LINEAR DRIVE Lin+Drive Servo Control Installation & Operating Manual 10/00 MN1851
Table of Contents Section 1 General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CE Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Limited Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Product Notice . . . . . . . . . . . . . . . . . . . . . .
Section 5 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Installing Software on your PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Minimum system requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 7 Specifications & Product Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24VDC Logic Power Input . . . . . . . . . . . . . . . . . . . . . . . . . . . .
iv Table of Contents MN1851
Section 1 General Information Copyright Baldor 1999, 2000. 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 variable speed controlled three phase brushless AC 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: WARNING: WARNING: WARNING: WARNING: WARNING: WARNING: WARNING: WARNING: 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. Be sure that you are completely familiar with the safe operation of this equipment.
Section 1 General Information Caution: Caution: Caution: Caution: Caution: Caution: Caution: Caution: Caution: Caution: Caution: Caution: Caution: Caution: Suitable for use on a circuit capable of delivering not more than the RMS symmetrical short circuit amperes listed here at rated voltage. Horsepower rms Symmetrical Amperes 1–50 5,000 To prevent equipment damage, be certain that the input power has correctly sized protective devices installed as well as a power disconnect.
Section 2 Product Overview Overview Motors The Lin+Drive product is designed to serve the needs of machine designers and manufacturers. Baldor products have both UL and CE approvals. The Lin+Drive is a “flexible” versatile compact control for linear brushless motors. This digital servo control can be tailored to suit many applications. It can accept 0–10VDC input, standard ±10VDC input, current loop input or 15 preset point to point moves.
Control Inputs Opto isolated inputs are single ended, user selectable and active high or low: Enable Machine Input 1 Quit Machine Input 2 Fault Reset Machine Input 3 Home Flag Machine Input 4 Trigger Note: Machine Inputs 1–4 allow up to 16 digital preset point to point positions. Control Outputs One normally closed relay contact provides a dedicated “Drive Ready” output. Two opto isolated outputs are single ended, active low and are current sinking.
Section 3 Receiving and Installation Receiving & Inspection Baldor Controls are thoroughly tested at the factory and carefully packaged for shipment. When you receive your control, 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 control. 2. Remove the control from the shipping container and remove all packing materials.
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 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.
Figure 3-3 Recommended System Grounding (1 phase) for UL L AC Main Supply Control N L N Safety Ground Earth U V W Note: Wiring shown for clarity of grounding method only. Not representative of actual terminal block location. Route all 3 wires L, N, and Earth (Ground) together in conduit or cable. Driven Earth Ground Rod (Plant Ground) Note: Use shielded cable for control signal wires. Route control signal wires in conduit. These wires must be kept separate from power and motor wires.
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. This provides three phase AC power that is symmetrical with respect to ground.
Table 3-1 Wire Size and Protection Devices (for units with Power Supply) Catalog Number LP1A02SR-EXXX LP2A02SR-EXXX LP1A02TR-EXXX LP2A02TR-EXXX LP4A02TB-EXXX LP1A05SR-EXXX LP1A05SR-EXXX LP1A05TR-EXXX LP2A05TR-EXXX LP4A05TB-EXXX LP1A07TR-EXXX LP2A07TR-EXXX LP4A07TR-EXXX LP1A10SR-EXXX LP2A10SR-EXXX LP1A15SR-EXXX LP2A15SR-EXXX LP4A15TR-EXXX LP4A20TR-EXXX Nominal Input Voltage Continuous Output Amps (RMS) 115V (1f) 230V (3f) 115V (1f) 230V (1f) 400/460V (3f) 115V (1f) 230V (3f) 115V (1f) 230V (1f) 400/460V
Figure 3-5 Single Phase AC Power Connections (LP1AxxT & LP2AxxT only) L1 L2 L1 Earth Note 1 * Circuit Breaker Note 3 & 4 L2 Alternate * Fuse Connection Note 1 Note 2 L * Components not provided with Control. N Baldor Control For CE Compliance, refer to Section 8 of this manual. Notes: 1. See “Protection Devices” described in this section. 2. Metal conduit or shielded cable should be used. Connect conduits so the use of a Reactor or RC Device does not interrupt EMI/RFI shielding. 3.
