Baldor MIN1853 User Manual

LinStep+ Single–Axis

Microstepping Indexer/Driver

Installation & Operating Manual

7/01 MN1853

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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power Dissipation 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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

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

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

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

Power Connections 3-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

RS232/Keypad Installation 3-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

RS–232 PC Connections 3-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

RS485 PC Connections 3-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Discrete I/O Connections 3-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Limits Connections 3-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Encoder Connections 3-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Motor Connections 3-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

LXOpto 44 and 88 3-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

DB25 Pin to Screw Terminal Converter 3-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PNP Converter 3-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Start-Up Procedure 3-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power Off Checks 3-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Power On Checks 3-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Table of Contents iMN1853

Section 4

Keypad Operation 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Overview 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Run Menu 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

JOG Menu 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Edit Menu 4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PROG 4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Setup 4-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

POS 4-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

List 4-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

HELP Menu 4-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

COPY Menu 4-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PROG 4-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

TO PAD 4-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

FROM 4-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

DEL Menu 4-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Section 5

Setup 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Overview 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configure Motor 5-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configure Encoder 5-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configure Your Application 5-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configure the I/O 5-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configure the Optional LXOPTO 44/88 5-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configure the Output States 5-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configure End of Travel Switch Polarity 5-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configure JOG Parameters 5-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configure HOME Parameters 5-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configure Power–up Program 5-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configure Serial Communications 5-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configure Miscellaneous Setup Parameters 5-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Section 6

Keypad Programming 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Commands 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Helpful Hints 6-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Variables 6-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Arithmetic Operands and Equations 6-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Boolean Operators 6-29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Logical Operators 6-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Increment/Decrement Variables 6-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Expressions 6-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Other Programming Samples 6-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

ii Table of Contents MN1853

Section 7

Troubleshooting 7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Section 8

Specifications & Product Data 8-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Identification 8-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

General Specifications 8-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Dimensions 8-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Section 9

CE Guidelines 9-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CE Declaration of Conformity 9-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EMC – Conformity and CE – Marking 9-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

EMC Installation Instructions 9-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Appendix A A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Programming Template A-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Remote Keypad Mounting Template A-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Table of Contents iiiMN1853

iv Table of Contents MN1853

Section 1 General Information

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 9 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 has been used in accordance with the instructions and/or ratings supplied. This warranty 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 consequential damages, so the above exclusion may not apply.) In any 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 by the control, and the problem encountered. No liability is assumed for expendable items 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 1-1MN1853

Product Notice Intended use:

These drives are intended for use in stationary ground based applications in industrial power installations according to the standards EN60204 and VDE0160. They are designed for machine applications that require 2 phase stepper motors.

These drives are not intended for use in applications such as:

– Home appliances – Mobile vehicles – Ships – Airplanes

Unless otherwise specified, this drive is intended for installation in a suitable enclosure. 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 8 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.

Continued on next page.

1-2 General Information MN1853

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 may cause violent motion of the motor and

driven equipment. Be certain that unexpected movement will not cause injury to personnel or damage to equipment.

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

is applied, even when motor is not moving. 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: 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.

Caution: Avoid locating the control immediately above or beside heat generating

equipment, or directly below water or steam pipes.

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

Continued on next page.

General Information 1-3MN1853

Caution: To prevent keypad damage, be sure keypad mounting screws do not

extend more than 0.2 (5) into keypad assembly.

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

vapors, metal particles and dust.

Caution: Baldor recommends not using “Grounded Leg Delta” transformer power

leads that may create ground loops and degrade system performance. Instead, we recommend using a four wire Wye.

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

power is removed from the drive.

Caution: The safe integration of the driver 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 Directive and the Low Voltage Directive. In the United States this is the National Electrical code and local codes.

Caution: Drivers 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 driver should have specifications compatible to the drive.

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: Do not connect or disconnect motor wires from the control while power is

on. If motor leads are disconnected while the control is powered up, damage to the control may result.

