Baldor MN1851 Bedienungsanleitung

Lin+ Drive Servo Control LINEAR DRIVE Installation & Operating Manual 10/00 MN1851[...]

T able of Contents T able of Contents i MN1851 Section 1 General Information 1-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CE Compliance 1-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . L[...]

ii T able of Contents MN1851 Section 5 Operation 5-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Installing Software on your PC 5-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Minimum system req[...]

T able of Contents iii MN1851 Section 7 Specifications & Product Data 7-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Identification 7-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Specifications 7-2 [...]

iv T able of Contents MN1851[...]

Section 1 General Information General Information 1-1 MN1851 Copyright Baldor  1999, 2000. All rights reserved. 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 re[...]

1-2 General Information MN1851 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 no[...]

General Information 1-3 MN1851 PRECAUTIONS: W ARNING: 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 . W ARNING: Be s[...]

Section 1 General Information 1-4 General Information MN1851 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: T o prevent equipment damage, be certain that the input power has correctly sized p[...]

Section 2 Product Overview Product Overview 2-1 MN1851 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 ma[...]

2-2 Product Overview MN1851 Control Inputs Opto isolated inputs are single ended, user selectable and active high or low: Enable Machine Input 1 Quit Machine Input 2 Fault Reset Machine Input 3 Home Flag Machine Input 4 T rigger Note: Machine Inputs 1 – 4 allow up to 16 digital preset point to point positions. Control Outputs One normally closed [...]

Section 3 Receiving and Installation Receiving & Installation 3-1 MN1851 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[...]

3-2 Receiving & Installation MN1851 Electrical Installation All 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 too[...]

Receiving & Installation 3-3 MN1851 Figure 3-3 Recommended System Grounding (1 phase) for UL V L AC Main Supply Safety Ground Driven Earth Ground Rod (Plant Ground) L N Earth N UW Route all 3 wires L, N, and Earth (Ground) together in conduit or cable. Note: Wiring shown for clarity of grounding method only . Not representative of actual termin[...]

3-4 Receiving & Installation MN1851 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. T o avoid equipment damage, an isolation transformer with a grounded secondary is recommended. This provides three phase AC[...]

Receiving & Installation 3-5 MN1851 T able 3-1 Wire Size and Protection Devices (for units with Power Supply) Catalog Number Incoming Power Input Nominal Input Continuous Input Input Fuse Wire Gauge Nominal Input V oltage Output Amps (RMS) Breaker (A) Time Delay (A) AW G (USA) mm 2 (Europe) LP1A02SR-EXXX 1 15V (1 f ) 2.0A 8 8 14 2.5 LP2A02SR-EX[...]

3-6 Receiving & Installation MN1851 Figure 3-5 Single Phase AC Power Connections (LP1AxxT & LP2AxxT only) L1 L2 Alternate * Fuse Connection Note 1 L1 L2 LN * Circuit Breaker Earth Note 2 Note 1 Baldor Control Notes: 1. See “ Protection Devices ” described in this section. 2. Metal conduit or shielded cable should be used. Connect condui[...]

Receiving & Installation 3-7 MN1851 Figure 3-7 3 Phase Power Connections (LP2AxxS & LP4AxxT only) L1 L2 L3 Alternate * Fuse Connection Note 1 L1 L2 L3 L1 L2 L3 * Circuit Breaker Earth * Components not provided with Control. Note 2 Baldor Control Note 1 A1 B1 C1 Notes: 1. See Protection Device description in this section. 2. Metal conduit or[...]

3-8 Receiving & Installation MN1851 Figure 3-9 Connector Locations (Single Phase Controls) X6 - RS232 / 485 RS232 RS485 1 Reserved 1 TX- 2R x Data 2 TX+ 3T x Data 3 RX+ 4 DTR 4 RX- 5 DGND 5 DGND 6 DSR 6 RTS- 7 RTS 7 RTS+ 8 CTS 8 CTS+ 9 +5V 9 CTS- X3 - Control Signals & Digital I/O 1 CMD+ 2 CMD- 3 AGND 4 Fault Relay+ 5 Fault Relay- 6C I V 7 [...]

