LinStep+ Dual–Axis Microstepping Indexer/Driver Installation & Operating Manual 7/01 MN1854
Table of Contents Section 1 General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CE Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Limited Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Product Notice . . . . . . . . . . . . . . . . . . . . . .
Section 4 Keypad Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Run Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PROG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 7 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Serial Communications Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Section 8 Specifications & Product Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
iv Table of Contents MN1854
Section 1 General Information 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 to the contents hereof and specifically disclaims any implied warranties of fitness for any particular purpose. The information in this document is subject to change without notice.
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 such as: – Home appliances – Mobile vehicles – Ships – Airplanes Unless otherwise specified, this drive is intended for installation in a suitable enclosure.
PRECAUTIONS: WARNING: 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. WARNING: Be sure that you are completely familiar with the safe operation of this equipment.
Caution: To prevent keypad damage, be sure keypad mounting screws do not extend more than 0.2 (5) into keypad assembly. Caution: Avoid 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 leads that may create ground loops and degrade system performance. Instead, we recommend using a four wire Wye.
Section 2 Product Overview 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 and operation. LinStep+ single and dual–axis drivers are used with Baldor motion controls and other popular stepper controllers that provide step and direction (or CW/CCW step pulses) .
2-2 Product Overview MN1854
Section 3 Receiving and Installation 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 immediately to the commercial carrier that delivered your driver. 2. Remove the driver from the shipping container and remove all packing materials.
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 specified by the manufacturer of the connector. Only class 1 wiring should be used.
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. To avoid equipment damage, an isolation transformer with a grounded secondary is recommended. Input Power Conditioning Certain power line conditions must be avoided. An AC line reactor or an isolation transformer may be required for some power conditions.
Table 3-1 Wire Size and Protection Devices Catalog Number Nominal Input Voltage Continuous Output Amps (RMS) 115V (1f) 6.0A LX2P1A06 Incoming Power Input Fuse Input Breaker Time Delay (A) (A) 20 20 Wire Gauge AWG mm2 (Europe) (USA) 14 2.5 Note: All wire sizes are based on 75°C copper wire. Higher temperature smaller gauge wire may be used per NEC and local codes. Recommended fuses/breakers are based on 25°C ambient, maximum continuous driver output current and no harmonic current.
Figure 3-4 Connection Locations (115VAC, 2 Axis) Side Connections Bottom Connections MN1854 Receiving & Installation 3-5
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 enclosure. The gasket has adhesive on one side that must be placed toward the enclosure. Tools Required: • Center punch. 3/ " drill bit (for clearance mounting holes). • 16 1/ " (12.7) and 1-1/ " (38.
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 3-6. Maximum recommended length for RS232 cable is 6 ft. (1.8 meter).
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. Connect as shown in Figure 3-8. Rules for Daisy Chain Operation 1. All LinStep’s in a daisy chain must have their device address assigned in ascending order away from the host device.
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 12V Factory Installed Jumper 21 Maximum current = 35mA each input, 250mA maximum total from 12VDC internal source.
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 and 3-13 show the connections between the encoder and the encoder connector.
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 shown in Figure 3-4. The motor windings can be connected in series or parallel as shown in Figure 3-14. For Baldor motors, refer to MN1800 for lead information. Interlock (INTLK) The two INTLK pins for each motor connector must be jumpered for the drive to apply power to the motor.
Section 1 General Information 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 rated voltage. 2. Inspect all power connections for accuracy, workmanship and tightness. 3. Verify that all wiring conforms to applicable codes. 4. Verify that the control and motor are properly grounded to earth ground. 5. Check all signal wiring for accuracy. 6.
Standby Current (can be changed at any time) Setting the Standby current DIP switch to ON reduces motor current by 30% when the drive has not received a step pulse for 250 msec. Full current is restored when the next step pulse is received. Each drive can also be set to standby with the EA2 software command. A 30% reduction in motor current during Standby correlates with an approximate 30% reduction in motor holding torque.
