Baldor SD23H2A04-E, SD23H2A10-E, SD23H2A15-E, SD23H2A22-E, SD23H2A45-ER Installation & Operating Manual

$25.00

SERIES 23H

AC Servo Control

INSTALLATION & OPERATING MANUAL

10/95 MN723

MN723H-10/95 11/28/95 1:04 AM Page 1 (Black plate)

Table of Contents

Section 1

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

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

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

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

Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-3

Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-7

Section 2
Installation

Location and Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1

Altitude Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1

Temperature Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1

Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1

AC Line Impedance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2

AC Power Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4

Wiring and Protective Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-5

Operating 460 VAC Control on 380-400 VAC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-11

Operating Control with Single Phase Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-11

Single Phase Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-12

Motor Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-12

Dynamic Braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-14

Resolver Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-19

Incremental Position Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-21

Remote Keypad Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-22

Logic and Control Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-24

Analog Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-25

External Trip Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-27

Opto-isolated Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-28

Opto-isolated Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-30

Operating Mode Connection Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-32

Keypad Only Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-32

Standard Run 3 Wire Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-33

15 Speed, Two Wire Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-34

Bipolar Speed or Torque Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-36

Process Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-37

Pre-Operation Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-41

Minimum Parameter and Control Setup Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-42

TABLE OF CONTENTS

MN723H-10/95 11/28/95 1:04 AM Page 3 (Black plate)

Section 3

Keypad Programming and Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1

Using the Keypad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1

Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3

Display Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5

Adjusting Display Contrast . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5

Program Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-6

Control Software Parameter Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-6

Accessing Parameter Blocks for Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-19

Programming or Changing Parameters when Security Code Not Used . . . . . . . . . . . . . . . .3-20

System Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-21

Program or Change Security System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-22

Program or Change Security System Access Timeout Parameter . . . . . . . . . . . . . . . .3-23

Program or Change Parameter with Security Code in Use . . . . . . . . . . . . . . . . . . . . . . . . .3-24

Operating the Control from the Keypad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-25

Accessing Jog Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-25

Keypad Entered Speed Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-26

Arrow Key Speed Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-27

Reset Control to Factory Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-28

Display Key Functions and Screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-29

Section 4

Diagnostic Info and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1

How to Access Diagnostic Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1

No Keypad Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3

How to Access The Fault Log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-4

Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-7

Fault Symptoms and Possible Causes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-8

Improper Motor Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-13

Manually Tuning the Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-13

Appendix A Baldor District Offices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1

Appendix B Control Watts Loss for Enclosure Sizing . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2

Appendix C Terminal Torque Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-3

Appendix D Recommended Wire Sizes and Protective Devices . . . . . . . . . . . . . . . . . . .5-4

Appendix E Short Circuit Current Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-8

Appendix F Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-10

Appendix G Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-18

TABLE OF CONTENTS

MN723H-10/95 11/28/95 1:04 AM Page 4 (Black plate)

Section 1
General Information

Intr

oduction

The Baldor Series 23H PWM control uses flux vector technology. Flux vector technology is a closed
loop control scheme using an algorithm to adjust the phase of voltage and current applied to a three
phase permanent magnet synchronous motor. The servo control separates the current into it's flux
and torque producing components. They are independently adjusted and vectorially added to
maintain a 90 degree relationship between them. This produces maximum torque from base speed
down to and including zero speed. Above base speed, the flux component is reduced for constant
horsepower operation.

The control should be sized to the motor using the rated output current of the control.
The Baldor Series 23H control may be used in many different applications. It may be programmed

by the user to operate in four different operating zones; 2.5 KHz PWM or 8.0 KHz PWM constant
torque or variable torque. It can also be configured to function in a number of modes depending
upon what the application requires and user preference.

It is the responsibility of the user to determine the optimum operating zone and mode to interface
the control to the application. These choices can be made through the keypad on the face of the
controller as explained in Section 3 of this manual.

Warranty

BALDOR warrants that the products sold will be free from defects in material and workmanship and
perform to BALDOR's applicable published specifications for a period of two (2) years from the date
of shipment from BALDOR's plant. BALDOR extends this limited warranty to each buyer of the
control for the purpose of resale and to the original purchaser for use. (Use shall be defined as
installation and application of power.) The liability of BALDOR hereunder shall be limited to replacing
or repairing, at its option, any defective units or parts thereof which are returned F.O.B. BALDOR's
plant. In no event shall BALDOR be liable for any consequential or incidental damages.

Equipment or parts which have been subjected to abuse, misuse, accident, alteration, neglect,
unauthorized repair or installation are not covered by warranty. BALDOR shall make the final
determination as to the existence and cause of any alleged defect. No liability is assumed for
expendable items such as fuses. No warranty is made with respect to custom equipment or
products produced to Buyers specifications except as specially stated in writing by BALDOR in the
contract for such custom equipment.

This warranty is the only warranty made by BALDOR with respect to the goods delivered hereunder,
and may be modified or amended only by a written agreement signed by a duly authorized officer of
BALDOR and accepted by Buyer.

Warranty of any product purchased by BALDOR from others is limited in time and scope to any
warranty given BALDOR by such suppliers.

Except as hereinabove provided. BALDOR MAKES NO WARRANTIES, EXPRESS OR IMPLIED,
INCLUDING ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR
PURPOSE.

1-1GENERAL INFORMATION

MN723H-10/95 11/28/95 1:04 AM Page 5 (Black plate)

Safety Notice

THIS EQUIPMENT CONTAINS VOLTAGES WHICH MAY BE AS HIGH AS 1000 VOLTS AND
ROTATING PARTS ON MOTORS AND DRIVEN MACHINES. HIGH VOLTAGE AND
MOVING PARTS CAN CAUSE SERIOUS OR FATAL INJURY. ONLY QUALIFIED
PERSONNEL FAMILIAR WITH THIS MANUAL AND ANY DRIVEN MACHINERY SHOULD
ATTEMPT TO START-UP OR TROUBLESHOOT THIS EQUIPMENT.

OBSERVE THESE PRECAUTIONS:

USE EXTREME CAUTION, DO NOT TOUCH ANY CIRCUIT BOARD, POWER DEVICE OR
ELECTRICAL CONNECTION WITHOUT INSURING THAT HIGH VOLTAGE IS NOT
PRESENT.

THE UNIT MUST BE PROPERLY GROUNDED. DO NOT APPLY AC POWER BEFORE
FOLLOWING GROUNDING INSTRUCTIONS.

DO NOT OPEN COVER FOR 5 MINUTES AFTER REMOVING AC POWER, TO ALLOW
CAPACITORS TO DISCHARGE.

IMPROPER CONTROL OPERATION MAY CAUSE VIOLENT MOTION OF MOTOR SHAFT
AND DRIVEN EQUIPMENT. BE CERTAIN THAT UNEXPECTED MOTOR SHAFT
MOVEMENT WILL NOT CAUSE INJURY TO PERSONNEL OR DAMAGE TO EQUIPMENT.
PEAK TORQUES OF SEVERAL TIMES RATED MOTOR TORQUE CAN OCCUR DURING A
CONTROL FAILURE.

MOTOR CIRCUIT MAY HAVE HIGH VOLTAGE PRESENT WHENEVER AC POWER IS
APPLIED, EVEN WHEN MOTOR IS NOT ROTATING.

SUITABLE FOR USE ON A CIRCUIT CAPABLE OF DELIVERING NOT MORE THAN THE
MAXIMUM LINE SHORT CIRCUIT CURRENT AMPERES LISTED IN APPENDIX E,
230 VAC OR 460 VAC MAXIMUM PER CONTROLLER RATING.

1-2 GENERAL INFORMATION

MN723H-10/95 11/28/95 1:04 AM Page 6 (Black plate)

Specifications

Power .75 - 37.2 KW (1 - 50 HP) @ 230 VAC

.75 - 186.5 KW (1 - 250 HP) @ 460 VAC
Input Frequency 50 / 60 HZ
Output Voltage 0 to max input VAC
Output Current See Control Rating Table
Service Factor 1.0
Duty Continuous
Overload Capacity Constant Torque: 200% for 3 secs

150% for 60 secs

Variable Torque: 115% for 60 secs

Operating Conditions:

Rated Input Voltages and Frequencies:
(Jumper Selectable)

230 VAC Models 180 - 264 VAC @ 60 Hz

180 - 230 VAC @ 50 Hz
460 VAC Models 340 - 457 VAC @ 50 Hz

400 - 528 VAC @ 60 Hz
Input Line Impedance 3% Minimum Required
Ambient Temperature Operating: 0 to +40 deg C

Storage: -30 to +65 deg C
Humidity 10 to 90 % non-condensing
Altitude Sea level to 3300 feet without derating

Keypad Display:

Display Backlit LCD alpha-numeric, 2 lines

x 16 characters each line
Keys 12 key membrane with tactile feel

1-3GENERAL INFORMATION

MN723H-10/95 11/28/95 1:04 AM Page 7 (Black plate)

Functions Output status monitoring

Digital speed control
Parameter setting and display
Fault log display
Motor run and jog
Local / Remote toggle

LED Indicators Forward run command

Reverse run command
Stop command
Jog active

Remote Mount 100 feet max from control

Control Specifications:

Control Method PWM
Velocity Loop Bandwidth Adjustable to 60 Hz
Current Loop Bandwidth Adjustable to 400 Hz
Maximum Output Frequency 500 Hz

8.0 KHz PWM Frequency Full rating 1-8 KHz PWM frequency, adjustable to
16 KHz with derating- See note preceding Ratings
Tables

Selectable Operating Modes Keypad

Standard 3 Wire Control
Two Wire Control w / 15 Preset Speeds
Bipolar Speed / Torque Control
Serial
Process

Dif

ferential Analog Input:

Common Mode Rejection 40 db
Full Scale Range +/-5VDC, +/-10VDC, 4-20 mA
Auto-selectable Resolutions 12 bits + sign below 1VDC command

9 bits + sign above 1VDC command

Update rate 2.0 msec in speed mode

1.0 msec in torque mode

1-4 GENERAL INFORMATION

MN723H-10/95 11/28/95 1:04 AM Page 8 (Black plate)

Other Analog Input:

Full Scale Range 0 - 10 VDC
Resolution 9 bits + sign
Update Rate 2.0 msec
Analog Outputs: 2 Assignable
Full Scale Range 0 - 5 VDC
Resolution 8 bits
Update Rate 2.0 msec

Digital Inputs:

Opto-isolated Logic Inputs 9 Assignable
Rated Voltage 10 - 30 VDC (closed contacts std)
Input Impedance 6.8 K Ohms
Update Rate 8 msec

Digital Outputs:

Opto-isolated Logic Outputs 4 Assignable
ON Current Sink 60 mA Max
ON Voltage Drop 2 VDC Max
Update Rate 8 msec

1-5GENERAL INFORMATION

MN723H-10/95 11/28/95 1:04 AM Page 9 (Black plate)

Diagnostic Indications:

Current Sense Fault Regeneration (DB) Overload
Ground Fault Soft Start Fault
Instantaneous Overcurrent Undervoltage

Invalid Power Base ID Ready
Line Power Loss Parameter Loss
Microprocessor Failure Overload
Overtemperature (Motor or Control) Overvoltage
Overspeed
Following Error

NOTE: ALL SPECIFICATIONS ARE SUBJECT TO CHANGE WITHOUT NOTICE.

Control Ratings

Ratings Tables follow

NOTE: DERATE THE CONTINUOUS AND PEAK CURRENT OUTPUT RATINGS BY

30% 16 KHz PWM FREQUENCY. DERATE PROPORTIONALLY BETWEEN

8.0 KHz AND 16 KHz.

1-6 GENERAL INFORMATION

MN723H-10/95 11/28/95 1:05 AM Page 10 (Black plate)

Ratings Series 23H Stock Products

1-7GENERAL INFORMATION

QUIET 8.0 kHz PWM STANDARD 2.5 kHz PWM

CATALOG INPUT CONSTANT TORQUE VARIABLE TORQUE CONSTANT TORQUE VARIABLE TORQUE

NO. VOLT SIZE IC IP KW HP IC IP KW HP IC IP KW HP IC IP KW HP
SD23H2A03-E 230 A 3 6 .56 .75 3.6 4.2 .75 1 4 8 .75 1 6.8 7.8 1.5 2
SD23H2A04-E 230 A 4 8 .75 1 6.8 7.8 1.5 2 7 14 1.5 2 9.6 11 2.2 3
SD23H2A07-E 230 A 7 14 1.5 2 9.6 11 2.2 3 10 20 2.2 3 15.2 17.5 3.7 5
SD23H2A10-E 230 A 10 20 2.2 3 15.2 17.5 3.7 5 15 30 3.7 5 15.2 17.5 3.7 5
SD23H2A15-E 230 B 15 30 3.7 5 22 25 5.5 7.5 22 44 5.5 7.5 28 32 7.4 10
SD23H2A22-E 230 B 22 44 5.5 7.5 28 32 7.4 10 28 56 7.4 10 28 32 7.4 10
SD23H2A30-ER 230 C 30 60 7.4 10 42 48 11.1 15 42 72 11.1 15 54 62 14.9 20
SD23H2A45-ER 230 C 45 90 11.1 15 54 62 14.9 20 55 100 14.9 20 68 78 18.6 25
SD23H2A55-ER 230 C 55 122 14.9 20 54 62 14.9 20 55 130 14.9 20 54 62 14.9 20

Ratings 23H Custom Products

QUIET 8.0 kHz PWM STANDARD 2.5 kHz PWM

CATALOG INPUT CONSTANT TORQUE VARIABLE TORQUE CONSTANT TORQUE VARIABLE TORQUE

NO. VOLT SIZE IC IP KW HP IC IP KW HP IC IP KW HP IC IP KW HP
SD23H4A02-E 460 A 2 4 .75 1 3.4 3.9 1.5 2 3.5 7 1.5 2 4.8 5.5 2.2 3
SD23H4A04-E 460 A 4 8 1.5 2 4.8 5.5 2.2 3 5 10 2.2 3 7.6 8.7 3.7 5
SD23H4A05-E 460 A 5 10 2.2 3 7.6 8.7 3.7 5 7 15 3.7 5 7.6 8.7 3.7 5
SD23H4A08-E 460 B 8 16 3.7 5 11 12.7 5.5 7.5 11 22 5.5 7.5 14 16.1 7.4 10
SD23H4A11-E 460 B 11 22 5.5 7.5 14 16.1 7.4 10 14 28 7.4 10 14 16.1 7.4 10
SD23H4A15-E 460 C 15 30 7.4 10 21 24 11.1 15 21 36 11.1 15 27 31 14.9 20
SD23H4A22-ER 460 C 22 44 11.1 15 27 31 14.9 20 27 54 14.9 20 34 39 18.6 25
SD23H4A30-ER 460 C 30 60 14.9 20 27 31 14.9 20 30 70 14.9 20 34 39 18.6 25

MN723H-10/95 11/28/95 1:07 AM Page 11 (Black plate)

1-8 GENERAL INFORMATION

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Section 2
Installation

This section covers all instructions for proper mounting and wiring of the Baldor Series 23H servo
control. All tools required for normal installation should be available from any electrical service
technician. If problems arise after installation, please refer to Section 4 Diagnostics and
Troubleshooting.

Location and Mounting

Select a mounting surface for the control that will allow the control to be mounted in a vertical
position using the mounting holes provided. The area selected should allow for free air circulating
around the control. Provide for at least two inches of clearance on all sides for maximum cooling
efficiency.

CAUTION: AVOID LOCATING CONTROL IMMEDIATELY ABOVE OR BESIDE HEAT

GENERATING EQUIPMENT, OR DIRECTLY BELOW WATER OR STEAM
PIPES.

The control is designed for panel mounting. Mount in a clean dry enclosure with an ambient
temperature less than +40 deg C. DO NOT mount control above transformer or other sources of
heat. DO provide 2" minimum clear area above and below the control to allow free flow of air over
heatsink on the back of the enclosure.

Provide access to the front of the enclosure to adjust parameters and to observe the keypad. Allow
room to remove the front cover to gain access to the power components. Mounting dimensions are
provided in Section 5.

ALTITUDE DERATING: Control ratings apply to 3300 feet (1000 meters) altitude without

derating required. For installations at higher altitudes derate the
continuous and peak output currents of the control by 2% for
each 1000 feet above 3300 feet.

TEMPERATURE DERATING: Control ratings apply to 40°C ambient. Derate output by 2%/°C

above 40°C, up to a maximum of 60°C.

Main Cir

cuit Wiring

Inter-connection wiring is required between the vector control, AC power source, host controller and
any optional control stations. Use UL Listed closed loop connectors sized for the wire gage involved.
Connectors are to be installed using the crimp tool specified by the connector manufacturer.

CAUTION: SERIES 23H CONTROLS FEATURE UL APPROVED ADJUSTABLE MOTOR

OVERLOAD PROTECTION SUITABLE FOR MOTORS NO LESS THAN 50%
OF THE OUTPUT RATING OF THE CONTROL. OTHER GOVERNING ENCIES
SUCH AS NEC MAY REQUIRE SEPARATE OVER-CURRENT PROTECTION.
THE INSTALLER OF THIS EQUIPMENT IS RESPONSIBLE FOR COMPLYING
WITH THE NATIONAL ELECTRIC CODE AND ANY APPLICABLE LOCAL

2-1INSTALLATION

MN723H-10/95 11/28/95 1:07 AM Page 13 (Black plate)

CODES WHICH GOVERN SUCH PRACTICES AS WIRING PROTECTION,
GROUNDING, DISCONNECTS AND OTHER CURRENT PROTECTION.

SEE APPENDIX E FOR MAXIMUM AC LINE SHORT CIRCUIT CAPACITIES
FOR ALL CONTROL CATALOG LISTINGS.

AC Line Impedance

The Baldor Series 23H servo control requires a minimum line impedance of 3%. If the incoming
power line does not have a minimum of 3% impedance, the addition of a line reactor will provide the
needed impedance in most cases. Use the formula below to calculate the size of the line reactor you
must provide. Line reactors are available from Baldor. Note: Continuous input currents for Series 23H
controls provided in Table 2.0 which follows.

L = (V L-L x .03) / (I x 1.732 x 377)

Where: L = minimum line inductance in henrys

V

L-L = input voltage measured from line to line

.03 = desired percentage of impedance

I = the continuous input current rating of the control

1.732 = square root of three
377 = constant used if the input frequency is 60 Hz. Use 314 if the Input

frequency is 50 Hz.

The controller is self protected from normal AC line transients and surges provided input impedance
from the AC line is at least 3% (voltage drop at the input is 3%minimum when the control draws
rated input current). Additional external protection may be required if high energy surges are present
on the incoming power source. These surges could be caused by sharing a power source with arc
welding equipment, large motors being started across the line, or other industrial equipment
requiring large surge currents. To prevent control damage due to power source disturbances the
following should be considered:

a. Connect the control on a feeder line with a line impedance of 3% minimum.
b. Supply power to the control through a 3% minimum impedance line reactor or

transformer.

Line reactors serve several purposes:

1) minimize voltage spikes from the power line that may cause the control to trip on over­voltage spikes.

2) minimize voltage harmonics from the control to the power line.

3) provide additional short circuit capability at the control.

CAUTION: DO NOT USE POWER FACTOR CORRECTION CAPACITORS ON THE INPUT

POWER LINES TO THE CONTROL OR DAMAGE TO THE CONTROL MAY
RESULT.

2-2 INSTALLATION

MN723H-10/95 11/28/95 1:07 AM Page 14 (Black plate)

Table 2.0A Input Current Requirements - Series 23H Stock Products

2-3INSTALLATION

Catalog Number Line Voltage Input Current

SD23H2A03-E 230 6.8
SD23H2A04-E 230 9.6
SD23H2A07-E 230 15.2
SD23H2A10-E 230 15.2
SD23H2A15-E 230 28
SD23H2A22-E 230 28
SD23H2A30-ER 230 54
SD23H2A45-ER 230 68
SD23H2A55-ER 230 54
SD23H4A02-E 460 4.8
SD23H4A04-E 460 7.6
SD23H4A05-E 460 7.6
SD23H4A08-E 460 14
SD23H4A11-E 460 14
SD23H4A15-ER 460 27
SD23H4A22-ER 460 34
SD23H4A30-ER 460 34

MN723H-10/95 11/28/95 1:07 AM Page 15 (Black plate)

AC Power Connections

The control requires input power protection in the form of either a circuit breaker or fuses. Circuit
breakers are recommended. See Table 2.1 for fuse and breaker sizing. Connect the fused three
phase AC power lines to the input power terminals L1, L2, and L3. The phase rotation of the
incoming power source is unimportant as the control is not phase sensitive.

Figure 2-1 Series 23H Control with Cover Removed

2-4 INSTALLATION

DS1225Y-200

NONVOLATILE SRAM

9232D1 025313

DALLAS

59312

PC 16880CN

NE18550 FN

PATENTED

AG

X0-54B

3.6864 MHz

Dale

93-40

C7

04

C8

U6

C14

C10
C11
C12
C13

OTHER

RS232

JP3

2 WIRE

4 WIRE

C9

05

S1

SERIAL NO.

1 2 3 4 5 6 7 8

C6

C2
C3

C1

C4

+

+

U1

C5

VR1

U8

1

9

J4

19

29

VR1

J2

X1

RXD16

BALDOR SWEO DRIVE

SERIAL NO.