Receiving & Installation 3-9 MN1851 Figure 3-10 Connector Locations (Three Phase Controls) X6 - RS232 / 485 RS232 RS485 1 Reserved 1 TX- 2R x Data 2 TX+ 3T x Data 3 RX+ 4 DTR 4 RX- 5 DGND 5 DGND 6 DSR 6 RTS- 7 RTS 7 RTS+ 8 CTS 8 CTS+ 9 +5V 9 CTS- X3 - Control Signals & Digital I/O 1 CMD+ 2 CMD- 3 AGND 4 Fault Relay+ 5 Fault Relay- 6C I V 7 [...]

3-10 Receiving & Installation MN1851 X1 Motor Connections Motor connections are shown in Figures 3-1 1 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 d[...]

Receiving & Installation 3-1 1 MN1851 Figure 3-13 Optional M-Contactor Connections UV W * RC Device Electrocube RG1781-3 U VW G 9 * M Enable X3 * Motor MM M * M-Contactor T o Power Source (Rated Coil V oltage) M=Contacts of optional M-Contactor Note: Close “ Enable ” after “ M ” contact closure. * Optional components not provided with c[...]

3-12 Receiving & Installation MN1851 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[...]

Receiving & Installation 3-13 MN1851 X3 Digital Inputs Continued T able 3-3 Opto Input Signal Conditions Pin Number Signal Name Switch = Closed (active) Switch = Open (not active) X3-9 Enable Drive enabled. Drive disabled. X3-10 Ma I 3 Machine Input 3 = Logical 1 Machine Input 3 = Logical 0 X3-1 1 Ma I 4 Machine Input 4 = Logical 1 Machine Inpu[...]

3-14 Receiving & Installation MN1851 X3 Digital Inputs Continued Figure 3-17 Positioning Mode Timing Diagram T ime T rigger T ime Ma I 1 - 4 T2 T4 T1 T3 T ime T rajectory T5 T6 T ime Motion Ready = Motion in Process T7 See T able 3-4. T able 3-4 Process Duration Time Required Duration T1 ≥ 2ms T2 ≥ 1ms T3 ≥ 14ms T4 ≥ 14ms T5 ≤ 14ms T6[...]

Receiving & Installation 3-15 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, T able 3-5. Figure 3-19 Fault Relay Connections Control 4 5 Custo[...]

3-16 Receiving & Installation MN1851 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[...]

Receiving & Installation 3-17 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 9 Pin Connector Pin Signal 1 TX- 2 TX+ 3 RX+ 4 RX- 5 DGND Control (DCE) Computer COM Port (DTE) TX- DGND TX+ RX+ RX – RX- DGND RX+ TX[...]

3-18 Receiving & Installation MN1851 Figure 3-25 RS485 4 Wire Multi-Drop for UL Installations * T erminating resistor T R is 120 W typical value. Only the PC and last control are terminated. TX+ TX – X6 Host Computer DGND GND TX+ TX – Shields DGND GND * RX+ RX – DGND GND T R * T R TX+ TX- RX+ RX- RX+ RX- Use twisted pair shielded cable wi[...]

Receiving & Installation 3-19 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 T able 3-6. T able 3-6 Buffered Encoder O[...]

3-20 Receiving & Installation MN1851 X9 Encoder and Hall Feedback (LPxAxxxx-Exxx) T wisted 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+ B – +5V DGND 1 6 2 [...]

Section 4 Switch Setting and Start-Up Switch Setting & Start-Up 4-1 MN1851 Switch AS1 Settings Monitor 7 8 Off / On AS1 6 5 4 3 2 1 Note: AS1 – 8 is shown in the “ ON ” position (Drive Enabled). All other switches are shown in the “ OFF ” position. AS1 switches are located on the front panel between X1 and the “ Monitor ” LED. Add[...]

