC Mains Filter AC filters remove high frequency noise to protect the control. These filters

also prevent high frequency signals from being transmitted back onto the power

lines and help meet CE requirements. To select the proper filter, you must know

the voltage and current used by the drive and the impedance of the AC line.

For package size A, B and C (Model T – 1 Phase)

Rated

Leakage

Current mA

Weight

lbs (kg)

Filter Type

Rated Volts

Amps

Baldor No.

@ 40°C

FN 2070 - 12

250

0.4

1.61 (0.73)

30548

For package size E, G and H (Model S – 3 Phase)

Rated

Power

Losses

Watts

Leakage

Current mA

Weight

lbs (kg)

Filter Type

Rated Volts

Amps

Baldor No.

@ 40°C

FN 351 - 8 - 29

FN 351 - 16 - 29

FN 351 - 25 - 33

FN 351 - 36 - 33

FN 351 - 50 - 33

440

170

190

8.0

9.0

10.5

12.5

3.97 (1.8)

6.61 (3.0)

6.83 (3.1)

ASR24667

ASR24668

ASR24669

ASR24670

ASR24671

For package size E, G and H (Model T – 3 Phase Required for LP4xx)

Rated

Leakage

Current mA

Weight

lbs (kg)

Filter Type

Rated Volts

Amps

Baldor No.

@ 40°C

FN 3258 - 30 - 47

FN 3258 - 7 - 45

480

184.7

172.4

2.64 (1.2)

0.11 (0.5)

ASR30521

ASR30522

MN1851

Accessories & Options 9-1

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AC Filter Dimensions Continued

4.53 (115)

Depth = F

Dim.

For For Filters: FN 351 -

FN350 8 Ć 29 16 Ć 29 25 Ć 33 36 Ć 33 50 Ć 33

5.4

8.6

9.45

(139) (220) (240)

9.84

(250)

3.9

(99)

7.1

(180) (200)

4.5 5.9

7.87

(200)

4.2

5.9

(150

(105) (115) (150)

4.7

(119.5)

3.32

(84.5) (85)

3.35

4.72

(120)

3.73

(95)

3.93 5.31

(100) (135)

5.31

(135)

2.24

(57)

2.36

(60)

2.55

(65)

2.55

(65)

0.39

(10)

0.39

(10)

0.39

(10)

0.78

(20)

1.74

(19)

0.76 1.22

(19.5) (31)

0.83

(21)

AC Filter Dimensions Continued

Dim.

For Filters:

FN3358-7-45 FN3358-30-47

7.48

(190)

10.63

(270)

9.45

(240)

10.04

(255)

6.29

(160)

7.08

(180)

0.79

(20)

1.18

(30)

0.18

(4.5)

0.21

(5.4)

2.75

(70)

3.35

(85)

1.57

(40)

1.97

(50)

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MN1851

Regeneration Resistor

A regeneration resistor should be installed to dissipate energy during braking if a

Fault “1” (over-voltage) occurs.

Baldor Catalog Number

230VAC Controls

115VAC Controls

400/460VAC Controls

Control

Rated

Amps

Package

Size

Resistor

Catalog

No.

Resistor

Catalog

Watts

Resistor

Catalog

Watts

Resistor

Watts

No.

2.5

7.5

2.5

7.5

22.5

RG27

RG22

100

RG56

RG39

100

* RG68

RG68

RG27A

RG23

320

640

RG4.7

320

RG10

320

These controls have a 200 ohm, 50 watt resistor installed (internal).

An RG68 resistor can be installed in parallel for additional capability.

1.7 (45)

3.9

(100)

3.54

(90)

2.6 (65)

L = 5.5 (140) for 44 watt

8.9 (228) for 100 watt

Clearance Requirements (all sizes):

2″ (51mm) top and bottom

1″ (26mm) left and right side

13.2 (337) for 320/640 watt

For safe operation, allow a clearance distance between each control and on all sides of each control.

MN1851

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MN1851

Appendix A

Manual Tuning

TUNING

This appendix presents guidelines for manually tuning the Control. Tuning is

necessary as load mass and friction will affect the drive response. Response may

be defined as the time required for the drive to reach speed. Various software

“tools” are available to make tuning easier, such as:

ꢀ

Internal libraries (easy definition of parameters),

pole placement (the software calculates a “no–overshoot” response),

plotting routine (the drive response is displayed on a screen).

This information is as a guide only. The exact response is entirely up to the

individual performing the tuning.

TUNING GUIDELINES

The Lin+ control is easily tuned using a laptop computer and Lin+ software.

The autotuning procedure provides a stable and responsive drive, by adjusting the

parameter values for velocity loop tuning. The autotuning procedure will work for

most applications. Manual tuning however may be desirable when very tight

response is required. These autotune values provide a basic reference starting

point for any additional adjustments.

General Tuning Rules

Tune the velocity loop first. Then tune the position loop. The velocity loop should

always be tuned before the position loop, as velocity loop tuning affects the

position loop response.

Manual Tuning

Manual tuning may be used to adjust the response of the control. Two types of

manual tuning are possible: velocity tuning and position tuning (for a system which

has been set up to operate in the pulse/direction mode).

Initial Settings Required

Before manual tuning can begin, the motor, control, and operating mode must be

set. Make sure that these parameters have been selected and downloaded.

MN1851

Manual Tuning A-1

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There are 7 parts to the setup procedure:

Motor

Select your motor from the library. First, select the general motor type. Then

select your specific motor. All of the parameters will be entered if your motor is

on the list. If your motor is not on the list, you may define a motor and all of its

parameters. Click “Download” when finished.

