Baldor MIN1853 manuale d’uso

LinStep + Single–Axis Microstepping Indexer/Driver Installation & Operating Manual 7/01 MN1853[...]

T able of Contents T able of Contents i MN1853 Section 1 General Information 1-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CE Compliance 1-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . L[...]

ii T able of Contents MN1853 Section 4 Keypad Operation 4-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Overview 4-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Run Menu 4-3 [...]

T able of Contents iii MN1853 Section 7 T roubleshooting 7-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Section 8 Specifications & Product Data 8-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Identif[...]

iv T able of Contents MN1853[...]

Section 1 General Information General Information 1-1 MN1853 Copyright Baldor  2001. 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 respect [...]

1-2 General Information MN1853 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 2 phase stepper motors. These drives are not intended for use in applications [...]

General Information 1-3 MN1853 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[...]

1-4 General Information MN1853 Caution: T o prevent keypad damage, be sure keypad mounting screws do not extend more than 0.2 (5) into keypad assembly . Caution: A void locating the control in the vicinity of corrosive substances or vapors, metal particles and dust. Caution: Baldor recommends not using “ Grounded Leg Delta ” transformer power l[...]

Section 2 Product Overview Product Overview 2-1 MN1853 Overview The design of LinStep and LinStep+ microstepping motor drivers (also called a driver or control) and the internal cooling tunnel are revolutionary . These drivers consume less panel space than other controls and keep internal electronics cool and clean for years of reliable performance[...]

2-2 Product Overview MN1853[...]

Section 3 Receiving and Installation Receiving & Installation 3-1 MN1853 Receiving & Inspection Baldor Drivers are thoroughly tested at the factory and carefully packaged for shipment. When you receive your driver , there are several things you should do immediately . 1. Observe the condition of the shipping container and report any damage [...]

3-2 Receiving & Installation MN1853 Electrical Installation All interconnection wires between the driver , AC power source, motor , host driver 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[...]

Receiving & Installation 3-3 MN1853 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. Input Power Conditioning Cer[...]

3-4 Receiving & Installation MN1853 T able 3-1 Wire Size and Protection Devices Incoming Power Continuous Input Input Fuse Wire Gauge Catalog Number Nominal Input V oltage Continuous Output Amps (RMS) Input Breaker (A) Time Delay (A) AW G (USA) mm 2 (Europe) LX1P1A07F9 1 15V (1 f ) 7.9A 30 30 14 2.5 LX1P2A06 1 15V (1 f ) 6.0A 20 20 14 2.5 LX1P1[...]

Receiving & Installation 3-5 MN1853 Figure 3-5 Connection Locations (1 15V AC, 1 Axis) T op Connections Bottom Connections Fan AC Power Input Offset Adjustments Motor Connector Encoder Connector Limits Connector Discrete I/O Connector Figure 3-6 Connection Locations (230V AC, 1 Axis) T op Connections Bottom Connections Fan AC Power Input Offset[...]

3-6 Receiving & Installation MN1853 RS232/Keypad Installation Procedure: (optional keypad – LXKP) Optional Remote Keypad Installation The keypad may be remotely mounted and sealed to NEMA 4 specification by using the gasket and 6 ft (1.8m) cable included. The keypad assembly is complete with the screws and gasket required to mount it to an en[...]

Receiving & Installation 3-7 MN1853 RS – 232 PC Connections A null modem connection must be made between the LinStep+ 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 3-8. Maximum recommended length for RS232 cable [...]

3-8 Receiving & Installation MN1853 Daisy Chain Connections LinStep+ can support daisy chaining. The unit address (range 1 – 99) can be set with the keypad, through Application Developer , or with a terminal program using the Unit Number (UN) command, or the entire chain may be addressed at once using the Auto – Address (AA) command. Connec[...]

Receiving & Installation 3-9 MN1853 RS485 PC Connections Standard RS485 connections are shown in Figure 3-1 1 and 3-12. Maximum cable length is 3280 ft (1000M). Figure 3-1 1 9 Pin RS-485 Cable Connections For UL Installations TX- DGND TX+ RX+ RX – RX- DGND RX+ TX+ TX – Chassis LinStep+ PC / Host Device Figure 3-12 9 Pin RS-485 Cable Connect[...]