Figure 3-7 3 Phase Power Connections (LP2AxxS & LP4AxxT only) L1 L2 L3 L1 Earth Note 1 L3 Alternate * Fuse Connection Note 3 & 4 * Circuit Breaker L2 Note 1 Note 2 L1 L2 L3 A1 PE B1 C1 * Components not provided with Control. Baldor Control For CE Compliance, refer to Section 8 of this manual. Notes: 1. See Protection Device description in this section. 2. Metal conduit or shielded cable should be used.
Connector Locations (Single Phase Controls) X1 Earth L N U V W R1 R2 +24V 0V AC Line Neutral Motor lead “U” Motor lead “V” Motor lead “W” Dynamic Brake Dynamic Brake Customer Provided Monitor AS1 Input Power 1 2 3 4 5 6 7 8 NC Motor Dynamic Brake (Regen Resistor) LPxAxxxx-xxx3 only L N U V X9 - Encoder Input Ready W R1 R2 Terminal tightening torque is 0.5 lb-in (0.6Nm) The holes in the top and bottom of the enclosure are for cable clamps. Be sure to use an M4 bolt 12mm in length.
Figure 3-10 Connector Locations (Three Phase Controls) X1 - Power Connector PE L1 L2 L3 U V W R1 R2 +24V 0V Earth Phase 1 Input Phase 2 Input Phase 3 Input Motor lead “U” Motor lead “V” Motor lead “W” Dynamic Brake Dynamic Brake Customer Provided Input Power The holes in the top and bottom of the enclosure are for cable clamps. Be sure to use an M4 bolt 12mm in length. Longer bolts may short circuit the electrical components inside the control.
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 connector of the control. Incorrect wiring can cause erratic operation including moves at peak force until the overcurrent limit trips. This will result in a display of “7” and a “6” on the monitor. If erratic movement of the motor occurs, turn off power immediately and check the connections of the motor, hall sensors and encoder.
Figure 3-13 Optional M-Contactor Connections U V W To Power Source (Rated Coil Voltage) * M M For three phase controls, this is labeled “PE”. M V U Note 1 Note 2 W G * RC Device Electrocube RG1781-3 * M-Contactor * Optional components not provided with control. * M Enable * Motor X3 9 Note: Close “Enable” after “M” contact closure. M=Contacts of optional M-Contactor Notes: 1. Use same gauge wire for Earth ground as is used for L and N. (VDE (Germany) requires10mm2 minimum, 6AWG). 2.
X1 +24VDC Logic Supply For LPxAxxxx-xxx3 only. A separate 24VDC supply to the “Logic Power” input is required for operation. An external 24 VDC power source must be used. If bus power is lost, the logic circuits are still active if the 24VDC is present. This is important to maintain position reference, for example. If the control was not ordered with this option, do not connect any voltage to these pins.
X3 Digital Inputs Continued Table 3-3 Opto Input Signal Conditions Pin Number X3-9 X3-10 X3-11 X3-12 X3-13 X3-14 X3-15 X3-16 X3-17 Signal Name Enable MaI3 MaI4 Quit Fault Reset Home Flag Trigger MaI1 MaI2 Switch = Closed (active) Drive enabled. Machine Input 3 = Logical 1 Machine Input 4 = Logical 1 Stop positioning mode operation Fault Reset is active (reset control).
X3 Digital Inputs Continued Figure 3-17 Positioning Mode Timing Diagram MaI1 - 4 Time T3 T1 T2 Trigger Time T4 T5 T7 T6 Trajectory Time See Table 3-4. Motion Ready = Motion in Process Time Table 3-4 Process Duration Time T1 T2 T3 T4 T5 T6 T7 T8 T9 T10 Required Duration ≥2ms ≥1ms ≥14ms ≥14ms ≤14ms ≤14ms ≤14ms ≥100ms ≥2ms ≥2ms Figure 3-18 Homing Process Timing Diagram T2 Trigger Time T4 T8 T9 Trajectory Time See Table 3-4.