Figure A-10 Motor Selection Screen

Control

The “Control ID” is automatically selected. All of the parameters will be entered if

your control is on the list. Click “Download” when finished.

Figure A-11 Control Selection Screen

A-2 Manual Tuning

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After the motor and control are selected, click the General menu and note that the values are filed in.

Encoder Feedback

Encoder Resolution

counts / meter

LMBLxx–A or

LMBLxx–B

LMBLxx–E

LMCF (All)

micron

counts / mm

1143

2286

4572

11430

762

1524

3048

7620

15240

50,000

100

200

500

1,000

2,000

10,000

1143

2286

5715

11430

100,000

200,000

500,000

1,000,000

2,000,000

10,000,000

0.5

0.1

For encoders other than those listed, calculate the encoder resolution as follows:

(An example of a 5 micron encoder with an LMCF motor is given).

motor pitch (mm)

60.96

Encoder Feedback +

+ 3048

ǒ Ǔ_x4

Ǔ_x4

(

)

200

counts per mm

Where:

motor pitch = 45.72 mm (LMBLxx–A or B series)

motor pitch = 91.44 mm (LMBLxx–E series)

motor pitch = 60.96 mm (LMCF cog free motors)

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Manual Tuning A-3

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Operating Mode Select the operating mode of the control. Choices are:

1. Current Mode

2. Velocity Mode

3. Positioning Mode (15 preset point to point moves)

Click “Download” when finished.

Figure A-12 Operating Mode Selection Screen

Current Parameter

Nominal and peak current values are automatically entered for the motor type.

For manual tuning only, set the control current limit value to a percentage of the

continuous current rating. For example, if your control is rated for 5A continuous

current and you desire to limit the output current to 4A, enter 80%. If you wish to

use the full output power of the control, enter 100%. Click “Download” when

finished.

Figure A-13 Current Parameter Screen

A-4 Manual Tuning

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Velocity Parameter (Refer to Help→“Unit Conversion from Linear to Rotary” for more information)

Set the velocity parameters of the control:

Refer to “Velocity Parameters (RPM → m/s)” at the end of this section.

1. Scale factor - ratio of the input voltage to output speed.

2. Minimum velocity

3. Time to maximum velocity

Click “Download” when finished.

Figure A-14 Velocity Parameter Screen

Drift

If you know the input offset value of the control, you may enter the value manually.

Otherwise, you may initiate automatic offset tuning and let the control measure

and set this value. Click “Download” when finished.

Figure A-15 Drift Parameter Screen

MN1851

Manual Tuning A-5

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Manual Tuning The first six steps of the manual tuning process are shown in Figure A-16.

Figure A-16 Select Manual Tuning

Select Pole

Placement

Select

Tuning

Enter either Inertia

or Inertia Ratio

(the other value is

automatically

Select Manual

Tuning

entered).

Select OK

Enter a value

for Bandwidth

Click on

Download

If “Pole Placement” method of adjustment is selected, you would enter values for

“inertia” or “inertia ratio”. Enter either one, and the other value will automatically

be entered. This is the easiest and recommended method of adjustment.

If “PI” method of adjustment is selected, you would enter values for GV–gain and

GVI–gain. This is an advanced method of adjustment, and is more difficult.

Both methods of adjustment provide identical results. PI method is described

later in this section.

POLE PLACEMENT

Pole placement provides a “no–overshoot response” when tuned for the correct

inertia. This is the easiest and recommended method of adjustment.

Inertia

Click in the “Load” block and enter the value in Kg–cm . The range is from

0 to 133 Kg–cm . Pole placement tuning requires conversion of load mass

(weight) and motor mass (weight) values to inertia in Kg–cm .

polepitch²x (motor lbs. ) load lbs)

Kg * cm²

₊ǒ

Ǔ₁₀₀

4p²

Where: pole pitch (mm) LMBL=45.72; LMBLH=91.44; and LMCF=60.96.

If the inertia is under–estimated, the system will be stable. If the inertia is

over–estimated, the system will vibrate or oscillate due to too much system gain.

If the load inertia is unknown, estimate low. It is recommended to start with “load

inertia = 0.2”, which represents a stable condition.

If you entered the “inertia ratio”, you should enter a value representing the ratio of

reflected load inertia to motor inertia. The range is from 0 to 100.

A-6 Manual Tuning

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Response

Move to the “Response” block and place the cursor in the “bandwidth” window,

and click on it.

The “bandwidth” is a measure of the range over which the system can respond. It

is expressed in frequency or Hertz. This parameter controls the “rise time” of the

system. It does not effect overshoot.

It is recommended that bandwidth is increased only if higher dynamic response is

required. Increase the bandwidth and observe (go to plotting of move) the

“velocity” and “command current”, until current reaches maximum value, then back

off to 80%. The range is from 10–200.

The next step, would be to verify that the value you entered, provides for adequate

system response. You can check this out, by having the software move the

equipment and plot the response. Proceed to “Plotting of Move”.

Figure A-17 Inertia and Load Response Examples

Over–Estimated

Under–Estimated

Good Response

1500

1000

500

1500

1000

500

1500

1000

500

–500

Time

Velocity Command / Velocity

Time

Velocity Command / Velocity

Tracking factor

The tracking factor parameter controls the amount of tracking versus overshoot.

The range is 0 to 200. A “tracking factor” of “0” generates no overshoot. A

“tracking factor” of 200 results in a PI equivalent control (i.e. with overshoot).

The next step, would be to verify that the values you entered, provides for

adequate system response. You can check this out, by having the software move

the equipment and plot the response. Proceed to “Plotting of Move”.

