Page 2 - Table of Contents; Table of Contents i
Table of Contents Table of Contents i Section 1General Information 1-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Introduction 1-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Limited Warranty 1-2 . . . . . . . . . . . . . . . . . . . ....
Page 3 - ii Table of Contents
Page 4 - General Information 1-1; Introduction; Table 1-1 Group 1 and Group 2 Board Categories
Section 1General Information General Information 1-1 Introduction The Baldor controls represent the latest technology in microprocessorbased motor controls. In addition to the user programmable parametersavailable in every control, many different expansion boards are availablefrom Baldor to further ...
Page 5 - -2 General Information; Limited Warranty
1-2 General Information Limited Warranty For a period of two (2) years from the date of original purchase,BALDOR will repair or replace without charge controls andaccessories which our examination proves to be defective inmaterial or workmanship. This warranty is valid if the unit has notbeen tamper...
Page 6 - General Information 1-3; Safety Notice; PRECAUTIONS; WARNING: Do not touch any circuit board, power device or
General Information 1-3 Safety Notice This equipment contains voltages that may be as great as 1000 volts!Electrical shock can cause serious or fatal injury. Only qualifiedpersonnel should attempt the start-up procedure or troubleshoot thisequipment.This equipment may be connected to other machines ...
Page 7 - -4 General Information; WARNING: Be sure the system is properly grounded before
1-4 General Information WARNING: Be sure the system is properly grounded before applying power. Do not apply AC power before you ensurethat all grounding instructions have been followed.Electrical shock can cause serious or fatal injury. WARNING: Do not remove cover for at least five (5) minutes aft...
Page 10 - Board Installation; Before you proceed, be sure to read and become; Remove the expansion board from the shipping container.; Be sure all packing materials are removed from the
Section 3Installation Installation 3-1 Board Installation This section describes the Expansion Board installation procedure. Caution: Before you proceed, be sure to read and become familiar with the safety precautions at the beginning of thismanual. Do not proceed if you are unsure of the safetyprec...
Page 11 - AC Controls; Single Expansion Board Installation; Be sure drive operation is terminated and secured.
3-2 Installation AC Controls (For all 15H Inverter, 21H Line Regen Inverter, 18H Vector, 22H LineRegen Vector and 23H Servo). Single Expansion Board Installation Procedure:1. Be sure drive operation is terminated and secured. 2. Remove all power sources from the control. 3. Wait at least 5 minutes f...
Page 12 - Figure 3-1 Single Expansion Board Installation; Figure 3-2 Single Expansion Board Installation
Installation 3-3 AC ControlsSingle Expansion Board Installation (Continued) Figure 3-1 Single Expansion Board Installation Expansion Board Motor Control Board Terminal tightening torque is 7 lb-in (0.8 Nm) maximum. Figure 3-2 Single Expansion Board Installation #6 Screw Group 1 or 2 Expansion Board ...
Page 14 - Figure 3-3 Dual Expansion Board Installation
Installation 3-5 AC Controls Dual Expansion Board Installation (Continued)12. When complete, install the control cover using the four (4) Phillips head screws ( 1 / 4 turn). (For A & B size, install four screws that secure the cover. On floor mounted G size enclosures, close theenclosure door). ...
Page 16 - Section 4; Hardware Setup; DIP Switch Settings
Section 4 Hardware Setup Hardware Setup 4-1 DIP Switch Settings This procedure will configure the Device Net Expansion Board forcommunication with a computer or terminal. Reference Figure 4-1 andTable 4-1 for the following procedure.1. Set DIP switches 1 and 2 for the desired baud rate. 2. Set switc...
Page 17 - Figure 4-1 Board Configuration; Device Net Expansion Board Catalog No. EXB013A01; All switches shown in OFF position.; Reset switch; Module Status LED
4-2 Hardware Setup Figure 4-1 Board Configuration Device Net Expansion Board Catalog No. EXB013A01 1 2 3 4 5 V+ V – CAN_+ CAN_ – Shield All switches shown in OFF position. 1 2 3 4 5 6 7 8 O N MS NS 12345 678 ON P3 PB1 Reset switch S1 V+ V – CAN_+ CAN_ – Shield Module Status LED Network Status LED Si...