3-14 Receiving & Installation MN1854
Section 4 Keypad Operation 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 RUN ABC 1 JKL 4 STU 7 F2 EDIT VE AC DE LP EB IF MC ON SP DEF 2 MNO 5 VWX 8 ÷*= ESC 0 HELP VE AC DE TD OT WT MS FK IV RG () [] GHI 3 PQR 6 YZ 9 ± F3 COPY DEL GO GH GI ← → GT GS EN ↑ ↓ CL CT ST . , ALPHA ENTER F1, F2, F3 Selector keys.
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. To exit a menu without making a selection, or to back up one menu level, press ESC. Table 4-1 Menu Options RUN PROG (F1) Run programs by name or number. EDIT PROG (F1) Edit or write programs. JOG (F2) Jog either axis at low or high speeds. Press F1 or F2, and any arrow key (←↑↓→).
+ 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 separate axis command parameters. Part of the syntax in message and variable “prompt” commands. Alpha In the editor, allows entering alpha characters for the keypad.
Test The RUN > TEST > RS232 feature has now been implemented which allows for testing and debugging of daisy chain terminal communications through the keypad thus eliminating the need for a PC terminal connection. Display Action Press RUN key PROG RUN JOG Comments TEST Press TEST for sub menu selections. TRACE Press ↑ or ↓ key for more sub menu selections.
Edit Menu Pressing the EDIT key displays a set of sub–menus. Display Action Press EDIT key PROG Press ↑ or ↓ key for more sub menu selections. –↑EDIT↓– SETUP Comments POS –↑EDIT↓– Select a sub–menu, press F1 (PROG), F2 (SETUP), or F3 (POS). Select a sub–menu, press F1 (LIST). LIST Edit, PROG Submenu Create A New Program 1. Press “EDIT, F1 (PROG)” and you will see a display with a blinking cursor as shown in Figure 4-2. Figure 4-2 New Program –↑EDIT PROGRAM↓– >_ 2.
Example of entering a program using the 0–9 keys. To 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 the #2 key. This will enter the AC command. 3. Press the decimal key. 4. Press the #3 key. 5. Press ENTER. This will insert a space after the 3 to separate the commands. 6. Press F1, then press the #2 key.
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 any combination of characters. Programs or subroutines are often named to help “self document” a program. It is usually easier to remember and understand a name than a number.
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 or use commands not on the keypad, such as EA or “ ”. The letters are found on the 0–9 keys. To insert A, B or C on the #1 key: 1. Press ALPHA. 2.
Edit, Setup Submenu Table 4-2 shows the structure within the “EDIT, SETUP” submenu.
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 Press “EDIT, POS” (F3) Display Reset Position? YES NO Comments Press YES (F1) or NO (F3) Edit, List Submenu Select “EDIT, ↓, LIST” to view memory usage. LIST provides a way to view your program memory usage. Standard program storage is 60K bytes, and the maximum size of a single program is 1,024 bytes.
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 press any of the non–numeric keys. Pressing HELP in Menus and Sub–Menus HELP explains the selections available from your current menu location.
COPY, TO PAD Submenu Continued To 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 messages will quickly appear, then disappear from the screen. When the keypad display is blank, the transfer is complete. COPY, FROM Submenu Copy a program from the keypad to the LinStep+ or to a PC.
Section 5 Setup 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. To ensure that LinStep+ is correctly configured, follow all the procedures so that important parameters are not overlooked.
Configure Motor Adjustments for resolution and movement direction can be made while the motor is energized and moving or at rest. Configuring Motor Type [ MT11 ] EDIT > SETUP > MOTOR > TYPE > STEPER Note: Motor type is fixed, L–Step (Linear Steper) for both axes. Axis One Motor Type Steper Press ← or → to select next axis.
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 ↓– ↑ or ↓ to select value, press ENTER Press ← or → to select next axis. Open Loop Open–stall The OPEN LOOP position will be displayed on the keypad.
