Baldor Modbus Plus Installation And Operating Manual

Modbus Plus

Expansion Board

Catalog No. EXB015A01

Installation and Operating Manual

8/03 MN1322

Table of Contents

Table of Contents i

Section 1

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

Introduction 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Limited Warranty 1-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Safety Notice 1-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Section 2

Expansion Board Description 2-1. . . . . . . . . . . . . . . . . . . .

Section 3

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

Board Installation 3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

AC Controls 3-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Single Expansion Board Installation 3-2. . . . . . . . . . . . . . . . . .

Dual Expansion Board Installation 3-4. . . . . . . . . . . . . . . . . . .

Section 4

Hardware Setup 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

DIP Switch Settings 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Cable Connection 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Powerup 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

LED Indicators 4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Control Terminal Strip Connections 4-5. . . . . . . . . . . . . . . . . . . . .

Section 5

Register Map for Modbus Plus 5-1. . . . . . . . . . . . . . . . . . . .

ii Table of Contents

Section 1
General Information

General Information 1-1

Introduction

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

Expansion boards are categorized by compatibility into two groups:
Group 1 and Group 2, see Table 1-1. A board from either group may be
used alone in a control. If two boards are to be used, one board must
be from Group 1 and the other from Group 2.

Note: Using two Group 1 or two Group 2 boards in the same control is

not allowed.

Table 1-1 Group 1 and Group 2 Board Categories

Group 1 Board Name Catalog No. Manual No.

Isolated Input EXB003A0X MN1314
Master Pulse Reference/

Isolated Pulse Follower

EXB005A0X MN1312

DC Tachometer Interface EXB006A0X MN1311
Isolated Encoder EXB008A0X MN1317
Resolver to Digital Interface EXB009A0X MN1313

Group 2 Board Name

RS-232 Serial EXB001A0X MN1310
RS-422/RS-485 Serial EXB002A0X MN1310
RS-232/485 Serial EXB012A0X MN1310
Four Output Relays/3-15 PSI

Pneumatic

EXB004A0X MN1315

High Resolution Analog I/O EXB007A0X MN1316
2 Isolated Analog Output/ 3 Relay

Output

EXB010A0X MN1319

Device Net EXB013A0X MN1320
Profibus EXB014A0X MN1323
Modbus Plus EXB015A0X MN1322

1-2 General Information

Limited Warranty

For a period of two (2) years from the date of original purchase,
BALDOR will repair or replace without charge controls and
accessories which our examination proves to be defective in
material or workmanship. This warranty is valid if the unit has not
been tampered with by unauthorized persons, misused, 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 1-3

Safety Notice

This equipment contains voltages that may be as great as 1000 volts!
Electrical shock can cause serious or fatal injury. Only qualified
personnel should attempt the start-up procedure or troubleshoot this
equipment.

This equipment may be connected to other machines that have rotating
parts or parts that are 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.

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. Only qualified personnel should attempt the start-up
procedure or troubleshoot this equipment.

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. Only qualified personnel
should attempt the start-up procedure or troubleshoot this
equipment.

1-4 General Information

WARNING: Be sure the system is properly grounded before

applying power. Do not apply AC power before you ensure
that all grounding instructions have been followed.
Electrical shock can cause serious or fatal injury.

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

after AC power is disconnected to allow capacitors to
discharge. Dangerous voltages are present inside the
equipment. Electrical shock can cause serious or fatal
injury.

WARNING: Improper operation of control may cause violent

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

WARNING: Motor circuit may have high voltage present

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

Caution: To prevent equipment damage, be certain that the

electrical service is not capable of delivering more than the
maximum line short circuit current amperes listed in the
appropriate control manual, 230 VAC, 460 VAC or 575 VAC
maximum per control rating.

Section 2
Expansion Board Description

Description 2-1

Introduction

The Modbus Plus expansion board is a Group 2 expansion board. It
allows a Series H control to communicate as a node on the Modbus
Plus network. It has a DB9 connector to make connection to the network
simple.