3-10 Receiving & Installation MN1853 Figure 3-13 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 – 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 with an overall shi[...]

Receiving & Installation 3-1 1 MN1853 Discrete I/O Connections The 25 pin “ Discrete I/O ” connector (Figure 3-5) contains the Input 1 – 8, Output 1 – 8 and OPTO 44/88 connections. (See Figures 3-15, 3-16 and the Section “ OPTO 44/88 ” description. Figure 3-15 Opto Isolated Input Connections (Inputs 1 – 8) Inputs 1 – 8 (Isolated[...]

3-12 Receiving & Installation MN1853 Encoder Connections (Refer to MN1800 for wire color and lead information.) T wisted pair shielded wire with an overall shield should be used. Figures 3-18 and 3-19 show the connections between the encoder and the encoder connector . Figure 3-18 Differential Encoder Connections for UL Installations A+ A – B[...]

Receiving & Installation 3-13 MN1853 Motor Connections The A+, A – , B+ and B – phase outputs provide power to the motor windings. These connections are shown in Figures 3-5 and 3-6. The motor windings can be connected in series or parallel as shown in Figure 3-20. For Baldor motors, refer to MN1800 for lead information. Interlock (INTLK) T[...]

Section 1 General Information 3-14 Receiving & Installation MN1853 LXOpto 44 and 88 Break out box and accessories. T wo break out boxes are available; LXOpto44 accepts up to 8 conditioning modules and LXOpto88 accepts up to 16 conditioning modules. Figure 3-21 shows the layout and dimensions of each. Each allows the use of discrete inputs and o[...]

Section 1 General Information Receiving & Installation 3-15 MN1853 DB25 Pin to Screw T erminal Converter The LXDB25 converter allows connection of individual wires to the DB25 pin connector . The terminal configuration is shown in Figure 3-22. Figure 3-22 LXDB25 Converter Pin1: Input 1 Pin2: Input 2 Pin3: Input 3 Pin4: Input 4 Pin5: Input 5 Pin[...]

3-16 Receiving & Installation MN1853 Start-Up Procedure Power Off Checks Before you apply power , it is very important to verify the following: 1. V erify the AC line voltage at the source matches the control rated voltage. 2. Inspect all power connections for accuracy , workmanship and tightness. 3. V erify that all wiring conforms to applicab[...]

Section 4 Keypad Operation Keypad Operation 4-1 MN1853 Overview (Firmware versions LinStep+ Sngl SB3.0; Keypad V2.90; FPGA ssr3) The Keypad layout with the LCD display is shown in Figure 4-1. Figure 4-1 Keypad and LCD Display F1 F2 F3 RUN EDIT HELP COPY DEL 1 ABC 2 DEF 3 GHI 4 JKL 5 MNO 6 PQR 7 STU 8 VWX 9 YZ ESC 0 ÷ * = ± ALPHA ENTER , . ← ↓[...]

4-2 Keypad Operation MN1853 Note: If a menu has more than three options, arrows on both sides of the display indicate that more options are available. Press the appropriate arrow key to display one option at a time. T o exit a menu without making a selection, or to back up one menu level, press ESC. T able 4-1 Menu Key RUN EDIT HELP COPY DEL PROG ([...]

Keypad Operation 4-3 MN1853 + Selects the motion direction in program editor . May also be used in math programs or equations. u=O" Cursor control keys that are used to scroll through menu choices in the editor . Moves an axis in JOG mode. Decimal Point Used when entering fixed – point numbers. Comma Used in multi – axis programs to separa[...]

4-4 Keypad Operation MN1853 Edit Menu Pressing the EDIT key displays a set of sub – menus. Action Display Comments Press EDIT key – ↑ EDIT ↓ – PROG SETUP POS Select a sub – menu, press F1 (PROG), F2 (SETUP), or F3 (POS). Press ↑ or ↓ key for more sub menu selections. – ↑ EDIT ↓ – LIST Select a sub – menu, press F1 (LIST). [...]

