Baldor mn1854 manual

LinStep + Dual–Axis Microstepping Indexer/Driver Installation & Operating Manual 7/01 MN1854[...]

T able of Contents T able of Contents i MN1854 Section 1 General Information 1-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CE Compliance 1-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . L[...]

ii T able of Contents MN1854 Section 4 Keypad Operation 4-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Overview 4-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Run Menu 4-3 [...]

T able of Contents iii MN1854 Section 7 T roubleshooting 7-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Serial Communications Problems 7-3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Section 8 Specifications &[...]

iv T able of Contents MN1854[...]

Section 1 General Information General Information 1-1 MN1854 Copyright Baldor  2001. All rights reserved. This manual is copyrighted and all rights are reserved. This document may not, 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 [...]

1-2 General Information MN1854 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 [...]

General Information 1-3 MN1854 PRECAUTIONS: W ARNING: 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 . W ARNING: Be s[...]

1-4 General Information MN1854 Caution: T o prevent keypad damage, be sure keypad mounting screws do not extend more than 0.2 (5) into keypad assembly . Caution: A void 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 l[...]

Section 2 Product Overview Product Overview 2-1 MN1854 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[...]

2-2 Product Overview MN1854[...]

Section 3 Receiving and Installation Receiving & Installation 3-1 MN1854 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 [...]

3-2 Receiving & Installation MN1854 Electrical Installation All interconnection wires between the driver , AC power source, motor , host driver and any operator interface stations should be in metal conduits. Use listed closed loop connectors that are of appropriate size for wire gauge being used. Connectors are to be installed using crimp tool[...]

Receiving & Installation 3-3 MN1854 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. T o avoid equipment damage, an isolation transformer with a grounded secondary is recommended. Input Power Conditioning Cer[...]

3-4 Receiving & Installation MN1854 T able 3-1 Wire Size and Protection Devices Incoming Power Continuous Input Input Fuse Wire Gauge Catalog Number Nominal Input V oltage Continuous Output Amps (RMS) Input Breaker (A) Time Delay (A) AW G (USA) mm 2 (Europe) LX2P1A06 1 15V (1 f ) 6.0A 20 20 14 2.5 Note: All wire sizes are based on 75 ° C coppe[...]

Receiving & Installation 3-5 MN1854 Figure 3-4 Connection Locations (1 15V AC, 2 Axis) Side Connections Bottom Connections[...]

3-6 Receiving & Installation MN1854 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 en[...]

Receiving & Installation 3-7 MN1854 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 [...]

3-8 Receiving & Installation MN1854 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. Connec[...]

Receiving & Installation 3-9 MN1854 Programmable I/O Connections These input connections are made at terminals 6 – 40 (Figure 3-4). Note: Factory installed jumpers are at locations 9 – 10, 13 – 14, 18 – 19, 19 – 20 and 21 – 22. Figure 3-9 Programmable Input Connections EOT1 & 2, Home1 & 2 and Inputs 1 – 8 (33 – 40) (Prog[...]

3-10 Receiving & Installation MN1854 Encoder Connections (Refer to MN1800 for wire color and lead information.) The location for each encoder connector (Side Panel) is shown in Figure 3-4. T wisted 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 .[...]

Receiving & Installation 3-1 1 MN1854 Motor Connections The A+, A – , B+ and B – phase outputs of each axis provides power to the motor windings. The location for each motor connector (Bottom Panel) is 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 f[...]

Section 1 General Information 3-12 Receiving & Installation MN1854 Start-Up Procedure Power Off Checks Before you apply power , it is very important to verify the following: 1. V erify the AC line voltage at the source matches the control rated voltage. 2. Inspect all power connections for accuracy , workmanship and tightness. 3. V erify that a[...]

Receiving & Installation 3-13 MN1854 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.[...]

3-14 Receiving & Installation MN1854[...]

Section 4 Keypad Operation Keypad Operation 4-1 MN1854 Overview (Firmware versions LinStep+ Dual B3.1; Keypad V2.90; FPGA#1 7.1 #2 7.1)) The Keypad layout with the LCD display is shown in Figure 4-1. Figure 4-1 Keypad and LCD Display F1 F2 F3 RUN EDIT HELP COPY DEL 1 ABC 2 DEF 3 GHI 4 JKL 5 MNO 6 PQR 7 STU 8 VWX 9 YZ ESC 0 ÷ * = ± ALPHA ENTER , .[...]

