Baldor MN1851 - Manuals - manualsarea.com

Page 2 - Table of Contents

Table of Contents Table of Contents i MN1851 Section 1General Information 1-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CE Compliance 1-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...

Page 5 - iv Table of Contents

Page 6 - CE Compliance

Section 1General 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, inwhole or in part, be copied or reproduced in any form without the prior writtenconsent of Baldor.Baldor mak...

Page 9 - -4 General Information; rms Symmetrical Amperes

Section 1General Information 1-4 General Information MN1851 Caution: Suitable for use on a circuit capable of delivering not more than the RMSsymmetrical short circuit amperes listed here at rated voltage.Horsepower rms Symmetrical Amperes 1–50 5,000 Caution: To prevent equipment damage, be certain ...

Page 12 - Temperature derating. From 0; C ambient no derating; Mechanical Installation

Section 3Receiving 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 thingsyou should do immediately. 1. Observe the condition ...

Page 13 - Electrical Installation

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 listedclosed loop connectors that are of appropriate size for wire gauge being used...

Page 15 - System Grounding; Continued; Power Disconnect; Time Delay Fuses: Buss FRN on 230 VAC or

3-4 Receiving & Installation MN1851 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...

Page 16 - X1 Power Connections

Receiving & Installation 3-5 MN1851 Table 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 Voltage Output Amps (RMS) Breaker (A) Time Delay (A) AWG (USA) mm 2 (Europe) LP1A02S...

Page 17 - Figure 3-6 Single Phase AC Power Connections (LP1AxxS only); Baldor; Components not provided with Control.

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 L N * CircuitBreaker Earth Note 2 Note 1 Baldor Control Notes:1. See “Protection Devices” described in this section. 2. Metal conduit or sh...

Page 18 - Figure 3-8 Shared Supply Power Connections

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 * CircuitBreaker Earth * Components not provided with Control. Note 2 Baldor Control Note 1 A1 B1 C1 Notes:1. See Protection Device ...

Page 21 - Figure 3-11 Motor Connections for UL; Figure 3-12 Motor Connections for CE; to “PE” on both ends of the cable.

3-10 Receiving & Installation MN1851 X1 Motor Connections Motor connections are shown in Figures 3-11 and 3-12. It is important to connect the motor leads U, V and W correctly at the X1 connectorof the control. Incorrect wiring can cause erratic operation including moves atpeak force until the o...

Page 22 - Figure 3-13 Optional M-Contactor Connections; * Optional components not provided with control.; Motor Thermostat; Note: Add appropriately rated protective

Receiving & Installation 3-11 MN1851 Figure 3-13 Optional M-Contactor Connections U V W * RC Device Electrocube RG1781-3 U V W G 9 * M Enable X3 * Motor M M M * M-Contactor To Power Source (Rated Coil Voltage) M=Contacts of optional M-Contactor Note: Close “Enable” after “M” contact closure. * O...

Page 25 - X3 Digital Inputs Continued; Figure 3-17 Positioning Mode Timing Diagram; Figure 3-18 Homing Process Timing Diagram

3-14 Receiving & Installation MN1851 X3 Digital Inputs Continued Figure 3-17 Positioning Mode Timing Diagram Time Trigger Time Ma I 1 - 4 T2 T4 T1 T3 Time Trajectory T5 T6 Time Motion Ready = Motion in Process T7 See Table 3-4. Table 3-4 Process Duration Time Required Duration T1 ≥ 2ms T2 ≥ 1ms ...

Page 26 - Table 3-5 Opto Output Signal Conditions

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

Page 29 - Figure 3-25 RS485 4 Wire Multi-Drop for UL Installations; Figure 3-26 RS485 4 Wire Multi-Drop for CE Installations; Terminating resistor T

3-18 Receiving & Installation MN1851 Figure 3-25 RS485 4 Wire Multi-Drop for UL Installations * Terminating 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...

Page 30 - X7 Encoder Output; Table 3-6 Buffered Encoder Output at X7 Connector; Signal Name; Reserved

Receiving & Installation 3-19 MN1851 X7 Encoder Output The control provides a buffered encoder output at connector X7. This output maybe used by external hardware to monitor the encoder signals. It is recommendedthat this output only drive one circuit load (RS422 interface – 28LS31 device).Refer...

Page 31 - Figure 3-27 Encoder; Connections for UL Installations; and Hall Feedback; Connections for CE Installations

3-20 Receiving & Installation MN1851 X9 Encoder and Hall Feedback (LPxAxxxx-Exxx) Twisted pair shielded wire with an overall shield should be used. Figure 3-27shows the electrical connections between the encoder and the encoder connector. Figure 3-27 Encoder and Hall Feedback Connections for UL ...