4-2 Switch Setting & Start-Up MN1851 Setting of switches AS1-5 to AS1-8 The function of switches AS1-5 to AS1-8 are described in T able 4-2. T able 4-2 AS1-5 to AS1-8 Description Switch Function ON OFF AS1-5 Not Used AS1-6 Hold-Position Hold-Position is active. Hold-Position is not active AS1-7 Offset T uning Automatic Offset T uning is active.[...]

Switch Setting & Start-Up 4-3 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. V erify that switches AS1-5 to AS1-8 are set to OFF[...]

4-4 Switch Setting & Start-Up MN1851[...]

Section 5 Operation Operation 5-1 MN1851 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 requir[...]

5-2 Operation MN1851 5. Select “ Binary T ransfers ” from the Settings pull down menu within T erminal program. 6. Set the Binary T ransfer protocol to XModem/CRC. 7. Close menu and save the settings. 8. T erminal Communications settings are now complete. Windows 95 1. Power up the Host and start Windows software. 2. In “ Control Panel ” se[...]

Operation 5-3 MN1851 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 t[...]

5-4 Operation MN1851 Figure 5-1 Flowchart of the Setup Wizard Setup Wizard Auto T uning Procedure Sequence 1: Motor and Control General: – App. Bus V oltage – Enc. Output Motor: – Select the motor Sequence 2: Operating Mode General: – Current – V elocity – Positioning Download Skip Skip Sequence 3: Current Parameters General: – App. P[...]

Operation 5-5 MN1851 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 y[...]

5-6 Operation MN1851 There are 7 parts to the setup procedure: Motor First, select the “ Motor T ype ” . 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 “ Use[...]

Operation 5-7 MN1851 After the motor and control are selected, click the General menu and note that the values are filled in. Confirm that the Bus V oltage is correct. Enter the Encoder Feedback value for your encoder (see T able 5-1). Click “ Download ” when finished. T able 5-1 Encoder Feedback Encoder Feedback Encoder Resolution LMBLxx – A[...]

5-8 Operation MN1851 Operating Mode Select the operating mode of the control. Choices are: 1. Current Mode 2. V elocity Mode 3. Positioning Mode (15 preset point to point moves) Click “ Download ” when finished. Figure 5-4 Operating Mode Selection Screen[...]

Operation 5-9 MN1851 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[...]

5-10 Operation MN1851 Positioning There are two ways to start a move: Software triggered or Hardware triggered. Software T riggered Motion T rigger Dwell T ime 1. From the Main menu select “ Setup ⇒ Operation Mode ” . 2. Click on “ Positioning T ab ” and set Command Source to “ Software ” . 3. Set Motion T rigger to “ Immediate ” [...]

Operation 5-1 1 MN1851 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 specif[...]

5-12 Operation MN1851 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 Y ou may manually tune the control (see appendix) or us[...]

Operation 5-13 MN1851 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[...]

5-14 Operation MN1851 T uning Allows manual or automatic tuning to remove offset drift. Allows manual or automatic tuning of velocity control parameters. W atch 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 [...]

Operation 5-15 MN1851 Help Alphabetic glossary listing of keywords. Search for help based on a keyword. Get help for a specific topic. Starts the setup wizard to configure a motor and control. Software version and release information. Convert between linear and rotary motor units. Open the help contents. PLC Program At the main menu, select “ Fun[...]

5-16 Operation MN1851 V elocity 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 . V elocity Parameter Screen Determine the RPM parameter value for your application from the following ta[...]

Section 6 T roubleshooting T roubleshooting 6-1 MN1851 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 ” LE[...]

6-2 T roubleshooting MN1851 T able 6-1 Operating Mode Indications Continued Ready Monitor Status Cause Red A EEPROM checksum error. The personality must be downloaded to EEPROM and reset the control. If problem remains, contact Baldor. Red c Velocity data in the EEPROM failed. The velocity data must be downloaded to EEPROM and reset the control. If[...]