U10

ASSY NO 00839

JP1

U10

U9

Optional

Expansion Board

Control Board

J1 Control Connections

L1 L2 L3 T1 T2 T3 B+/R1 R2

(Labeled B+ and B- for

the “EO” controls

Main Circuit Connections

Control

Transformer T1

Keypad Connector

Software EPROMS

(Example shown is the “C” size controller. Other enclosure sizes vary

slightly in terminal sizes, transformer location, etc.

Power Ground

Motor Ground

JP1 Jumper

for 4-20mA

D1

D2

GND

Braking Logic
connections for
size C,D,E,F
“EO” Controls
(Not present on
Size A and B, “E”
Controls)

MN723H-10/95 11/28/95 1:07 AM Page 16 (Black plate)

Wiring and Protective Devices

This control must be provided with a suitable input power protection device. Use the recommended
fuses or circuit breaker listed in Tables which follow. Input and output wire size is based on the use of
75 degree C rated copper conductor wire. The table is specified for NEMA B motors.

Circuit Breaker 3 phase, thermal magnetic. Equal to GE type THQ or

TEB for 230 VAC or GE type TED for 460 VAC.
Fast Action Fuses Buss KTN on 230 VAC, Buss KTS on 460 VAC or equivalent.
Time Delay Fuses Buss FRN on 230 VAC or Buss FRS on 460 VAC or equivalent.

2-5INSTALLATION

MN723H-10/95 11/28/95 1:07 AM Page 17 (Black plate)

Table 2.1A Series 23H Stock Product Wire Size and Protection Devices

230VAC Controls

Catalog No. Max CT Input Input Fuse Input Fuse Wire Gauge

HP Breaker Fast Acting Time Delay AWG

SD23H2A03-E 1 15A 15A 15A 14
SD23H2A04-E 2 20A 20A 15A 14
SD23H2A07-E 3 30A 30A 15A 14
SD23H2A10-E 5 40A 40A 20A 12
SD23H2A15-E 7.5 60A 60A 30A 10
SD23H2A22-E 10 80A 80A 40A 8
SD23H2A30-ER 15 60A 60A 60A 4
SD23H2A45-ER 20 75A 75A 75A 3
SD23H2A55-ER 25 100A 100A 100A 2

NOTE: ALL WIRE SIZES BASED ON 75° C COPPER WIRE, 40°C AMBIENT, 3% LINE

IMPEDANCE. HIGHER TEMPERATURE SMALLER GAUGE WIRE MAY BE USED
PER NEC AND LOCAL CODES.

2-6 INSTALLATION

MN723H-10/95 11/28/95 1:08 AM Page 18 (Black plate)

Table 2.1B Series 23H Product Wire Size and Protection Devices (Continued)

460VAC Controls

Catalog No. Max CT Input Input Fuse Input Fuse Wire Gauge

HP Breaker Fast Acting Time Delay AWG

SD23H4A02-E 2 10A 10A 10A 14
SD23H4A04-E 3 15A 15A 15A 14
SD23H4A05-E 5 20A 20A 15A 14
SD23H4A08-E 7.5 30A 30A 15A 14
SD23H4A11-E 10 40A 20A 20A 12
SD23H4A15-ER 15 30A 30A 30A 8
SD23H4A22-ER 20 40A 40A 40A 8
SD23H4A30-ER 25 50A 50A 50A 6

NOTE: ALL WIRE SIZES BASED ON 75° C COPPER WIRE, 40°C AMBIENT, 3% LINE

IMPEDANCE. HIGHER TEMPERATURE SMALLER GAUGE WIRE MAY BE USED
PER NEC AND LOCAL CODES.

2-7INSTALLATION

MN723H-10/95 11/28/95 1:08 AM Page 19 (Black plate)

Table 2.2A Series 23H Stock Single Phase Rating Wire Size and Protection Devices

230 VAC Controls

Catalog No. Max CT Input Input Fuse Input Fuse Wire Gauge

HP Breaker Fast Acting Time Delay AWG

SD23H2A03-E 1 15A 15A 15A 14
SD23H2A04-E 2 15A 15A 15A 14
SD23H2A07-E 3 15A 15A 15A 14
SD23H2A10-E 5 15A 15A 15A 14
SD23H2A15-E 7.5 20A 20A 20A 12
SD23H2A22-E 10 30A 30A 30A 10
SD23H2A30-ER 15 40A 40A 40A 8
SD23H2A45-ER 20 60A 60A 60A 4
SD23H2A55-ER 25 75A 75A 75A 4

NOTE: ALL WIRE SIZES BASED ON 75° C COPPER WIRE, 40°C AMBIENT, 3% LINE

IMPEDANCE. HIGHER TEMPERATURE SMALLER GAUGE WIRE MAY BE USED
PER NEC AND LOCAL CODES.

2-8 INSTALLATION

MN723H-10/95 11/28/95 1:08 AM Page 20 (Black plate)

Table 2.2B Series 23H Custom Single Phase Rating Product Wire Size and Protection

Devices

460 VAC Controls

Catalog No. Max CT Input Input Fuse Input Fuse Wire Gauge

HP Breaker Fast Acting Time Delay AWG

SD23H4A02-E 2 15A 15A 15A 14
SD23H4A04-E 3 15A 15A 15A 14
SD23H4A05-E 5 15A 15A 15A 14
SD23H4A08-E 7.5 15A 15A 15A 14
SD23H4A11-E 10 15A 15A 15A 14
SD23H4A15-ER 15 25A 25A 25A 10
SD23H4A22-ER 20 30A 30A 30A 8
SD23H4A30-ER 25 40A 40A 40A 8

NOTE: ALL WIRE SIZES BASED ON 75° C COPPER WIRE, 40°C AMBIENT, 3% LINE

IMPEDANCE. HIGHER TEMPERATURE SMALLER GAUGE WIRE MAY BE USED
PER NEC AND LOCAL CODES.

2-9INSTALLATION

MN723H-10/95 11/28/95 1:08 AM Page 21 (Black plate)

Connect an earth ground to the control according to applicable local electrical codes. The earth
ground should be connected to the control chassis ground lug. Also connect motor ground to
control ground lug.

The use of a power disconnect is recommended between the input power and the control to provide
a fail safe method to disconnect the control from the input 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.

CAUTION: DO NOT ATTEMPT TO SERVICE THIS EQUIPMENT WHILE BUS VOLTAGE IS

PRESENT WITHIN THE CONTROL. REMOVE INPUT POWER AND WAIT AT
LEAST 5 MINUTES FOR THE RESIDUAL VOLTAGE IN THE BUS
CAPACITORS TO DISSIPATE.

CAUTION: THIS UNIT HAS AN AUTOMATIC RESTART FEATURE THAT WILL START

THE CONTROL WHENEVER INPUT POWER IS APPLIED AND A
MAINTAINED EXTERNAL RUN (FWD OR REV) COMMAND IS GIVEN TO THE
CONTROL. IF AN AUTOMATIC RESTART OF THE CONTROL COULD CAUSE
PERSONAL INJURY OR HARM, THE AUTO RESTART FEATURE OF THE
CONTROL SHOULD BE DISABLED BY EXTERNAL CONTROL WIRING
BREAKING THE ENABLE OR RUN SWITCH INPUTS.

2-10 INSTALLATION

MN723H-10/95 11/28/95 1:08 AM Page 22 (Black plate)

Operating a 460 VAC Control on 380-400 VAC

Size A and B controls may be used directly with a 380-400 VAC power source, no reconfiguration of
the control is necessary.

Control sizes C, D, E, and F all must be reconfigured for operation on the reduced line voltage.
Specifically, the control transformer (see Figure 2-2) must have the wire on terminal 5 moved to
terminal 4 as shown below. Remove the front cover to gain access to the control transformer.

Figure 2-2 Configuring the Control Transformer for 380 - 400 VAC Operation

Operating the Control with a Single Phase Input

Single phase AC input power can be provided to the control instead of three (3) phase input to the
controls when the changes listed below have been made.

Power Connections

Connect the incoming power to input terminals L1 and L2. Place a jumper between control input
terminals L2 and L3. Size this jumper wire the same as the incoming line to L1. Change circuit board
jumpers as instructed below.

Hardware Jumpers Changes for Single Phase Input

1-50 HP 230 VAC controls: No hardware jumper changes to control necessary.
1-10 HP 460 VAC controls: No hardware jumper changes to control necessary.

2-11INSTALLATION

1 2 3 4 5 6

460V

1 2 3 4 5 6

380V/400V

NOTE: WIRES 3 & 6
MAY NOT BE PRESENT
ON ALL MODELS

MOVE WIRE FROM
POSITION 5 TO 4

MN723H-10/95 11/28/95 1:08 AM Page 23 (Black plate)

15-60 HP 460 VAC controls: Jumper JP3 on the gate drive circuit board (Figure 2-3) must be moved
from position "A" to position "B". The gate drive circuit board is under the main control board. For
controls equipped with gate drive board No. 083051 only, no jumper changes required.

75-250 HP 460 VAC controls: No hardware jumper change required for these controls.

Single Phase Control Derating

No derating is required for 1 and 2 HP controls.
3-10 HP controls must be derated by 40% of their nameplated rating for single phase operation.
15 HP and larger controls must be derated by 50% of their nameplated rating for single phase

operation.

Figure 2-3 Gate Driver Circuit Board with JP3 Jumper.

Motor Connections

Connect the three phase power leads of the AC permanent magnet motor to terminals T1, T2, and
T3 of the control power terminal strip. Motor power connections are not phase sensitive. The motor
ground lead or case ground should be connected to the control chassis ground screw. Connection
of motor temperature sensor switch to the external trip input, J1-16 located on the J1 terminal strip
is optional. The motor thermostat must be a dry contact (N.C.) type requiring no external power to
operate.

CAUTION: VOLTAGE MAY BE PRESENT AT THE MOTOR WHENEVER THE CONTROL

IS RECEIVING INPUT POWER. REMOVE ALL POWER FROM THE CONTROL
BEFORE ATTEMPTING ANY SERVICE OF THE MOTOR.

2-12 INSTALLATION

MN723H-10/95 11/28/95 1:09 AM Page 24 (Black plate)

Figure 2-4 Motor Connections without Output Contactor

See Appendix C For Recommended Terminal Tightening Torques

A motor circuit contactor is recommended to provide a positive disconnection to prevent motor
rotation which could pose a safety hazard to personnel or equipment. Open the Enable input to J1
terminal strip at least 20 msec before main M-contacts open to prevent arcing at contacts. This
greatly increases contactor life and allows use of IEC rated contactors. See Figure 2-5 for motor
connection with M-contactor.

Figure 2-5 Typical Connection using Output M-Contactor

See Appendix C For Recommended Terminal Tightening Torques

2-13INSTALLATION

50/60 HZ
3 Phase
Power

MOTOR

GND

T3

T2

T1

Breaker or Fuse Protection -

Customer Option, Subject

to Local Codes

GND

R2

B+\R1

T3

T2

T1

L3

L2

L1

GND

ENABLE

7
8
9

J1-8 CONNECTION

M

J1

ENABLE

M

T1
T2
T3

GND

M

MN723H-10/95 11/28/95 1:09 AM Page 25 (Black plate)

Dynamic Braking (DB) Selection

General Procedure

Use the following steps for proper selection of dynamic braking hardware:

1. Calculate the watts to be dissipated per the formulas to follow.

2. Identify the middle number of the controller and determine which dynamic brake hardware is
required based on the model number suffix (-E, -ER).

3 Select the required hardware from the Baldor Electric Company 501 catalog or from the

hardware listings that follow.

Sizing Procedure

For either general machinery or hoisting applications, the same sizing procedure (with different
formulas) is used:

1. Determine TDEC (Deceleration Torque or weight to be lowered)

2. Determine D r(Dynamic Braking Duty Cycle)

3. Determine W r(Regenerated Watts)

4. Use External Dynamic Brake Resistor Assemblies Table to select the part number for braking
hardware.

General Machinery

To determine deceleration torque, use the formula:

Where:
T

DEC = deceleration torque in lb-ft

∆RPM = change in speed
WK

2

= inertia in lb-ft

2

t = seconds

Hoisting Applications:

To determine hoist braking duty cycle use the formula:

Where:
Dr = duty cycle

LT = lowering time
TCT = total cycle time

2-14 INSTALLATION

∆RPM x WK

2

308 x t

T

DEC

=

LT

TCT

Dr=

MN723H-10/95 11/28/95 1:09 AM Page 26 (Black plate)

2-15INSTALLATION

To determine average regenerated watts caused by lowering a load, use the formula:

where:
lbs = weight to be lowered

FPM = speed in ft/minute
EFF = mechanical efficiency as a decimal

To determine dynamic braking duty cycle, use the formula:

where:
Dr = duty cycle

BT = braking time required to decelerate
TCT = total cycle time

To determine the watts to be dissipated, use the formula:

where:
Sr = maximum speed regenerating (RPM)

Sm = minimum speed regenerating (RPM)

NOTE: TO PROVIDE MAXIMUM LIFE AND ALLOW FOR UNANTICIPATED LOADS,

MULTIPLY THE REGENERATED WATTS (Wr) RATING BY 1.25.

Drx lbs x FPM x EFF

44

Wr=

wr= T

DEC

x (Sr+ Sm) x Drx (0.0712)

Braking Time (BT)

Total Cycle Time (TCT)

Sr

Sm

BT

TCT

Dr=

MN723H-10/95 11/28/95 1:09 AM Page 27 (Black plate)

If the application requires dynamic braking to dissipate motor generated energy, an optional external
braking assembly or kit will be required. The type of dynamic braking assembly or kit depends on the
specific control model and user preference. The available assemblies and kits that will fit a given
control depend on the control catalog number suffix.

CAUTION: DB SHOULD NOT BE USED IN APPLICATIONS REQUIRING CONTINUOUS

BRAKING (REGENERATION).

Control Catalog Numbers with an "E" Suffix

These controls come equipped with both the dynamic braking transistor and braking resistor factory
installed. This configuration is capable of providing 100% braking torque for 6 seconds of a 20%
braking duty cycle. Should additional braking capacity be required an optional externally mounted
braking resistor hardware is required.

This hardware is available in two configurations:

1) RG Kit-includes braking resistors mounted on brackets and the resistors are wired
together for the correct equivalent resistance required by the braking transistor.

2) RGA Assemblies-includes braking resistors on brackets, wired together for correct
resistance and mounted in a NEMA 1 screened enclosure.

A listing of RGA assemblies available follows in Table 2.3.

Control Catalog Numbers with an "ER" Suffix

These controls have the dynamic braking transistor installed at the factory but no dynamic braking
resistors. Should you need dynamic braking capacity optional separately mounted external braking
resistor kits or assemblies are available from Baldor.

One hardware configuration is the RG kit which comes with resistors mounted on brackets and the
resistors wired together for the correct resistance required by the control's DB transistor. These
resistors must be mounted in an enclosure by the customer.

The other DB hardware configuration available is the RGA Assembly. It includes the resistors on
brackets and the resistors wired together all mounted in a NEMA 1 screened enclosure.

A listing of available RGA assemblies follows in Table 2.3.

2-16 INSTALLATION

MN723H-10/95 11/28/95 1:09 AM Page 28 (Black plate)

Table 2.3 Dynamic Braking Resistor Assemblies (RGA)

RGA Assemblies include braking resistors completely assembled and mounted in a NEMA 1
enclosure. For 1-10 HP (E) controls select braking resistor that has the correct ohm value for the
control and adequate continuous watts capacity. For 15 HP and above (EO, ER, and MO controls)
select braking resistor from table with matching ohms for the RTA selected and adequate continuous
watts capacity. Note: Can use RBA assembly instead of separate RTA and RGA assemblies. See
Figure 2-6 for RGA connection diagram.

Input

HP

Total Continuous Rated Watts

Volts OHMs 600 1200 2400 4800 6400

230 1-3 20 RGA620 RGA1220 RGA2420 RGA4820

5 14 RGA614 RGA1214 RGA2414 RGA4814

7.5-20 6 RGA606 RGA1206 RGA2406 RGA4806
25-30 4 RGA604 RGA1204 RGA2404 RGA4804

40 3 RGA1203 RGA2403 RGA4803
50 2 RGA1202 RGA2402 RGA4802 RGA6402

460 1-5 56 RGA656 RGA1256 RGA2456 RGA4856

7.5-10 24 RGA624 RGA1224 RGA2424 RGA4824
15-25 20 RGA620 RGA1220 RGA2420 RGA4820
30-60 10 RGA610 RGA1210 RGA2410 RGA4810

75-250 4 RGA2404 RGA4804 RGA6404

2-17INSTALLATION

MN723H-10/95 11/28/95 1:09 AM Page 29 (Black plate)

Figure 2-6 Wiring for RGA Assembly

See Appendix C For Recommended Terminal Tightening Torques

2-18 INSTALLATION

50/60 HZ
3 Phase
Power

MOTOR

GND

T3

T2

T1

Breaker or Fuse Protection ­Customer Option

Optional

Dynamic Brake

(RGA)

GND

R2

B+\R1

T3

T2

T1

L3

L2

L1

GND

MN723H-10/95 11/28/95 1:09 AM Page 30 (Black plate)

Resolver Wiring

The 23H control requires the use of resolver feedback from the motor shaft. The resolver power and
signal connections are made to the control's J1 terminal strip.

Resolver wiring must be twisted shielded pairs, #22 AWG minimum size, 150' maximum, with an
insulated overall shield. Connect all shields to J1-29. Maximum wire-to-wire or wire-to-shield
capacity shall not exceed 7500 picofarads per pair (50 pf/foot at 150' length).

2-19INSTALLATION

MN723H-10/95 11/28/95 1:09 AM Page 31 (Black plate)

Connecting the Resolver

CAUTION: DO NOT CONNECT ANY SHIELDS TO THE MOTOR FRAME. THE

RESOLVER POWER SUPPLY OUTPUT PROVIDED BY THE CONTROL AT J1­27 IS REFERENCED TO CIRCUIT BOARD COMMON. DO NOT CONNECT
THIS OUTPUT TO GROUND OR ANOTHER POWER SUPPLY OR DAMAGE
TO THE CONTROL MAY RESULT.

Resolver wiring must be separated from power wiring. Separate parallel runs of resolver cable by at
least 3" from power wires. Cross power wires at right angles only. Insulate or tape off ungrounded
end of shields to prevent contact with other conductors or ground.

Figure 2-10 Resolver Connections

See Appendix C For Recommended Terminal Tightening Torques

2-20 INSTALLATION

RESOLVER

R2

R1

S3

S4

S2

S1

P

P

P

J1
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38

SINE + 2V RMS
SINE ­COS + 2V RMS
COS ­EXCITATION + 4V RMS, 10 KHz
EXCITATION – (COMMON)
SHIELD
NOT USED
A OUT
A OUT
B OUT
B OUT
INDEX OUT (C)
INDEX OUT (C)
NOT USED
COMMON

CONTROL BOARD

P

= TWISTED PAIR

INCREMENTAL POSITION OUTPUT

MN723H-10/95 11/28/95 1:09 AM Page 32 (Black plate)

Incremental Position Output

The control provides a simulated encoder output of the motor mounted resolver on terminal strip J1
pins 31-38 as shown in Figure 2-10. This output simulates a 1024 line encoder with quadrature
outputs. Counting in quadrature will provide 4096 pulses per revolution of the motor shaft when
using a standard single speed resolver. This output may be used by external hardware to monitor the
motor position. Splitting this output is not recommended.

This output also provides one (1) index marker (“C” channel marker) per resolver speed. For
example, a single speed resolver will have one pulse generated per one shaft revolution. A two
speed resolver will have two pulses generated per one revolution of the shaft with 180˚ mechanical
separation.

Figure 2-11 Optional Resolver Filter for High Noise Environment

See Appendix C For Recommended Terminal Tightening Torques

2-21INSTALLATION

RESOLVER

R2

R1

S3

S4

S2

S1

P

P

P

J1
23
24
25
26
27
28

SINE + 2V RMS
SINE ­COS + 2V RMS
COS ­EXCITATION + 4V RMS, 10KHz
COMMON

CONTROL BOARD

RESOLVER FILTER P/N 0088801

SINE +

SINE ­COS +

COS -

EXC +

COM.

MN723H-10/95 11/28/95 1:09 AM Page 33 (Black plate)

Remote Keypad Mounting

Instructions for Remote Keypad Mounting Using Optional Baldor Keypad Extension
Cable

The keypad assembly (DC00005A-00) comes complete with the screws and gasket required to
mount it to an enclosure. When the keypad is properly mounted to a NEMA Type 4 enclosure, it
retains the Type 4 rating.

Tools Required:

Drill, center punch, tap handle, screwdrivers: Phillips and straight, crescent wrench.
8-32 tap and #29 drill (if threading mounting surface).
1-1/4 standard knockout punch (1-11/16" nominal diameter).
RTV sealant.
(4) 8-32 nuts and lock washers.
Extended 8-32 screws (socket ,phillister) will be required if the mounting surface is thicker than

12 gage and is not tapped (through hole approach).

