Baldor FPX A02T, FPX A02S, FPX A015S, FP4 A02TB, FP4 A07TB Installation & Operating Manual

SERVO DRIVE

Servo Control

Installation & Operating Manual

Flex+Drive

2/03 MN1276

Table of Contents

Section 1

General Information 1-1.............................................................

CE Compliance 1-1..............................................................

Limited Warranty 1-1.............................................................

Product Notice 1-2...............................................................

Safety Notice 1-2................................................................

Section 2

Product Overview 2-1...............................................................

Section 3

Receiving and Installation 3-1.......................................................

Receiving & Inspection 3-1.......................................................

Location Considerations 3-1......................................................

Mechanical Installation 3-1........................................................

Electrical Installation 3-2..........................................................

System Grounding 3-2.......................................................

Power Disconnect 3-4.......................................................

Protection Devices 3-4.......................................................

X1 Power Connections 3-5...................................................

X1 Motor Connections 3-10....................................................

M-Contactor 3-10............................................................

Motor Thermostat 3-11........................................................

X1 Dynamic Brake Resistor 3-11...............................................

X1 +24VDC Logic Supply 3-12.................................................

X3 Control Inputs & Digital I/O Connections 3-12.................................

Factory Installed Settings 3-15.................................................

Move to Buffer 1 Position 3-15.................................................

X6 RS232 / 485 Connections 3-17..............................................

X7 Simulated Encoder Output 3-20.............................................

X8 Resolver Feedback 3-21...................................................

X9 Encoder w/Hall Tracks 3-22.................................................

Section 4

Switch Setting and Start-Up 4-1......................................................

Switch AS1 Settings 4-1..........................................................

Start-Up Procedure 4-3...........................................................

Power Off Checks 4-3.......................................................

Power On Checks 4-3.......................................................

Table of Contents iMN1276

Section 5

Operation 5-1.......................................................................

Installing Software on your PC 5-1.................................................

Minimum system requirements 5-1............................................

Installation 5-1..............................................................

Host Ccommunications Setup 5-1..................................................

UsingTheSetupWizard 5-3......................................................

Set up Software 5-5..............................................................

Motor 5-6..................................................................

Control 5-6.................................................................

Operating Mode 5-7.........................................................

Current Parameter 5-8.......................................................

Velocity Parameter 5-8.......................................................

Positioning 5-9..................................................................

Software Triggered 5-9.......................................................

Hardware Triggered 5-9......................................................

Initialize Buffers 5-9.........................................................

Home 5-10......................................................................

Limit Switches 5-10...............................................................

Drift 5-11....................................................................

Autotune 5-11...............................................................

Main Menu Choice Descriptions 5-12................................................

File 5-12....................................................................

Edit 5-12....................................................................

Setup 5-12..................................................................

Tuning 5-13.................................................................

Watch 5-13..................................................................

Functions 5-13...............................................................

Motion 5-13.................................................................

Terminal 5-13................................................................

Windows 5-13...............................................................

PLC Program 5-14................................................................

Section 6

Troubleshooting 6-1................................................................

ii Table of Contents MN1276

Section 7

Specifications & Product Data 7-1....................................................

Identification 7-1.................................................................

Specifications 7-2...............................................................

24VDC Logic Power Input 7-4.................................................

Velocity Control 7-4..........................................................

Resolver Feedback 7-4......................................................

Simulated Encoder Output 7-4................................................

Encoder Input 7-5...........................................................

Serial Interface 7-5..........................................................

Optional Interface 7-5........................................................

Regeneration 7-5...........................................................

Dimensions 7-6.................................................................

Section 8

CE Guidelines 8-1...................................................................

CE Declaration of Conformity 8-1..................................................

EMC -- Conformity and CE -- Marking 8-1...........................................

EMC Installation Instructions 8-3.................................................

Section 9

Accessories and Options 9-1........................................................

Cables 9-1......................................................................

Connectors 9-1..................................................................

EMC AC Mains Filter 9-2.........................................................

Regeneration Resistor 9-4........................................................

CAN Bus 9-5....................................................................

Getting Started with CAN_OPEN 9-7...............................................

Identifiers and object list 9-10......................................................

Appendix A

Manual Tuning A-1..................................................................

Motor A-2.......................................................................

Control A-2.....................................................................

Operating Mode A-3.............................................................

Current Parameter A-4...........................................................

Velocity Parameter A-4...........................................................

Drift A-5........................................................................

Manual Tuning A-5...............................................................

Plotting of Move A-9.............................................................

Pulse Follower Applications A-10...................................................

Appendix B

Command Set B-1...................................................................

MN1276

Table of Contents iii

iv Table of Contents

MN1276

Section 1
General Information

Copyright Baldor ! 1999. 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.
Baldor assumes no responsibility for any errors that may appear in this document.

Microsoft and MS--DOS are registered trademarks, and Windows is a trademark of
Microsoft Corporation.

UL and cUL are registered trademarks of Underwriters Laboratories.

CE Compliance

A custom unit may be required, contact Baldor. Compliance to Directive
89/336/EEC is the responsibility of the system integrator. A control, motor and all
system components must have proper shielding, grounding, and filtering as
described in MN1383. Please refer to MN1383 for installation techniques for CE
compliance. For additional information, refer to Sections 3 and 8 of this manual.

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, abused, or improperly installed and
hasbeenusedinaccordancewiththeinstructionsand/orratingssupplied. Thiswarranty
is in lieu of any other warranty or guarantee expressed or implied. BALDOR shall not be
held responsible for any expense (including installation and removal), inconvenience, or
consequential damage, including injury to any person or property caused by items of our
manufacture or sale. (Some states do not allow exclusion or limitation of incidental or
consequentialdamages,sotheabove exclusionmaynotapply.) Inany event,BALDOR’s
total liability, under all circumstances, shall not exceed the full purchase price of the
control. Claims for purchase price refunds, repairs, or replacements must be referred to
BALDOR with all pertinent data as to the defect, the date purchased, the task performed
bythecontrol, andtheproblemencountered. Noliabilityisassumedforexpendableitems
such as fuses.