Page 18 - Table 4-1 Switch Settings
Hardware Setup 4-3 Table 4-1 Switch Settings Switch Number Description 1 2 3 4 5 6 7 8 125kBPS OFF OFF 250kBPS OFF ON 500kBPS ON OFF MAC ID 0 OFF OFF OFF OFF OFF OFF MAC ID 1 OFF OFF OFF OFF OFF ON MAC ID 2 OFF OFF OFF OFF ON OFF MAC ID 3 OFF OFF OFF OFF ON ON MAC ID 4 OFF OFF OFF ON OFF OFF MAC ID ...
Page 19 - LED Indicators; Two LED’s are located on the Device net expansion board.; LED State
4-4 Hardware Setup LED Indicators Two LED’s are located on the Device net expansion board. MS - Module Status LEDDisplays the operational status of the Device Net Interface expansionboard (EXB). Status is summarized in Table 4-2. Table 4-2 LED State Status Description OFF No power is applied to the ...
Page 20 - Control Terminal Strip Connections; operating in the Serial Mode.; Figure 4-2 Serial Opto Input Connections; Series 15H and 21H controls.
Hardware Setup 4-5 Control Terminal Strip Connections For Serial Mode operation, the Input/Output terminal strip of the control(J1 of the Vector and DC controls and J4 of the Inverters) is wired asshown in Figure 4-2. Connect the Enable, Forward Enable Switch,Reverse Enable Switch, External Trip and...
Page 22 - Section 5; Software Setup; Configure Control Software for Device Net Mode; Note: The firmware version of the Series H control must support the
Section 5 Software Setup Software Setup 5-1 Configure Control Software for Device Net Mode The Series H control operating mode must be set to Serial to use theDevice Net expansion board. There is no selection for Device Net onthe Level 1 Input block Operating mode parameter list. However,selecting S...
Page 23 - Note: The 15H control does not have a Command Select “Serial”,
5-2 Software Setup Action Description Display Comments ApplyPower Display illuminates BALDOR MOTORS & DRIVES Logo isdisplayed for 5seconds. If no fault is found andcontrol is programmed forlocal mode,OR, STP MOTOR SPEEDLOCAL 0RPM Display mode. If no fault is found andcontrol is programmed forrem...
Page 25 - Device Net Configuration; be properly set for your application.
5-4 Software Setup Device Net Configuration The Device Net expansion board is a Device Net Group 2 Only Slavedevice using the predefined master/slave connection set, as defined bythe ODVA. It is capable of explicit messaging, as well as polled and/orCOS/Cyclic I/O. The interface is based on the Bald...
Page 26 - Table 5-1 Format of Input Assembly Instances
Software Setup 5-5 Table 5-1 Format of Input Assembly Instances Instance Byte Format # Byte Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 ControlState Warning Output1 Output2 Output3 Output4 0 T#4 T#27 TerminalStrip T#31 CommandMode network remote rev fwd 1 T#5 CtrlSource T#3 RunCMD T#1 151 2 SpeedActual ...
Page 27 - Continued
5-6 Software Setup Table 5-1 Format of Input Assembly Instances Continued Instance Byte Format # Byte Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 ControlState Warning Output1 Output2 Output3 Output4 0 T#4 T#27 TerminalStrip T#31 CommandMode network remote rev fwd 1 T#5 CtrlSource T#3 RunCMD T#1 153 2 Fr...
Page 28 - Table 5-2 Format of Output Assembly Instances; See notes on next page.
Software Setup 5-7 Table 5-2 Format of Output Assembly Instances Instance Byte Format # Byte Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 FaultRst RunInhibit TableSelect Output1 Output2 Output3 Output4 0 T#46 T#2 T#39 T#75 CommandMode network remote rev fwd 1 T#5 CtrlSource T#3 RunCMD T#1 101 2 (RPM) Spe...
Page 29 - TableSelect is not implemented at this time.
5-8 Software Setup Notes: Used with CommandMode (T#5). These bytes represent the variablesSpeedRef (T#7), or Position SpeedRef (T#13). Used with CommandMode (T#5). These bytes represent the variablesTorqueRef or PositionRef. PositionRef requires 4 bytes. TorqueRefrequires 2 bytes (Low Word). TableSe...
Page 30 - Section 6; Command Language; Command Language 6-1
Section 6 Command Language Command Language 6-1 Transaction SpecificationThis section contains a detailed list of the transactions currentlysupported by the protocol. The list includes the transactionnumber, name, type description, and a detailed specification ofthe required and returned data.Note: ...
