Baldor Device Net Expansion Board manuale d’uso

Device Net Expansion Board (Baldor Binary Protocol) Catalog No. EXB013A01 Installation and Operating Manual 8/03 MN1320[...]

T able of Contents T able of Contents i Section 1 General Information 1-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Introduction 1-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Limited Warranty 1-2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Safety Notic[...]

ii T able of Contents[...]

Section 1 General Information General Information 1-1 Introduction The Baldor controls represent the latest technology in microprocessor based motor controls. In addition to the user programmable parameters available in every control, many different expansion boards are available from Baldor to further customize the control to most any application.[...]

1-2 General Information Limited Warranty For a period of two (2) years from the date of original purchase, BALDOR will repair or replace without charge controls and accessories which our examination proves to be defective in material or workmanship. This warranty is valid if the unit has not been tampered with by unauthorized persons, misused, abus[...]

General Information 1-3 Safety Notice This equipment contains voltages that may be as great as 1000 volts! Electrical shock can cause serious or fatal injury . Only qualified personnel should attempt the start-up procedure or troubleshoot this equipment. This equipment may be connected to other machines that have rotating parts or parts that are dr[...]

1-4 General Information W ARNING: Be sure the system is properly grounded before applying power . Do not apply AC power before you ensure that all grounding instructions have been followed. Electrical shock can cause serious or fatal injury . W ARNING: Do not remove cover for at least five (5) minutes after AC power is disconnected to allow capacit[...]

Section 2 Expansion Board Description Description 2-1 Introduction The Device Net expansion board is a Device Net Group 2 Only Slave device using the predefined master/slave connection set, as defined by the ODV A. It is capable of explicit messaging, as well as polled and/or COS/Cyclic I/O. The interface is based on the Baldor Binary Protocol (BBP[...]

2-2 Description[...]

Section 3 Installation Installation 3-1 Board Installation This section describes the Expansion Board installation procedure. Caution: Before you proceed, be sure to read and become familiar with the safety precautions at the beginning of this manual. Do not proceed if you are unsure of the safety precautions described. If you have any questions, c[...]

3-2 Installation AC Controls (For all 15H Inverter , 21H Line Regen Inverter , 18H V ector , 22H Line Regen V ector and 23H Servo). Single Expansion Board Installation Procedure: 1. Be sure drive operation is terminated and secured. 2. Remove all power sources from the control. 3. W ait at least 5 minutes for internal capacitors to discharge. 4. Re[...]

Installation 3-3 AC Controls Single Expansion Board Installation (Continued) Figure 3-1 Single Expansion Board Installation Expansion Board Motor Control Board T erminal tightening torque is 7 lb-in (0.8 Nm) maximum. Figure 3-2 Single Expansion Board Installation #6 Screw Group 1 or 2 Expansion Board Sheet Metal Mounting Plate[...]

3-4 Installation AC Controls (Continued) Dual Expansion Board Installation Procedure: 1. Be sure drive operation is terminated and secured. 2. Remove all power sources from the control. 3. W ait at least 5 minutes for internal capacitors to discharge. 4. Remove the four (4) Phillips head screws ( 1 / 4 turn) that secure the control cover . (For A &[...]

Installation 3-5 AC Controls Dual Expansion Board Installation (Continued) 12. When complete, install the control cover using the four (4) Phillips head screws ( 1 / 4 turn). (For A & B size, install four screws that secure the cover . On floor mounted G size enclosures, close the enclosure door). 13. Restore all power sources to the control. 1[...]

3-6 Installation[...]

Section 4 Hardware Setup Hardware Setup 4-1 DIP Switch Settings This procedure will configure the Device Net Expansion Board for communication with a computer or terminal. Reference Figure 4-1 and T able 4-1 for the following procedure. 1. Set DIP switches 1 and 2 for the desired baud rate. 2. Set switches 3 through 8 for the ID number desired. 3. [...]

4-2 Hardware Setup Figure 4-1 Board Configuration Device Net Expansion Board Catalog No. EXB013A01 1 234 5 V+ V – CAN_+ CAN_ – Shield All switches shown in OFF position. 12345 6 78 ON MS NS 12345 678 ON P3 PB1 Reset switch S1 V+ V – CAN_+ CAN_ – Shield Module Status LED Network Status LED Side View (Black) (Blue) (Bare) (White) (Red)[...]