Goods may be returned only with written notification including a BALDOR Return
Authorization Number and any return shipments must be prepaid.

General Information 1-1MN1276

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

-- Medical instrumentation

-- Mobile vehicles

-- Sh i p s

-- Airplanes

Unless otherwise specified, this drive is intended for installation in a suitable
enclosure. The enclosure must protect the control from exposure to excessive or
corrosive moisture, dust and dirt or abnormal ambient temperatures. The exact
operating specifications are found in Section 7 of this manual.

The installation, connection and control of drives is a skilled operation,
disassembly or repair must not be attempted.

In the event that a control fails to operate correctly, contact the place of purchase
for return instructions.

Safety Notice: This equipment contains high voltages. 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 driven by this equipment. Improper use can cause serious or fatal
injury. Only qualified personnel should attempt the start--up procedure or
troubleshoot this equipment.

-- System documentation must be available at all times.

-- Keep non-qualified personnel at a safe distance from this equipment.

-- Only qualified personnel familiar with the safe installation, operation and
maintenance of this device should attempt start-up or operating
procedures.

-- Always remove power before making or removing any connections to
this control.

PRECAUTIONS: Classifications of cautionary statements.

WARNING: Indicates a potentially hazardous situation which, if not avoided,

could result in injury or death.

Caution: Indicates a potentially hazardous situation which, if not avoided,

could result in damage to property.

1-2 General Information MN1276

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. This equipment may be connected to other
machines that have rotating parts or parts that are controlled by
this equipment. Improper use can cause serious or fatal injury.

WARNING: Be sure all wiring complies with the National Electrical Code and

all regional and local codes or CE Compliance. Improper wiring
may cause a hazardous condition.

WARNING: Be sure the system is properly grounded before applying power.

Do not apply AC power before you ensure that grounds are
connected. Electrical shock can cause serious or fatal injury.

WARNING: Do not remove cover for at least five (5) minutes after AC power

is disconnected to allow capacitors to discharge. Electrical
shock can cause serious or fatal injury.

WARNING: Improper operation of control may cause violent motion of the

motor shaft and driven equipment. Be certain that unexpected
motor shaft movement will not cause injury to personnel or
damage to equipment. Peak torque of several times the rated
motor torque can occur during control failure.

WARNING: Motor circuit may have high voltage present whenever AC power

is applied, even when motor is not rotating. Electrical shock can
cause serious or fatal injury.

WARNING: If a motor is driven mechanically, it may generate hazardous

voltages that are conducted to its power input terminals. The
enclosure must be grounded to prevent a possible shock hazard.

WARNING: When operating a motor with no load coupled to its shaft,

remove the shaft key to prevent injury if it were to fly out when
the shaft rotates.

WARNING: The motor shaft will rotate during the autotune procedure. Be

certain that unexpected motor shaft movement will not cause
injury to personnel or damage to equipment.

WARNING: A DB Resistor may generate enough heat to ignite combustible

materials. To avoid fire hazard, keep all combustible materials
and flammable vapors away from brake resistors.

WARNING: The user must provide an external hard-wired emergency stop

circuit to disable the control in the event of an emergency.

Caution: To prevent equipment damage, be certain that the input power has

correctly sized protective devices installed as well as a power disconnect.

Continued on next page.

MN1276

General Information 1-3

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

Caution: Avoid locating control immediately above or beside heat generating

equipment, or directly below water or steam pipes.

Caution: Avoid locating control in the vicinity of corrosive substances or vapors,

metal particles and dust.

Caution: For UL installations, do not connect any resolver cable shields to the

motor frame. At a minimum, resolver signal integrity will be compromised
and damage to the control may result.
For CE installations, refer to CE guidelines stated in Sections 3 and 8 of
this manual.

Caution: Do not connect AC power to the control terminals U, V and W. Connecting

AC power to these terminals may result in damage to the control.

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.

Caution: Logic signals are interruptible signals; these signals are removed when

power is removed from the drive.

Caution: Controls are intended to be connected to a permanent main power source,

not a portable power source. Suitable fusing and circuit protection devices
are required.

Caution: The safe integration of the drive into a machine system is the

responsibility of the machine designer. Be sure to comply with the local
safety requirements at the place where the machine is to be used. In
Europe this is the Machinery Directive, the ElectroMagnetic Compatibility
DirectiveandtheLowVoltageDirective.IntheUnitedStatesthisisthe
National Electrical code and local codes.

Caution: Controls must be installed inside an electrical cabinet that provides

environmental control and protection. Installation information for the drive
is provided in this manual. Motors and controlling devices that connect to
the drive should have specifications compatible to the drive.

Caution: Violent jamming (stopping) of the motor shaft during operation may

damage the motor and control.

Caution: Do not tin (solder) exposed wires. Solder contracts over time and may

cause loose connections.

Caution: Electrical components can be damaged by static electricity. Use ESD

(electro-static discharge) procedures when handling this control.

Caution: Ensure that resolver or encoder wires are properly connected. Incorrect

installation may result in improper rotation or incorrect commutation.

Caution: 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.

1-4 General Information

MN1276

Section 2
Product Overview

Overview The Flex+Drive product is designed to serve the needs of machine designers and

manufacturers. Baldor products have both UL and CE approvals. The Flex+Drive
is a “flexible” versatile compact control for brushless servo motors. This digital
servo control can be tailored to suit many applications. It can accept 0--10VDC
input, standard "10VDC input, current loop input, electronic handwheel input or 15
preset point to point moves.

Some flexible options are CAN bus interface (for resolver feedback only), internal
or external regen, or with customer provided 24VDC to maintain logic power.

The Flex+Drive can be integrated with Baldors’ motion controllers or to any
industry standard motion controller.

Motors Baldor servo controls are compatible with many motors from Baldor and other

manufacturers. Motor parameters are provided with the PC software making the
setup easy. Baldor compatible motors include:

S BSM--A--Series motors
S BSM--B--Series motors
S BSM--F--Series motors
S BSM--N--Series motors

Refer to the Speed/Torque curves in the BR1202 catalog or contact your local
Baldor distributor or sales representative for assistance with motor sizing and
compatibility. Custom motors or motors not manufactured by Baldor may be
used. Please contact your local Baldor distributor or sales representative for
assistance.