Group 2 board
Modbus Plus Expansion Board

Catalog No. EXB015A01

A good resource document is the “Modicon Plus Network Planning and
Installation Guide”. Refer to that guide for planning your network and
details such as cable specifications etc.

2-2 Description

Section 3
Installation

Installation 3-1

Board Installation

This section describes the Expansion Board installation procedure.

Caution: Before you proceed, be sure to read and become

familiar with the safety precautions at the beginning of this
manual. Do not proceed if you are unsure of the safety
precautions described. If you have any questions, contact
BALDOR before you proceed.

1. Remove the expansion board from the shipping container.

2. Remove all packing material from the board.

Caution: Be sure all packing materials are removed from the

board. Conductive foam may be present on the connectors
to prevent static build up during shipping. This can prevent
proper circuit operation.

If you are installing only one board, refer to the “Single Expansion Board
Installation” procedure. If you are installing two expansion boards (or a
second board) refer to the “Dual Expansion Board Installation”
procedure.

3-2 Installation

AC Controls

(For all 15H Inverter, 21H Line Regen Inverter, 18H Vector, 22H Line
Regen Vector and 23H Servo).

Single Expansion Board Installation

Procedure:

1. Be sure drive operation is terminated and secured.

2. Remove all power sources from the control.

3. Wait at least 5 minutes for internal capacitors to discharge.

4. Remove the four (4) Phillips head screws (

1

/4 turn) that secure the
control cover. (For A & B size, remove four screws that secure the
cover. On floor mounted G size enclosures, open the enclosure
door).

5. Remove the control cover.

6. Slide the expansion board male connector into the female
connector of the control board. See Figure

3-1.

7. Securely mount the expansion board to the sheet metal mounting
plate using the #6 screws provided in the installation hardware.
See Figure 3-2.

8. The mechanical installation of the expansion board is now
complete. Refer to Section 4 of this manual and configure the
jumpers as desired. Also complete the wiring before you proceed
to step 9.

9. When complete, install the control cover using the four (4) Phillips
head screws (

1

/4 turn). (For A & B size, install four screws that
secure the cover. On floor mounted G size enclosures, close the
enclosure door).

10. Restore all power sources to the control.

11. Restore drive operation.

Installation 3-3

AC Controls
Single Expansion Board Installation (Continued)

Figure 3-1 Single Expansion Board Installation

Expansion Board Motor Control Board

Terminal tightening torque is 7 lb-in (0.8 Nm) maximum.

Figure 3-2 Single Expansion Board Installation

#6 Screw

Group 1 or 2 Expansion Board

Sheet Metal Mounting Plate

3-4 Installation

AC Controls (Continued)

Dual Expansion Board Installation

Procedure:

1. Be sure drive operation is terminated and secured.

2. Remove all power sources from the control.

3. Wait at least 5 minutes for internal capacitors to discharge.

4. Remove the four (4) Phillips head screws (

1

/4 turn) that secure the
control cover. (For A & B size, remove four screws that secure the
cover. On floor mounted G size enclosures, open the enclosure
door).

5. Remove the control cover.

6. Slide the Group 1 expansion board male connector into the female
connector of the control board. See Figure 3-1.

7. Securely mount the Group 1 expansion board to the sheet metal
mounting plate using the short standoffs provided in the installation
hardware. See Figure 3-3.

8. The mechanical installation of the expansion board is now
complete. Refer to the manual for the Group 1 board and configure
the jumpers as desired. Also complete the wiring before you
proceed to step 9.

9. Install the Group 2 board on top of the previously installed Group 1
board by plugging the female connector onto the male connector of
the Group 1 board as shown in Figure 3-3.

10. Secure this Group 2 board to the Group 1 board using the #6
screws provided. See Figure 3-3.

11. The mechanical installation of the expansion board is now
complete. Refer to the manual for the Group 2 board and configure
any jumpers and switches as desired. Also complete the wiring for
this board before you install or close the cover.