Page 32 - Switch AS1 Settings; Table 4-1 Control Address Setting

Section 4Switch Setting and Start-Up Switch Setting & Start-Up 4-1 MN1851 Switch AS1 Settings Monitor 78 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 inthe “OFF” position. AS1 switches are located on the front panel between X1 a...

Page 33 - Figure 4-1 Automatic Offset Tuning Timing Diagram

4-2 Switch Setting & Start-Up MN1851 Setting of switches AS1-5 to AS1-8The function of switches AS1-5 to AS1-8 are described in Table 4-2. Table 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 Off...

Page 34 - Power Off Checks; Verify that all wiring conforms to applicable codes.; Power On Checks; All segments and decimal point are on.

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. Veri...

Page 36 - Installing Software on your PC; Minimum system requirements; installation; Host Communications Setup; Power up the Host and start Windows software.

Section 5Operation Operation 5-1 MN1851 Installing Software on your PC The setup software is Windows–based. The servo control connects to a serial porton your PC. The setup wizard will guide you through the necessary steps toset–up your servo control. Online–help to each topic is available. Minimum ...

Page 37 - Windows NT

5-2 Operation MN1851 5. Select “Binary Transfers” from the Settings pull down menu withinTerminal program. 6. Set the Binary Transfer protocol to XModem/CRC. 7. Close menu and save the settings. 8. Terminal Communications settings are now complete. Windows 95 1. Power up the Host and start Windows s...

Page 38 - Using The Setup Wizard; Save Configuration. To restore

Operation 5-3 MN1851 Using The Setup Wizard The setup software wizard guides you through each step to set the basicparameters. This wizard is activated automatically after each start-up of thesoftware. This automatic start of the Wizard can be turned off. It can be activated(and reset to automatic s...

Page 39 - Figure 5-1 Flowchart of the Setup Wizard

5-4 Operation MN1851 Figure 5-1 Flowchart of the Setup Wizard Setup Wizard Auto Tuning Procedure Sequence 1: Motor and Control General: – App. Bus Voltage–Enc. Output Motor: – Select the motor Sequence 2: Operating Mode General: – Current– Velocity– Positioning Download Skip Skip Sequence 3: Current...

Page 40 - Set up Software; to go to the Set up Software.

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 ...

Page 41 - Figure 5-2 Motor Selection Screen; Figure 5-3 Control Selection Screen

5-6 Operation MN1851 There are 7 parts to the setup procedure: Motor First, select the “Motor Type”. Then select your specific “Motor ID”. All of theparameters will be entered if your motor is on the list. If your motor is not on thelist, you must define a motor and all of its parameters. If your mo...

Page 42 - Table 5-1 Encoder Feedback; Encoder Feedback

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 Voltage is correct. Enter the Encoder Feedback value for your encoder (seeTable 5-1). Click “Download” when finished. Table 5-1 Encoder Feedback Encoder F...

Page 43 - Operating Mode; Select the operating mode of the control. Choices are:; Figure 5-4 Operating Mode Selection Screen

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

Page 44 - Current Parameter; Figure 5-5 Current Parameter Screen; Velocity Parameter (Refer to Help; “Unit Conversion from Linear to Rotary” for more information); Figure 5-6 Velocity Parameter 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 thecontinuous current rating. For example, if your control is rated for 5A continuouscurrent and you desi...

Page 45 - Positioning; Software Triggered; Hardware Triggered

5-10 Operation MN1851 Positioning There are two ways to start a move: Software triggered or Hardware triggered. Software Triggered Motion Trigger DwellTime 1. From the Main menu select “Setup ⇒ Operation Mode”. 2. Click on “Positioning Tab” and set Command Source to “Software”.3. Set Motion Trigger ...

Page 46 - Home; Procedure to define home position.; Select “Homing” from the Motion menu.; Limit Switches

Operation 5-11 MN1851 Home Starts a search for the machines absolute zero position. When home is found, thecontrol 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 predefinedhome posi...

Page 47 - Drift; Figure 5-7 Drift Parameter Screen; Autotune; Figure 5-8 Autotune Screen

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 measureand set this value. Click “Download” when finished. Figure 5-7 Drift Parameter Screen Autotune You may manual...

Page 48 - Main Menu Choice Descriptions; File

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 ...

Page 50 - Help; PLC Program

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 cont...

Page 51 - Linear Motor; LMBL08E–HW Iron Core Brushless

5-16 Operation MN1851 Velocity Parameters (RPM " m/s) The velocity parameters require parameter values to be entered in RPM.Therefore, you must convert the meters/second value for the linear motor to theRPM value for the parameter entry. Velocity Parameter Screen Determine the RPM parameter valu...