4-2 Keypad Operation MN1854 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. T o exit a menu without making a selection, or to back up one menu level, press ESC. T able 4-1 Menu Key RUN EDIT HELP COPY DEL PROG ([...]

Keypad Operation 4-3 MN1854 + 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 separa[...]

4-4 Keypad Operation MN1854 T est 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. Action Display Comments Press RUN key RUN PROG JOG TEST Select a sub – menu, press F1 (Prog), F2 (J[...]

Keypad Operation 4-5 MN1854 Edit Menu Pressing the EDIT key displays a set of sub – menus. Action Display Comments Press EDIT key – ↑ EDIT ↓ – PROG SETUP POS Select a sub – menu, press F1 (PROG), F2 (SETUP), or F3 (POS). Press ↑ or ↓ key for more sub menu selections. – ↑ EDIT ↓ – LIST Select a sub – menu, press F1 (LIST). [...]

4-6 Keypad Operation MN1854 Example of entering a program using the 0 – 9 keys. T o 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 th[...]

Keypad Operation 4-7 MN1854 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 a[...]

4-8 Keypad Operation MN1854 Entering Characters with the Alpha Key (In edit mode) The ALPHA key allows you to enter almost any character into a program from 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 [...]

Keypad Operation 4-9 MN1854 Edit, Setup Submenu T able 4-2 shows the structure within the “ EDIT , SETUP ” submenu. T able 4-2 Edit, Setup Submenu Submenu Setup Parameter Description of Setup Parameter TYPE Motor parameters MOTOR D – RES Drive resolution MOTOR DIR Direction of travel MODE Select open/closed loop mode E – RES Encoder resolut[...]

4-10 Keypad Operation MN1854 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 Display Comments Press “ EDIT , POS ” (F3) Reset Position? YES NO Press YES (F1) or NO (F3) Edit, List S[...]

Keypad Operation 4-1 1 MN1854 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[...]

4-12 Keypad Operation MN1854 COPY , TO P AD Submenu Continued T o 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 m[...]

Section 5 Setup Setup 5-1 MN1854 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. [...]

5-2 Setup MN1854 Configure Motor Adjustments for resolution and movement direction can be made while the motor is energized and moving or at rest. Configuring Motor T ype [ MT1 1 ] EDIT > SETUP > MOTOR > TYPE > STEPER Axis One Motor Type Steper Note: Motor type is fixed, L – Step (Linear Steper) for both axes. Press ← or → to sele[...]

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

5-4 Setup MN1854 Configuring Following Error Limit [ FEi ] EDIT > SETUP > ENC > FOL – ERR V alue: 750 Steps Range: 0 – 99,999 motor steps (0 = Off) – Axis One Fol Error – – ↑ 750 Steps ↓ – Select value, press ENTER Press ← or → to select next axis. If a Following Error occurs, the control will enter a fault state where:[...]

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

5-6 Setup MN1854 Configuring Units of V elocity [ VUi ] EDIT > SETUP > MECH > VEL V alue: in/s Range: in/s or in/min – Axis One Vel Units – ←↑ in/s ↓→ Sets the velocity units. All velocity values will be expressed in these units. ↑ or ↓ to select value, press ENTER Press ← or → to select next axis. Configuring Maximum V[...]

Setup 5-7 MN1854 Configuring Acceleration Maximum [ AMr ] EDIT > SETUP > MECH > AMAX V alue: 80.0 in/s 2 Range: 0.002 – 9999999.0 – Axis One MAX Accel – ←↑ 80.0 in/s 2 ↓→ Sets the maximum acceleration and deceleration limit for programmed move profiles. Programmed accelerations and decelerations for moves will be limited by t[...]

5-8 Setup MN1854 T able 5-1 Continued Char Keypad Display Input Character Description E e Extend Jog 1 Extend Jog 2 Extend Jog – When activated, the motor will Jog in the Extend (+) direction. When the input is released, motion stops at the Jog Accel rate. If an End of T ravel limit is hit while jogging, the motor will stop at the Stop Rate (see [...]