Configuring Following Error Limit [ FEi ] EDIT – Axis One Fol Error – –↑ 750 Steps ↓– > SETUP > ENC > FOL–ERR Value: 750 Steps Range: 0–99,999 motor steps (0 = Off) Select value, press ENTER Press ← or → to select next axis. If a Following Error occurs, the control will enter a fault state where: S Any motion or program being executed is immediately terminated. S The LCD Display will indicate “Following Error”, along with an explanation.
Configuring Position Maintenance Max Velocity [ PVi ] EDIT – Axis One PM MaxVel – ← 1.0 in/s → > SETUP > ENC > PMMAX Value: 1.0 in/s Range: 0.005–9,999,999.0 Select value, press ENTER Press ← or → to select next axis. Limits the velocity of a position maintenance correction. Regardless of the magnitude of displacement of correction gain, the correction velocity will never exceed this maximum velocity setting.
Configuring Units of Velocity [ VUi ] EDIT > SETUP > MECH > VEL – Axis One Vel Units – ←↑ in/s ↓→ Value: in/s Range: in/s or in/min ↑ or ↓ to select value, press ENTER Press ← or → to select next axis. Sets the velocity units. All velocity values will be expressed in these units. Configuring Maximum Velocity [ MVr ] EDIT > SETUP > MECH > VMAX Value: 500.0 in/s Range: 0–9999999.0 – Axis One MAX Vel – ←↑ 500.0 in/s ↓→ Select value, press ENTER Press ← or → to select next axis.
Configuring Acceleration Maximum [ AMr ] EDIT – Axis One MAX Accel – ←↑ 80.0 in/s2 ↓→ > SETUP > MECH > AMAX Value: 80.0 in/s2 Range: 0.002–9999999.0 Select value, press ENTER Press ← or → to select next axis. Sets the maximum acceleration and deceleration limit for programmed move profiles. Programmed accelerations and decelerations for moves will be limited by this parameter (like VMAX for velocity).
Table 5-1 Continued Char E e Keypad Display Extend Jog 1 Extend Jog 2 G Registration I Interrupt (Run98) 5-8 Setup Input Character Description 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 Travel limit is hit while jogging, the motor will stop at the Stop Rate (see Edit–Setup–Misc.).
Table 5-1 Continued Char J j Keypad Display Jog Speed 1 Jog Speed 2 K Kill M m Shutdown 1 Shutdown 2 P Pause/Continue R r Retract Jog 1 Retract Jog 2 S Stop U Unassigned V Data Valid W Warm Boot MN1854 Input Character Description 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.
Figure 5-1 4 3 2 1 LinStep #4 LinStep #3 LinStep #2 LinStep #1 Data Valid Unit Selection PLC Program Selection Configuring Output Definition [ ODaaaaaaaa ] EDIT OUT1: PROGRAMMABLE ←↑↓→ PPPPPPPP > SETUP > I/O > OUTPUTS Value: PPPPPPPP Range: Select value, press ENTER Each input is easily configured using the keypad as described in Table 5-2. The function of each input channel is indicated by a letter at the bottom of the display. Note: Use the ← and → keys to select an Input.
Table 5-2 Continued Char L Keypad Display LIMIT ERROR M m P MOVE DONE 1 MOVE DONE 2 PROGRAMMABLE S STALL Input Character Description 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. The output goes high as soon as an axis move is started and goes low when a move is completed. Unassigned outputs are set to Programmable and can be used with OT commands. The output goes low if the control detects a motor stall.
Configuring OPTO States for Stop/Kill [ OEa,iiiiiiii ] EDIT On ST/K Output #1 ←↑ No Change ↓→ > SETUP > I/O > OUTSTS > ST/K Value: NO CHANGE Range: ON, OFF or NO CHANGE Select value, press ENTER Each output is easily configured using the keypad. Select if the output should be ON or OFF state or NO CHANGE when a stop or kill command is received. Note: Use the ← and → keys to select an Output (1–8). Then use ↑↓ to select the definition.