Section 7 Specifications & Product Data Specifications & Product Data 7-1 MN1851 Identification Lin+ Drive LP – E Enclosure T ype 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). Servo Control C X Input V oltage 1=1 15V AC 2=23[...]

7-2 Specifications & Product Data MN1851 Specifications Description Unit LPx A02T LPx A05T LPx A07T LPx  A02S LPx  A05S LPx  A010S LPx  A015S Input V oltage Range Nominal Minimum Maximum VA C 11 5 92 132 230 184 265 Input Frequency Hz 50/60 ± 5% Nominal Output Bus Nominal (@ 1 15 / 230 input) Minimum Maximum VDC 160 88 180 320 176 [...]

Specifications & Product Data 7-3 MN1851 Specifications Continued Description Unit LP4 A02TB LP4 A05TB LP4 A07TR LP4 A15TR LP4 A20TR Input V oltage Range Nominal Minimum Maximum VA C 460 @ 60Hz / 400 @ 50Hz 400 / 360 528 / 480 Input Frequency Hz 50/60 ± 5% Nominal Output Bus Nominal (@ 400 / 460 input) Minimum Maximum VDC 565 / 678 509 / – ?[...]

7-4 Specifications & Product Data MN1851 24VDC Logic Power Input (Option LPxAxxxx – xxx3 ONL Y) Description Unit LPx A02T LPx A05T LPx A07T LPx A02S LPx A05S LPx A10S LPx A15S Input V oltage (maximum ripple = ± 10%) VDC 20 – 30 Input Current @ 24VDC A RMS 0.55 – 0.8  1.4 Power On surge current (24VDC 100msec) A RMS 4.0 2.5  Depends[...]

Specifications & Product Data 7-5 MN1851 Encoder Input (Feedback) Description Unit All Signal T ype RS422 Operating Mode A / B Quadrature Maximum Input Frequency kHz 400 Cycle T ime msec 1 Serial Interface (Option LPxAXXXX – XX2X) Description Unit All Communication T ype RS232C (not galvanically isolated) T ransmission Rate Baud 9600 (not adj[...]

7-6 Specifications & Product Data MN1851 Dimensions 7.70 ″ (195.5mm) 6.81 ″ (173mm) A 0.12 (3.0) W 0.2 (5.2) Dia. 4 Places 1.57 ″ (40mm) Size A, B and C Size E, G and H 14.05 (357) 15.14 (385) 15.75 (400) Depth Size E, G and H = 10.4 (265) 0.3 (8.0) 0.25 (6.5) Dia. 3 Places A Clearance Requirements (all sizes): 0.06 ″ (15mm) top and bot[...]

Section 8 CE Guidelines CE Guidelines 8-1 MN1851 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[...]

8-2 CE Guidelines MN1851 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 d[...]

CE Guidelines 8-3 MN1851 EMC Installation Instructions T o 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[...]

8-4 CE Guidelines MN1851 Input Signal Cable Grounding Cable 1 2 3 7 9 10 11 Control X3 Simulated Encoder Output Cable Grounding Cable 1 6 2 7 3 8 11 13 Control X7 To Controller Encoder Input Cable Grounding A+ A – B+ B – +5V DGND 1 6 2 7 3 8 11 Control X9 Encoder C+ C – 4 5 9 14 10 15 13 Shell (Chassis) Hall 1+ Hall 1 – Hall 3+ Hall 3 – H[...]

Section 9 Accessories and Options Accessories & Options 9-1 MN1851 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 – #ASR297[...]

9-2 Accessories & Options MN1851 D AC Filter Dimensions Continued 4.53 (1 15) B M6 Depth = F C E G G H A Dim. Fo r For Filters: FN 351 - FN350 8 Ć 29 16 Ć 29 25 Ć 33 36 Ć 33 50 Ć 33 A 5.4 8.6 9.45 9.84 (139) (220) (240) (250) B 3.9 7.1 7.87 7.87 (99) (180) (200) (200) C 4.2 4.5 5.9 5.9 (105) (1 15) (150) (150 D 3.32 3.35 4.7 4.72 (84.5) (8[...]