1-4 General Information MN1853

Section 2 Product Overview

Overview The design of LinStep and LinStep+ microstepping motor drivers (also called a

driver or control) and the internal cooling tunnel are revolutionary. These drivers consume less panel space than other controls and keep internal electronics cool and clean for years of reliable performance and operation. LinStep+ single and dual–axis drivers are used with Baldor motion controls and other popular stepper controllers that provide step and direction (or CW/CCW step pulses) . They are ideally suited to control Baldor single and dual–axis linear stepping motors. Figure 2-1 shows how the LinStep+ driver is placed in a linear stepper motor system.

The open loop linear stepper motor provides the most economical linear motor positioning solution. There are two types of linear stepper motors: a single–axis linear stepper motor and the compact dual–axis linear stepper motor. Linear stepper motors include the motor, positioning system and bearings in two components: a moving forcer and a stationary platen.

Figure 2-1 Motion Control with LinStep+

LinStep+ Single Axis Indexer/ Driver

Linear stepper motors move in discrete incremental moves called steps. The size of each step is determined by the spacing of the teeth in the platen and how the coils are energized. Baldor 2–phase motors travel 0.010 inches (0.254mm) in a single full step yielding 100 steps per inch. Baldor 4–phase motors travel 0.005 inches (0.127mm) in a step. When the coils are energized in a predetermined pattern, the forcer will move down the platen. Reversing the pattern will reverse the direction of travel. The microstep frequency determines the velocity of the forcer. Linear stepper motors produce their maximum force at zero speed. As speed increases the ability to switch winding current decreases due to motor inductance. This results in lower forces at higher speeds.

Contact your local Baldor distributor or sales representative for assistance with 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.

Motors Baldor LinStep+ Drivers are compatible with many Linear Stepper motors from

Baldor and other manufacturers. Compatible Baldor motors include: (refer to BR1800 for additional motor information).

Linear Step Motor

Single Axis Stepping Motor

Axis 1

S LMSS Series Single Axis S LMDS Series Dual Axis

Product Overview 2-1MN1853

2-2 Product Overview MN1853

Section 3 Receiving and Installation

Receiving & Inspection

Baldor Drivers are thoroughly tested at the factory and carefully packaged for shipment. When you receive your driver, there are several things you should do immediately.

1. Observe the condition of the shipping container and report any damage immediately to the commercial carrier that delivered your driver.

2. Remove the driver from the shipping container and remove all packing materials. The container and packing materials may be retained for future shipment.

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

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

5. If the driver 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 driver 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 driver.

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

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

2. At least 3 inches (75mm) top and bottom clearance must be provided for air flow. Between drivers (each side), allow at least 0.1 inch (2.5mm).

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 (100) above 3300 feet. Maximum altitude is 8300 (2540m).

4. Temperature derating. From 0°C to 40°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.

Power Dissipation

Cooling requirements can be determined if you know the maximum (or continuous) current output from the microstepping driver, I dissipation, W

= 5 + 3.4ID +0.15I

Diss

Mechanical Installation

Mount the driver to the mounting surface. The driver must be securely fastened to the mounting surface by the driver mounting holes. The location of the mounting holes is shown in Section 8 of this manual. Use #8 (M4) cap screws.

as follows:

Diss

. Calculate heat

Receiving & Installation 3-1MN1853

Electrical InstallationAll interconnection wires between the driver, AC power source, motor, host

driver and any operator interface stations should be in metal conduits. Use listed closed loop connectors that are of appropriate size for wire gauge being used. Connectors are to be installed using crimp tool specified by the manufacturer of the connector. Only class 1 wiring should be used.

System Grounding Baldor drivers are designed to be powered from standard single 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 for UL compliant systems (Figure 3-2 for CE compliant systems).

Figure 3-1 Recommended System Grounding for UL

AC Main Supply

L N

Microstepper Driver

GND

B+A– B–A+

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 driver signal wires. Route driver 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 3-2 Recommended System Grounding (1 phase) for CE

AC Main Supply

Safety Ground

Note: Use shielded cable for driver signal wires. Route driver signal wires in

L N

Earth

Driven Earth Ground Rod (Plant Ground)

All shields

conduit. These wires must be kept separate from power and motor wires.

Route all power wires together in conduit or cable.

Enclosure Backplane (see Section 8)

Microstepper Driver

GND

A+

Linear Motor

Ground per NEC and Local codes.