Click in the “Tracking” block and enter the desired adjustment value. This

adjustment is used for applications that require improved tracking (or following)

capability, to improve (or reduce) following error.

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Manual Tuning A-7

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PI COMPENSATION

PI method of adjustment allows adjustment of the acceleration ramp time and

overshoot values. If “PI” Compensation is selected, you would enter values for

GV–gain and GVI–gain. Select PI Compensation instead of Pole Placement on

the menu shown in Figure A-16.

This is an advanced method of adjustment for use by servo engineers. The “pole

placement” method is easier to use for most applications and is recommended.

Figure A-18 PI Compensation Menu

GVI–Gain

The “Integral Gain (GVI)” is the “integral gain” of the velocity loop. It controls 1)

the stiffness (the ability to reject load disturbances), and 2) the amount of offset, or

following error, during steady state conditions (velocity command or load does not

change). The adjustable range is from 0 to 32767.

1. Click on the “Integral Gain (GVI)” box and enter a value. You may want

to begin with the default values – click on the “default” button and

answer “yes. To increase stiffness, increase the GVI–gain setting. It

rejects load disturbance and compensates for system friction.

To reduce following error, or offset, during steady state running

conditions, increase the GVI–gain setting. To reduce the overshoot,

reduce the GVI–gain setting.

Note: As you increase the value for GVI, the system will become unstable, i.e.

oscillate. You may hear an audible noise. Decrease the GVI value

immediately. Continue to decrease the value until the noise is no longer

heard, then decrease it another 10%.

2. Next, verify that the value you entered provides adequate system

response. To verify, have the software move the equipment and plot the

response. Proceed to “Plotting of Move”.

A-8 Manual Tuning

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GV–Gain

This is the “proportional gain” of the velocity loop. It controls the gain of the

velocity loop by adjusting the controls response to the error. The error is the

difference between the commanded and actual velocity. The higher the gain, the

smaller the difference (or error). The adjustable range is from 0 to 32767.

1. Click in the “Proportional Gain (GV)” box. Enter a value for GV. You

may want to begin with the default values – click on the “default” button

and answer “yes”.

Note: The default values may not be best for all applications, it may be too high. If

the system is noisy (displays an audible noise) decrease this value

immediately.

To obtain a faster rise time, increase the GV–gain setting. The ramp up

time (to operating speed) will be faster. As you increase the value for

GV, the system may have very large overshoots and become unstable.

Decrease the GV value immediately. Then decrease it another 10%.

2. Next, verify that the value you entered provides adequate system

response. You can check this out, by having the software move the

equipment and plot the response. Proceed to “Plotting of Move”.

MN1851

Manual Tuning A-9

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Plotting of Move

At any time after the setup parameters are downloaded to the control, you may

proceed to the plotting routine. Plot allows you to verify that the parameter values

you entered provide adequate system response.

In this section, you will inform the software what move to perform. You will enter

time (for the move), direction (CW or CCW) and speed. It is recommended that

you start with low speeds and short time periods (i.e. 0.5 sec) until you get a feel

for your system.

Control Window

Enter the parameter values using the Pole Placement menu and click the

“Download” button. Refer to Figure A-16 for details.

Figure A-19 Record & Plot Menu

3 Select 2P variable

2 Select 1P variable

Overshoot

1.0

0.8

0.6

0.4

0.2

Enter

Jog

values

Click Record

Good Response

(Constant Acceleration)

0.04 0.08 0.13 0.17 0.21 0.25 0.29 0.33 0.38 0.42

Time (sec)

Click on CW or CCW

Graphic Screen

Click on the “Record” button to activate a graphic screen.

Move the cursor to the “plot variable” window (1P and 2P windows = 1 and 2

Plot windows) and choose one or two variables which will be drawn on the plot

(such as velocity, velocity command, etc.).

Jog Block

Click on “velocity” in the Jog window. Enter a value to run the motor. A low speed

is recommended.

Click on “duration” in the Jog window. Choose a duration time (range is 0.01 to 32

seconds). Recommend that you use a short time period (i.e. 0.5 sec).

Initiate Move

Click on either the “CW” or “CCW“ button. This selects the direction of movement

and the software will plot the variables you selected. Observe the performance

plot. If it meets your expectations, you are finished. If you wish to alter

parameters and view another plot, repeat the above procedure.

A-10 Manual Tuning

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Appendix B

Command Set

Lin – ASCII – Command – Set

General

Lin controls use the RS232 communication port (optional RS485) as the Interface.

This document describes existing LinDrive/Lin+Drive ASCII terminal commands

for setup and control of the servo drive.

There are three types of ASCII commands:

1. Parameters. Without parameters, these commands are handled as

queries. To modify the value of a parameter, the value to be set is added

to the command. Some parameters may only be modified under special

drive conditions. Query is not restricted to special drive conditions.

2. Variables or system constants. System variables are internally updated

in the control, and can not be changed by the user. System constants

are fixed (e.g. by hardware) system properties. Query of variables or

constants is not restricted to special drive conditions.

3. Methods support control of the system. Methods may or may not require

a parameter. Commanding a method to be executed is in some cases

also restricted to special drive conditions. Each command is defined as

a special mnemonic, which is used for query of parameters, variables

and constants as well as for parameter less methods. Modifying a

parameter respectively commanding a parameterized method is done by

simply adding the parameter value to the mnemonic.

Syntax

General structure of the ASCII command

Each ASCII command is structured in principle according to “Mnemonic”

“Delimiter” “Parameter List”. Syntax allows multiple commands in the same string

separated by blank space delimiter. Each command string is terminated by a

carriage return. i.e. generally, a command string looks like:

“Mnemonic1” “Delimiter” “Parameter List1”... “MnemonicN” “Delimiter” “Parameter ListN” [CR]

Up to 80 characters are allowed at the command prompt.

