Baldor MN1851 User Manual

LINEAR DRIVE

Servo Control

Installation & Operating Manual

Lin+Drive

10/00 MN1851

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

X6 RS232 / 485 Connections 3-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

X7 Encoder Output 3-19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

X9 Encoder and Hall Feedback 3-20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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 iMN1851

Section 5

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

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

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

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

Host Communications Setup 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Using The Setup Wizard 5-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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

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

Operating Mode 5-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Current Parameter 5-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Velocity Parameter 5-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Positioning 5-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Software Triggered 5-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Hardware Triggered 5-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Initialize Buffers 5-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Home 5-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Limit Switches 5-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Drift 5-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Autotune 5-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Main Menu Choice Descriptions 5-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

File 5-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Edit 5-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Setup 5-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Tuning 5-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Watch 5-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Functions 5-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Motion 5-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Terminal 5-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Windows 5-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Help 5-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PLC Program 5-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Velocity Parameters 5-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Section 6

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

ii Table of Contents MN1851

Section 7

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

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

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

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

Velocity Control 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 9-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Regeneration Resistor 9-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Appendix A

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

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

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

Operating Mode A-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

Velocity Parameter A-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

Manual Tuning A-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Plotting of Move A-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Appendix B

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

Table of Contents iiiMN1851

iv Table of Contents MN1851

Section 1
General Information

Copyright Baldor  1999, 2000. All rights reserved.
This manual is copyrighted and all rights are reserved. This document may not, in

whole or in part, be copied or reproduced in any form without the prior written
consent of Baldor.

Baldor makes no representations or warranties with respect to the contents hereof
and specifically disclaims any implied warranties of fitness for any particular
purpose. The information in this document is subject to change without notice.
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
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 1-1MN1851

Product Notice Intended use:

These drives are intended for use in stationary ground based applications in
industrial power installations according to the standards EN60204 and VDE0160.
They are designed for machine applications that require variable speed controlled
three phase brushless AC motors.

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

– Home appliances
– Mobile vehicles
– Ships
– Airplanes

Unless otherwise specified, this drive is intended for installation in a suitable
enclosure. 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 MN1851

PRECAUTIONS:

WARNING: Do not touch any circuit board, power device or electrical

WARNING: Be sure that you are completely familiar with the safe operation

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

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

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

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

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

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

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

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

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.

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.

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

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

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

motor and driven equipment. Be certain that unexpected
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.

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

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

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

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

Continued on next page.

General Information 1-3MN1851

Section 1
General Information

Caution: Suitable for use on a circuit capable of delivering not more than the RMS

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

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

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

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

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

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

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

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

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

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

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

Caution: Ensure that encoder wires are properly connected. Incorrect installation

Caution: The holes in the top and bottom of the enclosure are for cable clamps. Be

symmetrical short circuit amperes listed here at rated voltage.
Horsepower
1–50 5,000

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

equipment, or directly below water or steam pipes.

vapors, metal particles and dust.

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

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

power is removed from the drive.

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

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.

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.

cause loose connections.

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

may result in improper rotation or incorrect commutation.

sure to use an M4 bolt 12mm in length. Longer bolts may short circuit the
electrical components inside the control.

rms Symmetrical Amperes

1-4 General Information MN1851

Section 2
Product Overview

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

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

Some options are CAN bus interface, internal or external regen, or with customer
provided 24VDC to maintain logic power.

The Lin+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:

 LMBL Series
 LMCF Series

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 Lin+Drive can
interface to a PC (for configuration and control) or to other user–supplied
equipment such as:

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

The serial communication interface supports:

 RS232 and the four wire RS–485 communication standards
 Baud rate: 9600

Product Overview 2-1MN1851

Control Inputs Opto isolated inputs are single ended, user selectable and active high or low:

Enable Machine Input 1
Quit Machine Input 2
Fault Reset Machine Input 3
Home Flag Machine Input 4
Trigger

Note: Machine Inputs 1–4 allow up to 16 digital preset point to point positions.

Control Outputs

One normally closed relay contact provides a dedicated “Drive Ready” output.
Two opto isolated outputs are single ended, active low and are current sinking.

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 I

2

t Warning

Drive Over Temperature

Encoder Output

The motor encoder signals are available at this output connector (1 to 1).

2-2 Product Overview MN1851

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. 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.

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 3-1MN1851

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

AC Main
Supply

L1

L2

L3

Control

L2 L3 UW

PE

VL1

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

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

All shields

L1

L2

L3

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

Enclosure Backplane (see Section 8)

Ground per NEC and Local codes.