Installation 3-5

AC Controls

Dual Expansion Board Installation (Continued)

12. When complete, install the control cover using the four (4) Phillips
head screws (

1

/4 turn). (For A & B size, install four screws that
secure the cover. On floor mounted G size enclosures, close the
enclosure door).

13. Restore all power sources to the control.

14. Restore drive operation.

Figure 3-3 Dual Expansion Board Installation

#6 Screw

Short
Aluminum
Standoff

Group 2 Expansion Board

Group 1 Expansion Board

Control Board Mounting Plate

Female Connector

Male Connector

3-6 Installation

Section 4
Hardware Setup

Hardware Setup 4-1

A good resource document is the “Modicon Plus Network Planning and
Installation Guide”. Refer to that guide for planning your network and
details such as cable specifications etc.

DIP Switch Settings

This procedure will configure the Modbus Plus Expansion Board for
communication with a computer or terminal. Reference Figure 4-1 and
Table 4-1 for the following procedure.

1. Set DIP switches 1 through 6 for the desired board address.

2. Switches 7 and 8 are not used and may be left in either position.

3. Be sure a jumper is installed at J1.

4. Be sure no jumper is installed at J3 or J4.

5. Install the expansion board in the Series H control as instructed in
Section 3 of this manual.

Note: The switch settings can be changed after the board is powered

up. However, switch changes will not take effect until the board
is reset (by turning power off then on).

Cable Connection

Connect the Modbus cable to the DB 9 connector on the expansion
board (shown in Figure 4-1).

Powerup

When the Modbus Plus expansion board is powered up it will do the
following:

1. Perform a self test.

2. Check the switch settings for configuration information.

3. Verify communications with the Series H control board.

4. Check for power from the Series H control.

5. Perform a duplicate ID (address) check to determine if any other
devices on the network have the same ID number.

6. Go online.

Refer to the LED description in this section of the manual.

4-2 Hardware Setup

Figure 4-1 Board Configuration

Modbus Plus Expansion Board Catalog No. EXB015A01

All switches shown in ON (Down) position.

12345678

12345678

J2

S1

D1 Modbus Plus Status LED

J1

DB9
Connector
Pin Description
1 Chassis Ground
2 TxA
3 TxB

D1

J4

Circuit Board

J3

PB1

PB1 Reset switch (Processor only)

To reset the board, turn control off then on
(cycle power).

D5

D4
D3
D2

D5 Power LED

D2 Error LED
D3 Status LED
D4 Status LED

ON

Hardware Setup 4-3

Table 4-1 Switch Settings

S1 Switch Position

Modbus Plus Address

1 2 3 4 5 6

1 0 0 0 0 0 0
2 1 0 0 0 0 0
3 0 1 0 0 0 0
4 1 1 0 0 0 0
5 0 0 1 0 0 0
6 1 0 1 0 0 0
7 0 1 1 0 0 0
8 1 1 1 0 0 0

9 0 0 0 1 0 0
10 1 0 0 1 0 0
11 0 1 0 1 0 0
12 1 1 0 1 0 0
13 0 0 1 1 0 0
14 1 0 1 1 0 0
15 0 1 1 1 0 0
16 1 1 1 1 0 0
17 0 0 0 0 1 0
18 1 0 0 0 1 0
19 0 1 0 0 1 0
20 1 1 0 0 1 0
21 0 0 1 0 1 0
22 1 0 1 0 1 0
23 0 1 1 0 1 0
24 1 1 1 0 1 0
25 0 0 0 1 1 0
26 1 0 0 1 1 0
27 0 1 0 1 1 0
28 1 1 0 1 1 0
29 0 0 1 1 1 0
30 1 0 1 1 1 0
31 0 1 1 1 1 0
32 1 1 1 1 1 0
33 0 0 0 0 0 1

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

63 1 1 1 1 1 1

4-4 Hardware Setup

LED Indicators

Five LED’s are located on the Modbus Plus expansion board (see
Figure 4-1 for their locations).