Note: Wiring shown for clarity of grounding method only. Not

B+A– B–

representative of actual terminal block location.

Linear Motor

Motor GND

3-2 Receiving & Installation MN1853

System Grounding

Continued

Ungrounded Distribution System

With an ungrounded power distribution system it is possible to have a continuous current path to ground through the MOV devices. To avoid equipment damage, an isolation transformer with a grounded secondary is recommended.

Input Power Conditioning

Certain power line conditions must be avoided. An AC line reactor or an isolation transformer may be required for some power conditions.

• If the feeder or branch circuit that provides power to the driver 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 driver.

• If the feeder or branch circuit that provides power to the driver has power factor correction capacitors that are switched on line and off line, the capacitors must not be switched while the driver is connected to the AC power line. If the capacitors are switched on line while the driver 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 driver.

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

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

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

Input and output wire size is based on the use of copper conductor wire rated at 75 °C. Table 3-1 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

Time Delay Fuses: Buss LPN on 115 VAC or

Buss FRN on 230 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 driver. Dual element, time delay fuses should be used to avoid nuisance trips due to inrush current when power is first applied.

Receiving & Installation 3-3MN1853

Table 3-1 Wire Size and Protection Devices

Incoming Power

Catalog Number

LX1P1A07F9 LX1P2A06 LX1P1A03

Nominal Input

Voltage

115V (1f) 115V (1f) 230V (1f)

Continuous Input

Continuous

Output

(RMS)

Amps

Input

Breaker

(A)

7.9A 30 30 14 2.5

6.0A 20 20 14 2.5

3.9A 20 20 14 2.5

Input Fuse Wire Gauge

Time

Delay (A)

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 driver output current and no harmonic current.

Power Connections Power connections are shown in Figures 3-3 and 3-4.

Figure 3-3 115VAC Single Phase AC Power Connections

Note 1

minimum, 6AWG). For CE

Note 1

Note 2

* Circuit Breaker

L1 Neutral

Baldor LinStep+

Earth

GND

Note 3 & 4

Note 5

Alternate * Fuse Connection

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 Earth to the backplane of the enclosure.

4. Reference EMC wiring in Section 8.

5. GND is located on the motor terminal strip.

* Components not provided with driver.

(Europe)

Figure 3-4 230VAC Single Phase AC Power Connections

L1 L2

Note 1

L1 L2

* Circuit

Earth

Note 3 & 4

Alternate * Fuse Connection

Breaker

GND

Note 5

Notes:

1. See “Protection Devices” described in this section.

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

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

4. Reference EMC wiring in Section 8.

5. GND is located on the motor terminal strip.

* Components not provided with driver.

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

(VDE (Germany) requires 10mm2 minimum, 6AWG). For CE Compliance, connect Earth to the backplane of the enclosure.

Note 2

L1 L2

Baldor LinStep+

3-4 Receiving & Installation MN1853

Offset Adjustments

Figure 3-5 Connection Locations (115VAC, 1 Axis)

Top Connections

Figure 3-6 Connection Locations (230VAC, 1 Axis)

AC Power Input

Fan

Discrete I/O Connector

Limits Connector

Encoder Connector

Motor Connector

Bottom Connections

Offset Adjustments

Top Connections

AC Power Input

Fan

Discrete I/O Connector

Limits Connector

Encoder Connector

Motor Connector

Bottom Connections

Receiving & Installation 3-5MN1853

RS232/Keypad Installation Procedure: (optional keypad – LXKP)

Optional Remote Keypad Installation

The keypad may be remotely mounted and sealed to NEMA 4 specification by using the gasket and 6 ft (1.8m) cable included. The keypad assembly is complete with the screws and gasket required to mount it to an enclosure. The gasket has adhesive on one side that must be placed toward the enclosure.

Tools Required:

• Center punch.

/16" drill bit (for clearance mounting holes).

•

/2" (12.7) and 1-1/2" (38.1) standard knockout punch.

• (4) 6-32 nuts and washers (or M3.5 hardware).

• Remote keypad mounting template. A tear out copy is

provided at the end of this manual for your convenience.