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 opto outputs provide status information and are not required for operation, Table 3-5. Figure 3-19 Fault Relay Connections 4 Customer provided external power source: and Non-Inductive Load 110VAC @ 0.3A maximum or 24VDC @ 0.8A maximum Relay 5 Contact is closed when power is on and no faults are present.
X6 RS232 / 485 Connections RS232 A null modem cable (also called a modem eliminator cable) must be used to connect the control 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 3-21. Maximum recommended length for RS232 cable is 3 ft. (1 meter).
RS485 Standard RS485 connections are shown in Figures 3-23 and 3-24. Maximum cable length is 3280 ft (1000M).
Figure 3-25 RS485 4 Wire Multi-Drop for UL Installations Host Computer RX+ P = Twisted Pair RX– TX+ X6 TR* TR* P TX+ TX– P RX+ TX- RX- DGND DGND GND Shields X6 Use twisted pair shielded cable with an overall shield. *TR TX+ TX– *TR RX+ Terminating resistor TR is 120 W typical value. Only the PC and last control are terminated.
X7 Encoder Output The control provides a buffered encoder output at connector X7. This output may be used by external hardware to monitor the encoder signals. It is recommended that this output only drive one circuit load (RS422 interface – 28LS31 device). Refer to Table 3-6. Table 3-6 Buffered Encoder Output at X7 Connector X7 Pin 1 2 3 4 5 6 7 8 9 Shell Signal Name A+ B+ C+ Reserved DGND A– B– C– Reserved * Chassis (Cable Shield) * For UL Installations ONLY.
X9 Encoder and Hall Feedback (LPxAxxxx-Exxx) Twisted pair shielded wire with an overall shield should be used. Figure 3-27 shows the electrical connections between the encoder and the encoder connector.
Section 4 Switch Setting and Start-Up Switch AS1 Settings Monitor AS1 1 2 3 AS1 switches are located on the front panel between X1 and the “Monitor” LED. 4 5 6 7 8 Off / On Note: AS1–8 is shown in the “ON” position (Drive Enabled). All other switches are shown in the “OFF” position. Address Setting, AS1-1 to AS1-4 (for Multi-Drop Applications) Each control address can be set using switches AS1-1 to AS1-4 of each control. Each control must have a unique address. Refer to Table 4-1.
Setting of switches AS1-5 to AS1-8 The function of switches AS1-5 to AS1-8 are described in Table 4-2. Table 4-2 AS1-5 to AS1-8 Description Switch AS1-5 AS1-6 AS1-7 Function Not Used Hold-Position Offset Tuning AS1-8 Enable ON OFF Hold-Position is active. Automatic Offset Tuning is active. Control is enabled (Enable is active) Hold-Position is not active Automatic Offset Tuning is not active. Control is disabled (Enable is not active) Hold-Position OFF allows normal operation.
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. Verify that switches AS1-5 to AS1-8 are set to OFF. 3. Verify the AC line voltage at the source matches the control rated voltage. 4. Inspect all power connections for accuracy, workmanship and tightness. 5.
4-4 Switch Setting & Start-Up MN1851
Section 5 Operation Installing Software on your PC The setup software is Windows–based. The servo control connects to a serial port on your PC. The setup wizard will guide you through the necessary steps to set–up your servo control. Online–help to each topic is available.
5. 6. 7. 8. Select “Binary Transfers” from the Settings pull down menu within Terminal program. Set the Binary Transfer protocol to XModem/CRC. Close menu and save the settings. Terminal Communications settings are now complete. Windows 95 1. Power up the Host and start Windows software. 2. In “Control Panel” select and open “System”. 3. Open “Ports”, select the COM port you are using then click “properties”. Figure 5-2 4.
Using The Setup Wizard The setup software wizard guides you through each step to set the basic parameters. This wizard is activated automatically after each start-up of the software. This automatic start of the Wizard can be turned off. It can be activated (and reset to automatic start) by Help " Wizard. Figure 5-1 shows the flowchart of the Setup Wizard. All parameters can be stored in a file. These saved values can be restored at any time. To save the configuration, select Setup " Save Configuration.