Remote keypad mounting template. (See next page for template)

Mounting Instructions: For tapped mounting holes

1. Locate a flat 4" wide x 5.5" minimum high mounting surface. Material should be sufficient
gage (14 minimum).

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

3. Accurately center punch the 4 mounting holes (marked A) and the large knockout (marked B).

4. Drill the four mounting holes (A) with a #29 bit. Tap an 8-32 thread.

5. Locate the 1-1/4" knockout center(B) and punch using the manufacturers instructions.

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

7. Apply RTV to the 4 holes marked (A).

8. Assemble the keypad to the panel.

9. From the inside of the panel, apply RTV over each of the four mounting screws. Cover a 3/4"
area around each screw.

Mounting Instructions: For Clearance mounting holes replace numbered steps above

with the following:

4. Drill four # 19 clearance holes (A).

8. Hold the keypad in place on the panel and tighten the (4) 8-32 nuts over a locking washer.

9. From the inside of the panel, apply RTV over each of the four mounting screws and nuts.
Cover a 3/4" area around each screw while making sure to completely encapsulate the nut
and washer.

2-22 INSTALLATION

MN723H-10/95 11/28/95 1:09 AM Page 34 (Black plate)

Figure 2-12 Remote Keypad Mounting Template

2-23INSTALLATION

4.000

2.500

FOUR PLACES
8-32 TAP USE DRILL #29
8-32 CLEARANCE USE #19 OR 0.166"

1-11/16" DIAMETER HOLE
USE 1.25" CONDUIT KNOCKOUT

(A)

(A)

(A)

(A)

(B)

1.250

1.340

4.810

5.500

SCALE NOT TO BE ALTERED

DIMENSIONS CAN BE DISTORTED DUE TO REPRODUCTION

MN723H-10/95 11/28/95 1:09 AM Page 35 (Black plate)

Logic and Control Wiring

All logic and control connections are made at the 44 pin terminal strip J1. The terminal strip is divided
into a lower and an upper row. The lower row carries pins numbered 1-22 with the upper row being
23-44.

Wire with Class 1 wiring. All external control wiring to the control should be run in a conduit,
separated from all other wiring. The use of shielded wire is recommended for all control wiring. The
shield of the control wiring should be connected to the J1 analog ground of the control only. The
other end of the shield should be taped to the wire jacket to prevent electrical shorts and ground
loops.

Figure 2-13 23H Control Terminal Strip J-1

See Appendix C For Recommended Terminal Tightening Torques

2-24 INSTALLATION

ANALOG GND
ANALOG INPUT 1
POT REFERENCE

ANALOG INPUT + 2

ANALOG INPUT - 2

ANALOG OUT 1
ANALOG OUT 2

ENABLE
OPTO INPUT
OPTO INPUT
OPTO INPUT
OPTO INPUT
OPTO INPUT
OPTO INPUT
OPTO INPUT

EXTERNAL TRIP

INPUT COMMON

USER COMMON

OPTO OUT #1
OPTO OUT #2
OPTO OUT #3
OPTO OUT #4

+ 24V
OPTO IN POWER
OPTO OUT RETURN #1
OPTO OUT RETURN #2
OPTO OUT RETURN #3
OPTO OUT RETURN #4

A
A
B
B
INDEX
INDEX
NOT USED
COMMON

SINE +
SINE –
COSINE +
COSINE –
EXCITATION +
COMMON
SHIELD
NOT USED

123
224
325
426
527
628
729
830
931
10 32
11 33
12 34
13 35
14 36
15 37
16 38
17 39
18 40
19 41
20 42
21 43
22 44

INCREMENTAL

POSITION

OUTPUT

RESOLVER

INPUT

J1

MN723H-10/95 11/28/95 1:10 AM Page 36 (Black plate)

Analog Inputs and Outputs

Figure 2-14 Analog Inputs and Outputs

See Appendix C For Recommended Terminal Tightening Torques

Analog Inputs

Two analog inputs are available on J1; analog input #1 or pot input(J1-J3) and analog input #2 (J1­4-J1-5). (If using a 4-20mA command signal, jumper JP1 located above the J1 terminal strip on the
main control board MUST be moved from the middle and right pins to the left and middle pins.)

Analog input #1 is used when the controller is set to Standard Three Wire Control, Process, or
Bipolar Control. In this mode the reference comes from an external 5KOhm potentiometer
connected so that the full resistance is connected from J1-1 to J1-3. The wiper of the pot should be
connected at terminal J1-2 as shown in Figure 2-14. The command will be recognized at terminals
J1-1 and J1-2. When using a potentiometer as the speed command, process feedback or setpoint
source, the ANA CMD select parameter must be programmed for "POT". An absolute 0-10VDC
speed command signal may also be connected on J1-1 and J1-2.

Analog input #2 accepts a differential command +/-5VDC, +/-10VDC or 4-20 mA as selected by the
user in the ANA CMD Select programming block. This input is buffered to provide 40 db common
mode isolation with up to +/- 15 volts common mode relative to common. Analog input #2 is used
with Bipolar control.

Either analog input may be grounded provided the common mode range is not exceeded.

NOTE: NO ANALOG INPUTS ARE USED FOR THE 15 SPEED TWO WIRE CONTROL

OR THE SERIAL CONTROL MODES.

2-25INSTALLATION

1 ANALOG GND
2 ANALOG INPUT 1
3 POT REFERENCE
4 ANALOG INPUT + 2
5 ANALOG INPUT - 2
6 ANALOG OUT 1
7 ANALOG OUT 2

COMMAND POT 5K OHM

or 0-10 VDC ON PINS 1 & 2

PROGRAMMABLE 0-5V (FACTORY PRESET: SPEED)

DIFFERENTIAL ± 5V, ±10V

or 4-20 mA INPUT

PROGRAMMABLE 0-5V (FACTORY PRESET : CURRENT)

J1

MN723H-10/95 11/28/95 1:10 AM Page 37 (Black plate)

Analog Outputs

Two programmable analog outputs are provided on J1-6 and J1-7. These outputs are scaled 0 - 5
VDC (1ma Max output current) and can be used to provide real-time status of various control
conditions. The return for theses outputs is J1-1 Analog ground. An explanation of the different
conditions follows. The state of these outputs is programmed in the Level 1, Output Block.

Name Description of Programmable Analog Outputs

ABS SPEED Absolute value of speed with +5 VDC = MAX RPM. Useful as a speed meter

output.
ABS TORQUE Absolute value of torque with +5 VDC = torque at CURRENT LIMIT.
SPEED COMMAND Absolute value of the commanded speed with +5 VDC = MAX RPM.
PWM VOLTAGE Amplitude of PWM voltage. 0 - Max AC voltage.
FLUX CURRENT Flux current feedback. Useful with CMD FLUX CUR.
CMD FLUX CUR Commanded flux current.
MOTOR CURRENT Amplitude of control continuous current including motor excitation current.

2.5V = rated current.

LOAD COMPONENT Amplitude of load current not including the motor excitation current. 2.5V =

rated current.
QUAD VOLTAGE Load controller output. Useful in diagnosing control problems.
DIRECT VOLTAGE Flux controller output.
AC VOLTAGE PWM control voltage which is oproportional to AC line to line motor terminal

voltage. 2.5V centered.
BUS VOLTAGE 5V = 1000VDC.
TORQUE Bipolar torque output. 2.5V centered, 5V = max positive torque, 0V = max

negative torque.
POWER Bipolar power output. +2.5V = zero power, 0V = negative rated peak power,

+5V = positive rated peak power.
VELOCITY Motor speed scaled +2.5V = zero speed, 0V = negative maximum RPM,

+5V = positive maximum RPM.

2-26 INSTALLATION

MN723H-10/95 11/28/95 1:10 AM Page 38 (Black plate)

OVERLOAD Accumulated current 2X time, OVERLOAD occurs at +5V.
PH 2 CURRENT Sampled AC phase 2 motor current, 2.5V = zero current, 0V = negative

rated peak current, +5V = positive rated peak current.

PH 3 CURRENT Sampled AC phase 2 motor current, 2.5V = zero current, 0V = negative

rated peak current, +5V = positive rated peak current.

POSITION Position within a single revolution. 5V = 1 complete revolution. (The counter

will reset to 0 once every revolution.)

External Trip Input

Terminal J1-16 is available for connection to a normally closed thermostat in all operating modes.
This connection is available for connection to a motor thermostat or overload relay. The thermostat
or overload relay should be a dry contact type with no power available from the contact. If the motor
thermostat or overload relay should ever open the circuit indicating an over-temperature condition,
the control will automatically shut down and give an External Trip fault. In order for the External Trip
to be activated, the External Trip parameter in the programming Protection Block must be set to
"ON".

2-27INSTALLATION

MN723H-10/95 11/28/95 1:10 AM Page 39 (Black plate)

Opto-isolated Outputs

Four programmable Opto-isolated outputs are available at terminals J1-19 through J1-22. These
outputs can be used to monitor various control conditions.

Powering the Opto-isolated Outputs

The Opto-isolated outputs may be configured as sinking or sourcing. All must be configured the
same. The Opto-isolated outputs will sink up to 60 mA or current each. The maximum voltage from
opto output to common when active is 1.0 VDC (TTL compatible). The Opto-isolated outputs may be
connected in different ways as shown in Figure 2-15.

Figure 2-15 Opto-isolated Output Connection Configurations

See Appendix C For Recommended Terminal Tightening Torques

2-28 INSTALLATION

SHOWS TYPICAL FLYBACK DIODE RATED AT 1 AMP - 100V (1N4002) MINIMUM ACROSS
RELAY (IF RELAY DOESN'T HAVE ONE BUILT-IN). USE FLYBACK DIODE ON EACH RELAY.

USING EXTERNAL SUPPLY

(SINKING THE RELAY)

USING EXTERNAL SUPPLY

(SOURCING THE RELAY)

EXTERNAL USER SUPPLY

RETURN (-)

EXTERNAL USER SUPPLY

RETURN (-)

TYPICAL

EXTERNAL USER

SUPPLY + 10-30 VDC

39
40
41
42
43
44

17
18
19
20
21
22

EXTERNAL USER

SUPPLY + 10-30 VDC

39
40
41
42
43
44

17
18
19
20
21
22

TYPICAL

USING INTERNAL SUPPLY

(SOURCING THE RELAY)

TYPICAL

39
40
41
42
43
44

17
18
19
20
21
22

+ 24 VDC

(INTERNAL)

USING INTERNAL SUPPLY

(SINKING THE RELAY)

+ 24 VDC

(INTERNAL)

39
40
41
42
43
44

17
18
19
20
21
22

TYPICAL

Customer

Supplied

Relays

Customer

Supplied

Relays

Customer

Supplied

Relays

Customer

Supplied

Relays

MN723H-10/95 11/28/95 1:10 AM Page 40 (Black plate)

Opto-Isolated Output Selection

Four independent programmable opto-isolated outputs are available on the J1 connector for
external monitoring of drive conditions. These outputs are available on terminals J1-19 thru J1-22.
These outputs require 5-30 VDC to operate. Each will sink up to 60mA maximum. The voltage drop
across the output may be as high as 1VDC (TTL compatible). These outputs may be configured as
shown in Figure 2-15. The output state for each of these outputs is programmed in the Output
(programming) Block. If the opto outputs are used to directly drive a relay, a flyback diode rated at
1A, 100 V minimum should be connected across the relay coil.

Name Description of Opto-isolated Output

AT SETPOINT Closed when motor speed equals setpoint command.
READY Open if a fault exists or AC power is not applied.
ZERO SPEED Closed when the motor speed is less than the user specified speed

threshold, otherwise open.

AT SPEED Closed whenever the motor speed is within the user specified tolerance

band of the commanded speed, open outside tolerance band.

OVERLOAD Closed when an RMS current overload has not occurred, open upon

overload.
KEYPAD CONTROL Closed when the control is under LOCAL keypad control.
AT SET SPEED Closed whenever the motor speed is above the user specified "set

speed", open below set speed.
FAULT Closes when a FAULT is present.
FOLLOWING ERROR Closed when the motor speed is outside the user specified tolerance

band of the Acc-Dec and S-Curve conditioned commanded speed.

Open when the motor speed is within tolerance band of conditioned

speed command.
DRIVE ON Closed when the motor current has reached excitation level and capable

of producing torque.
CMD DIRECTION Closed when reverse input direction command is received, open for

forward.
AT POSITION Closed during a positioning command when the control is within the

tolerance band.

2-29INSTALLATION

MN723H-10/95 11/28/95 1:10 AM Page 41 (Black plate)

OVER-TEMP WARN Closed when the control heat sink detector senses the control is within

3 Deg C of tripping on INT OVER-TEMP.

MOTOR DIRECTION Closed when reverse input direction command is received, open for

forward.

Opto-isolated Inputs

Nine Opto-isolated inputs are available at terminals J1-8 through J1-16 to command various output
conditions. The available command input may change depending on the operating mode selected.

Opto-isolated Input Power

The opto-isolated inputs (J1 connector pins 8-16) are normally operated by closing contacts or
switches between them and pin J1-17, input common. The voltage rating of the opto inputs is 10-30
VDC. The opto inputs may be configured as sinking or sourcing provided all of the inputs are
configured the same.

See Figure 2-16 below for opto-input power configuration options.

NOTE: IF THE CONTROL'S INTERNAL 24VDC SUPPLY IS TO BE USED TO POWER

THE OPTO INPUTS, CONNECTOR PIN J1-39 MUST BE JUMPERED TO
J1-40 AND ALL RETURNS TERMINATED AT J1-17.

2-30 INSTALLATION

MN723H-10/95 11/28/95 1:10 AM Page 42 (Black plate)

Figure 2-16 Opto Input Power Configurations

See Appendix C For Recommended Terminal Tightening Torques

2-31INSTALLATION

USER +10-30VDC

RETURN

N/C

OPTO IN POWER

8

9
10
11
12
13
14
15
16
17

J1

39
40

ENABLE
FORWARD
REVERSE
INPUT #1
INPUT #2
INPUT #3
INPUT #4
INPUT #5
INPUT #6
INPUT COMMON

USER +10-30VDC

OPTO INPUTS CLOSING TO GROUND

OPTO IN POWER

8

9
10
11
12
13
14
15
16
17

J1

39
40

ENABLE
FORWARD
REVERSE
INPUT #1
INPUT #2
INPUT #3
INPUT #4
INPUT #5
INPUT #6
INPUT COMMON

OPTO INPUTS USING INTERNAL POWER SUPPLY

USER +10-30VDC

RETURN

N/C

OPTO IN POWER

8

9
10
11
12
13
14
15
16
17

J1

39
40

ENABLE
FORWARD
REVERSE
INPUT #1
INPUT #2
INPUT #3
INPUT #4
INPUT #5
INPUT #6
INPUT COMMON

USER +10-30VDC

OPTO INPUTS CLOSING TO +VDC

+24V

+24V

+24V

MN723H-10/95 11/28/95 1:10 AM Page 43 (Black plate)

Operating Mode Connection Diagrams

Six different operating modes are available in the Series 23H servo control. These operating modes
define the basic motor control setup and the operation of the input and output terminals. These
operating modes are selected by programming the Operating Mode parameter in the Input
programming Block. Available operating modes include:

Keypad Only Operation
Standard Run, 3 Wire Control
15 Speed, 2 Wire Control
Bipolar Speed or Torque
Process Control
Serial

NOTE: THE SERIAL OPERATING MODE REQUIRES THE OPTIONAL RS-232 OR

THE OPTIONAL RS422/485 SERIAL EXPANSION BOARD. ITS OPERATION
IS NOT COVERED IN THIS MANUAL. CONNECTION OF AND
INSTRUCTIONS FOR SERIAL EXPANSION BOARDS IS PROVIDED IN
SERIAL COMMUNICATIONS EXPANSION BOARD MANUAL NO. MN1310.
THIS MANUAL IS SHIPPED WITH ALL SERIAL EXPANSION BOARDS.

Connection diagrams for each operating mode follow.

Keypad Only Operating Mode

For Keypad Only operation, program the Operating Mode parameter in the Input programming block.
Then set the keypad itself to LOCAL pressing the LOCAL key with the motor stopped (LOCAL key
toggles between the LOCAL and REMOTE mode of operation). The word "LOCAL" should appear in
the keypad display.

When in the Keypad Only operating mode the only opto-input that is active is the External Trip input
on J1-16. The analog inputs and opto-outputs remain active.

Figure 2-17 Keypad Only Operation Connection Diagram

If the External Trip parameter is programmed “on”, wire as shown.

See Appendix C For Recommended Terminal Tightening Torques

J1-16...OPEN causes an External Trip to be received by the control. The control will
disable and display external trip when it is programmed “on”. Factory preset is “off”.

2-32 INSTALLATION

OPTO INPUT

16
17
18
19

J1

COMMON
+24V

38
39
40
41

INPUT COMMON

MN723H-10/95 11/28/95 1:10 AM Page 44 (Black plate)

Standard Run 3 Wire Control Mode

Figure 2-18 Standard Run 3-Wire Connection Diagram

See Appendix C For Recommended Terminal Tightening Torques

NOTE: FOR 4-20MA INPUT MOVE JUMPER JP1 ON THE MAIN CONTROL BOARD

TO THE LEFT TWO PINS.

J1-8 OPEN disables the control and motor coasts to a stop. CLOSED allows current to

flow in the motor and produce torque.

J1-9 MOMENTARY CLOSED starts motor operation in the Forward direction. In JOG mode

(J1-12 CLOSED), continuous CLOSED jogs motor in the Forward direction.

J1-10 MOMENTARY CLOSED starts motor operation in the Reverse direction. In JOG

mode(J1-12 CLOSED), CONTINUOUS closed JOGS motor in the Reverse direction.

J1-11 When OPEN control removes power from motor and disables. Coasts or brakes to

stop depending on Keypad Stop Mode parameter setting.

J1-12 CLOSED places control in JOG mode, Forward and Reverse run are used to jog the

motor.
J1-13 OPEN selects ACC / DEC / S-CURVE group 1. CLOSED selects group 2.
J1-14 CLOSED selects preset speed #1, (J1-12, will override this), OPEN allows speed

command from Analog input #1 or #2.
J1-15 OPEN to run, CLOSED to reset fault condition.
J1-16 OPEN causes an external trip to be received by control. The control will disable and

display external trip when programmed "on". Factory preset is "off".

2-33INSTALLATION

1
2
3
4
5
6
7
8

9
10
11
12
13
14
15
16
17
18
19
20
21
22

SINE +
SINE –
COSINE +
COSINE –
EXCITATION +
COMMON
SHIELD
NOT USED
A
A
B
B
INDEX
INDEX
NOT USED
COMMON
+24V
OPTO IN POWER
OPTO OUT RETURN #1
OPTO OUT RETURN #2
OPTO OUT RETURN #3
OPTO OUT RETURN #4

ENABLE

FORWARD RUN

REVERSE RUN

STOP

CLOSED = JOG SPEED

ACCEL/DECEL/SELECT

PRESET SPEED #1

FAULT RESET

EXTERNAL TRIP

INPUT COMMON

PROGRAMMABLE 0-5V OUTPUT (FACTORY PRESET: SPEED)
PROGRAMMABLE 0-5V OUTPUT (FACTORY PRESET: CURRENT)

J1

23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44

0-5VDC OR

0-10VDC OR

4-20 mA

ANALOG GND

ANALOG INPUT 1

POT REFERENCE

ANALOG INPUT +2

ANALOG INPUT -2

ANALOG OUT 1
ANALOG OUT 2

USER COMMON

OPTO OUT #1
OPTO OUT #2
OPTO OUT #3
OPTO OUT #4

5kOhm COMMAND POT

REFER TO POWERING THE
OPTO-ISOLATED OUTPUTS

BOTH CLOSED =
FORWARD

RESOLVER
INPUT

INCREMENTAL
POSITION
OUTPUT

MN723H-10/95 11/28/95 1:10 AM Page 45 (Black plate)

15 Speed 2-Wire Control Mode

Figure 2-19 15 Speed 2-Wire Control Connection Diagram

See Appendix C For Recommended Terminal Tightening Torques

J1-8 OPEN disables the control & motor coasts to a stop. CLOSED allows current to flow

in the motor and produce torque.

J1-9 CLOSED operates the motor in the Forward direction (with J1-10 open). OPEN coasts

or brakes to stop depending on Keypad Stop motor parameter setting.

J1-10 CLOSED operate motor in the Reverse direction (with J1-9 open). OPEN coasts or

brakes to stop depending on Keypad Stop mode parameter setting.
J1-11-14 Selects programmed preset speeds per table below.
J1-15 Selects ACC/DEC group. OPEN selects group 1. CLOSED selects group 2.
J1-16 OPEN causes External Trip to be received by the control. Control will disable and

display external trip when programmed to be"on". Factory preset is "off".

See Switch T

ruth Table on next page.