Configuring JOG Low Velocity [ JLr ] EDIT – Axis One JOG Lo–Vel – ← 2.0 in/s → > SETUP > JOG > LO–VEL Value: 2.0 {Velocity Units} Range: 0.0–9,999,999.0 Select value, press ENTER Press ← or → to select next axis. Sets the low speed JOG velocity. Use the numeric keys to enter a value (units were selected in the SETUP > MECH > VEL menu). Configuring JOG Low Velocity [ JHr ] EDIT – Axis One JOG Hi–Vel – ← 5.0 in/s → > SETUP > JOG > HI–VEL Value: 5.0 {Velocity Units} Range: 0.0–9,999,999.
Configuring Homing Mode [ HMi ] EDIT > SETUP > HOME > MODE Value: Switch Only Range: Switch Only –Axis One Home Mode– ←↑ Switch Only ↓→ Only one selection available. Press ← or → to select next axis. Sets how a Go Home (GH) command will execute. The control will only search for the appropriate edge of a switch.
Configuring Home Direction [ HFi ] EDIT –Axis One Final Dir– ← Positive → > SETUP > HOME > DIR Value: POSITIVE Range: NEGATIVE, POSITIVE Select value, press ENTER Sets the direction for the Go Home (GH) move. This is the direction used to search for the encoder index mark (Z channel) after the appropriate home switch edge is found.
Configuring Scan Delay [ DYi ] EDIT – Scan Debounce – DELAY (ms):100 > SETUP > PROG > DELAY Value: 100 Range: 0–99,999 Select value, press ENTER Sets the amount of time required for the program select inputs (BCD or Binary) to remain stable before they are valid. The minimum time is 2 ms. If program select inputs are not stable for a time equal to or greater than the specified delay, the program will not be executed. Use the numeric keys to enter a value in ms.
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). Display Action Press EDIT key Comments POS Select a sub–menu, press F1 (PROG), F2 (SETUP), or F3 (POS). Press F2 (SETUP) key for more sub menu selections. –↑SETUP↓– PROG RS232 MISC Select a sub–menu, press F1 (PROG), F2 (RS232), or F3 (MISC).
Configuring Stop Decel Rate [ SRi ] EDIT > SETUP > MISC > Stop–Rate – Axis One Stop Decel – ← 80 in/s2 → Value: 80 in/s2 Range: 0.0–99999.0 Enter a value, press ENTER 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 controllable deceleration rate possible with mechanics in your application.
Section 6 Keypad Programming Commands The programming commands that can be entered from the keypad are listed in Table 6-1.
CL Not Implemented syntax – Value: Units: Range: CT Not Implemented syntax – Value: Units: Range: DA Distance Absolute syntax – DA±r 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 position is established after a Go Home move (GH) and/or with the Set Position (SP) command.
DC Distance to Change syntax – DC±r 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”, while the motor is still moving. At the specified distance you can change the velocity, acceleration, deceleration or change the state of an output(s).
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 incorrect use of the DC command). The initial acceleration ramp requires 2.5 units to reach velocity S= 0.5Vt, the DC1.75 is an invalid trigger position and is ignored.
DE Deceleration syntax – DE±r Value: N/A Units: seconds, in/sec2 or units/sec2 (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 it is re–specified by an acceleration (AC) or deceleration (DE) command. Examples: AC2 VE12 DA3 GO Sets acceleration and deceleration to 2.
EB End of Block syntax – EB 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 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, jump to the GH command. EN End of Program syntax – EN Value: N/A Units: N/A Range: N/A EN marks the end of a program or subroutine.
FK Function Key syntax – FKi,i,..,i 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 pauses processing until the buttons you have “armed” are pressed. The number of the button pressed is assigned to the system variable, (FKEY). You can then manipulate or directly use this variable to branch to other routines or make other decisions. FK allows the programmer to redefine the keypad’s function keys as operator menu selection buttons.