Hardware Setup 4-3 T able 4-1 Switch Settings Switch Number Description 12345678 125kBPS OFF OFF 250kBPS OFF ON 500kBPS ON OFF MAC ID 0 OFF OFF OFF OFF OFF OFF MAC ID 1 OFF OFF OFF OFF OFF ON MAC ID 2 OFF OFF OFF OFF ON OFF MAC ID 3 OFF OFF OFF OFF ON ON MAC ID 4 OFF OFF OFF ON OFF OFF MAC ID 5 OFF OFF OFF ON OFF ON MAC ID 6 OFF OFF OFF ON ON OFF M[...]

4-4 Hardware Setup LED Indicators T wo LED ’ s are located on the Device net expansion board. MS - Module Status LED Displays the operational status of the Device Net Interface expansion board (EXB). Status is summarized in T able 4-2. T able 4-2 LED State Status Description OFF No power is applied to the EXB. Green The EXB is operating in a norm[...]

Hardware Setup 4-5 Control T erminal Strip Connections For Serial Mode operation, the Input/Output terminal strip of the control (J1 of the V ector and DC controls and J4 of the Inverters) is wired as shown in Figure 4-2. Connect the Enable, Forward Enable Switch, Reverse Enable Switch, External T rip and Opto Common connections as shown. Note: All[...]

4-6 Hardware Setup[...]

Section 5 Software Setup Software Setup 5-1 Configure Control Software for Device Net Mode The Series H control operating mode must be set to Serial to use the Device Net expansion board. There is no selection for Device Net on the Level 1 Input block Operating mode parameter list. However , selecting Serial with the Device Net expansion board inst[...]

5-2 Software Setup Action Description Display Comments Apply Power Display illuminates BALDOR MOTORS & DRIVES Logo is displayed for 5 seconds. If no fault is found and control is programmed for local mode,OR, STP MOTOR SPEED LOCAL 0RPM Display mode. If no fault is found and control is programmed for remote mode STP MOTOR SPEED REMOTE 0RPM Displ[...]

Software Setup 5-3 Action Description Display Comments Press Y or B key Scroll to Level 2 blocks PRESS ENTER FOR LEVEL 2 BLOCKS Press ENTER key Select Level 2 blocks. PRESS ENTER FOR OUTPUT LIMITS First screen in Level 2 block Press Y or B key Scroll to Communications block PRESS ENTER FOR COMMUNICATIONS Press ENTER key Select Level 2 Communication[...]

5-4 Software Setup Device Net Configuration The Device Net expansion board is a Device Net Group 2 Only Slave device using the predefined master/slave connection set, as defined by the ODV A. It is capable of explicit messaging, as well as polled and/or COS/Cyclic I/O. The interface is based on the Baldor Binary Protocol (BBP) command set. This EDS[...]

Software Setup 5-5 T able 5-1 Format of Input Assembly Instances Instance Byte Format # Byte Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 ControlState Warning Output1 Output2 Output3 Output4 0 T#4 T#27 T erminalStrip T#31 CommandMode network remote rev fwd 1 T#5 CtrlSource T#3 RunCMD T#1 151 2 SpeedActual T#18 (Low Byte) 3 SpeedActual T#18 (High Byte) 4[...]

5-6 Software Setup T able 5-1 Format of Input Assembly Instances Continued Instance Byte Format # Byte Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 ControlState Warning Output1 Output2 Output3 Output4 0 T#4 T#27 T erminalStrip T#31 CommandMode network remote rev fwd 1 T#5 CtrlSource T#3 RunCMD T#1 153 2 FreqActual T#19 (Low Byte) 3 4 CurrentActual T#17 [...]

Software Setup 5-7 T able 5-2 Format of Output Assembly Instances Instance Byte Format # Byte Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 FaultRst RunInhibit T ableSelect  Output1 Output2 Output3 Output4 0 T#46 T#2 T#39 T#75 CommandMode network remote rev fwd 1 T#5 CtrlSource T#3 RunCMD T#1 101 2 (RPM) SpeedRef T#7 (Low Byte) 3 (RPM) SpeedRef T#7 (H[...]

5-8 Software Setup Notes:  Used with CommandMode (T#5). These bytes represent the variables SpeedRef (T#7), or Position SpeedRef (T#13).  Used with CommandMode (T#5). These bytes represent the variables T orqueRef or PositionRef. PositionRef requires 4 bytes. T orqueRef requires 2 bytes (Low Word).  T ableSelect is not implemented at this [...]