Accessories & Options 9-3 MN1851 Regeneration Resistor A regeneration resistor should be installed to dissipate energy during braking if a Fault “ 1 ” (over-voltage) occurs. Baldor Catalog Number Control 1 15V AC Controls 230V AC Controls 400/460V AC Controls Control Rated Amps Package Size Resistor Catalog No. Resistor W atts Resistor Cata[...]

9-4 Accessories & Options MN1851[...]

Appendix A Manual T uning Manual T uning A-1 MN1851 TUNING This appendix presents guidelines for manually tuning the Control. T uning 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. V arious software “ tools ” are available to make tuning easier , [...]

A-2 Manual T uning MN1851 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 “ Downl[...]

Manual T uning A-3 MN1851 After the motor and control are selected, click the General menu and note that the values are filed in. Encoder Feedback Encoder Resolution LMBLxx – A or LMBLxx – B LMBLxx – E LMCF (All) micron counts / meter counts / mm 1 143 762 20 50,000 50 1 143 2286 1524 10 100,000 100 2286 4572 3048 5 200,000 200 5715 1 1430 76[...]

A-4 Manual T uning MN1851 Operating Mode Select the operating mode of the control. Choices are: 1. Current Mode 2. V elocity 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 m[...]

Manual T uning A-5 MN1851 V elocity Parameter (Refer to Help → “ Unit Conversion from Linear to Rotary ” for more information) Set the velocity parameters of the control: Refer to “ V elocity 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. T ime to[...]

A-6 Manual T uning MN1851 Manual T uning The first six steps of the manual tuning process are shown in Figure A-16. Figure A-16 Select Manual T uning Select T uning Select Manual T uning Select OK 1 2 3 Select Pole Placement Enter either Inertia or Inertia Ratio (the other value is automatically entered). Enter a value for Bandwidth 4 5 6 7 Click o[...]

Manual T uning A-7 MN1851 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 oversh[...]

A-8 Manual T uning MN1851 PI COMPENSA TION 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 adj[...]

Manual T uning A-9 MN1851 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[...]

A-10 Manual T uning MN1851 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. Y ou will enter time (for the[...]

Appendix B Command Set Command Set B-1 MN1851 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[...]

B-2 Command Set MN1851 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 n[...]

Command Set B-3 MN1851 Start – up with T erminal 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. T[...]

B-4 Command Set MN1851 General Settings System Constants Command Description Range Common Lev I LevII SYS.POWER Queries dip switch ID, (see DRV .ID) X SYS.FBACK Queries system feedback (encoder / resolver)as defined by AL TERA 0:1 X SYS.INFO (SYS.VER) Queries firmware version with naming and version number as ASCII string ASCII letters X  SYS.LE[...]

Command Set B-5 MN1851 Additional System parameters (mostly SYS.* prefixed) V elocity Feedback Parameters: Command Description Units Range Default E 2 / Par . set MTR.RPLS Resolver number of poles – 1 : 65535 E / P SYS.ENCRES Queries / updates encoder feedback resolution for encoder motors (in pulses per revolution, i.e. before quadrature) pulses[...]

B-6 Command Set MN1851 PLC Parameters: Command Description Units Range Default E 2 / Par . set PLC.LINE Defines PLC statement :IF [input]=TRUE, 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: num: 0 : 12 action: s. left lines: inpu[...]

Command Set B-7 MN1851 OCI Interface Parameters: Command Description Units Range Default Significant E 2 / Par . set CAN.BD (The range check is: Invalid execute context.) It should be: “ Range error ” Hz 10 : 1000 OK CAN.ID (The range check is: Invalid execute context.) – 1 : 127 OK Digital Interface Parameters: Command Description Units Rang[...]