Command Source

In the analog mode (current or velocity), the control requires a variable 0-10VDC
or "10VDC external analog signal. Suitable sources can be a PLC or motion
controller.

Positioning Mode

In the positioning mode, up to 15 preset repeatable positions (moves) may be
defined in software. These moves may either be incremental, absolute or mixed.
A specific “preset” position is selected using the switch inputs (machine inputs
1--4) and a “trigger” input activates the move. A home position could also be set if
desired.

Serial Communications Interface

A serial port allows external communication. This means that the Flex+Drive can
interface to a PC (for configuration and control) or to other user--supplied
equipment such as:

S Host computers
S PLC’s
S PC’s
S Motion controllers

The serial communication interface supports:

S RS232 and the four wire RS--485 communication standards
S Baud rate: 9600

Product Overview 2-1MN1276

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

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.

Either output can be assigned to one of the following:

In Position Machine Input 1
CW Warning Machine Input 2
CCW Warning Machine Input 3
Following Error Flag Machine Input 4
Following Error Warning Drive Over Temperature

2

t Warning

I

Simulated Encoder Output

Resolver Feedback

The resolver feedback signal is converted to PPR (pulses per revolution) by a
Resolver to Digital Converter. A position controller uses position feedback

The resolution of the simulated encoder output is software controlled with the
following available resolutions:

512 PPR, 1024 PPR, 2048 PPR or 4096 PPR

Note: For speeds above 6000 RPM, resolution is limited to 1024PPR maximum.

Encoder Feedback

When encoder feedback is used, the encoder input signal is buffered and provided
at the simulated encoder output.

2-2 Product Overview MN1276

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. The container and packing materials may be retained for
future shipment.

3. Verify that the part number of the control you received is the same as the
part number listed on your purchase order.

4. Inspect the control for external physical damage that may have been
sustained during shipment and report any damage immediately to the
commercial carrier that delivered your control.

5. If the control is to be stored for several weeks before use, be sure that it
is stored in a location that conforms to published storage humidity and
temperature specifications stated in this manual.

Location Considerations The location of the control is important. Installation should be in an area

that is protected from direct sunlight, corrosives, harmful gases or liquids, dust,
metallic particles, and vibration. Exposure to these can reduce the operating life
and degrade performance of the control.

Several other factors should be carefully evaluated when selecting a location for
installation:

1. For effective cooling and maintenance, the control should be mounted
on a smooth, non-flammable vertical surface.

2. At least 0.6 inches (15mm) top and bottom clearance must be provided
for air flow. At least 0.4 inches (10mm) clearance is required between
controls (each side).

3. Altitude derating. Up to 3300 feet (1000 meters) no derating required.
Derate the continuous and peak output current by 1.1% for each 330
feet (100 meters) above 3300 feet.

4. Temperature derating.From0#Cto40#C ambient no derating
required. Above 40#C, derate the continuous and peak output current by

2.5% per #C above 40#C. Maximum ambient is 50#C.

5. The control must be installed where the pollution degree according to
IEC664 shall not exceed 2.

Mechanical Installation

Mount the control to the mounting surface. The control must be securely fastened
to the mounting surface by the control mounting holes. The location of the
mounting holes is shown in Section 7 of this manual.

Receiving & Installation 3-1MN1276

Electrical InstallationAll 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.

System Grounding Baldor controls are designed to be powered from standard single and three

phase lines that are electrically symmetrical with respect to ground. System
grounding is an important step in the overall installation to prevent problems. The
recommended grounding method is shown in Figure 3-1 and 3-3 for UL compliant
systems (Figure 3-2 and 3-4 for CE compliant systems).

Figure 3-1 Recommended System Grounding (3 phase) for UL

L1

AC Main
Supply

Safety

Ground

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.

L2

L3
Earth

Four Wire

“Wye”

Route all power wires L1, L2, L3 and Earth
(Ground) together in conduit or cable.

Figure 3-2 Recommended System Grounding (3 phase) for CE

AC Main
Supply

Four Wire

“Wye”

Safety

Ground

PE

L1

L2

L3

Route all power wires
L1, L2, L3 and Earth
(Ground) together in
conduit or cable.

Control

VL1 L2 L3 U WPE

Ground per NEC and Local codes.

Control

VL1 L2 L3 U WPE

Note:
Wiring shown for clarity of
grounding method only.
Not representative of actual
terminal block location.

Note:
Wiring shown for clarity of
grounding method only.
Not representative of actual
terminal block location.

Motor

GND

All shields

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.

Enclosure Backplane (see Section 8)

3-2 Receiving & Installation MN1276

AC Main
Supply

Figure 3-3 Recommended System Grounding (1 phase) for UL

L

Control

N

VLN U W

Note:
Wiring shown for clarity of grounding
method only. Not representative of
actual terminal block location.

Safety

Ground

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.

Earth

Route all 3 wires L, N, and Earth
(Ground) together in conduit or cable.

Figure 3-4 Recommended System Grounding (1 phase) for CE

AC Main
Supply

Four Wire

“Wye”

Safety

Ground

PE

L1

L2

L3

Neutral

Route all power wires
together in conduit or
cable.

Ground per NEC and Local codes.

Control

VLN U W

Note:
Wiring shown for clarity of
grounding method only.
Not representative of actual
terminal block location.

Motor

GND

All shields

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.

MN1276

Enclosure Backplane (see Section 8)

Receiving & Installation 3-3

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.

Input Power Conditioning

Baldor controls are designed for direct connection to standard single and three
phase lines that are electrically symmetrical with respect to ground. Certain power
line conditions must be avoided. An AC line reactor or an isolation transformer
may be required for some power conditions.

$ If the feeder or branch circuit that provides power to the control has

permanently connected power factor correction capacitors, an input AC
line reactor or an isolation transformer must be connected between the
power factor correction capacitors and the control.