2-34 INSTALLATION

1
2
3
4
5
6
7
8

9
10
11
12
13
14
15
16
17
18
19
20
21
22

SINE +
SINE –
COSINE +
COSINE –
EXCITATION +
COMMON
SHIELD
NOT USED
A
A
B
B
INDEX
INDEX
NOT USED
COMMON
+24V
OPTO IN POWER
OPTO OUT RETURN #1
OPTO OUT RETURN #2
OPTO OUT RETURN #3
OPTO OUT RETURN #4

ENABLE

CLOSED = FORWARD

CLOSED = REVERSE

SWITCH 1
SWITCH 2
SWITCH 3
SWITCH 4

ACC/DEC/“S” SELECT 1

EXTERNAL TRIP

INPUT COMMON

PROGRAMMABLE 0-5V OUTPUT (FACTORY PRESET: SPEED)
PROGRAMMABLE 0-5V OUTPUT (FACTORY PRESET: CURRENT)

J1

23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44

ANALOG OUT 1
ANALOG OUT 2

USER COMMON

OPTO OUT #1
OPTO OUT #2
OPTO OUT #3
OPTO OUT #4

RESOLVER
INPUT

INCREMENTAL
POSITION
OUTPUT

REFER TO POWERING THE
OPTO-ISOLATED OUTPUTS

BOTH CLOSED = FORWARD
BOTH OPEN = STOP

NO CONNECTIONS

ALL CLOSED =
FAULT RESET

MN723H-10/95 11/28/95 1:10 AM Page 46 (Black plate)

Switch Truth Table for 15 Speed, 2 Wire Control Mode

FUNCTION J1-11 J1-12 J1-13 J1-14

Preset 1 Open Open Open Open
Preset 2 Closed Open Open Open
Preset 3 Open Closed Open Open
Preset 4 Closed Closed Open Open
Preset 5 Open Open Closed Open
Preset 6 Closed Open Closed Open
Preset 7 Open Closed Closed Open
Preset 8 Closed Closed Closed Open

Preset 9 Open Open Open Closed
Preset 10 Closed Open Open Closed
Preset 11 Open Closed Open Closed
Preset 12 Closed Closed Open Closed
Preset 13 Open Open Closed Closed
Preset 14 Closed Open Closed Closed
Preset 15 Open Closed Closed Closed

Fault Reset Closed Closed Closed Closed

2-35INSTALLATION

MN723H-10/95 11/28/95 1:10 AM Page 47 (Black plate)

Bipolar Speed or Torque Control Mode

In addition to individual motor bipolar speed or torque control, this mode of operation allows the user
to store up to four (4) different complete sets of motor parameters. Why multiple parameter sets?
An example might be to run a motor connected Wye and then to run it at another time connected
Delta; or to run each of (up to) 4 different motors at different times. To program multiple parameter
sets:

1. Access a parameter table using switches J1-13 and J1-14 per Table 2.3.

2. Program, auto-tune and adjust parameters for one configuration.

3. Access second parameter set using J1-13 and J1-14 switches per Table 2.3.

4. Program, auto-tune and adjust parameters for second configuration.

5. Repeat steps 3-5 for third and fourth parameter sets.
The parameter sets may be accessed for operation using external switch closures at J1-13 and
J1-14 per the truth table provided in Table 2.3 which follows.

Figure 2-20 Bipolar Speed or Torque Connection Diagram

See Appendix C For Recommended Terminal Tightening Torques

2-36 INSTALLATION

1
2
3
4
5
6
7
8

9
10
11
12
13
14
15
16
17
18
19
20
21
22

SINE +
SINE –
COSINE +
COSINE –
EXCITATION +
COMMON
SHIELD
NOT USED
A
A
B
B
INDEX
INDEX
NOT USED
COMMON
+24V
OPTO IN POWER
OPTO OUT RETURN #1
OPTO OUT RETURN #2
OPTO OUT RETURN #3
OPTO OUT RETURN #4

ENABLE

FORWARD ENABLE

REVERSE ENABLE

CLOSED = ORIENT

OPEN=SPEED, CLOSED=TORQUE

TABLE SELECT
TABLE SELECT

FAULT RESET

EXTERNAL TRIP

INPUT COMMON

PROGRAMMABLE 0-5V OUTPUT (FACTORY PRESET: SPEED)
PROGRAMMABLE 0-5V OUTPUT (FACTORY PRESET: CURRENT)

J1

23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44

DIFFERENTIAL ± 5VDC, ± 10VDC

OR 4-20 mA

ANALOG GND
ANALOG INPUT 1
POT REFERENCE

ANALOG INPUT +2

ANALOG INPUT -2

ANALOG OUT 1
ANALOG OUT 2

USER COMMON

OPTO OUT #1
OPTO OUT #2
OPTO OUT #3
OPTO OUT #4

5kOhm COMMAND POT

REFER TO POWERING THE
OPTO-ISOLATED OUTPUTS

RESOLVER
INPUT

INCREMENTAL
POSITION
OUTPUT

MN723H-10/95 11/28/95 1:10 AM Page 48 (Black plate)

NOTE: FOR 4-20MA INPUT MOVE JUMPER JP1 ON THE MAIN CONTROL BOARD

TO THE LEFT TWO PINS.

J1-8 OPEN disables the control & motor coasts to a stop. CLOSED allows current to flow

in the motor and produce torque.

J1-9 CLOSED to enable operation in the Forward direction. OPEN TO DISABLE Forward

operation (drive will brake to a stop if a Forward command is still present).

J1-10 CLOSED to enable operation in the Reverse direction. OPEN to disable Reverse

operation (drive will brake to a stop if a Reverse command is still present).
J1-11 Causes the motor shaft to orient to the index marker (or home offset).
J1-12 CLOSED puts the control in torque mode.
J1-13 &14 Select from four parameter tables per truth Table 2.3.
J1-15 OPEN to run, CLOSED to reset fault condition.
J1-16 OPEN causes an external trip to be received by the control. Control will disable and

display fault.

Table 2.3 Truth Table for Bipolar Speed or Torque Control Mode

Multiple Parameter Tables

Function J1-13 J1-14

Parameter Table #0 Open Open
Parameter Table #1 Closed Open
Parameter Table #2 Open Closed
Parameter Table #3 Closed Closed

Process Control Mode

The process control mode is a secondary closed loop system which includes a general purpose set
point PID control. It may be setup in two different ways. One uses a programmable preset set point
and the other uses an external command set point input. In either case a process feedback signal
will be required.

The selection of the set point command and the process feedback signal is located in the Process
Control programming block under the Set point Source Parameter and Process Feedback
Parameter respectively.

The programmable preset set point PID control mode can be used for most general closed loop
systems. This is generally known as feedback control. This method compares the value of the
programmed preset variable with the process variable. The difference between them is the process
error. The process error is then converted to a signal that adjusts the speed or torque of the motor
to eliminate the error. A large process error will result in a large change in the rate of speed or
amount of torque generated by the motor. Likewise, a small error signal will produce a small change
in the rate of speed or amount of torque generated by the motor. The end result is the PID control

2-37INSTALLATION

MN723H-10/95 11/28/95 1:10 AM Page 49 (Black plate)

will adjust the motor speed or torque to force the process variable to be as close as possible to the
programmed preset setpoint.

The external command setpoint input PID control mode is used for more complex applications
having a large external disturbance that can affect the process variable. This is useful for processes
that have significant time lag between a process disturbance and the generation of a process error
signal from the process sensor. This mode uses a feedforward command to anticipate changes in
the process. This feedforward signal directly changes the motor speed or torque without having to
develop a process error signal first.

Figure 2-21 shows a block diagram of the Process Mode control system. The user must make the
determination of which technique to implement.

Figure 2-21 Simplified Process Control Feedback System Diagram

NOTE: EXB = OPTIONAL EXPANSION BOARD

2-38 INSTALLATION

∑

∑

∑

∑

PROCESS FEEDBACK
Select The Source Through
Parameter Adjustment.
Available Sources:
POTENTIOMETER
+/-10 VOLTS
+/-5 VOLTS
4 TO 20 mA
10V EXB
4 TO 20 mA EXB
3 TO 15 psi EXB
TACHOMETER EXB
SERIAL EXB
NONE=FACTORY PRESET

COMMAND SELECT
Select The Source Through
Parameter Adjustment.
Available Sources:
POTENTIOMETER = F.P.
+/-10VOLTS
+/-5VOLTS
4 TO 20 mA
10V W/EXT CL
EXB PULSE FOL
10V EXB
4 TO 20 mA EXB
3 TO 15 psi EXB
TACHOMETER EXB
SERIAL EXB
NONE

Setpoint
Command
Parameter

Closed When Process
Mode is Enabled (J1-13)

ACC/DEC
S-Curve
Profiler

Differentiator

EXB Pulse
Follower Only

s

s

Proportional

Gp

Gp

Proportional

Differential

Differential

Amp

Gd s

Gd s

Integral

Integral

Motor

Enc.

Gi

s

Gi

s

Setpoint Adjustment Limit
w/ Integral Clamp To
Max Limit Value

Existing Baldor Control System

Differentiator

–

–

+

+

+

+

“PROCESS FEEDBACK”

“PROCESS FEEDFORWARD”

MN723H-10/95 11/28/95 1:11 AM Page 50 (Black plate)

Figure 2-22 Process Mode Connection Diagram

See Appendix C For Recommended Terminal Tightening Torques

NOTE: FOR 4-20MA INPUT MOVE JUMPER JP1 ON THE MAIN CONTROL BOARD

TO THE LEFT TWO PINS.

J1-8 OPEN disables the control & motor coasts to a stop. Closed allows current to flow in

the motor and produce torque.

J1-9 CLOSED to enable operation in the Forward direction. OPEN to disable Forward

operation. Coasts or brakes to stop depending on Keypad Stop mode parameter setting.

J1-10 CLOSED to enable operation in the Reverse direction. OPEN to disable Reverse

operation. Coasts or brakes to stop depending on Keypad Stop mode parameter setting.
J1-11 OPEN = TABLE Ø, CLOSED = TABLE 1
J1-12 CLOSED puts the control in torque mode. OPEN puts the control in velocity mode.
J1-13 CLOSED to enable the closed loop feature of the Process Mode.
J1-14 CLOSED places control in JOG mode. The control will only JOG in the forward

direction.
J1-15 OPEN to run. CLOSED to reset a fault condition.
J1-16 OPEN causes and external trip to be received by the control. The control will disable and

display the fault.

2-39INSTALLATION

1
2
3
4
5
6
7
8

9
10
11
12
13
14
15
16
17
18
19
20
21
22

SINE +
SINE –
COSINE +
COSINE –
EXCITATION +
COMMON
SHIELD
NOT USED
A
A
B
B
INDEX
INDEX
NOT USED
COMMON
+24V
OPTO IN POWER
OPTO OUT RETURN #1
OPTO OUT RETURN #2
OPTO OUT RETURN #3
OPTO OUT RETURN #4

ENABLE

FORWARD ENABLE

REVERSE ENABLE

TABLE = SELECT

OPEN=SPEED, CLOSED=TORQUE

CLOSED=PROCESS MODE ENABLED

CLOSED = JOG FORWARD

FAULT RESET

EXTERNAL TRIP

INPUT COMMON

PROGRAMMABLE 0-5V OUTPUT (FACTORY PRESET: SPEED)
PROGRAMMABLE 0-5V OUTPUT (FACTORY PRESET: CURRENT)

J1

23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44

DIFFERENTIAL ± 5VDC, ± 10VDC

OR 4-20 mA INPUT

ANALOG GND
ANALOG INPUT 1
POT REFERENCE

ANALOG INPUT +2

ANALOG INPUT -2

ANALOG OUT 1
ANALOG OUT 2

USER COMMON

OPTO OUT #1
OPTO OUT #2
OPTO OUT #3
OPTO OUT #4

5kOhm COMMAND POT

REFER TO POWERING THE
OPTO-ISOLATED OUTPUTS

RESOLVER
INPUT

INCREMENTAL
POSITION
OUTPUT

MN723H-10/95 11/28/95 1:11 AM Page 51 (Black plate)

Process Mode Control Example

This example shows an inverter or a vector drive controlling an HVAC process where the control will
try to keep the air pressure in the building plenum at a constant pressure regardless of intake or
exhaust restrictions.

This is a "Feedback" only type of control. The air pressure converts the pressure signal to a 4-20 mA
signal to the control. The control is driving a motor. The motor is direct driving a centrifugal fan.

The "Setpoint Potentiometer Adjustment" is used as the "Setpoint Source". It is used to set the
desired air pressure. The control will then try to adjust the "Process Feedback" from the 4-20 mA
transducer to equal the "Setpoint Source".

The advantage of this system over a damper is the cost savings from operation of the motor at
reduced speeds. In a damper system, the motor is running at full speed with all of the associated
motor losses at 60 hertz. This loss is the "no-load" power that it takes to turn the motor at full
speed. This occurs if the damper is fully closed. The best efficiency is obtained with the damper
fully opened with maximum flow. With a variable speed system, such as the inverter, the motor
losses are reduced with a reduction in motor speed. The best motor efficiency is obtained at all
speeds with the variable speed system.

Figure 2-23 HVAC Process Mode Example

2-40 INSTALLATION

Setpoint
Potentiometer
Adjustment

4-20 mA Signal

Setpoint
Source
J1-1,2,3

Baldor Vector/Inverter Drive

Motor

Enc

Available Only
W/Vector

Motor
Output

Motor
Feedback

Process
Feedback
J1-4,5

Third Party
Transducer

Air Pressure Sensor
Output: 4-20 mA

1/4" Hose

Air Pressure
Sense Port

Building Plenum

HVAC Blower

Intake Plenum

MN723H-10/95 11/28/95 1:11 AM Page 52 (Black plate)

Pre-Operation Checklist

Check of Electrical Items

CAUTION: AFTER COMPLETING THE INSTALLATION STEPS AND BEFORE APPLYING

LINE POWER TO THE SYSTEM, DOUBLE CHECK THE FOLLOWING ITEMS:

1. Verify AC line voltage at source matches control rating.

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

3. Verify control and motor are grounded to each other and the control is connected to earth
ground.

4. Check all signal wiring for accuracy.

5. Be certain all brake coils, contactors and relay coils have noise suppression. This should be
an R-C filter for AC coils and reverse polarity diodes for DC coils. MOV type transient
suppression is not adequate.

WARNING: MAKE SURE THAT UNEXPECTED OPERATION OF THE MOTOR SHAFT

DURING START-UP WILL NOT CAUSE INJURY TO PERSONNEL OF
DAMAGE TO EQUIPMENT.

Check of Motors and Couplings

1. Verify freedom of motion for all motor shafts and that all motor couplings are tight without
backlash.

2. Verify the holding brakes if any, are properly adjusted to fully release and set to the desired
torque value.

Temporary Application of Power

1. Double check electrical and mechanical connections before applying power to the control.

2. Verify that any Enable inputs to J1-8 are open.

3. Temporarily apply power and observe that the display is on. If this indication does not occur,
double check all connections and verify input voltage. If fault indication occurs, refer to the
fault table in Section 4 of this manual.

2-41INSTALLATION

MN723H-10/95 11/28/95 1:11 AM Page 53 (Black plate)

Minimum Required Parameter Settings and Control Set-up Checklist

If you are familiar with programming Baldor controls continue below. If not, proceed to Section 3
before applying power to the drive.

NOTE: THIS LIST IS THE MINIMUM REQUIRED PROCEDURE TO PROGRAM THE

CONTROL FOR OPERATION OF THE CONTROL FROM THE KEYPAD FOR
INITIAL START-UP.

1. Set the operating mode to KEYPAD at the Level 1 Input block Operating Mode parameter.

2. Select the desired operating zone for your application into the Level 2 Output Limits block
Operating Zone parameter.

3. Enter the minimum speed in the Level 2 Output Limits block, Minimum Speed parameter.

4. Enter the maximum speed in the Level 2 Output Limits block, Maximum Speed parameter.

5. Enter the following motor data in the Level 2 Motor Data block parameters:
Refer to Section 3-15 Motor Data Block

Motor Rated Amps (IC)
Motor Poles
Resolver Speeds (Pre-set is one speed)

6. Go to the Calc(ulate) Presets parameter in the Auto-tuning parameter block on Level 2. Select
"Yes" for the control to calculate preset values for those parameters you have not
programmed that are necessary for the control to run the motor.

7. Disconnect the motor from the load (including any coupling and/or inertia wheels).

8. Run the following Auto-tuning tests:

Cmd Offset Trim
Cur Loop Comp
Resolver Align
Spd Cntrlr Calc

9. Couple the motor to the load. Then rerun the Spd Control Calc auto-tuning test.

10. Run the drive from the keypad using either the JOG mode, keypad entered speed commands
or speed commands using the arrow keys.

11. Select and program additional parameters to suit your application.

2-42 INSTALLATION

MN723H-10/95 11/28/95 1:11 AM Page 54 (Black plate)

Section 3
Keypad Programming and Operation

Using the Keypad

The programming and basic operation of the control is done with simple keystrokes on the keypad
located on the face of the control. The keypad is used to program the control parameters; to
operate the motor when programmed for the KEYPAD ONLY MODE or the local mode when the
control is programmed to operate in one of the remote modes or the SERIAL MODE; and to
monitor the status and outputs of the control by accessing the display options, diagnostic menus
and the fault log.

3-1KEYPAD PROGRAMMING AND OPERATION

JOG LOCAL PROG

FWD DISP

REV SHIFT ENTER

RESETSTOP

Indicator Lights

JOG - Green Lamp lights
when JOG Speed is active.
FWD - Green Lamp lights when
FWD direction is commanded.
REV - Green Lamp lights when
REV direction is commanded.
STOP - Red Lamp lights when
motor STOP is commanded.

Displays control status including
LOCAL or REMOTE operation,
motor direction command, set
value of each parameter/function,
monitoring values such as output
frequency and current, also
displays fault conditions and log.

LCD DISPLAY

JOG

FWD

REV

STOP

LOCAL

DISP

SHIFT

RESET

PROG

UP

ENTER

DOWN

Used to run
preprogrammed
JOG speed.

Used to initiate a
reverse direction run
of the motor.

Used to toggle
between LOCAL
and REMOTE
operation.

Used to take
access the block
programming area.

Used to initiate a
forward direction
run of the motor.

Used to initiate
a motor stop
command.

Depressing this
key changes the
displayed control
status. Also used
to bring the lower
block programming
menu back to the
monitoring menu.

Used to move
the blinking
cursor over
one space for
each push of
the SHIFT key.

Used to initiate a logical
reset after a fault
condition and to take the
block programming menu
up one level.

Used to take
the block
programming
menu down one
level while saving
any changes.

Used to change
the display
parameter or
parameter value
down one increment.

Used to change
the display
parameter or
parameter value
up one increment.

JOG

MN723H-10/95 11/28/95 1:11 AM Page 55 (Black plate)

Keypad Key Functions

JOG Used to run the motor at the preprogrammed jog speed. After the jog key has

been pressed, use the FWD or REV keys to run the motor in the direction that
is needed. The JOG key is only active in the LOCAL MODE.

FWD Used to initiate a forward direction of motor operation. This key is only active in

the LOCAL MODE.

REV Used to initiate a reverse direction of motor rotation. This key is active only in

the LOCAL MODE.

STOP Used to command a stop. Depending on the setup of the control, the motor will

either ramp or coast to a stop. This key is operational in all modes of operation
unless it has been disabled by the keypad stop parameter in the Keypad
(programming) Setup Block.

NOTE: IF THE CONTROL IS OPERATING IN A REMOTE MODE AND THE STOP KEY

IS PRESSED THE CONTROL WILL CHANGE TO THE LOCAL MODE WHEN
THE STOP COMMAND IS INITIATED. TO RESUME OPERATION IN THE
REMOTE MODE, PRESS THE LOCAL KEY.

LOCAL Push this key to change from REMOTE to LOCAL (keypad) or Local to Remote

operation. When the control is in the LOCAL mode all other external commands
to the J1 terminal strip will be ignored with the exception of the external
trip input.

DISP DISPLAY MODE. Provides operational status and advances to the next menu

item. When in the PROGRAM MODE the DISP key is used to return to the
DISPLAY MODE.

SHIFT Used in the PROGRAM MODE and the output speed setting adjustment. The

SHIFT key moves the blinking cursor one digit for each push of the SHIFT key.
While in PROGRAM MODE, the factory preset value may be reset for any
parameter by pressing the SHIFT key until the arrow symbols at the far left of
the keypad display are flashing, and then pressing an ARROW key. In the

DISPLAY MODE the SHIFT key is used to adjust the keypad contrast.
RESET Used to clear a fault and return to the previous display.
PROG PROGRAM MODE. While in the PROGRAM MODE the PROG key is used to

edit a parameter setting.

3-2 KEYPAD PROGRAMMING AND OPERATION

MN723H-10/95 11/28/95 1:11 AM Page 56 (Black plate)

ARROW KEYS In the LOCAL MODE the ARROW keys are used to increase or decrease the

motor speed. In the PROGRAM MODE the ARROW keys are used to scroll
through the parameter options and to change parameter values.

ENTER Used to provide movement between programming blocks and saving user

entered data. In the DISPLAY MODE it is used to set the speed reference.