Figure 6-1 Example 3–Screen Menu Program Program 20: [SCREEN 1] MS1,“ “ MS3,“Select a Part” MS21,”Part A Part B Part C” FK1,2,3,17,18 GT(FKEY) EN Program 18: [SCREEN 2] MS21,“Part D Part E Part F” FK1,2,3,17,18 IF(FKEY)=17 GT[SCREEN 1] IF(FKEY)=18 GT[SCREEN 3] EB GT(FKEY) EN Program 17: [SCREEN 3] MS21,“Part G Part H Part J” FK1,2,3,17,18 IF(FKEY)=17 GT[SCREEN 2] EB IF(FKEY)=18 GT[SCREEN 1] EB (FKEY)=(FKEY)+6 GT(FKEY) EN Name the main program Clears keypad screen Writes a Message Writes a message above fun
GH Start Home syntax – GH±r 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 reaches home, the position counter is set to zero or to the Home Offset (HO) value selected in the EDIT > SETUP > HOME menu.
Go Immediate GI syntax – GI or GIi 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 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 processes to take place while an axis is moving, such as independent multi–axis moves, OT commands, and conditional IF blocks.
GO Go (Start a Move) syntax – GO or GOi 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–calculates the move and waits for Input number “n” to activate before executing. This variation is sometimes useful for applications needing very short, repeatable move calculation delays.
GS Gosub syntax – GSi and GS[name] 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 reaches the EN command in the sub–routine. After the return, execution continues at the command immediately following the GS statement. Subroutines may be nested 16 levels deep. A Goto (GT) clears the subroutine stack, preventing future Gosubs from overflowing the stack or returning to the wrong location.
IF If syntax – IF (Mathematical expression) IFxx (assumes first input is input 1) IFi,xx ... 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 based on the evaluation of an expression or input state.
syntax – IVi,(variable),min,max IV Input Variable Value: 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 operator input of the variable specified in the IV statement. The cursor is placed at character position “i”.
syntax – LPi LP Loop 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 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 allowed. Each LP command must have a corresponding EB command to end the block (loop).
syntax – MC+ MC Move Continuous Value: 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. Accelerations, Velocities, and Decelerations may be changed in any segment. If no change is specified, the last parameter value will be used.
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, command processing will continue when axis 1 reaches constant velocity TD2 Delay for 2 seconds at speed VE25 GO Decel to 25 WT111 Wait for inputs 1,2, and 3 to go active VE0 GO Stop the move 2.
MS syntax – MS,“” returns to the initial runtime display MSn,“” MSn,“user text” MSn,(variable) Message to Display 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 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 during program execution.
ON On Condition (On Event) syntax – ONn,GTx ONn,GSx ONn,0 Clear the event n= On EOT Limit Value: 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.
OT Output (turn outputs On/Off) syntax – OTi,xx .. OTxx (assumes first input is input 1) i= starting output number 1–16 x=0; input high. X=1; input low (grounded). x=anything else; ignore input changes. 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 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.
syntax – RGr RG Registration Value: 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 from the point where the input trigger was received. VE2 AC.1 DA10 RG3 GO Assume the input is an optical sensor that triggered on a registration mark at a position of 4 user–units.
syntax – SQr,(var) SQ Square Root 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 parameter must be a previously defined variable for which the square root result is stored. If the second parameter is not a defined variable, you will get a Bad Variable Name error.
syntax – VEr VE Velocity 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 is too short, the motor may make a triangular move (velocity vs. time) and the motor may never reach the specified speed. When VE is specified, the value is used in all subsequent moves until re–defined. Example: AC.1 DE.
Table 6-2 Summary of Expressions, Operators and Functions [] () && || ! != + – * / = > >= < <= & | ++ += –– –= << >> Helpful Hints Name Program Name Variable 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 AND Bitwise Boolean OR Increment Variable Increment by n Decrement Variable Decrement by n Shift Left Shift Right Programming your application This section provides additional informati
Variables [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 and output 2 is turned off. These changes of outputs 1 and 2 occur at the same time.
Built–in Variables 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.
Using Built–in Variable (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 pressed, (AROWREL) will return the value 0. (AROWREL) will return one of these values: (AROWREL)=0 One of the arrow keys is being held down. (AROWREL)=1 The arrow key has been released.
Non–Volatile Variables (#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 of a equal (=) sign, the new value is written to, and stored in the user non–volatile flash.