Mounting Instructions: (see remote keypad mounting template)

1. Locate a flat mounting surface. Material should be sufficient thickness (14 gauge minimum).

2. Place the template on the mounting surface or mark the holes as shown.

3. Accurately center punch the 4 mounting holes (labeled E for SAE or M for metric) and the three large Cut–Out holes.

4. Drill four

/16" holes (at E or M).

5. Make the three large Cut–Out holes using the punch manufacturers instructions.

6. Debur knockout and mounting holes making sure the panel stays clean and flat.

7. Apply the adhesive backed gasket to the enclosure.

8. Assemble the keypad to the panel. Non–conductive screws and washers should be used to electrically isolate the keypad from the enclosure.

Caution: To prevent keypad damage, be sure keypad mounting screws

do not extend more than 0.2 (5) into keypad assembly.

9. Connect the keypad cable to the keypad connector of the main circuit board, Figure 3-7.

Figure 3-7 Keypad (Nullmodem) Connections

Keypad

GND

N/C

+5VDC

Standard Connections External +5VDC

LinStep+ RS232 / Keypad Connector

+5VDC R

GND Shld

Note: A 6ft (1.8m) cable is provided with the keypad. If a longer cable is

to be used, an external +5VDC @ 500mA power supply is required.

External P.S.

+5VDC

GND

Keypad

N/C

GND

+5VDC

Connections

LinStep+ RS232 / Keypad Connector

+5VDC R

GND Shld

3-6 Receiving & Installation MN1853

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 3-8. Maximum recommended length for RS232 cable is 6 ft. (1.8 meter).

Figure 3-8 9 & 25 Pin RS-232 Cable Connections for UL Installations

RS232/Keypad Connector

9 Pin Connector

+5V +5V

LinStep+ (DCE)

If required, RTS, CTS, DSR and DTR may also be connected for a full null modem connection.

Jumper RTS to CTS

DSR to DTR

RXD

TXD

GND

Chassis

9 Pin 25 Pin 7 to 8

4 to 6

4 to 5 6 to 20

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

RS232/Keypad Connector

+5V +5V

Control (DCE)

Note: For CE installations, connect the overall shield at each end of the cable to

RXD

TXD

GND

PE PE

PE. The voltage potential between the PE points at each end of the cable must be Zero Volts.

Computer

RXD

COM

TXD

Port

GND

(DTE)

Computer

RXD

COM Port

TXD

(DTE)

GND

Pin 2 RXD 3 TXD 5 GND

25 Pin Connector

Pin 2 RXD 3 TXD 7 GND

Signal

Receiving & Installation 3-7MN1853

Daisy Chain Connections

LinStep+ can support daisy chaining. The unit address (range 1–99) can be set with the keypad, through Application Developer, or with a terminal program using the Unit Number (UN) command, or the entire chain may be addressed at once using the Auto–Address (AA) command. Connect as shown in Figure 3-10.

Rules for Daisy Chain Operation

1. All LinStep’s in a daisy chain must have their device address assigned in ascending order away from the host device. This allows the Load All (LA – EX) commands to work properly. Addresses do not have to be sequential, but must be in ascending order. Example: 1, 2, 4, 6, 8 is valid addressing. 6, 3, 10, 8, 2 is not valid.

2. Do not duplicate unit addresses.

3. RS–232C “Echo” should be turned on for each unit in the daisy chain. Disabling RS–232C Echo will prevent daisy chain operation.

4. All RS–232C connections must be correctly made.

5. “Device Addressing” RS–232C commands (for a specific LinStep+ device) must have the correct address specified in the command.

6. Status commands require the correct address.

Figure 3-10 Daisy Chain Connection

PC / Host Device

RXD

TXD

GND

LinStep+ Unit 1

RXD

TXD GND

LinStep+ Unit 2

RXD

TXD GND

LinStep+ Unit 3

RXD

TXD GND

3-8 Receiving & Installation MN1853

RS485 PC Connections

Standard RS485 connections are shown in Figure 3-11 and 3-12. Maximum cable length is 3280 ft (1000M).

Figure 3-11 9 Pin RS-485 Cable Connections For UL Installations

Figure 3-12 9 Pin RS-485 Cable Connections For CE Installations

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?