AC Servo Parameters

LEVEL 1 BLOCKS

Preset Speeds Jog Settings Input

Preset Speed #1 Jog Speed Operating Mode
Preset Speed #2 Jog Accel Ana Cmd Select
Preset Speed #3 Jog Decel Ana Cmd Inverse
Preset Speed #4 Jog S-curve Ana Cmd Offset
Preset Speed #5 Ana 2 Deadband
Preset Speed #6 Keypad Setup
Preset Speed #7 Keypad Stop Key
Preset Speed #8 Keypad Stop Mode
Preset Speed #9 Keypad Run Fwd
Preset Speed #10 Keypad Run Rev
Preset Speed #11 Keypad Jog Fwd
Preset Speed #12 Keypad Jog Rev
Preset Speed #13 Brushless Control
Preset Speed #14 Output Resolver Align
Preset Speed #15 Opto Output #1 Speed Filter

Opto Output #2 Feedback Align
Accel / Decel Rate Opto Output #3 Current Prop Gain
Accel #1 Opto Output #4 Current Int Gain
Decel #1 Zero Spd Set Pt Speed Prop Gain
S-curve #1 At Speed Band Speed Int Gain
Accel #2 Set Speed Speed Diff Gain
Decel #2 Analog Out #1 Position Gain
S-curve #2 Analog Out #2

Analog #1 Scale

Analog #2 Scale

Position Band

3-3KEYPAD PROGRAMMING AND OPERATION

MN723H-10/95 11/28/95 1:11 AM Page 57 (Black plate)

LEVEL 2 BLOCKS

Output Limits Security Auto Tuning

Operating Zone Security State Calc Presets
Min Output Speed Access Timeout Cmd Offset Trim
Max Output Speed Access Code Cur Loop Comp
Pk Current Limit Resolver Align
PWM Frequency Motor Data Spd Control Calc
Torque Rate Limit Motor Rated Amps

Motor Poles Process Control
Custom Units Resolver Speeds Process Feedback
Decimal Places Process FB Invert
Value at Speed Brake Adjust Set Point Source
Units of Measure Resistor Ohms Set Point Cmd

Resistor Watts Set Point Trim
Protection Proc Err Tolerance
Overload Proc Prop Gain
External Trip Proc Int Gain
Following Error Proc Diff Gain

Follower Input: Output
Miscellaneous Mstr Enc. Lines / Rev
Restart Auto/Man
Restart Fault/Hr
Restart Delay
Factory Settings
Homing Speed
Homing Offset

3-4 KEYPAD PROGRAMMING AND OPERATION

MN723H-10/95 11/28/95 1:11 AM Page 58 (Black plate)

Display Mode

During normal operation the controller is in the DISPLAY MODE and the keypad displays the status
of the control. There are several output status values that can be monitored. When the control is in
the DISPLAY MODE the information shown below is displayed.

In addition, the DISPLAY MODE offers a combined display that gives the value of all output
conditions simultaneously. The DISPLAY MODE also gives the user the ability to view diagnostic
information and the FAULT LOG.

When AC power is applied to the control the keypad should display the status of the control. Also
the fans should be running (if equipped with fans). If there is no display visible , check to make sure
that the brightness and contrast settings for the keypad display are correctly set. Use the following
procedure to adjust the brightness and contrast of the display.

Motor Status Output Condition

Control Operation Value and Units

Adjusting Display Contrast

(Contrast may be adjusted in display mode when motor is stopped or running)

3-5KEYPAD PROGRAMMING AND OPERATION

Action Description Display Comments

Apply Power No visible display

Press DISP Key Ensures control in

display mode

Press SHIFT SHIFT Enables display

contrast adjustment

Press or Key Adjusts display

intensity

Typical display

Press ENTER Saves level of contrast

and exits to display Typical display

BLANK

BLANK

BLANK

STPMOTOR SPEED
LOCAL 0 PRM

STPMOTOR SPEED
LOCAL 0 PRM

OFFMOTOR SPEED
LOCAL Ø RPM

MN723H-10/95 11/28/95 1:11 AM Page 59 (Black plate)

Program Mode

Use the PROGRAM MODE to customize the control to suit a variety of applications by programming
the operating parameters. From the DISPLAY MODE press the PROG key to access the PROGRAM
MODE. To return to the DISPLAY MODE, press the DISP key. Parameters may be programmed in
any operating mode. When a parameter is selected for programming, the keypad display gives you
the following information:

Parameter

Parameter Access: Value and Units

P = Programmable
V = Factory Preset
L = Locked

All programmable parameters are displayed with a P: in the lower left hand corner of the keypad
display. If a parameter is displayed with a V:, the setting is pre-set at the factory and may be viewed
but not changed while the control is enabled. If the parameter is displayed with an L:, the setting is
locked and the security access code must be entered before any changes can be made.

Control Software Descriptions

The following parameters are available within the Series 23H servo control to allow custom tailoring
the drive for different applications. Detailed programming instructions follow the parameter list.

Level 1 Programming Blocks

Preset Speed Block
Preset Speeds #'s 1-15 - These parameters select the preset speed to be output from the

control when the J1 control terminal strip is wired to use preset speeds with an external control
device. A preset speed only sets an operating speed so a motor direction command is required to
start motor rotation. The range of adjustment is from 0 - MAX OUTPUT SPEED.

Accel/Decel Rate Block
Accel Time #1 and Accel Time #2 - Sets the time in seconds for the output speed of the

control to increase linearly to the RPM specified in the MAX OUTPUT SPEED parameter. The range
of adjustment is from 0 - 3600 seconds from minimum speed to maximum speed with a resolution of

0.1 seconds.
3-6 KEYPAD PROGRAMMING AND OPERATION

PRESET SPEED

#1

MN723H-10/95 11/28/95 1:11 AM Page 60 (Black plate)

Decel Time #1 and Decel Time #2 - Sets the time in seconds for the output speed command
to decrease linearly from the maximum speed specified in the MAX OUTPUT SPEED parameter to 0
RPM. The range of adjustment is from 0-3600 seconds with a resolution of 0.1 seconds.

S-Curve #1 and S-Curve #2 - Sets the ACCEL/DECEL rate as a percent of the total time
programmed for acceleration and deceleration. Acceleration is equal to one-half the "S" curve
percentage and deceleration is equal to the remaining one-half of the "S" curve percentage. Adding
"S" curve to a linear ramp will smooth the start from 0 speed; will smooth the transition from
accelerating to running speed; and vice-versa. The range of adjustment is OFF - 100%. OFF
represents no "S" with 100% being full "S" with no linear segment between the beginning and
ending "S" segments.

Jog Settings Block
Jog Speed - This is the speed command in RPM the control outputs when a JOG command is

given from a remote input or the keypad JOG key.

NOTE: THE JOG COMMAND ONLY SETS THE JOG SPEED DESIRED. THE JOG

FUNCTION WILL NOT START UNTIL A DIRECTION OF ROTATION
(FWD/REV) COMMAND IS PROVIDED AT EITHER THE KEYPAD WHEN
OPERATING IN THE LOCAL MODE OR AT THE J1 TERMINAL STRIP WHEN
OPERATING IN THE REMOTE MODE. THE RANGE OF ADJUSTMENT IS
0 - MAX OUTPUT SPEED PARAMETER SETTING.

Jog Accel Time - Sets the time in seconds for the JOG speed to linearly increase from 0 RPM to

the RPM set in the MAX OUTPUT SPEED parameter. The range of adjustment is 0 - 3600 seconds
with a resolution of 0.1 seconds.

Jog Decel Time - Sets the time in seconds for the JOG speed to decrease linearly from the MAX
OUTPUT SPEED parameter setting to 0 RPM. The range of adjustment is 0-3600 seconds with a
resolution of 0.1 seconds.

Jog S-Curve Time - Set the ACCEL/DECEL rate of the JOG speed command as a percent of the
total time programmed for JOG acceleration and deceleration. Acceleration is equal to one-half the
"S" curve percentage and deceleration is equal to the remaining one-half of the "S" curve
percentage Adding "S" curve to a linear ramp will smooth the start from 0 speed; will smooth the
transition from accelerating to running speed; and vice-versa. The range of adjustment is OFF ­100%. OFF represents no "S" with 100% being full "S" with no linear segment between the
beginning and ending "S" segments.

Keypad Setup Block
Keypad Stop Key - This parameter enables or disables the keypad stop key when operating the

control remotely through the J1 terminal strip. The selection available is Remote On or Remote Off.

3-7KEYPAD PROGRAMMING AND OPERATION

MN723H-10/95 11/28/95 1:11 AM Page 61 (Black plate)

The factory preset is Remote On. Pressing the Stop Key (if programmed active) while in remote
control automatically selects LOCAL mode of operation to prevent a restart command.

Keypad Stop Mode - Selects if the motor will "coast" or "regen" to a stop. In the coast mode
power to the motor will be turned off and the motor will coast to a stop. In the regen mode, the
motor will be decelerated to a stop within the time specified in the DECEL TIME parameter.

NOTE: IN THE REGEN MODE THERE IS A POSSIBILITY OF CAUSING AN OVER

VOLTAGE TRIP CAUSED BY DECELERATING THE MOTOR AT A RATE
FASTER THAN IT WOULD COAST TO A STOP. UNDER THESE CONDITIONS,
THE MOTOR GENERATES POWER BACK INTO THE CONTROL. IF A FAULT
IS EXPERIENCED, INCREASE THE DECEL TIME PARAMETER. IF A FAULT
STILL EXISTS AT THE MAXIMUM DECEL TIME ALLOWABLE IN YOUR
APPLICATION, AN OPTIONAL EXTERNAL DYNAMIC BRAKING KIT OR
ASSEMBLY IS REQUIRED.

Keypad Run FWD - Enables or disables the FWD key during LOCAL operation. The choice is

ON or OFF.

Keypad Run REV - Enables or disables the REV key during LOCAL operation. The choice is

ON or OFF.

Keypad Jog FWD - Enables or disables the "FWD" key during a LOCAL jog operation. The

choice is ON or OFF.

Keypad Jog REV - Enables or disables the REV key during a LOCAL jog operation. The

choice is ON or OFF.

Input Block
Operating Mode - Selects the basic operation of the control including functions of the input and

output terminals on the J1 terminal strip. The Series 23H control has several modes of operation to
suit various application requirements. Please refer to the servo control connection diagrams to
determine which operating mode is right for your application. The choices from which you can select
are: Keypad (only), Standard Run, 15 speed, Bipolar, Process and Serial. The factory preset is
Keypad.

Command Select - Selects and scales the type of external speed reference command you input to
the control. The possible values are Potentiometer, +/- 10 vdc, +/- 5 vdc, 4-2OmA, 10 volt W/EXT
CL (with differential command present at J1-4 and J1-5 this selection allows additional input at J1-1,
2, and 3 which allows reduction in programmed current limit for torque trimming during operation),
10Volt W/TORQ FF (with differential command at J1-4 and J1-5 this selection allows additional
torque feedforward input at J1-1, 2, and 3 to set predetermined amount of torque inside the rate
loop with high gain settings), EXB PULSE FOL (pulse follower expansion board), 10Volt EXB (high
resolution expansion board), 3-15PSI (expansion board), Tachometer (expansion board), Serial
Communication (expansion board), Fixed parameter (process mode), or none. The factory preset is
+/- 10 vdc.

3-8 KEYPAD PROGRAMMING AND OPERATION

MN723H-10/95 11/28/95 1:11 AM Page 62 (Black plate)

NOTE: WHEN USING A 4-2OMA INPUT, JUMPER JP1 ON THE MAIN CONTROL

BOARD MUST BE MOVED TO THE LEFT TWO PINS.

ANA CMD Inverse - This parameter inverts the analog input command. Choice is ON or OFF.

When set to ON the control recognizes a high level command signal as a low speed output
command and a low level command signal as a high speed output command. When OFF low signal
is low speed and high signal is high speed output command. The factory preset is OFF.

ANA CMD Offset - This parameter permits the adjustment of the analog input command zero
reference point on Analog Input No. 2 at J1-4 and J1-5. The setable range is -20% to + 20%. The
factory preset is 0%. Used to set 4mA equal to zero speed.

ANA 2 Deadband - Sets a band above and below the zero command signal level to which the
control will not respond. The available range is 0-10.00 Volts. The factory preset is 0.00 volts.

Output Block
Opto Output #I- #4 - These parameters select the output of the optically isolated outputs

available at the J1 control terminal strip to represent various control operating conditions. The opto
outputs are digital outputs meaning there are two possible operating states, either on or off. The
opto outputs are useful in applications where a higher level controller is monitoring the operation of
the control to make process decisions based on the operating status of the control.

These outputs can also interlock with auxiliary hardware including mechanical brakes, bypass
contactors or to signal an operator when various operating conditions are present. Available outputs
include; Ready, Zero speed, At speed, At set speed, Overload, Keypad control, Fault, Following err,
Drive on, Cmd direction, At position, Overtemp, Warn, and Motor direction. The factory preset
selections for each opto output are: Ready, Zero speed, At speed, and Fault.

Zero Speed SPD Set Pt - Sets the speed in RPM at which an opto output programmed to output
zero speed, will turn on. When the output speed of the control goes below the speed programmed
into the zero speed setpoint parameter the opto output will turn on. The range of adjustment is 0­MAX OUTPUT SPEED. Factory preset value is 200 RPM.

At Speed Band - Sets the speed tolerance in RPM of the Set Speed Point at which the opto turns
on. If the Set speed point is 1000 RPM and the At Speed Band is 100 RPM the At Speed opto
output will turn on at 900 RPM. The range of adjustment is 0-1000 RPM. Factory preset value is
100 RPM.

Set Speed Point - Sets the output speed where the Set Speed opto output turns on. When the
speed of the drive goes above the programmed Set Speed Point, the opto output will turn on. The
range of adjustment is 0-MAX OUTPUT SPEED. The factory preset is rated motor speed.

Analog Out #1 and #2 - These parameters set the operating condition (programmable choice
from list below) at which the analog output(s) located on the J1 terminal strip will provide a linear 0-5
vdc signal response. The analog outputs are useful in applications for monitoring current operating
conditions in some higher level controller or to drive remote analog meters for operator reference.

3-9KEYPAD PROGRAMMING AND OPERATION

MN723H-10/95 11/28/95 1:11 AM Page 63 (Black plate)

Available selections include; ABS Speed, ABS Torque, Speed command, PWM voltage, Flux
current, CNM flux current, Load current, Motor current, Load component, Quad voltage, Direct
voltage, AC voltage, Bus voltage, Torque, Power, Velocity, Overload, PH2 current, PH3 current, and
position.

Analog Scale #1 and #2 - Scales the percent of maximum 5 vdc output to represent the max
condition value. This feature is useful to set a zero value on remote meters or changing the scale
value of digital meters. The range is 10-100 % of the 5 vdc output. Factory preset is 100%.

Position Band - This parameter sets the acceptable range in digital counts (pulses) at which the
At-Position opto output turns on. The range of adjustment is 0-32767 counts. Factory preset is a
calculated value based on the pulse count of the encoder being used.

Brushless Control Block
Resolver Alignment - A numerical alignment value between the motor and the resolver set by the

auto tuning procedure. The factory preset value is 22.3 degrees and is correct for all standard Baldor
BSM motors.

Speed Filter - Sets the number of scans by the control microprocessor to filter the resolver signal
input to the control. It is automatically set to suit the resolver resolution. The preset filter may be
reduced to obtain smoother low speed operation. The higher the number, the more filtered the signal
but at the cost of reduced bandwidth. Preset value is calculated by the control. The range of
adjustment is 0 - 7.

Feedback Align - Sets the resolver’s electrical direction of rotation to match that of the motor. It
can be either forward or reverse. The factory preset is forward.

Current Prop Gain - This parameter sets the current loop proportional gain. The range of
adjustment is 0-255. The factory preset is 20.

Current lnt Gain - This parameter sets the current loop integral gain. The range of adjustment is
0-100. The factory preset is 50.

Speed Prop Gain - This parameter sets the speed (velocity) loop proportional gain. The range of
adjustment is 0-255. The factory preset is 10.

Speed Int Gain - This parameter sets the speed (velocity) loop integral gain. The range of
adjustment is 0-9.99 Hz. The factory preset is 1.00 Hz.

Speed DIFF Gain - This parameters sets the speed (velocity) loop differential gain. The range of
adjustment is 0-100 with the factory preset being 0.

Position Gain - This parameter sets the position loop proportional gain. The range of adjustment is
0-9999. The factory preset is a calculated value.

3-10 KEYPAD PROGRAMMING AND OPERATION

MN723H-10/95 11/28/95 1:11 AM Page 64 (Black plate)

Level 2 Programming Blocks

Output Limits Block
Operating Zone - This parameter sets up the Operating Zone of the control for Standard PWM

output bridge carrier frequency (2.5KHz) or Quiet PWM output bridge carrier frequency (8.0KHz) in a
Constant Torque mode which has a 200% 3 second with a 150% 60 second peak overload capacity
or a Variable Torque mode which has a 115% peak overload capacity for 60 seconds. Selection of
an Operating Zone automatically sets the PWM frequency, motor rated amps and peak current limits
to the values listed on the control's nameplate output rating for the zone selected. Note, the
control's power rating can change depending on which zone is selected.

Standard PWM zones should be selected for applications requiting maximum power output from the
control. Quiet PWM operating zones should be selected if quiet motor operation is desired.
Constant Torque zones should be selected if the application requires overload current of more than
115% of the control's rating. Variable Torque zones should be selected if the application requires
minimal overload current of 115% or less of the control continuous rating.

The available Operating Mode selections are STD CONST TQ, STD VAR TQ, QUIET CONST TQ,
QUIET VAR TQ. The factory preset is QUIET CONST TQ.

Min Output Speed - Sets the desired minimum motor speed in RPM. The available range is
0-maximum speed. The scaling of an external speed command signal will also be affected to the
extent that a minimum speed command will represent will represent the minimum output speed.
During operation, the output speed will not be allowed to go below the minimum output speed
unless the motor is starting from 0 RPM or is ramped (dynamically braked) to a stop. The factory
preset is 0 RPM.

Max Output Speed - Sets the desired maximum motor speed in RPM. The scaling of an external
speed command signal will also be affected to the extent that a maximum speed command will
represent the maximum output speed. The available range is 0-32767 RPM. The factory preset is
Rated Motor Speed.

Pk Current Limit - Sets the maximum output current in amps that will be provided to the motor.
The adjustable range is peak rated current. Values above 100% of the rated continuous current are
available depending upon selected operating Zone. The factory preset is the Constant Torque
Operating Zone peak current rating for the control.

PWM Frequency - Sets the switching rate of the output (inverter) section power transistors. The
PWM frequency can be increased to minimize audible noise that may be present at the motor. In
general, the PWM frequency should be set as low as possible to minimize the stress on the output
transistors and motor windings. PWM frequency is also called "carrier frequency". This parameter is
set initially when the Operating Zone is programmed. This setting can be changed to the limits of
the operating zone which are: 1-5KHz in the Std Const Tq and Std Var Tq zones and; 1-16KHz in
the Quiet Const Tq and Quiet Var Tq operating zones. The factory preset is 8.0KHz which is the
nominal value for the Quiet Const Tq operating zone.

3-11KEYPAD PROGRAMMING AND OPERATION

MN723H-10/95 11/28/95 1:11 AM Page 65 (Black plate)

Torque Rate Limit - Limits the rate of change of a torque command. The adjustable range is from
0-10.00 seconds. The factory preset is 0.00 seconds.

Custom Units Block

The custom units block parameters are used to set up a keypad Output Rate display of units that are
meaningful to your operation. The Output Rate display is only available if the Value At Speed
parameter has been changed from a value of 0. To see the Output Rate display press the Display
key until Output Rate is shown. The following parameters are used to set up the Output Rate
display:

Decimal places - This parameter sets the maximum number of decimal places that will be shown I
the Output Rate keypad display. The Output Rate display is only available if the Value At Speed
parameter has been changed from a value of 0 . To see the Output Rate display depress the Display
key scrolling though the displays that are there until Output Rate is shown.

The number of decimal places will automatically be reduced for large values in the Output Rate
display. The actual number displayed is determined by the value programmed into the Value At
Speed parameter. The range of available decimal places is 0-5. The factory setting is 0.

Value at Speed - Sets the desired output rate per RPM of motor speed. There are two numbers
displayed on the keypad that are separated by a slash. The left number is set first. It is the value
you want the keypad to display at a specific motor speed. Then set the right number to the RPM
corresponding to the units in the left number. A decimal may be inserted into the numbers by
placing the flashing cursor over the up/down arrow. The left and right numbers may range from 0-

65535. The factory set values are 0/0.
Units of Measure - This parameter allows customization of the units of measure displayed in the

Output Rate display. To adjust, first select the character to be programmed by scrolling through the
available selection using the SHIFT key and the arrow keys.

If the desired selection is not shown in the character set in the display, move the flashing cursor to
the special Up/Down arrow character on the far left side of this keypad display using the SHIFT key.
Once the cursor is on the special Up/Down arrow character in the display, the Up/Down arrow keys
themselves can be used to select a different character set that will appear on the top line of the
keypad display. There are 9 different character sets that can be accessed. Now the desired
character can be programmed using the SHIFT and the arrow keys along with the ENTER key to
save your selection.

Pr

otection Block

Overload - This parameter setting determines if the control will trip off (FAULT), or automatically

reduce the output current below the continuous output level (FOLDBACK) if a motor overload
condition occurs. If "FAULT" is selected the control will need to be Reset if an overload condition
occurs and the control trips off. If continuous operation is desired, even in momentary overload
conditions, the control should be set to "FOLDBACK". If the Overload parameter is set to
"FOLDBACK" the output current will automatically reduce below the continuous output level until the
overload condition is corrected or eliminated. The factory preset is "FAULT".

