Baldor Modbus Plus Installation And Operating Manual

Page 1
Modbus Plus
Expansion Board
Catalog No. EXB015A01
Installation and Operating Manual
8/03 MN1322
Page 2
Table of Contents
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. . . . . . . . . . . . . . . . . . . .
Page 3
ii Table of Contents
Page 4
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
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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.
Page 6
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.
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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.
Page 8
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.
Page 9
2-2 Description
Page 10
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.
Page 11
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.
Page 12
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
Page 13
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.
Page 14
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
Page 15
3-6 Installation
Page 16
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.
Page 17
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
Page 18
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
Page 19
4-4 Hardware Setup
LED Indicators
Five LEDs 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.
Page 20
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.
Page 21
4-6 Hardware Setup
Page 22
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 controls 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
Page 23
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.
Page 24
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)
Page 25
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.
Page 26
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)
Page 27
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)
Page 28
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.
Page 29
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
Page 30
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.
Page 31
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.
Page 32
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.
Page 33
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.
Page 34
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 (479) 648–5792
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