Keypad Operation 4-5 MN1853 Example of entering a program using the 0 – 9 keys. T o create a program with the commands “ AC.3 VE2 DI1 GO ” , do the following steps: (you must be in the program editor , this example is writing to program #2). 1. Press EDIT → F1 → 2 → ENTER to get to the first line of program 2. 2. Press F2, then press th[...]

4-6 Keypad Operation MN1853 Naming a program A program can be given a descriptive name in addition to the program number that the LinStep+ assigns it. Program names must be put inside of square brackets, [program name], at the start of a program. The name can be up to 14 characters, but the first 10 must be unique. Like variables, the name can be a[...]

Keypad Operation 4-7 MN1853 Entering Characters with the Alpha Key (In edit mode) The ALPHA key allows you to enter almost any character into a program from the keypad. This is useful to name your programs or subroutines, call subroutines by name, make variable names descriptive, use operator messages or prompts, send messages over RS – 232 port [...]

4-8 Keypad Operation MN1853 Edit, Setup Submenu T able shows the structure within the “ EDIT , SETUP ” submenu. T able 4-2 Edit, Setup Submenu Submenu Setup Parameter Description of Setup Parameter TYPE Motor parameters MOTOR D – RES Drive resolution MOTOR DIR Direction of travel MODE Select open/closed loop mode E – RES Encoder resolution [...]

Keypad Operation 4-9 MN1853 Edit, POS Submenu Select “ Edit, POS ” to Reset the Current Position to Zero. POS is a quick way to reset the motor ’ s present position to (absolute) zero – a very useful setup and debugging tool. Action Display Comments Press “ EDIT , POS ” (F3) Reset Position? YES NO Press YES (F1) or NO (F3) Edit, List Su[...]

4-10 Keypad Operation MN1853 HELP Menu Press HELP to display a help message related to the menu. Help messages are often several lines, which you can scroll through using the ↓ and ↑ keys. When you are finished reading a help message, press ESC to return to the menu. Pressing HELP in the Main Menu HELP explains the functions available when you [...]

Keypad Operation 4-1 1 MN1853 COPY , TO P AD Submenu Continued T o copy a program from a PC to the keypad, connect the keypad to the RS232 port of the PC (COM1 or COM2). Start the Application Developer software and from the Communications menu, click on “ Send All ” . The keypad will display the message “ Receiving From PC ” and a few more [...]

4-12 Keypad Operation MN1853[...]

Section 5 Setup Setup 5-1 MN1853 Overview There are two ways to setup the parameters: use the keypad or use Intelliware serial communications software. The procedures presented in this section allow LinStep+ to be configured using the keypad (LXKP). If you are not familiar with the operation of the keypad, please refer to Section 4 of this manual. [...]

5-2 Setup MN1853 Configure Motor Adjustments for Current, Waveform, Rest, Idle, Inductance, and Anti – Resonance can be made while the motor is energized and moving or at rest. Configuring Motor T ype [ MT1 1 ] EDIT > SETUP > MOTOR > TYPE > STEPER – ↑ STEPPER SETUP ↓ – CURRENT A – RES INDUCT Press F1 (CURRENT) Configuring Mo[...]

Setup 5-3 MN1853 Configuring Motor Inductance [ MHa ] EDIT > SETUP > MOTOR > TYPE > STEPER > INDUCT V alue: HIGH Range: HIGH or LOW – Axis One Inductance – – ↑ HIGH ↓ – Select value, press ENTER Baldor motors use the Low Inducatance setting. Configuring W aveform [ W Ai ] EDIT > SETUP > MOTOR > TYPE > STEPER &[...]

5-4 Setup MN1853 Configuring Motor Resolution [ MR10 ] EDIT > SETUP > MOTOR > D – RES V alue: 36000 (fixed) Range: N/A – Axis One Drive Res – – ↑ 36000(Fixed) ↓ – The Drive Resolution is fixed at 36,000 as shown. Configuring Motor Direction [ MDi ] EDIT > SETUP > MOTOR > DIR V alue: Positive Range: Positive or Negati[...]

Setup 5-5 MN1853 Configuring Encoder Resolution [ ERi ] EDIT > SETUP > ENC > E – RES V alue: 10000 cnts/in Range: 1 – 9999999 – Axis One ENCODER RES – – ↑ 10000 cnts/in ↓ – Select value, press ENTER This option sets the encoder resolution. The resolution is specified in encoder pulses per in of travel, post – quadrature. [...]