D1 Modbus Plus Status LED
D1 displays the operational status of the Modbus Plus Interface

expansion board (EXB). When power is first applied, the LED will
pause, then flash slowly 8 times while it checks the network. If a valid
Modbus Plus connection is established, D1 will flash continuously.
Otherwise, it flash an error code as shown in Table 4-2.

Table 4-2

LED State Status Description

OFF No power is applied to the EXB.
2 Flashes

then pause

The network is active, but the token is never passed to this
node. The node may have a bad transmitter.

3 flashes
then pause

No other nodes on the network.

4 flashes
then pause

Duplicate node numbers on the network.

D2 Error LED
D2 will flash 4 times then pause if any errors are encountered that would

prevent correct operation of the board. If this error occurs, turn the
control off, then on (cycle power). If error continues, the trouble could
be the expansion board, motor control board, or software version.
Correct the problem as required, and if the error remains, contact
Baldor.

D3 and D4 Status LED
D3 will flash to indicate that firmware is correctly loaded and running.

D4 will flash to indicate that the interface circuits between Modbus Plus
expansion board and the Series H control is running correctly. These
LEDs flash at different rates and, if flashing, indicate proper operation.

D5 Power LED
D5 indicates that the expansion board is receiving power from the

Series H control.

Hardware Setup 4-5

Control Terminal Strip Connections

For Serial Mode operation, the Input/Output terminal strip of the control
(J1 of the Vector and DC controls and J4 of the Inverters) is wired as
shown in Figure 4-2. Connect the Enable, Forward Enable Switch,
Reverse Enable Switch, External Trip and Opto Common connections
as shown.

Note: All opto-isolated outputs and analog outputs remain active while

operating in the Serial Mode.

When these connections are complete, refer to Section 5 of this manual
and set the software for Serial Mode.

Figure 4-2 Serial Opto Input Connections

8

9

10

16
17

Common

J1*

8

9

10

16
17

Common

J4**

Enable

Forward

Enable

Reverse

Enable

External

Trip

Enable

Forward

Enable

Reverse

Enable

External

Trip

* Series 18H, 22H and 23H controls.
** Series 15H and 21H controls.

4-6 Hardware Setup

Section 5
Register Map for Modbus Plus

Software Setup 5-1

Configure Control Software for Modbus Plus Mode

The Series H control operating mode must be set to Serial to use the
Modbus Plus expansion board. There is no selection for Modbus Plus
on the Level 1 Input block Operating mode parameter list. However,
selecting Serial with the Modbus Plus expansion board installed will
allow operation of the Modbus Plus board.

Many commands in the Command Language can be used regardless of
the setting of the control’s Operating Mode parameter (such as
changing and viewing parameters). However, commands intended to
control the motor shaft require the control be in the Serial (Modbus Plus)
Mode.

Note: The firmware version of the Series H control must support the

Baldor Binary Protocol (BBP). To confirm that BBP is supported,
perform the following:
Scroll to the Level 2 Communications block, and view the
selections. If RS485BBP is available, the software version is
compatible with the Modbus Plus expansion board. Otherwise,
contact Baldor to obtain a software update.

During power up, the control checks if the communication board
is installed. If an RS485 board is installed, the RS485BBP
protocol is automatically selected during power up.

Action Description Display Comments

Apply
Power

Display illuminates

BALDOR

MOTORS & DRIVES

Logo is
displayed for 5
seconds.

If no fault is found and
control is programmed for
local mode,OR,

STP MOTOR SPEED
LOCAL 0RPM

Display mode.

If no fault is found and
control is programmed for
remote mode

STP MOTOR SPEED
REMOTE 0RPM

Display mode.

Press
PROG key

Access programming mode.

PRESS ENTER FOR

PRESET SPEEDS

First screen in
programming
mode

Press Y
or B key

Scroll to Level 1 Input block

PRESS ENTER FOR

INPUT

Input Block.

Press
Enter key

First selection choice

OPERATING MODE

P: KEYPAD

Now in keypad
mode.