Figure 5-1 Flowchart of the Setup Wizard Setup Wizard Skip Sequence 1: Motor and Control Skip General: – App. Bus Voltage –Enc. Output General: – Max. Velocity – Time to Max. Velocity – Min.
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 up Software. The General menu appears first. If you are using a stock Baldor linear motor, click the Motor tab to select the motor from the list and these parameters will be entered automatically for you.
There are 7 parts to the setup procedure: Motor First, select the “Motor Type”. Then select your specific “Motor ID”. All of the parameters will be entered if your motor is on the list. If your motor is not on the list, you must define a motor and all of its parameters. If your motor is not listed, select “User Models” in the Library menu and Then click the General tab and enter the motor parameters. Click “Download” when finished.
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 (see Table 5-1). Click “Download” when finished.
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.
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 the continuous current rating. For example, if your control is rated for 5A continuous current and you desire to limit the output current to 4A, enter 80%. If you wish to use the full output power of the control, enter 100%. Click “Download” when finished.
Positioning There are two ways to start a move: Software triggered or Hardware triggered. Software Triggered 1. From the Main menu select “Setup ⇒ Operation Mode”. 2. Click on “Positioning Tab” and set Command Source to “Software”. 3. Set Motion Trigger to “Immediate” then click “Download” and “Close”. 4. From the Main menu select “Motion ⇒ Positioning”. 5. Set Motion Type to “INC” = Incremental or “ABS” = Absolute. 6. Set “Dwell Time” as desired (the wait time before the next move starts). 7.
Home Starts a search for the machines absolute zero position. When home is found, the control 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 predefined home position. The motor may rotate CW or CCW as specified by the user.
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 measure and set this value. Click “Download” when finished. Figure 5-7 Drift Parameter Screen Autotune You may manually tune the control (see appendix) or use autotune to allow the control to tune itself. Click “Download” when finished.
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 contents of the active editor window. Exit and close the Set up software. Edit Cut the selected text in the active editor window to the clipboard. Copy the selected text in the active editor window to the clipboard.
Tuning Allows manual or automatic tuning to remove offset drift. Allows manual or automatic tuning of velocity control parameters. Watch Show or hide the “symbols list bar”. Show or hide the “system parameters bar”. Show or hide the “system status bar”. Gather and plot motor data for two variables. View the error log. View the available options for the selected control. Functions Enable the control. Disable the control – Active: Motor decels to stop then control disables. Passive: Motor coasts to stop.
Help Alphabetic glossary listing of keywords. Search for help based on a keyword. Get help for a specific topic. Open the help contents. Convert between linear and rotary motor units. Starts the setup wizard to configure a motor and control. Software version and release information. PLC Program At the main menu, select “Functions” then “PLC”. See Figure 5-9. 1. Determine which event (listed under the THEN column) you wish to use. 2. Next, click in the IF column on the same ROW as the desired event.
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 the RPM value for the parameter entry. Velocity Parameter Screen Determine the RPM parameter value for your application from the following table. Linear Motor LMBL08E–HW Iron Core Brushless LMBL17E–HW Iron Core Brushless All other LMBL Iron Core Brushless Cog Free Brushless 5-16 Operation RPM 1 1 1 1 meters/second 0.00006 0.
Section 6 Troubleshooting Overview The system troubleshooting procedures involve observing the status of the “Ready” LED, the “DB On” LED and the “Monitor” 7 segment display. The tables in this section provide information related to the indications provided by these devices. Note: The “Ready” LED can display RED, YELLOW or GREEN color.
Table 6-1 Operating Mode Indications Continued Ready Monitor Status Red A EEPROM checksum error. Red c Velocity data in the EEPROM failed. Green C CAN bus problem detected. Red C CAN bus problem detected. Green d Control Disabled. Green E Following Error. Green F Fatal Following Error. Green H Hold-Position mode. Green Red Green J L P Jog mode. Both limit switches active. In Position. Red U EPROM version fault. Red u EEPROM version fault.