LinStep+

RX+ RX– TX+

TX-

DGND

Chassis

RX+ RX– TX+

TX-

DGND

Chassis

PE PE

TX+ TX– RX+

RX-

DGND

TX+ TX– RX+

RX-

DGND

PC / Host Device

Receiving & Installation 3-9MN1853

= Twisted Pair

Figure 3-13 RS485 4 Wire Multi-Drop for UL Installations

Shields

PC / Host Device

RX+

RX– TX+ TX-

DGND

GND

TX+

TX– RX+ RX-

DGND

GND

First Unit

Use twisted pair shielded cable with an overall shield.

* Terminating resistor TR is 120 W typical value. Only

the PC and last control are terminated.

Figure 3-14 RS485 4 Wire Multi-Drop for CE Installations

= Twisted Pair

PC / Host Device

RX+

RX– TX+ TX-

DGND

GND

Use twisted pair shielded cable with an overall shield.

* Terminating resistor TR is 120 W typical value. Only

the PC and last control are terminated.

Shields

TX+ TX–

RX+ RX-

DGND

GND

TX+

TX– RX+ RX-

DGND

GND

TX+

TX–

RX+ RX-

DGND

GND

Last Unit

First Unit

Last Unit

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.

3-10 Receiving & Installation MN1853

Discrete I/O Connections

The 25 pin “Discrete I/O” connector (Figure 3-5) contains the Input 1–8, Output 1–8 and OPTO 44/88 connections. (See Figures 3-15, 3-16 and the Section “OPTO 44/88” description.

Figure 3-15 Opto Isolated Input Connections (Inputs 1–8)

Figure 3-16 Programmable Output Connections

Standard 12V Output Connections Optional 24V Output Connections

Jumper

12V

P–Up

Inputs 1–8 (Isolated)

Com

10kÙ

470 Ù

Common (Isolated)

+5VDC (Isolated)

Opto Isolator

(Remove Jumper)

External +24VDC Supply

+24V

Com

12V

P–Up

10kÙ

Outputs 1–8 (Programmable)

Com

Opto Isolator

Factory installed jumper for 12VDC pull–up operation. Maximum current sink capability is 100mA per output and 350mA maximum from internal 12VDC supply.

Limits Connections

Figure 3-17 Opto Isolated Input Connections (Inputs 1–8)

+5VDC (Isolated)

715 Ù

Isolated Inputs (Home, ET+, ET–)

Com

Opto

Isolator Common (Isolated)

Outputs 1–8 (Programmable)

Com

Opto Isolator

Remove factory installed jumper from terminal P–Up. Connect an external 24VDC supply to terminals P–Up and Com. (Terminal P–Up must be positive).

Limits

Limit

+V 0V Output

Drive Color

12V Com ET±

Brown Green White/Red

Receiving & Installation 3-1 1MN1853

Encoder Connections (Refer to MN1800 for wire color and lead information.)

Twisted pair shielded wire with an overall shield should be used. Figures 3-18 and 3-19 show the connections between the encoder and the encoder connector.

Figure 3-18 Differential Encoder Connections for UL Installations

Encoder

Figure 3-19 Differential Encoder Connections for CE Installations

Encoder

Connection of shields to digital ground is optional.

Table 3-2 Encoder Color Code

Encoder

Signal PVS100 Danaher (9–Pin D)

A+ White Green 6 A– Gray Yellow 1 B+ Orange Blue 8

B– Red Violet 3 Z+ (Index) N/A Red 9 Z– (Index) N/A Orange 5

+5VDC Black Brown 7

GND Brown Black 2

Inner shield Blue – 4

Outer shield Violet – Shell

A+ A– B+

B– Z+ Z–

+5V DGND

A+ A– B+

B– Z+ Z–

+5V DGND

A+ A– B+

B– C+ (Index) C– (Index)

+5V DGND Shell (Chassis)

A+ A– B+

B– C+ (Index) C– (Index)

+5V DGND Shell (Chassis)

3-12 Receiving & Installation MN1853

Motor Connections The A+, A–, B+ and B– phase outputs provide power to the motor windings.

These connections are shown in Figures 3-5 and 3-6. The motor windings can be connected in series or parallel as shown in Figure 3-20. For Baldor motors, refer to MN1800 for lead information.