5-6 Setup MN1853 Configuring Position Maintenance Gain [ PGi ] EDIT > SETUP > ENC > PMGAIN V alue: 10 Range: 1 – 32,767 – Axis One PM GAIN – ← 10 → Select value, press ENTER PM Gain specifies a gain value used to determine correction velocity . The correction velocity is calculated as “ displacement* correction gain ” in unit[...]

Setup 5-7 MN1853 Configuring the Distance Unit [ DUi ] EDIT > SETUP > MECH > DIST V alue: inch Range: inch or mm – Axis One Dist Units – ←↑ inch ↓→ Select value, press ENTER This sets the distance units and unit label. All distance values are expressed in the units selected here. Configuring Units of V elocity [ VUi ] EDIT >[...]

5-8 Setup MN1853 Configuring Acceleration Maximum [ AMr ] EDIT > SETUP > MECH >AMAX V alue: 0.002 sec Range: 0.002 – 9999999.0 – Axis One MAX Accel – ←↑ 0.002 sec ↓→ Sets the maximum acceleration and deceleration limit for programmed move profiles. Programmed accelerations and decelerations for moves will be limited by this p[...]

Setup 5-9 MN1853 T able 5-1 Continued Char Keypad Display Input Character Description E Extend Jog Extend Jog – When activated, the motor will Jog in the Extend (+) direction. When the input is released, motion stops at the Jog Accel rate. If an End of T ravel limit is hit while jogging, the motor will stop at the Stop Rate (see Edit – Setup ?[...]

5-10 Setup MN1853 T able 5-1 Continued Char Keypad Display Input Character Description J Jog Speed Jog Speed – When a jog input is activated, the control checks the state of this input to determine the jog speed. If the input is OFF , the system will jog at the Jog Low speed. If the input is ON it will jog at the Jog High speed. If the input is n[...]

Setup 5-1 1 MN1853 Figure 5-1 4 3 2 1 Data V alid Unit Selection PLC Program Selection LinStep #1 LinStep #2 LinStep #3 LinStep #4 Configuring Output Definition [ ODaaaaaaaa ] EDIT > SETUP > I/O > OUTPUTS V alue: PPPPPPPP Range: OUT1: PROGRAMMABLE P PPPPPPP ←↑↓→ Each input is easily configured using the keypad as described in T abl[...]

5-12 Setup MN1853 T able 5-2 Continued Char Keypad Display Input Character Description L LIMIT ERROR The output goes low if a limit switch is hit during a normal move, or if both limits are hit during a Go Home move. M MOVE DONE The output goes high as soon as an axis move is started and goes low when a move is completed. P PROGRAMMABLE Unassigned [...]

Setup 5-13 MN1853 Configure End of T ravel Switch Polarity Configuring Motor T ype [ ET ] EDIT > SETUP > I/O > LIMITS V alue: NORM CLOSED Range: NORM OPEN or NORM CLOSED – Axis One EOT POL – ←↑ NORM CLOSED ↓→ Allows selection of Normally Open or Normally Closed polarity of the End of T ravel switch (EOT). Use ↑↓ to select t[...]

5-14 Setup MN1853 Configuring JOG Low V elocity [ JHr ] EDIT > SETUP > JOG > HI – VEL V alue: 5.0 {V elocity Units} Range: 0.0 – 9999999.0 – Axis One JOG Hi – Vel – ← 5.0 in/s → Sets the high speed JOG velocity . Use the numeric keys to enter a value (units were selected in the SETUP > MECH > VEL menu). Select value, pr[...]

Setup 5-15 MN1853 Configuring Home Edge [ HEi ] EDIT > SETUP > HOME > EDGE V alue: NEGA TIVE Range: NEGA TIVE, POSITIVE – Axis One Home Edge – ← NEGATIVE → Sets the home switch active on the negative edge or positive edge of the encoder index channel. Use the ← and → keys to select. Select value, press ENTER Configuring Home Sw[...]