Press
Enter key

Flashing cursor indicates
mode can be changed

OPERATING MODE

KEYPAD

5-2 Software Setup

Action Description Display Comments

Press Y
or B key

Scroll to Serial mode

OPERATING MODE

SERIAL

Change to
Serial mode.

Press
Enter key

Saves mode change value

OPERATING MODE

P: SERIAL

Press Y
key

Scroll to Command Select
parameter

COMMAND SELECT

P: +/–10VOLTS

Now in ±10 Volt
input mode.

Press
Enter key

Flashing cursor indicates
mode can be changed

COMMAND SELECT

+/–10VOLTS

Press Y
or B key

Scroll to Serial mode

COMMAND SELECT

SERIAL

Change to
Serial mode.

Press
Enter key

Saves change to serial
command select

COMMAND SELECT

P: SERIAL

Control is now
in Serial mode.

Press Y
or B key

Scroll to Level 2 blocks

PRESS ENTER FOR

LEVEL 2 BLOCKS

Press
ENTER
key

Select Level 2 blocks.

PRESS ENTER FOR
OUTPUT LIMITS

First screen in
Level 2 block

Press Y
or B key

Scroll to Communications
block

PRESS ENTER FOR

COMMUNICATIONS

Press
ENTER
key

Select Level 2
Communications block.

PROTOCOL

p: RS232 ASCII

Press
Enter key

Flashing cursor indicates
mode can be changed

PROTOCOL

RS232ASCII

Press Y
or B key

Scroll to RS 485 BBP
(Baldor Binary Protocol)

PROTOCOL

RS485BBP

Press
ENTER
key

Select RS 485 BBP mode.

PROTOCOL

p: RS485BBP

Press Y
or B key

Scroll to Exit Menu

PRESS ENTER FOR

MENU EXIT

Press
DISP key

Returns to Display mode.

STP MOTOR SPEED
LOCAL 0RPM

Display mode.

Press
LOCAL
key

Changes to Serial
Operation.

STP MOTOR SPEED
SERIAL 0RPM

Ready for
Modbus Plus
operation.

Note: The 15H control does not have a Command Select “Serial”,

this is not needed for this control.

The control is now configured for Modbus Plus mode and the Host
software can now be setup.

Software Setup 5-3

Data Exchange with the Modbus Plus Expansion Board

This section describes the register interface used for data exchange
with the Series H control. Motor drive parameters are mapped to
Modbus Plus “Data/Holding” registers (4xxxx). Parameters can be read
from or written to the Series H control by reading from or writing to the
appropriate Modbus Plus registers.

Common Area Register Mapping (All Series H Controls)

Register
Address

T# Read/Write Description

40001 – Read/Write Watchdog polling flag (see Note 4)
41000 0 Write Only Null Transaction (see Note 3)
41001–

43999

61 Read/Write Baldor Control Parameters 1001–3999

(see Baldor Drive Installation & Operating Manual)

44000–
46999

– Res erved for additions.

49012 41 Read/Write Watchdog Time (0=disable) (10 ms minimum for

vector) (1 sec. minim um for invert er) (see Note 3)

5-4 Software Setup

For 15Hand 21H Inverter controls, use the following registers for
communication. For all other H controls, use the Standard Series H
Area Register Mapping.

Series 15H Specific Area Register Mapping

Register
Address

T# Read/Write Description

47000 31 Read Only Terminal Strip (see NOTE 1)
47001 45 Read Only Fault Stat us (0=no fault pres ent)
47002 17 Read Only Current Actual (100mA RMS)
47003 18 Read Only Speed Act ual (RPM )
47004 19 Read Only Frequency Ac tual (.1 Hz)
47005 33 Read Only Software R evi sion ( ex S 15–4.03 i s r eturned a s 4 03)
47006 34 Read Only Product Series (ex Series 15H returns 15)
47007 35 Read Only Product Clas s (5=H)
47008 

1 Read/Write Run Cmd (0=stop, 1=f wd, 2=rev, 3=bipolar)
47009 5 Read/Write Command Mode (see NOTE 2)
47010 6 Read/Write Hz Speed Ref
47011 3 Read/Write Control Source (0=keypad, 1 =terminal strip, 2 =net-

work)

47012 Reserved
47013 75 Write Only Digital Output
47014 46 Write Only Fault Reset (1=execute fault reset)

Notes:

After the fault is cleared (1=execute fault reset), you must send a
stop (run cmd=0) followed by the direction for the run command
again. Otherwise, the motor will not run.