Section 7 Specifications & Product Data Identification Servo Control LP X A X X X X –E C 4 3 Lin+ Drive Logic Supply (Option) 0 = Internal 24VDC Supply 3 = External customer provided 24VDC required Input Voltage 1=115VAC 2=230VAC 4=460/400VAC Serial Port Type (Option) 2 = RS232 4 = RS485 Continuous Current Rating A02 = 2 / 2.5 Amps A05 = 5 Amps A07 = 7.
Specifications Description Input Voltage Range Unit Nominal Minimum Maximum VAC Input Frequency Nominal Output Bus (@ 115 / 230 input) LPx A02T LPx A05T LPx A07T LPx A05S 115 92 132 LPx A010S LPx A015S 230 184 265 50/60 ±5% Hz Nominal Minimum Maximum LPx A02S VDC 160 88 180 320 176 360 Nominal Phase Current (±10%) ARMS 2.5 5.0 7.5 2.0 5.0 10 15 Peak Phase Current (±10%); for 2.4sec (+0.5s/–0sec) maximum ARMS 5 10 15 4 10 20 30 Nominal Output Power KVA 1.
Specifications Continued Description Input Voltage Range Unit Nominal Minimum Maximum Input Frequency Nominal Output Bus (@ 400 / 460 input) Nominal Minimum Maximum LP4 A02TB LP4 A05TB LP4 A07TR LP4 A15TR VAC 460 @ 60Hz / 400 @ 50Hz 400 / 360 528 / 480 Hz 50/60 ±5% VDC 565 / 678 509 / – – / 744 LP4 A20TR Nominal Phase Current (±10%) ARMS 2.5 5 7.5 15 20 Peak Phase Current (±10%); 2.4s +0.5s/–0s ARMS 5 10 15 30 40 Nominal Output Power KVA 1.9 3.7 5.6 11.2 14.
24VDC Logic Power Input (Option LPxAxxxx–xxx3 ONLY) Description Unit Input Voltage (maximum ripple = ±10%) Input Current @ 24VDC Power On surge current (24VDC 100msec) VDC ARMS ARMS LPx A02T LPx A05T LPx A07T 0.55 – 0.8 4.0 LPx LPx LPx A02S A05S A10S 20 – 30 1.4 2.5 LPx A15S Depends on installed options.
Encoder Input (Feedback) Description Unit All Signal Type RS422 Operating Mode A / B Quadrature Maximum Input Frequency Cycle Time kHz 400 msec 1 Serial Interface (Option LPxAXXXX–XX2X) Description Unit All Communication Type RS232C (not galvanically isolated) Transmission Rate Baud 9600 (not adjustable) Optional Interface (Option LPxAXXXX–XX4X) Communication Type RS485 (not galvanically isolated) Transmission Rate Baud 9600 (not adjustable) Regeneration (115 / 230VAC) Description S
Dimensions Size E, G and H Size A, B and C 1.57″ (40mm) A A W W 15.75 (400) 7.70″ (195.5mm) 15.14 (385) 6.81″ (173mm) 14.05 (357) Depth Size A, B, C = 6.0 (152) 0.2 (5.2) Dia. 4 Places 0.12 (3.0) Clearance Requirements (all sizes): 0.06″ (15mm) top and bottom 0.04″ (10mm) left and right side 0.374 (9.5) X 0.3 (8.0) Package Size A B C E G H A 0.59 (15) 0.90 (23) 0.90 (23) 1.08 (27.5) 1.28 (32.5) 2.6 (65) Dimensions in (mm) W 3.3 (84) 4.3 (109) 4.3 (109) 2.17 (55) 2.6 (65) 5.