Setup 5-9 MN1854 T able 5-1 Continued Char Keypad Display Input Character Description J j Jog Speed 1 Jog Speed 2 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. If[...]

5-10 Setup MN1854 Figure 5-1 4 3 2 1 Data V alid Unit Selection PLC Program Selection LinStep #1 LinStep #2 LinStep #3 LinStep #4 Configuring Output Definition [ ODaaaaaaaa ] EDIT > SETUP > I/O > OUTPUTS V alue: PPPPPPPP Range: OUT1: PROGRAMMABLE P PPPPPPP ←↑↓→ Each input is easily configured using the keypad as described in T able[...]

Setup 5-1 1 MN1854 T able 5-2 Continued Char Keypad Display Input Character Description L LIMIT ERROR The output goes low if a limit switch is hit during a normal move, or if both limits are hit during a Go Home move. M m MOVE DONE 1 MOVE DONE 2 The output goes high as soon as an axis move is started and goes low when a move is completed. P PROGRAM[...]

5-12 Setup MN1854 Configuring OPT O States for Stop/Kill [ OEa,iiiiiiii ] EDIT > SETUP > I/O > OUTSTS > ST/K V alue: NO CHANGE Range: ON, OFF or NO CHANGE On ST/K Output #1 ←↑ No Change ↓→ 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[...]

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

5-14 Setup MN1854 Configuring Homing Mode [ HMi ] EDIT > SETUP > HOME > MODE V alue: Switch Only Range: Switch Only – Axis One Home Mode – ←↑ Switch Only ↓→ Sets how a Go Home (GH) command will execute. The control will only search for the appropriate edge of a switch. Only one selection available. Press ← or → to select ne[...]

Setup 5-15 MN1854 Configuring Home Direction [ HFi ] EDIT > SETUP > HOME > DIR V alue: POSITIVE Range: NEGA TIVE, POSITIVE – Axis One Final Dir – ← Positive → 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. Sel[...]

5-16 Setup MN1854 Configuring Scan Delay [ DY i ] EDIT > SETUP > PROG > DELA Y V alue: 100 Range: 0 – 99,999 – Scan Debounce – DELAY (ms):100 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 ti[...]

Setup 5-17 MN1854 Configure Miscellaneous Setup Parameters The miscellaneous set – up (MISC SETUP) parameters include the keypad display , and setting the deceleration rate used with a stop input (or with the ESC key while an axis is moving). Action Display Comments Press EDIT key – ↑ EDIT ↓ – PROG SETUP POS Select a sub – menu, press F[...]

5-18 Setup MN1854 Configuring Stop Decel Rate [ SRi ] EDIT > SETUP > MISC > Stop – Rate V alue: 80 in/s 2 Range: 0.0 – 99999.0 – Axis One Stop Decel – ← 80 in/s 2 → Set the deceleration rate used whenever a configurable stop input is activated, or when the ESC key is pressed during a move. Normally set to the fastest controllab[...]

Section 6 Keypad Programming Keypad Programming 6-1 MN1854 Commands The programming commands that can be entered from the keypad are listed in T able 6-1. T able 6-1 Keypad Program Command List AC Acceleration GH Start Home OT Outputs On/Off CL Not Implemented FK Function Key MS Message to Display CT Not Implemented GI Go Immediate ON On Condition [...]

6-2 Keypad Programming MN1854 V alue: Units: Range: CL Not Implemented syntax – V alue: Units: Range: CT Not Implemented syntax – V alue: 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 ([...]

Keypad Programming 6-3 MN1854 V alue: 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 sp[...]

6-4 Keypad Programming MN1854 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 incorr[...]

Keypad Programming 6-5 MN1854 V alue: N/A Units: seconds, in/sec 2 or units/sec 2 (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[...]

6-6 Keypad Programming MN1854 V alue: N/A Units: N/A Range: N/A The EB command designates the End of a Block of loop or IF commands. Every LP , L W , 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, ju[...]

Keypad Programming 6-7 MN1854 V alue: 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). Y ou can then manipulate or directly use th[...]