Interlock (INTLK) The two INTLK pins must be jumpered together at the motor connector for the drive to apply power to the motor. If the interlock wire breaks, or the connector is removed, the current to the motor is immediately stopped, the drive faults (latched) and flashes the dual function LED labeled Over Volt./INTLK. Interlock wires longer than 5 inches can create noise generated shutdowns.

Ground (GND) GND is internally connected to the Earth pin on the Power connector. This provides a convenient terminal for grounding the motor frame and a motor cable shield.

Figure 3-20 Stepper Motor Connections

Series Motor Connections

Parallel Motor Connections

B–

Motor Connector

Interlock B– B+ Ground

B+ A–

A+ INTLK

A– A+ Interlock

Motor

Color Phase

White Red Green Orange Black

(Refer to MN1800 for

A+ A– B+ B– GND

wire color and lead information.)

INTLK

AY0165A00 Leadwire Connection (9 pin to flying leads)

Color Pin# Description

White 1 A1+ Winding

2 N.C.

Green 3 B1+ Winding

4 N.C.

Black 5 Ground

6 N.C.

Red 7 A1– Winding

8 N.C.

Orange 9 B1– Winding

6 7 8 9

Male (D Sub)

When a Male D Sub connector is used, use the pin

2 3 4 5

When flying leads are used, use the color codes

B–

B+

A–

A+

INTLK

numbers to connect the forcer.

to connect the forcer.

Receiving & Installation 3-13MN1853

Section 1 General Information

LXOpto 44 and 88 Break out box and accessories.

Two break out boxes are available; LXOpto44 accepts up to 8 conditioning modules and LXOpto88 accepts up to 16 conditioning modules. Figure 3-21 shows the layout and dimensions of each. Each allows the use of discrete inputs and outputs and provide the ability to perform signal conditioning.

Figure 3-21 OPTO Racks

LXOpto 44

Note 1

Note 2

Note 1

IN OUT

IN1

IN2

Input 1 Module

Note 2

COM

IN3

IN4

COM

IN5

IN6

COM

Input 2 Module

Input 3 Module

Note 2

IN7

IN8

COMO1O2

Input 4 Module

Output 1 Module

COMO3O4

COMO5O6

Output 2 Module

I1+

I1–

I2+

I2–

I3+

I3–

I4+

I4–

O1+

O1–

O2+

O2–

O3+

5.525 (133.40)

Note 2

COMO7O8

COM

3.60 (91.44)

Output 3 Module

Output 4 Module

O3–

O4+

O4–

Notes

1. Do Not Use.

2. Always usable (no corresponding module).

3. Do not use IN1–4 or O1–4 if a corresponding LXOPTO module is being used. Using the same J2 or J3 signal with a module in place may result in equipment damage.

4. J1 connector connects to the DB25 “Discrete I/O” connector on LinStep+.

LXOpto 88

Note 1

IN OUT

IN1

IN2

COM

IN3

IN4

COM

Note 2

IN5

IN6

Note 2

COM

IN7

Note 2

IN8

COMO1O2

Note 1

COMO3O4

Note 1

COMO5O6

Note 2

COMO7O8

Note 2

COM

3.60 (91.44)

Input 1 Module

Input 2 Module

Input 3 Module

Input 4 Module

Input 5 Module

Input 6 Module

Input 7 Module

Input 8 Module

Output 1 Module

Output 2 Module

Output 3 Module

Output 4 Module

Output 5 Module

Output 6 Module

Output 7 Module

Output 8 Module

I1+

I1–

I2+

I2–

I3+

I3–

I4+

I4–

I5+

I5–

I6+

I6–

I7+

I7–

I8+

J4 J5

I8–

O1+

O1–

O2+

O2–

O3+

O3–

O4+

J6 J7

O5+

O5–

O6+

O6–

O7+

O7–

O8+

O4–

O8–

10.10 (256.54)

3-14 Receiving & Installation MN1853

Section 1 General Information

DB25 Pin to Screw Terminal Converter

The LXDB25 converter allows connection of individual wires to the DB25 pin connector. The terminal configuration is shown in Figure 3-22.