Section 8 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 X3 Cable 1 2 3 7 9 10 11 Simulated Encoder Output Cable Grounding Control X7 Cable 1 6 2 7 3 8 11 13 To Controller Encoder Input Cable Grounding Control X9 Encoder Hall Feedback 8-4 CE Guidelines 1 6 2 7 3 8 11 13 A+ A– B+ B– C+ C– +5V DGND 4 5 9 14 10 15 12 Hall 1+ Hall 1– Hall 3+ Hall 3– Hall 2+ Hall 2– Not Used Shell (Chassis) MN1851
Section 9 Accessories and Options Cables Shielded (Screened) cable provides EMI / RFI shielding and are required for compliance to CE regulations. All connectors and other components used must be compatible with this shielded cable. Connectors Mating Connector by connector number (for spare parts) X1 – #ASR29714 (9 pin, Female) Phoenix Part No. MVSTBW2,5/9–ST X1 – #ASR29715 (2 pin, Female) Phoenix Part No. MVSTBW2,5/2–ST X3 – #ASR16000 (20 pin, Female) Phoenix Part No.
AC Filter Dimensions Continued Dim. A B C D E F G H For FN350 5.4 (139) 3.9 (99) 4.2 (105) 3.32 (84.5) 3.73 (95) 2.24 (57) 0.39 (10) 1.74 (19) 8 Ć 29 8.6 (220) 7.1 (180) 4.5 (115) 3.35 (85) 3.93 (100) 2.36 (60) 0.39 (10) 0.76 (19.5) AC Filter Dimensions Dim. A B C D E F G 4.53 (115) Depth = F For Filters: FN 351 16 Ć 29 25 Ć 33 36 Ć 33 50 Ć 33 9.45 9.84 (240) (250) 7.87 7.87 (200) (200) 5.9 5.9 (150) (150 4.7 4.72 (119.5) (120) 5.31 5.31 (135) (135) 2.55 2.55 (65) (65) 0.39 0.78 (10) (20) 1.22 0.
Regeneration Resistor A regeneration resistor should be installed to dissipate energy during braking if a Fault “1” (over-voltage) occurs. Control Rated Amps Package Size 2.5 5 7.5 2.5 5 7.5 15 22.5 2 5 10 15 A B C G G G H H E E E E 115VAC Controls Resistor Resistor Catalog Watts No. RG27 44 RG27 44 RG22 100 Baldor Catalog Number 230VAC Controls Resistor Resistor Catalog Watts No. RG56 44 RG56 44 RG39 100 400/460VAC Controls Resistor Resistor Catalog Watts No. * RG68 * RG68 RG68 RG27A RG23 RG4.
9-4 Accessories & Options MN1851
Appendix A Manual Tuning TUNING This appendix presents guidelines for manually tuning the Control. Tuning is necessary as load mass and friction will affect the drive response. Response may be defined as the time required for the drive to reach speed.
There are 7 parts to the setup procedure: Motor Select your motor from the library. First, select the general motor type. Then select your specific motor. All of the parameters will be entered if your motor is on the list. If your motor is not on the list, you may define a motor and all of its parameters. Click “Download” when finished. Figure A-10 Motor Selection Screen Control The “Control ID” is automatically selected. All of the parameters will be entered if your control is on the list.
After the motor and control are selected, click the General menu and note that the values are filed in. Encoder Feedback LMBLxx–A or LMBLxx–B 1143 2286 5715 11430 Encoder Resolution LMBLxx–E LMCF (All) micron 1143 2286 4572 11430 762 1524 3048 7620 15240 20 10 5 2 1 0.5 0.
Operating Mode Select the operating mode of the control. Choices are: 1. 2. 3. Current Mode Velocity Mode 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 values are automatically entered for the motor type. For manual tuning only, set the control current limit value to a percentage of the continuous current rating.
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. 2. Minimum velocity 3. Time to maximum velocity Click “Download” when finished. Figure A-14 Velocity Parameter Screen Drift If you know the input offset value of the control, you may enter the value manually.
Manual Tuning The first six steps of the manual tuning process are shown in Figure A-16. Figure A-16 Select Manual Tuning 4 1 Select Tuning 5 Select Pole Placement Enter either Inertia or Inertia Ratio (the other value is automatically entered). 2 Select Manual Tuning 3 Select OK 6 Enter a value for Bandwidth 7 Click on Download If “Pole Placement” method of adjustment is selected, you would enter values for “inertia” or “inertia ratio”.