$ If the feeder or branch circuit that provides power to the control has

power factor correction capacitors that are switched on line and off line,
the capacitors must not be switched while the control is connected to the
AC power line. If the capacitors are switched on line while the control is
still connected to the AC power line, additional protection is required.
TVSS (Transient Voltage Surge Suppressor) of the proper rating must be
installed between the AC line reactor or an isolation transformer and the
AC input to the control.

Power Disconnect A power disconnect should be installed between the input power service

and the control for a fail--safe method to disconnect power. The control will remain
in a powered-up condition until all input power is removed from the control and the
internal bus voltage is depleted.

Protection Devices The control must have a suitable input power protection device installed.

Input and output wire size is based on the use of copper conductor wire r ated at
75 #C. Table 3-1 and 3-2 describes the wire size to be used for power connections
and the ratings of the protection devices. Use the recommended circuit breaker or
fuse types as follows:

Circuit Breaker: 1 phase, thermal magnetic.

Equal to GE type THQ or TEB for 115 or 230 VAC
3 phase, thermal magnetic.

Equal to GE type THQ or TEB for 230 VAC or
GE type TED for 460 VAC.

Time Delay Fuses: Buss FRN on 230 VAC or

Buss FRS on 460 VAC or equivalent.

Recommended fuse sizes are based on the following:

UL 508C suggests a fuse size of four times the continuous output
current of the control.
Dual element, time delay fuses should be used to avoid nuisance trips
due to inrush current when power is first applied.

For European installations, you may want to consider the following fast acting
fuse: Gould Shawmut Cat. No. ATMR15 for up to 15 amperes.

3-4 Receiving & Installation

MN1276

Table 3-1 Wire Size and Protection Devices (for units with Power Supply)

g

Input

W

ireG

NominalInpu

t

CatalogNumb

W

ireG

g

Continuou

s

Catalog Number Incoming Power

Input
Fuse

Time

Delay (A)

AWG

(USA)

FP1A02SR-XXXX
FP2A02SR-XXXX
FP1A02TR-XXXX
FP2A02TR-XXXX
FP4A02TB-XXXX
FP1A05SR-XXXX
FP1A05SR-XXXX
FP1A05TR-XXXX
FP2A05TR-XXXX
FP4A05TB-XXXX
FP1A07TR-XXXX
FP2A07TR-XXXX
FP4A07TR-XXXX
FP1A10SR-XXXX
FP2A10SR-XXXX
FP1A15SR-XXXX

FP2A15SR-XXXX
FP4A15TR-XXXX
FP4A20TR-XXXX
FP4A27TR-XXXX

Nominal Input

Voltage

115V (1Ô)
230V (3Ô)
115V (1Ô)
230V (1Ô)

400/460V (3Ô)

115V (1Ô)
230V (3Ô)
115V (1Ô)
230V (1Ô)

400/460V (3Ô)

115V (1Ô)
230V (1Ô)

400/460V (3Ô)

115V (1Ô)
230V (3Ô)
115V (1Ô)

230V (3Ô)
400/460V (3Ô)
400/460V (3Ô)
400/460V (3Ô)

Continuous

Output

(RMS)

Amps

2.0A 7.5 8 14 2.5

2.5A 7 4.5 14 2.5

2.0A 7.5 8 14 2.5

2.5A 5 4.5 14 2.5

2.5A 7 4 14 2.5
5A 7.5 8 14 2.5
5A 7 8 14 2.5
5A 7.5 8 14 2.5
5A 7.5 7 14 2.5
5A 7 7.5 14 2.5

7.5A 10 10 14 2.5

7.5A 10 10 14 2.5

7.5A 15 12 14 2.5

10A 12.5 15 14 2.5
10A 15 15 14 2.5
15A 20 20 12 2.5

15A 20 25 12 2.5
15A 20 20 12 2.5
20A 30 35 10 5.26

27.5A 40 45 10 5.26

Input

Breaker

(A)

auge

mm

(Europe)

2

Table 3-2 Wire Size (for units without Power Supply)

er

Bus

Voltage

FP1A02PO-xxxx 160VDC 2.0A 14 2.5
FP2A02PO-xxxx 300VDC 2.5A 14 2.5
FP1A05PO-xxxx 160VDC 5.0A 14 2.5
FP2A05PO-xxxx 300VDC 5.0A 14 2.5
FP1A10PO-xxxx 160VDC 10.0A 12 2.5
FP2A10PO-xxxx 300VDC 10.0A 12 2.5
FP1A15PO-xxxx 160VDC 15.0A 10 2.5
FP2A15PO-xxxx 300VDC 15.0A 10 2.5

Continuous

Output

Amps

AWG

(USA)

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 control output current and no harmonic current.

X1 Power Connections

Power connections are shown in Figures 3-5 through 3-8.

MN1276

auge

mm

(Europe)

2

Receiving & Installation 3-5

Figure 3-5 Single Phase AC Power Connections (FP1AxxT & FP2AxxT only)

L1 L2

L1 L2

Note 1

Note 2

* Circuit
Breaker

Earth

Note 3 & 4

Alternate *

Fuse

Connection

Note 1

LN

Baldor

Control

For CE Compliance, refer to Section 8 of this manual.

Figure 3-6 Single Phase AC Power Connections (FP1AxxS only)

L1 L2

Earth

Note 1

Note 2

For CE Compliance, refer to Section 8 of this manual.

* Circuit
Breaker

L1 L2 L3

Baldor

Control

Note 3 & 4

PE

* Components not provided with Control.

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. Use same gauge wire for Earth ground as is used for L and N.
(VDE (Germany) requires 10mm
Compliance, connect tothe backplane of the enclosure.

4. Reference EMC wiring in Section 8.

2

minimum). For CE

L1 L2

Alternate *

Fuse

Note 1

Connection

* Components not provided with Control.

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. Use same gauge wire for Earth ground as is used for L and N.
(VDE (Germany) requires 10mm
Compliance, connect tothe backplane of the enclosure.