Section 6 Command Language Command Language 6-1 T ransaction Specification This section contains a detailed list of the transactions currently supported by the protocol. The list includes the transaction number , name, type description, and a detailed specification of the required and returned data. Note: Some transactions are not supported by all [...]

6-2 Command Language Name The ‘ Name ’ field refers to a ‘ C ’ style variable for function names associated with the transaction. Use of these names is not necessary to interface with the transaction. These names may be used in present and future software drivers and libraries provided by Baldor . When used in conjunction with Baldor softwa[...]

Command Language 6-3 Data Field The Data Field defines the data transfer requirements of the application layer message. This field describes the data using the ‘ data type ’ defined in Section 2.l. Commas separate individual elements of data. As previously discussed in Section 3, there are two types of application layer packets – . Command an[...]

6-4 Command Language Class The class field indicates the product classes that support the transaction. The product codes are as follows: E = Encoderless V ector I = Inverter S = Servo V = V ector V* = V ector with custom software for positioning Description The description field gives information regarding the use of the transaction. When possible [...]

Command Language 6-5 T ransaction Specification T able T able 6-1 T ransaction Specification T able T# Name T ype Data Field Class Description 0 Null Set None All No action. This can be used to reset the watchdog timer , or as a placeholder in conjunction with a global Execute Buffer transaction. 1 RunCmd Set/ Get USINT All Network run / stop comma[...]

6-6 Command Language T able 6-1 T ransaction Specification T able Continued T# Name T ype Data Field Class Description 3 CtrlSource Set USINT All 0 = Keypad (local) 1 = T erminal strip (remote) 2 = Control from network 4 ControlState Get USINT E,V ,S 0 = Not Ready (no main power) 1 = Ready (disabled) 2 = Enabled 3 = Stopping 4 = Fault exists 5 Comm[...]

Command Language 6-7 T able 6-1 T ransaction Specification T able Continued T# Name T ype Data Field Class Description 6 HzSpeedRef Set/ Get INT INT I, All Hertz Speed Reference. Set Units: 0.1 Hz (one decimal place) 7 SpeedRef Set/ Get INT INT E,V ,S, All Speed reference Units: RPM (Standard Get Resolution) 8 SpeedRefHigh Set/ Get DINT E,S,V Speed[...]

6-8 Command Language T able 6-1 T ransaction Specification T able Continued T# Name T ype Data Field Class Description 17 CurrentActual Get INT E,I,S, V Actual motor phase current Units: 100mA RMS Note: calculated on inverter . 18 SpeedActual Get INT All Actual motor speed (absolute value.) (Approximated in some products.) Units: RPM 19 FrequencyAc[...]

Command Language 6-9 T able 6-1 T ransaction Specification T able Continued T# Name T ype Data Field Class Description 28 AtPosition Get BOOL S,V 1 = At position 0 = Not at position 29 AtSetpoint Get BOOL E,V ,S 1 = At setpoint 0 = Not at setpoint 30 AtSetSpeed Get BOOL E,V ,S 1 = At set speed 0 = Not at set speed 31 T erminalStrip Get WORD All Dig[...]

6-10 Command Language T able 6-1 T ransaction Specification T able Continued T# Name T ype Data Field Class Description 38 RunTime Get UDINT E,V ,S T otal time power has been applied. Units: seconds. 39 T ableSelect Get/ Set USINT E,S,V Parameter table select Range 0 – 3 Note: DDC only supports 2 tables. Can only be changed when under network con[...]

Command Language 6-1 1 T able 6-1 T ransaction Specification T able Continued T# Name T ype Data Field Class Description 46 FaultRst Set BOOL All 1 = Execute fault reset 0 = No action Clears any active fault condition. Operation resumes at previous command. 47 FaultLog Get C: USINT FaultLogInde x R: UINT FaultCode, UDINT T imeStamp All Requests the[...]

6-12 Command Language T able 6-1 T ransaction Specification T able Continued T# Name T ype Data Field Class Description 51 SecurityLock Set INT or NONE All Unlocks or locks network parameter security . Passing the valid SecurityCode unlocks parameter access. Any other value (including NONE) locks parameter access. 52 CalcPresets Set BOOL E,S,V This[...]