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. It is expressed in frequency or Hertz. This parameter controls the “rise time” of the system. It does not effect overshoot. It is recommended that bandwidth is increased only if higher dynamic response is required.
PI COMPENSATION PI method of adjustment allows adjustment of the acceleration ramp time and overshoot values. If “PI” Compensation is selected, you would enter values for GV–gain and GVI–gain. Select PI Compensation instead of Pole Placement on the menu shown in Figure A-16. This is an advanced method of adjustment for use by servo engineers. The “pole placement” method is easier to use for most applications and is recommended.
GV–Gain This is the “proportional gain” of the velocity loop. It controls the gain of the velocity loop by adjusting the controls response to the error. The error is the difference between the commanded and actual velocity. The higher the gain, the smaller the difference (or error). The adjustable range is from 0 to 32767. 1. Click in the “Proportional Gain (GV)” box. Enter a value for GV. You may want to begin with the default values – click on the “default” button and answer “yes”.
Plotting of Move At any time after the setup parameters are downloaded to the control, you may proceed to the plotting routine. Plot allows you to verify that the parameter values you entered provide adequate system response. In this section, you will inform the software what move to perform. You will enter time (for the move), direction (CW or CCW) and speed. It is recommended that you start with low speeds and short time periods (i.e. 0.5 sec) until you get a feel for your system.
Appendix B Command Set Lin – ASCII – Command – Set General Lin controls use the RS232 communication port (optional RS485) as the Interface. This document describes existing LinDrive/Lin+Drive ASCII terminal commands for setup and control of the servo drive. There are three types of ASCII commands: 1. Parameters. Without parameters, these commands are handled as queries. To modify the value of a parameter, the value to be set is added to the command.
Upon receiving a command, the controller answers by sending the function parameter and variable list. General purpose commands are not prefixed. These commands only consist of the command identifier and therefore need the general structure “Command Identifier” [“Delimiter”]“Parameter list” [CR] With the non–prefixed commands, no delimiter is mandatory, but the blank space can be inserted optional.
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 set by switch AS1-1 to AS1-4. To locate a control, type “A” then the control address, e.g. A3 (searches for a control with address 3).
General Settings System Constants Command SYS.POWER SYS.FBACK Description Queries dip switch ID, (see DRV.ID) Queries system feedback (encoder / resolver)as defined by ALTERA Queries firmware version with naming and version number as ASCII string Queries level version Queries ALTERA option(s)X Most Significant–Word of SYS.STTS gives control address of (LS–Word s. below). Control Address is set per Dip Switch SYS.INFO (SYS.VER) SYS.LEVEL SYS.OPT SYS.STTS (COM.
Additional System parameters (mostly SYS.* prefixed) Velocity Feedback Parameters: Command MTR.RPLS SYS.ENCRES SYS.ENCTBL Description Resolver number of poles Queries / updates encoder feedback resolution for encoder motors (in pulses per revolution, i.e. before quadrature) Queries encoder motor hall table type. Units – pulses/rev. Range 1 : 65535 1 : 16384 – 0:2 Default E2 / Par. set E/P E/P E/P Firmware versions RES–1.xx, ENC–1.xx only Encoder Simulation Output Parameter: Command SYS.
PLC Parameters: Command PLC.LINE Description Defines PLC statement :IF [input]=TRUE, THEN [action] set/started, with syntax PLC.LINE [num] [action] [input] [num] [action] – PLC line number, and string parameter for PLC action, fixed to line number: 0 “ENABLE” (PLC enable) 1 “MAO1” (Digital Input MAO1) 2 “MAO2” (Digital Input MAO2) 3 “MAO3” (Digital Input MAO3, if available) 4 “MAO4” (Digital Input MAO4, if available) 5 “RELAY” ( 6 “USRERR” (Error “9”) 7 “FRST” (Fault Reset) 8 “DISA” (Disable active, s.
