Baldor mn1854 - Manual

Section 1General Information General Information 1-1 MN1854 Copyright Baldor  2001. All rights reserved. This manual is copyrighted and all rights are reserved. This document may not, inwhole or in part, be copied or reproduced in any form without the prior writtenconsent of Baldor.Baldor makes no ...

General Information 1-3 MN1854 PRECAUTIONS: WARNING: Do not touch any circuit board, power device or electricalconnection before you first ensure that power has beendisconnected and there is no high voltage present from thisequipment or other equipment to which it is connected.Electrical shock can c...

Section 2Product Overview Product Overview 2-1 MN1854 Overview The design of LinStep and LinStep+ microstepping motor drivers (also called adriver or control) and the internal cooling tunnel are revolutionary. These driversconsume less panel space than other controls and keep internal electronics co...

Section 3Receiving and Installation Receiving & Installation 3-1 MN1854 Receiving & Inspection Baldor Drivers are thoroughly tested at the factory and carefully packaged forshipment. When you receive your driver, there are several things you should doimmediately. 1. Observe the condition of ...

3-2 Receiving & Installation MN1854 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 listedclosed loop connectors that are of appropriate size for wire gauge being used.C...

Receiving & Installation 3-3 MN1854 System Grounding Continued Ungrounded Distribution SystemWith an ungrounded power distribution system it is possible to have a continuouscurrent path to ground through the MOV devices. To avoid equipment damage, anisolation transformer with a grounded secondar...

3-4 Receiving & Installation MN1854 Table 3-1 Wire Size and Protection Devices Incoming Power Continuous Input Input Fuse Wire Gauge Catalog Number Nominal Input Voltage Continuous Output Amps (RMS) Input Breaker (A) Time Delay (A) AWG (USA) mm 2 (Europe) LX2P1A06 115V (1 f ) 6.0A 20 20 14 2.5 N...

Receiving & Installation 3-5 MN1854 Figure 3-4 Connection Locations (115VAC, 2 Axis) Side Connections Bottom Connections

3-6 Receiving & Installation MN1854 RS232/Keypad Installation Procedure: (optional keypad – LXKP) Optional Remote Keypad InstallationThe keypad may be remotely mounted and sealed to NEMA 4 specification byusing the gasket and 6 ft (1.8m) cable included. The keypad assembly iscomplete with the sc...

Receiving & Installation 3-7 MN1854 RS–232 PC Connections A null modem connection must be made between the LinStep+ and the computerCOM port. This will ensure that the transmit and receive lines are properlyconnected. Either a 9 pin or a 25 pin connector can be used at the computer,Figure 3-6. M...

3-8 Receiving & Installation MN1854 Daisy Chain ConnectionsLinStep+ can support daisy chaining. The unit address (range 1–99) can be setwith the keypad, through Application Developer, or with a terminal program usingthe Unit Number (UN) command, or the entire chain may be addressed at onceusing ...

Receiving & Installation 3-9 MN1854 Programmable I/O Connections These input connections are made at terminals 6–40 (Figure 3-4).Note: Factory installed jumpers are at locations 9–10, 13–14, 18–19, 19–20 and 21–22. Figure 3-9 Programmable Input Connections EOT1 & 2, Home1 & 2 and Inputs ...

3-10 Receiving & Installation MN1854 Encoder Connections (Refer to MN1800 for wire color and lead information.) The location for each encoder connector (Side Panel) is shown in Figure 3-4.Twisted pair shielded wire with an overall shield should be used. Figures 3-12 and3-13 show the connections ...

Receiving & Installation 3-11 MN1854 Motor Connections The A+, A–, B+ and B– phase outputs of each axis provides power to the motor windings. The location for each motor connector (Bottom Panel) is shownin Figure 3-4. The motor windings can be connected in series or parallel as shownin Figure 3-...

Section 1General Information 3-12 Receiving & Installation MN1854 Start-Up Procedure Power Off Checks Before you apply power, it is very important to verify the following: 1. Verify the AC line voltage at the source matches the control ratedvoltage. 2. Inspect all power connections for accuracy,...

Section 4Keypad Operation Keypad Operation 4-1 MN1854 Overview (Firmware versions LinStep+ Dual B3.1; Keypad V2.90; FPGA#1 7.1 #2 7.1))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 ...

Keypad Operation 4-3 MN1854 + Selects the motion direction in program editor. May also be used in mathprograms 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 PointUsed when entering fixed–point numbers.CommaUsed...