For each correct command the control returns a “>” sign (ASCII 3E hex) as an

acknowledge. If a command is not accepted, the reason for the command revision

is sent instead of the acknowledge.

Mnemonics

The mnemonics are not case sensitive. Most of the ASCII commands are grouped

into functional groups. The Mnemonics of the commands of parameters, variables

and methods of these function groups have a prefix, which indicate the function

and, separated by the dot, the command identifier. The general structure of

Function Group Commands is as follows:

“Functional Group”.“Command Identifier” “Delimiter”“Parameter list” [CR].

e.g.SYS.MOD 1

All prefixed commands are drive parameters. The delimiter between mnemonic

and parameter of these commands is either blank space or equal sign (one of both

is mandatory). To query all parameters and variables of a function group, the

function group prefix followed by dot and asterisk can be used:

“Functional Group”.*

e.g.SYS.*

MN1851

Command Set B-1

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Upon receiving a command, the controller answers by sending the function

parameter and variable list. General purpose commands are not prefixed. These

commands only consist of the command identifier and therefore need the general

structure

“Command Identifier” [“Delimiter”]“Parameter list” [CR]

With the non–prefixed commands, no delimiter is mandatory, but the blank space

can be inserted optional.

Parameters and Units

The parameters used within the ASCII commands are integers of different sizes:

INTEGER: 16 bit value ranged 8000.. 7FFF hex ( –215.. +215–1 dec. )

UNSIGNED INT: 16 bit value ranged 0.. FFFF hex (0..216–1 dec.)

LONG: 32 bit value ranged 80000000.. 7FFFFFFF hex ( –231.. +231–1 dec.)

UNSIGNED LONG: 32 bit value ranged 0.. FFFFFFFF hex ( 0.. +232–1 dec.)

STRINGS: Strings of ASCII characters (0 .. FF hex).

A string parameter is preceded and terminated with double quote character (″)!

Commands, which accept or require more than one parameter, use parameter lists

which are composed of the sequence of parameters necessary, with the delimiters

blank space or comma between.

The number of the parameter can be given as decimal value or as hexadecimal

value. Hexadecimal values are preceded by one or more 0–character (30 hex),

while decimal values are taken as default without indicator.

The ASCII command set description below, also shows the units of the parameters

respectively indicate parameters with no units. For best resolution within the

accepted range, the units of the parameters are not chosen according to SI, but

most of the units used are SI units multiplied with potentials of 10.

In some cases, units are related to system properties and can therefore not be

same for all applications. The following is an example of how to calculate Counts

and Limits, used with positioning and homing:

Encoder

Pulses/rev.

1000

Resolution

Limits

225–1

226–1

227–1

228–1

4000

1500

6000

2000

8000

2500

10000

20000

24000

5000

6000

The resolution of all linear encoders is between ± 2¹³and ± 2¹⁴.

B-2 Command Set

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Start–up with Terminal Communication and Command Examples

1. Select the correct COM port NR. and set the following at your PC:

– Baud Rate: 9600

– Protocol (Hardware, Xon/Xoff, None): OFF

– Data Length: 8 Bit

–Stop Bit: 1

–Parity: NONE

2. Set the control address. The address is set by switch AS1-1 to AS1-4.

To locate a control, type “A” then the control address, e.g. A3 (searches

for a control with address 3). If a drive with address “3” is running and

connected to the PC COM, this drive answers with the prompt sign “>” to

indicate that communication to the drive is established. Additional

command may be sent to the A3 control.

Entering an address command with another address number, will

terminate communication with control A3. If more than one drive is

connected to the PC COM port, typing the address of another drive

connected, will change communication path to this one.

3. Communication is now established and the ASCII commands may be

used.

Note: If more than one drive is connected to the PC port, correct communication

can only be established if all drives have different addresses.

4. Error messages (from the control)

If the syntax and the values of the ASCII command string are correct, the

control accepts the command and answers by sending “<” as

acknowledge. If any error within the transferred command was found,

the control rejects the command by sending a correlated error string.

There are following terminal–reported errors :

– SYNTAX ERROR: invalid character;

– EXECUTION ERROR: invalid command;

– RANGE ERROR: invalid parameter value;

– INVALID EXE CONTEXT: invalid command or operation mode;

– control DESIGN FAILURE: invalid control design;

– INPUT BUFFER OVERFLOW: command line exceeded 80 char.;

– TOO MANY PARAMETERS: too many parameters;

– REQ. PARAMETER MISSED: not enough parameters;

In case of an error, the event protocol will return a NAK ( negative

acknowledge ) to a user. The error check can only provide a syntax and

range check for each command. Error checking will not check a wrong

parameter value that may degrade system performance.

MN1851

Command Set B-3

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General Settings

System Constants

Command

SYS.POWER

SYS.FBACK

Description

Queries dip switch ID, (see DRV.ID)

Queries system feedback

Range

Common

Lev I

LevII

0:1

(encoder / resolver)as defined by ALTERA

SYS.INFO

(SYS.VER)

SYS.LEVEL

SYS.OPT

Queries firmware version with naming and

version number as ASCII string

Queries level version

ASCII letters

ꢁ

1 : 2

0 : 7

ꢂ

Queries ALTERA option(s)X

SYS.STTS

(COM.ADDR)

Most Significant–Word of SYS.STTS gives

control address of (LS–Word s. below).