6-8 Keypad Programming MN1854 Figure 6-1 Example 3 – Screen Menu Program Program 20: [SCREEN 1] Name the main program MS1, “ “ Clears keypad screen MS3, “ Select a Part ” Writes a Message MS21, ” Part A Part B Part C ” Writes a message above function keys FK1,2,3,17,18 W ait for selected key press GT(FKEY) Jumps to prog# 1, #2, or #3 [...]

Keypad Programming 6-9 MN1854 V alue: 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 >[...]

6-10 Keypad Programming MN1854 V alue: 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 proce[...]

Keypad Programming 6-1 1 MN1854 V alue: 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 bef[...]

6-12 Keypad Programming MN1854 V alue: 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 m[...]

Keypad Programming 6-13 MN1854 V alue: 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 inp[...]

6-14 Keypad Programming MN1854 V alue: 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 opera[...]

Keypad Programming 6-15 MN1854 V alue: 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 allowe[...]

6-16 Keypad Programming MN1854 V alue: 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. [...]

Keypad Programming 6-17 MN1854 Move Continuous Continued Examples: 1. Basic Move Continuous syntax. Demonstrates how to change speed and stop MC+ moves based on time delays and input conditions. MC + Enable Move Continuous on axis 1 AC.1 DE.2 Set the acceleration and deceleration rates VE50 Set top speed to 50 GO Start the Move Continuous move, com[...]

6-18 Keypad Programming MN1854 V alue: 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 du[...]

Keypad Programming 6-19 MN1854 V alue: 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. Defining the interrupt as a [...]

6-20 Keypad Programming MN1854 V alue: 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. For flexibil[...]

Keypad Programming 6-21 MN1854 V alue: 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 fro[...]

6-22 Keypad Programming MN1854 V alue: 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[...]

Keypad Programming 6-23 MN1854 V alue: 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[...]

6-24 Keypad Programming MN1854 T able 6-2 Summary of Expressions, Operators and Functions [ ] Name Program ( ) Name V ariable && 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[...]

Keypad Programming 6-25 MN1854 [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 [...]

6-26 Keypad Programming MN1854 Built – in V ariables 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. V ariable Name Description of Built – in V ariable T ype (AI1) to (AI6) Analog Inputs 1 through 6 Read O[...]

Keypad Programming 6-27 MN1854 Using Built – in V ariable (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 p[...]

6-28 Keypad Programming MN1854 Non – V olatile V ariables (#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 [...]

Keypad Programming 6-29 MN1854 Arithmetic Operands and Equations Addition (+), subtraction ( – ), multiplication (*), and division (/) are easily performed. Expressions may only contain one operand. Complex equations require multiple statements. V ariables and fixed point numbers may be mixed in arithmetic equations. All user arithmetic and varia[...]

6-30 Keypad Programming MN1854 Logical Operators Conditional commands (IF ,WT , LU, L W) support logical operations of AND (&&) and OR (||). T wo 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, “ T rue Statement ” EB In this program, the messa[...]

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

6-32 Keypad Programming MN1854 Read a 4 Digit BCD number , 2 Digits at a time [GET 4 BCDS] Returns value of 4 digit BCD number OT01 Connect ground of first two BCD digits (4 DIGIT BCD)=(2TW)*100 Make value of first two digits the MSB OT10 Connect ground of 2nd two BCD digits (4 DIGIT BCD)=(4 DIGIT BCD)+(2TW) Add value of 2nd two to 1st two * 100 Re[...]

Section 7 T roubleshooting T roubleshooting 7-1 MN1854 Overview The system troubleshooting procedures involve observing the status of the LED ’ s. The tables in this section provide information related to the indications provided by these devices. T able 7-1 Operation Indicators LED Color Status Comments Power Green Indicates that AC power is app[...]

7-2 T roubleshooting MN1854 Additional Information Continued Symptom Possible Cause Possible Remedies No RS232 commu- nication but keypad works. If the keypad works, the RS232 port is working. Something else is wrong (wiring, configuration, address). Refer to Section 5, “ Configure Serial Communications ” . Verify PC COM port is set to 9600 bau[...]