4-4 Keypad Operation MN1854 Test The RUN > TEST > RS232 feature has now been implemented which allows fortesting and debugging of daisy chain terminal communications through the keypadthus eliminating the need for a PC terminal connection. Action Display Comments Press RUN key RUN PROG JOG TES...

Keypad Operation 4-5 MN1854 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, ...

4-6 Keypad Operation MN1854 Example of entering a program using the 0–9 keys. To create a program with thecommands “ 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 progr...

Keypad Operation 4-7 MN1854 Naming a programA program can be given a descriptive name in addition to the program number thatthe 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 mus...

4-8 Keypad Operation MN1854 Entering Characters with the Alpha Key (In edit mode)The ALPHA key allows you to enter almost any character into a program from thekeypad. This is useful to name your programs or subroutines, call subroutines byname, make variable names descriptive, use operator messages ...

Keypad Operation 4-9 MN1854 Edit, Setup Submenu Table 4-2 shows the structure within the “EDIT, SETUP” submenu. Table 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/close...

Keypad Operation 4-11 MN1854 HELP Menu Press HELP to display a help message related to the menu. Help messages areoften 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 MenuHELP...

4-12 Keypad Operation MN1854 COPY, TO PAD Submenu Continued To copy a program from a PC to the keypad, connect the keypad to the RS232port of the PC (COM1 or COM2). Start the Application Developer software andfrom the Communications menu, click on “Send All”. The keypad will display themessage “Rece...

Section 5Setup Setup 5-1 MN1854 Overview There are two ways to setup the parameters: use the keypad or use Intelliwareserial communications software. The procedures presented in this section allowLinStep+ to be configured using the keypad (LXKP). If you are not familiar withthe operation of the keyp...

5-2 Setup MN1854 Configure Motor Adjustments for resolution and movement direction can be made while the motoris energized and moving or at rest. Configuring Motor Type [ MT11 ] EDIT > SETUP > MOTOR > TYPE > STEPER Axis One Motor TypeSteper Note: Motor type is fixed, L–Step (Linear Stepe...

Setup 5-3 MN1854 Configure Encoder If you are not using an encoder, set encoder mode to OPEN LOOP and skip to MECH. Configuring Encoder Mode [ EMi ] EDIT > SETUP > ENC > MODE Value: Open Loop Range: Open Loop, Open–Stall, Closed Loop, Closed Loop–PM – Axis One ENC Mode –– ↑ OPEN LOOP ↓ – ↑ ...

Setup 5-5 MN1854 Configuring Position Maintenance Max Velocity [ PVi ] EDIT > SETUP > ENC > PMMAX Value: 1.0 in/s Range: 0.005–9,999,999.0 – Axis One PM MaxVel – ← 1.0 in/s → Limits the velocity of a position maintenance correction. Regardlessof the magnitude of displacement of correction g...

Setup 5-7 MN1854 Configuring Acceleration Maximum [ AMr ] EDIT > SETUP > MECH > AMAX Value: 80.0 in/s 2 Range: 0.002–9999999.0 – Axis One MAX Accel – ←↑ 80.0 in/s 2 ↓→ Sets the maximum acceleration and deceleration limit for programmedmove profiles. Programmed accelerations and deceleration...

5-8 Setup MN1854 Table 5-1 Continued Char Keypad Display Input Character Description Ee Extend Jog 1Extend Jog 2 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 ofTravel limit is hit while jogging, ...

Setup 5-9 MN1854 Table 5-1 Continued Char Keypad Display Input Character Description Jj Jog Speed 1Jog Speed 2 Jog Speed – When a jog input is activated, the control checks the state of thisinput to determine the jog speed. If the input is OFF, the system will jog at theJog Low speed. If the input i...

Setup 5-11 MN1854 Table 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 bothlimits are hit during a Go Home move. Mm MOVE DONE 1MOVE DONE 2 The output goes high as soon as an axis move is started and...

Setup 5-13 MN1854 Configuring JOG Low Velocity [ JLr ] EDIT > SETUP > JOG > LO–VEL Value: 2.0 {Velocity Units} Range: 0.0–9,999,999.0 – Axis One JOG Lo–Vel – ← 2.0 in/s → Sets the low speed JOG velocity. Use the numeric keys to enter avalue (units were selected in the SETUP > MECH > V...

Setup 5-15 MN1854 Configuring Home Direction [ HFi ] EDIT > SETUP > HOME > DIR Value: POSITIVE Range: NEGATIVE, POSITIVE –Axis One Final Dir– ← Positive → Sets the direction for the Go Home (GH) move. This is the direction used tosearch for the encoder index mark (Z channel) after the appro...