Control Address is set per Dip Switch

(MS-Word of

SYS.STTS)

ꢁ

Firmware versions RES–1.xx, ENC–1.xx SYS.VER is equal to

SYS.INFO , downward versions: answer to SYS.VER is unsigned integer

version number only

ꢂ

Firmware versions RES–1.xx, ENC–1.xx only (no version)

Basic System Parameters

Motor Parameters (MTR. prefixed)

Command

Description

Units

Range

Default E / Par. set

MTR.IDX

D3S/LinDrive/Lin+Drive Setup library

defined Motor Index

Unsign Int.

E / P

MTR.IND

MTR.INOM

MTR.IPEAK

MTR.JM

MTR.MPLS

MTR.RES

MTR.KT

Motor inductance

Motor nominal current

Motor peak

Motor Inertia

Motor number of poles

Motor resistance

0.01 H

0.1 A

0.01 Kg-cm²

1 : 65535

E / P

0.01 Ohm

0.001 Nm/A

Motor torque constant (torque to RMS

phase current)

MTR.KV

MTR.NAME

Motor bemf constant

Motor string name in ASCII characters

V/1000RPM

1 : 65535

ASCII char.

E / P

Drive Parameters (typical DRV. prefixed)

Command

Description

Units

Range

Default E / Par. set

DRV.BUSAPP Application bus voltage

Unsign. Int.

100 : 300

Unsign. Int.

E / P

DRV.BUSOV

DRV.BUSV

DRV.I2T

Application bus over voltage

Drive Bus voltage

I2t warning time

0.01 s

DRV.ID

Drive ID (EEPROM value) to be checked

against power ID ( dip switch ) in case of

Version Error ( “U” )

DRV.IDX

DRV.INOM

DRV.IPEAK

LinDrive/Lin+Drive Setup library index

Drive nominal current

Drivepeak current

Unsign. Int.

E / P

0.1 A

B-4 Command Set

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Additional System parameters (mostly SYS.* prefixed)

Velocity Feedback Parameters:

Command

Description

Units

Range

Default E / Par. set

MTR.RPLS

Resolver number of poles

–

1 : 65535

1 : 16384

E / P

SYS.ENCRES Queries / updates encoder feedback

resolution for encoder motors (in pulses

per revolution, i.e. before quadrature)

pulses/rev.

SYS.ENCTBL Queries encoder motor hall table type.

–

0 : 2

E / P

Firmware versions RES–1.xx, ENC–1.xx only Encoder Simulation Output Parameter:

Command

Description

Units

Range

Default E / Par. set

SYS.ENC

Encoder simulation resolution. Range de-

pends on maximum velocity (VEL.MXRPM)

Up to 1500 RPM: 512 :4096; above 1500

RPM: 512 only. Downward versions to

80112d1000, (incl.) also provide the deci-

mal values.

Puls/Rev.

512 : 1024

E /

(2048 : 4096)

(500, 1000

1250, 1500)

Software Limit Switches Parameters:

Command

Description

Units

Range

Default E / Par. set

LIM.CCW

Absolute Position of Software Limit Switch

CCW (related to1 Home, activated after

Homing only)

Counts 1

–Limit:Limit 1

E /

LIM.CW

LIM.ON

Absolute Position of Software Limit Switch

CW (related to1 Home, activated after

Homing only)

Counts 1

–Limit:Limit 1

Deactivate / activate Software Limit

Switches (independent from Hardware

Limit Switches)

–

0 (off)

1 (on)

1 Counts and Limits depend on Resolver and Encoder

resolution

Variables: NONE

Software Limit Switches Methods:

Command

Description

Parameter

Units

Range

LIM.LRN

Take actual position as software limit for CW respectively

CCW

0: CW

1: CCW

–

0 : 1

MN1851

Command Set B-5

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PLC Parameters:

Command Description

Units

Range

Default E / Par. set

PLC.LINE

Defines PLC statement :IF [input]=TRUE,

num: 0 : 12

action: s. left

lines:

input: s. left

lines:

PLC disabled,

all lines:

input = false

E / P

THEN [action] set/started, with syntax

PLC.LINE [num] [action] [input] [num]

[action] – PLC line number, and string

parameter for PLC action, fixed to line

number:

0 “ENABLE” (PLC enable)

1 “MAO1” (Digital Input MAO1)

2 “MAO2” (Digital Input MAO2)

3 “MAO3” (Digital Input MAO3, if available)

4 “MAO4” (Digital Input MAO4, if available)

5 “RELAY” (

6 “USRERR” (Error “9”)

7 “FRST” (Fault Reset)

8 “DISA” (Disable active, s. 0)

9 “DISP” (Disable active, s. 0)

10 “HOLD” (Hold–status, s. 0)

11 “JOG” (JOG function, s. 0)

12 “GEAR”

[input] – string parameter with enumerated

values:

“FALSE”: Always false, i.e. switched off

“CW”, “CCW”: Hardware or Software

Limit Switches

“MAI1”, “MAI2 ”: Digital Inputs

“MAI3”, “MAI4”: Digital Inputs (if

available)

“DRVOT”,“MTROT”: Drive respectively

motor overtemperature

“I2tWRN”: I²T–warning (error “7”)

“TRUE”: Always true, i.e. switched ON

“INPOS”, “FEWRN”, “FEFAT”: Flags of

Position Controller in position,

following error warning, following error

limit (s. 0)

BADMOV: Not initialized motion buffer

line commanded (s. 0)

“MOTRDY”, “MOTNRDY”: Positioning

finished respectively in process

Note: Choice of Inputs and Outputs is not completely available in all configurations

Variables: NONE

PLC Methods:

Command

Description

Parameter

Units

Range

PLC

Enables (“on”) / disables (“off”) / clears and disables (“clr”)

PLC. PLC on and off command is stored in PLC buffer line

“on”, (“off”), “clr”

B-6 Command Set

MN1851

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OCI Interface Parameters:

Command Description

Units

Range

Default

Significant

E / Par. set

CAN.BD

CAN.ID

(The range check is: Invalid execute

context.) It should be: “Range error”

(The range check is: Invalid execute

context.)