Page 52 - Overview; Operating Mode Indications; Ready

Section 6Troubleshooting Troubleshooting 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 tablesin this section provide information related to the indications provided by thesedevices.No...

Page 53 - Operating Mode Indications Continued

6-2 Troubleshooting MN1851 Table 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 problemremains, contact Baldor. Red c Velocity data in the EEPROM failed. The velocity data must be...

Page 54 - Identification; LP; Panel Mount w/internal power supply; Servo Control; 4VDC required

Section 7Specifications & Product Data Specifications & Product Data 7-1 MN1851 Identification Lin+ Drive LP –E Enclosure TypeT= Panel Mount w/internal power supply P= Panel Mount w/external power supplyS = Panel Mount w/internal power supply (suitable for sharing with other controls). Servo...

Page 55 - Specifications; C, derate the continuous and peak

7-2 Specifications & Product Data MN1851 Specifications Description Unit LPx A02T LPx A05T LPx A07T LPx A02S LPx A05S LPx A010S LPx A015S Input Voltage Range Nominal Minimum Maximum VAC 115 92 132 230184265 Input Frequency Hz 50/60 ± 5% Nominal Output Bus Nominal (@ 115 / 230 input) Minimum Maxi...

Page 57 - 4VDC Logic Power Input (Option LPxAxxxx–xxx3 ONLY); 4VDC Logic Power Input; Velocity Control

7-4 Specifications & Product Data MN1851 24VDC Logic Power Input (Option LPxAxxxx–xxx3 ONLY) Description Unit LPx A02T LPx A05T LPx A07T LPx A02S LPx A05S LPx A10S LPx A15S Input Voltage (maximum ripple = ± 10%) VDC 20 – 30 Input Current @ 24VDC A RMS 0.55 – 0.8 1.4 Power On surge current (24VDC...

Page 58 - Optional Interface (Option LPxAXXXX–XX4X)

Specifications & Product Data 7-5 MN1851 Encoder Input (Feedback) Description Unit All Signal Type RS422 Operating Mode A / B Quadrature Maximum Input Frequency kHz 400 Cycle Time msec 1 Serial Interface (Option LPxAXXXX–XX2X) Description Unit All Communication Type RS232C (not galvanically isol...

Page 59 - Dimensions

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 Requiremen...

Page 60 - CE Declaration of Conformity; Design and use of printed boards; EMC – Conformity and CE – Marking

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

Page 61 - EMC Wiring Technique

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, materialsselected for interconnection of components are important. 2. The installation methods, interconnection materials, shielding, filter...

Page 63 - Input Signal Cable Grounding; Simulated Encoder Output Cable Grounding; Encoder Input Cable Grounding

8-4 CE Guidelines MN1851 Input Signal Cable Grounding Cable 1 237 9 10 11 Control X3 Simulated Encoder Output Cable Grounding Cable 162 738 11 13 Control X7 ToController Encoder Input Cable Grounding A+A–B+B– +5VDGND 162738 11 Control X9 Encoder C+C– 459 141015 13 Shell (Chassis) Hall 1+Hall 1–Hall ...

Page 64 - Mating Connector by connector number (for spare parts); EMC AC Mains Filter; For package size E, G and H (Model T – 3 Phase Required for LP4xx)

Section 9Accessories and Options Accessories & Options 9-1 MN1851 Cables Shielded (Screened) cable provides EMI / RFI shielding and are required forcompliance to CE regulations. All connectors and other components used mustbe compatible with this shielded cable. Connectors Mating Connector by co...

Page 65 - AC Filter Dimensions Continued; AC Filter Dimensions

9-2 Accessories & Options MN1851 D AC Filter Dimensions Continued 4.53 (115) B M6 Depth = F C E G G H A Dim. For 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) (115)...

Page 66 - Regeneration Resistor

Accessories & Options 9-3 MN1851 Regeneration Resistor A regeneration resistor should be installed to dissipate energy during braking if aFault “1” (over-voltage) occurs. Baldor Catalog Number Control 115VAC Controls 230VAC Controls 400/460VAC Controls Control RatedAmps Package Size Resistor Cat...

Page 68 - TUNING; pole placement (the software calculates a “no–overshoot” response),; TUNING GUIDELINES

Appendix AManual Tuning Manual Tuning A-1 MN1851 TUNING This appendix presents guidelines for manually tuning the Control. Tuning isnecessary as load mass and friction will affect the drive response. Response maybe defined as the time required for the drive to reach speed. Various software“tools” ar...