5-16 Setup MN1854 Configuring Scan Delay [ DYi ] EDIT > SETUP > PROG > DELAY Value: 100 Range: 0–99,999 – Scan Debounce –DELAY (ms):100 Sets the amount of time required for the program select inputs (BCD or Binary) toremain stable before they are valid. The minimum time is 2 ms. If program ...

Setup 5-17 MN1854 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 whilean axis is moving). Action Display Comments Press EDIT key – ↑ EDIT ↓ – PROG SETUP...

5-18 Setup MN1854 Configuring Stop Decel Rate [ SRi ] EDIT > SETUP > MISC > Stop–Rate Value: 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 isactivated, or when the ESC key is pressed during a move. Normal...

Section 6Keypad Programming Keypad Programming 6-1 MN1854 Commands The programming commands that can be entered from the keypad are listed inTable 6-1. Table 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 No...

6-2 Keypad Programming MN1854 Value:Units:Range: CL Not Implemented syntax – Value:Units:Range: CT Not Implemented syntax – Value: 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 positio...

Keypad Programming 6-3 MN1854 Value: 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”, wh...

6-4 Keypad Programming MN1854 Example: (Distance to Change) The DC command can only be used when the motor is moving at constant speed (noacceleration of deceleration). Issuing a DC command before a previous DC command hasfinished executing is invalid and can cause unpredictable results. (For exampl...

6-6 Keypad Programming MN1854 Value: N/A Units: N/A Range: N/A The EB command designates the End of a Block of loop or IF commands. Every LP, LW, LU, and IFstatement 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...

Keypad Programming 6-7 MN1854 Value: 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 pausesprocessing until the buttons you have “armed” are pressed. The number of the button pressed is assigned tothe system variable, (FKEY). You ca...

6-8 Keypad Programming MN1854 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 Wait for selected key press GT(FKEY) Jum...

Keypad Programming 6-9 MN1854 Value: 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 reacheshome, the position counter is set to zero or to the Home Offset...

6-10 Keypad Programming MN1854 Value: 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 GOcommand, where program execution waits until all defined moves have terminated, GI allows programexecution to continue when the move has beg...

Keypad Programming 6-11 MN1854 Value: 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–calculatesthe move and waits for I...

6-12 Keypad Programming MN1854 Value: 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 reachesthe EN command in the sub–routine. After the return, execution continues at the command immediatelyfo...

Keypad Programming 6-13 MN1854 Value: 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 bas...

6-14 Keypad Programming MN1854 Value: N/A Units: N/A Range: i=1–40 display position characters variable= any legal variable namemin=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 ...

Keypad Programming 6-15 MN1854 Value: 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 numberfollowing 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 ...

6-16 Keypad Programming MN1854 Value: N/A Units: N/A Range: N/A Sets move profiles to “continuous move”, using the AC, DE and VE parameters. Move Continuous isenabled on an axis with the “+” sign. “MC+” enables the mode for axis one. DI, DA and DC commands resetthe mode to distance.Each MC+ segment ...

Keypad Programming 6-17 MN1854 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 sp...

6-18 Keypad Programming MN1854 Value: 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 operatorinput, display function key prompts, or as a diagnostic tool.MS,“” can be used to restore the initial...

Keypad Programming 6-19 MN1854 Value: N/A Units: N/A Range: N/A Allows conditional program execution based on an event. When the programmable event occurs, thecurrent program and move are interrupted and program execution begins at the predefined interruptprogram. The interrupt program can be define...

6-20 Keypad Programming MN1854 Value: 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 untilchanged by another output command, a reset input (software warm–boot), or power is cycled. All outputsare turned off (high) ...

Keypad Programming 6-21 MN1854 Value: N/A Units: N/A Range: N/A The Registration command (RG) specifies a distance to be moved from the current position – ascommanded 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–...

6-22 Keypad Programming MN1854 Value: 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 parametermust be a previ...

Keypad Programming 6-23 MN1854 Value: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 istoo short, the motor may make a triangular move (velocity vs. ti...

Keypad Programming 6-25 MN1854 [Move] VE4 DI10 OT01 GO OT10 Example of “Hosted” Mode ProgramIn the program [Move], the maximum move velocity is set to 4, the commandincremental distance is set to 10, output 1 and output 2 are turned off and onsimultaneously, axis one then moves 10 units. After axis ...

6-26 Keypad Programming MN1854 Built–in VariablesSome variable names are pre–defined. They can be used in expressions, to setvoltages, to test conditions, or to display information to the keypad display or anexternal serial device. Variable Name Description of Built–in Variable Type (AI1) to (AI6) A...