4. Reference EMC wiring in Section 8.

2

minimum). For CE

Note: These Flex+Drive versions are not designed for use with 400/460VAC

connections.

3-6 Receiving & Installation

MN1276

Figure 3-7 3 Phase Power Connections (FP2AxxS & FP4AxxT only)

L1 L2 L3

Earth

Note 1

Note 2

For CE Compliance, refer to Section 8 of this manual.

* Circuit
Breaker

L1 L2 L3

PE

Baldor

Control

A shared supply configuration is shown in Figure 3-8. The first drive must have an
internal power supply such as an Option “S” control.

L1 L2 L3

Note 3 & 4

Notes:

1. See Protection Device description in this section.

2. Metal conduit or shielded cable should be used. Connect
conduitsso theuse ofa Reactoror RC Devicedoes notinterrupt
EMI/RFI shielding.

3. Use the same gauge wire for Earth as used for L1, L2, L3
connections.

3. Use same gauge wire for Earth ground as is used for L and N.
(VDE (Germany) requires 10mm
compliance, connect “PE” to the backplane of the enclosure.

4. Reference EMC wiring in Section 8.

Alternate *

Fuse

Connection

A1 B1 C1

Note 1

* Components not provided with Control.

2

minimum). For CE

Figure 3-8 Shared Supply Power Connections

VCC+

VCC-

R1

R2

Baldor

Option S

Control

To

Regen

Resistor

VCC+

VCC-

VCC+

VCC-

Baldor

Option P

Control

VCC+

VCC-

VCC+

Baldor

Option P

Control

VCC-

MN1276

Receiving & Installation 3-7

Figure 3-9 Connector Locations (Single Phase Controls)

X1 - Power Connector

Earth

LACLine
N Neutral
U Motor lead “U”
V Motor lead “V”
W Motor lead “W”
R1 Dynamic Brake
R2 Dynamic Brake
+24V Customer
0V Provided

Terminal tightening torque is

0.5 lb-in (0.6Nm)

X3 - Control Signals & Digital I/O

1CMD+
2CMD­3AGND
4 Fault Relay+
5 Fault Relay-­6CIV
7 CREF
8CGND
9 Enable
10 MaI3
11 MaI4
12 Quit
13 Fault Reset
14 Home Flag
15 Trigger
16 MaI1
17 MaI2
18 MaO1
19 MaO2
20 DrOK

Input Power

Motor

Dynamic Brake
(Regen Resistor)

FPxAxxxx-xxx3
only ¡

NC

L

N
U

V

W
R1
R2

+24V

0V

DB On

X1

AS1

Off/On

Ready

Monitor

1
2
3

4
5

6
7
8

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.

X9 - Encoder Feedback Option

(only --Exxx versions)

1 CHA+ 9 HALL3+
2 CHB+ 10 HALL2+
3 CHC+ 11 +5VDC
4 HALL1+ 12 N.C.
5 HALL1-- 13 DGND
6 CHA-- 14 HALL3--

Encoder In X9RS232 / 485 X6Encoder Out X7Resolver In X8

7 CHB-- 15 HALL2-­8 CHC--

X6 - RS232 / 485

RS232

1 Reserved 1 TX-

Data 2 TX+

2R

x

3T

Data 3 RX+

x

4DTR 4RX­5 DGND 5 DGND
6DSR 6RTS­7RTS 7RTS+
8CTS 8CTS+
9+5V 9CTS-

X7 - Simulated Encoder Output

1 CHA 6 CHA-­2 CHB 7 CHB-­3 CHC 8 CHC-­4 Reserved 9 Reserved
5DGND

X8 - Resolver Input

1REF 6REF-­2COS 7COS-­3SIN 8SIN-­4 Reserved 9 Reserved
5AGND

RS485

Important:

¡

FPxAxxxx-xxx3 only.
A separate 24VDC supply to the “Logic Power” input is required for
operation. An FPxAxxxx-xxx3 control will not operate without 24VDC
on this input.

3-8 Receiving & Installation

X3

Note: Reserved means no

connection is required and
no connection should be
made to this terminal. It is
reserved for future use.

MN1276

Figure 3-10 Connector Locations (Three Phase Controls)

X1 - Power Connector

PE Earth
L1 Phase 1 Input
L2 Phase 2 Input
L3 Phase 3 Input
U Motor lead “U”
V Motor lead “V”
W Motor lead “W”
R1 Dynamic Brake
R2 Dynamic Brake
+24V Customer
0V Provided

Terminal tightening torque is

0.5 lb-in (0.6Nm)

X3 - Control Signals & Digital I/O

1CMD+
2CMD­3AGND
4 Fault Relay+
5 Fault Relay-­6CIV
7 CREF
8CGND
9 Enable
10 MaI3
11 MaI4
12 Quit
13 Fault Reset
14 Home Flag
15 Trigger
16 MaI1
17 MaI2
18 MaO1
19 MaO2
20 DrOK

Input Power

Motor

Dynamic Brake
(Regen Resistor)

FPxAxxxx-xxx3
only ¡

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.

X9 - Encoder Feedback Option

(only --Exxx versions)

1 CHA+ 9 HALL3+
2 CHB+ 10 HALL2+
3 CHC+ 11 +5VDC
4 HALL1+ 12 N.C.
5 HALL1-- 13 DGND
6 CHA-- 14 HALL3-­7 CHB-- 15 HALL2-­8 CHC--

X6 - RS232 / 485

RS232

1 Reserved 1 TX-

Data 2 TX+

2R

x

Data 3 RX+

3T

x

4DTR 4RX­5 DGND 5 DGND
6DSR 6RTS­7RTS 7RTS+
8 CTS 8 CTS+
9 +5V 9 CTS-

X7 - Simulated Encoder Output

1 CHA 6 CHA-­2 CHB 7 CHB-­3 CHC 8 CHC-­4 Reserved 9 Reserved
5DGND

X8 - Resolver Input

1 REF 6 REF-­2 COS 7 COS-­3SIN 8SIN-­4 Reserved 9 Reserved
5AGND

RS485

¡ Important:

FPxAxxxx-xxx3 only.
A separate 24VDC supply to the “Logic Power” input is required for
operation. An FPxAxxxx-xxx3 control will not operate without 24VDC on this input.