Page 69 - There are 7 parts to the setup procedure:; Motor

A-2 Manual Tuning MN1851 There are 7 parts to the setup procedure: Motor Select your motor from the library. First, select the general motor type. Thenselect your specific motor. All of the parameters will be entered if your motor ison the list. If your motor is not on the list, you may define a mot...

Page 71 - Figure A-12 Operating Mode Selection Screen

A-4 Manual Tuning MN1851 Operating Mode Select the operating mode of the control. Choices are: 1. Current Mode 2. Velocity Mode 3. Positioning Mode (15 preset point to point moves) Click “Download” when finished. Figure A-12 Operating Mode Selection Screen Current Parameter Nominal and peak current ...

Page 72 - Velocity Parameter; Figure A-14 Velocity Parameter Screen

Manual Tuning A-5 MN1851 Velocity Parameter (Refer to Help → “Unit Conversion from Linear to Rotary” for more information) Set the velocity parameters of the control: Refer to “Velocity Parameters (RPM → m/s)” at the end of this section. 1. Scale factor - ratio of the input voltage to output speed. ...

Page 73 - POLE PLACEMENT; Click in the “Load” block and enter the value in Kg–cm

A-6 Manual Tuning MN1851 Manual Tuning The first six steps of the manual tuning process are shown in Figure A-16. Figure A-16 Select Manual Tuning Select Tuning Select Manual Tuning Select OK 1 2 3 Select PolePlacement Enter either Inertiaor Inertia Ratio(the other value isautomatically entered). En...

Page 74 - Response; Figure A-17 Inertia and Load Response Examples; Tracking factor

Manual Tuning 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. Itis expressed in frequency or Hertz. This parameter controls the “rise time” of thesystem. It do...

Page 75 - PI COMPENSATION; Figure A-18 PI Compensation Menu; GVI–Gain

A-8 Manual Tuning MN1851 PI COMPENSATION PI method of adjustment allows adjustment of the acceleration ramp time andovershoot values. If “PI” Compensation is selected, you would enter values forGV–gain and GVI–gain. Select PI Compensation instead of Pole Placement onthe menu shown in Figure A-16.Thi...

Page 76 - GV–Gain

Manual Tuning A-9 MN1851 GV–Gain This is the “proportional gain” of the velocity loop. It controls the gain of thevelocity loop by adjusting the controls response to the error. The error is thedifference between the commanded and actual velocity. The higher the gain, thesmaller the difference (or er...

Page 77 - Graphic Screen

A-10 Manual Tuning MN1851 Plotting of Move At any time after the setup parameters are downloaded to the control, you mayproceed to the plotting routine. Plot allows you to verify that the parameter valuesyou entered provide adequate system response.In this section, you will inform the software what ...

Page 79 - Encoder; The resolution of all linear encoders is between

B-2 Command Set MN1851 Upon receiving a command, the controller answers by sending the functionparameter and variable list. General purpose commands are not prefixed. Thesecommands only consist of the command identifier and therefore need the generalstructure “Command Identifier” [“Delimiter”]“Param...

Page 80 - Start–up with Terminal Communication and Command Examples; can only be established if all drives have different addresses.

Command Set B-3 MN1851 Start–up with Terminal Communication and Command Examples 1. Select the correct COM port NR. and set the following at your PC:– Baud Rate: 9600 – Protocol (Hardware, Xon/Xoff, None): OFF– Data Length: 8 Bit–Stop Bit: 1–Parity: NONE 2. Set the control address. The address is se...

Page 82 - Software Limit Switches Parameters:; Software Limit Switches Methods:

Command Set B-5 MN1851 Additional System parameters (mostly SYS.* prefixed)Velocity 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 feedbackresolution for encoder motors (in pulsesper...

Page 84 - OCI Interface Parameters:; Digital Interface Parameters:

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

Page 85 - Queries / modifications of Fault Listing Variables:

B-8 Command Set MN1851 System VariablesGeneral Variables: Command Description Units Range Default E 2 / Par. set DRV.LIFE Drive life time. Hrs Unsign.Word 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 s...

Page 94 - BALDOR ELECTRIC COMPANY; Baldor Electric Company

BALDOR ELECTRIC COMPANY P.O. Box 2400 Ft. Smith, AR 72902–2400 (501) 646–4711 Fax (501) 648–5792 www.baldor.com  Baldor Electric Company MN1851 Printed in USA 10/00 C&J 1000 CHTEL: +41 52 647 4700FAX: +41 52 659 2394 DTEL: +49 89 90 50 80FAX: +49 89 90 50 8491 UKTEL: +44 1454 850000FAX: +44 145...