3-12 KEYPAD PROGRAMMING AND OPERATION

MN723H-10/95 11/28/95 1:11 AM Page 66 (Black plate)

NOTE: THE FOLDBACK SELECTION MAY NOT BE AVAILABLE ON SOME EARLY

VERSIONS OF SOFTWARE.

External Trip - This parameter programs the control to expect to see a Normally Closed (NC)

switch at the external trip input terminal at the main control board's terminal strip. The choice is to
turn it ON or turn it OFF. If tur ned ON, the control will shut down if the circuit tied into the External
Trip Input opens. This is useful for connecting a motor overload thermostat.

Following Error - Following error is the programmable tolerance for the At Speed opto-isolated
output. This parameter determines if the control will monitor the amount of following error that
occurs in an application or it will ignore it. This parameter can be set to ON or OFF. The factory
setting is OFF.

Miscellaneous Block
Restart Auto/Man - Used to set the restart feature of the control to be AUTOMATIC or MANUAL

when a fault or a power failure occurs. MANUAL should be chosen to disable the auto restart
function. The factory preset is MANUAL.

Restart Fault/Hr - Sets the maximum number of automatic restart attempts that will be allowed
before the control will require a manual restart. This feature is useful in applications that require
unattended operation and automatic operation even in the event of various fault conditions such as
unscheduled power outages. After one hour without reaching the programmed maximum # of
faults, the number of allowable restarts will be reset to the value specified in the # of Restarts
parameter. The range of adjustment is 0-10 restart faults/hr. The factory preset is 0.

Restart Delay - Sets the amount of time in seconds between a fault and an attempted automatic
restart. This feature is useful in setting a sufficient time period for a fault to be cleared before an auto
restart is attempted. The range of adjustment is 0-120 seconds. The factory preset is 0 seconds.

Factory Settings - This parameter can be activated by selecting YES which is done by pressing
the Up arrow key followed by an ENTER keystroke. This function is used to reset all parameters to
the factory preset values should drive operation become unstable, erratic or unpredictable. The
display will say "operation done" when the values have been reset. This parameter is not preset or
permanently programmable. It must be accessed each time a return to factory settings is desired.

Homing Speed - In the BIPOLAR and SERIAL Operating Modes, this control features an ability to
rotate (ORIENT) the motor shaft to a "home" position when the Orient input switch on the controls
main terminal strip is activated. This parameter sets the speed at which the motor will rotate in the
Forward direction when the Orient input switch is closed. The speed can be faster or slower than
your "normal" operating speed. The range of adjustment is 0-MAX SPEED. The factory preset is
100 RPM.

3-13KEYPAD PROGRAMMING AND OPERATION

MN723H-10/95 11/28/95 1:11 AM Page 67 (Black plate)

Homing Offset - This parameter sets distance past the index marker at which the motor will stop.
The distance is set by the number of digital pulses that the control expects before stopping motor
rotation. The 23H control has 4096 digital pulses per resolver speed per revolution of the motor
shaft. The recommended minimum offset is at least 100 encoder counts to provide deceleration
distance to allow the motor to smoothly stop. The range of adjustment is 0-65535 counts.

Security Control Block
Security State - This parameter determines if a security code will be required to change protected

programming parameters. There are three levels of security code that may be imposed with this
parameter as well as the option to turn this function OFF. The three levels of security are LOCAL,
SERIAL AND TOTAL.

If set to LOCAL security, a security code must be entered before parameter changes can be made
from the keypad.

NOTE: THE USER CAN PRESS THE PROG KEY AND SCROLL THROUGH THE

PARAMETERS ALREADY PROGRAMMED BUT CAN NOT CHANGE THEM.
THE USER WILL BE PROMPTED FOR THE SECURITY ACCESS CODE
BEFORE THE CONTROL WILL ACCEPT A PARAMETER CHANGE.

If set to SERIAL security, a security code must be entered before parameter changes can be made
through the serial communication link.

NOTE: THE USER CAN PRESS THE PROG KEY AND SCROLL THROUGH THE

PARAMETERS ALREADY PROGRAMMED BUT CAN NOT CHANGE THEM.
THE USER WILL BE PROMPTED FOR THE SECURITY ACCESS CODE
BEFORE THE CONTROL WILL ACCEPT A PARAMETER CHANGE.

If set to TOTAL security, a security code must be entered from the keypad or the serial
communication link before changes can be made to protected parameters.

NOTE: THE USER CAN PRESS THE PROG KEY AND SCROLL THROUGH THE

PARAMETERS ALREADY PROGRAMMED BUT CAN NOT CHANGE THEM.
THE USER WILL BE PROMPTED FOR THE SECURITY ACCESS CODE
BEFORE THE CONTROL WILL ACCEPT A PARAMETER CHANGE.

Setting the Security State to OFF will defeat the security system. The factory setting for this
parameter is OFF.

Access Timeout - With any of the 3 types of security enabled, the security access code is
required before Parameter changes will be accepted in the Program mode. Assuming the security
code has been entered and parameters have been changed and accepted, the user can verify the
effect the parameter change(s) have on control operation by going to the display mode by pressing
the DISP key. If additional changes then need to be made, the Access Timeout feature allows the

3-14 KEYPAD PROGRAMMING AND OPERATION

MN723H-10/95 11/28/95 1:11 AM Page 68 (Black plate)

user some time to make the change without having to re-enter the security code. The amount of
time allowed is this Access Timeout parameter. The parameter sets the amount of time the user will
have to make changes without re-entering the security code. The amount of time is user
programmable and may be anywhere from 0-600 seconds. The programmed time starts upon
leaving the Program mode. The factory preset time is 0 seconds, which disables the Access
Timeout.

Access Code - This parameter sets the security access code. If you choose to implement a
security access code be sure to write the number down in a secure location. The security access
code can be any number from 0000-9999. When changing the Access Code number parameter
the new number will not be displayed. The factory preset is 9999. If you cannot gain entry into the
security area to change a parameter. Please contact BALDOR. Be prepared to give the five digit
code located on the lower right hand side of the keypad display when prompted for a security code.
We can then assist in determining your access code number.

Motor Data Block
Motor Rated Amps - Program in the motor's nameplate continuous rated current. This

parameter also sets the continuous output current to the motor. If the output current fed to the
motor exceeds the value in the Motor Rated Amps parameter for an extended period of time, the
control will trip off with an overcurrent or overload fault. The factory setting is the continuous current
rating of the control for the factory set operating zone.

Motor Poles - Program in the number of motor poles. Factory setting is 4 poles. The listing below
is a table for standard Baldor BSM motors.

Resolver Speed - This parameter sets the speed of the resolver. The range of resolver speeds that
can be selected are 0 - 10. The factory setting is 1 speed. All standard BSM motors use 1 speed
resolvers and this parameter would not normally need to be changed.

3-15KEYPAD PROGRAMMING AND OPERATION

NUMBER OF

MOTOR POLES

BSM63, BSM80 4
BSM90, BSM100 8
BSM4F, BSM6F,

8

BSM8F
BSM2R, BSM3R,

4

BSM4R
BSM6R 6

MN723H-10/95 11/28/95 1:11 AM Page 69 (Black plate)

Brake Adjust Block
Resistor Ohms - This sets the Dynamic Braking Resistor value in Ohms. The dynamic braking

resistor can be internal (-E models) or external using optional RG, RGA or RBA assemblies. Care
should be exercised in selecting the proper amount of minimum resistance. Refer to Section 2 of
this manual for dynamic braking information. If dynamic braking is not used set the Resistor Ohms
to 0. The range of adjustment is 0-255 Ohms. The factory preset is 0. The last 2 digits of On RG,
RGA or RBA assembly catalog number is the resistor ohms.

Resistor Watts - This sets the wattage value of the dynamic braking resistor(s). The dynamic
braking resistor can be internal (-E models) or external using optional RG, RGA or RBA assemblies.
Care should be taken in selecting the proper amount of power dissipation in watts. Refer to Section
2 of this manual for dynamic braking information. If dynamic braking is not used set the Resistor
Watts to 0. The range of adjustment is 0-32767 watts. The factory preset value is 0. The first 2 digits
of RG, RGA, or RBA assembly catalog number times 100 is the resistor watts.

Process Control Block
Process Feedback - This parameter sets the source that will be used for process feedback input

to the control. The available selection includes: potentiometer, +/- 10 vdc, +/- 5 vdc, 4-20mA when
using the standard control without optional expansion boards; 0-10 vdc or 4-2OmA via the optional
High Resolution Expansion board, 3-15 PSI via an optional expansion board, or the optional
Tachometer expansion board.

Process Inverse - This parameter inverts the feedback source in a unipolar fashion. This
parameter is intended to be used with reverse acting processes that use a unipolar signal such as 4­20mA where 20mA will decrease speed and 4mA will increase motor speed. This parameter can be
turned ON or OFF. The factory preset is OFF.

Setpoint Source - This parameter selects the source to which the process feedback will be
compared and controlled. The available choices are: potentiometer, +/- 10 vdc, +/- 5 vdc, 4-2OmA
when using the standard control without optional expansion boards; 0-10 vdc or 4-20mA via the
optional High Resolution Expansion board, 3-15 PSI via an optional expansion board, a tachometer
via an expansion board, serial via an optional serial communication expansion board or a FIXED
(software) PARAMETER which requires implementing the Setpoint Command parameter. The factory
preset is FIXED PARAMETER.

Setpoint Command - This parameter is used only when the Setpoint Source is a FIXED
PARAMETER. This parameter is the input setpoint value that the control will try to maintain by
adjusting the motor speed. This parameter is scaled as a percentage of the process feedback input.
The programmable range is -100% to +100.0 % . The factory preset is 0.00%.

3-16 KEYPAD PROGRAMMING AND OPERATION

MN723H-10/95 11/28/95 1:11 AM Page 70 (Black plate)

Set Pt Adj Limit - This parameter sets the maximum speed correction the motor will make in
response to the maximum feedback setpoint error. The parameter is programmed as a +/­percentage of the Max Motor Speed parameter. For example, if the Max Motor Speed is 175O
RPM, the setpoint feedback error is 100% and the Setpoint Adjustment Limit is programmed to be
10%, the maximum speed the motor will run in response to the setpoint feedback error is +/- 175
RPM. The range of adjustment is 0-100%. The factory preset value is 10%.

Procss Err Tol - Sets the width of the band above and below the setpoint command value with
which the process input is compared to turn on an opto-isolated output. When the process input is
within the band, the "AT SETPOINT" logic output will be closed. This function is useful for indicating
an out of control process. The range of adjustment is 0-100%. The factory preset value is 10%.

Process Prop Gain - This parameter adjusts how much the control will adjust the motor speed
to move the analog input to the setpoint value proportional to the error. The range of adjustment is
0-2000. The factory setting is 0.

Process Int Gain - This parameter adjusts how fast the control will adjust the motor speed to
move the analog input to the setpoint value for the steady state error. The adjustable range is 0 to

9.99 Hz. The factory preset is 0.00 Hz.
Process Diff Gain - This parameter adjusts how much the control will adjust the motor speed to

move the analog input to the setpoint value proportional to the rate of change of the dynamic error.
The range of adjustment is 0-100. The factory setting is 0.

Follow l:O Ratio - This parameter is only used when the optional Master Reference Isolated
Pulse Follower expansion board is used. It sets the ratio for a "follower" in encoder quadrature
counts that are received on the Master Pulse Reference /Isolated Pulse Follower board to the
commanded motor quadrature counts. For example, suppose the encoder you are following (which
would be called the master) has a 1024 count encoder on it and the motor on the follower control
you are now programming also has a 1024 count encoder on it. If you want to run twice the speed
of the master motor, you would program a 2:1 ratio in the follower control. The range of ratios is
1-65535:1-65535. The factory setting is 1:1. In the Serial mode this parameter sets only the Master
of the Ratio. In the Serial mode the follower of the ratio is set in the Follow I:O out parameter.

Follow I:O Out - This parameter is used only in the Serial Operating mode when using the optional
Master Reference/Isolated Pulse Follower expansion board. It sets the Follower ratio of encoder
counts that are output to the motor as the command. The Master ratio is set by the Follow I:O Ratio
parameter in the Serial Mode.

Master Encoder - This parameter is only used when the optional Master Reference/Isolated
Pulse Follower optional expansion board is used. This parameter defines the pulses per revolution
the Master Encoder has. This parameter is required to program the Follower Input:Output ratio
parameter. The range of encoder pulses per rev is 20-65535. The factory preset is 1024.

3-17KEYPAD PROGRAMMING AND OPERATION

MN723H-10/95 11/28/95 1:12 AM Page 71 (Black plate)

Auto-Tuning Block

NOTE: OCCASIONALLY THE AUTO-TUNING TESTS CANNOT BE RUN ON AN

APPLICATION. THIS MAY BE BECAUSE THE LOAD CANNOT BE
UNCOUPLED FROM THE MOTOR OR SOME OTHER REASON. IF THIS IS
THE CASE, THE CONTROL CAN BE MANUALLY TUNED BY
PROGRAMMING IN THE NECESSARY PARAMETER VALUES BASED ON
CALCULATIONS YOU DO. REFER TO MANUALLY TUNING THE CONTROL
IN TROUBLESHOOTING SECTION 4 OF THIS MANUAL FOR INFORMATION
ON HOW TO DO THIS.

ALL AUTOTUNING PROCEDURES DESCRIBED BELOW SHOULD BE RUN IN
A NO-LOAD CONFIGURATION. THE LOAD SHOULD THEN BE COUPLED TO
THE MOTOR AND THE LAST TEST RERUN WITH THE MOTOR LOADED.

Calc Presets - This procedure loads into memory the Factory preset values for parameters that are

not required to be loaded by the customer but are needed to run these tests. This test must always
be run.

Cmd Offset Trim - This is the second autotuning test. It trims out any voltage offsets on the
differential input command at main control board terminals J1-4 and J1-5. It does not trim the
analog pot input at terminals J1-1, J1-2 and J1-3.

Cur Loop Comp - This is the third autotuning test. This procedure measures current response to
commanded pulses of one-half the rated motor current.

Resolver Align - This fourth auto-tuning test procedure checks the electrical alignment of the
resolver with respect to the motor stator. this test locks the motor rotor into a reference position and
then proceeds to check and re-adjust if necessary, the factory setting of the resolver.

SPD Cntrlr Calc - This last autotuning test. If possible, it should be performed with the load
coupled to the drive. This procedure accelerates the motor to measure the current to acceleration
ratio. It also adjusts Speed Controller Integral Gain and Speed Controller Differential Gain. If this
autotuning procedure is done with no load, it will generally set the Speed Controller Integral Gain too
high for high inertia motors and loads if the Current Limit parameter is set too low. If the control is
too responsive when the drive is loaded, set the Current Limit to the proper higher value and rerun
this procedure.

3-18 KEYPAD PROGRAMMING AND OPERATION

MN723H-10/95 11/28/95 1:12 AM Page 72 (Black plate)

Accessing Parameter Blocks for Programming

Use the following procedure to access parameter blocks to program the control.

3-19KEYPAD PROGRAMMING AND OPERATION

Action Description Display Comments

Apply Power Display illuminates Logo display for

for 5 seconds

If no fault present and
programmed for local

Display Mode

operation
If no fault present and

programmed for remote Display Mode
operation

If fault is displayed see
troubleshooting chapter

Program block

Press PROG Key [ENTER] accesses

preset speed
adjustments

Press or Key Scroll to next program

block desired

[ENTER] accesses
level 2 blocks

Press ENTER Return to display [ENTER] returns to
Key mode display mode

Returned to display Typical Display
mode

B A L D O R

MOTORS & DRIVES

STPMOTOR SPEED
LOCAL 0 RPM

STPMOTOR SPEED
REMOTE 0 RPM

PRESS ENTER

FOR

PRESS ENTER

FOR

PRESS ENTER

FOR

PRESS ENTER

FOR

STOP MOTOR

SPEED

MN723H-10/95 11/28/95 1:12 AM Page 73 (Black plate)

Programming or Changing Parameters
when Security Code Not Used

Use the following procedure to program or change a parameter already programmed into the control
when a security code is not being used. Example below changes operating mode from keypad to
bipolar.

3-20 KEYPAD PROGRAMMING AND OPERATION

Action Description Display Comments

Apply Power Display illuminates Logo display for

for 5 seconds

Press PROGKey Enter program mode

First programming

Press or Key Scroll to INPUT block display

[ENTER] accesses

Press ENTER Key

INPUT block
parameters

Press PROGKey Allows operating mode Keypad mode is

selection factory preset

Press Key Scroll through

available range to Typical selection
make selection

Press ENTER or Saves selected parameter
PROG Key to memory

Press Key Scroll to EXIT

block

Press ENTER Key Return to start

of Input block

Press DISP Key Return to display Typical display

mode

B A L D O R

MOTORS & DRIVES

STPMOTOR SPEED
LOCAL 0 RPM

STPMOTOR SPEED
REMOTE 0 RPM

PRESS ENTER

FOR

OPERATINGMODE
P: KEYPAD

OPERATINGMODE
P: BIPOLAR

PRESS ENTER

FOR

PRESS ENTERFOR

INPUT

PRESS ENTER

FOR

OPERATING MODE
P: BIPOLAR

STP 0V 0

RPM

MN723H-10/95 11/28/95 1:12 AM Page 74 (Black plate)

System Security

Access to programmed parameters can be protected by use of the security code feature. Security is
enabled, and the security code is defined by setting the parameters in the Level 2 Security Control
programming block.

The type of security is selected by choosing either OFF, LOCAL, SERIAL, or TOTAL in the Security
State parameter. Selection of the type of security state dictates the type of operating mode that is
protected by the security system.

Parameters that are restricted by system security will be marked with an L: in the lower left corner of
the keypad display. To program or change a locked parameter refer to the "Programming or
Changing Parameters with a Security Code in Use" procedure in this section.

NOTE: THE ACCESS TIMEOUT PARAMETER SETS THE AMOUNT OF TIME THE

USER CAN EXIT THE PROGRAM MODE TO GO TO THE DISPLAY MODE
AND THEN RETURN TO THE PROGRAM MODE WITHOUT HAVING TO
RE-ENTER THE SECURITY CODE (NORMAL SEQUENCE TO SEE THE
EFFECT OF PROGRAMMING CHANGE). THE AMOUNT OF TIME ALLOTTED
IS PROGRAMMABLE AND BEGINS UPON EXITING THE PROGRAM MODE.

To implement and access the system security use the procedures which follow.

3-21KEYPAD PROGRAMMING AND OPERATION

MN723H-10/95 11/28/95 1:12 AM Page 75 (Black plate)

Program or Change Security System

3-22 KEYPAD PROGRAMMING AND OPERATION

ACTION DESCRIPTION DISPLAY COMMENTS

Logo display

Apply Power

5 seconds

No faults present,
Local keypad mode.

Display mode

If in Remote/Serial mode,
Press LOCAL for this display

First display in

Press PROG Key Enter programming mode program mode

Press Key

Scroll to LEVEL 2 BLOCK
entry display

Press ENTER Key

Access LEVEL 2 programming
blocks

Press Key

Scroll to SECURITY
CONTROL block

Press ENTER Key

Enter SECURITY CONTROL
block

Press Key Scroll to ACCESS CODE

Press ENTER Key

Enter ACCESS CODE
parameter

Press Key Select ACCESS CODE

- denotes blinking

Example: 8999

cursor

Press ENTER Key Save ACCESS CODE parameter

Display will not show
user access code ­record for future

Press Key Scroll back to SECURITY STATE reference

Press ENTER Key

Access security parameter - denotes

blinking

cursor

Press Key Select LOCAL SECURITY

option

Can select total
or serial security

Press ENTER Key Save LOCAL SECURITY

ACCESS CODE
P: 8 999 9999

SECURITY STATE

LOCAL

SECURITY STATE
P : OFF

B A L D O R

M O T O R S & D R

STOP MOTOR

SPEED

PRESS ENTER

FOR

PRESS ENTER

FOR

SECURITY STATE
L : LOCAL

ACCESS CODE
P: 9999 9999

ACCESS CODE
P: 9999

STOP MOTOR

SPEED

ACCESS CODE
P: 9999

SECURITY STATE
P: OFF

PRESS ENTER

FOR

PRESS ENTER

FOR

SECURITY STATE

OFF

Action Description Display Comments

MN723H-10/95 11/28/95 1:12 AM Page 76 (Black plate)

Program or Change the Security System
Access Timeout Parameter

3-23KEYPAD PROGRAMMING AND OPERATION

ACTION DESCRIPTION DISPLAY COMMENTS

Logo display

Apply Power

5 seconds

No faults present,
Local keypad mode.

Display mode

If in Remote/Serial mode,
Press LOCAL for this display

First display in

Press PROG Key Enter programming mode program mode

Press Key

Scroll to LEVEL 2 BLOCK
entry display

Press ENTER Key

Access level 2 programming
blocks

Press Key

Scroll to SECURITY
CONTROL block

Security state previously
set to LOCAL security

Press ENTER Key Enter security control

All parameters are locked

block

Press Key Scroll to ACCESS

- Denotes blinking

TIMEOUT Parameter

cursor.