OCI Interface Parameters: Command Description Units Range CAN.BD (The range check is: Invalid execute context.) It should be: “Range error” (The range check is: Invalid execute context.) Hz 10 : 1000 Default Significant OK – 1 : 127 OK Units – Range 0:1 Default 0 E2 / Par. set E/P – 0:1 0 E/P Units mV Range –100000 : 100000 Default 0 E2 / Par. set E/– CAN.ID E2 / Par. set Digital Interface Parameters: Command MOT.INCCW MOT.
System Variables General Variables: Command DRV.LIFE SYS.STTS Description Drive life time.
X1 Fault 12 13 14 15 16 17 18 X1 Possible Faults – Continued Display “FAULT_RELAY” “EAF” “MISSING INT” “POWER_ID” “CW_CCW” “DESIGN_FAILURE” “EE_CLEARED” 19 20 21 22 23 “EE_INTEGRITY” “EAF Drive Temp” “EAF Motor Temp” “EAF Drive I2T” “EAF Motor I2T” Description when fault relay is closed. Displays ’9’. N.I N.I DRV.ID != SYS.POWER. Displays small ’u’. Both limit switches are on. Displays ’L’. Control design fail. Displays small ’c’. EEPROM header stamp was not detected.
Queries of System Variables, Status, Faults Single Values: Command ACTU CUR.ACTU ACTV CUR.ACTV ANAIN SYS.ANAIN POS, RPOS, SYS.POS POS.POS VEL VEL.VEL Description Query for actual current U Units 0.01 A Range Default E2 / Par. set –/– Query for actual current V 0.01 A –/– Query for analog input mV –/– Queries motor position –/– Resolver bits / encoder counts –/– Query feedback velocity RPM Data Record ( REC. prefixed ) Parameters: Command REC.GAP REC.TIME REC.VAR1, REC.
Memory related methods (Queries / modifications): RAM related: Command BDUMP Description Gets hexadecimal memory dump in bytes BMEMH Query / Update memory byte in hex BMEMD Query / Update memory byte in dec WDUMP Get hexadecimal memory dump in words WMEMH Query / update hexadecimal word memory location Query / update decimal word memory WMEMD Parameter Memory address Memory address Memory address Memory address Memory address Memory address Range Unsign.Int.
Sys.mod 0: Current mode Parameters: Command CUR.BEMF CUR.IPEAK CUR.INOM CUR.TOFR CUR.TOSH CUR.SCAL CUR.VOLT Description Back EMF voltage compensation, in percentage of nominal motor value Ke. Queries / updates application peak current in percentage of DRV.IPEAK Queries / updates application nominal current in percentage of DRV.
Sys.mod 1 & Sys.mod 3 Velocity mode Parameters: Command VEL.ACC VEL.ADZON VEL.BW VEL.CTRL VEL.GV VEL.GVI VEL.INRT VEL.LPFA VEL.LPFB VEL.LPFMOD VEL.TRKFCT VEL.MXRPM VEL.SCAL VEL.VOLT Description Queries /updates velocity acceleration limits ( time to max. velocity ). Queries / updates min.
Jog Parameters: Command JOG.TIME JOG.TYPE JOG.VEL Description Jog time in milliseconds 0 – continuous, 1 – step, 2 – square wave Jog velocity in RPM, limited to maximum velocity VEL.MXRPM. Units ms – Range 3432448 0:2 VEL.MXRPM Default E2 / Par. set E/– E/– E/– Methods: Command JOG JS Description Commanding a Jog according to JOG.
Position Controller Position Controller Parameters: Command POS.FFA POS.FFTYPE POS.FFV POS.KP POS.FEWRN POS.FEFAT POS.IPOS Description Queries/updates acceleration FF factor unsigned integer ranged 0..100 Queries / updates FF type with position controller redesign 0 – FF none, 1 – velocity FF, 2 – acceleration FF Queries / updates velocity FF factor unsigned integer ranged within 0..100 Queries / updates position gain unsigned integer ranged within 25..
Sys.mod 2: Pulse Follower (Handwheel respectively Pulse/Direction) Parameters: Command HW.GRFX HW.GRSH HW.PLC HW.RES HW.TYPE Description Queries/updates mantissa HW gear parameter, negative value means negative gear.
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Lin+Drive Servo Control MN1851