Arithmetic Operands and Equations Addition (+), subtraction (–), multiplication (*), and division (/) are easily performed. Expressions may only contain one operand. Complex equations require multiple statements. Variables and fixed point numbers may be mixed in arithmetic equations. All user arithmetic and variable storage uses 32 bit integer and fractional representation. The + and – symbols have a dedicated button on the keypad. Pressing the button will change between the two.
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 one conditional command. For example: (A)=5 (B)=2.5 IF(A)>2&&(B)=2.5 MS1, “True Statement” EB In this program, the message “True Statement” appears since BOTH conditional statements are true.
Create a Message and Read an Input Variable [GET PARTS] MS1,“” MS1,“How many?: ” IV12,(PIECES) MS1,“” MS1,“How long?:: ” IV12,(LENGTH) LP(PIECES) DI(LENGTH) GO EB Name the subroutine Clears the Display Writes string beginning at character 1, top line Waits at 12th character for the # of pieces. Clears the Display Writes string beginning at character 1, top line Waits at 12th character for the length. Loops the number of pieces entered Moves the length entered.
Read a 4 Digit BCD number, 2 Digits at a time [GET 4 BCDS] OT01 (4 DIGIT BCD)=(2TW)*100 OT10 (4 DIGIT BCD)=(4 DIGIT BCD)+(2TW) Returns value of 4 digit BCD number Connect ground of first two BCD digits Make value of first two digits the MSB Connect ground of 2nd two BCD digits Add value of 2nd two to 1st two * 100 Reading an Analog Input Value The value of the analog system variables (Al I –AI6) are scaled from 14,400 to 72,000 Hz.
Section 7 Troubleshooting 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. Table 7-1 Operation Indicators LED Power Color Green Regen Yellow OverVoltage/ INTLK Temperature Red Red Status Indicates that AC power is applied and the supplies are operating. On during Regen activity. Regen circuit cannot handle excess energy or Interlock circuit is open.
Additional Information Symptom No RS232 communication but keypad works. RS232 communication and keypad do not work. Continued Possible Cause If the keypad works, the RS232 port is working. Something else is wrong (wiring, configuration, address). The keypad is disabled. “Hit A Limit” The serial port is not working. A limit switch has been activated. “Amplifier Fault” Multiple drive faults have occurred.
Additional Information Continued Symptom Possible Cause “Unknown Command” A command not in the command set has been issued. “Command Is Too Command and parameter string Long” exceeds 80 characters. “Too Many ParameParameter list exceeds amount ters” supported by command. “Invalid Parameter” Parameter type is invalid. “Bad Command Command and parameter list has Syntax” invalid syntax. “Too Many Nested Program exceeds 16 nested loops. LPs” “Too Many Nested Program exceeds 16 nested gosubs.
7-4 Troubleshooting MN1854
Section 8 Specifications & Product Data Identification LinStep+ Linear Stepper Driver LX 2 P 1 A– 06 Rated Output Current 06 = 6.
General Specifications Description Unit LX2P1A06–2 VAC 115 92 132 Hz 50/60 ±5% Nominal Minimum Maximum VDC 170 88 220 Max. Output Current each axis ARMS 6 Resolution in (mm) 4 x 10–5 (1.016 x 10–3) Efficiency % 85 Motor Inductance mH 2 – 60 Switching Frequency kHz 20 Encoder – Optically Isolated, differential line driver, 5VDC, 500 KHz Max (2 MHz post quadrature) Inputs – 8 – Programmable + 2 Limit and 1 Home inputs.
Dimensions 0.20 (5.1) 0.21 (5.3) 0.34 (8.7) 1.19 (30.2) 3.73 (94.7) (Optional Keypad) 10.08 (256.0) 9.06 (230.1) 10.50 (266.7) 2 Axis Driver 5.84 (148.3) 2.93 (74.4) Use 8–32 or 10–32 Cap Screws (2 places) For safe operation, allow a clearance distance between each control and on all sides of each control. At least 3 inches (75mm) top and bottom clearance must be provided for air flow. Between drivers (each side), allow at least 0.1 inch (2.5mm).