10 : 1000

1 : 127

–

Digital Interface Parameters:

Command

Description

Units

Range

Default

E / Par. set

MOT.INCCW Defines digital Input CCW/MAI4 as CCW

(0) or as MAI4 (1) for positioning

–

0 : 1

E / P

MOT.INCW

Defines digital Input CW/MAI3 as CW (0)

or as MAI3 for positioning

–

0 : 1

E / P

Analog Interface Parameters:

Command

Description

Units

Range

Default

E / Par. set

SYS.RFOFS Query / updates system reference offset of mV

–100000 :

100000

E / –

(RFOFS)

the analog input, with analog input range

±10V (RFOFS only supports query)

Note: Scaling of the analog input command is offered with firmware versions

RES–1.xx, ENC–1.xx. Because scaling parameters are different for current

mode and velocity mode, these parameters are described under 0 (current

command scaling) respectively 0 (velocity command scaling).

MN1851

Command Set B-7

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System Variables

General Variables:

Command Description

Units

Hrs

–

Range

Unsign.Word

Long Word

Default

E / Par. set

DRV.LIFE

Drive life time.

E / –

– / –

SYS.STTS Queries system status as a double word,

where Word High word is drive address

(set by Dip switches)

Low word: bit array “OR”ed with system

status:

0x0001: Disable SW

0x0002: Disable HW

0x0004: CW

0x0008: CCW

0x0010: Fault exists

0x0020: Warning exits

0x0040: Hold mode

0x0080: Burn in Status

0x0100: Jog Status

0x0200: Enable

0x0400: Jog Non Zero Velocity

0x0800: n/a

0x1000: HW source for Disable HW:

0x2000: PLC active

Queries / modifications of Fault Listing Variables:

Command

Description

Units

Range

Default

E / Par. set

FAULT

Gets system fault string list, response is

multiple string X1

–

– / –

FLT

Gets system fault string list, response is

error numberX1

Gets system fault log list X1

Gets system fault log number list X1

Gets system warning list as multiple strings

–

– / –

LOG, LG

WRN

–

– / –

SYS.FAULT Queries system fault as ID of the most

significant fault

SYS.WRN

Queries system warnings. The most

important warning will be reported as ID

–

– / –

X1 Possible Faults

Display

X1 Fault

Description

“USER ERROR”

“OVERCURRENT”

“OVERVOLTAGE”

“FEEDBACK”

“POWER_FAIL”

“BPS”

PLC user generated error. Displays ’9’.

over current. Displays ’3’.

3– bus over voltage. Displays ’1’.

resolver/encoder position feedback error. Displays ’5’.

power fail. Displays ’2’.

BPS fail. Displays ’2’.

“OVER_15_VOLTAGE”

±15v over voltage. +15v line is more then 17v or –15v line is

more than –17v. Displays ’4’.

“UNDER_15_VOLTAGE”

±15v under voltage. +15v line is less then 12v or –15v line is

less than –12v. Displays ’4’.

“EEPROM_ERROR”

“EPROM_ERROR”

“RAM_ERROR”

N.I

RAM integrity error. Displays ’9’.

B-8 Command Set

MN1851

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X1 Possible Faults – Continued

Display

“FAULT_RELAY”

“EAF”

X1 Fault

Description

when fault relay is closed. Displays ’9’.

N.I

“MISSING INT”

“POWER_ID”

“CW_CCW”

N.I

DRV.ID != SYS.POWER. Displays small ’u’.

Both limit switches are on. Displays ’L’.

Control design fail. Displays small ’c’.

“DESIGN_FAILURE”

“EE_CLEARED”

EEPROM header stamp was not detected.

Displays big ’U’

“EE_INTEGRITY”

“EAF Drive Temp”

“EAF Motor Temp”

“EAF Drive I2T”

“EAF Motor I2T”

EEPROM footer stamp was not detected. Displays big ’A’.

EAF drive over temperature error. Displays ’6’.

EAF motor over temperature error. Displays ’6’.

EAF drive I²T error. Displays ’6’.

EAF motor I²T error. Displays ’6’.

Methods:

Command

FRST

Description

Parameter

–

Units

–

Range

–

Resets system faults if allowed. Reset is not allowed, if

error is still pending.

LOGRST

Resets system fault log

–

Communication Settings

Parameter:

Command Description

Units

Range

Default

E / Par. set

ECHO

Disable / enable echoing for input

characters

–

“ON/OFF

“ON”

– / –

PROMPT

TALK

Enables / disables terminal prompt

Enables / Disables terminal error

notification

–

“ON/OFF

“ON”

– / –

Variable:

Command Description

Units

Range

Default

E / Par. set

COM.STTS Queries the most recent communication

handler error

–

0:65535

– / –

Methods:

Command

Description

Parameter

Address

Units

–

Range

0 : 7

Opens communication to the drive, called by its address

(the addresses a constant, which can be queried by

COM.ADDR or SYS.STTS)

MN1851

Command Set B-9

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Queries of System Variables, Status, Faults

Single Values:

Command

Description

Units

Range

Default

E / Par. set

ACTU

CUR.ACTU

ACTV

CUR.ACTV

ANAIN

SYS.ANAIN

POS,

RPOS,

Query for actual current U

0.01 A

– / –

Query for actual current V

Query for analog input

0.01 A

Queries motor position

SYS.POS

POS.POS

VEL

Resolver bits / encoder counts

Query feedback velocity

RPM

VEL.VEL

Data Record ( REC. prefixed ) Parameters:

Command

Description

Units

Range

Default

E / Par. set

REC.GAP

Specify gap between recording samples in

number of servo loops (0.5 ms)

–

0 : 65535

E / –

REC.TIME

REC.VAR1,

REC.VAR2

Specify recording time

0.5 ms

–

1:65535

s. left

1000

“POS”

“VEL”

– / –

Specify recording variable: “POS”: position,

“REF”: velocity command, “VEL”: velocity,

“CUR”: current command, “ACTU”: current

U, “ACTV”: current V, “FE”: position

following error.

Data Record ( REC. prefixed ) Variable:

Command

Description

Units

Range

Default

E / Par. set

REC.VFREE1 Specify recording address for REC.VAR1

REC.VFREE1 Specify recording address for REC.VAR2

–

Unsign.Long

– / –

Methods:

Command

Description

Parameter

Units

Range

GETD

GETX

Gets data from recording buffer in decimal form.

Gets data from recording buffer in hex form, data buffer is

cleared afterwards

–

REC

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

start / stop

–

“on”, “off”

B-10 Command Set

MN1851

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Memory related methods (Queries / modifications):

RAM related:

Command

Description

Parameter Range

BDUMP

Gets hexadecimal memory dump in bytes

Memory

address

Unsign.Int.

BMEMH

BMEMD

WDUMP

WMEMH

WMEMD

Query / Update memory byte in hex

Query / Update memory byte in dec

Get hexadecimal memory dump in words

Memory

address

Memory

address

Memory

address

Unsign.Int.

Query / update hexadecimal word memory Memory

location

Query / update decimal word memory

address

Memory

address

EEPROM related:

Command

Description

Parameter Range

CLEAR

Clear EEPROM content and drive life time

variable by filling it with 0xFFFF (except

code for Level I/II; Baldor/HD)

EEDUMP

Display all EEPROM data (256 words).

Uploads EEPROM data to terminal

(ASCII file)

Operation Mode Control

Normal Modes Parameters:

Command

SYS.MOD

MODE

Description

Queries / updates system operating mode

Where 0 – current, 1 – velocity,

2 – position

Units

–

Range

0 : 3

Default

E / Par. set

E / P

Normal Modes Variables:

Command

Description

Units

–

Range

Default

Units

E / Par. set

STATUS

Queries drive status: DIS_HW, DIS_SW,

ENABLE, BURN_IN, FAULT

– / –

Normal Modes Methods:

Command

Description

Parameter

Range

DIS

Disables drive passively

DISA

ENA

Disables drive actively, brake to stop, then disable control

Enables drive

HOLD

QUIT

Stops drive and maintains position after stop

STOP

Stops drive and maintains position after stop

(CONT will resume the interrupted move)

CONT

Continues interrupted move (interrupted by STOP)

Note: In velocity and current mode, braking is with acceleration = zero, in

positioning mode (SYS.MOD 3), braking is with acceleration = MOT.ACC.

MN1851

Command Set B-11

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Sys.mod 0:

Current mode Parameters:

Command

Description

Units

Range

Default

E / Par. set

CUR.BEMF

Back EMF voltage compensation, in

percentage of nominal motor value Ke.

Queries / updates application peak current

in percentage of DRV.IPEAK

Queries / updates application nominal

current in percentage of DRV.IPEAK

Queries / updates mantissa of Torque

Optimizer: Phase Advance or BEMF

Compensation

80 : 120

100

E / P

CUR.IPEAK

CUR.INOM

CUR.TOFR

0 : 1000

0 : 500

100

0x0f00 :

0x1100

CUR.TOSH

CUR.SCAL

Queries / updates Torque Optimizer Shift

coefficient

Corresponding current value to analog

input voltage CUR.VOLT for setting of

analog input scaling

E / P

0.1 % of

CUR.IP

100 : 10000

1000

100

CUR.VOLT

Corresponding analog input voltage to

current value CUR.SCAL for setting of

analog input scaling

0.1 VEAK

1 : 100

E / P

Current mode Variables:

Command

CUR.CUR

CUR

Description

Query for actual current command

Units

Range

0 : 65535

Default

E / Par. set

E / –

Current mode Methods:

Command

Description

Parameter

Units

Range

CALC

Calculate current control parameters from MTR.*, DRV.* and torque

–10000 :

10000

CUR.* parameters.

equivalent

Commanding digital current command (torque equivalent)

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

B-12 Command Set

MN1851

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Sys.mod 1 & Sys.mod 3

Velocity mode Parameters:

Command

Description

Units

Range

Default

E / Par. set

VEL.ACC

Queries /updates velocity acceleration

limits ( time to max. velocity ).

RPM/ms

0 : 7500

E / P

VEL.ADZON

VEL.BW

Queries / updates min. velocity in RPM

Queries / updates velocity control band

width

RPM

0 : Max_RPM

10 : 200

E / P

VEL.CTRL

VEL.GV

Queries / updates velocity control type

Queries / updates velocity control

proportional gain

0, 2

0 : 32767

E / P

VEL.GVI

Queries / updates velocity control integral

gain

Load inertial, set in % of motor inertia

MTR.JM

0 : 32767

0 : 10000

E / P

VEL.INRT

VEL.LPFA

VEL.LPFB

Bandwidth of single velocity control filter.