5-16 Setup MN1853 Configure Power – up Program The Program Setup menu allows selection of (1) a program to be immediately run when LinStep+ is powered – up and (2) scanning conditions for the BCD or binary program select inputs. Action Display Comments Press F1 (PROG) key for more sub menu selections. – ↑ SETUP ↓ – PROG RS232 MISC Selec[...]

Setup 5-17 MN1853 Configure Serial Communications T o use the LinStep+ serial port, several things must be done first. Use the keypad to set the auto – echo and the unit ’ s daisy chain address. The baud rate and other parameters have fixed values and may not be changed. S Baud rate: 9600 S Data bits: 8 S Stop bits: 1 S Parity: none Action Disp[...]

5-18 Setup MN1853 Configure Miscellaneous Setup Parameters The miscellaneous set – up (MISC SETUP) parameters include the keypad display , and setting the deceleration rate used with a stop input (or with the ESC key while an axis is moving). Action Display Comments Press EDIT key – ↑ EDIT ↓ – PROG SETUP POS Select a sub – menu, press F[...]

Setup 5-19 MN1853 Configuring Stop Decel Rate [ SRi ] EDIT > SETUP > MISC > Stop – Rate V alue: 80 in/s 2 Range: 0.0 – 99999.0 – Axis One Stop Decel – ← 80 in/s 2 → Set the deceleration rate used whenever a configurable stop input is activated, or when the ESC key is pressed during a move. Normally set to the fastest controllab[...]

5-20 Setup MN1853[...]

Section 6 Keypad Programming Keypad Programming 6-1 MN1853 Commands The programming commands that can be entered from the keypad are listed in T able 6-1. T able 6-1 Keypad Program Command List AC Acceleration GH Start Home OT Outputs On/Off CL Not Implemented FK Function Key MS Message to Display CT Not Implemented GI Go Immediate ON On Condition [...]

6-2 Keypad Programming MN1853 V alue: Units: Range: CL Not Implemented syntax – V alue: Units: Range: CT Not Implemented syntax – V alue: N/A Units: set in EDIT > SETUP > MECH > DIST Range: Unit scaling dependent Sets the next move position, referenced from absolute zero. The absolute zero position is established after a Go Home move ([...]

Keypad Programming 6-3 MN1853 V alue: N/A Units: set in EDIT > SETUP > MECH > DIST Range: Unit scaling dependent Defines complex, multiple velocity move profiles, or to change an Output at a specific point during the move. It defines the distance at which a change will occur , “ on the fly ” , while the motor is still moving. At the sp[...]

6-4 Keypad Programming MN1853 Example: (Distance to Change) The DC command can only be used when the motor is moving at constant speed (no acceleration of deceleration). Issuing a DC command before a previous DC command has finished executing is invalid and can cause unpredictable results. (For example, “ AC1 VE DA20 DC1.75 VE7.5 GO ” is incorr[...]

Keypad Programming 6-5 MN1853 V alue: N/A Units: seconds, in/sec 2 or units/sec 2 (set in EDIT > SETUP > MECH > ACCEL ) Range: Unit scaling dependent Sets the deceleration ramp for all negative velocity changes. This value is the same as the acceleration value unless a deceleration is specified. The value is used on subsequent moves unless[...]

6-6 Keypad Programming MN1853 V alue: N/A Units: N/A Range: N/A The EB command designates the End of a Block of loop or IF commands. Every LP , L W , LU, and IF statement must have an EB associated with it. Examples: LP2 DI3 GO EB Performs the move twice IF1,1 DI5 GO DI10 GO EB GH3 If input 1 is On, make 2 moves before homing. If input 1 is Off, ju[...]

Keypad Programming 6-7 MN1853 V alue: N/A Units: N/A Range: i=1 – 28 The FK command allows you to define a function key within your program. The FK command pauses processing until the buttons you have “ armed ” are pressed. The number of the button pressed is assigned to the system variable, (FKEY). Y ou can then manipulate or directly use th[...]

6-8 Keypad Programming MN1853 Figure 6-1 Example 3 – Screen Menu Program Program 20: [SCREEN 1] Name the main program MS1, “ “ Clears keypad screen MS3, “ Select a Part ” Writes a Message MS21, ” Part A Part B Part C ” Writes a message above function keys FK1,2,3,17,18 W ait for selected key press GT(FKEY) Jumps to prog# 1, #2, or #3 [...]