Figure 3-22 LXDB25 Converter

Pin25: +5VDC for LXOPTO Box Pin24: +5VDC for LXOPTO Box

Pin23: Common Pin22: Common Pin21: Output 8 Pin20: Output 7 Pin19: Output 6 Pin18: Output 5 Pin17: Output 4 Pin16: Output 3 Pin15: Output 2 Pin14: Output 1

PNP Converter

The LXPNPBO converts NPN outputs from the LinStep+ to PNP compatible outputs, shown in Figure 3-23. Inputs IN1–8 connect directly to the LinStep+ NPN inputs. Outputs 1–8 are PNP outputs. PUp and COM are the 12VDC or 24VDC pull up and common power supply connections.

PUp

Com

PUp

IN8

IN7

IN6

IN5

Com

IN4

IN3

IN2

IN1

Com

From LinStep+

Figure 3-23

Typical LXPNPBO Output Connection

NPN Input Terminal

Co m

Pin13: Common Pin12: Common Pin11: Common Pin10: Common Pin9: Common Pin8: Input 8

Pin7: Input 7 Pin6: Input 6

Pin5: Input 5 Pin4: Input 4 Pin3: Input 3 Pin2: Input 2 Pin1: Input 1

In Out

7.2k

10k

U1 Detail Typical

PUp

PNP Output Terminal

Com

7.2k 3k

Out

Receiving & Installation 3-15MN1853

Start-Up Procedure

Power Off Checks

Before you apply power, it is very important to verify the following:

1. Verify the AC line voltage at the source matches the control rated voltage.

2. Inspect all power connections for accuracy, workmanship and tightness.

3. Verify that all wiring conforms to applicable codes.

4. Verify that the control and motor are properly grounded to earth ground.

5. Check all signal wiring for accuracy.

6. Set Keypad DIP switches as desired, Figure 3-24. (Power must be cycled after a DIP switch position change).

Figure 3-24 Keypad Adjustments

DIP Switch Keypad Operation 12 Off Off Full Keypad Operation Off On No access to Run, ESC, Edit, Copy , Del On Off No access to Run, Edit, Copy, Del On On No access to Edit, Copy, Del

Power On Checks

When power is first applied, the “ON” LED will be green. With the keypad connected, the LCD display will briefly display the initialization screens.

Note: The LCD display may require contrast adjustment for better viewing. If the

display cannot be seen, adjust the potentiometer in Figure 3-24 for best viewing.

N/C

1234

Switches 3 and 4 are reserved.

GND Rx Tx +5VDC

4213

Action

Apply Power.

Select “Edit, Setup (F2), Motor (F1), Type (F1), Stepper (F1)”

Select “Current (F1)”. enter the motor current value. (Factory setting =0”)

Select “A–RES (F2)”.

Select “INDUCT (F3)”.

+0.0000 00000000 00000000

–↑STEPPER SETUP↓– 00000000 00000000

Axis One Motor Curnt

–Axis One Anti–Res–

–Axis One Inductance– –↑ HIGH ↓–

Display Comments

Power–up diagnostic display. No errors.

Stepper Set–up display.

Enter the correct setting for your motor.

___Amps

Press “ESC” when done.

Enter the unloaded Anti–Res value for your motor. Press “ESC” when done.

Select the HIGH or LOW setting for your motor. Press “ESC” when done until you return to the main display.

The motor should now be producing torque.

Action

Select “RUN, JOG (F2)”.

3-16 Receiving & Installation MN1853

JOG AXIS +0.0000 <LO> HIGH

Display Comments

Select either Low or High to Jog the motor position. Confirm proper motor operation.

Section 4 Keypad Operation

Overview (Firmware versions LinStep+ Sngl SB3.0; Keypad V2.90; FPGA ssr3)

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

ABC

JKL

LP EB

STU

ESC

F1, F2, F3

Selector keys. Used with numeric keys to select commands in the editor. Programmable as operator menu selections. (See the FK command for information on using the function keys within a program.)

Most operations are menu–driven. A menu consists of a title bar (top display line) and as many as three options or sub–menus (bottom display line). Each option is displayed above one of the function keys, F1, F2, or F3. Press a function key to select the corresponding option. Table explains which menus are available.