 To use register 47008, you must jumper terminals J4–8, J4–9,

J4–10 and J4–17 together to allow the motor to run.

Software Setup 5-5

Standard Series H Area Register Mapping
(except 15H and 21H controls)

Register
Address

T# Read/Write Description

48000 17 Read Only Current Actual (100mA RMS)
48001 18 Read Only Speed Act ual (RPM )
48002 19 Read Only Frequency Ac tual (.1 Hz)
48003 20 Read Only Power Act ual (Watts)
48004 21 Read Only Input Voltage (Volts RMS)
48005 22 Read Only Output Voltage (Volts RMS)
48006 24 Read Only Motor Direction (0=fwd,1=rev)
48007 25 Read Only Zero Speed (1=at zero)
48008 26 Read Only At Speed (1=at commanded speed)
48009 27 Read Only Warning (1=warning)
48010 28 Read Only At Posi tion (1=at position)
48011 29 Read Only At Setpoint (1=at setpoint)
48012 30 Read Only At Set Speed (1=at set speed)
48013 31 Read Only Terminal Strip (see NOTE 1)
48014 71 Read Only Analog Input 1
48015 72 Read Only Analog Input 2
48016 73 Write Only Analog Output 1
48017 74 Write Only Analog Output 2
48018 75 Write Only Digital Output
48019 33 Read Only Software Revision

(ex S15–4.03 is ret urned as 403)

48020 34 Read Only Product Series (ex Series 15H returns 15)
48021 35 Read Only Product Clas s (5=H)
48022 36 Read Only Option Id 1
48023 37 Read Only Option Id 2
48024 38 Read Only Run Time (low order)
48025 38 Read Only Run Time (high order)

5-6 Software Setup

Standard Series H Area Register Mapping Continued

Register
Address

T# Read/Write Description

48100 6 Read/Write Hz Speed Ref
48101 7 Read/Write Speed Ref (RP M)
48102 8 Read/Write Speed Ref (High resolution –

1/256 RPM) (low order)

48103 8 Read/Write Speed Ref (High resolution –

1/256 RPM) (high order)

48104 9 Read/Write Torque Ref (±15 bits = programmed current lim it)
48105 10 Read/Write Process Ref (±14 bits = full sc ale)
48106 11 Read/Write Process Feedback ( ±14 bits = full scale)
48107 12 Read/Write Position Ref (scaling=quadrature

counts) (low order)

48108 12 Read/Write Position Ref (scaling=quadrature

counts) (high order)

48109 13 Read/Write Position Speed (RPM )
48110 14 Read/Write Position Feed Fwd
48111 15 Read/Write Posit ion (scaling=quadrature counts) (low order)
48112 15 Read/Write Position (scaling=quadrature counts) (high order)
48113 16 Read/Write Home Offset (low order)
48114 16 Read/Write Home Offset (high order)
48120 52 Write Only Calc Presets (1=execut e preset calc ulation)
48121 53 Read/Write Auto Tune Mode (0=no test /c anc el tes t)
48122 54 Read Only Auto Tune Data
48123 55 Read Only Auto Tune Status (0=f ailed, 1=pas s , 2=running)

Software Setup 5-7

Standard Series H Area Register Mapping Continued

Register
Address

T# Read/Write Description

49000 

1 Read/Write Run Cmd (0=stop, 1=f wd, 2=rev, 3=bipolar)

49001 2 Write Only Run Inhibit (1=stop, regardles s of Cont rol

Source)

49002 3 Read/Write Control Source (0=key pad,1=t erminal

strip,2=network)