Control

L2 L3 UW

PE

VL1

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

Motor

GND

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.

3-2 Receiving & Installation MN1851

AC Main
Supply

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

L

Control

N

N UW

VL

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

All shields

L1

L2

L3

Neutral

Enclosure Backplane (see Section 8)

Route all power wires
together in conduit or
cable.

Ground per NEC and Local codes.

Control

LN

VUW

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

Motor

GND

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.

Receiving & Installation 3-3MN1851

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 rated 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 MN1851

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

Catalog Number Incoming Power

Input

Input
Fuse

Time

Delay (A)

AWG

(USA)

LP1A02SR-EXXX
LP2A02SR-EXXX
LP1A02TR-EXXX
LP2A02TR-EXXX
LP4A02TB-EXXX
LP1A05SR-EXXX
LP1A05SR-EXXX
LP1A05TR-EXXX
LP2A05TR-EXXX
LP4A05TB-EXXX
LP1A07TR-EXXX
LP2A07TR-EXXX
LP4A07TR-EXXX
LP1A10SR-EXXX
LP2A10SR-EXXX
LP1A15SR-EXXX

LP2A15SR-EXXX
LP4A15TR-EXXX
LP4A20TR-EXXX

Nominal Input

Nominal Input

Voltage

115V (1f)
230V (3f)
115V (1f)
230V (1f)

400/460V (3f)

115V (1f)
230V (3f)
115V (1f)
230V (1f)

400/460V (3f)

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

400/460V (3f)

115V (1f)
230V (3f)
115V (1f)

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

Continuous Input

Output

(RMS)

Amps

2.0A 8 8 14 2.5

2.5A 10 10 14 2.5

2.0A 8 8 14 2.5

2.5A 10 10 14 2.5

2.5A 10 10 14 2.5
5A 20 20 14 2.5
5A 20 20 14 2.5
5A 20 20 14 2.5
5A 20 20 14 2.5
5A 20 20 14 2.5

7.5A 30 30 14 2.5

7.5A 30 30 14 2.5

7.5A 30 30 14 2.5

10A 40 40 14 2.5
10A 40 40 14 2.5
15A 60 60 12 2.5

15A 60 60 12 2.5
15A 60 60 12 2.5
20A 60 60 12 2.5

Breaker

(A)

Wire Gauge

(Europe)

mm

2

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

Catalog Number

LP1A02PO-EXXX 160VDC 2.0A 14 2.5
LP2A02PO-EXXX 300VDC 2.5A 14 2.5
LP1A05PO-EXXX 160VDC 5.0A 14 2.5
LP2A05PO-EXXX 300VDC 5.0A 14 2.5
LP1A10PO-EXXX 160VDC 10.0A 12 2.5
LP2A10PO-EXXX 300VDC 10.0A 12 2.5
LP1A15PO-EXXX 160VDC 15.0A 10 2.5
LP2A15PO-EXXX 300VDC 15.0A 10 2.5

Bus

Voltage

Continuous

Continuous

Output

Amps

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.

Wire Gauge

AWG

(USA)

2

mm

(Europe)

Receiving & Installation 3-5MN1851

Figure 3-5 Single Phase AC Power Connections (LP1AxxT & LP2AxxT only)

Note 1

Note 2

* Circuit
Breaker

L1 L2

Earth

Note 3 & 4

Alternate *

Fuse

Connection

L1 L2

Note 1

LN

Baldor

Control

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

Figure 3-6 Single Phase AC Power Connections (LP1AxxS 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 to the backplane of the enclosure.

4. Reference EMC wiring in Section 8.

2

minimum, 6AWG). 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 to the backplane of the enclosure.

4. Reference EMC wiring in Section 8.

2

minimum, 6AWG). For CE

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

connections.

3-6 Receiving & Installation MN1851

Figure 3-7 3 Phase Power Connections (LP2AxxS & LP4AxxT only)

L1 L2 L3

Earth

Note 1

* Circuit
Breaker

Note 2

L1 L2 L3

PE

Baldor

Control

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

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.