B-8 Command Set MN1851 System V ariables General V ariables: Command Description Units Range Default E 2 / Par . set DRV .LIFE Drive life time. Hrs Unsign.W ord 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[...]

Command Set B-9 MN1851 X1 Possible Faults – Continued X1 Fault Display Description 12 “ F AUL T_RELA Y ” when fault relay is closed. Displays ’ 9 ’ . 13 “ EAF ” N.I 14 “ MISSING INT ” N.I 15 “ POWER_ID ” DRV .ID != SYS.POWER. Displays small ’ u ’ . 16 “ CW_CCW ” Both limit switches are on. Displays ’ L ’ . 17 “ D[...]

B-10 Command Set MN1851 Queries of System V ariables, Status, Faults Single V alues: Command Description Units Range Default E 2 / Par . set ACTU CUR.ACTU Query for actual current U 0.01 A – / – ACTV CUR.ACTV Query for actual current V 0.01 A – / – ANAIN SYS.ANAIN Query for analog input mV – / – POS, RPOS, Queries motor position – / ?[...]

Command Set B-1 1 MN1851 Memory related methods (Queries / modifications): RAM related: Command Description Parameter Range BDUMP Gets hexadecimal memory dump in bytes Memory address Unsign.Int. BMEMH Query / Update memory byte in hex Memory address Unsign.Int. BMEMD Query / Update memory byte in dec Memory address Unsign.Int. WDUMP Get hexadecimal[...]

B-12 Command Set MN1851 Sys.mod 0: Current mode Parameters: Command Description Units Range Default E 2 / Par . set CUR.BEMF Back EMF voltage compensation, in percentage of nominal motor value Ke. % 80 : 120 100 E / P CUR.IPEAK Queries / updates application peak current in percentage of DRV .IPEAK % 0 : 1000 100 E / P CUR.INOM Queries / updates app[...]

Command Set B-13 MN1851 Sys.mod 1 & Sys.mod 3 V elocity mode Parameters: Command Description Units Range Default E 2 / Par . set VEL.ACC Queries /updates velocity acceleration limits ( time to max. velocity ). RPM/ms 0 : 7500 E / P VEL.ADZON Queries / updates min. velocity in RPM RPM 0 : Max_RPM E / P VEL.BW Queries / updates velocity control b[...]

B-14 Command Set MN1851 Jog Parameters: Command Description Units Range Default E 2 / Par . set JOG.TIME Jog time in milliseconds ms 3432448 E / – JOG.TYPE 0 – continuous, 1 – step, 2 – square wave – 0 : 2 E / – JOG.VEL Jog velocity in RPM, limited to maximum velocity VEL.MXRPM. VEL.MXRPM E / – Methods: Command Description Parameter U[...]

Command Set B-15 MN1851 Position Controller Position Controller Parameters: Command Description Units Range Default E 2 / Par . set POS.FF A 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 – velocity FF , 2 – accelera[...]

B-16 Command Set MN1851 Sys.mod 2: Pulse Follower (Handwheel respectively Pulse/Direction) Parameters: Command Description Units Range Default E 2 / Par . set HW .GRFX Queries/updates mantissa HW gear parameter , negative value means negative gear . – 32767 : 32767 E / P HW .GRSH Queries/updates shift HW gear parameter 0 : 32767 E / P HW .PLC GEA[...]

BALDOR ELECTRIC COMP ANY P .O. Box 2400 Ft. Smith, AR 72902–2400 (501) 646–471 1 Fax (501) 648–5792 www .baldor .com  Baldor Electric Company MN1851 Printed in USA 10/00 C&J 1000 CH TEL: +41 52 647 4700 F AX: +41 52 659 2394 D TEL: +49 89 90 50 80 F AX: + 49 89 90 50 8491 UK TEL: +44 1454 850000 F AX: +44 1454 859001 I TEL: +39 1 1 562[...]

Lin+ Drive Servo Control MN1851[...]