49003 5 Read/Write Command Mode (see NOTE 2)
49004 4 Read Only Control State (0=not ready, 1=ready, 2=enabled,

3=stopping, 4=fault ed

49005 45 Read Only Fault Stat us (0=no fault pres ent)
49006 46 Write Only Fault Reset (1=execute fault reset)
49007 49 Write Only Force Fault (0–1=force network fault)
49008 50 Read Only Security Status (0=disabled, 1=unlock ed,

2=locked)

49009 51 Write Only Security Lock (valid code unlocks, any other

locks)

49010 39 Read/Write Table Select (paramet er table selec t 0–3)
49011 40 Read/Write Acc/Dec Group (1–2)
49012 41 Read/Write Watchdog Time (0=disable) (10 ms minimum

for vector) (1 sec . minimum for inverter)
(see NOTE 3)

Note:

 To use register 49000, you must jumper terminals J1–8, J1–9,

J1–10 and J1–17 together to allow the motor to run.

5-8 Software Setup

Note 1: Terminal Strip

Series 18H, 22H and 23H Controls Series 15H and 21H Controls

Bit

Name Terminal Number Name Terminal Number

15 Not Used Not Used
14 Not Used Not Used
13 Not Used Not Used
12 I nput 1 J1–8 Input 1 J4 –8

11 Input 2 J1–9 Input 2 J4–9

10 I nput 3 J1–10 Input 3 J4–10

9 Input 4 J1–11 Input 4 J4–11
8 Input 5 J1–12 Input 5 J4–12
7 Input 6 J1–13 Input 6 J4–13
6 Input 7 J1–14 Input 7 J4–14
5 Input 8 J1–15 Input 8 J4–15
4 Input 9 J1–16 Input 9 J4–16
3 Output 1 J1–19 Output 1 J4–19
2 Output 2 J1–20 Output 2 J4–20
1 Output 3 J1–21 Output 3 J4–21
0 Output 4 J1–22 Output 4 J4–22

Software Setup 5-9

Note 2: Command Mode Table

Cmd Mode Class Description

0 None All No mode selected. Output stage of control

remains off or disabled (voltage and current
removed from the mot or), regardles s of Run Cmd
condition.

1 Torque CMD

selected
source

S, V Closes the current loop with comm and input from

the source selec ted in the COMMAND SE LE CT
parameter.

2 Torque CMD

network

S, V Closes the current loop with comm and input from

the Torque Ref. regis t er.

3 Speed CMD

selected
source

All Closes the velocity loop with com mand input from

the source selec ted in the COMMAND SE LE CT
parameter.

4 Speed CMD

network

All Closes the velocity loop with com mand input from

the Speed Ref. regis t er.

5 Orient S, V* C or Index channel orient . The motor will be

commanded in the Fwd direction at the predefined
homing speed until the index puls e is detec ted.
The motor will then be commanded to hold position
at the predef ined home offset.

6 Position

CMD ABS

S,V* Closes the position loop with an absolute position

command from the Position Ref. regist er.

7 Position

CMD INC

S, V* Closes the position loop wit h an incremental

position command from the Pos it ion Ref. regist er.

8 Reserved for future use.
9 Position

CMD
external

S, V* Closes the position loop wit h command input from

external option sourc e (e.g. puls e follower exb).

10 Reserved for future use.

11 Process

Torque

All Closes the torque process cont rol loop.

Commands come from the appropriate command
input parameters.

12 Process

Velocity

All Closes the velocity proc es s cont rol loop.

Commands come from the appropriate command
input parameters.

13 A uto Tune E,S,V Changes command mode to Auto Tune. Test

conditions are cont rolled by Aut o Tune Mode.