DEF

MNO

VWX

÷ * =

VE AC DE

( )

GHI

GO GH

PQR

GT GS

[ ]

←

↑

ALPHA ENTER

→

↓

Keypad Operation 4-1MN1853

Options

Note: If a menu has more than three options, arrows on both sides of the display

indicate that more options are available. Press the appropriate arrow key to display one option at a time. To exit a menu without making a selection, or to back up one menu level, press ESC.

Table 4-1

Menu Key

RUN EDIT HELP COPY DEL

PROG (F1)

Run programs by name or number.

JOG (F2)

Jog either axis at low or high speeds. Press F1 or F2, and any arrow key (←↑↓→).

TEST (F3)

Run programs in trace mode, do amplifier shutdown and reset, and test outputs or moves.

PROG (F1)

Edit or write programs.

SETUP (F2)

Configure system components and operating limits.

POS (F3)

Reset axis position to zero? YES NO (F1) (F3)

LIST (↓) (F1)

Directory of stored programs, memory usage and available space

In Main Menu:

Provides help on the function of RUN, EDIT, or COPY.

In Menus:

Provides help on menus.

In Sub–Menus:

Explains setup choices.

In Editor:

Provides command descriptions.

PROGRAM (F1)

To copy programs within a control (source file> destination file)

TO PAD (F2)

To upload data from control’s memory to the keypad.

FROM (F3)

To download data from keypad memory to a control.

Deletes an entire program or in editor deletes characters

RUN

Press RUN to start a program, Jog an axis, or access Test/Debug functions.

EDIT

Press Edit to change setup parameters and programs, list programs, & reset position counter.

HELP

Provides help information for keys, menus, and command syntax.

COPY

Copies one program to another within the LinStep+.

DEL

Deletes characters in the editor, or deletes entire programs from memory.

0–9

Enters numbers. Used with ALPHA key to enter characters. Used with F1, F2, F3 keys to select commands in the program editor.

ESC

Press ESC to stop a program or to move back one menu level. In program editor, it saves the program and exits the editor.

4-2 Keypad Operation MN1853

Selects the motion direction in program editor. May also be used in math programs or equations.

u=O"

Cursor control keys that are used to scroll through menu choices in the editor. Moves an axis in JOG mode.

Decimal Point

Used when entering fixed–point numbers.

Comma

Used in multi–axis programs to separate axis command parameters. Part of the syntax in message and variable “prompt” commands.

Alpha

In the editor, allows entering alpha characters for the keypad.

ENTER

In the program editor, press ENTER to save parameters that have been typed. Enters a space in the program editor mode.

Run Menu Pressing the RUN key displays a set of sub–menus. Access the sub–menus by

pressing F1 (PROG), F2 (JOG), or F3 (TEST).

Action

Press RUN key

Press F1 (PROG) to run (or execute) an existing program number.

Press F1 (PROG) select an existing program to run.

PROG JOG TEST

>12 GRIND

Display Comments

RUN

↑RUN PROGRAM↓

Select a sub–menu, press F1 (PROG), F2 (JOG), or F3 (TEST).

Use the numeric keys to enter a program number to run (example, 5 and press ENTER).

Use the keys to scroll through the list of programs. Press ENTER to select the program.

JOG Menu Pressing the RUN key displays a set of sub–menus. Press F2 (JOG).

Action

Press RUN key

Press F2 (JOG) to JOG the motor.

Use the 0–9 keys to enter the desired JOG distance.

PROG JOG TEST

JOG AXIS 1 +0.0000 <LO> HIGH

JOG AXIS 1 +0.0000 Dist: .012

Display Comments

RUN

Use the ←↑↓→ keys to JOG the motor. Press F1 <LO> or F2 HIGH speed.

Press and release an arrow key to make the motor move this distance. The arrow pressed determines the direction of the move. Press and release an arrow key to move the motor again. Press ESC to terminate JOG.

Note: Jog speed and acceleration are changed in the “EDIT, SETUP, JOG” menu.

Keypad Operation 4-3MN1853

+ 79 hidden pages

Baldor MIN1853 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Table of Contents