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)