Press ENTER Key Attempt to enter ACCESS Ignore the 5 numbers

TIMEOUT Parameter to the right.

Enter your SECURITY

Press Key

CODE Example: 8999

Press ENTER Key Scroll to ACCESS

TIMEOUT parameter.

Press ENTER Key Enter ACCESS Security code correct.

TIMEOUT parameter. All parameters unlocked.

Using the SHIFT and

Press SHIFT Key Move cursor one arrow keys, it is

character to right. possible to enter any

value between 0 and
Press Key “Dial in” the value 3. 600 seconds.
3 times Example: 30

Press ENTER Key Save new value into

ACCESS TIMEOUT

SECURITY STATE

P : LOCAL

ACCESS

TIMEOUT

ACCESS

TIMEOUT

B A L D O R

M O T O R S & D R

STOP MOTOR

SPEED

PRESS ENTER

FOR

PRESS ENTER

FOR

ACCESS

TIMEOUT

ACCESS CODE?
: 8 9 9 923956

ACCESS

TIMEOUT

STOP MOTOR

SPEED

ACCESS CODE?
: 9 9 9 923956

SECURITY STATE
L : LOCAL

PRESS ENTER

FOR

PRESS ENTER

FOR

ACCESS

TIMEOUT

Action Description Display Comments

MN723H-10/95 11/28/95 1:12 AM Page 77 (Black plate)

Programming or Changing Parameters
with a Security Code in Use

Use the following procedure to program or change a parameter already programmed into the control
that has a security code enabled.

3-24 KEYPAD PROGRAMMING AND OPERATION

Apply Power Display illuminates

Logo display
for 5 seconds

No faults present local

Typical display

keypad mode. If in remote/

mode

serial mode, press LOCAL
key for this display

Press PROG Key Enter program mode

Press Key Scroll to INPUT block

ENTER accesses
INPUT block

parameters

Press ENTER Key

Press PROG Key

Allows operating mode

Keypad mode is

selection

factory preset

With security ON,
parameters cannot be Typical display
changed

Press Key and/or

Enter security code Typical security code

Press SHIFT Key

Denotes blinking
cursor

Press ENTER Key

Scroll through available

Press Key

range to make selection Typical selection

Saves selected parameter

Press ENTER or PROG Key

to memory

Typical selection

Press Key Scroll to exit block

Press ENTER Key Returns to start of

Security Control

Press DISP Key Return to display mode Typical display mode

B A L D O

or

STP MOTOR SPEED

Action Description Display Comments

PRESS ENTER

PRESS ENTER

OPERATING MODE

OPERATING MODE

ENTER CODE

ENTER CODE

OPERATING MODE

OPERATING MODE

OPERATING MODE

PRESS ENTER

PRESS ENTER

STPMOTOR SPEED

MN723H-10/95 11/28/95 1:12 AM Page 78 (Black plate)

Operating the Control from the Keypad

The control can operate the motor in three (3) different ways from the keypad.

1. JOG Command

2. Speed adjustment with Keypad entered values.

3. Speed adjustment using the Keypad arrow keys.
The following keypad key sequence procedures outline each.

Accessing the JOG Command

3-25KEYPAD PROGRAMMING AND OPERATION

ACTION DESCRIPTION DISPLAY COMMENTS

Apply Power

Logo display
for 5 seconds

No faults present,

Display mode

Local keypad mode.

Stop key LED on

If in remote/serial mode,
Press LOCAL for this display

Press JOG Key

Enable programmed JOG

Jog key LED

speed

illuminates

Press and hold

Enable forward or reverse

Motor runs while key is

FWDor REV Key

motor movement at JOG

depressed Jog & FWD

speed

key LED illuminated

Press JOG Key Disables JOG mode

Jog key LED off

STOP MOTOR

SPEED

B A L D O R

M O T O R S & D R

STOP MOTOR

SPEED

F W D MOTOR

SPEED

STOP MOTOR

SPEED

Action Description Display Comments

MN723H-10/95 11/28/95 1:12 AM Page 79 (Black plate)

Operating the Control From the Keypad ­Keypad Entered Speed Adjustment

3-26 KEYPAD PROGRAMMING AND OPERATION

ACTION DESCRIPTION DISPLAY COMMENTS

Apply Power

Logo display
for 5 seconds

No faults present local

Display mode

keypad mode. If in remote/

Stop key LED on

serial mode, press LOCAL
for this display

Press ENTER Key Access Keypad Entered Keypad entered

Speed Adjust speed display

Press SHIFT Key

Move blinking cursor - denotes blinking
right one digit cursor

Press Key

Increase preset
value one digit

Press ENTER Key

Save new value and
Return to previous
Display mode

FWD

Commands forward or

Press

or

Key

reverse motor rotation

FWD or REV key LED

REV

at selected speed

Illuminates
Stop key LED

illuminates

Press STOP Key

Commands motor to

when motor 0 speed is

STOP MOTOR

SPEED

B A L D O R

M O T O R S & D R

MOTOR SPEED

0 0000 0

STOP MOTOR

SPEED

STOP MOTOR

SPEED

F W D MOTOR

SPEED

MOTOR SPEED

0 1 000 0

MOTOR SPEED

0 0 000 0

MN723H-10/95 11/28/95 1:12 AM Page 80 (Black plate)

Operating the Control from the Keypad ­Arrow Key Speed Adjustment

3-27KEYPAD PROGRAMMING AND OPERATION

ACTION DESCRIPTION DISPLAY COMMENTS

Apply Power

Logo display
for 5 seconds

No faults present local

Display mode

keypad mode. If in remote/

Stop key LED on

serial mode, press LOCAL
for this display

FWD

Press or Key

Commands forward or

FWD key LED

REV

reverse motor rotation

illuminated

at selected speed

Press Key Increase motor speed

Display mode

Press Key Decrease motor speed

Stop key LED illuminates

Press STOP Key

Command motor to stop when motor 0 speed is

reached

FWD Enable forward or reverse

Motor returns to

Press

or

Key

rotation at previous

previous set speed

REV

speed command

STOP MOTOR

SPEED

B A L D O R

M O T O R S & D R

STOP MOTOR

SPEED

F W D MOTOR

SPEED

F W D MOTOR

SPEED

F W D MOTOR

SPEED

F W D MOTOR

SPEED

MN723H-10/95 11/28/95 1:12 AM Page 81 (Black plate)

Reset Control to Factory Settings

Sometimes it is necessary to recover the factory preset parameter values. Follow this procedure to
do so. Note that all of your specific application parameters will be lost when resetting the control to
factory presets.

3-28 KEYPAD PROGRAMMING AND OPERATION

Apply Power

Logo display
for 5 seconds

No faults present local

Display mode

keypad mode. If in remote/

Stop LED on

serial mode, press LOCAL
for this display

Press PROG Key

Press Key Scroll to select level 2 block

Press ENTER Key

Select level 2 blocks

Press Key

Scroll to select
miscellaneous block

Press ENTER Key

Scroll to factory

No will be displayed

Press Key

settings parameter

if any parameters were
changed from factory

Press PROG Key

Access to

denotes blinking

parameter adjustment

cursor

Scroll to YES to select

Press Key reset to original factory

parameter settings

Resets factory parameters

First displays “loading

Press ENTER Key

to memory

presets,” then “operation
done” (security code will
not be reset if changed,

display will still say NO)

Press Key Scroll to menu exit

STOP MOTOR

SPEED

B A L D O

R

FACTORY SETTINGS

YES

PRESS ENTER

FOR

RESTART

AUTO/MAN

FACTORY SETTING
P: YES

STOP MOTOR

SPEED

PRESS ENTER
FOR

FACTORY SETTINGS

NO

FACTORY SETTINGS
P: N O

PRESS ENTER

FOR

PRESS ENTER

FOR

PRESS ENTER

FOR

Action Description Display Comments

MN723H-10/95 11/28/95 1:12 AM Page 82 (Black plate)

Display Key

Functions: The display key can be used to view different operating conditions, fault log information
and diagnostic information.

Accessing Display Scr

eens

3-2

9

KEYPAD PROGRAMMING AND OPERATION

Shows motor speed; direction

Press DISP Key of rotation; Local or Remote

Operation
Shows output rate in user Units

Press DISP Key

programmed in Custom Units
block; direction of rotation;
Local or Remote operation

Shows output frequency;

Press DISP Key

direction of rotation; Local or
Remote operation

Press DISP Key

Shows output current; direction
of rotation; Local or Remote

STOP MOTOR

SPEED

STOP FREQUENCY
LOCAL 0.00 HZ

STOP OUTPUT RATE
LOC 0.000 ****

STOPCURRENT OUT
LOCAL 0.0 A

Action Description Display Comments

Shows output voltage, direction

Press DISP Key of rotation, Local or Remote

Operation
Combined display shows

Press DISP Key

direction of rotation, output
volts, motor speed, output
amps, output frequency, Local
or Remote operation

Press DISP Key

Accesses Fault log

Press DISP Key

Accesses diagnostic Information

Press DISP Key Returns to first DISP screen

STOP VOLTAGE

OUT

PRESS ENTER

FOR

STOP 0V O

RPM

PRESS ENTER

FOR

STOP MOTOR

SPEED

MN723H-10/95 11/28/95 1:13 AM Page 83 (Black plate)

3-30 KEYPAD PROGRAMMING AND OPERATION

MN723H-10/95 11/28/95 1:13 AM Page 84 (Black plate)

Section 4
Diagnostic Info and Troubleshooting

How to Access Diagnostic Information

Diagnostic Menu

Continued on next page

4-1DIAGNOSTIC INFO AND TROUBLESHOOTING

Apply Power

Logo display
for 5 seconds

No faults present local

Display mode

keypad mode. If in remote/
serial mode, press LOCAL

for this display

Shows direction of rotation,

Press DISP Key Access DISP Screens user Units programmed in

Custom Units block. Not
displayed if not programmed

Press Key Scroll to Diagnostic Info block

First Diagnostic screen.

Press ENTER Key

Accesses Diagnostic Info

Shows speed command to

screens

control, direction of rotation,
Local/Remote operation,
and motor speed

Press DISP Key

Actual operating
temperature in degrees C

STOP MOTOR

SPEED

B A L D O

R

STOP OUTPUT

RATE

STOP SPEEDREF
LOCAL 0 RPM

PRESS ENTER

FOR

STOP CONTROL

TMP

Action Description Display Comments

MN723H-10/95 11/28/95 1:13 AM Page 85 (Black plate)

Diagnostic Menu Continued

4-2 DIAGNOSTIC INFO AND TROUBLESHOOTING

Press DISP Key

Access next diagnostic screen

Displays operating DC bus
voltage, and direction of
rotation

Display % of overload current

Press DISP Key Access next diagnostic screen remaining & direction of

rotation
Display of opto-isolated inputs

Press DISP Key Access next diagnostic screen & outputs. Pins J1-8 to J1-16

on left, J1-19 to J1-22 on
right. I = on, O = off

Press DISP Key

Access next diagnostic screen

Actual control running time

Press DISP Key Access next diagnostic screen

Display operating zone,
voltage and control type

Display continuous amps; pk

Press DISP Key

Access next diagnostic screen

amps ratings; amps per volts
scale of feedback, power

STOP OVR LD

LEFT

DIGITAL I/ O
000000000 0000

QUIET VAR TQ
XXX V FLUX

TIME FROMP W R

UP

X.X A X.X

APK

Action Description Display Comments

Displays which Group 1 or

Press DISP Key Access next screen

Group 2 Expansion Board
Installed

Displays motor shaft

Press DISP Key Access next screen

revolutions from the

0000.00000 Rev home set
point

Press DISP Key Access next screen

Displays software version
installed in control

Press DISP Key

POSITIONCOUNTER
+ 000.00000REV

SOFTWARE

VERSION

PRESS ENTER

FOR

STOP BUS

VOLTAGE

G1 NOT

INSTALLED

MN723H-10/95 11/28/95 1:13 AM Page 86 (Black plate)

No Keypad Display

There can be no display in the keypad depending upon the level of contrast for which the display is
set. The following procedure provides the steps necessary to adjust the contrast of the display.

4-3DIAGNOSTIC INFO AND TROUBLESHOOTING

Action Description Display Comments

Apply Power No visible display

Press DISP Key Ensures control in

display mode

Press SHIFT SHIFT Enables display

contrast adjustment

Press or Key Adjusts display

intensity

Typical display

Press ENTER Saves level of contrast

and exits to display Typical display

BLANK

BLANK

BLANK

STPMOTOR SPEED
LOCAL 0 PRM

STPMOTOR SPEED
LOCAL 0 PRM

MN723H-10/95 11/28/95 1:13 AM Page 87 (Black plate)

How to Access the Fault Log

When a fault condition occurs, motor operation stops and a fault code is displayed on the Keypad
display. The control keeps a log of up to the last 31 faults. If more than 31 faults have occurred the
oldest fault will be deleted from the fault log to make room for the newest fault. To access the fault
log perform the following procedure:

4-4 DIAGNOSTIC INFO AND TROUBLESHOOTING

Logo display

Apply Power

5 seconds

No faults present,
Local keypad mode.

Display mode

If in Remote/Serial mode,
Press ENTER for this display

Press DISP key to scroll

Press DISP Key

to FAULT LOG

Press ENTER Key Typical Display

Press Key

Scroll through If no messages, you
fault messages will return to display

Press ENTER Key Return to display mode

Display mode stop key

B A L D O R

M O T O R S & D R

STOP MOTOR

SPEED

TACH

LOSS

STOP MOTOR

SPEED

PRESS ENTER

FOR

PRESS ENTER

FOR

Action Description Display Comments

MN723H-10/95 11/28/95 1:13 AM Page 88 (Black plate)

Clearing the Fault Log

Use the following procedure to clear the Fault Log.

4-5DIAGNOSTIC INFO AND TROUBLESHOOTING

Logo display

Apply Power Display illuminates

5 seconds

No faults present,
Local keypad mode.

Display mode

If in Remote/Serial mode,
Press ENTER for this display

Press DISP Key Press DISP key to scroll

to FAULT LOG

Press ENTER Key

Enters the Fault Log Last fault displayed

(typical display)

Press SHIFT Key Last fault displayed

Press RESET Key Last fault displayed

Press SHIFT Key Last fault displayed

Press ENTER Key Fault Log Cleared Display for no

recorded fault

Press Key

Go to Fault Log Menu
exit

B A L D O R

M O T O R S & D R

STOP MOTOR

SPEED

STOP MOTOR

SPEED

EXTERNAL TRIP
I: 0:00:30

EXTERNAL TRIP
I: 0:00:30

PRESS ENTER

FOR

FAULT

LOG

EXTERNAL TRIP
I: 0:00:30

EXTERNAL TRIP
I: 0:00:30

PRESS ENTER

FOR

Action Description Display Comments

MN723H-10/95 11/28/95 1:13 AM Page 89 (Black plate)

Fault Messages

When a fault condition occurs, motor operation stops and a fault is displayed on the operator
keypad. A list of the possible faults and their descriptions follows. Refer to the Troubleshooting
section which follows for recommended corrective actions.

Fault Displayed Fault Description
CURRENT SENS FLT Defective phase current sensor or open circuit detected between control board and current
sensor.
DC BUS HIGH Bus overvoltage condition occurred.
DC BUS LOW Bus undervoltage condition occurred.
FEEDBACK LOSS Resolver slipping; noise on resolver lines or resolver power supply loss.
EXTERNAL TRIP An external overtemperature or open circuit occurred on J1-16.
FOLLOWING ERR Excessive following error detected between command and feedback signals.
GND FLT Low impedance path between an output phase and ground detected.
INT OVER-TEMP Control heatsink exceeded safe operating level.
INVALID BASE ID Control board does not recognize power base ID.
INVERTER BASE ID Control board installed on power base w/o current feedback.
LINE REGEN FLT Applies to Series 21 and 22 Line Regen controls only.
LOGIC SUPPLY FLT Logic power supply not working properly.
LOST USER DATA Battery backed RAM parameters have been lost or corrupted. When fault cleared control

will reset factory presets.
LOW INIT. BUS V Insufficient bus voltage upon startup.
MEMORY ERROR EPROM error occurred. Contact factory.
NEW BASE ID Control board changed since last operation.
NO FAULTS Fault log has no recorded faults.
NO EXB INSTALLED Programmed operating mode requires expansion board.
OVER-CURRENT FLT Instantaneous over current condition detected by bus current sensor.
OVERLOAD - 1 MIN Output current exceeded allowable 1 minute rating.
OVERLOAD - 3 SEC Output current exceeded allowable 3 second rating.
OVERSPEED Motor speed exceeded 110% of programmed max RPM.
mP RESET Power cycled before bus bled completely down.
POWER MODULE Affects shared bus multiaxis systems only. Indicates power supply not working properly.
PWR BASE FLT Desaturation of power device occurred or bus current threshold exceeded.
REGEN PWR FLT Regen power exceeded DB resistor rating.
USER FAULT TEXT Custom software operating fault occurred.

4-6 DIAGNOSTIC INFO AND TROUBLESHOOTING

MN723H-10/95 11/28/95 1:13 AM Page 90 (Black plate)

Troubleshooting

It is important to familiarize yourself with the following information before attempting any
troubleshooting or service of the control. Most troubleshooting can be performed using only a digital
voltmeter having an input impedance exceeding 1 megohm. In some cases an oscilloscope with 5
MHZ minimum bandwidth may be useful. Before consulting the factory, double check that all power
and control wiring is correct and installed per the recommendations given in this manual.

WARNING: THIS EQUIPMENT CONTAINS VOLTAGES WHICH MAY BE AS HIGH AS 800

VOLTS AND ROTATING PARTS ON MOTORS AND DRIVEN MACHINES.
HIGH VOLTAGE AND MOVING PARTS CAN CAUSE SERIOUS OR FATAL
INJURY. ONLY QUALIFIED PERSONNEL FAMILIAR WITH THIS MANUAL
AND ANY DRIVE MACHINERY SHOULD ATTEMPT TO START-UP OR
TROUBLESHOOT THIS EQUIPMENT.

OBSERVE THESE PRECAUTIONS:

USE EXTREME CAUTION, DO NOT TOUCH ANY CIRCUIT BOARD, POWER
DEVICE OR ELECTRICAL CONNECTION WITHOUT INSURING THAT HIGH
VOLTAGE IS NOT PRESENT.

THE UNIT MUST BE PROPERLY GROUNDED. DO NOT APPLY AC POWER
BEFORE FOLLOWING GROUNDING INSTRUCTIONS.

DO NOT OPEN COVER FOR 5 MINUTES AFTER REMOVING AC POWER, TO
ALLOW CAPACITORS TO DISCHARGE.

IMPROPER CONTROL OPERATION MAY CAUSE VIOLENT MOTION OF MOTOR
SHAFT AND DRIVEN EQUIPMENT. BE CERTAIN THAT UNEXPECTED MOTOR
SHAFT MOVEMENT WILL NOT CAUSE INJURY TO PERSONNEL OR DAMAGE TO
EQUIPMENT. PEAK TORQUES OF SEVERAL TIMES RATED MOTOR TORQUE
CAN OCCUR DURING A CONTROL FAILURE.

MOTOR CIRCUIT MAY HAVE HIGH VOLTAGE PRESENT WHENEVER AC POWER
IS APPLIED, EVEN WHEN MOTOR IS NOT ROTATING.

4-7DIAGNOSTIC INFO AND TROUBLESHOOTING

MN723H-10/95 11/28/95 1:13 AM Page 91 (Black plate)

Faults and Possible Causes

SYMPTOM POSSIBLE CAUSE CORRECTIVE ACTION

BASE ID FLT Invalid power base ED number. Press RESET key. If fault remains call factory.
CURRENT SENS FLT Open circuit between control board and check connections from control board to current

current sensor. sensors.
Defective current sensor. Replace current sensor.

DC BUS HIGH Excessive dynamic braking power. Check DYNAMIC BRAKING parameters for

correct wattage and resistance values.
Lengthen deceleration time.
Increase or add external dynamic braking

resistors RGA kit or dynamic braking resistor/

transistor RBA assembly.
Dynamic brake wiring problem. Check dynamic brake hardware wiring.
Input voltage too high. Verify proper incoming line voltage.

Use transformer to step down voltage.

Use line reactor to minimize voltage spikes.

DC BUS LOW FAULT Insufficient input voltage. Disconnect DB hardware and re-try.

Verify proper incoming line voltage.

Use transformer to step up voltage.

Check power line disturbances due to starting

other equipment.

Monitor power line for correlation of time/date

and power fluctuations.

FEEDBACK LOSS Resolver power supply loss. Check 4 VAC supply at terminal strip

Excessive noise on resolver lines. Check resolver connections. Separate resolver

leads from power wiring. Cross power leads at

90°.

EXTERNAL TRIP EXTERNAL TRIP Parameter set to “ON” Verify connection of external trip circuits to

and no connection made at J1-16. control terminal strip.

Set EXTERNAL TRIP parameter to “OFF” if

circuit not used.
Motor ventilation insufficient. Check external motor blower for proper operation.
No thermostat connected. Connect thermostat.