T roubleshooting 7-3 MN1854 Additional Information Continued Symptom Possible Cause Possible Remedies “ Unknown Command ” A command not in the command set has been issued. Check program for data entry errors. “ Command Is Too Long ” Command and parameter string exceeds 80 characters. Reduce command string size. “ Too Many Parame- ters ”[...]

7-4 T roubleshooting MN1854[...]

Section 8 Specifications & Product Data Specifications & Product Data 8-1 MN1854 Identification 1 Linear Stepper Driver LX LinStep+ Number Axes 1=1 Axis 2=2 Axis P Driver T ype D = LinStep P = LinStep Plus Input V oltage 1=1 15V AC 2=230V AC 2 A – 06 Rated Output Current 06 = 6.9 Amperes[...]

8-2 Specifications & Product Data MN1854 General Specifications Description Unit LX2P1A06 – 2 Input V oltage Range Nominal Minimum Maximum VA C 11 5 92 132 Input Frequency Hz 50/60 ± 5% Nominal Output Bus Nominal (@ 1 15 / 230 input) Minimum Maximum VDC 170 88 220 Max. Output Current each axis A RMS 6 Resolution in (mm) 4 x 10 – 5 (1.016 x[...]

Specifications & Product Data 8-3 MN1854 Dimensions 10.08 (256.0) 0.20 (5.1) 0.34 (8.7) 10.50 (266.7) 2.93 (74.4) 5.84 (148.3) 3.73 (94.7) 0.21 (5.3) 2 Axis Driver 1.19 (30.2) Use 8 – 32 or 10 – 32 Cap Screws (2 places) 9.06 (230.1) (Optional Keypad) For safe operation, allow a clearance distance between each control and on all sides of eac[...]

8-4 Specifications & Product Data MN1854[...]

Section 9 CE Guidelines CE Guidelines 9-1 MN1854 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[...]

9-2 CE Guidelines MN1854 Using CE approved components will not guarantee a CE compliant system! 1. The components used in the drive, installation methods used, 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 d[...]

CE Guidelines 9-3 MN1854 EMC Installation Instructions T o 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[...]

9-4 CE Guidelines MN1854 Input Signal Cable Grounding Cable 1 2 3 7 9 10 11 Control Simulated Encoder Output Cable Grounding Cable 1 6 2 7 3 8 11 13 Control To Controller Encoder Cable Grounding Cable 1 6 2 7 3 8 11 13 Control Encoder Connector Housing Connection of shields to digital ground is optional.[...]

Appendix A Appendix A-1 MN1854 Programming T emplate 1 234567891 0 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 FK1 FK2 FK3 1 234567891 0 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 FK1 FK2 FK3 1 234567891 0 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 [...]

A-2 Appendix MN1854 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 FK1 FK2 FK3 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 FK1 FK2 FK3 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 [...]

Appendix A-3 MN1854 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 FK1 FK2 FK3 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 FK1 FK2 FK3 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 [...]

A-4 Appendix MN1854 Remote Keypad Mounting T emplate 0.23 (5.84) 2.0 (50.8) 0.66 (16.7) 3.09 (78.48) 3.184 (80.87) 3.25 (82.55) 0.75 (19.0) 4.0 (101.6) 2.04 (51.8) 3.39 (86.10) 3.034 (77.06) 4.154 (105.51) 4.380 (1 1 1.25) 4.838 (122.88) EE EE MM MM B BB 0.5 (12.7) Cut – Out 1.5 (38.1) Cut – Out 0.5 (12.7) Cut – Out Installation Notes. 1. For[...]

BALDOR ELECTRIC COMP ANY P .O. Box 2400 Ft. Smith, AR 72902 – 2400 (501) 646 – 471 1 Fax (501) 648 – 5792 www .baldor .com W Baldor Electric Company MN1854 Printed in USA 7/01 C&J 1000 CH TEL: +41 52 647 4700 F AX: +41 52 659 2394 D TEL: +49 89 90 50 80 F AX: +49 89 90 50 8491 UK TEL: +44 1454 850000 F AX: +44 1454 850001 I TEL: +39 1 1 5[...]

LinStep+ Dual – Axis Microstepping Indexer/Driver MN1854[...]