Keypad Programming 6-9 MN1853 V alue: N/A Units: set in EDIT > SETUP > MECH > ACCEL > VEL Range: Unit scaling dependent Initiates a homing routine (seeks the home switch) to establish a home reference position. When it reaches home, the position counter is set to zero or to the Home Offset (HO) value selected in the EDIT > SETUP >[...]

6-10 Keypad Programming MN1853 V alue: N/A Units: N/A Range: N/A The GI command begins a defined move profile in the same manner as the GO command. Unlike the GO command, where program execution waits until all defined moves have terminated, GI allows program execution to continue when the move has begun. This allows for other program defined proce[...]

Keypad Programming 6-1 1 MN1853 V alue: N/A Units: N/A Range: i=1 – 16 GO executes a move profile defined by some combination of AC, VE, DE, DI, DA, DC, or MC commands. Actual motion of a new profile will occur after a short calculation of the motion trajectory . GOn pre – calculates the move and waits for Input number “ n ” to activate bef[...]

6-12 Keypad Programming MN1853 V alue: N/A Units: N/A Range: i=1 – 400, [name] = any legal program name Jumps to program number or name and returns to the calling program when command processing reaches the EN command in the sub – routine. After the return, execution continues at the command immediately following the GS statement. Subroutines m[...]

Keypad Programming 6-13 MN1853 V alue: N/A Units: N/A Range: i=starting input number 1 – 8 x=0; input high. X=1; input low (grounded). x=anything else; ignore input changes. expression = any valid expression (see math and variables definitions) Allows the conditional execution of a block of commands based on the evaluation of an expression or inp[...]

6-14 Keypad Programming MN1853 V alue: N/A Units: N/A Range: i=1 – 40 display position characters variable= any legal variable name min=the minimum range value (optional); max=the maximum range value (optional) Allows operator input of variable information under program control. It is usually used with the message command (MS) to prompt for opera[...]

Keypad Programming 6-15 MN1853 V alue: 0 Units: N/A Range: N/A Causes all commands between LP and EB to be repeated “ i ” times. If LP is entered without a number following it or a 0, the loop will repeat continuously . Note: An End of Block (EB) command must be used with every LP command. Up to 16 nested loops (one inside the other) are allowe[...]

6-16 Keypad Programming MN1853 V alue: N/A Units: N/A Range: N/A Sets move profiles to “ continuous move ” , using the AC, DE and VE parameters. Move Continuous is enabled on an axis with the “ + ” sign. “ MC+ ” enables the mode for axis one. DI, DA and DC commands reset the mode to distance. Each MC+ segment must contain a GO command. [...]

Keypad Programming 6-17 MN1853 Move Continuous Continued Examples: 1. Basic Move Continuous syntax. Demonstrates how to change speed and stop MC+ moves based on time delays and input conditions. MC + Enable Move Continuous on axis 1 AC.1 DE.2 Set the acceleration and deceleration rates VE50 Set top speed to 50 GO Start the Move Continuous move, com[...]

6-18 Keypad Programming MN1853 V alue: N/A Units: N/A Range: n=1 – 40 characters (20 on each line) MS allows messages to be displayed on the keypad ’ s display . Messages are usually to prompt for operator input, display function key prompts, or as a diagnostic tool. MS, “” can be used to restore the initial axis position and I/O display du[...]

Keypad Programming 6-19 MN1853 V alue: N/A Units: N/A Range: N/A Allows conditional program execution based on an event. When the programmable event occurs, the current program and move are interrupted and program execution begins at the predefined interrupt program. The interrupt program can be defined as a GT or a GS. Defining the interrupt as a [...]

6-20 Keypad Programming MN1853 V alue: N/A Units: N/A Range: i=1 to 16 Sets both discrete and digital Opto output states. After an output is turned on (low), it remains on until changed by another output command, a reset input (software warm – boot), or power is cycled. All outputs are turned off (high) at power up or during a reset. For flexibil[...]