MN1276

Note: Reserved means no connection is required

and no connection should be made to this
terminal. It is reserved for future use.

Receiving & Installation 3-9

X1 Motor Connections Motor connections are shown in Figure 3-11 and Figure 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, resolver or hall sensors and
encoder.

Figure 3-11 Motor Connections for UL

Notes:

Baldor

Control

UVW

Note 1

1. Metal conduit or shielded cable should be used. Connect
conduits so the use of Load Reactor* or RC Device* does not
interrupt EMI/RFI shielding.

2. Use same gauge wire for Earth ground as is used for L and N.
(VDE (Germany) requires 10mm

3. Reference EMC wiring in Section 8.

4. Motor and resolver are phase sensitive. Connect only as
instructed.

2

minimum, 6AWG).

Note 1

* AC Servo Motor

* AC Servo Motor

Note: For CE compliant installations, connect unused leads within the motor cable

VW

U

G

Note 2

* Optional components not provided with control.

Figure 3-12 Motor Connections for CE

Notes:

Baldor

Control

UVW

VW

U

Note 2

G

to “PE” on both ends of the cable.

1. Metal conduit or shielded cable should be used. Connect

2. Use same gauge wire for Earth ground as is used for L and N.

3. Reference EMC wiring in Section 8.

4. Motor and encoder are phase sensitive. Connect only as

For three phase controls, this is labeled “PE”.

conduits so the use of Load Reactor* or RC Device* does not
interrupt EMI/RFI shielding.

(VDE (Germany) requires 10mm
compliance, connect motor ground to the backplane of the
enclosure.

instructed.

Enclosure Backplane (see Section 8)

2

minimum, 6AWG). For CE

* Optional components not provided with control.

M-Contactor If required by local codes or for safety reasons, an M-Contactor (motor circuit

contactor) may be installed. However, incorrect installation or failure of the
M-contactor or wiring may damage the control. If an M-Contactor is installed, the
control must be disabled for at least 20msec before the M-Contactor is opened or
the control may be damaged. M-Contactor connections are shown in Figure 3-13.

3-10 Receiving & Installation

MN1276

Figure 3-13 Optional M-Contactor Connections

UVW

To Power Source

(Rated Coil Voltage)

Note 1
Note 2

For three phase
controls, this is
labeled “PE”.

M Enable

* Optional components not provided with control.

*

X3

9

*

MMM

VW

U

G

* Motor

M=Contacts of optional M-Contactor

Notes:

1. Use same gauge wire for Earth ground as is used for L and N. (VDE (Germany) requires 10mm

2. For UL installations, connect motor ground to of the control as shown.
For CE installations, connect motor ground to the enclosure backplane (see Figure 3-12).

* M-Contactor

Note: Close “Enable”
after “M” contact closure.

* RC Device

Electrocube

RG1781-3

2

minimum, 6AWG).

Motor Thermostat A relay contact can be used to isolate the motor thermostat leads for use

with other devices, shown in Figure 3-14. The thermostat or overload relay should
be a dry contact type with no power available from the contact. The optional relay
(CR1) shown provides the isolation required and the N.O. contact is open when
power is applied to the relay and the motor is cold. If the motor thermostat is
tripped, CR1 is de-energized and the N.O. contact closes.

Connect the External Trip Input wires (N.O. relay contact) to a PLC or other
device. Note that a machine input may be used and the PLC software of the
Flex+Drive can define the thermal protection. Do not place these wires in the
same conduit as the motor power leads.

Figure 3-14 Motor Temperature Relay

Customer Provided

Source Voltage

Note: Add appropriately rated protective

device for AC relay (snubber)
or DC relay (diode).

W

V

U

Note:

1. For UL installations, connect motor ground to of the control as shown.
For CE installations, connect motor ground to the enclosure backplane (see Figure 3-12).

* Motor

Note 1

G

Motor Thermostat Leads

X1 Dynamic Brake Resistor An external DB (dynamic brake or regen resistor) resistor may be

required to dissipate excess power from the DC bus during motor deceleration
operations. Some controls have an internal resistor. For selection of the DB
resistor, refer to the specifications located in Section 7 and the regeneration
resistor specifications in Section 9 of this manual. DB hardware is connected at
R1 and R2 terminals of the X1 connector, Figure 3-9 and 3-10.

MN1276

*

CR1

Do not run these wires in same conduit
as motor leads or AC power wiring.

Optional, customer supplied.

*

External Trip

Receiving & Installation 3-11

X1 +24VDC Logic Supply For FPxAxxxx-xxx3 only. A separate 24VDC supply to the “Logic

X

A

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 Control Inputs & Digital I/O Connections
Control Inputs X3 pins 1 and 2 allows connection of an external analog command input. This

input can accept a 0-10VDC or "10VDC signal and can be wired as a single
ended or differential input, shown in Figure 3-15.

Figure 3-15 Control Input Wiring

Single Ended Connection Differential Connection

X3

X3

CMD+

Signal

Source

1

CMD-

2

AGND

3

Signal

Source

X3 Digital Inputs - Opto Isolated Inputs (uses CREF, X3-7)

Active High (Sourcing) - If pin X3-7 is grounded, an input is active when it is

at +24VDC (+12VDC to +30VDC).

Active Low (Sinking) - If pin X3-7 is at +24VDC (+12VDC to +30VDC), an

input is active when it is grounded.

Logic input connections are made at terminal strip X3. Input connections can be
wired as active High or active Low as shown in Figure 3-16. X3 pin 7 is the
Control Reference point (CREF) for the Opto Isolated Input signals.

Note: An internal 24VDC power supply connection is not available from the control

to power the Opto Input circuits. A customer provided external power
source must be used as indicated in Figure 3-16.

Figure 3-16 Active HIGH /LOW Relationship

Active Low
(Sink)

+24VDC
GND

+24VDC

B

GND

A

Source

Active High
(Source)

GND
+24VDC

20mA 20mA

9-17

7

Typical

Control

Input

A
B

B

A

Note:

GND

+24VDC

Sink

ll Opto inputs are referenced to

CREF, X3-7.