6-28 Keypad Programming MN1854 Non–Volatile Variables (#F1) through (#F50) are fifty user variables stored in non–volatile flash memoryso 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 thesevariables is...

Keypad Programming 6-29 MN1854 Arithmetic Operands and Equations Addition (+), subtraction (–), multiplication (*), and division (/) are easily performed.Expressions may only contain one operand. Complex equations require multiplestatements. Variables and fixed point numbers may be mixed in arithmet...

6-30 Keypad Programming MN1854 Logical Operators Conditional commands (IF,WT, LU, LW) support logical operations of AND (&&)and OR (||). Two expressions may be logically AND’d or OR’d within oneconditional command. For example: (A)=5 (B)=2.5 IF(A)>2&&(B)=2.5 MS1, “True Statement” ...

Keypad Programming 6-31 MN1854 Create a Message and Read an Input Variable [GET PARTS] Name the subroutine MS1,“” Clears the Display MS1,“How many?: ” Writes string beginning at character 1, top line IV12,(PIECES) Waits at 12th character for the # of pieces. MS1,“” Clears the Display MS1,“How long?:...

6-32 Keypad Programming MN1854 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 BC...

Section 7Troubleshooting Troubleshooting 7-1 MN1854 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 bythese devices. Table 7-1 Operation Indicators LED Color Status Comments Po...

7-2 Troubleshooting MN1854 Additional Information Continued Symptom Possible Cause Possible Remedies No RS232 commu- nication but keypadworks. If the keypad works, the RS232 port is working. Something else is wrong(wiring, configuration, address). Refer to Section 5, “Configure Serial Communications...

Troubleshooting 7-3 MN1854 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 strin...

Section 8Specifications & Product Data Specifications & Product Data 8-1 MN1854 Identification 1 Linear Stepper Driver LX LinStep+ Number Axes 1=1 Axis2=2 Axis P Driver Type D = LinStepP = LinStep Plus Input Voltage 1=115VAC2=230VAC 2 A– 06 Rated Output Current 06 = 6.9 Amperes

8-2 Specifications & Product Data MN1854 General Specifications Description Unit LX2P1A06–2 Input Voltage Range Nominal Minimum Maximum VAC 115 92 132 Input Frequency Hz 50/60 ± 5% Nominal Output Bus Nominal (@ 115 / 230 input) Minimum Maximum VDC 170 88 220 Max. Output Current each axis A RMS 6...

Specifications & Product Data 8-3 MN1854 Dimensions 10.08(256.0) 0.20 (5.1) 0.34 (8.7) 10.50(266.7) 2.93(74.4) 5.84 (148.3) 3.73(94.7) 0.21 (5.3) 2 AxisDriver 1.19(30.2) Use 8–32 or 10–32 Cap Screws (2 places) 9.06(230.1) (Optional Keypad) For safe operation, allow a clearance distance between e...

Section 9CE Guidelines CE Guidelines 9-1 MN1854 CE Declaration of Conformity Baldor indicates that the products are only components and not ready forimmediate or instant use within the meaning of “Safety law of appliance”, “EMCLaw” or “Machine directive”.The final mode of operation is defined only a...

9-2 CE Guidelines MN1854 Using CE approved components will not guarantee a CE compliant system! 1. The components used in the drive, installation methods used, materialsselected for interconnection of components are important. 2. The installation methods, interconnection materials, shielding, filter...

9-4 CE Guidelines MN1854 Input Signal Cable Grounding Cable 1 237 9 10 11 Control Simulated Encoder Output Cable Grounding Cable 162 738 11 13 Control ToController Encoder Cable Grounding Cable 162 738 11 13 Control Encoder ConnectorHousing Connection of shields to digital ground is optional.

Appendix A Appendix A-1 MN1854 Programming Template 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 ...

A-4 Appendix MN1854 Remote Keypad Mounting Template 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) E E E E M M M M B B B 0.5 (12.7)Cut–Out 1.5 (38.1)Cut–Out 0.5 (12.7)Cu...

BALDOR ELECTRIC COMPANY P.O. Box 2400 Ft. Smith, AR 72902–2400 (501) 646–4711 Fax (501) 648–5792 www.baldor.com W Baldor Electric Company MN1854 Printed in USA7/01 C&J 1000 CH TEL: +41 52 647 4700 FAX: +41 52 659 2394 D TEL: +49 89 90 50 80 FAX: +49 89 90 50 8491 UK TEL: +44 1454 850000 FAX: +44...