Keypad Programming 6-21 MN1853 V alue: N/A Units: N/A Range: N/A The Registration command (RG) specifies a distance to be moved from the current position – as commanded by a specific input trigger . For example, in the following program of 10 user – units on axis #1, the input trigger is received at user – unit 4, to move 3 user – units fro[...]

6-22 Keypad Programming MN1853 V alue: N/A Units: N/A Range: 0.0001 – 214748.3645 The SQ command calculates the square root of a number and returns the result in a user defined variable. The n parameter in the syntax can be a number or a variable parameter , however , the second parameter must be a previously defined variable for which the square[...]

Keypad Programming 6-23 MN1853 V alue: Units: in/sec set in EDIT > SETUP > MECH > VEL Range: varies with velocity units Sets the maximum velocity during a move profile. If the acceleration rate is too slow or the move distance is too short, the motor may make a triangular move (velocity vs. time) and the motor may never reach the specified[...]

6-24 Keypad Programming MN1853 T able 6-2 Summary of Expressions, Operators and Functions [ ] Name Program ( ) Name V ariable && Logical AND || Logical OR ! Logical NOT != Not Equal + Add – Subtract * Multiply / Divide = Equal > Greater Than >= Greater Than or equal to < Less Than <= Less Than or equal to & Bitwise Boolean[...]

Keypad Programming 6-25 MN1853 [Move] VE4 DI10 OT01 GO OT10 Example of “ Hosted ” Mode Program In the program [Move], the maximum move velocity is set to 4, the command incremental distance is set to 10, output 1 and output 2 are turned off and on simultaneously , axis one then moves 10 units. After axis one stops moving, output 1 is turned on [...]

6-26 Keypad Programming MN1853 Built – in V ariables Some variable names are pre – defined. They can be used in expressions, to set voltages, to test conditions, or to display information to the keypad display or an external serial device. V ariable Name Description of Built – in V ariable T ype (AI1) to (AI6) Analog Inputs 1 through 6 Read O[...]

Keypad Programming 6-27 MN1853 Using Built – in V ariable (AROWREL) (AROWREL) is a built – in Boolean read only variable that determines the status of any of the four arrow keys. When used with (FKEY), the program can detect if an arrow key is being held down. (AROWREL) will only return the status of the four arrow keys. If a different key is p[...]

6-28 Keypad Programming MN1853 Non – V olatile V ariables (#F1) through (#F50) are fifty user variables stored in non – volatile flash memory so they retain their values through power cycles, warm boots, and system resets. Standard user variable are lost at power down or reset. When one of these variables is changed (i.e. used on the left side [...]

Keypad Programming 6-29 MN1853 Arithmetic Operands and Equations Addition (+), subtraction ( – ), multiplication (*), and division (/) are easily performed. Expressions may only contain one operand. Complex equations require multiple statements. V ariables and fixed point numbers may be mixed in arithmetic equations. All user arithmetic and varia[...]

6-30 Keypad Programming MN1853 Logical Operators Conditional commands (IF ,WT , LU, L W) support logical operations of AND (&&) and OR (||). T wo expressions may be logically AND ’ d or OR ’ d within one conditional command. For example: (A)=5 (B)=2.5 IF(A)>2&&(B)=2.5 MS1, “ T rue Statement ” EB In this program, the messa[...]

Keypad Programming 6-31 MN1853 Create a Message and Read an Input V ariable [GET P ARTS] Name the subroutine MS1, “” Clears the Display MS1, “ How many?: ” Writes string beginning at character 1, top line IV12,(PIECES) W aits at 12th character for the # of pieces. MS1, “” Clears the Display MS1, “ How long?:: ” Writes string beginni[...]

6-32 Keypad Programming MN1853 Read a 4 Digit BCD number , 2 Digits at a time [GET 4 BCDS] Returns value of 4 digit BCD number OT01 Connect ground of first two BCD digits (4 DIGIT BCD)=(2TW)*100 Make value of first two digits the MSB OT10 Connect ground of 2nd two BCD digits (4 DIGIT BCD)=(4 DIGIT BCD)+(2TW) Add value of 2nd two to 1st two * 100 Re[...]