9-17

7

Typical

Control

Input

A

B

CMD+

1

CMD-

2

AGND

3

3

CREF

7

CGND

8

ENABLE

9

MAI3

10

MAI4

11

QUIT

12

FAULT RESET

13

HOME FLAG

14

TRIGGER

15
16

MAI1
MAI2

17

3-12 Receiving & Installation

MN1276

X3 Digital Inputs Continued

Table 3-3 Opto Input Signal Conditions

Pin

Number

X3-9 Enable Drive enabled. Drive disabled.
X3-10 MaI3 Machine Input 3 = Logical 1 Machine Input 3 = Logical 0
X3-11 MaI4 Machine Input 4 = Logical 1 Machine Input 4 = Logical 0
X3-12 Quit Stop positioning mode operation Positioning mode is operating
X3-13 Fault Reset Fault Reset is active (reset control). Fault Reset is not active.
X3-14 Home Flag Home flag = closing (rising) edge Home flag = opening (falling) edge
X3-15 Trigger Trigger = closing (rising) edge Trigger = opening (trailing) edge
X3-16 MaI1 Machine Input 1 = Logical 1 Machine Input 1 = Logical 0
X3-17 MaI2 Machine Input 2 = Logical 1 Machine Input 2 = Logical 0

Signal

Name

Switch = Closed (active) Switch = Open (not active)

Signal Name Opto Input Signal Definition

Enable CLOSED allows normal operation.

OPEN disables the control and motor coasts to a stop.

Quit CLOSED cancels any move in progress and the motor will decelerate (at

parameter MOT.ACC) to rest. This input is edge triggered.
OPEN allows position mode operation.

Fault Reset CLOSED allows the control to be cleared or “Reset” for any of the following four

fault conditions (provided that the cause of the fault has been removed):

$ Overvoltage $ Electronic Fusing
$ Undervoltage $ Resolver Fault

OPEN allows normal operation.

Home Flag Edge triggered input that is used to sense the “Home Position”.
Trigger Rising edge triggered input that initiates a “point-to-point move”. The move is

defined by the machine inputs MaI1-4.

MaI1,2,3,& 4 Four machine inputs are provided. These may be used with the internal PLC

software program. The internal PLC software can cause an event to occur based
on the presence of these inputs.

However, more often these inputs are used to define up to 15 preset positions or
point to point moves. The 16th move is always home. With this method, it is not
possible to use hardware limits (CW and CCW). Therefore, software limits must
be used. Software limits are only active after a homing routine has completed.

Note: Hardware limit switches may be wired in series with the “Enable” input

X3--9. Then if a limit is reached, the control will be disabled.

MN1276

Receiving & Installation 3-13

X3 Digital Inputs Continued

Figure 3-17 Positioning Mode Timing Diagram

MaI1-4

SeeTable3-4.

Trajectory

Motion Ready =

Motion in Process

Table 3-4 Process Duration for Resolver and Encoder Feedback

Trigger

T3

T2

T1

T4

T5 T6

Time Resolver Encoder

T1 %1ms &2ms
T2
T3 &28ms &14ms
T4 &28ms &14ms
T5 %10ms %14ms
T6 %10ms %14ms
T7 %10ms %14ms
T8 &28ms &100ms
T9

T10

&1.2ms

&1.2ms
&1.2ms

&1ms

&2ms
&2ms

Time

Time

T7

Time

Time

Figure 3-18 Homing Process Timing Diagram

Trigger

Home Flag

SeeTable3-4.

3-14 Receiving & Installation

T2

T8 T9

T4

T10

Time

Time

Recognition Time (T10)

MN1276

Factory Installed Settings Absolute moves

A

Buffe

r

Positi

Speed

Acceleratio

n

15 predefined absolute moves have been programmed at the factory. These
moves are defined in Table 3-5.

Table 3-5 Machine Inputs and Position Move Definitions

Buffer

(Move Number)

0(Home) OFF OFF OFF OFF 0 100 40

1 OFF OFF ON OFF 100000 2000 300
2 OFF OFF OFF ON 200000 2000 300
3 OFF OFF ON ON 300000 2000 300
4 OFF ON OFF OFF 400000 2000 300
5 OFF ON ON OFF 500000 2000 300
6 OFF ON OFF ON 600000 2000 300
7 OFF ON ON ON 700000 2000 300
8 ON OFF OFF OFF 800000 2000 300
9 ON OFF ON OFF 900000 2000 300

10 ON OFF OFF ON 1000000 2000 300

11 ON OFF ON ON 1100000 2000 300
12 ON ON OFF OFF 1200000 2000 300
13 ON ON ON OFF 1300000 2000 300
14 ON ON OFF ON 1400000 2000 300
15 ON ON ON ON 1500000 2000 300

MAI4 MAI3 MAI1 MAI2

Note: The machine Inputs of Table 3-5 are “OFF” when the switch is open.

Machine Inputs

on

Speed

(RPM)

Therefore, when MAI1 -- 4 are open, move number 0 (Home) is selected.

Move to Buffer 1 Position (Absolute move to position 100000).

Note:Tostopa movebeforeithascompleted,disablethedrive (Enableinput= Open)

orResetthe drive (Reset input = closed then open) or Quit (Quit input=closed
then open).

1. Open MAI1 -- 4 inputs (position 0 select).

2. Enable the drive.

3. Close MAI1 input.

4. Close the Trigger input. Motor immediately moves to position 100000.

5. Open the Trigger input.

cceleration

(RPM / ms)

This completes an absolute move to buffer 1 position. Use switches MAI1 -- 4 to
select other move numbers and use the Trigger switch to begin each move.

Note: If the motor is already at buffer 1 position, commanding another absolute

move to the same position will not cause the motor shaft to rotate.
Therefore, command a move to a different absolute position before
commanding another move to buffer 1 position.

MN1276

Receiving & Installation 3-15

X3 Digital Outputs - Opto Isolated 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 3-6.