Disable EXTERNAL TRIP parameter to “OFF”

if thermostat not used.
Poor thermostat connections. Check thermostat connections.
Motor drawing excessive current. Check motor for overloading.

Verify sizing of motor and control for application.

Continued on next page...

4-8 DIAGNOSTIC INFO AND TROUBLESHOOTING

MN723H-10/95 11/28/95 1:13 AM Page 92 (Black plate)

SYMPTOM POSSIBLE CAUSE CORRECTIVE ACTION

MOTOR WILL NOT Improper speed command. Verify control is receiving proper command
START signal at input terminal strip.

Incorrect COMMAND SELECT parameter. Match COMMAND SELECT parameter with

user interface.
MAX OUTPUT SPEED parameter set to 0. Check MAX OUTPUT SPEED parameter.
Not enough starting torque. Increase CURRENT LIMIT setting.
Motor overloaded. Check couplings for binding.

Check for proper motor loading.

Verify sizing of motor and control for application.

MOTOR WILL NOT MAX OUTPUT SPEED parameter set too Reprogram MAX OUTPUT SPEED parameter.
REACH MAXIMUM low.
SPEED Improper speed command. Verify control is receiving proper speed command

at input terminals.

Verify control set to proper operating mode to

receive speed command.
Motor overloaded. Check motor for free rotation.
Speed potentiometer failure. Replace potentiometer.

MOTOR WILL NOT MIN OUTPUT SPEED parameter set too Check MIN OUTPUT SPEED parameter.
STOP ROTATION high.

Improper speed command. Verify control is receiving proper speed command

at input terminals.

Verify control set to proper operating mode to

receive speed command.
Speed potentiometer failure. Replace potentiometer.

NEW BASE ID Software parameters not initialized on Push RESET to initialize parameters and retry.

newly installed control board. Contact factory if fault remains.

NO DISPLAY Incorrect display contrast setting. Adjust display contrast. Refer to Section 3-

Adjusting Display Contrast.
Loose Connections. Check keypad to control board connection.

Check input power connections.
Lack of input voltage. Check input power for proper voltage.

NO EXB INSTALLED Incorrect mode of operation programmed. Change OPERATING MODE parameter to one

which does not require expansion board.
Need expansion board. Install correct optional expansion board for mode

of operation selected.

Continued on next page...

4-9DIAGNOSTIC INFO AND TROUBLESHOOTING

MN723H-10/95 11/28/95 1:14 AM Page 93 (Black plate)

SYMPTOM POSSIBLE CAUSE CORRECTIVE ACTION

FOLLOWING ERROR Speed proportional gain too low. Increase SPEED PROP GAIN parameter setting.
FAULT Current limit set too low. Increase CURRENT LIMIT parameter setting.

Accel/decel time(s) too short. Lengthen ACCEL/DECEL parameter time(s).

Excessive load. Verify sizing of motor and control for application.
FAILS RESOLVER Resolver miswired. Check wiring.
AUTO Excessive noise on resolver lines. Check resolver connections.Separate resolver
TUNING TEST leads from power wiring. Cross power leads at

90°.

GND FAULT Improper wiring. Disconnect wiring between control and motor.

Retry. If cleared, reconnect motor and control
and try again. Call factory if problem remains.

INT-OVERTEMP FLT Motor overloaded. Correct motor loading.

Verify sizing of motor and control for application.

Ambient temperature too high. Relocate control to cooler operating area.

Add cooling fans or air conditioner to control
cabinet.

INVERTER BASE ID Power base with no output leg current Replace power base with one having output leg

sensors being used. current feedback. Contact factory.
LOGIC SUPPLY FLT Power supply malfunctioned. Replace logic power supply.
LOW INIT. BUS V Improper line voltage. Disconnect DB hardware and retry.

Check input voltage level.

LOST USER DATA Battery backed Ram parameters lost or Reload all parameters and cycle input power.

corrupted. Call factory if problem remains.
MEMORY ERROR FLT EPROM error occurred. Push RESET key. Contact factory if fault

remains.

mP RESET Power was cycled before bus bled Press RESET key. Contact factory if fault

completely down. remains. Allow time between power cycling for

bus to bleed completely down.

Continued on next page...

4-10 DIAGNOSTIC INFO AND TROUBLESHOOTING

MN723H-10/95 11/28/95 1:14 AM Page 94 (Black plate)

SYMPTOM POSSIBLE CAUSE CORRECTIVE ACTION

POWER BASE FLT Broken or misaligned encoder coupling. Check encoder coupling: align or replace.

Encoder bearing failure. Replace encoder and align during installation.
Excessive current draw. Disconnect motor wiring and retry. Contact
Power device desaturated. factory if fault remains.
Excessive noise on encoder signals. Check encoder connections. Separate encoder

leads from power leads. Cross power leads at
90°. Isolate encoder from motor electrically.
Install optional Isolated Encoder Feedback
expansion board.

Electrical noise from external DC coils. Install diodes on all external DC relay coils. See

manual, Opto-Isolated Outputs.
Electrical noise from external AC coils. Install RC snubbers on all external AC coils.
Drive overloaded. Verify sizing of motor and control for

application.

POWER MODULE FLT Power supply malfunction in multiaxis Push RESET key. If problem remains replace

shared bus system. power supply module.

REGEN PWR FLT Incorrect Dynamic Braking parameter Check RESISTOR OHMS and RESISTOR

settings. WATTS settings in Level 2 BRAKE ADJUST

parameter block.
Regen power exceeded Dynamic Braking Resize and replace DB resistor(s).
resistor rating.
Input voltage too high. Verify proper incoming line voltage.

Use transformer to step down voltage.

Use line reactor to minimize voltage spikes.

UNKNOWN FAULT Fault occurred but was not sustained Check AC line for high frequency noise and input

long enough to record the source of fault. switches for good contact.

USER FAULT TEXT Fault peculiar to custom software Refer to custom software fault list.

detected.

WRONG RESPONSE Input common mode voltage may be Connect control input source common to control
TO SPEED COMMAND excessive. common to minimize common mode voltage.

Continued on next page...

4-11DIAGNOSTIC INFO AND TROUBLESHOOTING

MN723H-10/95 11/28/95 1:14 AM Page 95 (Black plate)

SYMPTOM POSSIBLE CAUSE CORRECTIVE ACTION

OVERCURRENT FLT CURRENT LIMIT parameter set too low. Increase CURRENT LIMIT parameter setting.

Accel/Decel time(s) too short. Increase ACCEL/DECEL parameter time(s).
Broken or misaligned encoder coupling. Check encoder coupling: align or replace.
Encoder bearing failure. Replace encoder and align during installation.
Excessive noise on resolver signals. Check resolver connections. Separate resolver

leads from power leads. Cross power leads at
90°.

Electrical noise from external DC coils. Install diodes on all external DC relay coils. See

manual, Opto-Isolated Outputs.
Electrical noise from external AC coils. Install RC snubbers on all external AC coils.
Excessive load. Verify sizing of motor and control for application.

OVERLOAD 3-SEC Excessive current draw. Change EXTERNAL TRIP parameter in level 2
FAULT Protection Block to FOLDBACK instead of TRIP.

Increase time allowed for acceleration.

Reduce load.

OVERLOAD 1 MIN Excessive current draw. Change EXTERNAL TRIP parameter in Level 2
FAULT Protection Block to foldback instead of

trip. Increase time allowed for acceleration and

deceleration.
Drive overloaded. Verify sizing of motor and control for application.

OVERSPEED FLT Motor exceeded 110% of programmed Increase max speed parameter to match

max speed. application requirement.

Increase SPEED PROPORTIONAL GAIN

parameter setting under BRUSHLESS CONTROL

programming block.

4-12 DIAGNOSTIC INFO AND TROUBLESHOOTING

MN723H-10/95 11/28/95 1:14 AM Page 96 (Black plate)

Improper Motor Operation

Wrong Response to Speed Commands

Input common mode voltage may be exceeded. Maximum common mode voltage at terminals J1-4
and J1-5 is ± 15 volts relative to chassis common. Connect control input source common to the
control common to minimize common mode voltage.

MANUALLY TUNING THE CONTROLLER

Occasionally the controller cannot be accurately auto-tuned for a particular system. In these cases it
is necessary to calculate the values needed to tune the controller.

Current Prop Gain Parameter

This parameter is located in the Level 1, Brushless Control Block. The Current Prop Gain parameter
is normally preset for pre-tuned systems or auto-tuned where motor parameters aren't known.
Where auto-tuning can't be used, the proper manual setting for the proportional gain can be
calculated by:

Current Prop Gain = [740 x L x (A/V)]

VAC

Where: L = Line to neutral leakage inductance of the motor in mH

VAC = Nominal line volts
A/V = The amps/volt scaling of the current feedback

Motor line to neutral leakage inductance can be obtained either from the motor manufacturer or by
measuring the line-to-line inductance and dividing by two.

The A/V scaling for the controller can be found in the diagnostic information located in the DISPLAY
MODE.

For most applications setting the Current Prop Gain parameter to a value of 20 will yield adequate
performance.

Curr

ent Int gain Parameter

This parameter is located in the Level 1, Brushless Control Block. The Current Int Gain parameter is
factory preset at 50 hz. This setting is suitable for essentially all systems. DO NOT CHANGE

WITHOUT FACTORY APPROVAL.

4-13DIAGNOSTIC INFO AND TROUBLESHOOTING

MN723H-10/95 11/28/95 1:14 AM Page 97 (Black plate)

Speed Prop Gain Parameter

This parameter is located in the Level 1, Brushless Control Block. The Speed Prop Gain parameter
is normally preset or auto-tuned. This gain may be increased or decreased to suit the application.
Increasing the Speed Prop Gain parameter will result in faster response, excessive proportional gain
will cause overshoot and ringing. Decreasing the Speed Prop Gain parameter will cause slower
response and decrease overshoot and ringing caused by excessive proportional gain.

Speed Int Gain Parameter

This parameter is located in the Level 1, Brushless Control Block. The Speed Int Gain parameter in
hertz, as discussed under PI Controller later in this section, may be set at any value from zero to 10
hertz.

Setting the Speed Int Gain parameter - 0 removes integral compensation, resulting in a proportional
rate loop. This selection is ideal for systems where overshoot must be avoided and substantial
stiffness (ability of the controller to maintain commanded speed despite torque loads) isn't required.
Increasing values of the Speed Int Gain parameter increases the low frequency gain and stiffness of
the controller, an excessive integral gain setting will cause overshoot for transient speed commands
and may lead to oscillation. Typical setting is 4 hertz. If the Speed Prop Gain parameter and the
Speed Int Gain parameter are set too close together, and overshoot condition can also occur.

CAUTION: DO NOT SET THE SPEED INT GAIN PARAMETER ABOVE 10 HERTZ OR

SUBSTANTIAL OVERSHOOT WILL OCCUR.

To manually tune the speed controller:

1. Set the speed Int Gain parameter = 0 (remove integral gain).

2. Increase the Speed Prop Gain parameter setting until adequate response to step speed
commands is attained.

3. Increase the Speed Int Gain parameter setting to increase the stiffness of the drive.

NOTE: IT IS CONVENIENT TO MONITOR SPEED STEP RESPONSE WITH A STRIP

CHART RECORDER OR STORAGE OSCILLOSCOPE CONNECTED TO J1-6
OR -7 WITH LEVEL 1, OUTPUT BLOCK ANALOG OUT #1 OR #2 SET TO
ABS SPEED, 0 VDC = ZERO SPEED. SEE SECTION 2 FOR A DISCUSSION
OF ANALOG OUTPUTS.

4-14 DIAGNOSTIC INFO AND TROUBLESHOOTING

MN723H-10/95 11/28/95 1:14 AM Page 98 (Black plate)

PI Controller

Both the current and rate control loops are of the Proportional plus Integral type. If "E" is defined to
be the error signal,

E = Command - Feedback
then the PI controller operated on "E" as
Output = (Kp * E) + (Ki E dt)
where Kp is the proportional gain of the system and Ki is the integral gain of the system.
The transfer function (output /E) of the controller using 1/s (Laplace Operator) to denote the integral,
Output/E = Kp + KI / s = Kp (s + Ki/Kp) /s.
The second equation shows that the ratio of Ki/Kp is a frequency in radians/sec. In the Baldor

series 18H AC vector controller, the integral gain has been redefined to be,
KI = (Ki / Kp) / (2 ) Hz,
and the transfer function is,
Output/E = Kp (s + 2 KI) / s.
This sets the integral gain as a frequency in hertz. As a rule of thumb, set this frequency about 1/10

of the bandwidth of the control loop.
The proportional gain sets the open loop gain of the system, the bandwidth (speed of response) of

the system. If the system is excessively noisy, it is most likely due to the proportional gain being set
too high.

4-15DIAGNOSTIC INFO AND TROUBLESHOOTING

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4-16 DIAGNOSTIC INFO AND TROUBLESHOOTING

MN723H-10/95 11/28/95 1:14 AM Page 100 (Black plate)

Appendix A
Baldor District Offices

5-1APPENDIX A

MEXICO

CALLE PABLO UCELLO NO. 27
COL. NOCHE BUENA
03710 MEXICO D.F., MX
PHONE: (52) (5) 6119920
FAX: (52) (5) 6117084

SINGAPORE

51 KAKI BUKIT ROAD 2
K B WAREHOUSE COMPLEX
SINGAPORE 417863
PHONE: (65) (74) 42572
FAX: (65) (74) 71708

SWEDEN

KOPPMEKATRON
RUSKVADERSGATAN 7
S-418 34 GOTEBORG
SWEDEN
PHONE: [phone]
FAX: [phone]

SWITZERLAND

POSTFACH 73
SCHUTZENSTRASSE 59
CH-8245 FEUERTHALEN

SWITZERLAND
PHONE: (41) (53) 292343
FAX: (41) (53) 292394

THAILAND

573/90 RAMKAMHAENG 39
PRACHA-U-TIT ROAD WANGTONGLANG
BANGKHAPI BANGKOK 10310
PHONE: [phone] (662) 5593805
FAX: [phone]

UNITED KINGDOM

UNIT 13, CHARLWOODS ROAD
EAST GRINSTEAD
WEST SUSSEX, ENGLAND RH192JB
PHONE: (44) (3) 42315977
FAX: (44) (3) 42328930

VENEZUELA

AV.MILAN 1016-B1
CALIFONIA SUR 61053
APARTADO 61053 CHACAO
CARACAS, VENEZUELA
PHONE: (58) (2) 224489
FAX: (58) (2) 222002

INTERNATIONAL SALES

FORT SMITH, AR

BALDOR ELECTRIC CO
FORT SMITH, AR 72902
PHONE: [phone]
FAX: [phone]

CANADA - EDMONTON, ALBERTA

9816-45 AVENUE
EDMONTON, ALBERTA T6E5C5
PHONE: [phone]
FAX: [phone]

BURLINGTON, ONTARIO

1175 APPLEBY LINE UNIT A-1
BURLINGTON, ONTARIO L7L5H9
PHONE: [phone]
FAX: [phone]

MONTREAL, QUEBEC

1844 WILLIAM STREET
MONTREAL, QUEBEC H3J1R5
PHONE: [phone]
FAX: [phone]

VANCOUVER, BRITISH COLUMBIA

4157 McCONNELL DRIVE
BURNABY, BRITISH COLUMBIA
V5A3J7
PHONE [phone]
FAX: [phone]

CANADA - WINNIPEG, MANITOBA

54 PRINCESS STREET
WINNIPEG, MANITOBA R3B1K2
PHONE: [phone]
FAX: [phone]

ARGENTINA

HUBAC 6960
1439 CAPITOL
BUENOS AIRES, ARGENTINA
PHONE: [phone]
FAX: [phone]

AUSTRALIA

UNIT 3, 6 STANTON ROAD
SEVEN HILLS, NSW 2147, AUSTRALIA
PHONE: (61) (2) 6745455
FAX: (61) (2) 6742495

UNIT 3-73 MAIN ROAD
CLAYTON VIC 3168, AUSTRALIA
PHONE: (61) (3) 5624555
FAX: (61) (3 5624822

BRAZIL

RUA ALFREDO GUEDES, 85-SANTANA-SP
SAO PAULO-SP BRAZIL
PHONE: [phone]
FAX: [phone]

CHILE

FERRETERIA AMUNATEGUI S.A.
AV. LIBERTADOR BERNARDO O’HIGGINS
1395 ESQUINA AMUNATEGUI
CASILLA 2457-SANTIAGO L
SANTIAGO - CHILE
PHONE: [phone]
FAX: [phone]

GERMANY

DIESELSTRASSE 22
D-85551 KIRCHHEIM - MUNICH, GERMANY
PHONE: (49) (89) 90508 - 0
FAX: (49) (89) 90508 - 491

INDONESIA

GEDUNG PUTERA 8TH FLOOR
JLN. GUNUNG SAHARI RAYA NO. 39
JAKARTA PUSAT 10720
PHONE: (62) (21) 6009089 EXT.134 OR 135
FAX: (62) (21) 6591826

NEW JERSEY

PHILADELPHIA

100 W NARBERTH TERRACE
P O BOX 597
COLLINGSWOOD, NJ 08108
PHONE: [phone]
FAX: [phone]

NEW YORK CITY METRO

1114 GOFFLE ROAD
HAWTHORNE, NJ 07506
PHONE: [phone]
FAX: [phone]

NEW YORK

AUBURN

ONE GOULDS DRIVE
AUBURN, NY 13021
PHONE: [phone]
FAX: [phone]

NORTH CAROLINA

GREENSBORO

1220 ROTHERWOOD ROAD
GREENSBORO, NC 27406

P O BOX 16500
GREENSBORO, NC 27416
PHONE: [phone]
FAX: [phone]

OHIO

CINCINNATI

7815 REDSKY DRIVE
CINCINNATI, OH 45249
PHONE: [phone]
FAX: [phone]

CLEVELAND

4562 EAST 71ST STREET
CUYAHOGA HTS, OH 44105
PHONE: [phone]
FAX: [phone]

OKLAHOMA

TULSA

10830 EAST 45TH STREET SUITE 307
TULSA, OK 74146
PHONE: [phone]
FAX: [phone]

OREGON

PORTLAND

20393 SW AVERY COURT
TUALATIN, OR 97062
PHONE: [phone]
FAX: [phone]

TENNESSEE

MEMPHIS

4000 WINCHESTER ROAD
MEMPHIS, TN 38118
PHONE: [phone]
FAX: [phone]

TEXAS

HOUSTON

4647 PINE TIMBERS
SUITE # 135
HOUSTON, TX 77041
PHONE: [phone]
FAX: [phone]

DALLAS

P O BOX 561048
3020 QUEBEC
DALLAS, TX 75247
PHONE: [phone]
FAX: [phone]

ODESSA

6968 EAST COMMERCE
ODESSA, TX 79760
PHONE: [phone]
FAX: [phone]

WISCONSIN

MILWAUKEE

2855 SOUTH 163RD STREET
NEW BERLIN, WI 53151
PHONE: [phone]
FAX: [phone]

UNITED STATES

ARIZONA

PHOENIX

4211 S 43RD PLACE
PHOENIX, AZ 85040
PHONE: [phone]
FAX: [phone]

CALIFORNIA

LOS ANGELES

6480 FLOTILLA
COMMERCE, CA 90040
PHONE: [phone]
FAX: [phone]

HAYWARD

20303 MACK STREET
HAYWARD, CA 94545
PHONE: [phone]
FAX: [phone]

COLORADO

DENVER

2520 W BARBERRY PLACE
DENVER, CO 80204
PHONE: [phone]
FAX: [phone]

CONNECTICUT

WALLINGFORD

65 SOUTH TURNPIKE ROAD
WALLINGFORD, CT 06492
PHONE: [phone]
FAX: [phone]

FLORIDA

TAMPA/PUERTO RICO

3906 EAST 11TH AVENUE
TAMPA, FL 33605
PHONE: [phone]
FAX: [phone]

GEORGIA

ATLANTA

62 TECHNOLOGY DR.
ALPHARETTA, GA 30202
PHONE: [phone]
FAX: [phone]

ILLINOIS

CHICAGO

255 CORTLAND AVENUE
LOMBARD IL 60148
PHONE: [phone]
FAX: [phone]

INDIANA

INDIANAPOLIS

550 SOUTH CAPITOL AVENUE
INDIANAPOLIS, IN 46225
PHONE: [phone]
FAX: [phone]

IOWA

DES MOINES

1901 BELL AVENUE, SUITE 7
DES MOINES, IA 50315
PHONE: [phone]
FAX: [phone]

MICHIGAN

DETROIT

55 OAKMAN BLVD
HIGHLAND PARK, MI 48203
PHONE: [phone]
FAX: [phone]

MINNESOTA

MINNEAPOLIS

21080 134TH AVE. NORTH
ROGERS, MN 55374
PHONE: [phone]
FAX: [phone]

MISSOURI

ST LOUIS

141 CHESTERFIELD BLVD
P O BOX 304
CHESTERFIELD, MO 63006
PHONE: [phone]
FAX: [phone]

KANSAS CITY

915 N W PLATTE VALLEY DR
KANSAS CITY, MO 64150
PHONE: [phone]
FAX: [phone]

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