Section 7 T roubleshooting T roubleshooting 7-1 MN1853 Overview The system troubleshooting procedures involve observing the status of the LED ’ s. The tables in this section provide information related to the indications provided by these devices. T able 7-1 Operating Mode Indications , 1 Axis LED Color Status Comments ON Green Power is applied. [...]

7-2 T roubleshooting MN1853 Additional Information Continued Symptom Possible Cause Possible Remedies No RS232 commu- nication but keypad works. If the keypad works, the RS232 port is working. Something else is wrong (wiring, configuration, address). Refer to Section 5, “ Configure Serial Communications ” . Verify PC COM port is set to 9600 bau[...]

T roubleshooting 7-3 MN1853 Additional Information Continued Symptom Possible Cause Possible Remedies “ Unknown Command ” A command not in the command set has been issued. Check program for data entry errors. “ Command Is Too Long ” Command and parameter string exceeds 80 characters. Reduce command string size. “ Too Many Parame- ters ”[...]

7-4 T roubleshooting MN1853[...]

Section 8 Specifications & Product Data Specifications & Product Data 8-1 MN1853 Identification Linear Stepper Driver LX LinStep+ Number Axes 1=1 Axis 2=2 Axis P Driver T ype D = LinStep P = LinStep Plus Input V oltage 1=1 15V AC 2=230V AC 1 1 A – 0xF9 Rated Output Current 03F9 = 3.9 Amperes 06F9 = 6.9 Amperes 07F9 = 7.9 Amperes[...]

8-2 Specifications & Product Data MN1853 General Specifications Description Unit LX1P1A07F9 LX1P1A03F9 LX1P2A03F9 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 88 220 320 176 440 Adjustable in 0.1A increments A RMS [...]

Specifications & Product Data 8-3 MN1853 Dimensions 6.00 (152.4) 0.20 (5.1) 0.34 (8.7) 5.44 (138.1) 1.27 (32.2) 2.54 (64.4) 5.92 (150.4) 0.21 (5.3) 1 Axis Driver Use 8 – 32 or 10 – 32 Cap Screws (2 places) 6.30 (160.0) For safe operation, allow a clearance distance between each control and on all sides of each control. For safe operation, a[...]

8-4 Specifications & Product Data MN1853[...]

Section 9 CE Guidelines CE Guidelines 9-1 MN1853 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[...]

9-2 CE Guidelines MN1853 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 9-3 MN1853 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[...]

9-4 CE Guidelines MN1853 Input Signal Cable Grounding Cable 1 2 3 7 9 10 11 Control Simulated Encoder Output Cable Grounding Cable 1 6 2 7 3 8 11 13 Control To Controller Encoder Cable Grounding Cable 1 6 2 7 3 8 11 13 Control Encoder Connector Housing Connection of shields to digital ground is optional.[...]

Appendix A Appendix A-1 MN1853 Programming T emplate 1 234567891 0 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 FK1 FK2 FK3 1 234567891 0 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 FK1 FK2 FK3 1 234567891 0 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 [...]

A-2 Appendix MN1853 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 FK1 FK2 FK3 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 FK1 FK2 FK3 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 [...]

Appendix A-3 MN1853 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 FK1 FK2 FK3 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 FK1 FK2 FK3 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 [...]

A-4 Appendix MN1853 Remote Keypad Mounting T emplate 0.23 (5.84) 2.0 (50.8) 0.66 (16.7) 3.09 (78.48) 3.184 (80.87) 3.25 (82.55) 0.75 (19.0) 4.0 (101.6) 2.04 (51.8) 3.39 (86.10) 3.034 (77.06) 4.154 (105.51) 4.380 (1 1 1.25) 4.838 (122.88) EE EE MM MM B BB 0.5 (12.7) Cut – Out 1.5 (38.1) Cut – Out 0.5 (12.7) Cut – Out Installation Notes. 1. For[...]

BALDOR ELECTRIC COMP ANY P .O. Box 2400 Ft. Smith, AR 72902 – 2400 (501) 646 – 471 1 Fax (501) 648 – 5792 www .baldor .com W Baldor Electric Company MN1853 Printed in USA 7/01 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 850001 I TEL: +39 1 1 5[...]

LinStep+ Single – Axis Microstepping Indexer/Driver MN1853[...]