Figure 3-19 Fault Relay Connections

Relay

Contact is closed when power is on
and no faults are present.

Control

4

5

Customer Provided Interface Circuit

Customer provided external power source: and Non-Inductive Load

110VAC @ 0.3A maximum or
24VDC @ 0.8A maximum

Figure 3-20 Opto Output Connections

+

Typical

35mA

Maximum

CIV

18, 19, 20

CGND

Control

6

8

Customer Provided Interface Circuit

(+12VDC to +30VDC)

Output Signal

OR

Relay

Table 3-6 Opto Output Signal Conditions

Pin

Number

X3-4 Fault + Drive OK - no faults detected Fault is detected

X3-5 Fault - Drive OK - no faults detected Fault is detected
X3-18 MAO1 Machine Output 1 = Logical 1 Machine Output 1 = Logical 0
X3-19 MAO2 Machine Output 2 = Logical 1 Machine Output 2 = Logical 0
X3-20 DrOK Drive OK - no faults detected Fault is detected

Signal

Name

Switch = Closed (active) Switch = Open (not active)

Fault Relay A normally closed relay contact that opens if a fault occurs. The contact is rated:

24VDC @ 0.8A maximum or 110VAC @ 0.3A maximum.

MaO1 & 2 Two machine outputs are provided. Either output can be set to one of the

following conditions: CW Warning, CCW Warning, In Position, Error Flag,
Following Error Warning, MAI1-2, Drive Overtemperature or I
Each output is rated 30VDC @ 35mA maximum.

DrOK This output is active when the control is ready for operation.

This output is rated 30VDC @ 35mA maximum.

3-16 Receiving & Installation

2

T Warning.

MN1276

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).

Figure 3-21 9 & 25 Pin RS-232 Cable Connections for UL Installations

9 Pin Connector

RXD
TXD

GND

Signal

25 Pin Connector

Signal

Computer

COM

Port

(DTE)

Control

(DCE)

X6

RXD

TXD

GND

Chassis

Pin
2RXD
3TXD
5GND

Pin
2RXD
3TXD
7GND

Null Modem Cable Connections

Figure 3-22 9 & 25 Pin RS-232 Cable Connections for CE Installations

Null Modem Cable Connections

X6

Control

(DCE)

Note: For CE installations, connect the overall shield at each end of the cable to PE. The
voltage potential between the PE points at each end of the cable must be Zero Volts.

MN1276

RXD

TXD

GND

PE PE

RXD
TXD

GND

Computer

COM

Port

(DTE)

Receiving & Installation 3-17

RS485

Standard RS485 connections are shown in Figure 3-24. Maximum cable length is
3280 ft (1000M).

Figure 3-23 9 Pin RS-485 Cable Connections For UL Installations

9 Pin Connector

Pin
1TX­2TX+
3RX+
4RX­5DGND

Signal

Control

(DCE)

X6

RX+
RX-­TX+

TX­DGND

Chassis

TX+
TX-­RX+

RX­DGND

Computer

COM

Port

(DTE)

Figure 3-24 9 Pin RS-485 Cable Connections For CE Installations

9 Pin Connector

Pin
1TX­2TX+
3RX+
4RX­5DGND

Signal

Note: For CE installations, connect the overall shield at each end of the cable to PE. The
voltage potential between the PE points at each end of the cable must be Zero Volts.

RS485 Multi-Drop Connections
What does termination or a termination resistor do?

Termination resistance is used to match the impedance of the load to the
impedance of the transmission line (cable) being used. Unmatched impedance
causes the transmitted signal to not be fully absorbed by the load. This causes a
portion of the signal to be reflected back into the transmission line (noise). If the
Source impedance, Transmission Line impedance, and Load impedance are all
equal, these reflections (noise) are eliminated.

Termination does increase load current and sometimes changes the bias
requirements and increases the complexity of the system.

What is a termination resistor?

A resistor is added in parallel with the receiver input to match the impedance of the
cable being used. Typically, the resistor value that is used is 100 ohm or 120 ohm.
Resistors with 90 ohms or less should never be used.

Where are these resistors placed?

Terminators or Termination resistors are placed in parallel with the receiver at both
ends of a transmission line. This means that you should never have more than
two terminators in the system (unless repeaters are being used).

How many resistors should my system have?

Terminators or Termination resistors are placed in parallel with the receiver at both
ends of a transmission line. This means that you should never have more than
two terminators in the system (unless repeaters are being used).

Control

(DCE)

X6

RX+
RX-­TX+

TX­DGND

Chassis

PE PE

TX+
TX-­RX+

RX­DGND

Computer

COM

Port

(DTE)

3-18 Receiving & Installation

MN1276

Figure 3-25 RS485 4 Wire Multi-Drop for UL Installations

Host

P

=TwistedPair

Computer

RX+
RX-­TX+
TX-

DGND

GND

*

T

R

*

T

R

P

P

Use twisted pair shielded cable
with an overall shield.

* Terminating resistor TRis 120 W typical value.

Only the PC and last control are terminated.

Figure 3-26 RS485 4 Wire Multi-Drop for CE Installations

Host

Computer

P

=TwistedPair

RX+
RX-­TX+
TX-

DGND

GND

Use twisted pair shielded cable
with an overall shield.

* Terminating resistor TRis 120 W typical value.

Only the PC and last control are terminated.

Note: For CE installations, connect the overall shield at each end of the cable to PE. The
voltage potential between the PE points at each end of the cable must be Zero Volts.

*

T

R

*

T

R

P

P

PE

Shields

PE

PE

Shields

PE

X6

TX+
TX-­RX+
RX-

DGND

GND

X6

T

R

*

TX+
TX--

T

R

*

RX+
RX-

DGND

GND

X6

TX+
TX-­RX+
RX-

DGND

GND

X6

T

R

*

TX+
TX--

T

R

*

RX+
RX-

DGND

GND

See Section 4 of this manual for the description of switch “AS1-1 to AS1-4” for
address settings for multi-drop applications.

MN1276

Receiving & Installation 3-19