Second Bandwidth of double velocity

control filter (First s. VEL.LPFA).

20 : 800

500

E / P

VEL.LPFMOD Type of velocity control filter (0: no filter, 1:

filter with bandwidth VEL.LPFA, 2: double

filter with bandwidths VEL.LPFA and

VEL.LPFB

–

0 : 20

E / P

VEL.TRKFCT Queries / updates velocity control tracking

factor

VEL.MXRPM Queries / updates velocity control MAX

RPM value. The limit for this value is

–32768 : 32767

E / P

RPM

1000 : (7500)

internally calculated by the Application Bus

Voltage and the Motor Voltage Constant.

Absolute limit for velocity is 7500 RPM.

VEL.SCAL

VEL.VOLT

Corresponding velocity value to analog

input voltage VEL.VOLT for setting of

analog input scaling.

RPM

0.1 V

100 : 32767

1 : 100

E / P

Corresponding analog input voltage to

velocity value VEL.SCAL for setting of

analog input scaling

Velocity mode Variables:

Command

Description

Units

Range

Default

E / Par. set

VEL.VREF

Queries velocity reference, commanded at RPM

analog input

– / –

VREF

– / –

Velocity mode Methods:

Command

Description

Parameter

Units

Range

VCRST

Velocity controller parameters reset to default values: Pole

Placement controller: BW = 20 Hz, TRFCT = 0 , INRT = 0;

PI controller: GV, GVI equivalent to Bandwidth 20 Hz

MN1851

Command Set B-13

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Jog

Parameters:

Command

JOG.TIME

JOG.TYPE

JOG.VEL

Description

Jog time in milliseconds

0 – continuous, 1 – step, 2 – square wave

Jog velocity in RPM, limited to maximum

velocity VEL.MXRPM.

Units

–

Range

3432448

0 : 2

Default

E / Par. set

E / –

VEL.MXRPM

Methods:

Command

JOG

Description

Parameter

Direction

–

Units

–

Range

“+”, “–”

–

Commanding a Jog according to JOG.* parameters, with

Stops jog and returns to previous operation mode

B-14 Command Set

MN1851

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Position Controller

Position Controller Parameters:

Command

Description

Units

Range

Default

E / Par. set

POS.FFA

Queries/updates acceleration FF factor

unsigned integer ranged 0..100

–

25 : 100

E / P

POS.FFTYPE Queries / updates FF type with position

controller redesign 0 – FF none, 1 –

–

0 : 2

E / P

velocity FF, 2 – acceleration FF

POS.FFV

POS.KP

Queries / updates velocity FF factor

unsigned integer ranged within 0..100

Queries / updates position gain unsigned

integer ranged within 25.. 200

–

25 : 100

E / P

25 : 100

POS.FEWRN Queries / updates FE warning limits

resolver: 1/4096 of revolution,

1/4096

–32768 : 32767

(resolver)

1/(4*SYS.

encres)

encoder: 1/(4*SYS. encres) of revolution

integer, > 0 (< 0: disabled)

encoder

POS.FEFAT

POS.IPOS

Queries / updates FE fatal limits 1/4096 of

revolution, integer,

Queries / updates FE in position limits

1/4096 of revolution, integer, > 0 (< 0:

disabled)

1/4096 of

revolution

1/4096 of

revolution

–32768 : 32767

E / P

Variables:

Command

POS.MPFE

MPFE

POS.PFE

PFE

Description

Queries maximum position following error

Units

1/4096 of rev.

Range

Default

E / Par. set

– / –

Queries position following error

Queries for position reference

Queries position controller reference,

1/4096 of revolution

1/4096 of rev.

PREF

POS.REF

1/4096 of rev.

POS.FEST

FEST

Returns follow error status: 0 – normal,

1 – in position, 2 –warning, 3 – error

–

0 : 3

– / –

Methods:

Command

PRST

Description

Resets position following error

Parameter

–

Units

–

Range

–

MN1851

Command Set B-15

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Sys.mod 2: Pulse Follower (Handwheel respectively Pulse/Direction)

Parameters:

Command

Description

Units

Range

Default

E / Par. set

HW.GRFX

Queries/updates mantissa HW gear

parameter, negative value means negative

gear.

–32767 :

32767

E / P

HW.GRSH

HW.PLC

HW.RES

Queries/updates shift HW gear parameter

GEAR Queries/ updates PLC gear ratio

Queries / updates HW resolution in pulses pulses/rev.

per revolution (only necessary for

0 : 32767

0 : 65535

–32768 :

E / P

32767

HW.TYPE

Queries / updates HW type: 0 – None, 1 –

Pulse and Direction at connector X3, 2 – A

leads B at connector X9, 3 – B leads A

respectively, Pulse and Direction at

connector X92, 4 – A leads B at connector

X32

E / P

B-16 Command Set

MN1851

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BALDOR ELECTRIC COMPANY

P.O. Box 2400

Ft. Smith, AR 72902–2400

(501) 646–4711

Fax (501) 648–5792

www.baldor.com

TEL:+41 52 647 4700

FAX:+41 52 659 2394

TEL:+49 89 90 50 80

FAX:+49 89 90 50 8491

TEL:+44 1454 850000

FAX:+44 1454 859001

TEL:+33 145 10 7902

FAX:+33 145 09 0864

TEL:+39 11 562 4440

FAX:+39 11 562 5660

TEL:+61 29674 5455

FAX:+61 29674 2495

TEL:+65 744 2572

FAX:+65 747 1708

TEL:+52 47 61 2030

FAX:+52 47 61 2010

Baldor Electric Company

MN1851

Printed in USA

10/00 C&J 1000

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