Command Language 6-13 T able 6-1 T ransaction Specification T able Continued T# Name T ype Data Field Class Description 58 BlockParamDetail Get C: USINT Level, Block, Index R: INT Pnum, Pvalue, Pmin, Pmax, Pdlft, Pprec, Ptype, STRING Pname, Punits All Returns full parameter detail information for the parameter specified at the given Level, Block an[...]

6-14 Command Language T able 6-1 T ransaction Specification T able Continued T# Name T ype Data Field Class Description 61 ParameterV alue Set/ Get C: INT Pnum, Pvalue R: INT Pvalue (excluding Pvalue from CMD indicates request only). All Change / request value of specified user parameter . Returned value will give actual, after any bounds checking.[...]

Command Language 6-15 T able 6-1 T ransaction Specification T able Continued T# Name T ype Data Field Class Description 69 ClearAll Set USINT All Reserved for factory use. 70 LogClear Set USINT All Reserved for factory use. 71 AnalogInput1 Get UINT All Reads the raw value of the A/D converters on the control. Update rate 72 AnalogInput2 Get UINT Al[...]

6-16 Command Language T able 6-1 T ransaction Specification T able Continued T# Name T ype Data Field Class Description 250 Reserved for future use. 251 Reserved for future use. 252 Reserved for future use. 253 Reserved for future use. 254 Reserved for future use. 255 Reserved for future use.[...]

Command Language 6-17 5 - Command Mode Command 5 USINT CommandMode Response 5 ST USINT CommandMode T ype : Set/Get This transaction changes the command mode of the Series H control. The command mode is an 8 – bit value. Loading the appropriate value into the command mode register activates the appropriate operating mode. Only one mode can be sele[...]

6-18 Command Language T able 6-2 Command Mode T able V alue Mode Class Description 0 None ALL No mode selected. Output stage of control remains off or disabled (voltage and current removed from the motor), regardless of RunCmd condition. 1 T orque CMD selected source S,V Closes the current loop with command input from the source selected in the COM[...]

Command Language 6-19 31- T erminalStrip Command 31 Response 31 ST WORD T erminalStrip T ype : Get This transaction returns a bit – wise word representing the status of the control digital inputs and outputs. T able 6-3 provides a description of the codes. Note: A bit value of 1=closed or ON, 0=open or OFF . T able 6-3 T erminalStrip T able Bit N[...]

6-20 Command Language 36 or 37 - Optionald# Command 36 Response 36 ST USINT Optionld T ype : Get This transaction returns the id number for the option installed in the specified location. T able 6-4 provides a description of the possible values. T able 6-4 Optionald# T able ID EXB No. EXB Name Group 1 EXB001A01 RS232 Serial Communications 2 2 EXB00[...]

Command Language 6-21 41 - W atchdogTime Command 41 UINT W atchdogT ime Response 41 ST UINT WatchdogT ime T ype : Set/Get This transaction is used to change the value of the network watchdog timer . The value is entered in milliseconds (mS). The watchdog timer is used to detect a communications loss. When the time between network commands exceeds t[...]

6-22 Command Language T able 6-5 ParameterDetails T able Field Name Description INT Pmin Parameter minimum allowed value. INT Pmax Parameter maximum allowed value. (Number of list items in an enumerated type parameter .) INT Pdflt Parameter default value (factory) value. USINT Pprec Indicates the number of decimal places to use for the parameter va[...]

Command Language 6-23 H Series – Fault Message Description Fault Code Fault Message 15H 18H Fault Descripti on Line Regen 11 Fault in Line REGEN converter unit - Series 21H Line REGEN Inverter control. Feedback Fault 2 Los s of enc oder feedbac k . Invali d Base ID 33 Failed to read configuration from the Power Base ID value in software. Low INIT[...]

6-24 Command Language H Series – Fault Message Description Continued Fault Code Fault Message 15H 18H Fault Descripti on µ p Re set 22 22 A software watchdog timer has reset the processor because a process has timed out. ROM Fault 23 ROM checksum error . 1 Min Ov erload 24 24 Peak output current exceeded the 1 minute rating value. No I Feedbac k[...]

BALDOR ELECTRIC COMP ANY P .O. Box 2400 Fort Smith, AR 72902 – 2400 (479) 646 – 471 1 Fax (479) 648 – 5792  Baldor Electric Company Printed in USA MN1320 8/03 C&J500[...]