Figure 3-8 Shared Supply Power Connections

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
conduits so the use of a Reactor or RC Device does not interrupt
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, 6AWG). For CE

VCC+

VCC-

R1

R2

Baldor

Option S

Control

To

Regen

Resistor

VCC+

VCC-

VCC+

VCC-

Baldor

Option P

Control

VCC+

VCC-

VCC+

VCC-

Baldor

Option P

Control

Receiving & Installation 3-7MN1851

X1 - Power Connector

Figure 3-9 Connector Locations (Single Phase Controls)

Earth

L AC Line
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

1 CMD+
2 CMD­3 AGND
4 Fault Relay+
5 Fault Relay­6CIV
7 CREF
8 CGND
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)

LPxAxxxx-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 Input

1 CHA+ 9 Hall 3+
2 CHB+ 10 Hall 2+
3 CHC+ 11 +5VDC
4 Hall 1+ 12 Reserved
5 Hall 1– 13 DGND
6 CHA- 14 Hall 3–
7 CHB- 15 Hall 2–

Encoder In X9RS232 / 485 X6Encoder Out X7

8 CHC-

X6 - RS232 / 485

RS232

1 Reserved 1 TX-
2R

x

3T

Data 3 RX+

x

4 DTR 4 RX­5 DGND 5 DGND
6 DSR 6 RTS­7 RTS 7 RTS+
8 CTS 8 CTS+
9 +5V 9 CTS-

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

RS485

Data 2 TX+

X7 - Encoder Output

Note: Reserved means no



Important:

X3

LPxAxxxx-xxx3 only.
A separate 24VDC supply to the “Logic Power” input is required for

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

operation. An LPxAxxxx-xxx3 control will not operate without 24VDC
on this input.

3-8 Receiving & Installation MN1851

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

Figure 3-10 Connector Locations (Three Phase Controls)

The holes in the top and bottom of the
enclosure are for cable clamps. Be sure
to use an M4 bolt 12mm in length.

Input Power

Motor

Dynamic Brake
(Regen Resistor)

LPxAxxxx-xxx3
only 

Longer bolts may short circuit the
electrical components inside the control.

Terminal tightening torque is

0.5 lb-in (0.6Nm)

X3 - Control Signals & Digital I/O

1 CMD+
2 CMD­3 AGND
4 Fault Relay+
5 Fault Relay­6CIV
7 CREF
8 CGND
9 Enable
10 MaI3
11 MaI4
12 Hold
13 Fault Reset
14 Home Flag
15 Trigger
16 MaI1
17 MaI2
18 MaO1
19 MaO2
20 DrOK

X9 - Encoder Input

1 CHA+ 9 Hall 3+
2 CHB+ 10 Hall 2+
3 CHC+ 11 +5VDC
4 Hall 1+ 12 Reserved
5 Hall 1– 13 DGND
6 CHA- 14 Hall 3–
7 CHB- 15 Hall 2–
8 CHC-

X6 - RS232 / 485

RS232 RS485

1 Reserved 1 TX­2R

Data 2 TX+

x

3T

Data 3 RX+

x

4 DTR 4 RX­5 DGND 5 DGND
6 DSR 6 RTS­7 RTS 7 RTS+
8 CTS 8 CTS+
9 +5V 9 CTS-

X7 - Encoder Output

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

Note: Reserved means no connection is required

and no connection should be made to this

 Important:

terminal. It is reserved for future use.

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

Receiving & Installation 3-9MN1851

X1 Motor Connections Motor connections are shown in Figures 3-11 and 3-12.

It is important to connect the motor leads U, V and W correctly at the X1 connector
of the control. Incorrect wiring can cause erratic operation including moves at
peak force until the overcurrent limit trips. This will result in a display of “7” and a
“6” on the monitor. If erratic movement of the motor occurs, turn off power
immediately and check the connections of the motor, hall sensors and encoder.

Figure 3-11 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 10mm2 minimum, 6AWG).

3. Reference EMC wiring in Section 8.

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

* Linear Motor

VW

U

Note 2

G

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

* Optional components not provided with control.

Figure 3-12 Motor Connections for CE

Notes:

Baldor

Control

UVW

Note 1

VW

U

* Linear Motor

Note 2

G

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

to “PE” on both ends of the cable.

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.

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 10mm2 minimum, 6AWG). For CE
compliance, connect motor ground to the backplane of the
enclosure.

3. Reference EMC wiring in Section 8.

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

Enclosure Backplane (see Section 8)

* Optional components not provided with control.

3-10 Receiving & Installation MN1851

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.

*

*

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) requires10mm2 minimum, 6AWG).

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

X3

Note: Close “Enable”

9

after “M” contact closure.

* RC Device

Electrocube

RG1781-3

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
Lin+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).

*

CR1

W

V

G

U

Motor Thermostat Leads

* Linear Motor

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

*

External Trip

Optional, customer provided hardware.

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.