8-4 Specifications & Product Data MN1854
Section 9 CE Guidelines 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 user’s equipment. It is the responsibility of the user to verify compliance. The product conforms with the following standards: DIN VDE 0160 / 05.
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 determine CE compliance. 3. The responsibility of CE mark compliance rests entirely with the party who offers the end system for sale (such as an OEM or system integrator).
EMC Installation Instructions To 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 of power lines A proper enclosure should have the following characteristics: A) All metal conducting parts of the enclosure must be electrically connected to the back plane.
Input Signal Cable Grounding Control Cable 1 2 3 7 9 10 11 Simulated Encoder Output Cable Grounding Control Cable 1 6 2 7 3 8 11 13 To Controller Encoder Cable Grounding Control Cable Encoder Housing Connector 1 6 2 7 3 8 11 13 Connection of shields to digital ground is optional.
MN1854 2 22 2 22 2 1 21 1 21 1 22 22 21 21 2 1 FK1 23 3 FK1 23 3 FK1 23 3 FK1 23 3 24 4 24 4 24 4 24 4 25 5 25 5 25 5 25 5 26 6 26 6 26 6 26 6 27 7 27 7 27 7 27 7 28 8 28 8 28 8 28 8 29 9 29 9 29 9 29 9 31 11 31 11 31 11 31 11 FK2 30 10 FK2 30 10 FK2 30 10 FK2 30 10 32 12 32 12 32 12 32 12 33 13 33 13 33 13 33 13 34 14 34 14 34 14 34 14 35 15 35 15 35 15 35 15 36 16 36 16 36
A-2 Appendix MN1854 2 22 2 22 2 22 2 22 1 21 1 21 1 21 1 21 FK1 23 3 FK1 23 3 FK1 23 3 FK1 23 3 24 4 24 4 24 4 24 4 25 5 25 5 25 5 25 5 26 6 26 6 26 6 26 6 27 7 27 7 27 7 27 7 28 8 28 8 28 8 28 8 29 9 29 9 29 9 29 9 31 11 31 11 31 11 31 11 FK2 30 10 FK2 30 10 FK2 30 10 FK2 30 10 32 12 32 12 32 12 32 12 33 13 33 13 33 13 33 13 34 14 34 14 34 14 34 14 35 15 35 15 35 15 35 15 36 16
MN1854 Appendix A-3 2 22 2 22 2 1 21 1 21 1 22 22 21 21 2 1 FK1 23 3 FK1 23 3 FK1 23 3 FK1 23 3 24 4 24 4 24 4 24 4 25 5 25 5 25 5 25 5 26 6 26 6 26 6 26 6 27 7 27 7 27 7 27 7 28 8 28 8 28 8 28 8 29 9 29 9 29 9 29 9 31 11 31 11 31 11 31 11 FK2 30 10 FK2 30 10 FK2 30 10 FK2 30 10 32 12 32 12 32 12 32 12 33 13 33 13 33 13 33 13 34 14 34 14 34 14 34 14 35 15 35 15 35 15 35 15 36 16
Remote Keypad Mounting Template 4.0 (101.6) E 3.25 (82.55) B B M 4.838 (122.88) E M 1.5 (38.1) Cut–Out 0.5 (12.7) Cut–Out 2.04 (51.8) 3.39 (86.10) 3.034 (77.06) 3.184 (80.87) 4.380 (111.25) 0.5 (12.7) Cut–Out 4.154 (105.51) 0.75 (19.0) 3.09 (78.48) 2.0 (50.8) B E M 0.23 (5.84) 0.66 (16.7) M E Installation Notes. 1. For SAE mounting (6–32 hardware) mark and drill holes “E” with 3/16" drill bit. 2. For metric mounting (M3.5 hardware) mark and drill holes “M” with 3/16" drill bit. 3.
BALDOR ELECTRIC COMPANY P.O. Box 2400 Ft. Smith, AR 72902–2400 (501) 646–4711 Fax (501) 648–5792 www.baldor.
LinStep+ Dual–Axis Microstepping Indexer/Driver MN1854