Page 32 - Command Language 6-3
Command Language 6-3 Data FieldThe Data Field defines the data transfer requirements of theapplication layer message. This field describes the data usingthe ‘data type’ defined in Section 2.l. Commas separateindividual elements of data.As previously discussed in Section 3, there are two types ofappl...
Page 34 - Name
Command Language 6-5 Transaction Specification Table Table 6-1 Transaction Specification Table T# Name Type Data Field Class Description 0 Null Set None All No action.This can be used toreset the watchdogtimer, or as aplaceholder inconjunction with aglobal ExecuteBuffer transaction. 1 RunCmd Set/Get...
Page 35 - Transaction Specification Table
6-6 Command Language Table 6-1 Transaction Specification Table Continued T# Name Type Data Field Class Description 3 CtrlSource Set USINT All 0 = Keypad (local) 1 = Terminal strip (remote) 2 = Control fromnetwork 4 ControlState Get USINT E,V,S 0 = Not Ready (nomain power) 1 = Ready (disabled)2 = Ena...
Page 45 - -16 Command Language
6-16 Command Language Table 6-1 Transaction Specification Table Continued T# Name Type Data Field Class Description 250 Reserved for futureuse. 251 Reserved for futureuse. 252 Reserved for futureuse. 253 Reserved for futureuse. 254 Reserved for futureuse. 255 Reserved for futureuse.
Page 46 - Command Language 6-17; Command; USINT CommandMode; Response; ST; Type
Command Language 6-17 5 - Command Mode Command 5 USINT CommandMode Response 5 ST USINT CommandMode Type : Set/Get This transaction changes the command mode of the Series Hcontrol. The command mode is an 8–bit value. Loading theappropriate value into the command mode register activates theappropriate...
Page 47 - Command Mode Table; Value
6-18 Command Language Table 6-2 Command Mode Table Value Mode Class Description 0 None ALL No mode selected. Output stage ofcontrol remains off or disabled (voltageand current removed from the motor),regardless of RunCmd condition. 1 Torque CMDselected source S,V Closes the current loop with command...
Page 48 - TerminalStrip Table; Bit
Command Language 6-19 31- TerminalStrip Command 31 Response 31 ST WORD TerminalStrip Type : Get This transaction returns a bit–wise word representing the statusof the control digital inputs and outputs.Table 6-3 provides a description of the codes. Note: A bit value of 1=closed or ON, 0=open or OFF....
Page 49 - EXB Name
6-20 Command Language 36 or 37 - Optionald# Command 36 Response 36 ST USINT Optionld Type : Get This transaction returns the id number for the option installed inthe specified location. Table 6-4 provides a description of the possible values. Table 6-4 Optionald# Table ID EXB No. EXB Name Group 1 EX...
Page 50 - Command Language 6-21; UINT WatchdogTime
Command Language 6-21 41 - WatchdogTime Command 41 UINT WatchdogTime Response 41 ST UINT WatchdogTime Type : Set/Get This transaction is used to change the value of the networkwatchdog timer. The value is entered in milliseconds (mS). Thewatchdog timer is used to detect a communications loss. Whenth...
Page 51 - ParameterDetails Table; Field Name
6-22 Command Language Table 6-5 ParameterDetails Table Field Name Description INT Pmin Parameter minimum allowed value. INT Pmax Parameter maximum allowed value. (Number of list itemsin an enumerated type parameter.) INT Pdflt Parameter default value (factory) value. USINT Pprec Indicates the number...
Page 52 - H Series – Fault Message Description; Fault Code
Command Language 6-23 H Series – Fault Message Description Fault Code Fault Message 15H 18H Fault Description Line Regen 1 1 Fault in Line REGEN converter unit - Series 21H Line REGEN Inverter control. Feedback Fault 2 Loss of encoder feedback. Invalid Base ID 3 3 Failed to read configuration from t...
Page 53 - Note
6-24 Command Language H Series – Fault Message Description Continued Fault Code Fault Message 15H 18H Fault Description µ p Reset 22 22 A software watchdog timer has reset theprocessor because a process has timed out. ROM Fault 23 ROM checksum error. 1 Min Overload 24 24 Peak output current exceeded...
Page 54 - BALDOR ELECTRIC COMPANY; Baldor Electric Company
BALDOR ELECTRIC COMPANY P.O. Box 2400 Fort Smith, AR 72902–2400 (479) 646–4711 Fax (479) 648–5792 Baldor Electric Company Printed in USA MN1320 8/03 C&J500