5-10 Software Setup

Class

The class field indicates the product classes that support the
transaction. The product codes are as follows:

E = Encoderless Vector
I = Inverter
S = Servo
V = Vector
V* = Vector with custom software for positioning

Note 3: Network Watchdog Timer

The network watchdog timer is used by the drive to detect a communications
loss. Normally, this functions as follows: On initialization/power up, the
Watchdog Time = 0 (disabled). If any value other than 0 is written to the
Watchdog Time, the timer activates. Thereafter, every time a network command
is received, the internal timer is reset. When the time between network
commands exceeds the value stored in this register, the control faults and
disables the motor. The host must continuously send commands to keep the
timer reset (a NULL command – a write to register 41000 – can be sent, if
desired). Writing the watchdog time back to 0 disables the timer.

Note 4: Watchdog Polling Flag

If the Watchdog Polling Flag is set to 0, no automatic polling will take place. The
Network Watchdog will function normally. If the Watchdog Polling Flag is set to 1,
automatic polling will take place. This means that the Modbus Plus card will send
NULL transactions to the Motor Drive every 20ms or so, as long as there is valid
Modbus Plus communications (which means that there is at least one other
Modbus Plus device on the network to pass the token to, and communications
with that device are valid). This will keep the Network Watchdog timer from
expiring unless the Modbus Plus network itself goes down.

Software Setup 5-11

H Series – Fault Message Description

Fault Code

Fault Message

15H 18H

Fault Description

Line Regen 1 1 Fault in Line REGEN converter unit -

Series 21H Line REGEN Inverter control.

Feedback Fault 2 Loss of enc oder feedbac k .
Invalid Base ID 3 3 Failed to read configuration from the Power

Base ID value in software.

Low INIT Bus V 4 4 Low bus voltage detected on start–up.
Regen Res

Power

5 5 Excessive power dissipation required by

Dynamic Brake Hardware.

Current SENS
FLT

6 6 Failure to sense phase current.

HW
Desaturation

7 7 High output current condition detected (greater

than 400% of rated output current).

HW Ground
Fault

8 8 Ground Fault detected (output current leakage

to ground).

Resolver Fault 9 Loss of res olv er feedbac k .
HW Power

Supply

10 10 Control Board power supply failure detected.

Overcurrent 11 11 Continuous current limit exceeded.
Bus

Overvoltage

12 12 High DC Bus voltage.

Following ERR 13 Motor speed/pos it ion does not follow com mand.
Torque Prove 14 Unbalanced current between all 3 phases.
Bus

Undervoltage

15 15 Low DC Bus voltage condition detected.

3 Sec Overload 16 16 Peak output current exceeded the 3 second

rating value.

Over Speed 17 Motor RPM exceeded 110% of MAX Speed.
Motor Temp 18 Motor over temperature
Heatsink Temp 19 19 Control heatsink exceeded temperature limit.
External Trip 18 20 Connection at J1/J4 pin 16 and 17 is open.
Param

Checksum

51 21 Parameter checksum error.

5-12 Software Setup

H Series – Fault Message Description Continued

Fault Code

Fault Message

15H 18H

Fault Description

µp Reset 22 22 A software watchdog timer has reset the

processor because a process has timed out.

ROM Fault 23 ROM checksum error.
1 Min Overload 24 24 Peak output current exceeded the 1 minute

rating value.

No I Feedback 25 Los s of current feedback
New Base ID 26 26 Control board detected a change in the Power

Base ID value in software.

EXB Selection 27 27 Expansion board not installed to support the

Level 1 Input Block, Command Select

parameter.
Power module 28 Power module failure.
Co–processor 29 Co–processor error (i.e. DSP board).
Software

Version

30 Wrong control software version detected.

Feedback
Module

31 Feedback HW module failure.

Serial watchdog 32 Serial port transmit/receive error
FLT Network 33 33 Lost network com munic at ions .

Hardware
Protect

54 A general hardware fault was detected but

cannot be isolated.
Unknown FLT

Code

55 34 Microprocessor detected a fault that is not

identified in the fault code table.
Bus Current

SENS

56 Failure to sense bus current.

Note These faults may be different for custom software.

 Baldor Electric Company Printed in USA
MN1322 8/03 C&J500

BALDOR ELECTRIC COMPANY

P.O. Box 2400

Fort Smith, AR 72902–2400

(479) 646–4711

Fax [phone]