Receiving & Installation 3-11MN1851

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

Power” input is required for operation. An external 24 VDC power source must be
used. If bus power is lost, the logic circuits are still active if the 24VDC is present.
This is important to maintain position reference, for example.

If the control was not ordered with this option, do not connect any voltage to these
pins.

X3 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

Signal

Source

X3
1

2
3

CMD+
CMD­AGND

Signal

Source

X3
1

2
3

CMD+
CMD­AGND

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

Input

Note: All Opto inputs are referenced to

(Source)
GND

+24VDC

20mA 20mA

9 - 17

7

Typical

Control

A
B

B

A

GND

+24VDC

Sink

CREF, X3-7.

Input

A

B

9 - 17

7

Typical

Control

X3

7

8

9
10
11
12
13
14
15

16

17

CREF

CGND

ENABLE
CW-ENABLE
CCW-ENABLE
QUIT
FAULT RESET
HOME FLAG

TRIGGER

MAI1
MAI2

3-12 Receiving & Installation MN1851

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.

Receiving & Installation 3-13MN1851

X3 Digital Inputs Continued

Figure 3-17 Positioning Mode Timing Diagram

See Table 3-4.

Motion in Process

MaI1 - 4

Trigger

Trajectory

Motion Ready =

T3

T2

T1

T4

T5 T6

Table 3-4 Process Duration

Time Required Duration

T1 ≥2ms
T2 ≥1ms
T3 ≥14ms
T4 ≥14ms
T5 ≤14ms
T6 ≤14ms
T7 ≤14ms
T8 ≥100ms
T9 ≥2ms

T10 ≥2ms

Time

Time

T7

Time

Time

Figure 3-18 Homing Process Timing Diagram

T2

Trigger

T4

T8 T9

Trajectory

See Table 3-4.

T10

Recognition Time (T10)

3-14 Receiving & Installation MN1851

Time

Time

X3 Digital Outputs

The control outputs are located on the X3 connector. A customer provided,
external power supply must be used if digital outputs are to be used. The opto
outputs provide status information and are not required for operation, Table 3-5.

Relay

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

Control

Figure 3-19 Fault Relay Connections

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

35mA Maximum

Typical

18, 19, 20

8

Control Customer Provided Interface Circuit

CGND

Customer Interface Voltage (+12VDC to +30VDC)

(2.2K typical @ 24VDC)

R

L

Output Signal + Common

Output Signal is only available if
Customer Interface Voltage is present.

Table 3-5 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

Fault Relay A normally closed relay contact that opens if a fault occurs. The contact is rated:
MaO1 & 2 Two machine outputs are provided. Either output can be set to one of the

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

Signal

Name

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

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

This output is rated 30VDC @ 35mA maximum.

2

T Warning.

Receiving & Installation 3-15MN1851

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
2 RXD
3 TXD
5 GND

Pin
2 RXD
3 TXD
7 GND

Null Modem Cable Connections

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

Null Modem Cable Connections

X6

Control

(DCE)

RXD

TXD

GND

PE PE

RXD
TXD

GND

Computer

COM

Port

(DTE)

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.

3-16 Receiving & Installation MN1851

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

Pin
1 TX­2 TX+
3 RX+
4 RX­5 DGND

Signal

RS485

Standard RS485 connections are shown in Figures 3-23 and 3-24. Maximum
cable length is 3280 ft (1000M).

X6

9 Pin Connector

Control

(DCE)

RX+
RX–
TX+
TX-

DGND

Chassis

TX+
TX–
RX+
RX-

DGND

Computer

COM

Port

(DTE)

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

Pin
1 TX­2 TX+
3 RX+
4 RX­5 DGND

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.

X6

9 Pin Connector

Control

(DCE)

RX+
RX–
TX+
TX-

DGND

Chassis

PE PE

TX+
TX–
RX+
RX-

DGND

Computer

COM

Port

(DTE)

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 that 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).

Receiving & Installation 3-17MN1851

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

Host

P

= Twisted Pair

Computer

RX+
RX–
TX+
TX-

DGND

GND

*

T

R

*

T

R

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.

P

P

Shields

Shields

*

*

T

R

T

R

X6
TX+

TX–
RX+
RX-

DGND

GND

X6

TX+

TX–
RX+
RX-

DGND

GND

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

Host

Computer

P

= Twisted Pair

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.

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.

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

*

T

R

*

T

R

P

P

PE

PE

PE

PE

*

*

T

R

T

R

X6

TX+

TX–
RX+
RX-

DGND

GND

X6

TX+

TX–
RX+
RX-

DGND

GND

3-18 Receiving & Installation MN1851